CN105929364B - Utilize the relative position measurement method and measuring device of radio-positioning - Google Patents
Utilize the relative position measurement method and measuring device of radio-positioning Download PDFInfo
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- CN105929364B CN105929364B CN201610257367.0A CN201610257367A CN105929364B CN 105929364 B CN105929364 B CN 105929364B CN 201610257367 A CN201610257367 A CN 201610257367A CN 105929364 B CN105929364 B CN 105929364B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0284—Relative positioning
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Abstract
The present invention provides a kind of relative position measurement method and apparatus using radio-positioning, including transmitting unit, receiving unit, and signal processing unit, through the spacing and each receiving unit that record the position of each receiving unit, each receiving unit at a distance from transmitting unit under original state, the reception signal for extracting each receiving unit solves phase information.According to the quadrilateral space geometrical relationship of receiving unit and transmitting unit, position of the transmitting unit relative to platform can be found out.The present invention solves phase fuzzy problem, and the measurement in the direction and relative position of transfer point can be realized by the transmitting signal of single-frequency；System realizes simple, high reliablity, influenced by extraneous factor it is smaller, can real-time control mobile node moving distance and position, can be widely applied to need in long term monitoring and early warning system.
Description
Technical Field
The invention relates to a method and a device for determining relative position, in particular to a relative position measuring method and a relative position measuring device by utilizing radio positioning, belonging to the field of radio positioning.
Background
Nowadays, in some fields requiring a long time for detection, supervision, communication, search and rescue, patrol, aerial photography, industrial production and the like, it is common to mount a mobile node (e.g., a mooring receiving node, an industrial robot hand) on a cable or a movable arm of a platform (including a ground vehicle, a ship, a ground fixed station, a workshop and the like). In order to better process the target information, the real-time and accurate relative position information of the mobile node relative to the platform is obtained, and the control of the mobile node, such as fixed-point hovering, automatic retraction and extension and the like, becomes more important.
In recent years, with the development of scientific technology, the positioning technology is rapidly developed, and the target object is positioned more and more accurately. The existing positioning technologies widely applied, such as GPS, Beidou satellite navigation, barometric altimeter, optical positioning, wireless positioning and the like, have high equipment cost, are greatly influenced by external environment and have complex implementation process. The wireless positioning technology based on electromagnetic wave propagation has the advantages of simple system equipment, low power consumption, low calculation amount and communication overhead, good stability, small environmental interference, accurate positioning and the like, and is widely applied to various social fields.
Currently, radio location technologies are largely classified into a Received Signal Strength (RSSI) based method, an angle of arrival (AOA) based method, a time of arrival (TOA) based method, a time difference of arrival (TDOA) based method, and a phase difference of arrival (PDOA) based method according to the difference of the ranging principle. The RSSI is easily influenced by environmental factors, the multipath interference is serious, and the positioning accuracy is low; the AOA can provide azimuth information but cannot obtain distance information, so that an accurate three-dimensional relative position relationship cannot be obtained; the ranging principle of the TOA is to measure the distance by measuring the propagation time of electromagnetic waves, if the ranging precision is required to be high, the pulse width is required to be short or the modulation bandwidth is required to be wide, the system implementation difficulty is high, and accurate time synchronization between a base station and a mobile node is required; similarly, though the time synchronization requirement between the base station and the mobile node is relaxed, the TDOA also has the problem of high difficulty in system implementation under the condition of high ranging accuracy; in the PDOA, if the transceiver measures two signals of receiving antennas at different positions according to a multi-station radar ranging principle, the signal propagation direction is calculated through the phase difference value of the two signals, but the PDOA does not have the ranging capability; if the same antenna generates different phase delays for different continuous waves with fixed transmission frequencies according to the multi-frequency radar ranging principle, the distance is calculated by solving the phase difference. Both the two methods generate phase winding, a complex phase ambiguity resolution algorithm is needed, a plurality of point frequency signals with close distances need to be transmitted and received, and the system implementation difficulty is high.
In summary, in practical applications, a relative position wireless positioning system with high precision, high reliability and easy engineering implementation is needed to solve the real-time and accurate relative position information of the mobile node relative to the platform.
Disclosure of Invention
The invention aims to provide a relative position measuring method and a relative position measuring device which are easy to realize and utilize radio positioning, solve the problem of phase winding and have good positioning precision.
In order to solve the technical problems, the invention adopts the technical scheme that: a method of relative position measurement, characterized by: the method comprises the following steps of establishing a three-dimensional coordinate system by taking any point as a coordinate origin, arranging a transmitting unit for transmitting radio signals on a measured object, wherein the transmitting unit moves along with the measured object, arranging at least 3 receiving units on the same xoy plane, the yoz plane or the xoz plane or randomly arranging at least 4 receiving units in space, wherein the receiving units are used for receiving the radio signals, and the at least 3 receiving units are not on the same straight line, and the relative position measuring method comprises the following steps:
1) calculating the coordinates of the transmitting unit and each receiving unit when the measured object is at the initial position, and calculating the initial distance between the transmitting unit and each receiving unit;
2) after the measured object moves from the initial position, calculating a phase value of the radio receiving signal at the time t and a phase change value of the radio receiving signal from the time t-1 to the time t by adopting a demodulation phase measurement method for the radio receiving signal received by the receiving unit;
3) according to the formulaCalculating the distance change value delta R between the transmitting unit and the ith receiving unit from the t-1 moment to the t moment according to the phase change valuei,tAnd calculating the distance between the transmitting unit and each receiving unit after the object to be measured moves by combining the initial distance between the transmitting unit and each receiving unit, whereinThe phase change value of the radio receiving signal of the ith receiving unit from the time t-1 to the time t, and lambda is the wavelength of the radio receiving signal, wherein i is more than or equal to 3;
4) calculating the coordinates of the transmitting unit after the measured object moves according to the coordinates of the receiving units and the distance between the transmitting unit and the receiving units after the measured object moves, and obtaining the coordinates of the measured object after the measured object moves;
5) and calculating the relative distance moved by the measured object.
In the above technical solution, in the step 2), the demodulation and phase measurement method is an orthogonal demodulation and phase measurement method.
In the above technical solution, the quadrature demodulation phase measurement method further includes a phase correction method, and the phase correction method includes:
1) setting a jump threshold α and a phase correction value k;
2) if the absolute value of the phase change of the radio receiving signal is larger than the jump threshold, correcting the phase according to the phase correction value, and if the initial value k is equal to 0, the corrected phase value of the radio receiving signal of the ith receiving unit at the time t is equal to
Wherein,a phase correction value corrected for the radio reception signal received by the i-th reception unit at time t-1,for the phase value of the radio reception signal received by the i-th reception unit at time t,and the corrected phase correction value is used for the radio receiving signal received by the ith receiving unit at the time t.
The invention also provides a relative position measuring device using radio positioning, which is characterized by comprising a transmitting unit, a receiving unit and a signal processing unit, wherein:
a transmitting unit: the transmitting unit is used for transmitting radio signals, is arranged on a measured object and moves along with the measured object;
a receiving unit: the receiving unit is used for receiving the radio signal, the receiving unit is at least 3 receiving units arranged on the same xoy plane, the yoz plane or the xoz plane or at least 4 receiving units randomly arranged in space, and at least 3 receiving units are not on the same straight line;
and a signal processing unit: the system comprises a plurality of receiving units, a plurality of transmitting units and a plurality of receiving units, wherein the receiving units are used for calculating the coordinates of the receiving units, calculating the initial distance between the transmitting units and the receiving units, demodulating and measuring the phase of the radio receiving signals received by the receiving units, calculating the phase change value of the radio receiving signals and calculating the distance between the transmitting units and the receiving units after movement; calculating the coordinates of the transmitting unit after moving according to the coordinates of each receiving unit and the distance between the transmitting unit after moving and each receiving unit; the moving distance of the transmitting unit is calculated.
The invention can be used for determining the relative position relationship between the mobile node and the platform, and has the advantages and positive effects that:
(1) the phase unwrapping method realized by phase tracking solves the problem of phase ambiguity;
(2) the measurement of the direction and the relative position of the moving point can be realized through the transmitting signal with single frequency;
(3) compared with the prior positioning technology, the system is simple to realize, high in reliability and less influenced by external factors;
(4) the moving distance and the position of the mobile node can be controlled in real time by continuously measuring the moving transmitting unit and the initial position of the transmitting unit, and the method can be widely applied to systems needing long-term monitoring and early warning;
(5) the wireless positioning and ranging method is simplified.
Drawings
FIG. 1 is a schematic diagram of a relative position measurement device using radiolocation according to the present invention;
FIG. 2 is a flow chart of a relative position measurement method using radiolocation of the present invention;
FIG. 3 is a calculation diagram of a relative position measuring method according to embodiment 1 of the present invention;
fig. 4 is a calculation diagram of a relative position measurement method of embodiment 2 of the present invention.
Detailed Description
The invention will be further explained with reference to the drawings.
As shown in fig. 1 to 3, the present invention provides a relative position measuring device using radio positioning, which includes a transmitting unit, a receiving unit, and a signal processing unit, wherein the transmitting unit is used for transmitting radio signals, and the transmitting unit is disposed on an object to be measured and moves along with the object to be measured; the receiving unit is used for receiving the radio signal, the receiving unit can have various schemes, at least 3 receiving units can be arranged on the same xoy plane, yoz plane or xoz plane, or at least 4 receiving units can be arbitrarily arranged in space, but the condition that at least 3 receiving units are not on the same straight line is satisfied; the signal processing unit is used for calculating the coordinates of each receiving unit, calculating the transmitting unit S and each receiving unit TiInitial distance between them, each receiving unit TiDemodulating and phase measuring the received radio receiving signal, calculating the phase variation value of the radio receiving signal, and calculating the shifted transmitting unit S and each receiving unit TiThe distance between them; and according to each receiving unit TiCoordinates of (2), the moved transmitting unit S and each receiving unit TiThe distance between the two, the coordinates of the transmitting unit S after the movement are calculated; the relative distance between the initial position of the transmitting unit S and the coordinates of the transmitting unit S after the movement is calculated.
Example 1: relative position measuring method and measuring device with at least 3 receiving units
As shown in fig. 1-3, a three-dimensional coordinate system is established with any point as a coordinate origin; the method comprises the following steps that a transmitting unit S is arranged on a measured object and can transmit a single-frequency radio signal with the frequency f, and the transmitting unit moves along with the measured object; at least 3 receiving units T are arranged on the same xoy plane or yoz plane or xoz planeiWherein i is greater than or equal to 3, and at least 3 receiving units are not on the same straight line. The motion track of the transmitting unit S has continuity, the transmitting unit S continuously transmits single-frequency radio signals, and the transmitting unit S and each receiving unit T can be obtained through continuous observationiThe distance between them.
At least 3 receiving units T are arranged in the same xoy planeiFor example, the receiving units T are arranged in the same yoz plane or xoz planeiThe situation is similar to the method here.
The relative position measuring method of the present invention includes:
(1) calculating initial coordinate values and initial distances between the transmitting units and the receiving units
Calculating the coordinate S of the transmitting unit when the measured object is at the initial position0(x0,y0,z0) Calculating each receiving unit TiCoordinate T ofi(xi,yi0), and calculating the transmitting unit S and each receiving unit TiAn initial distance of
(2) And calculating the phase value of the radio receiving signal received by each receiving unit at the initial position and time t, the phase change value of the radio receiving signal from time t-1 to time t, the corrected phase correction value and the distance between the transmitting unit and each receiving unit after the object to be measured moves.
When the object to be measured is at the initial position, the radio signal transmitted by the transmitting unit S is received by all the receiving units T on the platformiReceiving and extracting all receiving units TiBy applying the quadrature demodulation phase measurement method to the radio reception signal to calculate each reception unit TiInitial phase value of received radio signal
The transmitting unit S moves along with the mobile platform, and simultaneously, each receiving unit TiReceiving the signal transmitted by the transmitting unit S at the frequency f for each receiving unit TiReceiving unit T is calculated by demodulating and phase-measuring received radio signalsiPhase value of a radio signal received at time tAnd t is 0, the transmitting unit S is located at the initial position at the time t is 0.
And recording radio receiving signals received by all receiving units during the period from the beginning of the movement of the measured object to the time t. the phase of the radio reception signal at time t can be determined by quadrature demodulation phase measurement, but the phase value measured by quadrature demodulation phase measurement is in the range of [ -pi, pi ]. In actual observation, because the position change (or flight trajectory) of the mobile node has continuity, when the phase value of the signal exceeds the range of [ -pi, pi ], phase wrapping occurs, phase ambiguity occurs, and real phase information cannot be obtained. For this purpose, the phase ambiguity must be unwrapped and the phase of the signal corrected to obtain true phase information. When the range of [ -pi, pi ] is exceeded, the phase information jumps, the phase information does not change suddenly in the whole movement process, and once the phase of the signal changes suddenly, namely the absolute value of the difference between two adjacent phases is larger than a certain threshold value, the integral multiple of 2 pi is added to the phase.
setting alpha as given phase jump threshold, integer k as phase correction coefficient, correcting phase value, and initial value k of k is 0And the phase value of the demodulated signal at the time t isChecking the phase values of adjacent time instants, then receiving unit T at time instant TiReceived corrected signal phase valueIs composed of
And finishing the phase measurement until all the phase information is processed in the whole motion process of the mobile node. Wherein,a phase correction value corrected for the radio reception signal received by the i-th reception unit at time t-1,for the phase value of the radio reception signal received by the i-th reception unit at time t,and the corrected phase correction value is used for the radio receiving signal received by the ith receiving unit at the time t.
After the real phase information is acquired, the phase correction value is used for replacing the phase value to calculate. If the phase value of the signal received by each receiving unit at a certain moment is different from each corresponding initial phase value by an integral multiple of 2 pi, the transmitting unit S is located right above the initial position.
The phase will only change abruptly in the negative half of the horizontal axis in the entire orthogonal plane, i.e. the phase is discontinuous here. When the in-phase component in the quadrature demodulation phase measurement method is negative, the quadrature component is +0 or a relatively small positive number, the phase is a certain value near + pi or + pi, and when the quadrature component is a relatively small negative number near-0, the phase is a certain value near-pi.
Calculating the receiving unit T from the time T-1 to the time TiPhase variation value of received radio reception signalBy observing the receiving unit for a long time, from the phase change valueCalculating the distance variation value between the transmitting unit and the ith receiving unit from t-1 to tThe transmitting unit S and the receiving unit T at the moment TiIs R from each otheri,t＝Ri,0+ΔRi,1+ΔRi,2+……+ΔRi,t；
(3) Selecting any 3 receiving units T which are not on the same straight line1(x1,y1,0)、T2(x2,y2,0)、T3(x3,y30), measuring the transmitting unit S and the receiving units T1、T2、T3Are each R1,t、R2,t、R3,tAnd coordinates of the transmitting unit at the moment t are S (x, y, z), and an equation set is established
Since the 3 receiving units are not on the same straight line, the rank of the coefficient matrix of the above formula is 3, and therefore, there is a unique solution, that is, the x, y, and z values can be solved, and thus the coordinate of the transmitting unit S at the time t is obtained by solving and is S (x, y, z), that is, the coordinate of the object to be measured after movement is (x, y, z), and the relative distance of the movement of the object to be measured is (x, y, z), which is the relative distance of the movement of the object to be measured is
The initial position of the transmitting unit S can also be set as the origin of coordinates, which simplifies the calculation accordingly.
Example 2: relative position measuring method and measuring device with at least 4 receiving units
As shown in fig. 1,2 and 4, a three-dimensional coordinate system is established with any point as a coordinate origin; the method comprises the following steps that a transmitting unit S is arranged on a measured object and can transmit a single-frequency radio signal with the frequency f, and the transmitting unit moves along with the measured object; at least 4 receiving units T are arbitrarily arranged in spaceiWherein i is greater than or equal to 4, and at least 3 receiving units are not on the same straight line. The motion track of the transmitting unit S has continuity, the transmitting unit S continuously transmits single-frequency radio signals, and the transmitting unit S and each receiving unit T can be obtained through continuous observationiThe distance between them.
(1) Calculating initial coordinate values and initial distances between the transmitting units and the receiving units
Calculating the coordinate S of the transmitting unit when the measured object is at the initial position0(x0,y0,z0) Calculating each receiving unit TiCoordinate T ofi(xi,yi,zi) And calculating the transmitting unit S and each receiving unit TiAn initial distance of
(2) And calculating the phase value of the radio receiving signal received by each receiving unit at the initial position and time t, the phase change value of the radio receiving signal from time t-1 to time t, the corrected phase correction value and the distance between the transmitting unit and each receiving unit after the object to be measured moves.
The calculation procedure here is the same as in example 1.
(3) Selecting any 4 receiving units T1(x1,y1,z1)、T2(x2,y2,z2)、T3(x3,y3,z3)、T4(x4,y4,z4) And wherein at least 3 receiving units are not on the same straight line, measuring the transmitting unit S and each receiving unit T1、T2、T3、T4Are each R1,t、R2,t、R3,t、R4,tAnd coordinates of the transmitting unit at the moment t are S (x, y, z), and an equation set is established
The above equation set is simplified to obtain,
since at least 3 receiving units are not on the same straight line, the coefficient matrix of the above formulaThe rank of (c) is 3, so the above formula has a unique solution, that is, the x, y, z values can be solved, and the coordinates of the transmitting unit at the time t are S (x, y, z), that is, the moved measured objectIs (x, y, z), the relative distance moved by the measured object is
Example 3: controlling the moving direction and distance of the measured object
In the practical application process, if it is necessary to obtain real-time and accurate relative position information of a certain object to be measured, or to control the moving direction and moving distance of the object to be measured, such as hovering at a fixed point and automatically retracting, it is only necessary to dispose the transmitting unit S on the object to be measured, and the real-time relative position information of the object to be measured can be obtained by using the relative position measuring method described in the above embodiment 1 or 2. When the fixed-point suspension is needed, the relative position information of the movement of the measured object is measured in real time, and when the measured object reaches the required position, the corresponding control structure is operated to stop moving.
The embodiments of the present invention have been described in detail, but the description is only for the preferred embodiments of the present invention and should not be construed as limiting the scope of the present invention. All equivalent changes and modifications made within the scope of the present invention should be covered by the present patent.
Claims (4)
1. A relative position measurement method using radio positioning, characterized in that: the method comprises the following steps of establishing a three-dimensional coordinate system by taking any point as a coordinate origin, arranging a transmitting unit for transmitting radio signals on a measured object, wherein the transmitting unit moves along with the measured object, arranging at least 3 receiving units on the same xoy plane, the yoz plane or the xoz plane or randomly arranging at least 4 receiving units in space, wherein the receiving units are used for receiving the radio signals, and the at least 3 receiving units are not on the same straight line, and the relative position measuring method comprises the following steps:
1) calculating the coordinates of the transmitting unit and each receiving unit when the measured object is at the initial position, and calculating the initial distance between the transmitting unit and each receiving unit;
2) after the measured object moves from the initial position, the demodulation phase measurement method is adopted for the radio receiving signal received by the receiving unit, the phase value of the radio receiving signal of the ith receiving unit at the t moment and the phase change value of the radio receiving signal of the ith receiving unit from the t-1 moment to the t moment are calculated
3) According to the formulaCalculating the distance change value delta R between the transmitting unit and the ith receiving unit from the t-1 moment to the t moment according to the phase change valuei,tAnd combining the initial distance between the transmitting unit and each receiving unit, calculating the distance between the transmitting unit and each receiving unit at the time t after the measured object moves by using the following formula
Ri,t＝Ri,0+ΔRi,1+ΔRi,2+……+ΔRi,t，
WhereinThe phase change value of the radio receiving signal of the ith receiving unit from the time t-1 to the time t, lambda is the wavelength of the radio receiving signal, i is 1,2,3, … …, N, N is more than or equal to 3, Ri,0Is the initial distance between the transmitting unit and the ith receiving unit;
4) calculating the coordinates of the transmitting unit after the measured object moves according to the coordinates of the receiving units and the distance between the transmitting unit and the receiving units after the measured object moves, and obtaining the coordinates of the measured object after the measured object moves;
5) and calculating the relative distance moved by the measured object.
2. The relative position measurement method using radiolocation according to claim 1, characterized in that: in the step 2), the demodulation phase measurement method is an orthogonal demodulation phase measurement method.
3. The relative position measurement method using radiolocation according to claim 2, characterized in that: the quadrature demodulation phase measurement method further comprises a phase correction method, and the phase correction method comprises the following steps:
1) setting a jump threshold α and a phase correction coefficient k, wherein an initial value k is 0;
2) if the absolute value of the phase change value of the radio receiving signal is larger than the jump threshold, the phase is corrected according to the phase correction coefficient, and the corrected phase correction value of the radio receiving signal of the ith receiving unit at the time t is
Wherein,a phase correction value corrected for the radio reception signal received by the i-th reception unit at time t-1,for the phase value of the radio reception signal received by the i-th reception unit at time t,and the corrected phase correction value is used for the radio receiving signal received by the ith receiving unit at the time t.
4. A relative position measuring apparatus using radio positioning, comprising a transmitting unit, a receiving unit, and a signal processing unit, wherein:
a transmitting unit: the transmitting unit is used for transmitting radio signals, is arranged on a measured object and moves along with the measured object;
a receiving unit: the receiving unit is used for receiving the radio signal, the receiving unit is at least 3 receiving units arranged on the same xoy plane, the yoz plane or the xoz plane or at least 4 receiving units randomly arranged in space, and at least 3 receiving units are not on the same straight line;
and a signal processing unit: calculating coordinates of the transmitting unit and each receiving unit when the object is at the initial position, calculating the initial distance between the transmitting unit and each receiving unit, demodulating and measuring the phase of the radio receiving signal received by each receiving unit, calculating the phase value of the radio receiving signal of the ith receiving unit at t moment, and calculating the phase change value of the radio receiving signal of the ith receiving unit from t-1 moment to t momentAccording to the formulaCalculating the distance change value delta R between the transmitting unit and the ith receiving unit from the t-1 moment to the t moment according to the phase change valuei,tAnd combining the initial distances between the transmitting unit and each receiving unit, using the formula Ri,t＝Ri,0+ΔRi,1+ΔRi,2+……+ΔRi,tCalculating the distance R between the transmitting unit and each receiving unit at the time t after the measured object movesi,tWhereinThe phase change value of the radio receiving signal of the ith receiving unit from the time t-1 to the time t, lambda is the wavelength of the radio receiving signal, i is 1,2,3, … …, N, N is more than or equal to 3, Ri,0Is the initial distance between the transmitting unit and the ith receiving unit; calculating the coordinates of the transmitting unit after moving according to the coordinates of each receiving unit and the distance between the transmitting unit after moving and each receiving unit; computing transmissionsThe moving distance of the unit can obtain the moving relative distance of the measured object.
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