CN118338413A - Two-dimensional positioning method, system and computer based on single base station - Google Patents
Two-dimensional positioning method, system and computer based on single base station Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
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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
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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
- G01S5/06—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
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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
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/33—Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings
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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
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
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- Signal Processing (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention relates to a two-dimensional positioning method, a system and a computer based on a single base station, which have the technical scheme that: the base station comprises: the first chip, the second chip, the first antenna, the second antenna, the third antenna and the fourth antenna; the method comprises the following steps: s1) receiving UWB signals sent by UWB tags in a communication range by using a first antenna, a second antenna, a third antenna and a fourth antenna respectively; s2) respectively calculating the flight time of UWB signals reaching the first antenna, the second antenna, the third antenna and the fourth antenna; calculating distance values between the UWB positioning base station and the UWB tag according to the four flight times; s3, setting a connecting line between the UWB positioning base station and the UWB tag, and calculating an angle value between the connecting line and a preset reference axis; s4) calculating plane coordinates of the UWB tag according to the distance value and the angle value; the 360-degree two-dimensional positioning method based on the single base station TWR+AOA four-antenna array has the advantage of resolving multiple angles and multiple directions; the method and the device effectively reduce the setting quantity of the wireless base stations while providing indoor two-dimensional positioning.
Description
Technical Field
The invention relates to the technical field of communication, in particular to a two-dimensional positioning method, a two-dimensional positioning system and a two-dimensional positioning computer based on a single base station.
Background
In the prior art, in research on Ultra Wideband (UWB) positioning technology, due to the influence of multipath propagation, multiple access, non-line-of-sight errors and multiple factors of signal characteristics, the measured values of angle of arrival (AOA) positioning, time of arrival (TOA) positioning, time difference of arrival (TDOA) positioning and the like all have errors, however, a separate positioning algorithm cannot keep the independent advantages in any positioning environment. For this reason, aiming at the problem of how to improve the positioning accuracy, a hybrid positioning and an improvement of an arrival angle AOA positioning algorithm are proposed on the basis of a single base station.
TWR (two way ranging) positioning algorithms of UWB utilize round trip Time (TOF) between the tag and the base station to calculate the distance between the tag and the base station, and the location of the tag can be determined by trilateration algorithms. Trilateration algorithms require at least three base stations to determine the location of the tag. The principle is as follows: the three base stations and one tag are located in the same plane, and the three base stations are not collinear. Three intersecting circles are drawn by taking coordinates of three base stations as circle centers and distances from the three base stations to the tag as radii, and the intersection points are coordinates of the tag, as shown in fig. 7.
AOA (angle of arrival) positioning algorithms for UWB typically require a base station with dual antennas. Firstly, a label sends sine wave pulse signals to a base station, then a signal angle can be obtained according to the phase difference of the sine signals reaching different base stations, and then the intersection point coordinates of two signal propagation paths, namely the label position, are calculated according to the obtained signal arrival angle. The Y-axis coordinate of the tag is actually obtained as a ranging value of the base station and the tag, and the planar two-dimensional coordinate cannot be represented.
To ensure positioning accuracy, it is often necessary to arrange multiple base stations in a re-environment to jointly solve for accurate tag coordinates. AOA positioning is sensitive to the position of the tag relative to the base station, and generally requires a range of angles to obtain accurate positioning coordinates.
Disclosure of Invention
In view of the shortcomings of the prior art, the present invention aims to provide a two-dimensional positioning method, system and computer based on a single base station, so as to overcome the shortcomings of the prior art in the background art.
The technical aim of the invention is realized by the following technical scheme: a two-dimensional positioning method based on a single base station is applied to a UWB positioning base station, and the positioning base station comprises: a first chip for processing UWB signals, a second chip for processing UWB signals, a first antenna for receiving UWB signals, a second antenna for receiving UWB signals, a third antenna for receiving UWB signals, a fourth antenna for receiving UWB signals;
the first antenna and the second antenna are both in communication connection with the first chip;
the third antenna and the fourth antenna are both in communication connection with the second chip;
the method comprises the following steps:
s1, receiving UWB signals sent by UWB tags in a communication range by using a first antenna, a second antenna, a third antenna and a fourth antenna respectively;
S2, respectively calculating flight time of the UWB signal reaching the first antenna, the second antenna, the third antenna and the fourth antenna; calculating distance values between the UWB positioning base station and the UWB tag according to the four flight times;
s3, setting a connecting line between the UWB positioning base station and the UWB tag, and calculating an angle value between the connecting line and a preset reference axis;
and S4, calculating the plane coordinates of the UWB tag according to the distance value and the angle value.
Optionally, the calculating the time of flight of the UWB signal reaching the first, second, third and fourth antennas includes:
Receiving a first ranging signal transmitted by a UWB tag, and acquiring a first transmitting time T0 of the first ranging signal and a first receiving time T1 of the first ranging signal reaching a UWB base station;
Transmitting a second ranging signal to the UWB tag, and acquiring a second transmitting time T2 of the second ranging signal and a second receiving time T3 of the second ranging signal reaching the UWB tag;
Receiving a third ranging signal transmitted by the UWB tag, and acquiring a third transmitting time T4 of the third ranging signal and a third receiving time T5 of the third ranging signal reaching the UWB base station;
Calculating a time of flight T prop of the UWB signal according to the first transmission time T0, the first reception time T1, the second transmission time T2, the second reception time T3, the third transmission time T4, and the third reception time T5, including:
wherein T round1＝T3-T0,Tround2＝T5-T2,Treplay1＝T2-T1,Treplay2 = T4-T3.
Optionally, the calculating the distance value between the UWB positioning base station and the UWB tag according to the four flight times includes:
calculating a ranging value r between an antenna and the UWB tag according to the time of flight T prop of the UWB signal, including:
r＝c*Tprop；
wherein c is the propagation speed of the electromagnetic wave in vacuum, c=3× 8 m/s
And calculating the ranging value R of the tag from the center point of the base station by using the four ranging values R.
Optionally, a connection line is set between the UWB positioning base station and the UWB tag, and calculating an angle value between the connection line and a preset reference axis includes:
Acquiring a first phase value phi 1 of the UWB signal reaching a first antenna;
Acquiring a first phase value phi 2 of the UWB signal reaching a second antenna;
Calculating a first distance difference p 1 for the UWB signal to reach the first and second antennas, respectively, based on the first phase value Φ 1, the second phase value Φ 2, and the wavelength λ of the UWB signal, comprising:
Obtaining a distance value d 1 between the first antenna and the second antenna;
According to the distance difference p 1, calculating a first angle value theta 1 between the connecting line and a preset reference axis; the first angle value Θ 1 is calculated by a formula of a trigonometric function, including:
Optionally, the calculating the plane coordinates of the UWB tag according to the distance value and the angle value includes:
Constructing a first plane coordinate system; acquiring a first coordinate (x ′,y′) of the geometric center of the UWB positioning base station among the first coordinates;
Calculating a first abscissa x 1 of the UWB tag in the first plane coordinate system according to a distance value d 1 of the first and second antennas, a distance difference p 1 of two paths of the tag to the first and second antennas, and a ranging value r, including:
optionally, a connection line is set between the UWB positioning base station and the UWB tag, and an angle value between the connection line and a preset reference axis is calculated, and the method further includes:
acquiring a first phase value phi 3 of the UWB signal reaching a third antenna;
acquiring a first phase value phi 4 of the UWB signal reaching a fourth antenna;
Calculating a second distance difference p 2 for the UWB signal to reach the first and second antennas, respectively, based on the first phase value Φ 3, the first phase value Φ 4, and the wavelength λ of the UWB signal, comprising:
obtaining a distance value d 2 between the third antenna and the fourth antenna;
According to the second distance difference p 2, a second angle value Θ 2 between the connecting line and a preset reference axis is calculated, and the first angle value Θ 2 is calculated by a formula of a trigonometric function, including:
Optionally, the calculating the plane coordinates of the UWB tag according to the distance value and the angle value further includes:
Constructing a second plane coordinate system; the X axis of the second coordinate system is mutually overlapped with the Y axis of the first coordinate system; the Y axis of the second coordinate system is mutually overlapped with the X axis of the first coordinate system; acquiring a second coordinate (x ', y') of the geometric center of the UWB positioning base station among the second coordinates;
Calculating a second abscissa x 2 of the UWB tag in the second plane coordinate system according to a distance value d 2 of the third antenna and the fourth antenna, a distance difference p 2 of two paths of the tag to the third antenna and the fourth antenna, and a ranging value r, including:
Optionally, the calculating the plane coordinates of the UWB tag according to the distance value and the angle value further includes:
Constructing a third plane coordinate system, wherein the X axis of the third plane coordinate system is mutually overlapped with the X axis of the first coordinate system; the Y axis of the third plane coordinate system is mutually overlapped with the X axis of the second coordinate system;
-recording the first abscissa x 1 as a third abscissa x 3 in a third plane coordinate system; -registering said second abscissa x 2 as a third ordinate y 3 in a third plane coordinate system; the plane coordinates (x 3,y3) of the UWB tag are obtained.
A single base station based two-dimensional positioning system comprising:
The data receiving module is used for receiving UWB signals sent by the UWB tags in the communication range by using the first antenna, the second antenna, the third antenna and the fourth antenna;
The distance calculation module is used for calculating the flight time of the UWB signal reaching the first antenna, the second antenna, the third antenna and the fourth antenna respectively; calculating distance values between the UWB positioning base station and the UWB tag according to the four flight times;
the angle value calculation module is used for calculating the angle value of the UWB tag according to the arrival phase of the UWB signal;
And the plane coordinate generating module is used for calculating the plane coordinate of the UWB tag according to the distance value and the angle value.
A computer device comprising a memory storing a computer program and a processor implementing the steps of the method described above when the processor executes the computer program.
In summary, the invention has the following beneficial effects:
the 360-degree two-dimensional positioning method based on the single base station TWR+AOA four-antenna array has the technical advantage of resolving multiple angles and multiple directions; the method effectively reduces the setting quantity of the wireless base stations while providing indoor two-dimensional positioning; compared with the existing two-dimensional positioning system and method, at least 3 UWB base stations are required to be arranged in each room to perform two-dimensional positioning, the number of the UWB base stations is huge, and cost is effectively saved.
Drawings
FIG. 1 is a flow chart of a two-dimensional positioning method based on a single base station in the invention;
FIG. 2 is a system structure diagram of a two-dimensional positioning method based on a single base station of the present invention;
FIG. 3 is an internal block diagram of a computer device in accordance with an embodiment of the present invention;
fig. 4 is a diagram of four antenna coverage areas in the present invention;
FIG. 5 is a DS-TWR ranging flowchart;
FIG. 6 is a coverage map of a PDOA positioning algorithm;
FIG. 7 background art
Detailed Description
In order that the objects, features and advantages of the invention will be readily understood, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings. Several embodiments of the invention are presented in the figures. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances. The terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature.
In the present invention, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other through additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature. The terms "vertical," "horizontal," "left," "right," "up," "down," and the like are used for descriptive purposes only and are not to indicate or imply that the devices or elements being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the invention.
The present invention will be described in detail below with reference to the accompanying drawings and examples.
The invention provides a two-dimensional positioning method based on a single base station, which is shown in figure 1 and comprises the following steps: the method comprises the following steps:
Applied to UWB positioning base station, said positioning base station includes: a first chip for processing UWB signals, a second chip for processing UWB signals, a first antenna for receiving UWB signals, a second antenna for receiving UWB signals, a third antenna for receiving UWB signals, a fourth antenna for receiving UWB signals;
the first antenna and the second antenna are both in communication connection with the first chip;
the third antenna and the fourth antenna are both in communication connection with the second chip;
the method comprises the following steps:
s1, receiving UWB signals sent by UWB tags in a communication range by using a first antenna, a second antenna, a third antenna and a fourth antenna respectively;
S2, respectively calculating flight time of the UWB signal reaching the first antenna, the second antenna, the third antenna and the fourth antenna; calculating distance values between the UWB positioning base station and the UWB tag according to the four flight times;
s3, setting a connecting line between the UWB positioning base station and the UWB tag, and calculating an angle value between the connecting line and a preset reference axis;
and S4, calculating the plane coordinates of the UWB tag according to the distance value and the angle value.
In practical application, a UWB base station is arranged at the central position of a set of areas to be positioned, a UWB tag can be in wireless communication with the UWB base station, the UWB base station and a network cable are connected to a server, and network communication TCP protocol data are used for mutual transmission; the GIS system of the server receives the TCP protocol of the UWB base station, each UWB base station sends the respective chip ID to the GIS system, the GIS system groups the received UWB base station IDs, and corresponding base station numbers, base station sequences and coordinate data of the plane to which the base station belongs are set; in practical application, the UWB positioning base station is an antenna array of the UWB base station, and uses four antennas as receiving wireless signals, the coverage area of the UWB base station is shown in fig. 4, the UWB base station uses DW3000 series chips, each DW3000 series chip is connected with two antennas, the antenna interval is half wavelength, and two DW3000 single PDOA can obtain two sets of coordinate values (x 1, y 1), (x 2, y 2); taking the X-axis coordinates of the two groups of coordinate values as plane two-dimensional coordinate values of the positioning uwb label, namely (X1, X2); the adoption of four antennas as receiving wireless signals can solve the problem of 360-degree two-dimensional positioning;
when a UWB positioning base station works, a person to be positioned with the UWB tag or the UWB tag on equipment enters the communication range of the positioning base station, and the UWB tag sends UWB signals; after receiving UWB signals sent by the UWB tag, the UWB positioning base station calculates a distance value between the UWB positioning base station and the UWB tag and an angle value between the UWB and the UWB tag according to the flight time of the UWB signals; finally, calculating a two-dimensional coordinate value according to a preset rule through the calculated distance value and angle value; and finally, connecting the UWB positioning base station with a GIS server through a network cable to upload the two-dimensional coordinate information of the UWB tag, and displaying the coordinate values received by the UWB base station by the GIS server into a two-dimensional map.
Further, the method comprises the steps of,
The calculating the time of flight of the UWB signal reaching the first, second, third and fourth antennas respectively includes:
Receiving a first ranging signal transmitted by a UWB tag, and acquiring a first transmitting time T0 of the first ranging signal and a first receiving time T1 of the first ranging signal reaching a UWB base station;
Transmitting a second ranging signal to the UWB tag, and acquiring a second transmitting time T2 of the second ranging signal and a second receiving time T3 of the second ranging signal reaching the UWB tag;
Receiving a third ranging signal transmitted by the UWB tag, and acquiring a third transmitting time T4 of the third ranging signal and a third receiving time T5 of the third ranging signal reaching the UWB base station;
Calculating a time of flight T prop of the UWB signal according to the first transmission time T0, the first reception time T1, the second transmission time T2, the second reception time T3, the third transmission time T4, and the third reception time T5, including:
wherein T round1＝T3-T0,Tround2＝T5-T2,Treplay1＝T2-T1,Treplay2 = T4-T3.
Further, the calculating distance values between the UWB positioning base station and the UWB tag according to the four flight times includes:
calculating a ranging value r between an antenna and the UWB tag according to the time of flight T prop of the UWB signal, including:
r＝c*Tprop；
wherein c is the propagation speed of the electromagnetic wave in vacuum, c=3× 8 m/s
And calculating the ranging value R of the tag from the center point of the base station by using the four ranging values R.
In practical application, when a person or equipment to be positioned of the UWB tag enters the communication range of the UWB base station, the UWB tag adopts a DS-TWR mode for ranging; wherein the DS-TWR ranging flowchart is shown in FIG. 5; according to the flight time T prop of the UWB signals, calculating distance measurement values r between four antennas of the UWB positioning base station and the UWB tag respectively; the ranging value r is obtained by multiplying the propagation time of the wireless signal in the air by the wireless signal propagation data c, i.e. r=c×t; and then calculating the distance R from the UWB tag to the central point of the UWB positioning base station through 4 distance values.
Further, a connection line is set between the UWB positioning base station and the UWB tag, and an angle value between the connection line and a preset reference axis is calculated, including:
Acquiring a first phase value phi 1 of the UWB signal reaching a first antenna;
Acquiring a first phase value phi 2 of the UWB signal reaching a second antenna;
Calculating a first distance difference p 1 for the UWB signal to reach the first and second antennas, respectively, based on the first phase value Φ 1, the second phase value Φ 2, and the wavelength λ of the UWB signal, comprising:
Obtaining a distance value d 1 between the first antenna and the second antenna;
According to the distance difference p 1, calculating a first angle value theta 1 between the connecting line and a preset reference axis; the first angle value Θ 1 is calculated by a formula of a trigonometric function, including:
In practical application, the distance value d 1 between the first antenna and the second antenna is smaller than half a wavelength, and a distance interval of 2.08cm is adopted between the receivers.
Further, the calculating the plane coordinates of the UWB tag according to the distance value and the angle value includes:
Constructing a first plane coordinate system; acquiring a first coordinate (x ′,y′) of the geometric center of the UWB positioning base station among the first coordinates;
Calculating a first abscissa x 1 of the UWB tag in the first plane coordinate system according to a distance value d 1 of the first and second antennas, a distance difference p 1 of two paths of the tag to the first and second antennas, and a ranging value r, including:
further, a connection line is set between the UWB positioning base station and the UWB tag, and an angle value between the connection line and a preset reference axis is calculated, and the method further includes:
acquiring a first phase value phi 3 of the UWB signal reaching a third antenna;
acquiring a first phase value phi 4 of the UWB signal reaching a fourth antenna;
Calculating a second distance difference p 2 for the UWB signal to reach the first and second antennas, respectively, based on the first phase value Φ 3, the first phase value Φ 4, and the wavelength λ of the UWB signal, comprising:
obtaining a distance value d 2 between the third antenna and the fourth antenna;
According to the second distance difference p 2, a second angle value Θ 2 between the connecting line and a preset reference axis is calculated, and the first angle value Θ 2 is calculated by a formula of a trigonometric function, including:
in practical application, the distance value d 2 between the third antenna and the fourth antenna is smaller than half a wavelength, and a distance interval of 2.08cm is adopted between the receivers.
Further, the calculating the plane coordinates of the UWB tag according to the distance value and the angle value further includes:
Constructing a second plane coordinate system; the X axis of the second coordinate system is mutually overlapped with the Y axis of the first coordinate system; the Y axis of the second coordinate system is mutually overlapped with the X axis of the first coordinate system; acquiring a second coordinate (x ', y') of the geometric center of the UWB positioning base station among the second coordinates;
Calculating a second abscissa x 2 of the UWB tag in the second plane coordinate system according to a distance value d 2 of the third antenna and the fourth antenna, a distance difference p 2 of two paths of the tag to the third antenna and the fourth antenna, and a ranging value r, including:
Further, the calculating the plane coordinates of the UWB tag according to the distance value and the angle value further includes:
Constructing a third plane coordinate system, wherein the X axis of the third plane coordinate system is mutually overlapped with the X axis of the first coordinate system; the Y axis of the third plane coordinate system is mutually overlapped with the X axis of the second coordinate system;
-recording the first abscissa x 1 as a third abscissa x 3 in a third plane coordinate system; -registering said second abscissa x 2 as a third ordinate y 3 in a third plane coordinate system; the plane coordinates (x 3,y3) of the UWB tag are obtained.
In practical application, two DW3000 chips and four antenna arrays are adopted, two groups of UWB labels can obtain coordinate values (X1, y 1), (X2, y 2) when one TWR+AOA ranging process is carried out, and X-axis coordinates of the two groups of coordinate values are taken as plane two-dimensional coordinate values for positioning the UWB labels, namely (X1, X2).
As shown in fig. 2, the present invention further provides a two-dimensional positioning system based on a single base station, which includes: comprising the following steps:
the data receiving module 10 is used for receiving UWB signals sent by UWB tags in a communication range;
a distance calculating module 20, configured to calculate a distance value between the UWB positioning base station and the UWB tag according to the time of flight of the UWB signal;
An angle value calculating module 30, configured to calculate an angle value where the UWB tag is located according to an arrival phase of the UWB signal;
And the plane coordinate generating module 40 is used for calculating the plane coordinate of the UWB tag according to the distance value and the angle value.
For a specific limitation of a two-dimensional positioning method system based on a single base station, reference may be made to the limitation of a two-dimensional positioning method based on a single base station hereinabove, and the description thereof will not be repeated here. The modules in the two-dimensional positioning method system based on the single base station can be all or partially realized by software, hardware and a combination thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.
In one embodiment, a computer device is provided, which may be a server, the internal structure of which may be as shown in fig. 3. The computer device includes a processor, a memory, a network interface, and a database connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The computer program is executed by a processor to implement a two-dimensional positioning method based on a single base station.
It will be appreciated by those skilled in the art that the structure shown in FIG. 7 is merely a block diagram of some of the structures associated with the present inventive arrangements and is not limiting of the computer device to which the present inventive arrangements may be applied, and that a particular computer device may include more or fewer components than shown, or may combine some of the components, or have a different arrangement of components.
In one embodiment, a computer device is provided comprising a memory and a processor, the memory having stored therein a computer program, the processor when executing the computer program performing the steps of: comprising the following steps:
The UWB label can be in wireless communication with the UWB base station, the UWB base station is connected to the server by the network cable, and the data are mutually transmitted by using the network communication TCP protocol; the GIS system of the server receives the TCP protocol of the UWB base station, each UWB base station sends the respective chip ID to the GIS system, the GIS system groups the received UWB base station IDs, and corresponding base station numbers, base station sequences and coordinate data of the plane to which the base station belongs are set; when a UWB positioning base station works, a person to be positioned with the UWB tag or the UWB tag on equipment enters the communication range of the positioning base station, and the UWB tag sends UWB signals; after receiving UWB signals sent by the UWB tag, the UWB positioning base station calculates a distance value between the UWB positioning base station and the UWB tag and an angle value between the UWB and the UWB tag according to the flight time of the UWB signals; finally, calculating a two-dimensional coordinate value according to a preset rule through the calculated distance value and angle value; and finally, connecting the UWB positioning base station with a GIS server through a network cable to upload the two-dimensional coordinate information of the UWB tag, and displaying the coordinate values received by the UWB base station by the GIS server into a two-dimensional map.
In one embodiment, a first ranging signal transmitted by a UWB tag is received, and a first transmission time T0 of the first ranging signal and a first receiving time T1 of the first ranging signal reaching a UWB base station are acquired;
Transmitting a second ranging signal to the UWB tag, and acquiring a second transmitting time T2 of the second ranging signal and a second receiving time T3 of the second ranging signal reaching the UWB tag;
Receiving a third ranging signal transmitted by the UWB tag, and acquiring a third transmitting time T4 of the third ranging signal and a third receiving time T5 of the third ranging signal reaching the UWB base station;
And calculating the flight time T prop of the UWB signal according to the first transmission time T0, the first receiving time T1, the second transmission time T2, the second receiving time T3, the third transmission time T4 and the third receiving time T5.
According to the flight time T prop of the UWB signal, the distance value d between the UWB positioning base station and the UWB tag; the distance d is obtained by multiplying the propagation data c of the radio signal by the propagation time of the radio signal in the air, i.e. d=c×t.
In one embodiment, the PDOA method is used to calculate the phase difference between the current UWB tag and the UWB base stationCalculating phase difference value between current UWB tag and UWB base station by PDOA methodPDOA (PHASE DIFFERENCE of Arrival) is a measurement method for positioning, by which the position of a target is calculated by measuring the phase difference between signals arriving at different receivers.
In one embodiment, the phase difference value is based onConverting the angle into radian value, namely converting the angle into radian; according to the phase difference valueAnd converting into an arc value, namely converting the angle into an arc.
In one embodiment, the coordinate information of the UWB tag to be located is calculated according to the angle value and the distance value.
In one embodiment, two AOA angle values can be obtained through communication between the four antenna arrays and the UWB tag, and coordinate values of the UWB tag are obtained through calculation of the obtained AOA angle values through the antenna arrays;
in one embodiment, the UWB base station is connected to a GIS server to upload the coordinate information of the UWB tag, and the GIS server displays the coordinate values of the received UWB tag in a two-dimensional map.
Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in embodiments provided herein may include non-volatile and/or volatile memory. The nonvolatile memory can include Read Only Memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (SYNCHLINK) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), among others.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above examples, and all technical solutions belonging to the concept of the present invention belong to the protection scope of the present invention. It should be noted that modifications and adaptations to the present invention may occur to one skilled in the art without departing from the principles of the present invention and are intended to be within the scope of the present invention.
Claims (10)
1. A two-dimensional positioning method based on a single base station is characterized by being applied to UWB positioning base stations,
The positioning base station includes: a first chip for processing UWB signals, a second chip for processing UWB signals, a first antenna for receiving UWB signals, a second antenna for receiving UWB signals, a third antenna for receiving UWB signals, a fourth antenna for receiving UWB signals;
the first antenna and the second antenna are both in communication connection with the first chip;
the third antenna and the fourth antenna are both in communication connection with the second chip;
the method comprises the following steps:
s1, receiving UWB signals sent by UWB tags in a communication range by using a first antenna, a second antenna, a third antenna and a fourth antenna respectively;
S2, respectively calculating flight time of the UWB signal reaching the first antenna, the second antenna, the third antenna and the fourth antenna; calculating distance values between the UWB positioning base station and the UWB tag according to the four flight times;
s3, setting a connecting line between the UWB positioning base station and the UWB tag, and calculating an angle value between the connecting line and a preset reference axis;
and S4, calculating the plane coordinates of the UWB tag according to the distance value and the angle value.
2. A two-dimensional positioning method based on a single base station according to claim 1, wherein,
The calculating the time of flight of the UWB signal reaching the first, second, third and fourth antennas respectively includes:
Receiving a first ranging signal transmitted by a UWB tag, and acquiring a first transmitting time T0 of the first ranging signal and a first receiving time T1 of the first ranging signal reaching a UWB base station;
Transmitting a second ranging signal to the UWB tag, and acquiring a second transmitting time T2 of the second ranging signal and a second receiving time T3 of the second ranging signal reaching the UWB tag;
Receiving a third ranging signal transmitted by the UWB tag, and acquiring a third transmitting time T4 of the third ranging signal and a third receiving time T5 of the third ranging signal reaching the UWB base station;
Calculating a time of flight T prop of the UWB signal according to the first transmission time T0, the first reception time T1, the second transmission time T2, the second reception time T3, the third transmission time T4, and the third reception time T5, including:
wherein T round1＝T3-T0,Tround2＝T5-T2,Treplay1＝T2-T1,Treplay2 = T4-T3.
3. The two-dimensional positioning method based on a single base station according to claim 2, wherein the calculating distance values between the UWB positioning base station and the UWB tag according to four flight times comprises:
calculating a ranging value r between an antenna and the UWB tag according to the time of flight T prop of the UWB signal, including:
r＝c*Tprop；
wherein c is the propagation speed of the electromagnetic wave in vacuum, c=3× 8 m/s
And calculating the ranging value R of the tag from the center point of the base station by using the four ranging values R.
4. A two-dimensional positioning method based on a single base station according to claim 3, wherein a connection line is set between the UWB positioning base station and the UWB tag, and calculating an angle value between the connection line and a preset reference axis comprises:
Acquiring a first phase value phi 1 of the UWB signal reaching a first antenna;
Acquiring a first phase value phi 2 of the UWB signal reaching a second antenna;
Calculating a first distance difference p 1 for the UWB signal to reach the first and second antennas, respectively, based on the first phase value Φ 1, the second phase value Φ 2, and the wavelength λ of the UWB signal, comprising:
Obtaining a distance value d 1 between the first antenna and the second antenna;
According to the distance difference p 1, calculating a first angle value theta 1 between the connecting line and a preset reference axis; the first angle value Θ 1 is calculated by a formula of a trigonometric function, including:
5. The two-dimensional positioning method based on a single base station according to claim 4, wherein the calculating the plane coordinates of the UWB tag according to the distance value and the angle value comprises:
Constructing a first plane coordinate system; acquiring a first coordinate (x ′,y′) of the geometric center of the UWB positioning base station among the first coordinates;
Calculating a first abscissa x 1 of the UWB tag in the first plane coordinate system according to a distance value d 1 of the first and second antennas, a distance difference p 1 of two paths of the tag to the first and second antennas, and a ranging value r, including:
6. A two-dimensional positioning method based on a single base station according to claim 3, wherein a connection line is set between the UWB positioning base station and the UWB tag, and an angle value between the connection line and a preset reference axis is calculated, further comprising:
acquiring a first phase value phi 3 of the UWB signal reaching a third antenna;
acquiring a first phase value phi 4 of the UWB signal reaching a fourth antenna;
Calculating a second distance difference p 2 for the UWB signal to reach the first and second antennas, respectively, based on the first phase value Φ 3, the first phase value Φ 4, and the wavelength λ of the UWB signal, comprising:
obtaining a distance value d 2 between the third antenna and the fourth antenna;
According to the second distance difference p 2, a second angle value Θ 2 between the connecting line and a preset reference axis is calculated, and the first angle value Θ 2 is calculated by a formula of a trigonometric function, including:
7. the two-dimensional positioning method based on a single base station according to claim 6, wherein the calculating the plane coordinates of the UWB tag according to the distance value and the angle value further comprises:
Constructing a second plane coordinate system; the X axis of the second coordinate system is mutually overlapped with the Y axis of the first coordinate system; the Y axis of the second coordinate system is mutually overlapped with the X axis of the first coordinate system; acquiring a second coordinate (x ', y') of the geometric center of the UWB positioning base station among the second coordinates;
Calculating a second abscissa x 2 of the UWB tag in the second plane coordinate system according to a distance value d 2 of the third and fourth antennas, a distance difference p 2 of the tag reaching the third and fourth antennas, and a ranging value r, comprising:
8. The two-dimensional positioning method based on a single base station according to claim 7, wherein the calculating the plane coordinates of the UWB tag according to the distance value and the angle value further comprises:
Constructing a third plane coordinate system, wherein the X axis of the third plane coordinate system is mutually overlapped with the X axis of the first coordinate system; the Y axis of the third plane coordinate system is mutually overlapped with the X axis of the second coordinate system;
-recording the first abscissa x 1 as a third abscissa x 3 in a third plane coordinate system; -registering said second abscissa x 2 as a third ordinate y 3 in a third plane coordinate system; the plane coordinates (x 3,y3) of the UWB tag are obtained.
9. A single-base-station-based two-dimensional positioning system, the two-dimensional positioning system comprising:
The data receiving module is used for receiving UWB signals sent by the UWB tags in the communication range by using the first antenna, the second antenna, the third antenna and the fourth antenna;
The distance calculation module is used for calculating the flight time of the UWB signal reaching the first antenna, the second antenna, the third antenna and the fourth antenna respectively; calculating distance values between the UWB positioning base station and the UWB tag according to the four flight times;
the angle value calculation module is used for setting a connecting line between the UWB positioning base station and the UWB tag and calculating an angle value between the connecting line and a preset reference axis;
And the plane coordinate generating module is used for calculating the plane coordinate of the UWB tag according to the distance value and the angle value.
10. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the method of any one of claims 1 to 8 when the computer program is executed.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118818428A (en) * | 2024-07-31 | 2024-10-22 | 上海特金信息科技有限公司 | Multi-station positioning method and system based on TDOA and AOA |
| CN119148054A (en) * | 2024-11-19 | 2024-12-17 | 华南理工大学 | Three-dimensional positioning method based on UWB (ultra Wide band) for tunnel safety monitoring |
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2024
- 2024-04-11 CN CN202410433005.7A patent/CN118338413A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118818428A (en) * | 2024-07-31 | 2024-10-22 | 上海特金信息科技有限公司 | Multi-station positioning method and system based on TDOA and AOA |
| CN118818428B (en) * | 2024-07-31 | 2025-01-21 | 上海特金信息科技有限公司 | Multi-station positioning method and system based on TDOA and AOA |
| CN119148054A (en) * | 2024-11-19 | 2024-12-17 | 华南理工大学 | Three-dimensional positioning method based on UWB (ultra Wide band) for tunnel safety monitoring |
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