CN102914762B - Indoor millimeter-wave positioning system - Google Patents
Indoor millimeter-wave positioning system Download PDFInfo
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- CN102914762B CN102914762B CN201210416209.7A CN201210416209A CN102914762B CN 102914762 B CN102914762 B CN 102914762B CN 201210416209 A CN201210416209 A CN 201210416209A CN 102914762 B CN102914762 B CN 102914762B
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- phased array
- antenna
- array antenna
- positioning system
- circular polarized
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Abstract
The invention discloses an indoor millimeter-wave positioning system. The indoor millimeter-wave positioning system is characterized in that a tag antenna used as a transmitting end is mounted on a positioned article, phased-array antennas are respectively mounted on four walls perpendicular to the ground, two other phased-array antennas are respectively distributed on diagonal ridges, the six phased-array antennas are used as receiving antennas and are divided into three groups, and each group of antennas consists of corresponding two phased-array antennas distributed on the walls parallel to each other or the phased-array antennas distributed on the diagonal ridges. Level received by the receiving antennas is monitored in real time under the action of electronic scanning of the three groups of phased-array antennas, the maximum level scanned by each group and a coordinate corresponding to the maximum level are recorded, and the position of the positioned article is determined according to the three coordinates where the maximum levels are scanned. The indoor millimeter-wave positioning system is simple in integral structure and high in design freedom, has the advantages of high penetrating power, interference resistance, high positioning precision and the like, and can cover a wide range. The invention can be widely applied to large indoor positioning systems.
Description
Technical field
The present invention relates to a kind of indoor locating system, especially relate to a kind of new indoor millimeter wave localization method and system.
Background technology
Along with the fast development of data service and multimedia service, the demand of people to position & navigation increases day by day, and indoor we can not experience the positioning service that GPS brings completely, especially in the indoor environment of complexity, usually need to determine mobile terminal or holder, facility and the article positional information in indoor.But by the restriction of the conditions such as positioning time, positioning precision and complex indoor environment, fairly perfect location technology also cannot utilize at present well.
Millimeter-wave systems has that gain is high, efficiency is high, secondary lobe is low, size is little and can a series of advantage such as accurate all weather operations, has the functions such as precise guidance, tracking, location.Indoor millimeter-wave positioning system is a kind of wireless transceiver system based on millimeter wave, with traditional wireless location technology, compare as Bluetooth technology, Wi-Fi technology etc. and have penetration power by force, antijamming capability is strong, the accurate positioning precision of system is high, can cover very large scope etc.Native system utilizes the phased array antenna of linear array form as receiving antenna, utilizes phased mode gated sweep, and electronic scan speed is fast and accurate, can be widely applied in the large-scale indoor locating systems such as various market, factory.
Summary of the invention
The object of this invention is to provide a kind of indoor millimeter-wave positioning system.
The technical solution adopted for the present invention to solve the technical problems is as follows:
The present invention is by the label antenna object of locating installed as transmitting terminal, respectively in an installation first, second, third and fourth phased array antenna on four walls perpendicular to the ground, phased array antenna on two groups of metopes be parallel to each other is interspersed at 1/4th places of metope horizontal center line and 3/4ths places respectively, and now four phased array antenna are all parallel to the ground; The position at one group of indoor diagonal angle installs the 5th, the 6th phased array antenna respectively wherein, and the 5th, the 6th phased array antenna is distributed in 1/4th places and 3/4ths places of diagonal angle crest line respectively, and now the 5th, the 6th phased array antenna is perpendicular to the ground; The phased array antenna of six is as receiving antenna, and the phased array antenna be distributed on parallel metope and diagonal line is respectively one group, is divided into three groups; By three groups of phased array antenna electron scannings, the level that Real-Time Monitoring receiving antenna receives, record coordinate corresponding when often group scans the maximum level that obtains and maximum level, finally, three coordinates according to the maximum level place obtained are determined by positioning object position.
The frequency range of described millimeter wave positioning system is at 30-60 GHz.
The unit of described phased array antenna is circular polarized antenna unit.
Described label antenna is linear polarized antenna.
Described phased array antenna is the circular polarized antenna unit the be equally spaced composition of line spread, and phased array antenna adopts microstrip-fed; Circular polarized antenna unit adopts corner cut paster antenna, and the feeding classification of circular polarized antenna unit adopts coaxial cable base drive.
The beneficial effect that the present invention has is:
It is strong that the present invention makes full use of millimeter-wave systems penetration power, antijamming capability is strong, the characteristic that the accurate positioning precision of system is high, the position of rapid scanning positioning object is come by phased array antenna, and the scope that can cover is wide, and can, according to being increased by the indoor size of locating or reducing the number of phased array antenna, ensure to cover whole indoor by minimum phased array antenna.Whole system, emitting antenna adopts wire antenna and paster antenna, receiving antenna adopts the paster antenna of corner cut, structure is simple, compact, the node of phased array antenna obtains number can according to indoor flexible in size Sexual behavior mode, can quick position by positioning object position, the gain of emitting antenna is little, electromagnetic radiation is little, can be used for the indoor positioning of various occasion.
Accompanying drawing explanation
Fig. 1 is one-piece construction arrangement view of the present invention.
Fig. 2 is the aerial array view of the line spread of phased array antenna of the present invention.
Fig. 3 is circular polarized antenna unit vertical view of the present invention.
Fig. 4 is that the whole signal of the present invention is propagated and processing procedure figure.
In figure: 1, indoor, 2, by positioning object, 3, label antenna, 4, wall perpendicular to the ground, 5, the position at indoor diagonal angle, 6, phased array antenna, 7, circular polarized antenna unit.
Embodiment
Below in conjunction with the drawings and specific embodiments, the invention will be further described.
As shown in Figure 1, the present invention is by the label antenna 3 object 2 of locating installed as transmitting terminal, respectively in an installation first, second, third and fourth phased array antenna 6 on four walls 4 perpendicular to the ground, phased array antenna on two groups of metopes be parallel to each other is interspersed at 1/4th places of metope horizontal center line and 3/4ths places respectively, and now four phased array antenna 6 are all parallel to the ground; The position 5 at one group of indoor diagonal angle installs the 5th, the 6th phased array antenna 6 respectively wherein, five, the 6th phased array antenna is distributed in 1/4th places and 3/4ths places of diagonal angle crest line respectively, now the 5th, the 6th phased array antenna (in Fig. 1, the phased array antenna 6 of dotted line represents the phased array antenna 6 be arranged on opposite wall and diagonal angle, opposite crest line) perpendicular to the ground; The phased array antenna of six is as receiving antenna, and the phased array antenna be distributed on parallel metope and diagonal line is respectively one group, is divided into three groups; By the electron scanning of three groups of phased array antenna 6, the level that Real-Time Monitoring receiving antenna receives, record coordinate corresponding when often group scans the maximum level that obtains and maximum level, finally, three coordinates according to the maximum level place obtained are determined by positioning object position.
The frequency range of described millimeter wave positioning system is at 30-60 GHz.
The unit of described phased array antenna is circular polarized antenna unit 7.
Described label antenna 3 is linear polarized antennas.
As shown in Figure 2 and Figure 3, described phased array antenna is that the circular polarized antenna unit 7 be equally spaced of line spread forms, and phased array antenna adopts microstrip-fed; Circular polarized antenna unit 7 adopts simple corner cut paster antenna, and the feeding classification of circular polarized antenna unit 7 adopts coaxial cable base drive.
Described phased array antenna 6 adopts microstrip-fed, with the vertical plane of phased array antenna 6 in control wave beam rapid scanning with phased approach.
The far-field pattern of described phased array antenna 6 presents flat, two-dimensional section along the direction of the aerial array of line spread is the wider fan-shaped beam of wave beam, and far-field pattern is typical pencil beam at the two-dimensional section in the direction vertical with aerial array direction.
The receive-transmit system that the present invention applies as indoor millimeter-wave, signal is produced by power generation module, signal amplitude is shot out by the label antenna 3 on the object 2 of locating by being arranged on.As receiving antenna, it is the characteristic of typical pencil beam that three groups of phased array antenna 6 utilize at the two-dimensional section in the direction vertical with aerial array direction, positioning label antenna 3 i.e. (by positioning object 2) position in space, often organize phased array antenna 6 to be responsible for determining the position by positioning object dimension, eventually pass level and corresponding coordinate position that post-processing module process three groups of phased array antenna receive, obtain by the final position of positioning object 2, the signal of whole process is propagated and is processed as shown in Figure 4.
As shown in Figure 2, as shown in the figure, 9 circular polarized antenna unit 7 are along line spread, and the distance d between circular polarized antenna unit 7 meets λ>=d>=λ/2 for the spread pattern of phased array antenna 6 of the present invention, and λ is the frequency f of this millimeter-wave systems application
0corresponding wavelength, phased array antenna 6 adopts simple constant amplitude to encourage, and the scanning of phase place is completed by phase shifter.As shown in Figure 3, circular polarized antenna unit 7 adopts the square patch of corner cut, wherein a=λ
e/ 2, wherein λ
efor effective wavelength length, λ
e=
, wherein c is the light velocity,
be circular polarized antenna unit 7 square patch below the specific inductive capacity of dielectric-slab, dd is the distance of coaxial feed point to circular polarized antenna unit 7 center.Finally, need by existing electromagnetic software, carry out the foundation emulation of model, the return loss of circular polarized antenna unit 7 and the size of axial ratio can be regulated by Optimal Parameters a and dd, the moulded dimension of the circular polarized antenna unit 7 of required processing after finally can being optimized.
In Antenna Design process, also need the size regulating the distance d in aerial array between circular polarized antenna unit 7 in simulation software, secondary lobe is reduced, make that too large interference is not had to main lobe.For the indoor 1 of different sizes, in order to obtain certain gain, the antenna element number of reasonable arrangement phased array antenna 6, the phase shifter for phased array antenna 6 adopts Continuous phase shifting device.Feeding network also needs the design carrying out being correlated with, and usually adopts feed microstrip line, and for the processing of antenna, the feeding network of microstrip line form can be obtained by common etch process.
Claims (4)
1. an indoor millimeter-wave positioning system, it is characterized in that: the label antenna (3) as transmitting terminal is above being installed by the object (2) of locating, four walls (4) perpendicular to the ground are separately installed with a first, second, third and fourth phased array antenna, phased array antenna on two groups of metopes be parallel to each other is interspersed at 1/4th places of metope horizontal center line and 3/4ths places respectively, and now four phased array antenna are all parallel to the ground; The position (5) at one group of indoor diagonal angle installs the 5th, the 6th phased array antenna respectively wherein, five, the 6th phased array antenna is distributed in 1/4th places and 3/4ths places of diagonal angle crest line respectively, and now the 5th, the 6th phased array antenna is perpendicular to the ground; The phased array antenna of six is as receiving antenna, and the phased array antenna be distributed on parallel metope and diagonal line is respectively one group, is divided into three groups; By the electron scanning of three groups of phased array antenna (6), the level that Real-Time Monitoring receiving antenna receives, record coordinate corresponding when often group scans the maximum level that obtains and maximum level, finally, three coordinates according to the maximum level place obtained are determined by positioning object position;
The unit of described phased array antenna is circular polarized antenna unit (7):
Phased array antenna (6) is by 9 circular polarized antenna unit (7) along line spread, and the distance d between circular polarized antenna unit (7) meets λ>=d>=λ/2, and λ is the frequency f of indoor millimeter-wave positioning system application
0corresponding wavelength, phased array antenna (6) adopts constant amplitude excitation, and the scanning of phase place is completed by phase shifter;
Circular polarized antenna unit (7) adopts the square patch of corner cut, wherein a=λ
e/ 2, wherein a is the length of side of square patch, λ
efor effective wavelength length,
wherein c is the light velocity, ε
ebe circular polarized antenna unit (7) square patch below the specific inductive capacity of dielectric-slab, dd is the distance of coaxial feed point to circular polarized antenna unit (7) center.
2. a kind of indoor millimeter-wave positioning system according to claim 1, is characterized in that: the frequency range of described millimeter wave positioning system is at 30-60GHz.
3. a kind of indoor millimeter-wave positioning system according to claim 1, is characterized in that: described label antenna (3) is linear polarized antenna.
4. a kind of indoor millimeter-wave positioning system according to claim 1, is characterized in that: described phased array antenna is the circular polarized antenna unit (7) the be equally spaced composition of line spread, and phased array antenna adopts microstrip-fed; Circular polarized antenna unit (7) adopts corner cut paster antenna, and the feeding classification of circular polarized antenna unit (7) adopts coaxial cable base drive.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210416209.7A CN102914762B (en) | 2012-10-26 | 2012-10-26 | Indoor millimeter-wave positioning system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210416209.7A CN102914762B (en) | 2012-10-26 | 2012-10-26 | Indoor millimeter-wave positioning system |
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| Publication Number | Publication Date |
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| CN102914762A CN102914762A (en) | 2013-02-06 |
| CN102914762B true CN102914762B (en) | 2015-02-25 |
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| CN201210416209.7A Expired - Fee Related CN102914762B (en) | 2012-10-26 | 2012-10-26 | Indoor millimeter-wave positioning system |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10425910B1 (en) | 2018-03-19 | 2019-09-24 | Mitsubishi Electric Research Laboratories, Inc. | Localization using millimeter wave communication signals |
| CN108828576B (en) * | 2018-04-10 | 2023-04-25 | 上海摩软通讯技术有限公司 | Indoor positioning system and method |
| US11122397B2 (en) | 2019-11-20 | 2021-09-14 | Mitsubishi Electric Research Laboratories, Inc. | Localization using millimeter wave beam attributes |
| WO2022190721A1 (en) | 2021-03-08 | 2022-09-15 | Mitsubishi Electric Corporation | Multi-band wi-fi fusion for wlan sensing field |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102009053872A1 (en) * | 2009-11-20 | 2011-05-26 | Fachhochschule Köln | Method for locating a passive RFID transponder |
| CN102520388A (en) * | 2011-11-18 | 2012-06-27 | 天津大学 | Positioning device using phased array principle and in combination with RSSI (Received Signal Strength Indicator) range measuring |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007137637A (en) * | 2005-11-21 | 2007-06-07 | Hinode Shiki Kogyo Kk | Warehouse control server device, program and system |
| JP2007187563A (en) * | 2006-01-13 | 2007-07-26 | Seiko Precision Inc | Method and system for identifying position |
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2012
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102009053872A1 (en) * | 2009-11-20 | 2011-05-26 | Fachhochschule Köln | Method for locating a passive RFID transponder |
| CN102520388A (en) * | 2011-11-18 | 2012-06-27 | 天津大学 | Positioning device using phased array principle and in combination with RSSI (Received Signal Strength Indicator) range measuring |
Non-Patent Citations (2)
| Title |
|---|
| Angle-based Indoor Positioning System for Open Indoor Environments;Fabio Belloni等;《PROCEEDINGS OF THE 6th WORKSHOP ON POSITIONING, NAVIGATION AND COMMUNICATION 2009》;20091231;第525-528页 * |
| UHF RFID localization system based on a phased array antenna;Rainer Kronberger等;《Antennas and Propagation (APSURSI), 2011 IEEE International Symposium on》;20111231;第261-265页 * |
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Granted publication date: 20150225 Termination date: 20181026 |