CN110519684B - Antenna array for measuring Bluetooth carrier phase and phase difference and positioning system - Google Patents
Antenna array for measuring Bluetooth carrier phase and phase difference and positioning system Download PDFInfo
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/36—Structural form of radiating elements, e.g. cone, spiral, umbrella; Particular materials used therewith
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q21/00—Antenna arrays or systems
- H01Q21/06—Arrays of individually energised antenna units similarly polarised and spaced apart
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- H—ELECTRICITY
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- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/02—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas
- H04B7/04—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas using two or more spaced independent antennas
- H04B7/0404—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas using two or more spaced independent antennas the mobile station comprising multiple antennas, e.g. to provide uplink diversity
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
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- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
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- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/80—Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication
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- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
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Abstract
The invention is applicable to the technical field of Bluetooth, and provides an antenna array for measuring the carrier phase and the phase difference of Bluetooth, which comprises a central antenna and N peripheral antennas, wherein the center of the central antenna is positioned on the circle center with the radius of R, the centers of the N peripheral antennas are symmetrically distributed on the circle with the radius of R, R is 1/2 lambda, lambda is the wavelength of Bluetooth, and N is an integer larger than 2. The two antennas farthest in the Bluetooth antenna array are two peripheral antennas on the same diameter, the distance between the two antennas is 2R, and because R is less than 1/2 lambda, the 2R is small Yu Lanya wavelength, therefore, all the antennas in the Bluetooth antenna array can directly participate in the angle calculation of the received signals, and the positioning precision of the Bluetooth antenna array is improved.
Description
Technical Field
The invention belongs to the technical field of Bluetooth, and particularly relates to an antenna array for measuring Bluetooth carrier phase and phase difference and a positioning system.
Background
In recent years, as the demands of users increase, wireless positioning technology has received more and more attention, and research on wireless positioning technology and development of ranging technology are being promoted. There are two main types of solutions for implementing wireless positioning:
The first category is mobile station-dominated positioning technology, which, alone from a technical perspective, provides more accurate user positioning information that can utilize existing positioning systems, such as integrating a GPS receiver in a mobile station, to achieve accurate positioning of a user using off-the-shelf GPS signals. Such techniques require the addition of new hardware to the mobile station, which can adversely affect the size and cost of the mobile station.
The second category is the base station dominated positioning technology, which requires some improvement to existing base stations, switching centers, but which is compatible with existing terminal equipment. The optional specific implementation technologies mainly comprise an AOA (Angle of Arrival) positioning technology, a positioning technology for measuring signal power and a positioning technology for measuring signal propagation time characteristics.
AOA measurement is a relatively common positioning technique in cellular networks. This approach requires the use of a dedicated antenna array at the base station to measure the direction of origin of a particular signal. For one base station, the AOA measurement can obtain the direction of a specific mobile station, and when two base stations measure signals sent by the same mobile station at the same time, the focal point of the straight line of the direction obtained by the two base stations by measuring the AOA respectively is the position of the mobile station. Although the principle Of this positioning method is very simple, there are some drawbacks that are difficult to overcome in practical applications, in that AOA measurement requires that between the mobile station being measured and all base stations involved in the measurement, the radio frequency signal is Line Of Sight (LOS), and Non Line Of Sight (NLOS) will introduce unpredictable errors into the AOA measurement. Even in the case of LOS-based transmissions, multipath effects (multipath effects) of the radio frequency signal still interfere with AOA measurements. The multipath effect (multipath effect) refers to that after an electromagnetic wave propagates through different paths, the time for each component field to reach a receiving end is different, and the component fields are overlapped according to respective phases to cause interference, so that an original signal is distorted or an error is generated. For example, the electromagnetic wave propagates along two different paths, and the lengths of the two paths are exactly different by half a wavelength, so that when two paths of signals reach the same end point, the wave crest and the wave trough are exactly overlapped, and the electromagnetic wave signals are cancelled out.
The currently popular short-range wireless communication protocol standards mainly include three types of Bluetooth (IEEE 802.15.1), zigBee (IEEE 802.15.4) and Wi-Fi (IEEE 802.11). From the application point of view, bluetooth technology is to replace wired connection between personal electronic devices, bluetooth protocol has been developed to bluetooth version 4.1, which has ultra-low power consumption and wide industrial chain support of mobile terminals of mobile phones, users can connect without adding any device outside the mobile phones, and the main problem of bluetooth is that the data rate is low.
Disclosure of Invention
Therefore, the embodiment of the invention provides an antenna array and a positioning system for measuring the phase difference and the carrier phase of Bluetooth, which have the characteristic of high positioning accuracy.
A first aspect of the embodiment of the invention provides an antenna array for measuring Bluetooth carrier phase and phase difference, which comprises a central antenna and N peripheral antennas, wherein the center of the central antenna is positioned on a circle with a radius of R, and the centers of the N peripheral antennas are symmetrically distributed on the circle with the radius of R, wherein R <1/2 lambda, lambda is Bluetooth wavelength, and N is an integer greater than 2.
In one embodiment, the N is equal to 8.
In one embodiment, the angle between two adjacent peripheral antennas is 45 °.
In one embodiment, the peripheral antenna includes two feed points and the central antenna includes one feed point.
A second aspect of an embodiment of the present invention provides a positioning system, including at least one transmitting end device and at least one receiving end device:
The transmitting end device comprises a first circuit board, a transmitting antenna and a first Bluetooth chip, wherein the transmitting antenna and the first Bluetooth chip are arranged on the first circuit board, and the transmitting antenna is electrically connected with the first Bluetooth chip;
The receiving end device comprises a second circuit board, and a Bluetooth antenna array and a second Bluetooth chip which are arranged on the second circuit board, wherein the Bluetooth antenna array is electrically connected with the second Bluetooth chip, and the Bluetooth antenna array is the Bluetooth antenna array.
In one embodiment, the positioning system further includes a calculating module, disposed on the second circuit board, electrically connected to the second bluetooth chip, and configured to calculate signal parameters received by the bluetooth antenna array to obtain accurate position information of the transmitting end device.
In one embodiment, the signal parameters are signal phases and signal angles obtained from the central antenna and the peripheral antenna.
In one embodiment, the bluetooth antenna array is electrically connected to the second bluetooth chip through a microstrip line.
According to the embodiment of the invention, by designing the antenna array for measuring the carrier phase and the phase difference of the Bluetooth, two antennas farthest in the Bluetooth antenna array are two peripheral antennas on the same diameter, and the distance between the two peripheral antennas is 2R, and the wavelength is Yu Lanya, so that all antennas in the Bluetooth antenna array can directly participate in the angle calculation of received signals, and the positioning precision of the Bluetooth antenna array is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic diagram of bluetooth positioning according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a bluetooth antenna array according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a bluetooth antenna array according to an embodiment of the present invention;
Fig. 4 is a schematic diagram of positioning a single bluetooth antenna array according to an embodiment of the present invention.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution of an embodiment of the present invention will be clearly described below with reference to the accompanying drawings in the embodiment of the present invention, and it is apparent that the described embodiment is a part of the embodiment of the present invention, but not all the embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
The term "comprising" in the description of the invention and the claims and in the above figures and any variants thereof is intended to cover a non-exclusive inclusion. For example, a process, method, or system, article, or apparatus that comprises a list of steps or elements is not limited to only those listed but may optionally include additional steps or elements not listed or inherent to such process, method, article, or apparatus.
As shown in fig. 1, two antennas are selected on a plane, the centers of the two antennas are a and B, and C is a signal emission source, and cd=cb. Since the signal transmitted from point C is a distance AD from point a more than from point B, the phases of the C-transmitted signals received by a and B are different.
AD=λ*(2kπ+ΦA-ΦB)/(2π) (k=1,2,3,4......)
Where Φ A is the phase of the signal received by antenna a and Φ B is the phase of the signal received by antenna B.
The difference between two sides of the triangle is smaller than that of the third side, and AD < AB, and if AB < lambda, AD < lambda.
AD=λ*(ΦA-ΦB)/(2π)
It can be seen that the phase control can be performed in a period when the distance between the two antennas is smaller than one bluetooth wavelength, so that the calculation of the positioning can be performed only when the distance between the two antennas is smaller than one bluetooth wavelength.
As shown in FIG. 2, the Bluetooth antenna array in the prior art is a rectangular array, the distance between the center of the peripheral antenna and the center of the central antenna is 1/2λ, and the array spacing between the two antennas on the diagonal of the rectangle isGreater than one bluetooth wavelength, two antennas on the diagonal in a rectangular array cannot participate in the calculation.
As shown in FIG. 3, the invention designs a Bluetooth antenna array, which comprises a central antenna and N peripheral antennas, wherein the center of the central antenna is positioned on the center of a circle with the radius of R, and the centers of the N peripheral antennas are symmetrically distributed on a circle with the radius of R, wherein R <1/2 lambda, lambda is the Bluetooth wavelength, and N is an integer greater than 2.
The two antennas farthest in the Bluetooth antenna array are two peripheral antennas on the same diameter, the distance between the two antennas is 2R, and because R is less than 1/2 lambda, the 2R is small Yu Lanya wavelength, therefore, all the antennas in the Bluetooth antenna array can directly participate in the angle calculation of the received signals, and the positioning precision of the Bluetooth antenna array is improved.
In one embodiment, N is equal to 8 and the angle between two adjacent peripheral antennas is 45 °.
When the multiple base stations are deployed, the angles of the multiple base stations can be utilized to perform triangular positioning, at the moment, the output value of the base stations is an angle instead of a three-dimensional coordinate, the angle can be approximately the included angle between the asymptote of the hyperbola and the x-axis, and the solid angle when the angle is expanded to be three-dimensional is a conical surface obtained by rotating the asymptote around the x-axis.
The Bluetooth antenna array designed by the invention has three antennas in any direction of 8 directions of diameter, can average by using two phase differences, calculates the solid angle of conical surface taking the diameter as an axis, and calculates the optimal angle (the average position of intersecting lines of conical surfaces) according to the solid angles of conical surfaces in 8 different directions.
In one embodiment, single base station positioning employs the PDOA (PHASE DIFFERENCE of Arrived) algorithm as follows:
taking ANT0, ANT1, ANT2, ANT3 in the bluetooth antenna array in fig. 3, as shown in fig. 4, the origin of coordinates is built at the center of a circle for simplifying the calculation, the radius is denoted as R, and it is assumed that the signal source is at the point of the upper sphere H (x, y, z):
the difference between the H point to A1 distance and the H point to A0 distance is:
HA 1,0＝HA1-HA0＝λ*φ1,0/2π＝λ*(φ1-φ0)/2pi, where HA 1 is the distance from H point to A1, HA 0 is the distance from H point to A0, Φ 1 is the phase value of the signal received by antenna ANT1, and Φ 0 is the phase value of the signal received by antenna ANT 0.
The difference between the H-point to A2 distance and the H-point to A0 distance is:
HA 2,0＝HA2-HA0＝λ*φ2,0/2π＝λ*(φ2-φ0)/2pi, where HA 2 is the distance from H point to A2, HA 0 is the distance from H point to A0, Φ 2 is the phase value of the signal received by antenna ANT2, and Φ 0 is the phase value of the signal received by antenna ANT 0.
The difference between the H-point to A3 distance and the H-point to A0 distance is:
HA 3,0＝HA3-HA0＝λ*φ3,0/2π＝λ*(φ3-φ0)/2pi, where HA 3 is the distance from H point to A3, HA 0 is the distance from H point to A0, Φ 3 is the phase value of the signal received by antenna ANT3, and Φ 0 is the phase value of the signal received by antenna ANT 0.
From the above formula, three sets of hyperboloid equations can be derived:
where i=1, 2,3, at which point the problem translates into a solution to the hyperbolic equation as follows:
let a i(xi,yi, 0), i=0, 1,2,3, then:
Squaring formula (1) with:
HAi 2＝(x-xi)2+(y-yi)2+z2
＝xi 2+yi 2-2xix-2yiy+x2+y2+z2 (2)
from HA i,0＝HAi-HA0, there are:
HAi 2＝HAi,0+HA0)2 (3)
bringing formula (3) into formula (2) includes:
HAi,0 2+HA0 2+2HAi,0HA0＝xi 2+yi 2-2xix-2yiy+x2+y2+z2 (4)
When i=0, there are:
HA0 2＝x0 2+y0 2-2x0x-2y0y+x2+y2+z2＝x2+y2+z2 (5)
Formula (4) -formula (5) has:
HAi,0 2+2HAi,0HA0＝xi 2+yi 2-2xix-2yiy (6)
Let HA 1,0＝a,HA2,0＝b,HA3,0＝c,HA0 =l, bring the coordinates of H (x i,yi, 0) at i=1, 2,3 into formula (6):
a2+2al＝R2-2Ry (7)
from the formulas (7), (8) and (9), there are obtained:
bringing (10) into (7) yields:
according to formula (8), formula (9) and formula (10), there is obtained:
Bringing (11), (12) and (13) into (5) yields:
Thus, x, y, z and l are obtained, the coordinates of H can be obtained, and the positioning of the H point is realized.
In one embodiment, the peripheral antenna includes two feed points and the central antenna includes one feed point.
In the double-feed point design, the distance between the antenna feed points and the distance between the antennas can be guaranteed to be equal in value and consistent in direction, and the single-feed point design cannot be guaranteed.
For example, when 4 antennas (one central antenna and 3 peripheral antennas) in the array antennas are taken for calculation, errors caused by inconsistent feed point distances and directions are eliminated.
The invention also discloses a positioning system which comprises at least one transmitting end device and at least one receiving end device, wherein the transmitting end device comprises a first circuit board, a transmitting antenna and a first Bluetooth chip, wherein the transmitting antenna and the first Bluetooth chip are arranged on the first circuit board, the transmitting antenna is electrically connected with the first Bluetooth chip, the receiving end device comprises a second circuit board, and a Bluetooth antenna array and a second Bluetooth chip are arranged on the second circuit board, the Bluetooth antenna array is electrically connected with the second Bluetooth chip, and the Bluetooth antenna array is the Bluetooth antenna array. The positioning system further comprises a calculating module which is arranged on the second circuit board and is electrically connected with the second Bluetooth chip and used for calculating signal parameters received by the Bluetooth antenna array to obtain accurate position information of the transmitting end device. The signal parameters are the signal phase and signal angle obtained from the central antenna and the peripheral antenna. The Bluetooth antenna array is electrically connected with the second Bluetooth chip through the microstrip line.
The method comprises the steps that a transmitting end device starts a broadcasting mode, a first Bluetooth chip controls a transmitting antenna to transmit Bluetooth signals in a transmitting signal period, a receiving end device within a certain distance with the transmitting end device starts a scanning mode, each antenna of a Bluetooth antenna array confirms whether to work according to a preset antenna switching period in a second Bluetooth chip, the antenna switching period is consistent with the transmitting signal period of the transmitting end device, namely, the plurality of antennas can receive Bluetooth signals at the same time, and meanwhile, due to the round design of the Bluetooth antennas, the signals received by the plurality of antennas can be guaranteed to be in the same wave work period. After receiving the Bluetooth signals, the Bluetooth antenna array of the receiving end device transmits the received Bluetooth signals to a second Bluetooth chip, the second Bluetooth chip transmits the signals to a calculation module, the calculation module converts the Bluetooth signals of all the antennas into signal parameters such as signal phases, signal angles and the like received by all the antennas, and accurate position information of the transmitting end device can be calculated according to the signal parameters of all the antennas.
The foregoing embodiments are merely illustrative of the technical solutions of the present invention, and not restrictive, and although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that modifications may still be made to the technical solutions described in the foregoing embodiments or equivalent substitutions of some technical features thereof, and that such modifications or substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (4)
1. The antenna array for measuring the Bluetooth carrier phase and the phase difference is characterized by comprising a central antenna and N peripheral antennas, wherein the center of the central antenna is positioned on a circle with the radius of R, the centers of the N peripheral antennas are symmetrically distributed on a circle with the radius of R, R <1/2 lambda, lambda is a Bluetooth wavelength, N is an integer greater than 2, N is equal to 8, and the included angle between two adjacent peripheral antennas is 45 degrees;
The point H (x, y, z) is the position of the signal source, A0 is the position of the central antenna ANT0, A1, A2 and A3 are the positions of three adjacent peripheral antennas respectively, the three adjacent peripheral antennas are the antennas ANT1, ANT2 and ANT3, and the difference between the distance from the point H to the point A1 and the distance from the point H to the point A0 is as follows:
HA 1,0＝HA1-HA0＝λ*φ1,0/2π＝λ*(φ1-φ0)/2pi, where HA 1 is the distance from the H point to A1, HA 0 is the distance from the H point to A0, Φ 1 is the phase value of the signal received by the antenna ANT1, and Φ 0 is the phase value of the signal received by the antenna ANT 0;
the difference between the H-point to A2 distance and the H-point to A0 distance is:
HA 2,0＝HA2-HA0＝λ*φ2,0/2π＝λ*(φ2-φ0)/2pi, where HA 2 is the distance from the H point to A2, HA 0 is the distance from the H point to A0, Φ 2 is the phase value of the signal received by the antenna ANT2, and Φ 0 is the phase value of the signal received by the antenna ANT 0;
The difference between the H-point to A3 distance and the H-point to A0 distance is:
HA 3,0＝HA3-HA0＝λ*φ3,0/2π＝λ*(φ3-φ0)/2pi, where HA 3 is the distance from the H point to A3, HA 0 is the distance from the H point to A0, Φ 3 is the phase value of the signal received by the antenna ANT3, and Φ 0 is the phase value of the signal received by the antenna ANT 0;
from the above formula, three sets of hyperboloid equations can be derived:
where i=1, 2,3, at which point the problem translates into a solution to the hyperbolic equation as follows:
let a i(xi,yi, 0), i=0, 1,2,3, then:
Squaring formula (1) with:
HAi 2＝(x-xi)2+(y-yi)2+z2
＝xi 2+yi 2-2xix-2yiy+x2+y2+z2 (2)
from HA i,0＝HAi-HA0, there are:
HAi 2＝(HAi,0+HA0)2 (3)
bringing formula (3) into formula (2) includes:
HAi,0 2+HA0 2+2HAi,0HA0＝xi 2+yi 2-2xix-2yiy+x2+y2+z2 (4)
When i=0, there are:
HA0 2＝x0 2+y0 2-2x0x-2y0y+x2+y2+z2＝x2+y2+z2 (5)
Formula (4) -formula (5) has:
HAi,0 2+2HAi,0HA0＝xi 2+yi 2-2xix-2yiy (6)
Let HA 1,0＝a,HA2,0＝b,HA3,0＝c,HA0 =l, bring the coordinates of H (x i,yi, 0) at i=1, 2,3 into formula (6):
a2+2al＝R2-2Ry (7)
from the formulas (7), (8) and (9), there are obtained:
bringing (10) into (7) yields:
according to formula (8), formula (9) and formula (10), there is obtained:
Thus, x, y and z are obtained, and H points are positioned.
2. The antenna array for measuring bluetooth carrier phase and phase difference according to claim 1, wherein the peripheral antenna comprises two feed points and the central antenna comprises one feed point.
3. A positioning system comprising at least one transmitting end device and at least one receiving end device, characterized in that:
The transmitting end device comprises a first circuit board, a transmitting antenna and a first Bluetooth chip, wherein the transmitting antenna and the first Bluetooth chip are arranged on the first circuit board, and the transmitting antenna is electrically connected with the first Bluetooth chip;
The receiving end device comprises a second circuit board, and a Bluetooth antenna array and a second Bluetooth chip which are arranged on the second circuit board, wherein the Bluetooth antenna array is electrically connected with the second Bluetooth chip, and the Bluetooth antenna array is the antenna array according to any one of claims 1-2;
The positioning system further comprises a calculation module, a first Bluetooth chip, a second Bluetooth chip, a third Bluetooth chip, a fourth Bluetooth chip, a fifth Bluetooth chip and a third Bluetooth chip, wherein the calculation module is arranged on the second circuit board and is electrically connected with the second Bluetooth chip and is used for calculating signal parameters received by the Bluetooth antenna array to obtain accurate position information of the transmitting end device;
The computing module is used for taking an H (x, y, z) point as a position of a signal source, taking A0 as a position of a central antenna ANT0, taking A1, A2 and A3 as positions of three adjacent peripheral antennas respectively, and taking the three adjacent peripheral antennas as an antenna ANT1, an antenna ANT2 and an antenna ANT3 respectively; the difference between the distance from the point H to the point A1 and the distance from the point H to the point A0 is calculated as follows:
HA 1,0＝HA1-HA0＝λ*φ1,0/2π＝λ*(φ1-φ0)/2pi, where HA 1 is the distance from the H point to A1, HA 0 is the distance from the H point to A0, Φ 1 is the phase value of the signal received by the antenna ANT1, and Φ 0 is the phase value of the signal received by the antenna ANT 0;
The difference between the distance from the point H to the point A2 and the distance from the point H to the point A0 is calculated as follows:
HA 2,0＝HA2-HA0＝λ*φ2,0/2π＝λ*(φ2-φ0)/2pi, where HA 2 is the distance from the H point to A2, HA 0 is the distance from the H point to A0, Φ 2 is the phase value of the signal received by the antenna ANT2, and Φ 0 is the phase value of the signal received by the antenna ANT 0;
the difference between the distance from the point H to the point A3 and the distance from the point H to the point A0 is calculated as follows:
HA 3,0＝HA3-HA0＝λ*φ3,0/2π＝λ*(φ3-φ0)/2pi, where HA 3 is the distance from the H point to A3, HA 0 is the distance from the H point to A0, Φ 3 is the phase value of the signal received by the antenna ANT3, and Φ 0 is the phase value of the signal received by the antenna ANT 0;
from the above formula, three sets of hyperboloid equations can be derived:
where i=1, 2,3, at which point the problem translates into a solution to the hyperbolic equation as follows:
let a i(xi,yi, 0), i=0, 1,2,3, then:
Squaring formula (1) with:
HAi 2＝(x-xi)2+(y-yi)2+z2
＝xi 2+yi 2-2xix-2yiy+x2+y2+z2 (2)
from HA i,0＝HAi-HA0, there are:
HAi 2＝(HAi,0+HA0)2 (3)
bringing formula (3) into formula (2) includes:
HAi,0 2+HA0 2+2HAi,0HA0＝xi 2+yi 2-2xix-2yiy+x2+y2+z2 (4)
When i=0, there are:
HA0 2＝x0 2+y0 2-2x0x-2y0y+x2+y2+z2＝x2+y2+z2 (5)
Formula (4) -formula (5) has:
HAi,0 2+2HAi,0HA0＝xi 2+yi 2-2xix-2yiy (6)
Let HA 1,0＝a,HA2,0＝b,HA3,0＝c,HA0 =l, bring the coordinates of H (x i,yi, 0) at i=1, 2,3 into formula (6):
a2+2al＝R2-2Ry (7)
from the formulas (7), (8) and (9), there are obtained:
bringing (10) into (7) yields:
according to formula (8), formula (9) and formula (10), there is obtained:
Thus, x, y and z are obtained, and H points are positioned.
4. A positioning system as recited in claim 3, wherein said bluetooth antenna array is electrically connected to said second bluetooth chip by a microstrip line.
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| CN210093570U (en) * | 2019-08-20 | 2020-02-18 | 深圳市微能信息科技有限公司 | Antenna array and positioning system for measuring Bluetooth carrier phase and phase difference |
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| CN106159464A (en) * | 2016-08-26 | 2016-11-23 | 深圳前海科蓝通信有限公司 | The narrow ripple of a kind of orientation selects antenna system |
| CN207217787U (en) * | 2017-09-21 | 2018-04-10 | 深圳市昇润科技有限公司 | Bluetooth antenna array and short-distance wireless alignment system |
| CN208637606U (en) * | 2018-07-03 | 2019-03-22 | 湖北中南鹏力海洋探测系统工程有限公司 | A kind of vehicle-mounted high frequency ground wave radar circular antenna array |
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