CN102883272B - RFID technology-based displacement sensing positioning system and positioning method thereof - Google Patents
RFID technology-based displacement sensing positioning system and positioning method thereof Download PDFInfo
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Abstract
The invention discloses a positioning method of an RFID (Radio Frequency Identification Device) technology-based displacement sensing positioning system. The system comprises a plurality of positioning communication units, wherein each positioning communication unit is composed of two base stations and a certain length of leakage cable with two ends connected with the two base stations; the base stations on the two ends of the leakage cable send signals with time marks to a mobile station, and the mobile station in any position between the two base stations monitors and receives the signals sent by the two base stations, and the accurate position of the mobile station between the two base stations can be analyzed and calculated out according to the signal sending time of the two base stations and the signal arrival time, as well as the known speed and distance of the signal sending between the mobile station and the two base stations through the leakage cable, thereby completing the displacement sensing positioning communication. According to the invention, the displacement sensing positioning communication of the mobile station in a laneway is realized, and the positioning card readers, substations and the like which are used in a traditional positioning communications system are avoided, reducing installation workload and maintenance workload in a later period, and improving the stability and performance of the system. Therefore, whole-journey continuous accurate positioning communication is realized in the system coverage.
Description
Technical field
The present invention relates to communication technique field, be specifically related to a kind of roadway location communication system based on leaky cable radio frequency transmission technology and localization method thereof.
Background technology
At present, traditional roadway location communication system technology overwhelming majority adopts arranges several anchor points on locating lines, install orientation and communication radio-frequency card reader at each anchor point, each orientation and communication card reader has different identity codes, and with its near the mutual communication of movement station.When movement station moves to after near anchor point card reader, according to the mutual identification of card reader and movement station, determine identity and the positional information of movement station, realize the orientation and communication of movement station.This traditional displacement sensing navigation system, need, at locating area, a large amount of locating card reader is installed along the line, each card reader is made up of the integrated circuit of complexity and radio frequency chip, and connected by cable, card reader installation and debugging workload is large, and the maintenance workload in later stage is large, and system failure rate is high, poor stability, and the low precision of location, effective location region is that each card reader is with the slices discontinuous block of central point to surrounding radiation.
Summary of the invention
For above-mentioned problems of the prior art, the object of the present invention is to provide a kind of positioning communication system based on leakage cable transmission technology, without the need to installing orientation and communication card reader in a large number under the environment of tunnel, structure is simple, the stability of a system is strong, and the positioning communication system based on leakage cable transmission technology of energy non-blind area consecutive tracking communication along the line
Present invention employs following technical scheme for achieving the above object: a kind of localization method of the displacement sensing navigation system based on REID, displacement sensing navigation system is formed by host computer with some orientation and communication unit of host computer connecting communication, described orientation and communication unit comprise one section lay along tunnel and the leaky cable that length is known and be connected to two base stations at leaky cable two ends; Setting data processing module and radio-frequency communication module in described base station, the radio-frequency communication model calling of base station by the radiofrequency signal of leaky cable transmitting-receiving band clock, movement station moves along leaky cable, by leakage cable transmission radiofrequency signal and base station communication.
The clock mark of the radiofrequency signal that two base stations being connected to described leaky cable two ends send with this base station identity mark and when sending signal; Movement station is in any position along the line, receive two ends base station signal, by analyzing the clock mark of two base station signal tranmitting data register marks and arrival movement station, and according to electromagnetic signal transmission speed on radio-frequency leakage cable and the known conditions by leakage cable transmission distance, the position of analytical calculation determination movement station self, and positional information is issued to by leaky cable transfers to base station and system, complete orientation and communication.
Localization method comprises the steps:
(1) length setting the leaky cable L laid in tunnel is 1, and leaky cable two ends connect base station A and base station B respectively, and movement station is Y.Movement station Y moves along leaky cable, any position between two base stations, can be received the signal of base station A and base station B transmission by leaky cable L, and signal comprises clock mark when base station identification marks and signal transmission.
(2) setting of station clock mark:
According to the clock mark of our station clock log when station clock and our station receiving and transmitting signal.When sending signal from base station A, it is Ta that base station A sends clock mark; Signal arrives movement station Y, and it is T (y1) that movement station Y arrives clock mark; When sending signal from base station B, it is Tb that base station B sends clock mark, and base station B signal arrives movement station Y, and it is T(y2 that movement station Y arrives clock mark).
(3) setting of standard time clock mark:
Because individual difference, between the station clock at each station, there is synchronised clock error.If with the station clock Ta of base station A for standard time clock, when each station is with A clock Ta school, base station.The synchronised clock error of base station B and standard time clock is set to TBW, and the synchronised clock error of movement station Y and standard time clock is set to TYW.For making each station clock synchronous, orientation and communication unit is respectively stood employing standard time clock, respectively stands with base station A clock Ta as synchronization criterion is revised.Base station B standard clock mark is Tbb, Tbb=Tb-TBW, and namely the standard time clock of base station B is the synchronous error TBW that the station clock of base station B deducts base station B and standard time clock.The standard time clock of movement station Y is labeled as Tby, Tby=Ty-TYW, and namely the standard time clock of movement station Y is the synchronous error TYW that the station clock of movement station Y deducts movement station Y and standard time clock.
(4) when base station A, B school, base station.
Because individual timing differential, base station A, B clock has synchronous error, and along with passage of time error increasing.For making A, B keep clock synchronous, when orientation and communication unit just needs school at set intervals once.Constantly, base station B sends the signal of a band clock mark to base station A, and known according to leaky cable length l between A, base station B, electromagnetic signal transmission speed c is that 300000Km/s is known, the signal transmission time T0=l/c of B to A for base station B and A school, base station.If the station clock that base station B signal sends is Tb, when base station A receives signal, station clock is Ta.Time difference T1=Ta-Tb between two station clocks.As base station B clock and A clock synchronous, Ta-Tb=T1=T0.As base station B clock Tb and Ta has synchronous error TBW, then T1 ≠ T0, TBW=T0-T1.Known according to condition Ta, Tb, l, c, TBW can be tried to achieve by station data processing module constantly in each school.
(5) orientation and communication unit station clock of respectively standing is modified to standard time clock, makes clock synchronous.
Movement station Y to move between A, base station B any point on leaky cable circuit, can receive the signal with clock mark that A base station, base station B sends respectively.For making all station clock synchronous, all station clock all with base station A clock Ta for standard correction synchronous error.If there is synchronous error T(YW in the station clock Ty of movement station Y and standard time clock), Y standard time clock Tby=Ty-TYW.Movement station Y receives base station a-signal, and base station a-signal tranmitting data register is Ta, and the destination clock arriving movement station Y is T (y1), arrives standard time clock Tby1=(Ty1-TYW).Movement station Y receives the signal of base station B, and dispatching station clock is Tb, sends standard time clock Tbb=(Tb-TBW); The station clock arriving movement station Y is Ty2, arrives standard time clock Tby2=(Ty2-TYW).
(6) according to Given information, the positional information of movement station Y is derived.
If electromagnetic signal running time of base station A to movement station Y is Tay, Tay is that base station a-signal sends standard time clock and movement station Y and receives time difference between standard time clock.I.e. Tay=Ta-(Ty1-TYW); If electromagnetic signal running time of base station B to movement station Y is Tby, Tby is that base station B signal sends standard time clock and movement station Y and receives time difference between standard time clock.I.e. Tby=Tbb-(Ty2-TYW).
Base station a-signal arrives time Tay that movement station Y runs and base station B signal and arrives the difference of the time Tby that movement station Y runs and sum can obtain equation group, and obtains the value of Tay and Tby by Given information.Tay-Tby=[Ta-(Ty1-TYW)]-[Tbb-(Ty2-TYW)]=Ta-Ty1+TYW-Tbb+Ty2-TYW=（Ta-Ty1）-（Tbb-Ty2）。Derive Tay-Tby=(Ta-Ty1)-(Tbb-Ty2).The station clock error T(YW of movement station Y is counteracted in this derivation), therefore unknown quantity T(YW) can not ask.Again the leaky cable of movement station Y between two base station A, B along the line on, leaky cable length is l, Tay, Tby is A, base station B divides the electromagnetic signal running time being clipped to movement station Y, and c is known electric magnetic signals speed; Then there is Tay*c+Tby*c=l to set up, namely have Tay+Tby=l/c.
By Tay-Tby=(Ta-Ty1)-(Tbb-Ty2) and Tay+Tby=l/c be classified as equation group.According to equation group solution, two formula equal sign both sides are added and solve 2Tay=(Ta-Ty1)-(Tbb-Ty2)+l/c, solve Tay=[(Ta-Ty1)-(Tbb-Ty2)+l/c]/2.The position that movement station Y position is defined as base station A, the spacing A of base station B stands Tay*c.
As shown from the above technical solution, two base stations that the present invention utilizes one section of known length leaky cable and is connected with its two ends, setting data processing module and radio-frequency communication module in base station, two ends and movement station, the radio-frequency communication model calling of base station by leaky cable transceiving radio frequency signal, movement station moves along leaky cable, movement station is by the leaky cable on mobile route and base station communication, the radiofrequency signal that base station sends is with this base station identity mark and the clock mark sending signal, movement station is intercepted and is received this signal, by analyzing two base station signal tranmitting data register marks and arriving clock mark, and by signal between two base stations by known conditions such as leakage cable transmission Distance geometry transmission speeds, analysis meter calculates the accurate location of movement station between two base stations, complete displacement sensing location, and positional information is sent by leaky cable transfer to base station and system.
beneficial effect of the present invention:the one section of known length leaky cable utilizing two of orientation and communication unit base stations and two ends to be attached thereto realizes the displacement sensing orientation and communication of movement station in tunnel, eliminate a large amount of installation using locating card reader in traditional positioning communication system, simplify system, decrease installation workload and later maintenance workload, and improve stability and the performance of system, realize omnidistance continuity orientation and communication in coverage.
Accompanying drawing explanation
Below in conjunction with the drawings and specific embodiments, the present invention is described in more detail.
Fig. 1 is the orientation and communication cellular construction schematic diagram in the present invention;
Fig. 2 is system architecture schematic diagram of the present invention.
Detailed description of the invention
As shown in Figure 1, orientation and communication unit of the present invention comprise one section lay along tunnel and the leaky cable L24 that length is known and be connected to base station A21 and the base station B22 at leaky cable two ends; Base station A data processing module 211 and base station A radio-frequency communication module 212 are set in the A21 of base station, base station B data processing module 221 and base station B radio-frequency communication module 222 are set in the B22 of base station, the radio-frequency communication model calling of two base stations also receives and dispatches the radiofrequency signal of band clock by leaky cable L24, movement station Y25 moves along the leaky cable 24 be laid in tunnel, both do not contact, but its can by leaky cable L transceiving radio frequency signal and with base station A, B communication.Base station, two ends sends the signal with this base station identity mark and tranmitting data register mark respectively to leaky cable L, and movement station Y, in any position along the line, can receive the signal that base station A, B are sent by leaky cable L respectively.Movement station Y carries out communication by leaky cable L and base station A, B, and obtains associated clock information, is obtained the positional information of movement station Y by computing, and by communication cable, positional information is sent to system and host computer, completes position sensing location.
Movement station Y, in leaky cable L any position along the line, is intercepted by leaky cable L and receives the signal sent respectively from base station A, B.A-signal dispatching station clock mark in base station is Ta, and the destination clock mark that signal reaches movement station Y is Ty1; B signal dispatching station clock mark in base station is Tb, and the station clock that movement station Y receives this signal is labeled as Ty2.If with the station clock Ta of base station A for standard time clock, when each station is with A clock Ta school, base station, the synchronous error of base station B and standard time clock is TBW, and the synchronous error of movement station Y and standard time clock is TYW.For making each station clock synchronous, respectively stand with base station A clock Ta as standard time clock carries out being modified to synchronous standard time clock.Base station B standard clock is designated as Tbb, Tbb=Tb-TBW.The standard time clock of movement station Y is labeled as Tby, Tby=Ty-T (BY).
Movement station Y to move between A, B any point on leaky cable circuit, can receive the signal with clock mark that A base station, base station B sends respectively.According to above-mentioned localization method, base station A and base station B is calibrated at set intervals, obtains the synchronous error TBW value of base station B and standard time clock.Movement station Y and the unknown of standard time clock error T (YW) value can not be asked.If electromagnetic signal running time of base station A to movement station Y is Tay, electromagnetic signal running time of base station B to movement station Y is Tby.
The onboard data processing module of movement station Y sends the tranmitting data register of signal and movement station Y Received signal strength by base station A, base station B and arrives clock Ta, Ty1, Tb, Ty2 value, and base station A, B school, base station time the TBW value that draws, the formula Tay=[(Ta-Ty1)-(Tbb-Ty2)+l/c]/2 that the data processing module of movement station is derived according to the localization method that the present invention relates to, movement station data processing module calculates the value of Tay, determines that the position of movement station Y is the position of the spacing station A distance Tay*c of A, B.After movement station calculates self-position, positional information and station information are sent to base station and host computer by radiofrequency signal by leaky cable, complete the orientation and communication of station Y.
The present invention calculates the positional information of movement station Y by the clock information of signal transmitting and receiving, and computing can be at movement station data processing module, also can make the data processing module of base station, also can make host computer.
Figure 2 shows that system architecture schematic diagram of the present invention, this system forms by host computer 1 with first, second, and third orientation and communication unit of host computer connecting communication, and the quantity of orientation and communication unit is depending on designing requirement, the amount doesn't matter.Wherein: the first orientation and communication unit lays connection two station by base station A1, base station B1, a movement station Y1 and section along tunnel and the known leaky cable L1 of length is formed; Second orientation and communication unit lays connection two station by base station A2, base station B2, a movement station Y2 and section along tunnel and the known leaky cable L2 of length is formed; 3rd orientation and communication unit lays connection two station by base station A3, base station B3, a movement station Y3 and section along tunnel and the known leaky cable L3 of length is formed.Adopt communication cable to be connected between host computer with some orientation and communication unit and communicate with one another.The above-mentioned canonical form for location in addition, actual can have a lot of movement station Y in a positioning unit, also can not have movement station.The present invention utilizes two base stations and one section of leaky cable of each orientation and communication unit of system, realize the displacement sensing orientation and communication of movement station in tunnel, eliminate a large amount of installation, debugging using the large number quipments such as locating card reader and substation in traditional positioning communication system, simplify system, decrease installation workload and later maintenance workload, and improve stability and the performance of system, realize the accurate orientation and communication of omnidistance continuity in system ovelay range.
Above are only embodiments of the invention, to one skilled in the art, the present invention has multiple change and change.Allly within invention thought of the present invention and principle, make any amendment, equivalently to replace, improve, all should be included within protection scope of the present invention.
Claims (1)
1. the localization method based on the displacement sensing navigation system of REID, navigation system is formed by host computer with some orientation and communication unit of host computer connecting communication, described orientation and communication unit comprise one section lay along tunnel and the leaky cable that length is known and be connected to two base stations at leaky cable two ends; Setting data processing module and radio-frequency communication module in described base station, the radio-frequency communication model calling of base station by the radiofrequency signal of leaky cable transmitting-receiving band clock, movement station moves along leaky cable, by leakage cable transmission radiofrequency signal and base station communication; The clock mark of the radiofrequency signal that two base stations being connected to described leaky cable two ends send with this base station identity mark and when sending signal; Movement station is in any position along the line, receive two ends base station signal, by analyzing the clock mark of two base station signal tranmitting data register marks and arrival movement station, and according to electromagnetic signal transmission speed on radio-frequency leakage cable and the known conditions by leakage cable transmission distance, the position of analytical calculation determination movement station self, and positional information is issued to by leaky cable transfers to base station and system, complete orientation and communication; It is characterized in that: the localization method of described navigation system comprises the steps:
(1) length setting the leaky cable L laid in tunnel is 1, and leaky cable two ends connect base station A and base station B respectively, and movement station is Y; Movement station Y moves along leaky cable, and any position can receive the signal of base station A and base station B transmission by leaky cable L between two base stations, and this signal comprises clock mark when base station identification marks and signal transmission;
(2) setting of station clock mark:
Station clock is called according to the clock mark of base station clock record during base station transceiver signal; Setting: when sending signal from base station A, it is Ta that base station A sends clock mark; Signal arrives movement station Y, and it is T (y1) that movement station Y arrives clock mark; When sending signal from base station B, it is Tb that base station B sends clock mark, and base station B signal arrives movement station Y, and it is T(y2 that movement station Y arrives clock mark);
(3) setting of standard time clock mark:
Set: with the station clock Ta of base station A as standard time clock, when each station is with A clock Ta school, base station; The synchronised clock error of base station B and standard time clock is set to TBW, and the synchronised clock error of movement station Y and standard time clock is set to TYW; For making each station clock synchronous, orientation and communication unit is respectively stood employing standard time clock, respectively stands with base station A clock Ta as synchronization criterion is revised; Base station B standard clock mark is Tbb, Tbb=Tb-TBW, and namely the standard time clock of base station B is the synchronous error TBW that the station clock of base station B deducts base station B and standard time clock; The standard time clock of movement station Y is labeled as Tby, Tby=Ty-TYW, and namely the standard time clock of movement station Y is the synchronous error TYW that the station clock of movement station Y deducts movement station Y and standard time clock;
(4) when base station A and B school, base station:
Base station B sends the signal of a band clock mark to base station A, and known according to leaky cable length l between base station A, base station B, electromagnetic signal transmission speed c is that 300000Km/s is known, the signal transmission time T0=l/c of base station B to base station A; If the station clock that base station B signal sends is Tb, when base station A receives signal, station clock is Ta; Time difference T1=Ta-Tb between two station clocks; As base station B clock and base station A clock synchronous, Ta-Tb=T1=T0; As base station B clock Tb and Ta has synchronous error TBW, then T1 ≠ T0, TBW=T0-T1; Known according to condition Ta, Tb, l, c, TBW can be tried to achieve by station data processing module constantly in each school;
Orientation and communication unit station clock of respectively standing is modified to standard time clock, makes clock synchronous:
All station clock all with base station A clock Ta for standard correction synchronous error; If there is synchronous error T(YW in the station clock Ty of movement station Y and standard time clock), Y standard time clock Tby=Ty-TYW; Movement station Y receives base station a-signal, and base station a-signal tranmitting data register is Ta, and the destination clock arriving movement station Y is T (y1), arrives standard time clock Tby1=(Ty1-TYW); Movement station Y receives the signal of base station B, and dispatching station clock is Tb, sends standard time clock Tbb=(Tb-TBW); The station clock arriving movement station Y is Ty2, arrives standard time clock Tby2=(Ty2-TYW);
According to Given information, derive the positional information of movement station Y:
If electromagnetic signal running time of base station A to movement station Y is Tay, Tay is that base station a-signal sends standard time clock and movement station Y and receives time difference between standard time clock, i.e. Tay=Ta-(Ty1-TYW); If electromagnetic signal running time of base station B to movement station Y is Tby, Tby is that base station B signal sends standard time clock and movement station Y and receives time difference between standard time clock;
i.e. Tby=Tbb-(Ty2-TYW);
Base station a-signal arrives time Tay that movement station Y runs and base station B signal and arrives the difference of the time Tby that movement station Y runs and sum can obtain equation group, and obtains the value of Tay and Tby by Given information: Tay-Tby=[Ta-(Ty1-TYW)]-[Tbb-(Ty2-TYW)]=Ta-Ty1+TYW-Tbb+Ty2-TYW=(Ta-Ty1)-(Tbb-Ty2); : Tay-Tby=(Ta-Ty1)-(Tbb-Ty2);
Again: on the leaky cable of movement station Y between base station A and base station B is along the line, leaky cable length is l, Tay, Tby is base station A, base station B divides the electromagnetic signal running time being clipped to movement station Y, and c is known electric magnetic signals speed, then there is Tay*c+Tby*c=l to set up, namely have Tay+Tby=l/c;
By Tay-Tby=(Ta-Ty1)-(Tbb-Ty2) and Tay+Tby=l/c be classified as equation group; Solve 2Tay=(Ta-Ty1)-(Tbb-Ty2)+l/c, solve Tay=[(Ta-Ty1)-(Tbb-Ty2)+l/c]/2; Thus the position of movement station Y between base station A and base station B can be determined, be namely Tay*c with the distance of base station A.
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| CN102721430B (en) * | 2012-06-05 | 2015-02-04 | 童建伟 | Displacement sensing positioning system on basis of radio frequency identification technology and positioning method |
| CN103217683B (en) * | 2013-05-11 | 2015-02-04 | 童建伟 | Multi-frequency-leakage-communication-technology-based displacement positioning system and positioning method for moving objects in roadways |
| CN103383447A (en) * | 2013-07-19 | 2013-11-06 | 童建伟 | Displacement positioning system based on leaky communication cable signal attenuation differences and positioning method of displacement positioning system |
| CN111432330B (en) * | 2020-03-13 | 2022-07-08 | 中天射频电缆有限公司 | Indoor communication integrated network |
| CN111856396B (en) * | 2020-07-10 | 2023-08-11 | 交控科技股份有限公司 | Positioning processing method, positioning processing device and readable storage medium |
| CN113068120B (en) * | 2021-03-29 | 2021-11-30 | 中天射频电缆有限公司 | Indoor positioning system and method and communication integrated system |
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