CN106714300A - UWB and ZigBee integrated precise positioning system and operating method thereof - Google Patents
UWB and ZigBee integrated precise positioning system and operating method thereof Download PDFInfo
- Publication number
- CN106714300A CN106714300A CN201611170838.0A CN201611170838A CN106714300A CN 106714300 A CN106714300 A CN 106714300A CN 201611170838 A CN201611170838 A CN 201611170838A CN 106714300 A CN106714300 A CN 106714300A
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- zigbee
- base station
- uwb
- positioning
- synthesis
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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
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- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses a UWB and ZigBee integrated precise positioning system, which comprises a base station, identification cards and positioning substations, and is characterized in that the identification card and the positioning substations are wireless connected through the ultra wide band and the ZigBee; and the identification card and the base station are wirelessly connected through the ZigBee. The operating method of the UWB and ZigBee integrated precise positioning system comprises the steps that the identification cards send ZigBee signals and UWB (Ultra Wide Band) signals; the positioning substations start to send ultra wide band positioning information within a wireless signal coverage area of the positioning substations, and the identification cards receive the ultra wide band positioning information, calculate the distance and send the distance to the base station; and when the identification cards are in a wireless signal coverage area of the base station, the base station receives the distance information sent by the identification cards and calculates accurate positions of the identification cards. The UWB and ZigBee integrated precise positioning system solves problems of signal loss, base station coordinate errors, clock synchronization errors and the like encountered in UWB precise positioning, realizes wireless communication of the positioning substations with the base station, not only meets a requirement of different scenarios for flexible deployment of the positioning precision according to requirements, but also realizes the positioning effects of low cost and high precision.
Description
Technical field
It is especially a kind of to solve the signal run into when UWB is accurately positioned the present invention relates to a kind of computer realm device
Detraction, base station coordinates mistake and the problems such as clock timing error, realize the UWB that keeps in communication in positioning substation and base station and
ZigBee synthesis Precise Position Systems and its method of work.
Background technology
Fixed deployment is using the alignment system basic framework of the multiple technologies such as RFID, ZigBee, Wi-Fi, UWB to read
Card base station, personnel carry tag card, Card Reader base station receive from personnel carry tag card information, according to its field intensity, phase,
The information such as TOF, TDOF are identified and position.TOF and TDOF range finding cardinal errors source：
1, signal impairments
The ranging information of indoor positioning assumes that the distance measured in the case of sighting distance, if non line of sight, such as middle to have barrier
Hinder thing or reached by reflexing to, will all cause the time for receiving elongated, so as to the distance for measuring can become big.
2, base station coordinates mistake
The coordinate of tag card is that for base station coordinates, if the coordinate of base station is inherently wrong, ours determines
Position data are just without what meaning.
3, clock timing error
Their clock of each base station can have gap slightly, but 30 centimetres of error is had if gap is in 1ns,
So in needing system all base stations time synchronized, further lift positioning precision.
UWB's is accurately positioned process, is all premised on keeping harsh clock synchronous between tag card and Card Reader base station
, and under the complicated environmental conditions such as mine, construction tunnel, chemical plant, often there are various barriers, thus,
Realize more accurate positioning, it is necessary to which substantial amounts of Card Reader base station is installed, complex environment is divided into many relatively unobstructed
Small located space, or form several centring rings of different sizes centered on Card Reader base station, therefore, its positioning precision is carried
Height depends on the deployment density for increasing locating base station.
And due to cost, the consideration of various factors such as cannot connect up, do so often becomes unrealistic, the reliability of system
Also it is rapid to reduce.Therefore, traditional method is difficult to the positioning of low-cost and high-precision.
For personnel positioning, patent right brown bear current chart etc. has been invented a kind of " a kind of based on UWB, RFID, INS multi-source joint
The alignment system and positioning of location technology（Notification number CN106093858A）", the system include positioning terminal, UWB locating modules,
RFID locating modules, INS locating modules；UWB locating modules send UWB signal to positioning terminal, judge that positioning terminal is forwarded back to
Whether the UWB signal come meets default positioning requirements, if it is satisfied, then using the related calculation in TDOA to AOA location estimations
Method obtains the position of positioning terminal；Otherwise, then the positioning terminal is obtained using RFID location technologies and INS location technologies
Position.Patent CN106019221 also discloses that a kind of UWB alignment systems based on AoA, including transmitter module, multiple reception moulds
Block and signal processing module；Transmitter module is used for transmission signal；Multiple receiver modules are used to receive the letter of transmitter module transmitting
Number, signal processing module is used to be calculated according to AoA algorithms the angle of transmitter module and multiple receiver modules, and is sent out after fusion
Penetrate the position relationship of module and receiver module.The general character of 2 kinds of methods of the above is：UWB's is accurately positioned process, is all to identify
Block it is synchronous with harsh clock is kept between Card Reader base station premised on, and distance is limited.
The content of the invention
In order to overcome the shortcomings of that existing technology is present, the present invention provides a kind of UWB and ZigBee and is comprehensively accurately positioned and is
System and its method of work, the UWB and ZigBee synthesis Precise Position Systems and its method of work solved and met when UWB is accurately positioned
The problems such as signal impairments, base station coordinates mistake and clock timing error for arriving, realize positioning substation wirelessly and base station keeps logical
News, had both met the flexible requirements that different scenes are disposed on demand to positioning precision, and the positioning effect of low-cost and high-precision is realized again
Really.
The technical solution adopted for the present invention to solve the technical problems is：The present invention includes base station, tag card, locator
Stand；
Wirelessly it is connected with ZigBee by ultra wide band between tag card and positioning substation；Passing through between tag card and base station
ZigBee is wirelessly connected.
At one preferably or alternatively in embodiment, the positioning substation is four.
At one preferably or alternatively in embodiment, described ZigBee is wirelessly connected and replaces with LORA and be wirelessly connected.
At one preferably or alternatively in embodiment, described ZigBee is wirelessly connected and replaces with NB-IOT and be wirelessly connected.
At one preferably or alternatively in embodiment, described ZigBee is wirelessly connected and replaces with 2.4G less radio-frequency phases
Even.
At one preferably or alternatively in embodiment, the positioning substation is not limited only to four.
Further, base station includes：Base transceiver station（BTS）, base station controller（BSC）, code conversion and rate adaptor
（XCDR）, wireless operation maintenance center（OMC_R）.
Further, tag card includes the label being made up of coupling element and chip；Read (can also write sometimes) label
The reader of the equipment of information；The antenna of radiofrequency signal is transmitted between label and reader.
A kind of method of work of UWB and ZigBee synthesis Precise Position Systems is comprised the following steps：Tag card sends
ZigBee signals and UWB ultra-broadband signals；In the wireless signal coverage of positioning substation, positioning substation starts to send ultra-wide
Band location information, by tag card receive and calculate distance after be sent to base station；When tag card is covered in base station radio signal
During scope, base station receives the range information of tag card transmission, calculates the exact position of tag card.
The beneficial effects of the invention are as follows, solve run into when UWB is accurately positioned signal impairments, base station coordinates mistake and when
The problems such as clock timing error, realize positioning substation and wirelessly kept in communication with base station, both meet different scenes to positioning precision
The flexible requirements disposed on demand, realize the locating effect of low-cost and high-precision again.
Brief description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is the structural map of UWB and ZigBee synthesis Precise Position System embodiments.
Fig. 2 is the structural map of the method for work embodiment of UWB and ZigBee synthesis Precise Position Systems.
In figure
1st, base station；2nd, tag card；3rd, substation is positioned.
Specific embodiment
In the embodiment shown in fig. 1, the present invention includes base station 1, tag card 2, positioning substation 3；Tag card 2 and positioning substation
Wirelessly it is connected with ZigBee by ultra wide band between 3；Being wirelessly connected by ZigBee between tag card 2 and base station 1；It is described fixed
Seat station 3 is four；Described ZigBee is wirelessly connected and replaces with LORA and be wirelessly connected；Described ZigBee is wirelessly connected and replaces
For NB-IOT is wirelessly connected；Wirelessly the connected 2.4G less radio-frequencies that replace with are connected described ZigBee；The positioning substation 3 is not only
It is limited to four.
Base station 1 includes：Base transceiver station（BTS）, base station controller（BSC）, code conversion and rate adaptor（XCDR）、
Wireless operation maintenance center（OMC_R）.
Tag card 2 includes the label being made up of coupling element and chip；Read (can also write sometimes) label information
The reader of equipment；The antenna of radiofrequency signal is transmitted between label and reader.
A kind of method of work of UWB and ZigBee synthesis Precise Position Systems includes：Tag card 2 send ZigBee signals and
UWB ultra-broadband signals；In the wireless signal coverage of positioning substation 3, positioning substation 3 starts to send ultra wide band positioning letter
Breath, by tag card 2 receive and calculate distance after be sent to base station 1；When tag card 2 is in the wireless signal coverage of base station 1
When, base station 1 receives the range information of the transmission of tag card 2, calculates the exact position of tag card 2.
Specifically, what the embodiment in Fig. 2 was given is 4 positioning substations, and numbering is respectively D1, D2, D3 and Dn, certainly fixed
Seat station can be one or more.The method of work of system is：Tag card 2 sends ZigBee signals and UWB ultra wide bands
Signal；In the wireless signal coverage of positioning substation 3, positioning substation 3 starts to send ultra wide band location information, by tag card
2 receive and calculate distance, and when tag card 2 is in 1 wireless signal coverage of base station, base station 1 receives the transmission of tag card 2
Range information, calculates the exact position of tag card 2.
Above-mentioned method of work for each positioning substation 3 and base station 1 whether communication and each positioning substation 3 between no matter can
No communication, can realize quick positioning.Numbering in the present embodiment is K1 and the tag card that numbering is K2 close to or away from positioning
During substation 3, calculated by above-mentioned method of work, the two tag cards and range information are sent respectively to base station 1, realized
Positioned while different identification card.
Any technical scheme disclosed in the invention described above unless otherwise stated, if it discloses number range, that
Disclosed number range is preferred number range, it is any it should be appreciated by those skilled in the art：Preferred numerical value
Scope is only the obvious or representative numerical value of technique effect in many enforceable numerical value.Because numerical value is more,
Cannot be exhaustive, thus the present invention just openly component values, to illustrate technical scheme, also, above-mentioned are enumerated
Numerical value should not constitute the limitation to the invention protection domain.
Meanwhile, if the invention described above is open or relate to the parts or structural member of connection fastened to each other, then, except another
There is statement outer, be fixedly connected and can be understood as：Can releasably be fixedly connected（For example use bolt or mode connects for screw）, also may be used
To be interpreted as：It is non-removable to be fixedly connected（For example rivet, weld）, certainly, connection fastened to each other can also be integral type
Structure（For example manufactured using casting technique is integrally formed）Replaced（Substantially cannot be using except integrally formed technique）.
In addition, the art for representing position relationship or shape applied in any technical scheme disclosed in the invention described above
Its implication includes approximate with its, similar or close state or shape to language unless otherwise stated.The either component that the present invention is provided
Both can be to be assembled by multiple individually parts, it is also possible to the separate part that the technique that is one of the forming is manufactured.
Finally it should be noted that:The above embodiments are merely illustrative of the technical solutions of the present invention rather than its limitations；
Although being described in detail to the present invention with reference to preferred embodiment, those of ordinary skill in the art should be understood：According to
Specific embodiment of the invention can so be modified or equivalent is carried out to some technical characteristics；Without deviating from
The spirit of technical solution of the present invention, it all should cover in the middle of claimed technical scheme scope of the invention.
Claims (9)
1. a kind of UWB and ZigBee synthesis Precise Position System it is characterized in that：Including base station, tag card, positioning substation, tag card
Wirelessly it is connected with ZigBee by ultra wide band and positioning substation between；Between tag card and base station by the wireless phases of ZigBee
Even.
2. a kind of UWB according to claim 1 and ZigBee synthesis Precise Position System, it is characterized in that：The locator
Stand is four.
3. a kind of UWB according to claim 1 and ZigBee synthesis Precise Position System, it is characterized in that：Described
ZigBee is wirelessly connected and replaces with LORA and be wirelessly connected.
4. a kind of UWB according to claim 1 and ZigBee synthesis Precise Position System, it is characterized in that：Described
ZigBee is wirelessly connected and replaces with NB-IOT and be wirelessly connected.
5. a kind of UWB according to claim 1 and ZigBee synthesis Precise Position System, it is characterized in that：Described
Wirelessly the connected 2.4G less radio-frequencies that replace with are connected ZigBee.
6. a kind of UWB according to claim 1 and ZigBee synthesis Precise Position System, it is characterized in that：The locator
Station is not limited only to four.
7.A kind of UWB according to claim 1 and ZigBee synthesis Precise Position Systems, it is characterized in that：Base station includes：Base Stand transceiver station（BTS）, base station controller（BSC）, code conversion and rate adaptor（XCDR）, wireless operation maintenance center （OMC_R）.
8.A kind of UWB according to claim 1 and ZigBee synthesis Precise Position Systems, it is characterized in that：Tag card includes The label being made up of coupling element and chip；Read the reader of the equipment of (can also write sometimes) label information；In label The antenna of radiofrequency signal is transmitted and between reader.
9. UWB described in a kind of claim 1-8 and the method for work of ZigBee synthesis Precise Position Systems, it is characterized in that：Bag
Include following steps：Tag card sends ZigBee signals and UWB ultra-broadband signals；In the wireless signal coverage of positioning substation
Interior, positioning substation starts to send ultra wide band location information；Received and calculated by tag card and be sent to base station after；Work as mark
When knowledge is stuck in base station radio signal cover, base station receives the range information of tag card transmission, calculates the essence of tag card
True position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611170838.0A CN106714300A (en) | 2016-12-16 | 2016-12-16 | UWB and ZigBee integrated precise positioning system and operating method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611170838.0A CN106714300A (en) | 2016-12-16 | 2016-12-16 | UWB and ZigBee integrated precise positioning system and operating method thereof |
Publications (1)
| Publication Number | Publication Date |
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| CN106714300A true CN106714300A (en) | 2017-05-24 |
Family
ID=58937957
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201611170838.0A Pending CN106714300A (en) | 2016-12-16 | 2016-12-16 | UWB and ZigBee integrated precise positioning system and operating method thereof |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107331087A (en) * | 2017-09-05 | 2017-11-07 | 青岛安然物联网科技有限公司 | A kind of Intelligent voice broadcasting system for petrochemical industry chemical plant |
| CN107621648A (en) * | 2017-09-13 | 2018-01-23 | 西安航光卫星测控技术有限公司 | A kind of Big Dipper positioner and implementation method with arrowband honeycomb Internet of Things communication function |
| CN107957577A (en) * | 2017-10-19 | 2018-04-24 | 奥维飞越通信有限公司 | A kind of identification warning system in place and method |
| CN108051657A (en) * | 2017-12-19 | 2018-05-18 | 北京计算机技术及应用研究所 | A kind of radio field intensity detecting system based on UWB and UHF-RFID |
| CN108363035A (en) * | 2017-12-29 | 2018-08-03 | 上海建工集团股份有限公司 | A kind of job site personnel positioning system and its application method |
| CN109429169A (en) * | 2017-08-21 | 2019-03-05 | 西安中兴新软件有限责任公司 | A kind of method, apparatus that realizing wireless location and narrowband internet-of-things terminal |
| WO2019165899A1 (en) * | 2018-03-02 | 2019-09-06 | 阿里巴巴集团控股有限公司 | Positioning method and system for communication network |
| CN111010660A (en) * | 2019-12-23 | 2020-04-14 | 中煤科工集团重庆研究院有限公司 | UWB and ZigBee based positioning method and system applied to mine |
| CN111141292A (en) * | 2020-04-07 | 2020-05-12 | 速度时空信息科技股份有限公司 | Indoor positioning method based on ZigBee and 2.4G dual modes |
| CN111586838A (en) * | 2020-05-21 | 2020-08-25 | 中煤科工集团重庆研究院有限公司 | Underground accurate positioning method for coal mine |
| CN112218289A (en) * | 2020-09-18 | 2021-01-12 | 中煤科工集团重庆研究院有限公司 | Wireless upgrading system and method for positioning card |
| CN112243290A (en) * | 2020-10-19 | 2021-01-19 | Oppo广东移动通信有限公司 | WIFI transmission power adjusting method, device, equipment and medium |
| CN112887912A (en) * | 2021-01-31 | 2021-06-01 | 南京北路智控科技股份有限公司 | Mine personnel positioning system and positioning method |
| CN113490273A (en) * | 2021-09-08 | 2021-10-08 | 中铁工程服务有限公司 | UWB positioning-based rail vehicle sliding early warning method, system and medium |
| CN115442888A (en) * | 2022-09-05 | 2022-12-06 | 高新兴物联科技股份有限公司 | Wireless tracking positioning system, positioning method and readable storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109429169A (en) * | 2017-08-21 | 2019-03-05 | 西安中兴新软件有限责任公司 | A kind of method, apparatus that realizing wireless location and narrowband internet-of-things terminal |
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| CN107621648A (en) * | 2017-09-13 | 2018-01-23 | 西安航光卫星测控技术有限公司 | A kind of Big Dipper positioner and implementation method with arrowband honeycomb Internet of Things communication function |
| CN107957577A (en) * | 2017-10-19 | 2018-04-24 | 奥维飞越通信有限公司 | A kind of identification warning system in place and method |
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| CN108363035A (en) * | 2017-12-29 | 2018-08-03 | 上海建工集团股份有限公司 | A kind of job site personnel positioning system and its application method |
| WO2019165899A1 (en) * | 2018-03-02 | 2019-09-06 | 阿里巴巴集团控股有限公司 | Positioning method and system for communication network |
| CN111010660B (en) * | 2019-12-23 | 2021-09-24 | 中煤科工集团重庆研究院有限公司 | UWB and ZigBee based positioning method and system applied to mine |
| CN111010660A (en) * | 2019-12-23 | 2020-04-14 | 中煤科工集团重庆研究院有限公司 | UWB and ZigBee based positioning method and system applied to mine |
| CN111141292A (en) * | 2020-04-07 | 2020-05-12 | 速度时空信息科技股份有限公司 | Indoor positioning method based on ZigBee and 2.4G dual modes |
| CN111586838A (en) * | 2020-05-21 | 2020-08-25 | 中煤科工集团重庆研究院有限公司 | Underground accurate positioning method for coal mine |
| CN111586838B (en) * | 2020-05-21 | 2021-12-24 | 中煤科工集团重庆研究院有限公司 | Underground accurate positioning method for coal mine |
| CN112218289B (en) * | 2020-09-18 | 2022-11-08 | 中煤科工集团重庆研究院有限公司 | Wireless upgrading system and method for positioning card |
| CN112218289A (en) * | 2020-09-18 | 2021-01-12 | 中煤科工集团重庆研究院有限公司 | Wireless upgrading system and method for positioning card |
| CN112243290A (en) * | 2020-10-19 | 2021-01-19 | Oppo广东移动通信有限公司 | WIFI transmission power adjusting method, device, equipment and medium |
| CN112243290B (en) * | 2020-10-19 | 2023-05-23 | Oppo广东移动通信有限公司 | WIFI transmitting power adjustment method, device, equipment and medium |
| CN112887912A (en) * | 2021-01-31 | 2021-06-01 | 南京北路智控科技股份有限公司 | Mine personnel positioning system and positioning method |
| CN112887912B (en) * | 2021-01-31 | 2022-12-30 | 南京北路智控科技股份有限公司 | Mine personnel positioning system and positioning method |
| CN113490273A (en) * | 2021-09-08 | 2021-10-08 | 中铁工程服务有限公司 | UWB positioning-based rail vehicle sliding early warning method, system and medium |
| CN115442888A (en) * | 2022-09-05 | 2022-12-06 | 高新兴物联科技股份有限公司 | Wireless tracking positioning system, positioning method and readable storage medium |
| CN115442888B (en) * | 2022-09-05 | 2024-07-05 | 高新兴物联科技股份有限公司 | Wireless tracking positioning system, positioning method and readable storage medium |
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