KR101073298B1 - a fast ToA position estimation method based on MHP pulse - Google Patents
a fast ToA position estimation method based on MHP pulse Download PDFInfo
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- KR101073298B1 KR101073298B1 KR1020100015072A KR20100015072A KR101073298B1 KR 101073298 B1 KR101073298 B1 KR 101073298B1 KR 1020100015072 A KR1020100015072 A KR 1020100015072A KR 20100015072 A KR20100015072 A KR 20100015072A KR 101073298 B1 KR101073298 B1 KR 101073298B1
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Abstract
A fast ToA position estimation method using an MHP pulse is disclosed. The position estimation method includes transmitting MHP pulses of different orders from a target node to three or more known reference nodes, receiving MHP pulses from the three or more known reference nodes, respectively, Transmitting, by a reference node, MHP pulses of different orders after a predetermined response time to the MHP pulse, and estimating a distance between the target node and the reference node after receiving each MHP pulse at the target node; And estimating a position of a target using the estimated distance between the target node and each reference node. The position estimation method using MHP pulses uses processing time by using MHP pulses that are orthogonal to the pulses of each order to improve the calculation time of ToA, which is known to be more accurate among time-based estimation techniques, compared to TDoA. Can be reduced.
Description
Embodiments of the present invention relate to a Fast ToA (Time of Arrival) position estimation method using an MHP pulse, and more particularly, to a ToA estimation method as a technique for estimating the position of a target node based on time.
In recent years, the ubiquitous environment where location-based services have developed rapidly in the area of providing various services to individual users, such as home automation, centered on sensor networks, and the user's safety and understanding of the target's movement path are emerging. It's an issue, and location awareness skills are needed. Among various location estimation systems in the room, UWB system is used as a very short impulse signal, and thus has better precision in distance measurement.
Ranging is a technique for estimating distance information between a reference node and a target node, which is a base technology for various position estimation to obtain accurate position information of a target node. It is classified into distance recognition technology through distance recognition and distance recognition technology through bidirectional transmission. Such distance-aware technologies include Angle of Arrival (AoA) based on the angle of the received signal, ToA and TDoA based on time, and Received Signal Strength Indicator (RSSI) using the sensitivity of the received signal. AoA is an algorithm that measures the angle using the direction angle of the signal sent by the target node, estimates the position of the target node by calculating the intersection point of the direction angle between each reference node and the target node, RSSI is a variety of predefined points We estimate the signal strengths of Es in the sample collection, measure the attenuation of the signal generated when each reference node receives the transmission signal of the target node, and map it with the sample through the stochastic method to estimate the position. Way.
The most widely used method of distance recognition technology is to measure the transmission time of radio waves. ToA and TDoA methods are used. ToA uses triangulation to calculate the position of the target node by measuring the time transmitted between each reference node whose position is known and the target node to which the position is to be measured. The distance from the reference node to the target node can be calculated by multiplying an appropriate constant according to the type of signal, and the intersection of the circles whose radius is the distance between the reference node and the target node becomes the position of the target node.
The position estimation method of the ToA method uses the coordinates of the reference nodes A, B, and C whose positions are fixed and the distance between the target node which is a moving object. Using the coordinates (x 1 , y 1 ), (x 2 , y 2 ), (x 3 , y 3 ) of the reference nodes A, B, and C and D 1 , D 2 , and D 3 , the distances between the target nodes To get the coordinates of the target node.
[Equation 1]
The algorithm of the position measurement technique using the ToA method includes a direct method (DM), a least square (LS), and a spherical interpolation (SI) algorithm that directly calculate a circle equation.
[Equation 2]
here
&Quot; (3) "
As such, when the position estimation is performed using the conventional ToA method, a long position estimation time is generated due to the time taken by the signal to round each reference node, and thus the number of reference nodes increases or increases in proportion to the position estimation time.
The position estimation of the TDoA method is an algorithm that finds the position of a target node on a hyperbola that focuses on the reference node by measuring a difference between arrival times of signals transmitted by the target node and two or more reference nodes. If three or more reference nodes exist, the two-dimensional hyperbola obtained from the two nodes can be used to find the two-dimensional position of the target. In the case of four or more reference nodes, three-dimensional position estimation is possible.
&Quot; (4) "
Since the TDoA method does not require time synchronization between the reference node and the target node, the algorithm is simple to implement, but the precision of signal arrival time is required, which causes delays in signal transmission due to multipath fading and invisible effects.
Also, since the equation obtained by TDoA is nonlinear, the complexity of using DM algorithm like ToA increases. Therefore, in order to solve the problem of nonlinearity, the linearization is performed using the Taylor series of
The distance between the reference node and the target node
&Quot; (5) "
[Equation 6]
One embodiment of the present invention provides a method for reducing a relatively long position estimation time compared to a TDoA generated at the time of position estimation using the ToA method.
In addition, the present invention provides a method for greatly reducing the position estimation time of the ToA method by using orthogonal pulses capable of reciprocating each reference node at a time to reduce the position estimation time.
According to an embodiment of the present invention, a method of estimating a position includes transmitting MHP pulses of different orders from a target node to three or more known reference nodes, and each of the MHPs from the three or more known reference nodes. Receiving a pulse, transmitting MHP pulses of different orders after a predetermined response time to the MHP pulse at each reference node, and receiving the MHP pulse at the target node after receiving the MHP pulse at the target node. Estimating a distance of a reference node and estimating a position of a target using the estimated distance between the target node and each reference node.
According to an aspect of the present invention, the step of transmitting MHP pulses of different orders after the constant response time for the MHP pulse in each reference node is a zero-order MHP after the constant response time for the MHP pulse in the first reference node Pulse can be sent.
According to an aspect of the present invention, the step of transmitting the MHP pulses of different orders after the constant response time for the MHP pulse in each reference node is the first after a constant response time for the MHP pulse in the second reference node MHP pulses can be sent.
According to an aspect of the present invention, the step of transmitting the MHP pulses of different orders after the constant response time for the MHP pulse in each reference node is secondary after a constant response time for the MHP pulse in a third reference node MHP pulses can be sent.
According to an aspect of the present invention, the step of estimating the distance between the target node and the reference node after receiving the respective MHP pulses at the target node may include pulses of different orders from the reference node. The distance between the target node and the reference node may be estimated according to the ToA method by only one transmission and reception by distinguishing which reference node is a signal transmitted to the target node.
According to an embodiment of the present invention, the location estimation time can be estimated more quickly by greatly reducing the long position estimation time generated by reciprocating the reference node with one signal in the conventional ToA scheme.
In addition, according to an embodiment of the present invention, since the position of the moving target node can be estimated more frequently than the conventional ToA method due to the greatly reduced position estimation time, the position can be determined more precisely.
1 is a view showing the operation flow of the ToA position estimation method using the MHP pulse according to an embodiment of the present invention.
FIG. 2 is a diagram for describing a method of measuring a distance between three reference nodes and a target node using an MHP pulse and estimating the position of the target node.
3 is a view for explaining a process of transmitting and receiving a signal between a reference node and a target node in the present invention.
Figure 4 is a graph showing a comparison of the position estimation time of the ToA method and the existing ToA, TDoA using the MHP pulse in the present invention.
Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. However, the present invention is not limited or limited by the embodiments. Like reference numerals in the drawings denote like elements.
An embodiment of the present invention assumes a method of measuring a location based on time, that is, a method for ToA and TDoA, among methods for estimating a location of a target node. Although the conventional ToA method is known to be more accurate in position estimation than the TDoA method, the position estimation time is very slow compared to TDoA. In addition, as the reference node increases, the position estimation time increases exponentially. The present invention proposes a ToA method using an MHP pulse in order to reduce the disadvantages of the ToA method.
Various pulses used in the UWB system are modeled to have no DC component in consideration of the characteristics of the transmitting and receiving antennas. Among them, the most commonly used pulses are Gaussian monopulse, but in the present invention, MHP pulses having orthogonality between orders are used. It was.
Hermite modulation has been used to reveal the spatiotemporal relationship in image processing, and is widely used in mathematics and physics as the basis of Hermite differential equations.
[Equation 7]
Since Hermite polynomial does not have orthogonality between orders, MHP is modified to have orthogonality between orders and is defined as Equation (8).
[Equation 8]
Where n is the pulse order.
In the present invention, ToA estimation is performed using the MHP pulse defined above.
The present invention transmits three MHP pulses having orthogonality from the target node to each reference node, and receives the pulses of different orders from the reference node to distinguish which signal is transmitted to the target node at one reference node. ToA estimation can be done by sending and receiving.
1 is a view showing the operation flow of the ToA position estimation method using the MHP pulse according to an embodiment of the present invention.
Referring to FIG. 1, the target node transmits MHP pulses of different orders to the reference node (110).
Reference node A receives the MHP pulse transmitted from the target node (121), reference node B receives the MHP pulse transmitted from the target node (122), and reference node C receives the MHP pulse transmitted from the target node. Receive (123). That is, the reference nodes A, B, and C receive MHP pulses of different orders transmitted from the target node (121, 122, 123).
After a certain response time, the reference node A transmits a zeroth order MHP pulse (131), the reference node B transmits a first order MHP pulse (132), and the reference node C transmits a second order MHP pulse (133). ). That is, after a certain response time, the reference nodes A, B, and C transmit MHP pulses of different orders to the target node (131, 132, and 133).
The target node estimates a distance between the target node and the reference nodes A, B, and C after receiving each MHP pulse (140).
The target node estimates the position of the target using the estimated distance between the target node and each reference node A, B, or C (150).
As described above, the position estimation method according to the present invention can reduce a relatively long position estimation time compared to the TDoA generated at the time of position estimation using the ToA method.
In addition, the position estimation method according to the present invention can significantly reduce the position estimation time of the ToA method by using orthogonal pulses capable of reciprocating each reference node at a time to reduce the position estimation time.
FIG. 2 is a diagram for describing a method of measuring a distance between three reference nodes and a target node using MHP pulses, and estimating a position of the target node.
Referring to FIG. 2, after transmitting orthogonal pulses having three different orders from the target node, each reference node retransmits different pulses to the target node.
3 is a view for explaining a process of transmitting and receiving a signal between a reference node and a target node in the present invention.
Referring to FIG. 3, MHP pulses transmitted from a target node round each reference node like the ToA method, but are different signals, so each signal arrives at each reference node after t PA , t PB , t PC , and so on.
As described above, the present invention can estimate the position more quickly by greatly reducing the long position estimation time generated by reciprocating the reference node with one signal in the conventional ToA scheme.
In addition, the present invention can estimate the position of the moving target node more frequently than the conventional ToA method due to the greatly reduced position estimation time, so that the position can be determined more precisely.
4 is a graph showing the position estimation time of the ToA method using the MHP proposed by the present invention, and the position estimation time of the conventional ToA method and the TDoA method.
Referring to FIG. 4, it can be seen that in the conventional ToA method, as the number of reference nodes increases, a calculation time increases significantly as signals travel through each reference node. On the other hand, the ToA method using MHP pulses has a longer calculation time than the TDoA due to the bidirectional transmission method, but the result has almost constant calculation time regardless of the increase of the reference node.
As described above, the present invention has been described by specific embodiments such as specific components and the like. For those skilled in the art to which the present invention pertains, various modifications and variations are possible.
Therefore, the spirit of the present invention should not be limited to the described embodiments, and all of the equivalents or equivalents of the claims as well as the claims to be described later will belong to the scope of the present invention. .
Claims (3)
Receiving MHP pulses at each of the three or more previously known reference nodes;
Transmitting MHP pulses of different orders at each reference node after a predetermined response time to the MHP pulses;
Estimating a distance between the target node and the reference node after receiving the respective MHP pulses at the target node; And
Estimating a position of a target using the estimated distance between the target node and each reference node
Including, location estimation method.
Transmitting MHP pulses of different orders after each response node with a predetermined response time to the MHP pulse,
Transmit a zeroth order MHP pulse after a predetermined response time to the MHP pulse at a first reference node,
And transmitting a first MHP pulse after a constant response time for the MHP pulse at a second reference node, and sending a second MHP pulse after the constant response time for the MHP pulse at a third reference node.
Estimating a distance between the target node and the reference node after receiving each MHP pulse at the target node,
The target node receives pulses of different orders from the reference node, and from which reference node the signal is transmitted toward the target node, distinguishes which signal is transmitted to the target node with only one transmission and reception according to the ToA method according to the ToA method. A location estimation method for estimating the distance between nodes.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106772249A (en) * | 2016-12-28 | 2017-05-31 | 上海百芝龙网络科技有限公司 | A kind of intelligent home control system based on acoustic location |
| CN112558060A (en) * | 2020-11-12 | 2021-03-26 | 深圳市汇顶科技股份有限公司 | Ranging method, ranging system, ranging chip, electronic device and readable storage medium |
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| KR101427025B1 (en) * | 2013-01-08 | 2014-08-06 | 순천대학교 산학협력단 | Method of RGI Localization |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO1999046880A1 (en) | 1998-03-13 | 1999-09-16 | Motorola Inc. | Method and apparatus for mobile station location within a communication system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO1999046880A1 (en) | 1998-03-13 | 1999-09-16 | Motorola Inc. | Method and apparatus for mobile station location within a communication system |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106772249A (en) * | 2016-12-28 | 2017-05-31 | 上海百芝龙网络科技有限公司 | A kind of intelligent home control system based on acoustic location |
| CN112558060A (en) * | 2020-11-12 | 2021-03-26 | 深圳市汇顶科技股份有限公司 | Ranging method, ranging system, ranging chip, electronic device and readable storage medium |
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