CN103399296A - Positioning orientation system and method based on wireless communication - Google Patents
Positioning orientation system and method based on wireless communication Download PDFInfo
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- CN103399296A CN103399296A CN2013103537767A CN201310353776A CN103399296A CN 103399296 A CN103399296 A CN 103399296A CN 2013103537767 A CN2013103537767 A CN 2013103537767A CN 201310353776 A CN201310353776 A CN 201310353776A CN 103399296 A CN103399296 A CN 103399296A
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Abstract
The invention relates to a positioning orientation system based on wireless communication, which comprises a positioning target, a first label, a second label, a first receiver, a second receiver, a data processing unit and the like. The invention further relates to a positioning orientation method based on wireless communication, which comprises the following steps: mounting the first label and the second label on the positioning target; transmitting wireless signals by the first label and the second label; receiving the wireless signal transmitted by the first label or the second label by the first receiver or the second receiver; judging the positions of the first label and the second label on a predetermined movement line according to the time difference and/or phase difference of the wireless signals from the same label received by the first receiver and the second receiver by the data processing unit. The system and the method adopt a wireless communication technology, achieve effective turning judgment on the positioning target, can reduce the cost of positioning equipment effectively and improve the accuracy of positioning, and can be applied in fields such as goods warehousing.
Description
Technical field
The present invention relates to a kind of positioning and directing system and positioning and orienting method, but the system of the positioning and directing based on radio communication and the wireless location orientation method judged of a kind of travel direction particularly.
Background technology
In prior art, some location technologies based on radio communication have been arranged, comprise one dimension location, two-dimensional localization and three-dimensional localization, wherein, the multidimensional location technology is with respect to the one dimension location technology, and its parts and equipment are more, and positioning precision is higher, but its technical difficulty is also larger, and the location cost is higher.Some wireless communication technology, therefore as the UWB location technology, coverage is shorter, needs the application of working in coordination of a large amount of read write line equipment, and like this, in the larger environment in space, the application cost of multidimensional location technology is higher tens times than one dimension location technology.In the larger occasion in some spaces or be not too high specific occasion to positioning accuracy request, as article, put in storage in the positioning and directing system, only need an application one dimension location technology to get final product.
Yet, in one dimension targeting scheme of the prior art, often can only monitor the straightaway position under a certain dimension of article, in case article turn on orbit, wireless receiver can not the effective location article, also can't judge the direction that article turn to, so just there will be the monitoring dead angle, affect monitoring effect.
Summary of the invention
The invention provides a kind of system of positioning and directing based on radio communication and wireless location orientation method, effectively solving one dimension targeting scheme of the prior art can only monitor the straightaway position under a certain dimension article, and positioning object is turning to the particular location in advancing, the technical matters that the judgement article are turning to the rotation direction in advancing very accurately.
For realizing above-mentioned goal of the invention, the present invention adopts following technical scheme:
A kind of system of positioning and directing based on radio communication, comprise at least one localizing objects, on each localizing objects, is provided with:
The first label, for wireless signal emission;
The second label, for wireless signal emission;
Described positioning and directing system also comprises:
The first receiver, the wireless signal of launching be used to receiving described the first label, described the second label;
The second receiver, the wireless signal of launching be used to receiving described the first label, described the second label;
Data processing unit, judge the position of described localizing objects between described the first receiver, described the second receiver for the mistiming and/or the phase differential that according to described the first receiver, described the second receiver, receive wireless signal;
Wherein, the connection straight line of described the first receiver and described the second receiver is the predetermined motion circuit of described localizing objects; Described the first receiver, described the second receiver are connected to respectively described data processing unit.
The connection straight line of described the first label and described the second label is vertical with the predetermined motion circuit of described localizing objects.
Described the first label, described the second label are wireless signal transmitter, and described the first receiver, described the second receiver are the wireless signal receiver corresponding with described the first label and described the second label.
Described wireless signal is the UWB signal.
A kind of positioning and orienting method based on radio communication, comprise the steps:
The first label, the second label are installed on localizing objects;
Arrange and described the first label, the first receiver, the second receiver that described the second label is corresponding;
The data processing unit that connects described the first receiver, the second receiver is set;
The connection straight line that arranges between described the first receiver, described the second receiver is the predetermined motion circuit of described localizing objects;
Described localizing objects moves on described predetermined motion circuit;
Described the first label, described the second label wireless signal emission;
The wireless signal that described the first receiver, described the second receiver described the first label of reception and described the second label are launched;
Data processing unit is judged described the first label, the position of described the second label on described predetermined motion circuit according to mistiming and/or the phase differential of the wireless signal that is derived from same label that described the first receiver, described the second receiver receive;
Data processing unit according to described the first label, described the second label in the position of the described localizing objects of location determination on described predetermined motion circuit on described predetermined motion circuit.
Described positioning and orienting method based on radio communication, also comprise the steps:
The spinning on predetermined motion circuit of described localizing objects, change towards;
Described the first label, described the second label wireless signal emission;
The wireless signal that described the first receiver, described the second receiver described the first label of reception and described the second label are launched;
Data processing unit is judged described the first label, the position of described the second label on described predetermined motion circuit according to mistiming and/or the phase differential of the wireless signal that is derived from same label that described the first receiver, described the second receiver receive, perhaps, judge the position of described the first label, the projection of described the second label on described predetermined motion circuit;
The spinning direction of described localizing objects is judged in the position of data processing unit projection of the position on described predetermined motion circuit or described the first label, described the second label according to described the first label, described the second label.
Described positioning and orienting method based on radio communication, also comprise the steps:
Described localizing objects advance transfer to, depart from predetermined motion circuit;
Described the first label, described the second label wireless signal emission;
The wireless signal that described the first receiver, described the second receiver described the first label of reception and described the second label are launched;
The mistiming of the wireless signal that is derived from same label that data processing unit receives according to described the first receiver, described the second receiver and/or the position that phase differential is judged described the first label, the projection of described the second label on described predetermined motion circuit;
Data processing unit is judged the steering direction of described localizing objects with respect to described predetermined motion circuit according to the position of described the first label, the projection of described the second label on described predetermined motion circuit
Described wireless signal is the UWB signal.
Described data processing unit is judged the steering direction of described localizing objects with respect to described predetermined motion circuit according to the position of described the first label, the projection of described the second label on described predetermined motion circuit, comprises the steps:
Be set in described localizing objects in straight line moves ahead process, described the first label is positioned at the localizing objects left side, and described the second label is positioned at the localizing objects right side;
Set described the first receiver and be positioned at the terminal that starting point, described the second receiver of being scheduled to the motion circuit are positioned at predetermined motion circuit;
The position relationship of described the first label of described data processing unit contrast, the projection of described the second label on predetermined motion circuit, if the projection of described the first label on described predetermined motion circuit is identical in the position of described predetermined motion circuit upslide shadow with described the second label, judge the straightaway on described predetermined motion circuit of described localizing objects; If described the first label is projected in described the second label the place ahead at predetermined motion circuit upslide shadow on predetermined motion circuit, judge described localizing objects turn right to; If described the first label is projected in the rear of described the second label at predetermined motion circuit upslide shadow on predetermined motion circuit, judge described localizing objects turn left to.
The present invention relates to a kind of system of positioning and directing based on radio communication and wireless location orientation method, can utilize wireless signal to determine the relative position of two labels on the one dimension straight line between two receivers on localizing objects, to localizing objects, realize effectively turning to judgement, can effectively reduce the cost of positioning equipment, improve positioning precision, can be applicable to the fields such as Storage of Goods.Method of the present invention also can be applied in two dimensional wireless positioning and directing system, makes turning to of the thing that is positioned to be confirmed quickly and easily, realizes turning to accurately location.
The accompanying drawing explanation
Figure 1 shows that the structural representation of the system of the positioning and directing based on radio communication of the present invention;
Figure 2 shows that the use view of the system of the positioning and directing based on radio communication of the present invention;
Figure 3 shows that the FB(flow block) of the positioning and orienting method based on radio communication of the present invention;
Figure 4 shows that the FB(flow block) of an embodiment of the positioning and orienting method based on radio communication of the present invention;
Figure 5 shows that the FB(flow block) of another embodiment of the positioning and orienting method based on radio communication of the present invention;
Figure 6 shows that the FB(flow block) of data processing unit of the present invention according to the steering direction of the projected position judgement localizing objects of described the first label, described the second label.
Embodiment
The present invention is further illustrated below in conjunction with accompanying drawing.
As shown in Figure 1 and Figure 2, the present invention relates to a kind of system of positioning and directing based on radio communication, comprise at least one localizing objects 1, on each localizing objects 1, be provided with:
The first label 11, for wireless signal emission;
The second label 12, for wireless signal emission;
Positioning and directing system of the present invention also comprises:
The first receiver 21, the wireless signal of launching be used to receiving described the first label, described the second label;
The second receiver 22, the wireless signal of launching be used to receiving described the first label, described the second label;
Wherein, the connection straight line of the first receiver 21 and the second receiver 22 is the predetermined motion circuit 2 of localizing objects 1; The first receiver 21, the second receiver 22 are connected to respectively data processing unit 3.
The connection straight line of the first label 11 and the second label 12 is vertical with the predetermined motion circuit of described localizing objects.
The first label 11, the second label 12 are wireless signal transmitter, and the first receiver 21, the second receiver 22 are the wireless signal receiver corresponding with the first label 11 and the second label 12.
When localizing objects 1 moves on predetermined motion circuit 2, the first receiver 21, the second receiver 22 receive the wireless signal of described the first label emission, send information to data processing unit 3, the mistiming that data processing unit 3 utilizes the phase differential of two signals or receives signal just can judge the position at the first label 11 places, has also just known the particular location of localizing objects.In like manner, the first receiver 21, the second receiver 22 receive the wireless signal of the second label 12 emissions, send information to data processing unit 3, and data processing unit 3 is computing machine.The mistiming that data processing unit 3 utilizes the phase differential of two signals or receives signal just can judge the position at the second label 12 places, has also just known the particular location of localizing objects.
If departing from predetermined motion circuit 2 on predetermined motion circuit 2, localizing objects 1 turns to advance (turning to the left or to the right), the first receiver 21, the second receiver 22 are all wireless signal receivers, can monitor radio signal source, i.e. the first label 11, the second label 12, the position of the projection on predetermined motion circuit is with respect to the air line distance of the first receiver 21, the second receiver 22.
If the original place spinning occurs in localizing objects 1 on predetermined motion circuit 2, the distance of the first label 11, the second label 12 and predetermined motion circuit is much smaller than the air line distance of the first label 11, the second label 12 and the first receiver 21, the second receiver 22, and therefore the first label 11, the projected position of the second label 12 on predetermined motion circuit can be thought the physical location of the first label 11, the second label 12.
Be set in localizing objects 1 straight line and move ahead in process, the first label 11 is positioned at localizing objects 1 left side, and the second label 12 is positioned at the localizing objects right side;
Set the first receiver 21 and be positioned at the terminal that starting point, the second receiver 22 of being scheduled to motion circuit 2 are positioned at predetermined motion circuit 2;
The position relationship of data processing unit 3 contrast the first labels 11, the projection of the second label 12 on predetermined motion circuit 2, if the first label 11 is identical with the position of the second label 12 projection on predetermined motion circuit 2 in the projection on predetermined motion circuit 2, judge that localizing objects 1 straight line on predetermined motion circuit 2 moves ahead; If the first label 11 is projected in the second label 12 the place ahead at predetermined motion circuit upslide shadow on predetermined motion circuit 2, judge localizing objects 1 turn right to; If the first label 11 at the rear that is projected in the projection on predetermined motion circuit 2 of the second label 12 on predetermined motion circuit, judge localizing objects 1 turn left to.
positioning and directing based on radio communication system of the present invention, generally can be applied to the warehousing management field, embodiment is as follows: localizing objects 1 is the fork truck in freight house, clip pack car and trailer etc., generally, position in storehouse in warehouse is row and column and arranges, the fork truck of transporting cargo or clip pack car are traveling on the Huo Lie passageway, capable passageway of position in storehouse, He Lie passageway, row passageway is all generally the straight line passageway, be fork truck, the predetermined motion circuit of clip pack car and trailer, the first label, the second label is directly installed on fork truck, on clip pack car and trailer, the first receiver, the second receiver is arranged on the warehouse sidewall at two ends, row or column passageway, over against fork truck, the course of clip pack car and trailer.
While on the fork truck in freight house, clip pack car or the trailer predetermined motion circuit 2 between the first receiver 21, the second receiver 22, moving, the first receiver 21, the second receiver 22 receive the wireless signal of the first label 11 emissions, send information to data processing unit 3, the mistiming that data processing unit 3 utilizes the phase differential of two signals or receives signal just can judge the position at the first label 11 places, has also just known the particular location of fork truck, clip pack car or trailer.In like manner, also can, according to the wireless signal of the second label 12 emissions, judge the particular location of fork truck, clip pack car or trailer.
If departing from predetermined motion circuit 2 on predetermined motion circuit 2, fork truck, clip pack car or trailer turn to advance (turning to the left or to the right), the first receiver 21, the second receiver 22, the first receivers 21, the second receiver 22 can monitor the air line distance of the position of the first label 11, the second label 12 projection on predetermined motion circuit 2 and the first receiver 21, the second receiver 22.After turning to, fork truck, clip pack car or trailer enter the position in storehouse 4 of freight house, after putting down goods or lade, exit again, due in the present invention, the transmitter of wireless signal (label) all is positioned at receiver or approximate being located along the same line, therefore, can think that the location in the present invention is only limited to the one dimension position of fork truck, clip pack car or trailer, specifically, refer to fork truck, clip pack car or trailer in the position on predetermined motion circuit 2 or the position of fourchette car, clip pack car or trailer projection on predetermined motion circuit 2.
If original place spinning (headstock is towards deflection) occurs in fork truck, clip pack car or trailer on predetermined motion circuit 2, therefore the distance of the first label 11, the second label 12 and predetermined motion circuit 2, much smaller than the air line distance of the first label 11, the second label 12 and the first receiver 21, the second receiver 22, can think that the first label 11, the projected position of the second label 12 on predetermined motion circuit are its physical location.
Be set in fork truck, clip pack car or trailer straight line and move ahead in process, the first label 11 is positioned at the car body left side, and the second label 12 is positioned at the car body right side.Set the first receiver 21 and be positioned at the terminal that starting point, the second receiver 22 of being scheduled to motion circuit 2 are positioned at predetermined motion circuit 2; Fork truck, clip pack car or trailer move on predetermined motion circuit 2, from origin-to-destination.The position relationship of data processing unit 3 contrast the first labels 11, the projection of the second label 12 on predetermined motion circuit 2, if the first label 11 is identical with the position of the second label 12 projection on predetermined motion circuit 2 in the projection on predetermined motion circuit 2, judge that fork truck, clip pack car or trailer straight line on predetermined motion circuit 2 moves ahead; If the first label 11 is projected in the second label 12 the place ahead at predetermined motion circuit upslide shadow on predetermined motion circuit 2, judge fork truck, clip pack car or trailer turn right to; If the first label 11 at the rear that is projected in the projection on predetermined motion circuit 2 of the second label 12 on predetermined motion circuit, judge fork truck, clip pack car or trailer turn left to.
Described wireless signal is the UWB signal.Super-broadband tech UWB (Ultra Wideband) is a kind of carrierfree communication technology, also can be described as impulse radio, utilizes the non-sinusoidal wave burst pulse transmission data of nanosecond to the psec level.The UWB technology, by the lower powered signal of carry electrode on wider frequency spectrum, can realize the message transmission rate of hundreds of Mbit/s to number Gbit/s in the scope of 10 meters left and right.The UWB technology has strong anti-interference performance, transfer rate is high, very bandwidth is wide, transmitted power is little, consume the many advantages such as electric energy is little, electromagenetic wave radiation is little, is mainly used in the fields such as indoor communications, high-speed wireless LAN, home network, wireless phone, safety detection, position finding, radar.The UWB location technology comprises one dimension location, two-dimensional localization and three-dimensional localization, and wherein, the multidimensional location technology is with respect to the one dimension location technology, and its parts and equipment are more, and positioning precision is higher, but its technical difficulty is also larger, and the location cost is higher.Because UWB location technology coverage is shorter, therefore need the application of working in coordination of a large amount of read write line equipment, like this, in the larger environment in space, the application cost of multidimensional location technology is higher tens times than one dimension location technology.In the larger occasion in some spaces or be not too high specific occasion to positioning accuracy request, in the warehousing management field, only need an application one dimension UWB location technology to get final product.
As shown in Figure 3, a kind of positioning and orienting method based on radio communication, specifically, localizing objects in the situation that linear running on running route, is determined the method for the position of described localizing objects, comprises the steps:
Step 1) is installed the first label, the second label on localizing objects;
Step 2) arrange and described the first label, the first receiver, the second receiver that described the second label is corresponding;
Step 3) arranges the data processing unit that connects described the first receiver, described the second receiver;
The connection straight line that step 4) arranges between described the first receiver, described the second receiver is the predetermined motion circuit of described localizing objects;
The described localizing objects of step 5) moves on described predetermined motion circuit;
Described the first label of step 6), described the second label wireless signal emission;
The wireless signal that described the first receiver of step 7), described the second receiver described the first label of reception and described the second label are launched;
The step 8) data processing unit is judged described the first label, the position of described the second label on described predetermined motion circuit according to mistiming and/or the phase differential of the wireless signal that is derived from same label that described the first receiver, described the second receiver receive;
The step 9) data processing unit according to described the first label, described the second label in the position of the described localizing objects of location determination on described predetermined motion circuit on described predetermined motion circuit.
positioning and orienting method based on radio communication of the present invention, generally can be applied to the warehousing management field, fork truck for freight house, the monitoring of clip pack car and trailer etc., apply a kind of positioning and orienting method based on UWB of the present invention, embodiment is as follows: generally, position in storehouse in warehouse is row and column and arranges, the fork truck of transporting cargo or clip pack car are traveling on the Huo Lie passageway, capable passageway of position in storehouse, He Lie passageway, row passageway is all generally the straight line passageway, be fork truck, the predetermined motion circuit of clip pack car and trailer, the first label, the second label is directly installed on fork truck, on clip pack car and trailer, the first receiver, the second receiver is arranged on the warehouse sidewall at two ends, row or column passageway, over against fork truck, the course of clip pack car and trailer.
The first label, the second label are installed on fork truck, clip pack car or trailer, the first label, the second label can be arranged on the same plane perpendicular to direct of travel.
The first receiver, the second receiver are arranged on the body of wall of freight house face-to-face, over against the operating path of fork truck, clip pack car or trailer.
The installation data processing unit, connect described the first receiver, described the second receiver, and the wireless signal that described the first receiver, described the second receiver are received changes into the data processing.
Connection straight line between two receivers is the predetermined motion circuit of fork truck, clip pack car or trailer, guarantee in the operational process of fork truck, clip pack car or trailer, the first receiver, the second receiver can receive the wireless signal of the first label, the second label emission simultaneously.
Fork truck, clip pack car or trailer move between two receivers.
Described the first label, described the second label emission UWB signal.
The UWB signal that described the first receiver, described the second receiver described the first label of reception and described the second label are launched.
The mistiming that data processing unit utilizes the phase differential of two signals or receives signal just can judge the position at the first label place.The asynchronism(-nization) of the wireless signal that is derived from same label that described the first receiver, described the second receiver receive, the calculating of process data processing unit can be judged the position of this label; Label sends the wireless signal of same frequency, the phase place difference of the wireless signal that is derived from same label that described the first receiver, described the second receiver receive, and the calculating of process data processing unit can be judged the position of this label.
Data processing unit according to described the first label, described the second label in location determination fork truck, clip pack car or trailer on the described predetermined motion circuit position on described predetermined motion circuit.
As shown in Figure 4, described positioning and orienting method based on radio communication, specifically, if localizing objects is in the situation that linear running spinning on the predetermined running route, and then change towards, determine also to comprise the steps the method for the spinning direction of described localizing objects.
Step 101) spinning on the predetermined motion circuit of described localizing objects, change towards; Spinning described herein refers to that described localizing objects rotates to the left or to the right in original place, if the present invention is applied in the multidimensional positioning system, described spinning may refer to that described localizing objects rotates up or down in original place.
Step 102) described the first label, described the second label wireless signal emission.
Step 103) described the first receiver, described the second receiver receive the wireless signal that described the first label and described the second label are launched; Wherein, described wireless signal is the UWB signal, and preamble describes in detail, repeats no more herein.
Step 104) mistiming and/or the phase differential of the wireless signal that is derived from same label that receives according to described the first receiver, described the second receiver of data processing unit are judged described the first label, the position of described the second label on described predetermined motion circuit, perhaps, judge the position of described the first label, the projection of described the second label on described predetermined motion circuit.Because the volume of fork truck, clip pack car or trailer is uncertain, the label position information that therefore obtains on working line might not be the particular location of label, but the projection of label on predetermined motion circuit.If the projection of described the first label, described the second label and described the first receiver, described the second distance that connects, much larger than the distance of described the first label, described the second label and described predetermined motion circuit, also can think that the label projected position that obtains on working line is the physical location of label.
Step 105) the spinning direction of described localizing objects is judged in the position of data processing unit projection of the position on described predetermined motion circuit or described the first label, described the second label according to described the first label, described the second label.
As shown in Figure 5, described positioning and orienting method based on radio communication, specifically, if localizing objects turns to (turning to the left or to the right) in straightaway on the predetermined running route, depart from predetermined motion circuit, determine the method that turns to of described localizing objects, also comprise the steps:
Step 201) described localizing objects advance transfer to, depart from predetermined motion circuit;
Step 202) described the first label, described the second label wireless signal emission;
Step 203) described the first receiver, described the second receiver receive the wireless signal that described the first label and described the second label are launched;
Step 204) mistiming of the wireless signal that is derived from same label that receives according to described the first receiver, described the second receiver of data processing unit and/or the position that phase differential is judged described the first label, the projection of described the second label on described predetermined motion circuit;
Step 205) data processing unit is judged the steering direction of described localizing objects with respect to described predetermined motion circuit according to the position of described the first label, the projection of described the second label on described predetermined motion circuit.
Wherein, described wireless signal is the UWB signal, and preamble describes in detail, repeats no more herein.
As shown in Figure 6, step 205) data processing unit described in is judged the steering direction of described localizing objects with respect to described predetermined motion circuit according to the position of described the first label, the projection of described the second label on described predetermined motion circuit, comprises the steps:
Step 2051) be set in described localizing objects in straight line moves ahead process, described the first label is positioned at the localizing objects left side, and described the second label is positioned at the localizing objects right side;
Step 2052) set described the first receiver and be positioned at the terminal that starting point, described the second receiver of being scheduled to the motion circuit are positioned at predetermined motion circuit;
Step 2053) position relationship of described the first label of described data processing unit contrast, the projection of described the second label on predetermined motion circuit;
Step 2054) if described the first label is projected in described the second label the place ahead at predetermined motion circuit upslide shadow on predetermined motion circuit, judge described localizing objects turn right to;
Step 2055) if described the first label is projected in the rear of described the second label at predetermined motion circuit upslide shadow on predetermined motion circuit, judge described localizing objects turn left to.
The foregoing is only the preferred embodiment of the present invention; it should be pointed out that for those skilled in the art, without departing from the inventive concept of the premise; can also make some improvements and modifications, these improvements and modifications also should be considered within the scope of protection of the present invention.
Claims (9)
1. the system of the positioning and directing based on radio communication, comprise at least one localizing objects, it is characterized in that, on each localizing objects, is provided with:
The first label, for wireless signal emission;
The second label, for wireless signal emission;
Described positioning and directing system also comprises:
The first receiver, the wireless signal of launching be used to receiving described the first label, described the second label;
The second receiver, the wireless signal of launching be used to receiving described the first label, described the second label;
Data processing unit, judge the position of described localizing objects between described the first receiver, described the second receiver for the mistiming and/or the phase differential that according to described the first receiver, described the second receiver, receive wireless signal;
Wherein, the connection straight line of described the first receiver and described the second receiver is the predetermined motion circuit of described localizing objects; Described the first receiver, described the second receiver are connected to respectively described data processing unit.
2. the system of the positioning and directing based on radio communication as claimed in claim 1, is characterized in that, the connection straight line of described the first label and described the second label is vertical with the predetermined motion circuit of described localizing objects.
3. the system of the positioning and directing based on radio communication as claimed in claim 1, it is characterized in that, described the first label, described the second label are wireless signal transmitter, and described the first receiver, described the second receiver are the wireless signal receiver corresponding with described the first label and described the second label.
4. the system of the positioning and directing based on radio communication as described as claim 1 or 3, is characterized in that, described wireless signal is the UWB signal.
5. the positioning and orienting method based on radio communication, is characterized in that, comprises the steps:
The first label, the second label are installed on localizing objects;
Arrange and described the first label, the first receiver, the second receiver that described the second label is corresponding;
The data processing unit that connects described the first receiver, the second receiver is set;
The connection straight line that arranges between described the first receiver, described the second receiver is the predetermined motion circuit of described localizing objects;
Described localizing objects moves on described predetermined motion circuit;
Described the first label, described the second label wireless signal emission;
The wireless signal that described the first receiver, described the second receiver described the first label of reception and described the second label are launched;
Data processing unit is judged described the first label, the position of described the second label on described predetermined motion circuit according to mistiming and/or the phase differential of the wireless signal that is derived from same label that described the first receiver, described the second receiver receive;
Data processing unit according to described the first label, described the second label in the position of the described localizing objects of location determination on described predetermined motion circuit on described predetermined motion circuit.
6. the positioning and orienting method based on radio communication as claimed in claim 5, is characterized in that, also comprises the steps:
The spinning on predetermined motion circuit of described localizing objects, change towards;
Described the first label, described the second label wireless signal emission;
The wireless signal that described the first receiver, described the second receiver described the first label of reception and described the second label are launched;
Data processing unit is judged described the first label, the position of described the second label on described predetermined motion circuit according to mistiming and/or the phase differential of the wireless signal that is derived from same label that described the first receiver, described the second receiver receive, perhaps, judge the position of described the first label, the projection of described the second label on described predetermined motion circuit;
The spinning direction of described localizing objects is judged in the position of data processing unit projection of the position on described predetermined motion circuit or described the first label, described the second label according to described the first label, described the second label.
7. the positioning and orienting method based on radio communication as claimed in claim 5, is characterized in that, also comprises the steps:
Described localizing objects advance transfer to, depart from predetermined motion circuit;
Described the first label, described the second label wireless signal emission;
The wireless signal that described the first receiver, described the second receiver described the first label of reception and described the second label are launched;
The mistiming of the wireless signal that is derived from same label that data processing unit receives according to described the first receiver, described the second receiver and/or the position that phase differential is judged described the first label, the projection of described the second label on described predetermined motion circuit;
Data processing unit is judged the steering direction of described localizing objects with respect to described predetermined motion circuit according to the position of described the first label, the projection of described the second label on described predetermined motion circuit.
8. the positioning and orienting method based on radio communication as described as claim 5 or 6, is characterized in that, described wireless signal is the UWB signal.
9. the positioning and orienting method based on radio communication as claimed in claim 6, it is characterized in that, described data processing unit is judged the steering direction of described localizing objects with respect to described predetermined motion circuit according to the position of described the first label, the projection of described the second label on described predetermined motion circuit, comprises the steps:
Be set in described localizing objects in straight line moves ahead process, described the first label is positioned at the localizing objects left side, and described the second label is positioned at the localizing objects right side;
Set described the first receiver and be positioned at the terminal that starting point, described the second receiver of being scheduled to the motion circuit are positioned at predetermined motion circuit;
The position relationship of described the first label of described data processing unit contrast, the projection of described the second label on described predetermined motion circuit, if the projection of described the first label on described predetermined motion circuit is identical in the position of described predetermined motion circuit upslide shadow with described the second label, judge that described localizing objects straight line on described predetermined motion circuit moves ahead; If described the first label is projected in described the second label the place ahead at described predetermined motion circuit upslide shadow on described predetermined motion circuit, judge described localizing objects turn right to; If described the first label is projected in the rear of described the second label at described predetermined motion circuit upslide shadow on described predetermined motion circuit, judge described localizing objects turn left to.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013103537767A CN103399296A (en) | 2013-08-15 | 2013-08-15 | Positioning orientation system and method based on wireless communication |
Applications Claiming Priority (1)
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