CN117761623A - Ultra-wideband AoA positioning implementation method based on multi-path antenna switching - Google Patents
Ultra-wideband AoA positioning implementation method based on multi-path antenna switching Download PDFInfo
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Abstract
The invention belongs to the technical field of ultra-wideband positioning, and discloses an ultra-wideband AoA positioning realization method based on multi-path antenna switching.
Description
Technical Field
The invention belongs to the technical field of ultra-wideband positioning, and particularly relates to an ultra-wideband AoA positioning implementation method based on multi-path antenna switching.
Background
An Angle-of-Arrival (AOA) based positioning algorithm is a typical ranging-based positioning algorithm, and its working principle is that an antenna array is placed in a receiving device, the receiving time difference of the same signal received by antennas at different positions (such as antennas A1, A2 and A3 in fig. 1) is calculated, the interleaving Angle between the receiving antenna array and a transmitter is calculated, and the distance from the transmitter to a certain receiving antenna is calculated by ToF, so as to obtain two-dimensional positioning of the transmitter relative to the receiver.
The algorithm is widely used in the current wireless application market, and the latest typical application example is the AirTag ultra-wideband application of iPhone. In the application of the iPhone, the iPhone is used as a locator, and the built-in ultra-wideband chip U1 is provided with three receiving links which respectively correspond to 3 antennas. The plane in which the iPhone is located is an XY plane, and 3 antennas are arranged along the X axis. In the application, the Z-axis coordinate is forced to be 0, so, as shown in fig. 2, the result of positioning shows only the distance and angle of the AirTag (positioning tag) relative to the iPhone antenna (A1) on the YX plane.
Fig. 3 is a schematic diagram of the ultra wideband positioning reception of the iPhone AoA, and as can be seen from fig. 3, each antenna generally has a corresponding reception link, and each reception link may be in a separate chip or integrated in the same chip. In the figure, theta is an incident angle, D12 is an electromagnetic wave transmission travel difference between a signal and the antenna A2 and the antenna A1, and L12 is a distance between the positions of the antenna A2 and the antenna A1; transmitting a signal by a transmitter, several receiving links (R1, R2, R3) receiving and recording simultaneously the time differences T1, T2, T3 between the receiving links and the transmission, i.e. the time of flight (TOF); and calculating the signal incidence angle theta and the receiving antenna distance through the trigonometric function relation to obtain the position of the transmitter relative to the receiving antenna A1. Multiple receive chains are simple to implement in terms of control logic, but multiple receive chains incur higher costs.
In mobile phone application and automobile application, ultra-wideband positioning based on AoA has wide market prospect, but for mobile phones and automobiles, the realization of AoA function with low cost as much as possible is pursued in industry.
Disclosure of Invention
In order to solve the technical problems, the invention provides an ultra-wideband AoA positioning implementation method based on multi-path antenna switching, which reduces cost and chip complexity by sharing a receiving link by a plurality of antennas.
The invention discloses an ultra-wideband AoA positioning realization method based on multipath antenna switching, which comprises the following steps:
step 1, constructing a receiving link, wherein the receiving link is connected with a switch, and the other end of the switch is provided with a plurality of antennas; any antenna A is switched by a switch i I=1, 2, … n, respectively, in communication with the receiving links;
step 2, a transmitter transmits signals, and the receiving link receives and records the receiving link and the transmitting time difference T, namely the ranging flight time;
step 3, enabling all antennas to be sequentially communicated with a receiving link through switch switching, and obtaining all ranging flight time;
and 4, calculating the two-dimensional plane position of the transmitter relative to the receiving antenna by using the ranging flight time and the distance between the two corresponding antenna positions.
Further, the step 4 specifically includes:
arbitrary two antennas A i And A j Time of flight difference DeltaT between ij ＝T j -T i I, j=1, 2, …, n, where i+.j;
calculating the signal transmitted by the transmitter to the antenna A j And antenna A i Electromagnetic wave transmission travel difference D of (2) ij ＝C·ΔT ij C is the propagation speed of electromagnetic waves;
calculating the incident angle θ, cos θ=d of the signal ij /L ij ；L ij For antenna A i And A j A positional distance therebetween;
transmitter relative to receiving antenna a i Is defined by the incident angle θ and the distance (C.T i ) And (5) determining.
Further, the transmitter is in a stationary state or a moving state.
Further, in the case that the movement of the transmitter causes the displacement of the transmitter during the antenna switching time interval to affect the positioning accuracy, the steps 1 to 4 are repeated for a plurality of times, so that the speed of the transmitter is obtained on the basis of obtaining a plurality of ranging displacements of the same antenna, and then the motion compensation amount is calculated to obtain the distance correction based on the position correction of the transmitter at the same time, thereby improving the accuracy.
Further, the switch switching time control mode is slow switching or fast switching; the switch switching time control mode is slow switching or fast switching; when the position of the transmitter is changed at a low speed, under the condition that the position movement of the transmitter affects the positioning precision, calculating the motion compensation quantity to obtain the distance correction improvement precision based on the position correction of the transmitter at the same time; when the antenna is switched quickly in the same data packet, the accuracy of the positioning caused by the movement of the transmitter is not required to be corrected by motion compensation under the condition that the influence of the positioning accuracy caused by the movement of the transmitter is negligible.
The beneficial effects of the invention are as follows: the method adopts one receiving link to replace the technical proposal of a plurality of receiving links in the prior art, can greatly reduce the complexity of the ultra-wideband positioning chip based on the AoA, effectively reduces the cost of the chip, and has very high cost performance and practicability.
Drawings
FIG. 1 is a working principle diagram of the prior art for realizing ultra-wideband positioning by always adopting an AoA algorithm;
FIG. 2 is a schematic diagram of the results of iPhone positioning AirTag;
FIG. 3 is a schematic diagram of an iPhone AoA ultra wideband positioning reception;
FIG. 4 is a schematic diagram of positioning reception in the method of the present invention;
fig. 5 is a block diagram of an implementation with two switching speeds and motion compensation functions.
Detailed Description
In order that the invention may be more readily understood, a more particular description of the invention will be rendered by reference to specific embodiments that are illustrated in the appended drawings.
As shown in fig. 4, the method for implementing ultra-wideband AoA positioning based on multi-path antenna switching according to the present invention includes the following steps:
step 1, a receiving link R is arranged, one end of a switch is connected with the receiving link R, and the other end of the switch is provided with an antenna A 1 、A 2 、A 3 Each time, through switching of a switch, one antenna is communicated with the receiving link;
step 2, a transmitter transmits signals, and a receiving link receives and records a receiving link and a transmitting time difference T, namely flight time;
step 3, repeating the steps 1-2 for all antennas to obtain all ranging flight time T 1 ，T 2 ，T 3 ；
Step 4, calculating the flight time difference between any two antennas; such as: for antenna A 1 And antenna A 2 Between them, the time of flight is DeltaT 12 T, i.e 2 -T 1 From DeltaT 12 Can calculate the electromagnetic wave transmission travel difference D of the signals to the antenna A2 and the antenna A1 12 ＝C·ΔT 12 C is the propagation speed of electromagnetic waves;
calculating the incident angle θ, cos θ=d of the signal 12 /L 12 ；L 12 For antenna A 1 And antenna A 2 A positional distance therebetween;
transmitter relative to receiving antenna a 1 Is defined by the incident angle θ and the distance (C.T 1 ) And (5) determining.
The method of the invention can obviously reduce the cost by sharing one receiving link.
Since the phase difference of the signals received by the plurality of antennas and the time of flight difference between the plurality of receiving antennas and the transmitter have direct linear relation, the method for sharing one receiving link through antenna switching, which is proposed by the invention, can also be used for realizing a low-cost PDoA scheme.
As shown in fig. 5, the influence of multiple transmitting displacements when the transmitter is stationary or the transmitter is moving on the positioning precision is negligible, and the requirements can be met in the steps 1-4; under the condition that the displacement of the transmitter during the antenna switching time interval affects the positioning accuracy caused by the movement of the transmitter, the flow can be repeated for a plurality of times, so that the speed of the transmitter is obtained on the basis of obtaining a plurality of ranging displacements of the same antenna; the distance correction based on the transmitter position correction at the same time is obtained through the motion compensation of the transmitter position, so that the accuracy is improved.
In a typical application scenario of ultra wideband positioning key protocols supported by the international internet of vehicles (CCC), the key is moving at walking speed. In this scenario, the transmission and reception of the positioning packet for each round takes 96ms as a basic unit, and the slow switching must be the same as the transmission and reception packet round. The slow switching time is of the order of 100 ms. In such a case of slow switching, the positional movement of the transmitter affects the positioning accuracy, so that it is necessary to calculate the motion compensation amount to obtain the accuracy of the distance correction based on the positional correction of the transmitter at the same time.
In the case where the movement of the transmitter causes the displacement of the transmitter during the antenna switching time interval to affect the positioning accuracy, the time of the fast switching is in the order of ms or less, the antenna switching can be performed in the same data packet to increase the antenna switching speed (reduce the switching time interval to the order of ms or less), so that the influence of the movement on the positioning accuracy of the AoA or PDoA is minimal, and no movement compensation is required.
From the application of the mobile phone, the method can greatly reduce the complexity of the ultra-wideband positioning chip based on AoA, taking the U1 chip for iPhone as an example, if the method is used, 3 receiving links of U1 can be simplified to 1, and the cost is reduced by 3 times; for automobile application, 5 ultra-wideband positioners are often installed in each automobile, and if the AoA function of each positioner adopts the method disclosed by the invention, the chip cost of hundreds of yuan can be saved for each automobile. In conclusion, the method can effectively reduce the use threshold of ultra-wideband positioning based on AoA, so that the technology has very high cost performance and practicability.
The foregoing is merely a preferred embodiment of the present invention, and is not intended to limit the present invention, and all equivalent variations using the description and drawings of the present invention are within the scope of the present invention.
Claims (5)
1. The ultra-wideband AoA positioning implementation method based on multipath antenna switching is characterized by comprising the following steps of:
step 1, constructing a receiving link, wherein the receiving link is connected with a switch, and the other end of the switch is provided with a plurality of antennas; any antenna A is switched by a switch i I=1, 2, … n, respectively, in communication with the receiving links;
step 2, a transmitter transmits signals, and the receiving link receives and records the receiving link and the transmitting time difference T, namely the ranging flight time;
step 3, enabling all antennas to be sequentially communicated with a receiving link through switch switching, and obtaining all ranging flight time;
and 4, calculating the two-dimensional plane position of the transmitter relative to the receiving antenna by using the ranging flight time and the distance between the two corresponding antenna positions.
2. The method for implementing ultra wideband AoA positioning based on multi-path antenna switching according to claim 1, wherein step 4 specifically comprises:
arbitrary two antennas A i And A j Time of flight difference DeltaT between ij ＝T j -T i I, j=1, 2, …, n, where i+.j;
calculating the signal transmitted by the transmitter to the antenna A j And antenna A i Electromagnetic wave transmission travel difference D of (2) ij ＝C·ΔT ij C is the propagation speed of electromagnetic waves;
calculating the incident angle θ, cos θ=d of the signal ij /L ij ；L ij For antenna A i And A j A positional distance therebetween;
transmitter relative to receiving antenna a i Is defined by the incident angle θ and the distance (C.T i ) And (5) determining.
3. The method for implementing ultra wideband AoA positioning based on multiple antenna switching according to any one of claims 1 or 2, wherein the transmitter is in a stationary state or a moving state.
4. The method for realizing ultra wideband AoA positioning based on multi-path antenna switching according to claim 3, wherein in case that the movement of the transmitter causes the displacement of the transmitter during the antenna switching time interval to affect the positioning accuracy, repeating steps 1 to 4 a plurality of times, thereby obtaining the speed of the transmitter on the basis of obtaining a plurality of ranging displacements of the same antenna, and then calculating the motion compensation amount to obtain the distance correction improvement accuracy based on the position correction of the transmitter at the same time.
5. The method for implementing ultra wideband AoA positioning based on multi-path antenna switching according to claim 3, wherein the switching time control mode is slow switching or fast switching; when the position of the transmitter is changed at a low speed, under the condition that the position movement of the transmitter affects the positioning precision, calculating the motion compensation quantity to obtain the distance correction improvement precision based on the position correction of the transmitter at the same time; when the antenna is switched quickly in the same data packet, the accuracy of the positioning caused by the movement of the transmitter is not required to be corrected by motion compensation under the condition that the influence of the positioning accuracy caused by the movement of the transmitter is negligible.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN119232219A (en) * | 2024-11-29 | 2024-12-31 | 深圳捷扬微电子有限公司 | Antenna adaptive switching method for UWB terminal equipment and computer readable storage medium |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN119232219A (en) * | 2024-11-29 | 2024-12-31 | 深圳捷扬微电子有限公司 | Antenna adaptive switching method for UWB terminal equipment and computer readable storage medium |
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