CN110346755B - Signal amplitude detection device and method and arrival time correction method thereof - Google Patents
Signal amplitude detection device and method and arrival time correction method thereof Download PDFInfo
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- CN110346755B CN110346755B CN201910620389.2A CN201910620389A CN110346755B CN 110346755 B CN110346755 B CN 110346755B CN 201910620389 A CN201910620389 A CN 201910620389A CN 110346755 B CN110346755 B CN 110346755B
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- 238000001514 detection method Methods 0.000 title claims description 34
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- 238000005070 sampling Methods 0.000 claims description 29
- 238000005259 measurement Methods 0.000 claims description 7
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- 238000004891 communication Methods 0.000 description 3
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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
- G01S5/0205—Details
- G01S5/021—Calibration, monitoring or correction
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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
- G01S5/08—Position of single direction-finder fixed by determining direction of a plurality of spaced sources of known location
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
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Abstract
The invention discloses a pulse signal amplitude detection device, which comprises: a pulse signal transmitter which transmits a pulse signal; the pulse signal receiver is used for receiving the pulse signal and comprises a radio frequency attenuator, and the amplitude of the received pulse signal is attenuated by different attenuation amplitudes until the amplitude of the attenuated pulse signal is smaller than a preset amplitude threshold; the amplitude information of the pulse signals received by the pulse signal receiver is obtained according to the attenuation amplitude of the radio frequency attenuator and a preset amplitude threshold. According to the invention, the radio frequency attenuator is arranged in the UWB pulse signal receiver, so that the amplitude information of the received pulse signal can be measured to obtain the arrival time correction value, the problem that the arrival time of the UWB pulse positioning signal cannot be accurately detected due to the fact that the amplitude of the signal received by the UWB pulse signal receiver is different due to the fact that the gains of the transmitting antenna in different directions are different is avoided, and the positioning precision is further improved.
Description
Technical Field
The present invention relates to the field of wireless communications, and in particular to signal amplitude detection and arrival time correction in a positioning system.
Background
In the prior art, the positioning and monitoring of a specified target in a specific area are realized through a self-built positioning system. UWB (Ultra Wideband) is a carrierless communication technique that utilizes non-sinusoidal narrow pulses on the order of nanoseconds to picoseconds to transmit data. UWB has advantages of narrow pulse width, strong anti-interference performance, high transmission rate, extremely wide bandwidth, small consumed electric energy, small transmitting power and the like, and is widely applied to the fields of indoor communication, high-speed wireless LAN, home network, cordless telephone, safety detection, position measurement, radar and the like. The positioning system taking the UWB signal as the positioning signal can make up the area which cannot be covered by the sky satellite, is convenient to arrange and realizes displacement monitoring in a narrow space.
The positioning algorithm commonly used in the positioning system using UWB pulses as positioning signals has time of arrival TOA positioning and time difference of arrival TDOA positioning, and the algorithm needs a positioning signal receiving end to detect the time value of the UWB pulses reaching the positioning signal receiving end in the implementation process. In existing positioning systems, due to the limitation of hardware conditions, the signal gain of an omnidirectional antenna of a UWB pulse transmitter transmitting UWB pulses in all directions cannot be guaranteed to be completely consistent, which results in that when the UWB pulse transmitter transmits UWB pulses to two UWB pulse receivers which are at the same distance from the UWB pulse transmitter but at different positions, the amplitude of the signals reaching the two UWB pulse receivers is different. When the two UWB pulse receivers detect the received signals by using the same signal threshold, different signal arrival time information can be obtained, so that errors exist in the measured arrival time, and the positioning accuracy is affected.
Therefore, how to avoid the problem that the signal amplitude received by the UWB pulse receiver is different due to different antenna gains when the UWB pulse transmitter transmits UWB pulses to the surrounding, and thus the arrival time of the UWB pulse positioning signal cannot be accurately detected, becomes a technical problem to be solved in the art.
Disclosure of Invention
According to one aspect of the present invention, there is disclosed a pulse signal amplitude detection apparatus comprising: a pulse signal transmitter which transmits a pulse signal; the pulse signal receiver is used for receiving the pulse signal and comprises a radio frequency attenuator, and the amplitude of the received pulse signal is attenuated by different attenuation amplitudes until the attenuated pulse signal amplitude is smaller than a preset amplitude threshold; the pulse signal amplitude detection device obtains amplitude information of the pulse signal received by the pulse signal receiver according to the attenuation amplitude of the radio frequency attenuator and a preset amplitude threshold.
According to another aspect of the present invention, a method for correcting arrival time using a pulse signal amplitude detection apparatus is disclosed, comprising: recording the moment corresponding to a sampling point with the same amplitude as a preset amplitude threshold on the envelope of the received pulse signal, and taking the moment as a measured value of the arrival moment of the pulse signal; acquiring amplitude information of the received pulse signal by using the pulse signal amplitude detection device; and correcting the recorded arrival time measurement value according to the relation between the amplitude of the received pulse signal and the preset amplitude threshold so as to obtain an arrival time correction value.
According to yet another aspect of the present invention, a pulse signal amplitude detection method is disclosed, comprising: transmitting a pulse signal; receiving the pulse signal, and carrying out attenuation of different attenuation amplitudes on the amplitude of the received pulse signal until the amplitude of the attenuated pulse signal is smaller than a preset amplitude threshold; and obtaining the amplitude information of the received pulse signal according to the attenuation amplitude and the preset amplitude threshold when the amplitude of the attenuated pulse signal is smaller than the preset amplitude threshold.
According to the pulse signal amplitude detection and arrival time correction method disclosed by the invention, the radio frequency attenuator is arranged in the UWB pulse signal receiver, so that the amplitude information of the received pulse signal can be measured, and the recorded arrival time measured value is corrected through the relation between the amplitude of the pulse signal and the preset amplitude threshold, so as to obtain the arrival time correction value. The invention essentially unifies the selection standard of the arrival time sampling point of the received signal, avoids the problem that the arrival time of the UWB pulse positioning signal cannot be accurately detected due to the difference of the signal amplitudes received by the UWB pulse receiver caused by different antenna gains when the UWB pulse transmitter transmits UWB pulses to the surrounding, and further improves the positioning precision and stability.
Drawings
FIG. 1 is a schematic diagram of a positioning system 100 according to an embodiment of the present invention;
FIG. 2 presents a schematic view of a pulse signal envelope of the localization system 100 shown in FIG. 1;
FIG. 3 is a diagram illustrating pulse signal amplitude detection according to one embodiment of the present invention;
FIG. 4 is a diagram illustrating pulse signal amplitude detection using dichotomy according to one embodiment of the invention;
FIG. 5 is a schematic diagram of another implementation of pulse signal amplitude detection using dichotomy according to one embodiment of the invention;
FIG. 6 is a schematic diagram of pulse signal arrival time correction according to one embodiment of the present invention;
fig. 7 is a flow chart of a pulse signal amplitude detection and arrival time correction method 700 according to an embodiment of the present invention.
Detailed Description
Specific embodiments of the invention will be described in detail below, it being noted that the embodiments described herein are for illustration only and are not intended to limit the invention. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. However, it will be apparent to one of ordinary skill in the art that: no such specific details are necessary to practice the invention. In other instances, well-known circuits, materials, or methods have not been described in detail in order not to obscure the invention.
Throughout the specification, references to "one embodiment," "an embodiment," "one example," or "an example" mean: a particular feature, structure, or characteristic described in connection with the embodiment or example is included within at least one embodiment of the invention. Thus, the appearances of the phrases "in one embodiment," "in an embodiment," "one example," or "an example" in various places throughout this specification are not necessarily all referring to the same embodiment or example. Furthermore, the particular features, structures, or characteristics may be combined in any suitable combination and/or sub-combination in one or more embodiments or examples. Moreover, those of ordinary skill in the art will appreciate that the illustrations provided herein are for illustrative purposes and that the illustrations are not necessarily drawn to scale. It will be understood that when an element is referred to as being "connected" or "connected" to another element, it can be directly connected or connected to the other element or intervening elements may be present. In contrast, when an element is referred to as being "directly connected" or "directly connected" to another element, there are no intervening elements present. Like reference numerals designate like elements. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.
Fig. 1 is a schematic diagram of a positioning system 100 according to an embodiment of the invention. The positioning system 100 illustratively comprises positioning base stations BS1, BS2 and BS3 and a device to be positioned MS, wherein the positioning base stations BS1, BS2 and BS3 have known position information. In one embodiment, the to-be-positioned device MS transmits positioning signals to the positioning base stations BS1, BS2 and BS3, the positioning base stations BS1, BS2 and BS3 receive and record time information of arrival of the positioning signals to themselves, and the positioning system 100 uses the transmitting time information and/or the arrival time information of the positioning signals and the position information of the positioning base stations BS1, BS2 and BS3 to calculate the position information of the to-be-positioned device MS through a TOA or TDOA positioning algorithm. In one embodiment, the positioning signal is a UWB pulse signal, and the to-be-positioned device MS includes a UWB pulse signal transmitter, and the positioning base stations BS1, BS2, and BS3 include UWB pulse signal receivers.
As shown in fig. 1, the signal gains of the omni-directional antenna of the device to be positioned MS, which contains the UWB pulse transmitter, transmitting UWB pulses cannot be guaranteed to be completely uniform in all directions, limited by the antenna hardware conditions, and the dashed line in fig. 1 represents the gain pattern of the UWB pulse transmitter. For the reasons described above, the amplitude of the signal reaching the plurality of UWB pulse receivers differs when the UWB pulse transmitter transmits UWB pulses to the plurality of UWB pulse receivers that are the same distance from the UWB pulse transmitter but are located differently. As shown in fig. 1, in the positioning system 100, at a certain moment, the device MS to be positioned moves to a position equal to the distances between the positioning base stations BS1, BS2 and BS3, and the spatial attenuation when the device MS to be positioned transmits the same UWB pulse signal is the same. However, since the orientation of the positioning base stations BS1, BS2 and BS3 is different with respect to the orientation of the device to be positioned MS, the UWB burst signals transmitted by the device to be positioned MS to the positioning base stations BS1, BS2 and BS3 have different amplitudes, which results in the UWB burst signals received by the positioning base stations BS1, BS2 and BS3 having different amplitudes. In the embodiment shown in fig. 1, the amplitude of the UWB pulse signals received by the positioning base station BS3 is smaller than the amplitude of the UWB pulse signals received by the positioning base stations BS1 and BS2 because the antenna gain of the UWB pulse transmitters toward the positioning base stations BS1 and BS2 is larger and the antenna gain of the UWB pulse transmitter toward the positioning base station BS3 is smaller.
Fig. 2 presents a schematic view of the pulse signal envelope of the localization system 100 shown in fig. 1. As shown in fig. 2, the to-be-positioned device MS transmits positioning signals to the positioning base stations BS1, BS2 and BS3, and since the positioning base stations BS1, BS2 and BS3 are equidistant from the to-be-positioned device MS in the embodiment shown in fig. 1, the time information of arrival of the positioning signals recorded by the positioning base stations BS1, BS2 and BS3 should be the same, ideally. However, since the omni-directional antenna of the device to be positioned MS including the UWB pulse transmitter transmits UWB pulses has non-uniform signal gains in various directions, UWB pulse signals received by the positioning base stations BS1, BS2 and BS3 have different amplitudes. As shown in fig. 2, the amplitude of the UWB pulse signals received by the positioning base station BS3 is smaller than the amplitude of the UWB pulse signals received by the positioning base stations BS1 and BS 2. When each positioning base station records the time information of the arrival of the positioning signal, the positioning system 100 sets a uniform signal amplitude threshold vth for each positioning base station, and when the positioning base station detects that the received pulse signal is greater than or equal to the signal amplitude threshold vth, the positioning base station is regarded as detecting the positioning signal, and records the moment corresponding to the sampling point with the same amplitude as the signal amplitude threshold vth on the pulse signal envelope as the measured value of the arrival moment of the positioning signal. I.e. the positioning base stations BS1, BS2 and BS3, respectively, derive the measured values tm1, tm2 and tm3 of the moment the positioning signal reaches itself, according to a unified signal amplitude threshold vth. Since the amplitude of the UWB pulse signal received by the positioning base station BS3 is smaller than the amplitude of the UWB pulse signals received by the positioning base stations BS1 and BS2, and the signal amplitude threshold vth of each positioning base station is uniform, the measured value tm3 of the arrival time of the positioning signal obtained by the positioning base station BS3 is larger than the measured values tm1 and tm2 of the arrival time of the positioning signal obtained by the positioning base stations BS1 and BS2, which further results in errors in calculating the position information of the to-be-positioned device MS by using the arrival time values of the positioning signals, and influences the positioning accuracy. The invention provides a method for detecting the amplitude of a positioning signal and correcting the arrival time of the positioning signal so as to compensate the deviation of the arrival time of the recorded positioning signal caused by inconsistent antenna gains in all directions of a UWB pulse transmitter.
Fig. 3 is a schematic diagram of pulse signal amplitude detection according to an embodiment of the present invention. According to the invention, the amplitude attenuation is carried out on the received pulse signals by arranging the radio frequency attenuator in the UWB pulse receiver, and different attenuation amplitudes are arranged for the radio frequency attenuator, so that the amplitude of the attenuated pulse signals is smaller than a preset amplitude threshold vth, namely, when the attenuated pulse signals cannot be detected by the UWB pulse receiver, the amplitude range of the pulse signals received by the UWB pulse receiver is obtained according to the attenuation amplitude of the radio frequency attenuator and the preset amplitude threshold vth. In order to enable the UWB pulse receiver to attenuate the received pulse signals with different attenuation amplitudes, in one embodiment, the UWB pulse receiver is a multi-channel receiver, i.e., the UWB pulse receiver is provided with a radio frequency attenuator on each receiving channel, and sets the attenuation amplitudes for the plurality of radio frequency attenuators. As another embodiment, as shown in fig. 3, a plurality of UWB pulse signals with equal amplitudes are continuously transmitted by a UWB pulse transmitter, and the received plurality of UWB pulse signals with equal amplitudes are sequentially attenuated by a UWB pulse receiver with different amplitudes, so as to achieve the same technical effect as the multi-channel UWB pulse receiver. In the embodiment shown in fig. 3, the device to be positioned MS includes a UWB pulse transmitter, and the positioning base station includes a UWB pulse receiver, that is, the device to be positioned MS transmits a UWB pulse signal, and the positioning base station receives the UWB pulse signal. For convenience of explanation, fig. 3 illustrates a pulse signal amplitude detection method by taking the positioning base station BS1 as an example to receive a pulse signal. In yet another embodiment, the positioning base station includes a UWB pulse transmitter, and the device to be positioned MS includes a UWB pulse receiver, i.e., the positioning base station transmits a UWB pulse signal, and the device to be positioned MS receives the UWB pulse signal.
As shown in fig. 3, the device to be located MS transmits a plurality of UWB pulse signals of equal amplitude to the base station BS 1.The positioning base station BS1 sequentially attenuates the received pulse signals with different amplitudes, and compares the attenuated signals with a preset amplitude threshold vth. The positioning base station BS1 may set different attenuation amplitudes for the radio frequency attenuator. In the embodiment shown in fig. 3, the positioning base station BS1 does not attenuate the received first pulse signal, but only records the time corresponding to the sampling point with the equal amplitude of the signal amplitude threshold vth on the envelope of the pulse signal as the measured value tm1 of the arrival time of the positioning signal. The radio frequency attenuator attenuates the amplitude of the received second pulse signal by Deltav1, and compares the attenuated second pulse signal with a preset amplitude threshold vth. As shown in fig. 3, if the amplitude of the attenuated second pulse signal is higher than the preset amplitude threshold vth, the amplitude of the received third pulse signal is attenuated by Δv1+Δv2 by further attenuating the next third pulse signal. As shown in fig. 3, if the amplitude of the attenuated third pulse signal is still higher than the preset amplitude threshold vth, the following fourth pulse signal is further attenuated, and the amplitude of the received fourth pulse signal is attenuated by Δv1+Δv2+Δv3. As shown in fig. 3, the amplitude of the attenuated fourth pulse signal is still higher than the preset amplitude threshold vth, and the amplitude of the received fifth pulse signal is attenuated by Δv1+Δv2+Δv3+Δv4. As shown in fig. 3, if the signal amplitude of the attenuated fifth pulse signal is lower than the preset amplitude threshold vth, it is indicated that the amplitude of the received pulse signal is between the lower limit vth+Δv1+Δv2+Δv3 and the upper limit vth+Δv1+Δv2+Δv3+Δv4. In one embodiment, the upper and lower limits of the pulse amplitude may be averaged as the amplitude of the received pulse signal, i.e., vth+Δ
As the amplitude of the received pulse signal. In one embodiment, the attenuation amplitudes may increase with equal gradients, i.e., Δv1, Δv2, Δv3, Δv4 are all equal. In yet another embodiment, the positioning base station BS1 may perform a nonlinear attenuation, i.e. Δv1, Δv2, Δv3, Δv4 take different values.
In order to quickly and accurately obtain the amplitude of the received pulse signal, the invention also provides a comparison result of the pulse signal after real-time feedback attenuation and a preset amplitude threshold vth, and the attenuation amplitude of the radio frequency attenuator is set according to the comparison result.
In one embodiment, when the upper limit and the lower limit of the measured pulse amplitude are widely different, in order to improve the measurement accuracy of the pulse amplitude, the attenuation amplitude of the radio frequency attenuator needs to be further refined. In the embodiment shown in fig. 3, the received fourth pulse signal is greater than the preset amplitude threshold vth after being attenuated by the radio frequency attenuator, the received fifth pulse signal is less than the preset amplitude threshold vth after being attenuated by the radio frequency attenuator, and the comparison result is used to further refine the attenuation amplitude of the radio frequency attenuator so as to continue to attenuate the next pulse signal, where the attenuation amplitude of the refined radio frequency attenuator is between the attenuation amplitudes of the fourth pulse signal and the fifth pulse signal. And attenuating the amplitude of the received sixth pulse signal by Deltav1+Deltav2+Deltav3+Deltav41, wherein Deltav41 is smaller than Deltav4, comparing the attenuated signal with a preset amplitude threshold vth, if the amplitude of the attenuated sixth pulse signal is still higher than the preset amplitude threshold vth, sequentially further attenuating the next pulse signal, and sequentially increasing the attenuation amplitude until the amplitude of the attenuated signal is lower than the preset amplitude threshold vth. In the embodiment shown in fig. 3, the amplitude of the signal attenuated by the seventh pulse signal is measured to be smaller than the preset amplitude threshold vth, and then the amplitude of the pulse signal measured at this time is between vth+Δv1+Δv2+Δv3+Δv41+Δv42 and vth+Δv1+Δv2+Δv3+Δv41+Δv42+Δv43. In one embodiment, the upper and lower limits of the pulse amplitude may be averaged as the amplitude of the received pulse signal. In yet another embodiment, the attenuation amplitude of the radio frequency attenuator may be further refined until the upper and lower limits of the pulse amplitude are less than a preset threshold. By the method, the upper limit and the lower limit of the pulse amplitude can be reduced, so that the measuring accuracy of the pulse amplitude is improved.
In one embodiment, the radio frequency attenuator attenuates the pulse signal by a multiple. In yet another embodiment, the radio frequency attenuator attenuates the pulsed signal in dB.
FIG. 4 is a schematic diagram of pulse signal amplitude detection using dichotomy according to one embodiment of the invention. The positioning base station BS1 sequentially attenuates the received pulse signals with different multiples, and compares the attenuated signals with a preset amplitude threshold vth. The positioning base station BS1 sets an initial attenuation multiple IM for the radio frequency attenuator, and in the embodiment shown in fig. 4, the positioning base station BS1 does not attenuate the received first signal, and only records the time corresponding to the sampling point with the same amplitude as the signal amplitude threshold vth on the pulse signal envelope as the measured value tm1 of the arrival time of the positioning signal. The radio frequency attenuator attenuates the received second pulse signal by an initial attenuation multiple IM, and compares the attenuated signal with a preset amplitude threshold vth. As shown in fig. 4, the attenuated signal amplitude is higher than the preset amplitude threshold vth, the next pulse signal is further attenuated by using a dichotomy, the received third pulse signal is attenuated by IM/2, the attenuated pulse signal is compared with the preset amplitude threshold vth, the attenuated signal amplitude is still higher than the preset amplitude threshold vth, the next pulse signal is further attenuated, the received fourth pulse signal is attenuated by the initial attenuation multiple IM/4, and the attenuated pulse signal is compared with the preset amplitude threshold vth, as shown in fig. 4, the attenuated signal amplitude is lower than the preset amplitude threshold vth. The upper limit of the pulse signal amplitude is the product of vth and the attenuation factor IM/2, and the lower limit of the pulse signal amplitude is the product of vth and the attenuation factor IM/4. The upper limit and the lower limit of the pulse signal amplitude can be more rapidly determined by detecting the pulse signal amplitude by a dichotomy.
In one embodiment, when the difference between the upper limit and the lower limit of the pulse signal amplitude determined by detecting the pulse signal amplitude by using the dichotomy is too large, the amplitude detection by using the dichotomy may be continued until the difference between the upper limit and the lower limit of the pulse amplitude is smaller than a certain threshold.
FIG. 5 is a schematic diagram of another implementation of pulse signal amplitude detection using dichotomy according to one embodiment of the invention. The difference from the embodiment shown in fig. 4 is that, due to the difference between the preset amplitude threshold vth and the amplitude of the received pulse signal, in the embodiment shown in fig. 5, the radio frequency attenuator attenuates the received second pulse signal by an initial attenuation factor IM, and the amplitude of the attenuated signal is higher than the preset amplitude threshold vth. And carrying out attenuation of the initial attenuation multiple IM/2 on the received third pulse signal, wherein the amplitude of the attenuated signal is lower than a preset amplitude threshold vth. In one embodiment, the upper limit of the pulse signal amplitude is the product of vth and the attenuation factor IM, and the lower limit of the pulse signal amplitude is the product of vth and the attenuation factor IM/2. The difference between the upper limit and the lower limit of the pulse signal amplitude obtained at this time is too large, and the amplitude detection can be continuously performed by using a dichotomy. Further attenuating the next pulse signal, attenuating the received fourth pulse signal by an initial attenuation multiple IM multiplied by 3/4, comparing the attenuated pulse signal with a preset amplitude threshold vth, and enabling the amplitude of the attenuated pulse signal to be higher than the preset amplitude threshold vth. The upper limit of the pulse signal amplitude is the product of vth and the attenuation factor IM, and the lower limit of the pulse signal amplitude is the product of vth and the attenuation factor IM multiplied by 3/4. The upper limit and the lower limit of the pulse amplitude obtained at the moment have smaller difference, and the pulse signal amplitude is estimated more accurately.
Fig. 6 is a schematic diagram of pulse signal arrival time correction according to an embodiment of the present invention. By the method of the embodiment shown in fig. 3, the amplitude of the UWB pulse signal received by the positioning base station BS1 is obtained as v1, and according to the same method, the amplitude of the UWB pulse signal received by the positioning base station BS2 is obtained as v2. Before the received pulse signal is attenuated, the measured values of the time points corresponding to the sampling points with the same amplitude as the signal amplitude threshold vth on the recorded pulse signal envelope, that is, the time points when the positioning signals reach the positioning base stations BS1 and BS2 are tm1 and tm2, respectively. As can be seen from fig. 6, the sampling point of the positioning base station BS1 is located before the half-amplitude sampling point, and the sampling point of the positioning base station BS2 is located after the half-amplitude sampling point, which results in inconsistent sampling point selection criteria when pulse signals with the same waveforms and different amplitudes select the sampling points to record the arrival time, and further, deviation exists in the arrival time record, thereby affecting the positioning accuracy. Therefore, the selection criteria of the sampling points need to be unified, and thus the measured values tm1 and tm2 of the timings at which the positioning signals reach the positioning base stations BS1 and BS2 are corrected.
In one embodiment, during an initialization phase of the positioning system 100, since the waveform of the UWB pulse signal transmitted by the UWB pulse signal transmitter is known, the positioning system 100 attenuates the pulse signal with different amplitudes to obtain and store a plurality of pulse signal waveforms having different signal amplitudes. In the process that the positioning base station receives the positioning signal, the amplitude of the positioning signal received by the positioning base station is obtained through a pulse signal amplitude detection method, the pulse signal waveform corresponding to the amplitude is searched, the position of a sampling point with the same amplitude as the signal amplitude threshold vth on the pulse signal waveform is judged, and the obtained measured values tm1 and tm2 of the arrival time of the positioning signal are corrected according to the position relation of the sampling point and the uniform sampling point selected by the positioning system 100, so that correction values tc1 and tc2 of the arrival time of the positioning signal are obtained. In the embodiment shown in fig. 6, the uniform sample point is a half-amplitude point, and in one embodiment, the uniform sample point is a peak point or other suitable point.
In the embodiment shown in fig. 6, the unified sampling point is a half-amplitude point, as shown in fig. 4, the time differences Δt1 and Δt2 are obtained by using the positions of the sampling point equal to the amplitude of the signal amplitude threshold vth and the half-amplitude point on the pulse signal waveform, and the measured values tm1 and tm2 of the arrival time of the positioning signal are corrected by using the time differences Δt1 and Δt2 to obtain corrected values tc1 and tc2 of the arrival time of the positioning signal.
In yet another embodiment, the uniform sampling point is a peak point.
Fig. 7 is a flow chart of a pulse signal amplitude detection and arrival time correction method 700 according to an embodiment of the present invention. The pulse signal amplitude detection and arrival time correction method 700 includes the following steps:
step 701: recording the time corresponding to the sampling point with the same signal amplitude threshold amplitude on the envelope of the received pulse signal as a measured value of the arrival time of the pulse signal;
step 702: attenuating the received pulse signal, comparing the attenuated signal with a preset amplitude threshold, repeating the step 702 if the attenuated signal is higher than the preset amplitude threshold, and entering the step 703 if the attenuated signal is lower than the amplitude threshold;
step 703: calculating the amplitude of the received pulse signal by using the attenuation amplitude and a preset amplitude threshold;
step 704: and correcting the recorded arrival time measurement value according to the relation between the amplitude of the received pulse signal and the preset amplitude threshold so as to obtain an arrival time correction value.
According to the pulse signal amplitude detection and arrival time correction method disclosed by the invention, the radio frequency attenuator is arranged in the UWB pulse signal receiver, so that the amplitude information of the received pulse signal can be measured, and the recorded arrival time measured value is corrected through the relation between the amplitude of the pulse signal and the preset amplitude threshold, so as to obtain the arrival time correction value. The invention essentially unifies the selection standard of the arrival time sampling point of the received signal, avoids the problem that the arrival time of the UWB pulse positioning signal cannot be accurately detected due to the difference of the signal amplitudes received by the UWB pulse receiver caused by different antenna gains when the UWB pulse transmitter transmits UWB pulses to the surrounding, and further improves the positioning precision and stability.
As mentioned above, while the preferred embodiment of the present invention has been illustrated and described, many changes can be made without departing from the spirit and scope of the invention. Thus, the scope of the invention is not limited by the disclosure of the preferred embodiment. Rather, the invention should be determined entirely by reference to the claims that follow.
Claims (10)
1. An apparatus for detecting the amplitude and correcting the arrival time of UWB pulse signals, comprising:
a pulse signal transmitter which transmits a pulse signal; and
the pulse signal receiver is used for receiving the pulse signal and recording the moment corresponding to the sampling point with the same amplitude as the preset amplitude threshold amplitude on the envelope of the received pulse signal as a measured value of the arrival moment of the pulse signal;
the pulse signal receiver comprises a radio frequency attenuator, and attenuates the amplitude of the received pulse signal by different attenuation amplitudes until the attenuated pulse signal amplitude is smaller than a preset amplitude threshold; the pulse signal amplitude detection device obtains the amplitude information of the pulse signal received by the pulse signal receiver according to the attenuation amplitude of the radio frequency attenuator and a preset amplitude threshold;
the pulse signal receiver takes the sum of the attenuation amplitude of the attenuated pulse signal which is larger than and nearest to the preset amplitude threshold and the preset amplitude threshold as the upper limit of the pulse signal amplitude, takes the sum of the attenuation amplitude of the radio frequency attenuator which is smaller than and nearest to the preset amplitude threshold and the preset amplitude threshold as the lower limit of the pulse signal amplitude, and the pulse signal amplitude detection device obtains the amplitude information of the pulse signal received by the pulse signal receiver according to the upper limit and the lower limit of the pulse signal amplitude; correcting the recorded arrival time measurement value according to the relation between the amplitude of the received pulse signal and a preset amplitude threshold to obtain an arrival time correction value;
the pulse signal receiver also acquires waveforms of pulse signals transmitted by the pulse signal transmitter in advance, attenuates the pulse signals with different amplitudes so as to acquire and store a plurality of pulse signal waveforms with different signal amplitudes; searching a pulse signal waveform corresponding to the amplitude of the received pulse signal, judging the position information of sampling points on the pulse signal waveform, which are equal to the preset amplitude threshold amplitude, and correcting the recorded arrival time measured value according to the position relation between the position information and the unified sampling points, wherein the recorded arrival time measured value is the time corresponding to the sampling points, which are equal to the signal amplitude threshold amplitude, on the recorded pulse signal envelope before the received pulse signal is attenuated.
2. The UWB pulse signal amplitude detection and time of arrival correction device of claim 1 wherein the pulse signal receiver is a multi-channel receiver, each receiving channel comprising a radio frequency attenuator, each radio frequency attenuator having a different attenuation amplitude.
3. The UWB pulse signal amplitude detection and arrival time correction apparatus of claim 1 wherein the pulse signal transmitter continuously transmits a plurality of equal amplitude pulse signals, and the pulse signal receiver includes a radio frequency attenuator for attenuating the received plurality of equal amplitude pulse signals by different attenuation amplitudes.
4. The UWB pulse signal amplitude detection and arrival time correction apparatus of claim 1 wherein the pulse signal receiver uses an average of the upper limit of the pulse signal amplitude and the lower limit of the pulse signal amplitude as a measurement of the amplitude of the received pulse signal.
5. The UWB pulse signal amplitude detection and arrival time correction apparatus of claim 1 wherein the pulse signal receiver sets the attenuation amplitudes of the plurality of radio frequency attenuators between attenuation amplitudes such that the attenuated pulse signal amplitude is greater than and closest to a preset amplitude threshold and attenuation amplitudes such that the attenuated pulse signal amplitude is less than and closest to the preset amplitude threshold to obtain an upper limit of the pulse signal amplitude and a lower limit of the pulse signal amplitude that are closer together.
6. A UWB pulse signal amplitude detection and arrival time correction method comprises the following steps:
transmitting a pulse signal;
receiving the pulse signal, and recording the moment corresponding to the sampling point with the same amplitude as the preset amplitude threshold amplitude on the envelope of the received pulse signal as a measured value of the arrival moment of the pulse signal;
and attenuating the amplitudes of the received pulse signals by different attenuation amplitudes until the attenuated pulse signal amplitudes are smaller than a preset amplitude threshold; and
obtaining amplitude information of the received pulse signal according to the attenuation amplitude when the amplitude of the attenuated pulse signal is smaller than a preset amplitude threshold and the preset amplitude threshold;
the method comprises the steps that the sum of the attenuation amplitude of an attenuated pulse signal, which is larger than and closest to a preset amplitude threshold, and the preset amplitude threshold is used as the upper limit of the pulse signal amplitude, the sum of the attenuation amplitude of a radio frequency attenuator, which is smaller than and closest to the preset amplitude threshold, and the preset amplitude threshold is used as the lower limit of the pulse signal amplitude, and the amplitude information of a received pulse signal is obtained according to the upper limit and the lower limit of the pulse signal amplitude; correcting the recorded arrival time measurement value according to the relation between the amplitude of the received pulse signal and a preset amplitude threshold to obtain an arrival time correction value;
the method comprises the steps of obtaining waveforms of pulse signals transmitted by a pulse signal transmitter in advance, and attenuating the pulse signals in different amplitudes to obtain and store a plurality of pulse signal waveforms with different signal amplitudes; searching a pulse signal waveform corresponding to the amplitude of the received pulse signal, judging the position information of sampling points on the pulse signal waveform, which are equal to the preset amplitude threshold amplitude, and correcting the recorded arrival time measured value according to the position relation between the position information and the unified sampling points, wherein the recorded arrival time measured value is the time corresponding to the sampling points, which are equal to the signal amplitude threshold amplitude, on the recorded pulse signal envelope before the received pulse signal is attenuated.
7. The UWB pulse signal amplitude detection and arrival time correction method of claim 6 wherein the pulse signal is received using a plurality of receive channels, each receive channel attenuating the amplitude of the received pulse signal by a different attenuation amplitude.
8. The method for detecting the amplitude and correcting the arrival time of UWB pulse signals according to claim 6, wherein a plurality of pulse signals with equal amplitude are continuously transmitted, and the received pulse signals with the equal amplitude are attenuated with different attenuation amplitudes.
9. The UWB pulse signal amplitude detection and arrival time correction method of claim 6 wherein an average of the upper limit of the pulse signal amplitude and the lower limit of the pulse signal amplitude is taken as a measure of the amplitude of the received pulse signal.
10. The UWB pulse signal amplitude detection and arrival time correction method of claim 6 wherein a plurality of attenuation amplitudes are set between attenuation amplitudes that make the attenuated pulse signal amplitude greater than and nearest to a preset amplitude threshold and attenuation amplitudes that make the attenuated pulse signal amplitude less than and nearest to the preset amplitude threshold to obtain an upper limit of pulse signal amplitude and a lower limit of pulse signal amplitude that are closer together.
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