CN109541529A - A kind of the nonnative personnel's positioning system and method for the IDC computer room based on UWB - Google Patents
A kind of the nonnative personnel's positioning system and method for the IDC computer room based on UWB Download PDFInfo
- Publication number
- CN109541529A CN109541529A CN201811240250.7A CN201811240250A CN109541529A CN 109541529 A CN109541529 A CN 109541529A CN 201811240250 A CN201811240250 A CN 201811240250A CN 109541529 A CN109541529 A CN 109541529A
- Authority
- CN
- China
- Prior art keywords
- base station
- uwb
- positioning
- locating base
- label
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract 6
- 238000004364 calculation method Methods 0.000 claims abstract 21
- 238000005259 measurement Methods 0.000 claims abstract 10
- 230000005540 biological transmission Effects 0.000 claims abstract 6
- 230000004807 localization Effects 0.000 claims 7
- 230000033001 locomotion Effects 0.000 claims 4
- 230000001360 synchronised effect Effects 0.000 claims 3
- 230000007958 sleep Effects 0.000 claims 2
- 230000005856 abnormality Effects 0.000 claims 1
- 238000001914 filtration Methods 0.000 claims 1
Classifications
-
- 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
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Mobile Radio Communication Systems (AREA)
Abstract
The nonnative personnel's positioning system and method for the invention discloses a kind of IDC computer room based on UWB, the system comprises: access terminal, positioning label, multiple one-dimensional positioning cells, positioning calculation module and information management module；The access terminal carries out authentication and typing nonnative personnel's information for the nonnative personnel to IDC computer room；The positioning label: being worn on nonnative personnel, for generating TDOA message and TOF measurement message and broadcasting TDOA message and transmission TOF measurement message；The one-dimensional positioning cell, two UWB locating base stations at the cabinet passageway both ends including being laid in IDC computer room, two UWB locating base stations receive the TDOA message that positioning label is sent, the timestamp for receiving message are sent to positioning calculation module；One of UWB locating base station receives TOF measurement message as certain base station and result is sent to positioning calculation module；The positioning calculation module: the data for sending to two UWB locating base stations are resolved to obtain the positioning coordinate of positioning label.
Description
Technical field
The present invention relates to wireless real time positioning technology fields, and in particular to a kind of to realize IDC in the way of TDOA and TOF
Computer room is one-dimensional or two-dimentional pinpoint technology, be related to especially a kind of IDC computer room based on UWB nonnative personnel's positioning system and
Method.
Background technique
In addition to global positioning system (GPS) navigate and the application positioning of outdoor environment other than, people are to indoor positioning, short
The application such as Distance positioning is not understood in depth also.The trend of the following wireless location technology is that indoor positioning is combined with outdoor positioning,
Realize seamless, accurate positioning.Existing network technology can't fully meet this requirement, and UWB technology is due to power consumption
It is low, anti-multipath effect is good, highly-safe, system complexity is low, can provide be accurately positioned precision the advantages that, in numerous wireless locations
Show one's talent in technology, becomes the hot spot of the following wireless location technology.
There are many wireless location technology and scheme, and common location technology includes infrared ray, ultrasonic wave, radiofrequency signal etc., but
It is unsuitable for indoor positioning.Infrared ray is only suitable for short distance propagation, and is easy to be interfered by the light in fluorescent lamp or room,
There is limitation in accurate positioning；Ultrasonic wave is influenced very big by multipath effect and non-line-of-sight propagation, it is impossible to be used in indoor environment；And
Radiofrequency signal is commonly used in outdoor positioning system, is applied to indoor positioning and there is limitation.
GPS is the outdoor positioning technology being most widely used at present, is that satellite effectively covers using the advantage that GPS is positioned
Lid range is big, and location navigation signal is free；The disadvantage is that positioning signal reach ground be it is weaker, building cannot be penetrated, therefore not
The garden for being suitble to indoor positioning, building intensive or the institutional settings with security requirements, the furthermore cost of locator terminal
It is higher.The attainable positioning accuracy range of GPS institute is in 5m-20m.
Current popular Wi-Fi positioning is a kind of location solution of IEEE802.11.Currently, it is applied to small
The indoor positioning of range, cost is relatively low, but Wi-Fi transceiver can only geographic area within covering radius 90m, it is easy to by
Other signal interferences, so that positioning accuracy is influenced, it is very unreliable, and the energy consumption of locator is higher.
Bluetooth technology is applied to positioning, has many similarities with Wi-Fi, is mainly used in small range positioning, such as singly
Layer hall or warehouse；Equally there is position error unstable, big disadvantage is interfered by noise signal.
It can be seen that wireless location technology is necessary with the development of location technology and being continuously increased for positioning service demand
The shortcomings that overcoming the prior art meets following condition: a) high anti-jamming capacity；B) high accuracy positioning；C) low production cost；
D) low running cost；E) high information security；F) low energy consumption and low transmitting power；G) small transceiver volume.
Above several technical solutions, are impossible to fully meet these requirements.And UWB is in wireless location, Neng Gouji
This meets above-mentioned requirements, therefore becomes the first choice of the following wireless location.UWB is a kind of high speed, low cost and the emerging nothing of low-power consumption
Line communication technology.UWB signal is pulse signal of the ratio greater than 0.2 that band is wider than 500MHz or baseband bandwidth and carrier frequency
(UWBWG, 2001), has very wide frequency range, and FCC provides that the frequency band of UWB from 3.1GHz~10.6GHz, and limits signal
Transmission power below -41dBm.It can be seen that UWB focus on two fields using upper, first is that meeting
The short distance high-speed data communication of IEEE802.15.3a standard wirelessly propagates a large amount of multi-medium datas without delay, rate is wanted
Reach 1OOMbit/s-500Mbit/s；The other is meeting the low speed low-power transmission of IEEE802.15.4a.The spy of UWB signal
Point explanation it in positioning with the advantage that low cost, anti-multipath jamming, penetration capacity are strong, it is possible to applied to static or
Mobile object and the locating and tracking of people can provide positioning accuracy with high accuracy.The personnel's essence for being particularly suitable for room area
Determine that position is applied.
Conventional communication mode uses continuous wave signal, i.e. local oscillator generates continuous high frequency carrier, needs to pass
Breath deliver letters for example, by amplitude modulation, the modes such as frequency modulation are loaded on carrier wave, sent by antenna.Present radio broadcasting,
4G communication, WIFI etc. is carried out wireless communication using which.Fig. 1 is the company that voice signal is transmitted using amplitude modulation mode
The schematic diagram that continuous wave signal generates.
And UWB signal, do not need to generate continuous high frequency carrier, it is thus only necessary to generate a time be as short as nS grades it is below
Pulse can be sent by antenna.Needing to transmit information can be by the amplitude of change pulse, and the time, phase is added
It carries, and then realizes information transmission.Fig. 2 is the signal generated using the UWB signal of phase modulation method transmission binary system zero code
Figure.
From frequency domain, continuous wave signal, which will be measured, to be concentrated in a narrow frequency, and UWB signal bandwidth is very big, simultaneously
Power is very low on each frequency point, as shown in Fig. 3 (a) and Fig. 3 (b).
In wireless location, the main advantage using UWB signal relative to narrow band signal is that UWB signal can be accurate discrete
Head in wireless transmission reaches signal and multipath return, and narrow band signal does not have the ability.
As shown in figure 4, in actual wireless transmission environments, electromagnetic wave will receive such as metope, the reflection of the objects such as metal,
Generate multipath signal.It is being properly positioned it is critical that receiving node can have correctly received the direct projection of transmitting node signal transmitted
Path.And receiving node can not only often receive direct path, moreover it is possible to receive the signal of reflection path propagation, and direct projection
Path signal is the relationship being added with reflection path signal.If receiving node cannot isolate the direct projection road received in signal
Diameter, then the foundation of receiving node positioning is that direct path signal is added as a result, can produce to positioning accuracy with reflected path
It is raw to influence.
As shown in figure 5, if positioned using continuous wave, multipath signal addition is still sine wave, receiver without
Method separates head up to path signal.And if since each of which pulse duration is very short, and reflected using UWB signal
Signal all lags behind first diameter signal on arrival time, therefore receiving node can be separated accurately and be informed against up to path signal, and
It is positioned using head up to path signal, avoids the influence of multipath signal.
Most common location technology mainly has: direction of arrival degree positions (AOA), arrival time positioning (TOA), flies
Row timi requirement (TOF) and reaching time-difference positioning (TDOA) etc..
TOF refers to the time that electromagnetic wave is propagated in the sky, by measuring the electromagnetic wave propagation time between two points, multiplied by
With the light velocity, the distance between two equipment is converted to.However TOF positioning is sensitive to the application condition generated in propagation, these mistakes
The interference such as reflection, multipath transmisstion, non-line-of-sight propagation and the noise of difference in propagation, will cause each circle can not intersect or intersect
Place is not a point but a region.TOF needs label and each base station to carry out at least 3 rangings communication simultaneously, then leads to
The distance for crossing label and base station determines the position of outgoing label, and a ranging busy channel resource is more, consumption power is big, serious shadow
Acoustic system label capacity and label cruise duration.
TDOA reaches the time difference of different locating base stations according to the wireless signal that Unknown Label node is sent, according to wireless communication
Number spread speed can to calculate the distance between Unknown Label node and each locating base station poor, this range difference meets double
The condition of curvilinear equation, Unknown Label node is just in this hyp branch.If there are three or three or more positioning
Base station, so that it may the position of unknown node is found out by solving a plurality of hyp intersection point.In TDOA system, using hyperbola
Algorithm has very big limitation, is using the insurmountable problem of the algorithm.Model of the equipment mainly positioned in base station
When except enclosing, precision rapid decrease, the rapid decrease of this precision is not the data deviation of TDOA instead of,
In algorithm itself.
Internet data center (Internet Data Center) abbreviation IDC is exactly telecommunication department using it is existing mutually
Connected network communication route, bandwidth resources, establish standardized telecommunication field grade building environment, provide server support for enterprise, government
The all-around service of pipe, rental and related increment etc..
The main application range of IDC hosting is website orientation, fictitious host computer and e-commerce etc..Such as website orientation,
After unit is assigned to internet static ip address by trustship host, from telecommunication department, the www website of oneself can be issued, it will
The product or service of oneself are publicized extensively by internet；Fictitious host computer is unit by trustship host, by the sea of oneself host
It measures hard drive space to hire out, provides web hosting service for other clients, oneself is made to become ICP service provider；E-commerce is
Refer to that unit by trustship host, establishes the e-commerce system of oneself, by this commercial podium come for supplier, whole seller,
Dealer and end user provide perfect service.
IDC is to the place for entering (Hosting) enterprise, trade company or Website server group's trustship；It is various mode electronics
Commercial affairs are rely the infrastructure of safe operation, and enterprise and its its retail trader, business alliance, supplier, client etc. is supported to implement
The platform of value chain management.
Since the cabinet in IDC computer room belongs to different enterprises, when there is related nonnative personnel to enter IDC computer room, need really
The region that the nonnative personnel enters associated cabinet is protected, without can enter unrelated region, to prevent to other cabinets
Destruction.Currently, lacking such a safety management system, the nonnative personnel of IDC computer room can be managed.
Summary of the invention
It is an object of the invention to overcome drawbacks described above, a kind of nonnative personnel's positioning of IDC computer room based on UWB is proposed
System and method.
The technical solution of the present invention is as follows:
A kind of nonnative personnel's positioning system of the IDC computer room based on UWB, the system comprises: access terminal, positioning mark
Label, multiple one-dimensional positioning cells, positioning calculation module and information management module；
The access terminal carries out authentication and typing nonnative personnel's information for the nonnative personnel to IDC computer room；
The positioning label: being worn on nonnative personnel, for generating TDOA message and TOF measurement message and broadcasting
TDOA message and transmission TOF measurement message；
The one-dimensional positioning cell, two UWB locating base stations at the cabinet passageway both ends including being laid in IDC computer room are real
Now to the one-dimensional covering in the passageway, two UWB locating base stations receive the TDOA message that positioning label is sent, will receive message
Timestamp is sent to positioning calculation module；One of UWB locating base station receives TOF measurement message as certain base station and will
As a result it is sent to positioning calculation module；
The positioning calculation module: the data for sending to two UWB locating base stations are resolved to obtain positioning label
Positioning coordinate；
The information management module, for providing the geographic information services of key area, and provided according to locating module
Positioning coordinate is alarmed.
As a kind of improvement of above system, the positioning label has Unique ID, and the positioning label includes: UWB
Range finder module, UWB dual-mode antenna, RFID wireless module and movement sensing module；
The UWB range finder module, for generating the TDOA message and TOF measurement message that have equipment of itself information；
The UWB dual-mode antenna, for broadcasting TDOA message and sending TOF measurement message to certain base station；
The RFID wireless module, for providing identification function of swiping the card；
The movement sensing module, for according to the motion state automatic adjusument data frequency of visiting personnel, automatically into
Enter suspend mode.
As a kind of improvement of above system, one is master base station in described two UWB locating base stations, another is from base
It stands；The UWB locating base station includes:
RF module for realizing the time synchronization between base station and receives the TDOA message for positioning label and sending；
When UWB locating base station is master base station, the RF module is used for regular sending time sync message；
When UWB locating base station is from base station, the RF module carries out two base stations for receiving time sync message
Time synchronization；
When UWB locating base station is certain base station, the RF module is also used to receive the TOF measurement report that positioning label is sent
Text；With
Data back module, for all data and synchronization signal that receive to be back to positioning calculation module.
As a kind of improvement of above system, the information management module includes:
Geographic information services unit, for selecting 2D the or 3D map of importing multiple format, ground chart display is currently external
Personnel positioning icon supports that more Map Switchs, personal information are checked and conditional filtering；
The positioning coordinate of real-time track display unit, the positioning label for being provided according to locating module shows nonnative personnel
Real-time track, support arbitrary period single or multiple label tracks playback, support all labels in customized drawing area
Trace playback supports playback rate to adjust, and support is skipped no position data period automatically；With
Fence alarm unit, for providing fence, the positioning of the positioning label provided according to locating module is sat
Mark generates the warning message of all kinds of abnormalities, and warning message is divided into:
Alarm is swarmed into forbidden zone: nonnative personnel swarms into sensitive forbidden zone alarm；
Unauthorized swarms into alarm: nonnative personnel swarms into no authorized region alarm；
Track deviation warning: deviate predeterminable area alarm in nonnative personnel track；
Over range alarm: nonnative personnel, which runs off, allows zone of action alarm；
The alarm of label absolute rest: nonnative personnel wears calibration position label and is in absolute rest state alarm；
Time-out not also card alarm: nonnative personnel's time-out does not give back card alarm.
Based on above system, nonnative personnel's localization method of the present invention provides a kind of IDC computer room based on UWB is described
Method includes:
Step 1) is from choosing master base station and from base station and complete between base station in two UWB locating base stations of one-dimensional positioning cell
Time synchronization；
Step 2) the positioning tag broadcast TDOA message, two UWB locating base stations send out respective timestamp after receiving
Positioning calculation module is given, the TDOA message that positioning calculation module calculates positioning tag broadcast reaches the time difference of each base station,
And it is poor by time difference calculating positioning the distance between label and two UWB locating base stations；
Step 3) selects one as certain base station from two UWB locating base stations of one-dimensional positioning cell, receives positioning mark
It signs and issues and send TOF measurement message and send result to positioning calculation module, calculate the distance of positioning label and certain base station；
Step 4) calculates positioning mark according to the distance of the range difference of step 2) and the positioning label and certain base station of step 3)
Label are at a distance from another UWB locating base station；
Step 5) with two UWB locating base stations and positions label respectively using the position of two UWB locating base stations as the center of circle
Distance is that radius draws two circles, and two common intersection point positions of circle are exactly label position.
A kind of nonnative personnel's positioning system of the IDC computer room based on UWB, the system comprises: access terminal, positioning mark
Label, multiple two-dimensional localization cells, locating module and information management module；
The access terminal carries out authentication and typing nonnative personnel's information for the nonnative personnel to IDC computer room；
The positioning label: being worn on nonnative personnel, for generating and sending the UWB with equipment of itself information
Pulse signal；
The two-dimensional localization cell realizes localization region including four UWB locating base stations being laid in outside IDC computer room
Planar cover, each UWB locating base station are used to receive the UWB pulse signal that positioning label is sent, the positioning label that will be received
The UWB pulse signal moment and base station position information locating module is sent to by network communication equipment；
The positioning calculation module: the data for sending to four UWB locating base stations are resolved to obtain positioning label
Positioning coordinate；
The information management module, for providing the geographic information services of key area, and provided according to locating module
Positioning coordinate is alarmed.
As a kind of improvement of above system, the positioning label has Unique ID, and the positioning label includes: UWB
Range finder module, UWB dual-mode antenna, RFID wireless module and movement sensing module；
The UWB range finder module, for generating the UWB pulse signal for having equipment of itself information；
The UWB dual-mode antenna, the UWB pulse signal generated for emitting the UWB range finder module receive UWB positioning
The answer signal that base station is sent；
The RFID wireless module, for providing identification function of swiping the card；
The movement sensing module, for according to the motion state automatic adjusument data frequency of visiting personnel, automatically into
Enter suspend mode.
Based on above system, nonnative personnel's localization method of the present invention also provides a kind of IDC computer room based on UWB, institute
The method of stating includes:
The first UWB locating base station of step 1) sets the time of a cycle of sending time synchronizing information；Described first is fixed
The position base station UWB is to the 2nd UWB locating base station, the 3rd UWB locating base station, the 4th UWB locating base station and positions label sending time
Synchronizing information, realize the 2nd UWB locating base station, the 3rd UWB locating base station, the 4th UWB locating base station and positioning label with
The time synchronization of first UWB locating base station；
Step 2) the positioning label is positioned according to time slot type ALOHA algorithm to the first UWB locating base station, the 2nd UWB
Base station, the 3rd UWB locating base station and the 4th UWB locating base station send equipment of itself information；
Step 3) the first UWB locating base station, the 2nd UWB locating base station, the 3rd UWB locating base station and the 4th UWB are fixed
Position base station receives the UWB pulse data signal of positioning label transmission respectively, when what will be received positions the UWB pulse signal of label
It carves and base station information is sent to positioning calculation module；
Step 4) the positioning calculation module calculates received data, calculates the positioning coordinate of positioning label.
As a kind of improvement of the above method, the step 2) specifically:
In a cycle of the first UWB locating base station sending time synchronizing information, when the positioning label randomly selects
Between piece, the time reach choose timeslice when, the positioning label to the first UWB locating base station, the 2nd UWB locating base station,
3rd UWB locating base station and the 4th UWB locating base station send equipment of itself information.
As a kind of improvement of the above method, the step 4) is specifically included:
Step 4-1) if positioning calculation module receives only the data of one or two UWB locating base station transmission, enter
Step 4-2)；If positioning calculation module receives the data of three UWB locating base stations transmission, 4-3 is entered step)；If fixed
Position resolves the data that module receives the transmission of four UWB locating base stations, enters step 4-4)；
Step 4-2) positioning calculation module sends the information of " can not position " to information management module；
Step 4-3) three UWB locating base stations for receiving data are set as the first UWB locating base station, the 2nd UWB positioning base
It stands and the 3rd UWB locating base station, then the positioning calculation module connects according to the first UWB locating base station and the 2nd UWB locating base station
Receive the time t at the UWB pulse signal moment that label to be positioned is sent1And t2, fixed in conjunction with the first UWB locating base station and the 2nd UWB
The location information of position base station generates the first hyperbola；The positioning calculation module is fixed according to the 2nd UWB locating base station and the 3rd UWB
Position base station receives the time t at the UWB pulse signal moment that label to be positioned is sent2And t3, in conjunction with the 2nd UWB locating base station and
The location information of 3rd UWB locating base station generates the second hyperbola；Enter step 4-5)；
Assuming that the range difference of the position of label to be positioned and the first UWB locating base station and the 2nd UWB locating base station are as follows:
R21=c (t2-t1),
With the position (X of the first UWB locating base station1,Y1) and the 2nd UWB locating base station position (X2,Y2) it is two cokes
Point, the range difference perseverance with two focuses are R21Generate the first hyperbola；
Step 4-4) positioning calculation module generates the first hyperbola and the second hyperbola according to step 4-3) first；So
The UWB pulse signal moment of label transmission to be positioned is received according to the 3rd UWB locating base station and the 4th UWB locating base station afterwards
Time t3And t4, third hyperbola is generated in conjunction with the location information of the 3rd UWB locating base station and the 4th UWB locating base station；According to four
Two hyperbolas are selected in the first hyperbola of signal strength of a UWB locating base station, the second hyperbola and third hyperbola, are entered
Step 4-5)；
Step 4-5) two groups of hyperbolas at most generate two intersection points, further according to key area prior information from two intersection points
In select point as positioning label, thus obtain the positioning coordinate of positioning label.
Present invention has an advantage that
1, system of the invention is according to the structure of IDC computer room, and locating base station is using that can hang installation shape, according to positioning area
Domain length-width ratio is different, uses one-dimensional positioning in rack room aisle region, and broad public domain uses two-dimensional localization outside computer room,
For IDC computer room multi-obstacle avoidance, signal reflex is serious, cell of origin divides the problems such as area is small, and this system has carried out antenna angle
Degree optimization, power intelligent adjust, motion state sensing, data-at-rest optimization, interpolation smoothing optimization, barrier limit etc. it is a variety of soft
Hardware optimization measure improves positioning accuracy and stability, improves locating and displaying effect；
2, system of the invention has done certain optimisation for IDC building environment, has at low cost, strong interference immunity, positioning
The characteristics of precision is high and provides system expansion interface；Integrated RFID function of swiping card simultaneously, can simply dock existing gate inhibition and receipts
Card sending system realizes that personal information is bound automatically；System provide such as fence, trace playback, warning note, among message
The several softwares function such as part realizes strict control and unlawful practice to the real time monitoring, activity permission of personnel's travel track
Alert notice.
Detailed description of the invention
Fig. 1 is the schematic diagram that the continuous wave signal for transmitting voice signal using amplitude modulation mode of the prior art generates；
Fig. 2 is the schematic diagram that the UWB signal for transmitting binary system zero code using phase modulation method of the prior art generates；
Fig. 3 (a) is the schematic diagram of the narrowband signal spectrum of the prior art；
Fig. 3 (b) is the schematic diagram of the UWB signal frequency spectrum of the prior art；
Fig. 4 is the schematic diagram of the wireless propagation path of the prior art；
Fig. 5 is the comparison diagram of two kinds of signals；
Fig. 6 is the schematic diagram of the TOF algorithm of the prior art；
Fig. 7 is the schematic diagram of communication process；
Fig. 8 is the schematic diagram of the TDOA algorithm of the prior art；
Fig. 9 is the schematic diagram of cell of origin of the invention；
Figure 10 is the logical architecture schematic diagram of positioning system of the invention；
Figure 11 is the Zigbee communication flow chart of positioning label and locating base station of the invention；
Figure 12 is the schematic diagram of positioning system of the invention；
Figure 13 is schematic diagram of the positioning result between two base stations；
Figure 14 is the schematic diagram of special circumstances of the positioning result between two base stations；
Figure 15 is the schematic diagram of localization region.
Specific embodiment
The present invention will be described in detail in the following with reference to the drawings and specific embodiments.
Following the principle of the present invention is illustrated.
Locating base station: transmitting receives positioning signal, and positioning signal obtains in the communication between positioning label, and will
Positioning signal is uploaded to server by wireless network.
Position label: positioning terminal is carried by personnel, and system obtains its position by its communication between locating base station
It sets.
Cell of origin: from being divided by entire localization region, all cell of origins form entire localization region.
Resolve cell: in fact, carrying out the minimum group of base stations unit of positioning function, different station-keeping modes is determined by different
Hyte.
Server: all data in system are stored, resolved and is managed.It mainly include that engine of positioning and management are soft
Part.
The present invention mixes UWB location technology with TDOA (reaching time-difference) with TOF (flight time).
TOF is positioned by measuring the propagation time of signal between mobile terminal and three or more base stations respectively.It is adopted
With circumferential registration, if oneself knows label to be positioned to the linear distance R of base station ii, then by geometrical principle it is found that be positioned
The position one of label is scheduled on using the position of base station i as the center of circle, RiFor on the circumference of radius.Position (the X of label even to be positioned0,
Y0), base station location is (Xi,Yi), then the two meets following relationship:
Fig. 6 is the principle of TOA algorithm.Label and a base station communication process: label and base station respectively contain a UWB
Module, each module can generate an independent timestamp since starting.The transmitter of label model is on its timestamp
Ta1 transmitting request property pulse signal, base station module emits the signal of a response property at the Tb2 moment, by label mould
Time stamp T a2 reception of the block at oneself.It is possible thereby to the flight time of pulse signal between two modules is calculated, from
And determine flying distance S:
S=C [(Ta2-Ta1)-(Tb2-Tb1)]
Wherein, C is the light velocity；Communication process is as shown in Figure 7.
TDOA, which is located through, to be measured two different base stations and is positioned with the transmission time delay difference for positioning label.Assuming that
It positions the position of label and the range difference of locating base station 1 and locating base station 2 is R21=R2-R1, then the position of label to be positioned must
Being scheduled on the range difference perseverance using two locating base stations as focus, with two focuses is R21Hyperbola on.If the position of label to be positioned
It is set to (X0,Y0), the position of locating base station 1 is (X1,Y1), the position of locating base station 2 is (X2,Y2), then they meet relationship:
Again by the TDOA of another group of label to be positioned and 2 base station 3 of 1 base station 3 of base station or base station, available another group double
Curve, two groups of hyperbolas will at most generate two intersection points, and can calculate mobile terminal further according to priori knowledges such as radius
Position, its basic principle is as shown in Figure 8.
System positioning coverage mode is divided into two kinds, and rack room aisle region is since area is long and narrow, rack room is mutual in computer room
It blocks, one-dimensional linear can be taken to cover, the linear distributing installation in base station, every two base station forms a cell of origin.Outside computer room
Public domain can take two-dimensional surface to cover since area is big, shelter is few, and base station is installed in distributed rectangular, every four base stations
Form a cell of origin；As shown in Figure 9.
UWB personnel location system applied to IDC computer room is by wireless transmission layer, backbone transport layer, service layer and application layer
Composition, as shown in Figure 10.
Time synchronization is carried out by UWB between locating base station, positions and ranging is carried out by UWB between label and locating base station
Communication.Simultaneity factor provides Zigbee communication function, and positioning label searches base station network by Zigbee, and base station passes through Zigbee
TDMA slot scheduling is carried out to label, background application software carries out such as modification data to positioning label and reports frequency, switch function
When rate amplifier etc. operates, configuration information is sent to locating base station by server, and locating base station will be configured by Zigbee communication
Information is issued to target positioning label, and system positioning and configuration use different communications, conflict and positioning avoided to prolong
Late, running efficiency of system and stability are improved.The Zigbee communication process for positioning label and locating base station is as shown in figure 11.
Locating base station is completed to communicate and received comprising positioning labeling apparatus information and positioning with a ranging of positioning label
After the partial data of information, by Ethernet or WiFi by data back to server software.Data can choose by mutual
Networking transport, or only operate in local area network.
Server software includes positioning calculation engine and positioning application software.Positioning calculation engine is completed to measurement data
Analysis resolve to obtain positioning coordinate, and use Kalman filtering, interpolation smoothing scheduling algorithm optimum position data.Positioning application is soft
Part then provides the business functions such as GIS (geographic information services), Pop-up alarm and information management.Server software also mentions simultaneously
For all kinds of development interfaces, convenient for being integrated with other systems such as video monitoring, entrance guard managements.
Embodiment 1
As shown in figure 12, the nonnative personnel that the embodiment of the present invention 1 provides a kind of IDC computer room based on UWB positions system
System is made of locating base station, positioning label, wireless aps or router, interchanger, location-server and access terminal.Wherein, it is
Management software of uniting operation on the server, configures the work with management system.
Due to the limited coverage area of each base station, thus system need it is multiple it is base stations united just can be by entire localization region
Covering.Base station number need to be determined according to localization region area and site environment.
For the environmental quality and application demand of IDC computer room, covered in rack room aisle region using one-dimensional positioning, in machine
Public domain is covered using two-dimensional localization outside room.
Locating base station is by UWB signal and positions the communication between label, obtains the signal comprising label position information.It should
Signal is uploaded to server through wireless aps or router and interchanger by locating base station.
Since positioning label is worn on personnel, the human body that certain angle is had between locating base station is blocked, in order to
Ensure that positioning accuracy of the positioning tag location under various angles, this system are formed in one-dimensional positioning using 2 locating base stations
One cell of origin forms a cell of origin using 4 locating base stations in two-dimensional localization, carries out positioning calculation.By servicing
Device selects one of locating base station for master base station, and other is from base station, by the regular sending time sync message of master base station, from base
After station receives the positioning message of master base station, the timestamp of master base station sending time sync message is collected by server and from base station
The timestamp of time of receipt (T of R) sync message, by each timestamp and respectively the space length between base station and master base station establish and
The corresponding time relationship of master base station.
Include engine of positioning in server, the signal comprising label position information of upload can be resolved, is obtained every
The position of a positioning label.
System includes server, positioning label, that one-dimensional positioning needs more than two base stations, two-dimensional localization to need is more than four
Base station, the server are used for the data that receive according to each base station, carry out data operation, obtain each label position, and
Showed in real time in map, and all base stations be managed, position setting, position correction, software upgrading, to label into
The one-to-one binding of administrative staff's information；The base station further includes RF module in addition to operating system, and the RF module is mainly realized
Three functions, first is time synchronization, realizes that time synchronization is asked in base station, second is the self-positioning label of real-time reception
TDOA message, third are the real-time ranging messages for receiving processing label；The base main website further includes data back module, is used for
All data and synchronization signal that receive are back on server；The label is used to be bundled in each people for needing to position
Or on object, and carry out efficient association in systems, the label is additionally provided with wireless module, for base station send TDOA message and
TOF message.
Locating base station uses 86 box shapes, can support the installation of patch wall wall built-up or suspension installation two ways, be supplied using POE
Electricity supports two kinds of data back modes of Ethernet or Wifi.
IDC building environment feature:
1) cabinet blocks more, can not dispose base station in quadrangle and carry out two-dimensional localization；
2) rack room walkway clearance is generally less than one meter, needs to be accurately positioned label and is in which of which passageway position
It sets；
3) general 10 meters of computer room rack room passageway length or so.
Deployment way:
1) locating base station is disposed at cabinet passageway both ends, realizes the one-dimensional covering to the passageway；
2) locating base station is disposed in the corridor two sides outside cabinet, realizes the one-dimensional covering to the corridor；
3) Fresnel effect: RF (less radio-frequency) block blocked with light it is different.Light, which blocks, only to be needed to receive and dispatch two o'clock
Between " can not see ", be also visual occlusion.Since radiofrequency signal is longer relative to the wavelength of light, the propagation of radiofrequency signal is needed
As soon as wanting to be similar to ellipsoid " pipeline " to propagate, this is propagated pipeline and is called Fresnel region.First Fresnel radius (" pipe
Road maximum radius ") calculation formula are as follows:
Wherein λ is the wavelength of wireless signal, and d is the distance between transmitting-receiving.
If the shelter in first Fresnel zone is less than 20%, then it is assumed that RF is unobstructed.
Example: if positioning UWB signal uses 2 channels, centre frequency 3993.6MHz, and base station time distance is
10m, then the first Fresnel radius is 0.43m.If it is required that interfered between base station without RF, need to guarantee with antenna connecting line be
Clear in heart line, the cylinder that radius is 0.43m.
Rack room walkway clearance about 1m, thus it is appropriate according to 10 meters or so of distance deployment base station progress one-dimensional positioning.
If passageway is longer, need to increase locating base station.
Optimized Measures:
1) locating base station and positioning label carry out aerial angle testing and debugging, power intelligent is adjusted, motion state senses etc.
Optimized Measures；
2) locating base station uses UWB scheduling feature, and a selected UWB scheduling base station comes to label to be positioned in a computer room
Communication cycle and communication time slot carry out United Dispatching, reduce signal collision, increase IDC building environment under communication success rate.
3) data-at-rest optimization is added in server software, interpolation smoothing optimizes, draw cell of origin, barrier is limited and calculated
Method optimization.
It is described as follows:
Data-at-rest optimization: locating numerical variation when to avoid label static in error range causes locating and displaying to imitate
Fruit shake, the variation degree of server software location data according to tag motion sensor states and in a period of time, automatically
Turn-on data point still-mode, and positioning label data frequency is reduced, so that resting on the positioning label non-jitter of fixed position
It shows and further decreases power consumption.
Interpolation smoothing optimization: since software divides cell of origin, positioning label need to be cut when across cell of origin
Area's judgement is delayed to of short duration area of cutting occur, and section communication abnormal data packet loss causes to position when system is interfered
Point jump display, difference is excessive between effective position data twice for the front and back of software judgement at this time, is increased using interpolation fitting mode
Intermediate data points, so that locating and displaying smooth flow.
Barrier limits algorithm: since software interface map is imported as picture, when positioning label is located at wall or other objects
When body edge, in position error allowed band, it is possible that positioning in map, coordinate points pass through wall or other entities are aobvious
The problem of showing, therefore software provides barrier attributive function, hand drawn goes out to position allowed band, barrier region, to make
Anchor point display is obtained to limit within the allowable range and can not clear the jumps.
Draw cell of origin: one-dimensional positioning uses TDOA+TOF mode, then can obtain distance of the label to two base stations, mark
Signing two round tangency locations in the error-free situation of and ranging conllinear with base station is label position；When label is not conllinear with base station
When, two circles will intersect, and label is remoter with a distance from the line of base station, then round intersecting area is bigger.It, can by the characteristic
To differentiate one-dimensional cell belonging to label.In building environment, the base station of label to adjacency channel is non line of sight, non-to will lead to depending on evidence
It is bigger than normal than actual range to measure distance, causes round intersecting area bigger, is more advantageous to and distinguishes channel belonging to label.
As shown in figure 13, it is applicable in when above-mentioned characteristic is only between two base stations tag location result.It is special as shown in figure 14
Different situation, when the measurement distance of label to base station is because the expansion of non line of sight factor, causes it to have friendship on the line extended line of base station
When point, two round overlapping area very littles may be obtained, to generate erroneous judgement.Above situation is avoided, determining for one-dimensional cell is limited
Position result can only be just effective between two base stations.System server terminal software, which provides, draws localization region function, so as to determine
Position region is limited to two inside of base station, as shown in figure 15.
System software function:
Personal information binding: label information and the personal information that holds are associated binding and input system.
Management map: the importing comprising map, modification, the functions such as deletion.
Real time position is shown: the real time position for positioning label shows there is chart and map denotation mode, supports 2D/3D/
List display.
Track inquiry: the inquiry of positioning label historical movement track, automatic fitration no data period support speed, at a slow speed
It plays.
Fence: the customized fence for drawing various shapes, settable fence function and permission.
Label subregion statistics: the positioning number of labels in system programming count setting regions.
Label low-voltage warning: system notifies administrative staff's tag battery low pressure, low pressure grade that can set, conveniently shift to an earlier date automatically
Charging.
Embodiment 2
The embodiment of the present invention 2 provides a kind of nonnative personnel's localization method of IDC computer room based on UWB, comprising:
Step 1) server chooses master base station and from base station and completes time synchronization between base station；
Step 2) tag broadcast TDOA message, by its reach the time difference between each base station calculate label and each base station it
Between range difference；
Respective timestamp is sent to server after receiving, passes through step by server by tag broadcast TDOA message, base station
In rapid one master base station and from the TDOA message that the corresponding time relationship between base station calculates tag broadcast reach each base station when
Between it is poor, and by the time difference calculate the distance between label and each base station it is poor.
Step 3) label calculates the distance between itself and the base station by sending TOF message to certain base station；
The TOF measurement message of label to be positioned is received by the certain base station that server selects in real time and sends result to clothes
Business device calculates the distance between label and selected certain base station by server.The TOF measurement uses bidirectional ranging.
Step 4) calculates the distance between label and all base stations by the result of step 2 and step 3；
Step 5) calculates the position of label by the distance between label and each base station.
The method for calculating the position of label is, respectively using each base station as the center of circle, the distance between base station and label are radius,
According to round equation, round intersection point is sought, the common intersection point position of each circle is exactly label position.
It should be noted last that the above examples are only used to illustrate the technical scheme of the present invention and are not limiting.Although ginseng
It is described the invention in detail according to embodiment, those skilled in the art should understand that, to technical side of the invention
Case is modified or replaced equivalently, and without departure from the spirit and scope of technical solution of the present invention, should all be covered in the present invention
Scope of the claims in.
Claims (10)
1. a kind of nonnative personnel's positioning system of the IDC computer room based on UWB, which is characterized in that the system comprises: access is eventually
End, positioning label, multiple one-dimensional positioning cells, positioning calculation module and information management module；
The access terminal carries out authentication and typing nonnative personnel's information for the nonnative personnel to IDC computer room；
The positioning label: being worn on nonnative personnel, for generating TDOA message and TOF measurement message and broadcasting TDOA report
Text and transmission TOF measurement message；
The one-dimensional positioning cell, two UWB locating base stations at the cabinet passageway both ends including being laid in IDC computer room, realization pair
The one-dimensional covering in the passageway, two UWB locating base stations receive the TDOA message that positioning label is sent, will receive the time of message
Stamp is sent to positioning calculation module；One of UWB locating base station receives TOF measurement message as certain base station and sends out result
It send to positioning calculation module；
The positioning calculation module: the data for sending to two UWB locating base stations are resolved to obtain determining for positioning label
Position coordinate；
The information management module, for providing the geographic information services of key area, and the positioning provided according to locating module
Coordinate is alarmed.
2. nonnative personnel's positioning system of the IDC computer room according to claim 1 based on UWB, which is characterized in that described fixed
Position label has Unique ID, and the positioning label includes: UWB range finder module, UWB dual-mode antenna, RFID wireless module and fortune
Dynamic sensing module；
The UWB range finder module, for generating the TDOA message and TOF measurement message that have equipment of itself information；
The UWB dual-mode antenna, for broadcasting TDOA message and sending TOF measurement message to certain base station；
The RFID wireless module, for providing identification function of swiping the card；
The movement sensing module, for according to the motion state automatic adjusument data frequency of visiting personnel, automatically into stopping
It sleeps.
3. nonnative personnel's positioning system of the IDC computer room according to claim 2 based on UWB, which is characterized in that described two
One is master base station in a UWB locating base station, another is from base station；The UWB locating base station includes:
RF module for realizing the time synchronization between base station and receives the TDOA message for positioning label and sending；
When UWB locating base station is master base station, the RF module is used for regular sending time sync message；
When UWB locating base station is from base station, the RF module carries out the time of two base stations for receiving time sync message
It is synchronous；
When UWB locating base station is certain base station, the RF module is also used to receive the TOF measurement message that positioning label is sent；
With
Data back module, for all data and synchronization signal that receive to be back to positioning calculation module.
4. nonnative personnel's positioning system of the IDC computer room according to claim 1 based on UWB, which is characterized in that the letter
Ceasing management module includes:
Geographic information services unit, for selecting 2D the or 3D map of importing multiple format, the current nonnative personnel of ground chart display
The target icon supports that more Map Switchs, personal information are checked and conditional filtering；
The positioning coordinate of real-time track display unit, the positioning label for being provided according to locating module shows the reality of nonnative personnel
When track, support arbitrary period single or multiple label tracks playback, support the track of all labels in customized drawing area
Playback supports playback rate to adjust, and support is skipped no position data period automatically；With
Fence alarm unit, for providing fence, according to the positioning coordinate life for the positioning label that locating module provides
At the warning message of all kinds of abnormalities, warning message is divided into:
Alarm is swarmed into forbidden zone: nonnative personnel swarms into sensitive forbidden zone alarm；
Unauthorized swarms into alarm: nonnative personnel swarms into no authorized region alarm；
Track deviation warning: deviate predeterminable area alarm in nonnative personnel track；
Over range alarm: nonnative personnel, which runs off, allows zone of action alarm；
The alarm of label absolute rest: nonnative personnel wears calibration position label and is in absolute rest state alarm；
Time-out not also card alarm: nonnative personnel's time-out does not give back card alarm.
5. a kind of nonnative personnel's localization method of the IDC computer room based on UWB, which comprises
Step 1) is from choosing master base station and from base station and complete the time between base station in two UWB locating base stations of one-dimensional positioning cell
It is synchronous；
Respective timestamp is sent to by step 2) the positioning tag broadcast TDOA message, two UWB locating base stations after receiving
Positioning calculation module, the TDOA message that positioning calculation module calculates positioning tag broadcast reaches the time difference of each base station, and leads to
It is poor to cross time difference calculating positioning the distance between label and two UWB locating base stations；
Step 3) selects one as certain base station from two UWB locating base stations of one-dimensional positioning cell, receives positioning label hair
It send TOF measurement message and sends result to positioning calculation module, calculate the distance of positioning label and certain base station；
Step 4) according to the distance of the range difference of step 2) and the positioning label and certain base station of step 3), calculate positioning label with
The distance of another UWB locating base station；
Step 5) is respectively using the position of two UWB locating base stations as the center of circle, with two UWB locating base stations at a distance from positioning label
Two circles are drawn for radius, two common intersection point positions of circle are exactly label position.
6. a kind of nonnative personnel's positioning system of the IDC computer room based on UWB, which is characterized in that the system comprises: access is eventually
End, positioning label, multiple two-dimensional localization cells, locating module and information management module；
The access terminal carries out authentication and typing nonnative personnel's information for the nonnative personnel to IDC computer room；
The positioning label: being worn on nonnative personnel, for generating and sending the UWB pulse letter with equipment of itself information
Number；
The two-dimensional localization cell realizes the two dimension of localization region including four UWB locating base stations being laid in outside IDC computer room
Covering, each UWB locating base station are used to receive the UWB pulse signal that positioning label is sent, by the UWB of the positioning label received
Pulse signal moment and base station position information are sent to locating module by network communication equipment；
The positioning calculation module: the data for sending to four UWB locating base stations are resolved to obtain determining for positioning label
Position coordinate；
The information management module, for providing the geographic information services of key area, and the positioning provided according to locating module
Coordinate is alarmed.
7. nonnative personnel's positioning system of the IDC computer room according to claim 6 based on UWB, which is characterized in that described fixed
Position label has Unique ID, and the positioning label includes: UWB range finder module, UWB dual-mode antenna, RFID wireless module and fortune
Dynamic sensing module；
The UWB range finder module, for generating the UWB pulse signal for having equipment of itself information；
The UWB dual-mode antenna, the UWB pulse signal generated for emitting the UWB range finder module, receives UWB locating base station
The answer signal of transmission；
The RFID wireless module, for providing identification function of swiping the card；
The movement sensing module, for according to the motion state automatic adjusument data frequency of visiting personnel, automatically into stopping
It sleeps.
8. a kind of nonnative personnel's localization method of the IDC computer room based on UWB, which comprises
The first UWB locating base station of step 1) sets the time of a cycle of sending time synchronizing information；The first positioning UWB
Believe to the 2nd UWB locating base station, the 3rd UWB locating base station, the 4th UWB locating base station are synchronous with label sending time is positioned base station
Breath realizes the 2nd UWB locating base station, the 3rd UWB locating base station, the 4th UWB locating base station and positioning label and the first UWB
The time synchronization of locating base station；
Step 2) the positioning label according to time slot type ALOHA algorithm, to the first UWB locating base station, the 2nd UWB locating base station,
3rd UWB locating base station and the 4th UWB locating base station send equipment of itself information；
Step 3) the first UWB locating base station, the 2nd UWB locating base station, the 3rd UWB locating base station and the 4th UWB position base
Stand respectively receive positioning label send UWB pulse data signal, by receive positioning label the UWB pulse signal moment and
Base station information is sent to positioning calculation module；
Step 4) the positioning calculation module calculates received data, calculates the positioning coordinate of positioning label.
9. according to right want 10 described in the IDC computer room based on UWB nonnative personnel's localization method, which is characterized in that the step
It is rapid 2) specifically:
In a cycle of the first UWB locating base station sending time synchronizing information, the positioning label randomly selects timeslice,
When the time reaching the timeslice chosen, the positioning label is to the first UWB locating base station, the 2nd UWB locating base station, third
UWB locating base station and the 4th UWB locating base station send equipment of itself information.
10. nonnative personnel's localization method of the IDC computer room according to claim 9 based on UWB, which is characterized in that described
Step 4) specifically includes:
Step 4-1) if positioning calculation module receives only the data of one or two UWB locating base station transmission, it enters step
4-2)；If positioning calculation module receives the data of three UWB locating base stations transmission, 4-3 is entered step)；If positioning solution
The data that module receives the transmission of four UWB locating base stations are calculated, 4-4 is entered step)；
Step 4-2) positioning calculation module sends the information of " can not position " to information management module；
Step 4-3) set receive three UWB locating base stations of data as the first UWB locating base station, the 2nd UWB locating base station and
3rd UWB locating base station, then the positioning calculation module is received according to the first UWB locating base station and the 2nd UWB locating base station
The time t at the UWB pulse signal moment that label to be positioned is sent1And t2, base is positioned in conjunction with the first UWB locating base station and the 2nd UWB
The location information stood generates the first hyperbola；The positioning calculation module positions base according to the 2nd UWB locating base station and the 3rd UWB
Station receives the time t at the UWB pulse signal moment that label to be positioned is sent2And t3, in conjunction with the 2nd UWB locating base station and third
The location information of UWB locating base station generates the second hyperbola；Enter step 4-5)；
Assuming that the range difference of the position of label to be positioned and the first UWB locating base station and the 2nd UWB locating base station are as follows:
R21=c (t2-t1),
With the position (X of the first UWB locating base station1,Y1) and the 2nd UWB locating base station position (X2,Y2) it is two focuses, with two
The range difference perseverance of a focus is R21Generate the first hyperbola；
Step 4-4) positioning calculation module generates the first hyperbola and the second hyperbola according to step 4-3) first；Then root
The time at the UWB pulse signal moment that label to be positioned is sent is received according to the 3rd UWB locating base station and the 4th UWB locating base station
t3And t4, third hyperbola is generated in conjunction with the location information of the 3rd UWB locating base station and the 4th UWB locating base station；According to four
Two hyperbolas are selected in the first hyperbola of signal strength of UWB locating base station, the second hyperbola and third hyperbola, into step
Rapid 4-5)；
Step 4-5) two groups of hyperbolas at most generate two intersection points, it is selected from two intersection points further according to the prior information of key area
A point is selected out as positioning label, thus obtains the positioning coordinate of positioning label.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811240250.7A CN109541529A (en) | 2018-10-23 | 2018-10-23 | A kind of the nonnative personnel's positioning system and method for the IDC computer room based on UWB |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811240250.7A CN109541529A (en) | 2018-10-23 | 2018-10-23 | A kind of the nonnative personnel's positioning system and method for the IDC computer room based on UWB |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109541529A true CN109541529A (en) | 2019-03-29 |
Family
ID=65844765
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811240250.7A Pending CN109541529A (en) | 2018-10-23 | 2018-10-23 | A kind of the nonnative personnel's positioning system and method for the IDC computer room based on UWB |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109541529A (en) |
Cited By (34)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110095799A (en) * | 2019-06-05 | 2019-08-06 | 广东电网有限责任公司 | A kind of integrated satellite navigation and super-broadband tech positioning system and its method |
| CN110113788A (en) * | 2019-05-08 | 2019-08-09 | 北京数字新思科技有限公司 | A kind of tag location method, system and device |
| CN110418284A (en) * | 2019-07-25 | 2019-11-05 | 浙江钧普科技股份有限公司 | A kind of regional monitoring system |
| CN110677805A (en) * | 2019-09-25 | 2020-01-10 | 南京沃旭通讯科技有限公司 | Positioning method and system suitable for underground coal mine |
| CN110988794A (en) * | 2019-12-31 | 2020-04-10 | 江苏现代造船技术有限公司 | Ship factory workshop logistics positioning system based on UWB |
| CN111343716A (en) * | 2020-04-03 | 2020-06-26 | 南京江渚信息科技有限公司 | Indoor positioning method with high transmission efficiency based on UWB |
| CN111421535A (en) * | 2020-03-11 | 2020-07-17 | 重庆特斯联智慧科技股份有限公司 | Community child service system based on intelligent recognition robot |
| CN111447548A (en) * | 2019-10-23 | 2020-07-24 | 上海慕为技术工程股份有限公司 | Wireless mobile positioning operation system |
| CN111551259A (en) * | 2020-05-08 | 2020-08-18 | 电子科技大学 | Temperature measurement correction method based on cooperation of UWB and infrared sensor |
| CN111601381A (en) * | 2020-05-26 | 2020-08-28 | 煤炭科学技术研究院有限公司 | UWB (ultra wide band) underground personnel positioning method and system based on decision-prediction |
| CN111770570A (en) * | 2020-06-08 | 2020-10-13 | 锐捷网络股份有限公司 | Ultra-wideband positioning system label positioning method, device, medium and equipment |
| CN112037477A (en) * | 2020-07-16 | 2020-12-04 | 国网浙江省电力有限公司温州供电公司 | Indoor electronic fence positioning method and system based on RFID |
| CN112066981A (en) * | 2020-09-07 | 2020-12-11 | 南京大学 | Three-dimensional positioning tracking method in complex environment |
| CN112180319A (en) * | 2020-08-21 | 2021-01-05 | 天津市山石机器人有限责任公司 | Space positioning system based on left and right chirality and positioning method thereof |
| CN112435011A (en) * | 2020-12-02 | 2021-03-02 | 吉林建筑大学 | Student sign-in system, student sign-in method and device |
| CN112543505A (en) * | 2020-11-23 | 2021-03-23 | 招商局国际信息技术有限公司 | Port area positioning system and method |
| CN112702696A (en) * | 2019-10-22 | 2021-04-23 | 中移(成都)信息通信科技有限公司 | Positioning method, device, equipment and storage medium |
| CN112887898A (en) * | 2019-11-29 | 2021-06-01 | 京东方科技集团股份有限公司 | Indoor positioning method, system, electronic device and computer readable storage medium |
| CN113188673A (en) * | 2021-05-10 | 2021-07-30 | 北京汇钧科技有限公司 | Passive monitoring device and method for server in cabinet |
| CN113378272A (en) * | 2021-06-11 | 2021-09-10 | 西南交通大学 | Algorithm and system for constructing ultra-wideband ranging error model under multi-wall shielding |
| CN113473376A (en) * | 2021-07-16 | 2021-10-01 | 成都四相致新科技有限公司 | Method and device for improving object positioning refresh rate |
| CN113891250A (en) * | 2021-10-22 | 2022-01-04 | 江苏科技大学 | An indoor positioning method based on HINOC terminal |
| CN113919716A (en) * | 2021-10-18 | 2022-01-11 | 国泰新点软件股份有限公司 | Analysis method and system for irregular behaviors in bidding process |
| CN114125701A (en) * | 2021-11-03 | 2022-03-01 | 瑞驰博方（北京）科技有限公司 | Label positioning method, device, computer equipment and storage medium |
| CN114143794A (en) * | 2021-11-19 | 2022-03-04 | 福建亿榕信息技术有限公司 | A convenient wireless pulse positioning system |
| CN114167350A (en) * | 2021-12-08 | 2022-03-11 | 华清科盛(北京)信息技术有限公司 | Storage label positioning method and system |
| CN114449442A (en) * | 2022-01-19 | 2022-05-06 | 中铁第四勘察设计院集团有限公司 | Intelligent rail vehicle in-garage positioning system and method based on UWB technology |
| CN114509798A (en) * | 2022-01-25 | 2022-05-17 | 中国长江三峡集团有限公司 | Positioning system, method and device and electronic equipment |
| CN114660629A (en) * | 2022-03-30 | 2022-06-24 | 重庆平创半导体研究院有限责任公司 | Charging gun reset detection system and method based on UWB TDOA positioning |
| CN115412846A (en) * | 2022-08-31 | 2022-11-29 | 常熟理工学院 | Underground multi-scene identity detection positioning method, system and storage medium |
| CN116546620A (en) * | 2023-07-07 | 2023-08-04 | 深圳派特科技有限公司 | A method and system for UWB-based dual-base station positioning tags |
| CN117412242A (en) * | 2023-09-14 | 2024-01-16 | 长春理工大学 | A scalable multi-base station multi-label positioning system based on UWB technology |
| US11906613B2 (en) | 2020-06-17 | 2024-02-20 | Sony Group Corporation | Electronic device, an electronic reference device, and related method for positioning of the electronic device |
| CN118748835A (en) * | 2024-05-23 | 2024-10-08 | 华清科盛(北京)信息技术有限公司 | A composite area positioning method and system |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100976439B1 (en) * | 2007-12-17 | 2010-08-18 | 한국전자통신연구원 | Location Estimation Method of Mobile Node in Wireless Sensor Network |
| CN104270814A (en) * | 2014-09-30 | 2015-01-07 | 南京沃旭通讯科技有限公司 | Locating method and system based on mixed TDOA and ToF |
| CN106211310A (en) * | 2016-07-01 | 2016-12-07 | 北京永安信通科技有限公司 | Indoor orientation method based on UWB technology |
| CN107765217A (en) * | 2017-09-14 | 2018-03-06 | 清华大学 | UWB indoor locating systems based on high precision clock simultaneous techniques |
| CN108391236A (en) * | 2018-04-04 | 2018-08-10 | 浙江中诚工程管理科技有限公司 | Positioning system in a kind of construction site construction personnel based on UWB |
-
2018
- 2018-10-23 CN CN201811240250.7A patent/CN109541529A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100976439B1 (en) * | 2007-12-17 | 2010-08-18 | 한국전자통신연구원 | Location Estimation Method of Mobile Node in Wireless Sensor Network |
| CN104270814A (en) * | 2014-09-30 | 2015-01-07 | 南京沃旭通讯科技有限公司 | Locating method and system based on mixed TDOA and ToF |
| CN106211310A (en) * | 2016-07-01 | 2016-12-07 | 北京永安信通科技有限公司 | Indoor orientation method based on UWB technology |
| CN107765217A (en) * | 2017-09-14 | 2018-03-06 | 清华大学 | UWB indoor locating systems based on high precision clock simultaneous techniques |
| CN108391236A (en) * | 2018-04-04 | 2018-08-10 | 浙江中诚工程管理科技有限公司 | Positioning system in a kind of construction site construction personnel based on UWB |
Non-Patent Citations (1)
| Title |
|---|
| 赵光旭: "监狱服刑人员三维精确定位系统研究与设计", 《中国优秀硕士学位论文全文数据库 信息科技辑》 * |
Cited By (48)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110113788A (en) * | 2019-05-08 | 2019-08-09 | 北京数字新思科技有限公司 | A kind of tag location method, system and device |
| CN110113788B (en) * | 2019-05-08 | 2022-08-09 | 北京明略昭辉科技有限公司 | Label positioning method, system and device |
| CN110095799A (en) * | 2019-06-05 | 2019-08-06 | 广东电网有限责任公司 | A kind of integrated satellite navigation and super-broadband tech positioning system and its method |
| CN110418284A (en) * | 2019-07-25 | 2019-11-05 | 浙江钧普科技股份有限公司 | A kind of regional monitoring system |
| CN110677805A (en) * | 2019-09-25 | 2020-01-10 | 南京沃旭通讯科技有限公司 | Positioning method and system suitable for underground coal mine |
| CN110677805B (en) * | 2019-09-25 | 2021-08-03 | 南京沃旭通讯科技有限公司 | Positioning method and system suitable for underground coal mine |
| CN112702696A (en) * | 2019-10-22 | 2021-04-23 | 中移(成都)信息通信科技有限公司 | Positioning method, device, equipment and storage medium |
| CN111447548A (en) * | 2019-10-23 | 2020-07-24 | 上海慕为技术工程股份有限公司 | Wireless mobile positioning operation system |
| CN111447548B (en) * | 2019-10-23 | 2022-08-05 | 上海慕为技术工程股份有限公司 | Wireless mobile positioning operation system |
| US11790188B2 (en) | 2019-11-29 | 2023-10-17 | Boe Technology Group Co., Ltd. | Positioning method, positioning system, and tag |
| CN112887898A (en) * | 2019-11-29 | 2021-06-01 | 京东方科技集团股份有限公司 | Indoor positioning method, system, electronic device and computer readable storage medium |
| CN112887898B (en) * | 2019-11-29 | 2024-04-09 | 京东方科技集团股份有限公司 | Indoor positioning method, system, electronic equipment and computer readable storage medium |
| CN110988794A (en) * | 2019-12-31 | 2020-04-10 | 江苏现代造船技术有限公司 | Ship factory workshop logistics positioning system based on UWB |
| CN111421535A (en) * | 2020-03-11 | 2020-07-17 | 重庆特斯联智慧科技股份有限公司 | Community child service system based on intelligent recognition robot |
| CN111343716A (en) * | 2020-04-03 | 2020-06-26 | 南京江渚信息科技有限公司 | Indoor positioning method with high transmission efficiency based on UWB |
| CN111551259A (en) * | 2020-05-08 | 2020-08-18 | 电子科技大学 | Temperature measurement correction method based on cooperation of UWB and infrared sensor |
| CN111601381B (en) * | 2020-05-26 | 2022-01-28 | 煤炭科学技术研究院有限公司 | UWB (ultra wide band) underground personnel positioning method and system based on decision-prediction |
| CN111601381A (en) * | 2020-05-26 | 2020-08-28 | 煤炭科学技术研究院有限公司 | UWB (ultra wide band) underground personnel positioning method and system based on decision-prediction |
| CN111770570A (en) * | 2020-06-08 | 2020-10-13 | 锐捷网络股份有限公司 | Ultra-wideband positioning system label positioning method, device, medium and equipment |
| US11906613B2 (en) | 2020-06-17 | 2024-02-20 | Sony Group Corporation | Electronic device, an electronic reference device, and related method for positioning of the electronic device |
| CN112037477A (en) * | 2020-07-16 | 2020-12-04 | 国网浙江省电力有限公司温州供电公司 | Indoor electronic fence positioning method and system based on RFID |
| CN112180319B (en) * | 2020-08-21 | 2022-11-29 | 天津市山石机器人有限责任公司 | Space positioning system based on left and right chirality and positioning method thereof |
| CN112180319A (en) * | 2020-08-21 | 2021-01-05 | 天津市山石机器人有限责任公司 | Space positioning system based on left and right chirality and positioning method thereof |
| CN112066981A (en) * | 2020-09-07 | 2020-12-11 | 南京大学 | Three-dimensional positioning tracking method in complex environment |
| CN112543505A (en) * | 2020-11-23 | 2021-03-23 | 招商局国际信息技术有限公司 | Port area positioning system and method |
| CN112543505B (en) * | 2020-11-23 | 2023-08-18 | 招商局国际科技有限公司 | Harbor area positioning system and method |
| CN112435011A (en) * | 2020-12-02 | 2021-03-02 | 吉林建筑大学 | Student sign-in system, student sign-in method and device |
| CN113188673A (en) * | 2021-05-10 | 2021-07-30 | 北京汇钧科技有限公司 | Passive monitoring device and method for server in cabinet |
| CN113378272A (en) * | 2021-06-11 | 2021-09-10 | 西南交通大学 | Algorithm and system for constructing ultra-wideband ranging error model under multi-wall shielding |
| CN113473376B (en) * | 2021-07-16 | 2024-02-13 | 成都四相致新科技有限公司 | Method and device for improving object positioning refresh rate |
| CN113473376A (en) * | 2021-07-16 | 2021-10-01 | 成都四相致新科技有限公司 | Method and device for improving object positioning refresh rate |
| CN113919716A (en) * | 2021-10-18 | 2022-01-11 | 国泰新点软件股份有限公司 | Analysis method and system for irregular behaviors in bidding process |
| CN113891250B (en) * | 2021-10-22 | 2023-09-22 | 江苏科技大学 | Indoor positioning method based on HINOC terminal |
| CN113891250A (en) * | 2021-10-22 | 2022-01-04 | 江苏科技大学 | An indoor positioning method based on HINOC terminal |
| CN114125701A (en) * | 2021-11-03 | 2022-03-01 | 瑞驰博方（北京）科技有限公司 | Label positioning method, device, computer equipment and storage medium |
| CN114143794A (en) * | 2021-11-19 | 2022-03-04 | 福建亿榕信息技术有限公司 | A convenient wireless pulse positioning system |
| CN114167350A (en) * | 2021-12-08 | 2022-03-11 | 华清科盛(北京)信息技术有限公司 | Storage label positioning method and system |
| CN114449442A (en) * | 2022-01-19 | 2022-05-06 | 中铁第四勘察设计院集团有限公司 | Intelligent rail vehicle in-garage positioning system and method based on UWB technology |
| CN114509798A (en) * | 2022-01-25 | 2022-05-17 | 中国长江三峡集团有限公司 | Positioning system, method and device and electronic equipment |
| CN114660629A (en) * | 2022-03-30 | 2022-06-24 | 重庆平创半导体研究院有限责任公司 | Charging gun reset detection system and method based on UWB TDOA positioning |
| CN115412846A (en) * | 2022-08-31 | 2022-11-29 | 常熟理工学院 | Underground multi-scene identity detection positioning method, system and storage medium |
| CN115412846B (en) * | 2022-08-31 | 2024-05-14 | 常熟理工学院 | Underground multi-scene identity detection positioning method, system and storage medium |
| CN116546620B (en) * | 2023-07-07 | 2023-09-15 | 深圳派特科技有限公司 | A method and system for dual base station positioning tags based on UWB |
| CN116546620A (en) * | 2023-07-07 | 2023-08-04 | 深圳派特科技有限公司 | A method and system for UWB-based dual-base station positioning tags |
| CN117412242A (en) * | 2023-09-14 | 2024-01-16 | 长春理工大学 | A scalable multi-base station multi-label positioning system based on UWB technology |
| CN117412242B (en) * | 2023-09-14 | 2024-06-07 | 长春理工大学 | Extensible multi-base-station multi-tag positioning system based on UWB technology |
| CN118748835A (en) * | 2024-05-23 | 2024-10-08 | 华清科盛(北京)信息技术有限公司 | A composite area positioning method and system |
| CN118748835B (en) * | 2024-05-23 | 2025-03-11 | 华清科盛(北京)信息技术有限公司 | Composite region positioning method and system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109541529A (en) | A kind of the nonnative personnel's positioning system and method for the IDC computer room based on UWB | |
| Elsanhoury et al. | Precision positioning for smart logistics using ultra-wideband technology-based indoor navigation: A review | |
| CN109541530A (en) | A kind of key area nonnative personnel's positioning system and method based on UWB | |
| US6738628B1 (en) | Electronic physical asset tracking | |
| CN110113788A (en) | A kind of tag location method, system and device | |
| Song et al. | A proximity-based method for locating RFID tagged objects | |
| US8368513B2 (en) | Data separation in high density environments | |
| CN106170712B (en) | Network-centric positioning | |
| US8253539B2 (en) | Rfid reader management system and method | |
| US8456282B2 (en) | Synchronization of devices in a RFID communications environment | |
| Pandey et al. | A survey on localization techniques for wireless networks | |
| US20130115969A1 (en) | System and method for cell phone targeting and tracking | |
| CN107371236A (en) | Alignment system | |
| EP3806501B1 (en) | Electronic price tag positioning method, apparatus, and system | |
| US8248294B2 (en) | Method for protecting location privacy of air traffic communications | |
| CN110045329A (en) | A kind of two base station two-dimensional location methods | |
| CN109657755A (en) | Body locating system | |
| Song et al. | Locating materials on construction site using proximity techniques | |
| US20030006935A1 (en) | Local wireless digital tracking network | |
| KR102466185B1 (en) | System for controlling of operations in smart farm using indoor positioning and method thereof | |
| US20110159888A1 (en) | Location method and system using colliding signals | |
| CN213417887U (en) | Underground comprehensive pipe gallery high accuracy positioning system | |
| EP2908611B1 (en) | A device for locating and identifying objects in a room and allowing access to a contextual service | |
| US9002376B2 (en) | Systems and methods for gathering information about discrete wireless terminals | |
| Chen et al. | Design and implementation of a WiFi-based local locating system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190329 |
|
| RJ01 | Rejection of invention patent application after publication |