CN216748051U - TOF positioning system based on improved bidirectional bilateral distance measurement - Google Patents
TOF positioning system based on improved bidirectional bilateral distance measurement Download PDFInfo
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Abstract
The utility model discloses a TOF positioning system based on improved bidirectional bilateral ranging, which comprises: a base station, a mobile node Tag and an upper computer; the base station comprises a microprocessor, a wireless transceiver module and a network communication module, wherein the wireless transceiver module and the network communication module are electrically connected with the microprocessor; the mobile node Tag comprises a radio frequency signal transceiver module and transmits a first bidirectional bilateral ranging signal to 3 base stations simultaneously; the 3 base stations send the received first two-way bilateral ranging signals to the microprocessor, the microprocessor replies to the mobile node Tag in sequence according to set delay time, the mobile node Tag transmits second two-way bilateral ranging signals after receiving replies of all the base stations, and after each base station receives the second two-way bilateral ranging signals, the microprocessor calculates the distance between the microprocessor and the mobile node Tag and uploads all distance information to the upper computer to complete one-time positioning. The utility model has the characteristics of high transmission rate, low power consumption and simple and convenient measurement process.
Description
Technical Field
The utility model relates to the technical field of ultra-wideband wireless positioning, in particular to a TOF positioning system based on improved bidirectional bilateral ranging.
Background
Currently, indoor positioning methods based on UWB include Received Signal Strength (RSSI), angle of arrival (AOA), time difference of arrival (TDOA), time of flight (TOF), etc., and high-precision real-time positioning systems mostly use a signal time-of-flight measurement method to achieve positioning, and determine the distance from a tag to be positioned to a fixed base station by measuring the signal time-of-flight or achieve positioning according to the distance difference between the tag to be positioned and two fixed base stations. TOF positioning is to measure the signal propagation time between three or more base stations and a tag to be positioned, so as to obtain the distance measurement value between the tag to be positioned and the base station, and the distance measurement usually adopts two-way two-sided distance measurement.
In the prior art, an original bidirectional bilateral ranging method is used for measuring distance values, when a plurality of base stations exist, in order to measure the distance between a target to be positioned and each fixed base station, the target to be positioned needs to complete bidirectional bilateral ranging with each base station in sequence, and at least three times of bidirectional bilateral ranging is needed for one time of TOF two-dimensional positioning. Therefore, the TOF positioning occupies a long channel time, and causes large power consumption and long time delay of the target to be positioned, thereby reducing the real-time performance and positioning efficiency of the positioning. In view of the above problems in the prior art, it is urgently needed to design a new TOF positioning system based on improved two-way bilateral ranging to meet the use requirement.
Disclosure of Invention
The utility model aims to provide a TOF positioning system based on improved bidirectional bilateral ranging.
In order to achieve the purpose, the utility model provides the following scheme:
a TOF positioning system based on improved two-way bilateral ranging comprising: a base station, a mobile node Tag and an upper computer; the base station comprises a microprocessor, a wireless transceiver module and a network communication module, wherein the wireless transceiver module and the network communication module are electrically connected with the microprocessor, the wireless transceiver module is used for transceiving radio frequency signals with the mobile node Tag, and the network communication module is used for establishing communication connection with an upper computer; the number of the base stations is 3, and the base stations are distributed around the Tag of the mobile node in a triangular shape; the mobile node Tag is provided with a radio frequency signal transceiving module and is used for simultaneously transmitting first bidirectional bilateral ranging radio frequency signals to 3 base stations; the wireless transceiver modules of the 3 base stations are used for sending the received first two-way bilateral ranging signals to the microprocessor; and the microprocessors of the 3 base stations are used for sequentially replying to the mobile node Tag according to set delay time, the mobile node Tag transmits a secondary bidirectional bilateral distance measurement radio frequency signal after receiving the replies of all the base stations, and after each base station receives the secondary bidirectional bilateral distance measurement radio frequency signal, the microprocessor calculates the distance between the microprocessor and the mobile node Tag and uploads all distance information to the upper computer through the network communication module to complete one-time positioning.
Optionally, the system still includes the POE switch, the input of POE switch with network communication module's output electric connection, the output of POE switch with upper computer electric connection, the POE switch is used for through ethernet transmission data signal between basic station and the host computer.
Optionally, the power supply mode of the base station is that the POE switch is connected to the base station via an ethernet or powered by a battery.
Optionally, 3 of the base stations are spatially distributed in a right triangle.
Optionally, the network communication module adopts a W5500 chip.
Optionally, the wireless transceiver module and the radio frequency signal transceiver module both use DW1000 chips; the mobile node Tag also comprises an MSP430 singlechip, and the DW1000 radio frequency chip is electrically connected with the MSP430 singlechip.
Optionally, the microprocessor uses an STM32F103VCT6 single chip microcomputer as a main control chip.
According to the specific embodiment provided by the utility model, the utility model discloses the following technical effects: according to the TOF positioning system based on the improved bidirectional bilateral distance measurement, no matter how many base stations exist in the system, one target to be positioned is not divided into batches, the bidirectional bilateral distance measurement is carried out on three or more base stations at the same time, and one time of TOF two-dimensional positioning only needs one bidirectional bilateral distance measurement process, so that the channel occupation time and the positioning time delay can be reduced, the power consumption of the target to be positioned is reduced, the real-time positioning performance of the system is enhanced, and the positioning efficiency is improved. The TOF positioning system based on the improved bidirectional bilateral ranging has the characteristics of high transmission rate, low power consumption and simple and convenient measurement process.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic diagram of an improved two-way bilateral ranging based TOF positioning system of the present invention;
FIG. 2 is a schematic diagram of the internal structure of a base station of an improved two-way dual-side ranging-based TOF positioning system according to the present invention;
FIG. 3 is a schematic diagram of TOF positioning principle of the TOF positioning system based on the improved two-way bilateral ranging of the present invention;
FIG. 4 is a schematic diagram of a two-way two-sided ranging process of an improved two-way two-sided ranging based TOF positioning system of the present invention;
description of reference numerals: 1. a base station; 2. a mobile node Tag; 3. a POE switch; 4. an upper computer; 101. a microprocessor; 102. a wireless transceiver module; 103. a network communication module; 104. an antenna.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The utility model aims to provide a TOF positioning system based on improved bidirectional bilateral ranging.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
The TOF positioning system based on the improved two-way bilateral ranging provided by the utility model, as shown in fig. 1 to fig. 2, comprises: the system comprises a base station 1, a mobile node Tag2, an upper computer 4 and a POE switch 3; the base station 1 comprises a microprocessor 101, and a wireless transceiver module 102 and a network communication module 103 which are electrically connected with the microprocessor 101, wherein the wireless transceiver module 102 is connected with an antenna 104; the number of the base stations is at least 3, and the base stations are distributed around the Tag of the mobile node in a right triangle shape; the base station 1 may be powered by two ways: the first power supply mode is to supply power to the base station 1 through the POE switch 3, and an RJ45 interface is respectively reserved on the three base stations 1, and power supply to the base station 1 can be realized by connecting the RJ45 interfaces to the interface of the POE switch 3 through an ethernet cable; the second power supply mode is directly powered by a battery, the input end of the POE switch 3 is electrically connected to the output end of the network communication module 103, the output end of the POE switch 3 is electrically connected to the upper computer 4, and the POE switch 3 is used for transmitting data signals between the base station 1 and the upper computer 4 through an ethernet;
the mobile node Tag2 is directly powered by a battery, and positioning work can be started after the mobile node Tag2 and the base station 1 are powered; the mobile node Tag is provided with a radio frequency signal transceiving module and an MSP430 single chip microcomputer, and the DW1000 radio frequency chip is electrically connected with the MSP430 single chip microcomputer; the mobile node Tag2 sends a radio frequency signal to the base station 1 in the system through a radio frequency signal transmitting probe to perform bidirectional bilateral distance measurement, a delay time for replying the mobile node Tag2 is set in the base station 1, after the bidirectional bilateral distance measurement signal sent by the mobile node Tag2 is received by all the base stations 1 in the system, the bidirectional bilateral distance measurement signal is sequentially replied to the mobile node Tag2 according to the set delay time, the mobile node Tag2 receives the replies of all the base stations 1 and then transmits a second packet of bidirectional bilateral distance measurement signal, after each base station 1 receives the second packet of bidirectional bilateral distance measurement signal, the distance between each base station 1 and the mobile node Tag2 is obtained through calculation, all distance information is uploaded to the upper computer 4, finally, a TOF positioning equation set is constructed in the upper computer 4 by using positioning parameters, and a Taylor series calculation algorithm is used to complete the process of the TOF positioning equation set, finally, coordinates of the mobile node Tag2 are obtained, and the coordinate position of the mobile node Tag2 is displayed in real time only by designing a coordinate position display interface in the upper computer 4;
the wireless transceiving module 102 adopts a DW1000 chip developed by Decawave corporation, and the chip is an ultra-wideband wireless transceiving chip compatible with IEEE802.15.4-2011 protocols; the DW1000 IC provides a new method for a real-time positioning and indoor positioning system, a position-based service, a wireless sensor network and the Internet of things by providing accurate position sensing and communication; the DW1000 IC positions the object in the chamber to an accuracy of 10 centimeters, i.e., a travel speed of up to 5 meters per second; the positioning solving algorithm adopts an iterative solving method, the iteration number required for completing the solving process has uncertainty, and meanwhile, the real-time performance of TOF positioning is ensured; in order to meet the requirements of high efficiency and real-time performance of a TOF positioning system device based on improved bidirectional bilateral ranging and consider cost performance of the TOF positioning system device, the microprocessor 101 finally determines an STM32F103VCT6 single chip microcomputer, and the STM32F103VCT6 single chip microcomputer is a built-in single chip microcomputer
A 32-bit microprocessor with a core, a CPU with a maximum speed of 72MHz, a built-in high-speed memory (comprising 256KB flash memory and 48KB SRAM), rich enhanced I/O ports and peripherals connected with two APB buses, 3 12-bit ADCs, 4 universal 16-bit timers and 2 PWM timers, and a standard and advanced communication interface: 2I 2C, 3 SPI, 2I 2S, 1 SDIO, 3 USART, 1 USB and 1 CAN, designed based on appropriate Flash capacity and economical cost, and completely meets the requirement of the TOF positioning system device based on improved bidirectional bilateral ranging; the data transmission between the base station 1 and the upper computer 4 adopts a network communication mode, and because the number of the base stations 1 in the positioning system is not fixed, a network communication module 103 with high cost performance is selected, the network communication module 103 adopts a W5500 chip, the W5500 chip supports a high-speed standard 4-wire SPI interface to communicate with a host, and the SPI rate can reach 80MHz theoretically; an Ethernet data link layer (MAC) and a 10BaseT/100BaseTX Ethernet physical layer (PHY) are integrated inside the device, and automatic negotiation (10/100-Based full duplex/half duplex), a power-down mode and a network awakening function are supported;
the TOF positioning principle is as shown in fig. 3, the mobile node Tag2 is positioned by measuring the signal propagation time between three (or more) base stations 1 and the mobile node Tag2, so as to obtain the measured value of the distance from the mobile node Tag2 to three (or more) base stations 1, the distance measurement usually uses two-way bilateral distance measurement, the position of each base station 1 is taken as the center of a circle, the distance between the base station 1 and the target to be positioned is taken as the radius to draw a circle, and the target to be positioned is located at the intersection point of the three circles;
the process of the two-way bilateral ranging is shown in fig. 4, TOF positioning needs at least three base stations 1 to achieve the purpose of accurate positioning, and the three base stations 1 are respectively marked as a (x)1,y1)、B(x2,y2)、C(x3,y3) To obtain the distance between the target to be positioned and the base station 1From this, the time of flight of the radio signal between the object to be positioned and the base station 1 is first obtained, and the time of the distance measurement between the object to be positioned (x, y) and the base station A, B, C is denoted tp1、tp2、tp3And c represents the speed of light, the TOF positioning equation obtained by the method is as follows:
the mobile node Tag2 sends a ranging signal 1 and detects a sending time Tsp1, the ranging signal 1 sent by the mobile node Tag2 is received by the base station A, B, C, the base station A, B, C receives the ranging signal and measures signal arrival times TrpA1, TrpB1 and TrpC1, and after adopting the two-way ranging, the base station A, B, C respectively measures a set delay time TreplyA、TreplyB、TreplyCRespectively sending ranging reply signals after time delay
And detecting transmission times TspA1, TspB1, and TspC1, respectively, and the mobile node Tag2 receives the ranging reply signal of the base station A, B, C in sequence and detects signal arrival times TrpA, TrpB, and TrpC, so as to obtain the flight times t of the ranging signal between the mobile node Tag2 and the base station A, B, C, respectivelypA、tpB、tpCThen, there are:
2tpA＝TRoundpA*-TReplyA＝(TrpA-Tsp1)-(TspA1-TrpA1)
2tpB＝TRoundpB*-TReplyB＝(TrpB-Tsp1)-(TspB1-TrpB1)
2tpC＝TRoundpC*-TReplyC＝(TrpC-Tsp1)-(TspC1-TrpC1)
as shown in FIG. 4, the Mobile node Tag2 waits to receive the reply signal from the base station A, B, C
After that, the air conditioner is started to work,delay by a period of time TReplypIf the ranging signal 2 is recovered and the sending time Tsp2 is detected, then the two-way ranging can be completed, and the calculation formula of the flight time of the ranging signal between the mobile node Tag2 and the base station 1 is as follows:
4tpA＝2TrpA+TrpA1+TrpA2-Tsp1-2TspA1-Tsp2
4tpB＝2TrpB+TrpB1+TrpB2-Tsp1-2TspB1-Tsp2
4tpC＝2TrpC+TrpC1+TrpC2-Tsp1-2TspC1-Tsp2
therefore, the ranging result calculation formula is as follows:
the two-way bilateral distance measurement symmetric compensation principle can effectively eliminate the influence of the consistency error of the crystal oscillator on the distance measurement result, so that the communication node can still obtain higher time measurement precision under the condition of not adopting a high-precision crystal oscillator; according to the fact that three base stations 1 serve as a standard TOF positioning unit, three base stations A, B, C are respectively placed at three corners of a space, the base station 1 and the mobile node Tag2 can be connected with the POE switch 3 through Ethernet cables, power is supplied to the base station 1, and meanwhile a lithium battery with a small size serves as a power supply source of the mobile node Tag 2; the upper computer 4 is also connected to the interface of the POE switch 3 through an ethernet cable, the mobile node Tag2 performs bidirectional bilateral ranging with the base station 1 in the positioning system, the wireless transceiver module 102 in the base station 1 transmits the received two-way bilateral ranging signal to the microprocessor 101, the microprocessor 101 calculates the flight time of the two-way bilateral ranging signal, and calculates the distances between 3 of the base stations 1 and the mobile node Tag2 based on the time of flight, the network communication module 104 sends the distance data to the upper computer 4, the upper computer 4 draws a circle by taking 3 base stations 1 as the center of a circle and taking the distance between 3 base stations 1 and a mobile node Tag2 as the radius, the intersection point of the three circles is the position of the mobile node Tag2, and the upper computer 4 displays the coordinate value and the motion track of the mobile node Tag2 relative to the base station 1 in real time.
According to the TOF positioning system based on the improved bidirectional bilateral distance measurement, no matter how many base stations exist in the system, one object to be positioned is not divided into batches, and the bidirectional bilateral distance measurement is carried out on three or more base stations at the same time. The TOF positioning system based on the improved bidirectional bilateral ranging has the characteristics of high transmission rate, low power consumption and simple and convenient measurement process.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the utility model.
Claims (6)
1. A TOF positioning system based on improved two-way bilateral ranging, comprising: a base station, a mobile node Tag and an upper computer; the base station comprises a microprocessor, a wireless transceiver module and a network communication module, wherein the wireless transceiver module and the network communication module are electrically connected with the microprocessor, the wireless transceiver module is used for transceiving radio frequency signals with the mobile node Tag, and the network communication module is used for establishing communication connection with an upper computer; the number of the base stations is 3, and the base stations are distributed around the Tag of the mobile node in a triangular shape; the mobile node Tag is provided with a radio frequency signal receiving and transmitting module and is used for transmitting first bidirectional bilateral distance measurement radio frequency signals to 3 base stations at the same time; the wireless transceiver modules of the 3 base stations are used for sending the received first two-way bilateral ranging signals to the microprocessor; the microprocessors of the 3 base stations are used for sequentially replying to the mobile node Tag according to set delay time, the mobile node Tag transmits a second two-way bilateral distance measurement radio frequency signal after receiving the replies of all the base stations, and after each base station receives the second two-way bilateral distance measurement radio frequency signal, the microprocessor calculates the distance between the microprocessor and the mobile node Tag and uploads all distance information to the upper computer through the network communication module to complete one-time positioning; the wireless transceiving module and the radio frequency signal transceiving module both adopt DW1000 chips; the mobile node Tag also comprises an MSP430 singlechip, and the DW1000 radio frequency chip is electrically connected with the MSP430 singlechip.
2. The TOF positioning system according to claim 1, wherein said system further comprises a POE switch, wherein the input end of said POE switch is electrically connected to the output end of said network communication module, the output end of said POE switch is electrically connected to said upper computer, and said POE switch is configured to transmit data signals between said base station and the upper computer through ethernet.
3. The system of claim 2, wherein the base station is powered by ethernet to the POE switch or by battery.
4. The system of claim 1, wherein 3 of said base stations are spatially distributed in right triangles.
5. The system of claim 1, wherein the network communication module employs a W5500 chip.
6. The TOF positioning system based on the improved two-way bilateral ranging according to claim 1, wherein the microprocessor uses an STM32F103VCT6 single chip microcomputer as a main control chip.
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