KR101092209B1

KR101092209B1 - IR-UWB Location Positioning Method and System with Wireless Synchronization

Info

Publication number: KR101092209B1
Application number: KR1020090043000A
Authority: KR
Inventors: 강지명; 이순우; 박영진; 김용화; 김관호
Original assignee: 한국전기연구원
Priority date: 2009-05-18
Filing date: 2009-05-18
Publication date: 2011-12-08
Also published as: KR20100123988A

Abstract

The present invention is an ultra-wideband wireless impulse communication using an impulse signal of less than nano-sec in the time domain to synchronize the beacons to increase the accuracy of positioning according to the TDoA (Time Difference of Arrival) scheme It relates to a wireless positioning method and system that can be implemented. In the wireless positioning method according to the present invention, a master beacon transmits a first sync pulse and a second sync pulse at an operation cycle of a positioning lock clock of the master beacon, and at least one slave beacon and the first sync pulse and the second sync pulse. After synchronizing the positioning lock clock of the slave beacon with the positioning lock clock of the master beacon using the receiving time difference of the sync pulse, based on the receiving time difference of tag pulses received in each of the master beacon and the at least one slave beacon. The position of the tag can be calculated.

Ultra Wideband, Radiodetermination, Time Difference of Arrival (TDoA), Synchronization

Description

IR-UWB Location Positioning Method and System with Wireless Synchronization

The present invention relates to an impulse radio-ultra wide band (IR-UWB) wireless positioning method and system, and more particularly, to a beacon (Ultra wide band wireless impulse communication using an impulse signal of nano-sec or less in the time domain). The present invention relates to a wireless positioning method and system that can be easily implemented by increasing the accuracy of positioning according to a time difference of arrival (TDoA) method by synchronizing between beacons.

Ultra-wideband wireless impulse communication (IR-UWB) is a short-range wireless communication technology characterized by using short pulses of nano-seconds or less without using a carrier. Since there is no continuous transmission of energy, ultra-low power communication is possible, thereby increasing its use in sensor networks and high-resolution wireless positioning systems. Recently, the FCC (Federal Communications Commission) permits the use of ultra-wideband communication, and in Korea, the use of the ultra-wideband frequency in 2006 has been actively studied. In Korea, research on low power ultra-wideband communication scheme and chipset implementation has been conducted. Among them, the IR-UWB wireless positioning system has a lot of researches and developments under the goal of practically aiming to support resolutions up to 30cm while having a range of several tens of meters, and this positioning technology is also adopted as a standard in IEEE 802.15.4a. It became. Such a wireless positioning system can be usefully used for tracking the position of a sensor (or tag) in a sensor network.

Conventional radio positioning algorithms are largely divided into a time of arrival (ToA) method, a time difference of arrival (TDoA) method, and an angle of arrival (AoA) method. ToA and TDoA are the methods adopted by the IEEE 802.15.4a standard.

ToA method is basically a method of estimating the distance between two nodes by using two way ranging (TWR) between two nodes. The TWR is performed by a tag and a few beacons to estimate the position of the tag. . TWR is a method in which a node transmits a pulse after one node transmits a pulse, and then sends a pulse to calculate the round trip time of the pulse between two nodes, and then calculates the distance between nodes except the processing time of the node. to be. ToA method using this TWR has a problem that the tag consumes a lot of energy and the tag is complicated.

In the TDoA method, assuming that the beacons are synchronized, the time difference between the pulses transmitted by the tags arriving at each beacon is measured. Using the time difference that the pulses arrive at each beacon, we can draw a hyperbola that focuses on the beacons, and when we find the intersection of these hyperbolas, we can calculate the position of the tag. The TDoA method is generally considered to have higher accuracy than the ToA method, but there is a considerable difficulty in practical use in that synchronization between beacons is required.

The AoA method is to determine the angle of the pulse arriving from the tag in each beacon, it is difficult to use the antenna to determine the angle, this method is not practical at this time.

Algorithms that develop these basic positioning algorithms are also being developed. For example, instead of three beacons each performing a TWR in the ToA system, divide the beacon into a master and a slave so that only the master beacon and tag perform the TWR, and the slave beacons observe this TWR process. There is an indirect ToA method. As shown in FIG. 1, the slave beacon observes the TWR process (process (1) transmitted by the master and process (2) transmitted by the tag) performed by the master beacon and the tag. Since the distance between the slave beacon and the master beacon is already known and the distance between the master beacon and the tag is also calculated from the result of the TWR process, this information can be used to calculate the distance between the slave beacon and the tag. However, this algorithm has a disadvantage in that the complexity of the tag and the energy consumption of the tag are high because the tag must transmit and receive.

In addition, there is an indirect TDoA method. The indirect TDoA method calculates the position using the TDoA method, but uses a method of measuring the time difference in an indirect manner. As shown in Fig. 2, after the tag transmits a pulse (1), the master beacon transmits a pulse (2), and in other beacons, the time difference between the pulse transmitted by the tag and the pulse transmitted by the master beacon is measured. . By knowing the distance between the master beacon and the slave beacons, the master beacon and the slave beacons can calculate the difference in the arrival time of the pulses sent by the tag, which can be used to calculate the position of the tag.

Since these indirect algorithms use an indirect positioning method of measuring the time passing through a tag or a beacon once, a lot of errors may occur due to the effect of overlapping errors generated when receiving a pulse. In addition, pulse reflection logic that retransmits another pulse within a predetermined short time after receiving the pulse should be implemented, which may be a high cost factor of the node.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-described problems, and an object of the present invention is to provide a new time difference of arrival, which overcomes time constraints in reflection logic for transmitting and receiving positioning errors or pulses according to the assumption of perfect synchronization. By applying the method, the ultra-wideband wireless impulse communication using the impulse signal of nano-sec or less in the time domain is synchronized to beacons so as to increase the accuracy of TDoA positioning and make it practical and easy. To provide a wireless positioning method and system that can be implemented.

First, to summarize the features of the present invention, the wireless positioning method according to an aspect of the present invention for achieving the above object, the first synchronization pulse and the second synchronization pulse in the operation period of the positioning synchronization clock of the master beacon in the master beacon Transmits and synchronizes the positioning lock clock of the slave beacon with the positioning lock clock of the master beacon using at least one slave beacon receiving time difference between the first sync pulse and the second sync pulse; And calculating the position of the corresponding tag based on the difference in the reception time of the tag pulses received from each of the at least one slave beacons.

The master beacon, the at least one slave beacon, or the tag may use the first sync pulse, the second sync pulse, or the tag pulses of nano-seconds or less according to a short range wireless communication scheme.

At the slave beacon, a time point for activating the positioning beacon clock of the slave beacon is obtained by subtracting the pulse transmission time calculated using the distance from the master beacon from the reception time of the first synchronization pulse or the second synchronization pulse. Synchronize.

In the slave beacon, the difference between the reception time difference between the first sync pulse and the second sync pulse and the operation period of the positioning synchronizer clock of the slave beacon is compared to equal the difference in the reception time in the case of frequency offset. Correct the operation period of the positioning lock clock of the slave beacons.

In each of the master beacon and the at least one slave beacon, using the oscillating means for generating a pulse of the reference oscillation frequency, measuring the number of times the pulse of the reference oscillation frequency is activated after its positioning clock is most recently activated. In this way, the reception time of the corresponding tag pulse is measured.

In addition, the wireless positioning system according to another aspect of the present invention, the master beacon for transmitting the first sync pulse and the second sync pulse in the operation period of the first positioning clock clock; At least one slave beacon for synchronizing a second positioning lock clock with the first positioning lock clock by using a difference in receiving time between the first sync pulse and the second sync pulse; And position calculating means for calculating a position of a corresponding tag based on a difference in reception time of tag pulses received from each of the master beacon and the slave beacon.

As described above, according to the wireless positioning method and system according to the present invention, the ultra-wideband wireless impulse communication using the impulse signal of less than nano-second in the time domain by positioning in synchronization between beacons (beacons) In addition, the accuracy of TDoA positioning can be improved and practically implemented easily. In the conventional method, it is possible to overcome positioning errors or time constraints in reflection logic for transmitting and receiving pulses due to the assumption of perfect synchronization.

In particular, according to the wireless positioning method and system according to the present invention, since only a pulse transmission and synchronization process in a beacon is performed and positioning is performed on a pulse from a tag, each node can be made with low cost and low power, and a structure can be simplified. Can be.

In order to fully understand the present invention, the operational advantages of the present invention, and the objects achieved by the practice of the present invention, reference should be made to the accompanying drawings which illustrate preferred embodiments of the present invention and the contents described in the accompanying drawings.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

3 is a diagram illustrating a TDoA positioning method of an impulse radio-ultra wide band (IR-UWB) wireless positioning system according to an embodiment of the present invention.

Referring to FIG. 3, an IR-UWB wireless positioning system according to an embodiment of the present invention includes a master beacon for performing communication according to a short range wireless communication method (for example, Bluetooth, Zigbee, RFID communication, etc.) and each other. At least one slave beacon. In addition, the master beacon and the slave beacon may record the information on the pulse reception time from the tag and transmit to the position calculation means (not shown), such a position calculation means may be provided inside the master beacon or slave beacons, Or another control system in communication with the master beacon or slave beacon. Hereinafter, a description will be given of two slave beacons, for example, but the present invention is not limited thereto. The total number of slave beacons may be determined according to an application in the corresponding field such as 3, 4, 5, etc.

In a wireless positioning system according to an embodiment of the present invention, the distance between beacons is already known and each beacon is operated by activating other pulses required by using a 1 GHz pulse as a reference oscillation frequency using an oscillating means for generating a 1 GHz pulse. Assume that you do. The 1 GHz reference oscillation frequency is the minimum system operating frequency to support a positioning resolution of 30 cm, and the system can be operated based on a higher oscillation frequency for higher positioning resolution. Master beacons, slave beacons, or tags also communicate using sub-nano-second pulses according to near field communication.

In the TDoA positioning method according to the present invention, a positioning process of calculating a position of a corresponding tag based on a difference in reception time of tag pulses received by a master beacon and a slave beacon is performed. If necessary, synchronization between the master beacon and the slave beacon is performed. Position synchronizer clock synchronization process is required.

First, in the positioning process, similarly to the general TDoA algorithm, when the tag pulse 1 is transmitted from the tag, each of the master beacon and the slave beacon records the reception time of the tag pulse 1. At this time, the recording of the reception time is made based on the SynchClock which each beacon independently has. For example, the positioning synchronizer clock is a clock having an operation period that is activated once when a pulse of the 1 GHz reference oscillation frequency is activated N times. The recording of the reception time of the tag pulse 1 is performed by the positioning synchronizer clock most recently. This is accomplished by measuring the number of times the 1 GHz pulse is activated based on the activated time.

In IEEE 802.15.4a, since the positioning pulse is included in the packet, the measurement time of the packet should be measured in the unit of time that the entire packet can be received. It must have a size that covers the entire gong packet. Currently, IEEE 802.15.4a expects a time measured by TWR up to 5ms, and in the present invention, it is assumed that the positioning synchronizer clock has an operation period of 100 μs as the shortest packet is used. In practice, such a positioning process may be performed after the following positioning clock lock synchronization process.

Next, in the positioning lock clock synchronization process, when there is a frequency offset from the slave beacon to the master beacon, the operation cycle of the positioning beacon clock of the slave beacon is corrected according to the operation cycle of the positioning beacon clock of the master beacon. do.

In the present invention, a method for correcting such a frequency offset is based on a digital tracking loop. For example, the master beacon transmits the first sync pulse 2 and the second sync pulse 3, respectively, in an operation period (eg, 100 μs) of its positioning lock clock. The slave beacons then record the difference in the reception time of these two pulses. At this time, the slave beacons are the master beacon and the frequency offset, if the difference in the reception time of the first sync pulse 2 and the second sync pulse 3 is not the same compared to the positioning synchronization clock period of the slave beacon, this information Use to correct the frequency offset with the master beacon. For example, the slave beacons may correct the operation period of their positioning lock clock to be equal to the difference in the reception time of the first sync pulse 2 and the second sync pulse 3. At this point, the operation period of the positioning beacon clock of the slave beacons is changed to N + α instead of N 1 GHz pulses (eg 100 μs). The positioning lock clock synchronization process of matching the frequency offset between the beacons may be performed when the frequency offset is severe as described above, and may be omitted if the accuracy of the positioning lock clock of the slave beacons is high. This positioning clock clock synchronization process can be applied to correct the frequency offset of algorithms other than TDoA.

In addition, in the positioning synchronization clock synchronization process, in addition to correcting the frequency offset as described above, the slave beacon recycles the first synchronization pulse 2 or the second synchronization pulse 3 as described above, and thus, the known distance from the master beacon. By taking this time into consideration, it is possible to calculate and reflect the active time of the positioning beacon clock of the master beacon. That is, the slave beacon may synchronize its positioning lock clock to be active at the same time as the positioning lock clock of the master beacon.

For positioning of the tag, the positioning synchronization clock synchronization process as described above is essential. In the case where the positioning process as described above is performed without the positioning synchronization clock synchronization process, the reception time of the tag pulses measured by the master beacon and the slave beacons is measured based on an arbitrary time, and thus is directly applied to the positioning. This is because the accuracy of the positioning is poor.

That is, the slave beacon is corrected so that its operation period is the same as the master beacon based on the difference in the reception time of the first sync pulse 2 and the second sync pulse 3 as described above in the positioning lock clock synchronization process. By synchronizing the active timing of its positioning lock clock by recycling the sync pulse 2 or the second sync pulse 3, in the positioning process, the predetermined position calculating means receives the tag pulses received by the master beacon and the slave beacon respectively. The position of the tag can be calculated based on the time difference. For example, the reception time difference of the tag pulses can be predicted to be located at a predetermined distance, converted into distances according to a predetermined scheme, and a hyperbola for the predicted position pulses of the tag can be drawn by focusing each beacon. . In this case, the position of the tag may be calculated by finding the intersection point of two or more hyperbolas formed by the combination of the master beacon and the slave beacons.

As described above, in the wireless positioning method according to the present invention, after receiving the tag pulse 1 from the master beacon, the pulse reflection after a predetermined time through the pulse reflection logic is not performed. In the conventional indirect TDoA, the slave beacon measures the time when the pulse 1 from the tag is turned on via the master beacon, but in the present invention, the synchronization pulse (2/3) transmitted from the master beacon to the slave beacon is mastered. Beacons are pulses that are generated and transmitted independently, and the slave beacons synchronize only by considering the distance from the master beacon, but do not measure and synchronize until the time starting from the tag and passing through another node (eg, the master beacon).

Therefore, the radiolocation system according to the present invention can reduce the implementation complexity and can be implemented at low power, and can also ensure the accuracy of positioning.

The complexity of the system is closely related to the price, and the complexity of the tag becomes the most important factor rather than the complexity of the beacon. Because beacons exist at a fixed point, tags that communicate with the beacons (small tags or decorations that can be attached to home appliances, furniture, etc.) in the local area may be dozens or hundreds of at the same time. to be. In terms of the complexity of the tag, it can be made much simpler if the tag only transmits. This is because the transmitter is much simpler and less expensive than the receiver. In addition, the presence or absence of pulse reflection logic with a fixed processing time also affects the complexity. Pulse reflection logic is relatively easy to implement when sending a pulse after receiving one pulse, but in real systems that need to send and receive packets, the pulse reflection logic does not work as a single pulse. From time to several ms, fixing the analysis and processing time of the pulses is even more difficult.

Similarly in terms of energy consumption, how much energy the tag consumes is an important factor. In other words, the tag only transmits once, so that the system in which positioning is completed consumes the least energy. In the present invention, the total number of pulse transmissions required for positioning is three, but the tag is transmitted only once. In an environment where frequency offset correction is not necessary, as shown in Fig. 4, it is possible to transmit a total of two pulses (a pulse for transmitting an active point of synchronization of a positioning clock and a pulse transmitted by a tag). Thereafter, it may be possible to transmit one pulse for a predetermined time.

Finally, in terms of the accuracy of positioning, it can be divided into the following two. First, since the positioning synchronization clock of each beacon may have a different frequency offset characteristic and accordingly, even if a good algorithm is applied, it causes a positioning error. Accordingly, the positioning error clock is almost reduced according to the frequency offset correction method as in the present invention. Positioning accuracy can be improved.

In addition, secondly, an error may occur according to a reception accuracy of a line of sight (LoS) pulse. While the best assumption is to fully receive the LoS signal and measure the reception time, it is difficult to see the position of the LoS signal perfectly in the RF (Radio Frequency) module, and the part that detects the LoS signal is still more researched. need. Therefore, in the simple pulse receiving system that estimates the position of the LoS signal by the method of acknowledging the pulse when the energy is above a certain level, the frequency of reception of the pulse in the positioning algorithm is closely related to the accuracy. In the positioning algorithm according to the present invention, assuming that frequency offset correction is not performed, all five reception algorithms should be performed as shown in FIG. 4. TDoA with wired synchronization is possible by receiving 3 pulses, and ToA requires 6 pulses in all. In the present invention, if the clock environment is not bad in the positioning synchronization clock synchronization process related to the synchronization between beacons, there is no need to perform every time.

Another important factor influencing reception accuracy is the case of overlapping pulse reception in information acquisition. That is, when receiving a pulse that is transmitted again through another node when measuring the time, the error related to the timing of receiving the pulse may be increased because the time after the reception of the packet occurs in succession is measured. In other words, ToA or indirect ToA using these algorithms because the measurement time includes two pulse receptions, so that the information used in calculating the position may contain a larger error than measuring one pulse reception time. In the indirect TDoA method, the pulse reception error can be amplified. Of course, ToA can overcome this weakness by collecting more data because TWR is performed for each beacon, but in other cases, the effect of LoS measurement error overlaps and can cause a large error.

That is, according to the present invention, 1) there is no pulse reflection logic to transmit after a certain time after receiving the pulse, and since it does not synchronize by wire, it can be made simply at low price. Also, 2) measurement errors are reduced because no pulses are received via other beacons or tags. And, 3) the total number of transmit and receive pulses is not much compared with other methods, so that power is not consumed much.

5 is a graph illustrating a relationship between an error range and a cumulative probability for explaining positioning accuracy of a TDoA positioning method according to an embodiment of the present invention.

Simulation results for the distribution of the positioning error as shown in FIG. 5 are results of selecting the better performance between the frequency offset correction and the other cases with respect to each algorithm. The channel is assumed to be channel model 1 of IEEE 802.15.4a, and the clock frequency offset is assumed to occur randomly within a maximum of 50 ppm. As expected, TDoA systems perform well, assuming they are perfectly motivated. Comparing the performance of the method according to the present invention (TDoA with wireless sync) and ToA (ToA with perfect sync), the method of the present invention shows a better performance by 50% within an error of 50 cm, and then the ToA is better. It shows the performance. Considering the simple tag and low energy consumption in the present invention, the performance difference with ToA is not large, but the method of the present invention requires much less accuracy than the 50 cm required in the UWB positioning system because the large amount of error is concentrated. In terms of performance, better performance can be obtained through sample selection. Two algorithms using indirect time measurement (Indirect ToA, Indirect TDoA) show that the performance is somewhat lower due to the overlapping effect of pulse reception error.

Wireless positioning system using IR-UWB according to an embodiment of the present invention as described above can be widely used in applications such as asset management or target tracking through the accurate positioning of the tag.

As described above, optimal embodiments have been disclosed in the drawings and the specification. Although specific terms have been used herein, they are used only for the purpose of describing the present invention and are not intended to limit the scope of the invention as defined in the claims or the claims. Therefore, those skilled in the art will understand that various modifications and equivalent other embodiments are possible from this. Therefore, the true technical protection scope of the present invention will be defined by the technical spirit of the appended claims.

1 is a view for explaining a general indirect ToA positioning method.

2 is a diagram illustrating a general indirect TDoA positioning method.

3 is a view for explaining a TDoA positioning method of a wireless positioning system according to an embodiment of the present invention.

4 is a comparison table of the number of pulses required in each positioning method including a wireless positioning method according to an embodiment of the present invention.

Claims

In the master beacon transmits the first sync pulse and the second sync pulse in the operation period of the positioning beacon clock of the master beacon,

After synchronizing the positioning lock clock of the slave beacon with the positioning lock clock of the master beacon using at least one slave beacon receiving time difference between the first sync pulse and the second sync pulse,

Calculating a location of a corresponding tag based on a difference in a reception time of tag pulses received from each of the master beacon and the at least one slave beacon,

Wireless positioning using the first beacon, the second beacon, or the tag pulses of nano-seconds or less according to a near field communication method between the master beacon, the at least one slave beacon, or the tag. Way.

delete

At the slave beacon, a time point for activating the positioning beacon clock of the slave beacon is obtained by subtracting the pulse transmission time calculated using the distance from the master beacon from the reception time of the first synchronization pulse or the second synchronization pulse. Wireless positioning method characterized in that the synchronization.

In the slave beacon, the difference between the reception time difference between the first sync pulse and the second sync pulse and the operation period of the positioning synchronizer clock of the slave beacon is compared to equal the difference in the reception time in the case of frequency offset. Wireless positioning method, characterized in that for correcting the operation period of the positioning lock clock of the slave beacons.

In each of the master beacon and the at least one slave beacon,

Measuring the reception time of the tag pulse by measuring the number of times the pulse of the reference oscillation frequency is activated after the positioning clock is most recently activated using the oscillation means for generating the pulse of the reference oscillation frequency. A wireless positioning method characterized by the above.

6. The method of claim 5, wherein the reference oscillation frequency is 1 GHz or more.

A master beacon for transmitting a first sync pulse and a second sync pulse in an operation period of the first positioning synchronizer clock;

At least one slave beacon for synchronizing a second positioning lock clock with the first positioning lock clock by using a difference in receiving time between the first sync pulse and the second sync pulse; And

Position calculating means for calculating a position of a corresponding tag based on a difference in reception time of tag pulses received at each of the master beacon and the slave beacon;

Wireless positioning using the first beacon, the second beacon, or the tag pulses of nano-seconds or less according to a near field communication method between the master beacon, the at least one slave beacon, or the tag. system.