WO2020211119A1 - 基于uwb的终端定位调度方法 - Google Patents
基于uwb的终端定位调度方法 Download PDFInfo
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- WO2020211119A1 WO2020211119A1 PCT/CN2019/084892 CN2019084892W WO2020211119A1 WO 2020211119 A1 WO2020211119 A1 WO 2020211119A1 CN 2019084892 W CN2019084892 W CN 2019084892W WO 2020211119 A1 WO2020211119 A1 WO 2020211119A1
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/06—Selective distribution of broadcast services, e.g. multimedia broadcast multicast service [MBMS]; Services to user groups; One-way selective calling services
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
Definitions
- the present invention relates to the field of communication technology and wireless positioning, in particular to an ultra-wideband positioning system in which a UWB positioning base station provides positioning services, and a UWB positioning terminal calculates its own position, and a UWB-based terminal positioning scheduling method.
- the terminal position solution is usually performed on the server, that is, after the UWB positioning base station and the UWB positioning terminal exchange messages, the UWB positioning base station processes the information after the message interaction and transmits it to the upper computer, and the upper computer Calculate the terminal position.
- This kind of host computer positioning method is more convenient to implement, but there are problems such as a limited number of positioning terminals, and UWB positioning messages are prone to collisions resulting in message loss or inaccurate ranging.
- the method of using the upper computer to calculate the position and then send it to the positioning terminal has a relatively long delay for the terminal to obtain its own position, which cannot well realize the service with high real-time performance.
- the objective of the present invention is to provide a UWB-based terminal positioning and scheduling method. Using this scheduling method has the advantages of unlimited number of terminals, no conflicts in positioning messages, and strong real-time perception of the position of the terminal.
- the present invention provides a UWB-based terminal positioning and scheduling method, including:
- the UWB positioning base station has a fixed position and continuously broadcasts two positioning messages at a fixed period at the appointed time.
- the two positioning messages contain information required for positioning such as their own position, time, and frequency offset.
- the UWB positioning terminal part is used to receive the UWB positioning base station broadcast, and calculate its position according to the broadcast content and the broadcast arrival timestamp.
- each UWB positioning base station is assigned consecutive numbers in turn. Two positioning base stations with adjacent numbers must be able to locate and communicate with each other, and the positioning base station with the smallest number is set as the reference positioning base station.
- the UWB positioning base stations i and i+1 with adjacent numbers record the time of arrival of two broadcasts and use the TOF method to measure the distance di ,i+1 between them , and use the formula Calculate the flight time of electromagnetic wave between base station i and i+1, where ⁇ i, i+1 represent the electromagnetic wave flight time, and c represents the propagation speed of light in the air.
- Adjacent UWB positioning base stations i and i+1 realize time synchronization from the calculated ⁇ i, i+1 .
- the UWB positioning base station broadcasts twice at a fixed time interval T ⁇ according to its own number.
- the content of the broadcast is positioning information such as its own position, time and number, and T ⁇ is a fixed value.
- the UWB positioning base stations i and i+1 with adjacent numbers obtain the frequency drift k i,i+1 of the two through the ratio of the interval between receiving two broadcast messages and T ⁇ .
- the UWB positioning base station carries a frequency drift value k i, i+1 in the broadcast message.
- the time point of the first broadcast of the UWB positioning base station is obtained by the following method: the base station numbered i+1 receives the first broadcast of the base station numbered i, and records the received timestamp And calculate the transmission time of the first broadcast of the i-th base station
- the time stamp of the first broadcast transmission of the i+1 base station is Where T ⁇ is a fixed value.
- the UWB positioning terminal uses UWB positioning base station broadcast messages to obtain its own position in the following manner:
- the UWB positioning terminal records the difference between the time stamps of the two broadcast messages received from base station i And calculate the clock drift between the terminal and base station i
- the terminal obtains the pseudoranges between itself and multiple UWB positioning base stations by calculation, and uses these pseudorange values to calculate the terminal's own position.
- each UWB positioning base station broadcasts in a period of ⁇ , and when the terminal needs positioning, it turns on the receiver to receive the broadcast of the UWB positioning base station.
- the terminal receives the broadcasts of all surrounding UWB positioning base stations, it turns off the receiver and calculates its own position.
- the present invention has the following positive effects: using the UWB-based terminal positioning scheduling method of the present invention, positioning messages are broadcasted through the UWB positioning base station, and the UWB positioning terminal receives and analyzes these positioning messages and then performs positioning. The tag does not send positioning during the positioning process. At the same time, the UWB positioning base station uses the time division method to send positioning messages, which avoids the possibility of collision of positioning messages; in addition, using the positioning scheduling method of the present invention, there is no limit to the number of positioning terminals; it is used in the upper computer to calculate the position before sending to In the method of locating the terminal, the terminal has a relatively long delay in obtaining its own position, and cannot well realize the service with high timeliness. However, the terminal can calculate its own position by using the positioning scheduling method of the present invention, which can realize high real-time performance on the terminal. Services such as navigation, path planning, autonomous driving, etc.
- Fig. 1 is a schematic diagram of the UWB-based terminal positioning and scheduling method of the present invention
- Fig. 2 is a schematic diagram of a specific implementation manner of the UWB-based terminal positioning and scheduling method of the present invention.
- four positioning base stations and one positioning terminal are taken as an example.
- each UWB positioning base station is assigned consecutive numbers in turn, that is, positioning base stations 1, 2, 3, and 4. Two positioning base stations with adjacent numbers must be able to locate and communicate with each other.
- the reference positioning base station It is number 1.
- the UWB positioning base stations i and i+1 with adjacent numbers measure the distances d 1,2 , d 2,3 , d 3,4 between the two through the TOF method, and then according to the formula Calculate the flight time of electromagnetic wave between base station i and i+1, namely ⁇ 1,2 , ⁇ 2,3 , ⁇ 3,4 .
- Adjacent UWB positioning base stations realize time synchronization between UWB positioning base stations according to the message arrival time and the electromagnetic wave flight time.
- the UWB positioning base station After the UWB positioning base station is synchronized, it broadcasts two positioning messages in sequence.
- the positioning terminal records the arrival timestamp of the received base station positioning message, and calculates the frequency offset between the positioning terminal and the reference positioning base station based on the recorded timestamp.
- the positioning terminal obtains its own position coordinates through the pseudoranges to different positioning base stations and the coordinates of the positioning base stations.
- the positioning base station sends messages at 1, 2, 3, and 4 cycles, and the surrounding positioning base stations use these messages to achieve synchronization between positioning base stations.
- the positioning terminal uses these messages to obtain the pseudoranges from itself to each positioning base station, and then obtains Own position.
- i-1, i, i+1 are the numbers of UWB positioning base stations, Are the time points when the i-1 and i-th positioning base stations broadcast the first message, It is the time point when the i- th and i+1 -th positioning base station received the last positioning base station broadcast, ⁇ i-1,i and ⁇ i,i+1 are the positioning base stations i-1 and i and the positioning The flight time between base station i and i+1.
- T ⁇ is the transmission interval of the first broadcast between the positioning base station and the previous positioning base station
- T ⁇ is the interval between the first broadcast and the second broadcast of the positioning base station
- T ⁇ and T ⁇ are fixed values.
- T M,i,1 and T M,i,2 are respectively the time stamps when the positioning terminal receives the first and second broadcasts of the i-th positioning base station.
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- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Multimedia (AREA)
- Mobile Radio Communication Systems (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
本发明涉及一种基于UWB的终端定位调度方法,包括:UWB定位基站部分,UWB定位基站位置固定,用于广播定位所需信息;以及UWB定位终端部分,用于接收UWB定位基站广播,并根据广播内容及广播到达时间戳解算出自身位置。使用本发明所述定位调度方法终端可计算出自身位置,可以在终端实现实时性高的业务,如导航,路径规划,自动驾驶等。
Description
本发明涉及通信技术及无线定位领域,尤其涉及一种UWB定位基站提供定位服务,UWB定位终端计算自身位置的超宽带定位系统以及基于UWB的终端定位调度方法。
在目前的UWB定位系统中,终端位置求解通常是在服务器进行,即UWB定位基站与UWB定位终端进行消息交互后,UWB定位基站将消息交互后的信息处理后传送给上位机,并由上位机计算出终端位置。这种上位机定位方式实现比较方便,但却存在定位终端数量受限,以及UWB定位消息容易发生碰撞造成消息丢失或测距不准等问题。而且使用上位机计算位置后再发送给定位终端的方法,终端获得自身位置的延时较大,不能很好地实现实时性高的业务。
发明内容:
本发明的目标是提供一种基于UWB的终端定位调度方法,使用这种调度方法具有终端数量不受限,定位消息没有冲突,以及终端感知位置实时性强等优点。
为实现上述目的,本发明提供一种基于UWB的终端定位调度方法,包括:
UWB定位基站部分,UWB定位基站位置固定,在约定时间以固定周期连续广播两条定位消息,这两条定位消息中包含自身位置、时间、频率偏移等定位所需信息。
UWB定位终端部分,用于接收UWB定位基站广播,并根据广播内容及广播到达时间戳解算出自身位置。
工作前,每个UWB定位基站依次分配好连续的编号,其中编号相邻的两个定位基站必须能相互定位与通信,设编号最小的定位基站为参考定位基站。
所述编号相邻的UWB定位基站i与i+1通过记录广播两次的到达时间以并使 用TOF方法测得两者间的距离d
i,i+1,并根据公式
计算电磁波在基站i与i+1之间飞行时间,其中τ
i,i+1表示电磁波飞行时间,c表示光在空气中的传播速度。
相邻的UWB定位基站i与i+1由计算到过的τ
i,i+1实现时间同步。
UWB定位基站根据自身编号以固定时间间隔T
β广播两次,广播的内容为自身位置、时间及编号等定位信息,其中T
β为固定值。
所述编号相邻的UWB定位基站i与i+1,通过接收到两次广播消息的间隔与T
β的比值得到两者的频率漂移k
i,i+1。
所述UWB定位基站在广播消息中带有频率漂移值k
i,i+1。
若选定某一UWB定位基站为参考基站,则第j个UWB定位基站与参考基站的频率漂移计算方法为k
ref,j=k
ref,xk
x,x+1k
x+1,x+2…k
j-1,j。
所述UWB定位基站第一次广播的时间点由以下方法得到:编号为i+1的基站收到编号为i的基站的第一次广播,并记录接收到的时间戳
并计算出第i号基站第一次广播的发送时间
第i+1号基站的第一次广播发送时间戳为
其中T
α为固定值。
所述UWB定位终端通过以下方式利用UWB定位基站广播消息求得自身位置:
(3)则标签与第i个UWB定位基站的伪距为r
i=c[T
M,i,1-qk
ref,i(T
M,i,2-T
M,i,1)],其中T
M,i,1、T
M,i,2分别表示终端收到第i个UWB定位基站的第1次与第2次广播,c表示空气中的光速,k
ref,i为定位基站i与参考基站间的时钟频率偏移。
(4)终端通过计算得到自身与多个UWB定位基站的伪距,并用这些伪距值 计算出终端自身位置。
其中,每个UWB定位基站以τ为周期进行广播,终端需要定位时打开接收机接收UWB定位基站的广播,当终端接收到周围所有UWB定位基站的广播后,关闭接收机,并计算自身位置。
本发明具有以下积极的效果:使用本发明的基于UWB的终端定位调度方法,定位消息通过UWB定位基站广播定位消息,UWB定位终端接收并解析这些定位消息后进行定位,定位过程中标签不发送定位消息,同时UWB定位基站使用时分方式发送定位消息,这样避免了定位消息的碰撞可能性;此外,使用本发明所述定位调度方法,定位终端数量没有限制;使用在上位机计算位置后再发送给定位终端的方法,终端获得自身位置的延时较大,不能很好的实现时时性高的业务,而使用本发明所述定位调度方法终端可计算出自身位置,可以在终端实现实时性高的业务,如导航,路径规划,自动驾驶等。
图1为本发明的基于UWB的终端定位调度方法的原理图;
图2为本发明的基于UWB的终端定位调度方法的具体实施方式原理图。
下面结合附图对本发明的较佳实施例进行详细阐述,以使本发明的优点和特征能更易被本领域人员理解,从而对本发明的保护范围做出更为清楚明确的界定。
在需要定位的范围内根据定位环境与锚节点覆盖范围部署一定数量的锚节点。这里以4个定位基站与1个定位终端为例。
如图1所示,每个UWB定位基站依次分配好连续的编号,即1,2,3,4号定位基站,其中编号相邻的两个定位基站必须能相互定位与通信,其中参考定位基站为1号。
相邻的UWB定位基站根据消息到达时间与电磁波飞行时间实现UWB定位基站间的时间同步。
同时UWB定位基站利用基站间的频偏计算当前基站与参考基站的频偏,由于1号为参考定位基站,第2个定位基站的频偏计算方法为k
1,2,第3个定位基站的频偏计算方法为k
1,3=k
1,2k
2,3,第4个定位基站的频偏计算方法为k
1,4=k
1,2k
2,3k
3,4。
UWB定位基站同步后,依次广播两条定位消息,不同基站间第1条消息的时间间隔为2毫秒,同一定位基站的两条消息的间隔为1毫秒,即T
α=2ms,T
β=1ms,q=2。
定位终端记录收到基站定位消息的到达时间戳,并通过记录的时间戳计算定位终端与参考定位基站间的频偏。
定位终端与第i个UWB定位基站的伪距为r
i=c[T
M,i,1-2k
1,i(T
M,i,2-T
M,i,1)]。
定位终端通过到不同定位基站的伪距与定位基站的坐标求得自身位置坐标。
定位基站1,2,3,4周期发送消息,发送定位基站的周围的定位基站使用这些消息实现定位基站间的同步,定位终端使用这些消息求得自身到各定位基站的伪距,然后求得自身位置。
如图2所示,i-1,i,i+1为UWB定位基站的编号,
分别为第i-1号和第i号定位基站广播第一条消息的时间点,
分别为第i号和第i+1号定位基站收到上一定位基站广播的时间点,τ
i-1,i、τ
i,i+1分别为定位基站i-1与i之间及定位基站i与i+1之间的飞行时间。T
α为定位基站与前一定位基站第一 次广播的发送间隔,T
β为定位基站第一次与第二次广播的发送间隔,T
α与T
β为固定值。T
M,i,1、T
M,i,2分别为定位终端收到第i号定位基站第一次与第二次广播的时间戳。
以上所述实施例仅表达了本发明的几种实施方式,其描述较为具体和详细,但并不能因此而理解为对发明专利范围的限制。应当指出的是,对于本领域的普通技术人员来说,在不脱离本发明构思的前提下,还可以做出若干变形和改进,这些都属于本发明的保护范围。
Claims (8)
- 一种基于UWB的终端定位调度方法,其特征在于,包括:UWB定位基站部分,UWB定位基站位置固定,用于广播定位所需信息;以及UWB定位终端部分,用于接收UWB定位基站广播,并根据广播内容及广播到达时间戳解算出自身位置。
- 根据权利要求1所述的基于UWB的终端定位调度方法,其特征在于,所述UWB定位基站广播定位消息,实现各UWB定位基站间时间同步,同时UWB定位终端利用这些定位消息实现定位;所述UWB定位终端不发送只接收定位基站发送的定位消息。
- 根据权利要求2所述的基于UWB的终端定位调度方法,其特征在于,所述UWB定位基站具有多个,每个UWB定位基站依次分配连续的编号,其中编号相邻的两个定位基站可以相互定位与通信,设编号最小的定位基站为参考定位基站。
- 根据权利要求1或2或3或4所述的基于UWB的终端定位调度方法,其特征在于,UWB定位基站根据自身编号以固定时间间隔T β广播两次,广播的内容为自身位置、时间及编号的定位信息,其中T β为固定值,所述编号相邻的UWB定位基站i与i+1,通过接收到两次广播消息的间隔与T β的比值得到两者的频率漂移k i,i+1,所述UWB定位基站在广播消息中带有频率漂移值k i,i+1,若选定某一UWB定位基站为参考基站,则第j个UWB定位基站与参考基站的频率漂移计算方法为k ref,j=k ref,xk x,x+1k x+1,x+2…k j-1,j。
- 根据权利要求5所述的基于UWB的终端定位调度方法,其特征在于,所述UWB定位终端通过以下方式利用UWB定位基站广播消息求得自身位置:(3)则标签与第i个UWB定位基站的伪距为r i=c[T M,i,1-qk ref,i(T M,i,2-T M,i,1)],其中T M,i,1、T M,i,2分别表示UWB定位终端收到第i个UWB定位基站的第一次与第二次广播,c表示空气中的光速,k ref,i为定位基站i与参考UWB定位基站间的时钟频率偏移;(4)UWB定位终端通过计算得到自身与多个UWB定位基站的伪距,并用这些伪距值计算出UWB定位终端自身位置。
- 根据权利要求7所述的基于UWB的终端定位调度方法,其特征在于,每个UWB定位基站以τ为周期进行广播,UWB定位终端需要定位时打开接收机接收UWB定位基站的广播,当UWB定位终端接收到周围所有UWB定位基站的广播后,关闭接收机,并计算自身位置。
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- 2019-04-29 WO PCT/CN2019/084892 patent/WO2020211119A1/zh active Application Filing
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EP4096313A1 (en) * | 2021-05-28 | 2022-11-30 | Nxp B.V. | Mobile device frequency offset determination and tdoa localization |
US11743091B2 (en) | 2021-05-28 | 2023-08-29 | Nxp B.V. | Mobile device frequency offset determination and TDoA localization |
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CN109889987A (zh) | 2019-06-14 |
ZA202103972B (en) | 2021-07-28 |
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