CN109660948A - A kind of indoor orientation method based on inverse positioning principle - Google Patents
A kind of indoor orientation method based on inverse positioning principle Download PDFInfo
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- CN109660948A CN109660948A CN201910031003.4A CN201910031003A CN109660948A CN 109660948 A CN109660948 A CN 109660948A CN 201910031003 A CN201910031003 A CN 201910031003A CN 109660948 A CN109660948 A CN 109660948A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/08—Position of single direction-finder fixed by determining direction of a plurality of spaced sources of known location
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/33—Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- H04W64/003—Locating users or terminals or network equipment for network management purposes, e.g. mobility management locating network equipment
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Abstract
The invention discloses a kind of indoor orientation method based on inverse positioning principle, this method uses one-way transmission signal mode, positioning packet of the positioning label timing transmitting containing timestamp, with the reletive arriving time of calibrating and positioning base station received signal；Sync tag timing transmitting synchronous package is with the clock deviation of Accurate Calibration locating base station；Locating base station is based on User Datagram Protocol and received synchronous package and positioning encapsulating is attached in datagram, and datagram is forwarded to engine of positioning by interchanger；Engine of positioning is completed to parse the data of positioning packet and synchronous package, forms the reaching time-difference that positioning label reaches each locating base station；Using the known location of locating base station, Hyperbolic Equation is resolved with weighted least-squares method after weighing surely to observation, obtains the spatial position of positioning label.The present invention can accurately measure the clock deviation of locating base station, improve indoor position accuracy, can also reduce positioning label software and hardware expense, and scheme is simple, is easily achieved.
Description
Technical field
The present invention relates to positioning and field of location service technology based on wireless communication, propose a kind of based on inverse positioning principle
Indoor orientation method, this method use unidirectional signal transfer mode, utilize mobile terminal label emit wireless signal, locating base station
(fixing end) received mode, by fixed using position and known sync tag emit synchronous package come Accurate Calibration position base
It stands clock deviation, is conducive to improve indoor position accuracy.
Background technique
Indoor positioning refers to the position positioning that object or person are realized in environment indoors.In recent years, industry manufacture, machine
The industries such as people, home for destitute, prison, warehouse, market are growing day by day to indoor positioning demand.Its difficult point, which is mainly reflected in, to be improved
Positioning accuracy is reduced again in the complexity of implementation and the contradiction of cost.
A kind of indoor positioning technologies in the prior art are as follows: be based on Indoor Positioning System Using Ultra Wideband Radio, which is: adopting
It is fixed with transmitter, the mobile mode of receiver, mainly by portions such as fixed transmission end, mobile receiver end and system control modules
It is grouped as, system emits ultra-broadband signal by three or more fixed transmission ends, and mobile receiver is captured and tracked transmitting
Emitted signal is held, the module arithmetics such as related, demodulation are carried out inside receiver, finally calculate the position of receiving point.This
It is common positive location mode (or the station-keeping mode that is positive), i.e. fixing end emits signal, and mobile-terminated collect mail number positions.
The shortcomings that above-mentioned prior art are as follows: 1) fixing end emits radiofrequency signal, uses scrambling code, convolutional encoding, intertexture, fast
The communication systems such as fast Fourier transformation, carrier modulation, system complexity are high；2) tune of mobile receiver termination receiver/transmitter transmitting
Signal processed simultaneously carries out the operations such as correlation, demodulation positioning calculation, computationally intensive, is unfavorable for reducing the power consumption and volume of mobile terminal.
Another kind indoor orientation method in the prior art is: measuring signal arrival time (Time of Arrival,
TOA the principle of) method, this method is: if after signal emission time is it is known that obtain the signal time of reception, utilizing radio wave propagation speed
The product of degree and two time differences can be obtained the distance between transmitter and receiver.When the multiple base stations of acquisition and user equipment
Distance measure after, can resolve to obtain user location.
The shortcomings that above-mentioned prior art are as follows: 1) this method need transmitter and receiver carry out stringent clock it is synchronous with
Guarantee transmitting and time of reception clock reference having the same, and in practical application scene is user difficult to realize and positioning base
Precision clock between standing is synchronous；If 2) do not have clock synchronous condition, generally pass through the round-trip institute of two-way communication measuring signal
The time needed then obtains the distance between user and base station, such bring the disadvantage is that two-way communication causes time delay to increase,
So that clock synchronization is more difficult, and the device is complicated for two-way courier transmitter and receiver, higher cost.
Summary of the invention
In view of the problems existing in the prior art, the purpose of the present invention is to propose to a kind of indoor positionings based on inverse positioning principle
Method, the locating base station in this method only receive signal, do not emit signal, and referred to as against station-keeping mode, it is not necessarily to carrier wave and complexity
Radio-frequency modulations demodulation module；Avoid TOA's with reaching time-difference (Time Difference of Arrival, TDOA) method
Absolute time measures the rigors to time synchronization, reduces the complexity of time synchronization implementation；It is positioned by precise measurement
The clock deviation of base station, improves indoor position accuracy.The step of the method for the invention needs and module are less, at low cost and be easy to
It realizes.
Realizing the specific technical solution of the object of the invention is:
A kind of indoor orientation method based on inverse positioning principle, this method comprises the following steps:
Step 1: unidirectional signal transfer mode is used, using ultra wideband narrow-pulse wireless signal as carrier, positioning label timing
Emit the positioning packet signal containing timestamp with the reletive arriving time of calibrating and positioning base station received signal；
Step 2: being placed on the sync tag timing transmitting synchronous package in the fixed known locating base station in position accurately to mark
Determine the clock deviation of locating base station；
Step 3: after locating base station receives ultra wideband narrow-pulse wireless signal, based on User Datagram Protocol by synchronous package and
Positioning encapsulating is attached in datagram, and datagram is forwarded to engine of positioning by the network switch connected by cable；
Step 4: engine of positioning completes the data parsing to positioning packet and synchronous package, extracts each locating base station clock deviation information,
Form the reaching time-difference TDOA that positioning label reaches each locating base station.It is sat using the known location of no less than four locating base stations
Mark resolves hyperbolic fix equation group after weighing surely to observation with weighted least-squares method, obtains the location information of positioning label.
A kind of indoor orientation method based on inverse positioning principle of the present invention, in step 1, signal that the signal uses
System is pulse position modulation (Pulse Position Modulation, PPM) technology, by the base band of positioning packet and synchronous package
Data are modulated on ultra wideband narrow-pulse signal.What positioning label and sync tag emitted is ultra wideband narrow-pulse signal.Label
The transmitting frequency of signal is 2n, the movement speed of positioning label-carrier indoors is not high, generally less than 5 meter per seconds, therefore takes n
=4, the corresponding transmitting frequency is 16Hz (bag data of i.e. 62.5 milliseconds transmittings).
Ultra wideband narrow-pulse time domain plethysmographic signal expression formula are as follows:
In formula, ApFor amplitude, parameter alpha determines the pulsewidth of ultra wideband narrow-pulse.
Using M=28System pulse position modulation system, modulated signal waveform expression formula are as follows:
In formula, ajFor the symbol that every 8 bit synchronous packet or positioning bag data are converted into, M kind symbol is shared.P is super
Wideband-short pulse signal, j are ultra wideband narrow-pulse serial number, TsIt indicates the ultra wideband narrow-pulse period, is that 200 nanoseconds, (i.e. frequency was
5MHz), pulsewidth was 1 nanosecond.ε is constant offset and ε < < Ts, ajε is time offset, the real time position of ultra wideband narrow-pulse
For (jTs+ajε), i.e., to position jTsProduce offset ajε, (ajε < Ts)。
A kind of indoor orientation method based on inverse positioning principle of the present invention, in step 1, the positioning label timing is sent out
The positioning packet signal containing timestamp is penetrated with the reletive arriving time of calibrating and positioning base station received signal.Positioning, which is wrapped, amounts to 10 words
It saves (80 bit), by packet header (for fixed character string), packet classification, packet serial number, positioning tag ID, positioning time stabs and the words such as verification
Duan Zucheng.It is as follows to position pack arrangement:
| Packet header | Packet classification | Packet serial number | Position tag ID | Positioning time stamp | Verification |
| 8 bits | 2 bits | 16 bits | 16 bits | 32 bits | 6 bits |
Each explanation of field in positioning packet is as follows:
(1) packet header accounts for 8 bits, and the bit synchronous of positioning packet is realized when receiving for locating base station；
(2) packet classification accounts for 2 bits, is positioning packet or synchronous package for distinguish that locating base station receives, when being equal to " 01 "
It is positioning packet that expression receives at this time；
(3) packet serial number accounts for 16 bits.After positioning label powers on, packet serial number is started counting from 0, due to every 62.5 milliseconds transmittings
Primary positioning bag data, therefore every 62.5 milliseconds of packets serial number count value increases by 1, resets the New count of laying equal stress on that is zeroed after spilling；
(4) tag ID field accounts for 16 bits, for distinguishing different positioning labels, i.e., at most allows access 65536 (i.e.
216) a positioning label；
(5) positioning time stamp is the counter of 32 bits, per second to reset once, that is, is started counting after powering on from 0, when
Count full 232New count of laying equal stress on is reset when -1.Therefore temporal resolution is 2-32Second, (about 0.23 nanosecond, corresponding wireless signal passed
Broadcast about 6.98 centimetres of distance)；
(6) check field accounts for 6 bits, wraps preceding 74 bit to positioning using parity arithmetic and carries out even-odd check.
A kind of indoor orientation method based on inverse positioning principle of the present invention, the step 1 specifically include:
Step 1a: packet header, the packet classification, packet serial number, positioning tag ID, positioning time stamp of positioning packet are generated respectively；
Step 1b: generating Parity Check Bits according to the result of step 1a, and forms positioning packet；
Step 1c: bit --- symbol conversion.I.e. by the positioning packet binary data of step 1b according to every 8 bits switch at
One value of symbol aj；
Step 1d: according to value of symbol ajCalculate corresponding ultra wideband narrow-pulse position offset ajε gives delayer；
Step 1e: generating pulsewidth is 1 nanosecond, the ultra wideband narrow-pulse signal that the period was 200 nanoseconds, is sent into delayer；
Step 1f: the position offset that delayer is obtained according to step 1d, the position for adjusting ultra wideband narrow-pulse is (jTs+
ajε), PPM modulation is completed；
Step 1g: pulse shaping module is a bandpass filter, to ultra wideband narrow-pulse shaping, prevents intersymbol dry
It disturbs.Ultra wideband narrow-pulse signal is exported after pulse shaping resume module.
A kind of indoor orientation method based on inverse positioning principle of the present invention, in step 2, the sync tag timing is sent out
Synchronous package signal is penetrated with the clock deviation of Accurate Calibration locating base station.
For the clock deviation for guaranteeing real-time calibration locating base station, the hair with positioning label is set by the transmitting frequency of sync tag
Radio frequency time is identical.Synchronous pack arrangement is similar with positioning pack arrangement, amounts to 8 bytes (64 bit), by packet header (for fixed character
String), packet classification, packet serial number, the fields composition such as synchronized timestamp and verification.Its core field is synchronized timestamp, synchronization time
Stamp is also the counter of 32 bits.Since each inverse positioning system only needs a sync tag, therefore in synchronous pack arrangement
There is no sync tag id field, synchronous pack arrangement is as follows:
| Packet header | Packet classification | Packet serial number | Synchronized timestamp | Verification |
| 8 bits | 2 bits | 16 bits | 32 bits | 6 bits |
Each explanation of field in synchronous package is as follows:
(1) packet header accounts for 8 bits, and the bit synchronous of synchronous package is realized when receiving for locating base station；
(2) packet classification accounts for 2 bits, for distinguish be locating base station receive be positioning packet or synchronous package, be equal to " 00 "
When be synchronous package；
(3) packet serial number accounts for 16 bits.After sync tag powers on, packet serial number is started counting from 0, due to every 62.5 milliseconds transmittings
Primary synchronous bag data, therefore every 62.5 milliseconds of packets serial number count value increases by 1, resets the New count of laying equal stress on that is zeroed after spilling；
(4) synchronized timestamp is the counter of 32 bits, per second to reset once, that is, is started counting after powering on from 0, when
Count full 232New count of laying equal stress on is reset when -1；
(5) check field accounts for 6 bits, wraps preceding 58 bit to positioning using parity arithmetic and carries out even-odd check.
A kind of indoor orientation method based on inverse positioning principle of the present invention, the step 2 specifically include:
Step 2a: it is placed on the distance of the sync tag on the fixed known locating base station B1 in position to each locating base station
It for fixed value, can accurately calculate to obtain, and be converted into time quantum Δ Ts,i。
In formula: xi,yi,ziIt is the coordinate of locating base station i；x1,y1,z1It is the coordinate of sync tag, is equal to locating base station B1
Coordinate；, c is the light velocity, and subscript s indicates sync tag；
Step 2b: sync tag timing transmitting is modulated with the ultra wideband narrow-pulse signal of synchronous package base band data；
Step 2c: the clock deviation of calibrating and positioning base station.Theoretically, when each locating base station synchronous (i.e. no clock deviation), respectively
Locating base station is in moment tiThe same synchronous package is received, only includes Δ from the temporal information that its synchronized timestamp parses
Ts,i.But there are clock deviation τ for actual locating base stationi,s, therefore engine of positioning parses after the synchronous package for receiving locating base station forwarding
Temporal information in also include locating base station clock deviation τi,s.If not considering hardware delay error, Multipath Errors and clock drift
It moves, then can calibrate the clock deviation of locating base station: τi,s=ti-ΔTs,i.Here tiThe same synchronous package is received for locating base station i
At the time of；
Step 2d: clock deviation τ is carried out to engine of positioning to the positioning label in positioning packet when walkingi,sAfter compensation, it is fixed to eliminate
The clock deviation error of position base station.
A kind of indoor orientation method based on inverse positioning principle of the present invention, in the step 3, locating base station receives super
After wideband-short pulse wireless signal, for datagram is forwarded to engine of positioning by the network switch, need in UDP datagram
Stem addition receives synchronous package to the source IP address of locating base station distribution, destination IP address, locating base station in advance respectively and determines
The time of reception t of position packets,i、tL,iValue, then synchronous package and positioning encapsulating are attached in datagram.
A kind of indoor orientation method based on inverse positioning principle of the present invention, the step 3 specifically include:
Step 3a: source IP address is distributed to each locating base station i, and distributes purpose IP address in datagram headers, i.e.,
Engine of positioning IP address；
Step 3b: t at the time of locating base station receives synchronous package respectively is extracted from locating base stations,iPacket is positioned with receiving
Moment tL,i；
Step 3c: sync tag is extracted from locating base station and positions synchronous package and positioning packet that label is sent；
Step 3d: by source IP address, purpose IP address, receive synchronous package and positioning wrap at the time of and synchronous package and positioning wrap
Etc. data be encapsulated into datagram.
Datagram format and each field meanings are as follows:
| Source IP address | Purpose IP address | ts,i | Synchronous package | tL,i | Positioning packet | Verification and |
| 4 bytes | 4 bytes | 10 bytes | 8 bytes | 10 bytes | 10 bytes | 2 bytes |
(1) source IP address and purpose IP address respectively account for 4 bytes；
(2) t at the time of locating base station receives synchronous package respectivelys,iT at the time of value and reception positioning packetL,iValue respectively accounts for 10 words
Section, including year, month, day, hour, min, second.The value of second occupies 3 bytes altogether, and integer part accounts for 1 byte, and fractional part accounts for 2
A byte.Since the TDOA value overwhelming majority of indoor positioning is less than 1km equivalent distances, so actually calculating locating base station clock deviation
When only use the real number value of second, and date etc. is auxiliary information；
(3) synchronous package accounts for 8 bytes, and positioning packet accounts for 10 bytes；
(4) checksum field accounts for 2 bytes.
Step 3e: datagram is forwarded to engine of positioning.
A kind of indoor orientation method based on inverse positioning principle of the present invention, the step 4 specifically include:
Step 4a: parsing datagram obtains synchronous bag data, and the clock deviation of each locating base station is calculated according to step 2；
Step 4b: parsing datagram obtains positioning bag data, on the basis of locating base station B1, calculates positioning label to each fixed
The arrival time of position base station and the time difference TDOA for reaching locating base station B1；
Step 4c: locating base station clock deviation is done to TDOA and hardware delay compensates, forms Hyperbolic Equation group；
Step 4d: the determination of observation weight.Due to positioning label signal to each locating base station walking time error variance not
Know, the clock drift of each locating base station is also unequal, therefore need to rationally determine the weight of Hyperbolic Equation group observations come to its into
Row is adjusted.The present invention takes Δ t when walking of positioning label L arrival locating base station iiSquare it is reciprocal as TDOA measurement each when resolving
The weight of value.For irrelevant observation, have the right a gust W:
W=diag (w1 w2 … wi) (4)
In formula, diag () indicates diagonal matrix, wi=1/ (Δ ti)2.Since the TDOA algorithm for solving positioning label position is
Iterative process, therefore weigh wiAlso dynamic is needed to update.
Step 4e: substituting into the coordinate value of each locating base station, with weighted least-squares method (Weighted Least
Squares, WLS) hyperbolic fix equation group is resolved, obtain location information of the positioning label under local horizontal coordinates.
Beneficial effects of the present invention
The invention proposes a kind of indoor orientation methods based on inverse positioning principle.Label and locating base station in this method
It is all made of unidirectional signal transfer mode, label is positioned and sync tag only sends, do not receive signal, and locating base station only receives letter
Number, do not emit signal.Label and locating base station are without carrier wave and complicated radio-frequency modulations demodulation module.With traditional positive positioning skill
Art is compared, and the hardware cost and computing cost of mobile terminal positioning label can be effectively reduced in indoor orientation method proposed by the present invention；
The absolute time measurement for having avoided TOA using TDOA method reduces time synchronization implementation to the rigors of time synchronization
Complexity；By the clock deviation of precise measurement locating base station, indoor position accuracy is improved.The step of scheme of the present invention needs
It is less with module, it is at low cost and be easily achieved.In the room of the industries such as industrial manufacture, robot, home for destitute, prison, warehouse, market
There is greater advantage in interior positioning application environment.
Detailed description of the invention
Fig. 1 is to implement system schematic of the invention；
Fig. 2 is flow chart of the invention；
Fig. 3 is the functional block diagram of step 1 of the present invention；
Fig. 4 is the flow chart of step 1 of the present invention；
Fig. 5 is the flow chart of step 2 of the present invention；
Fig. 6 is the flow chart of step 3 of the present invention；
Fig. 7 is the flow chart of step 4 of the present invention.
Specific embodiment
The present invention will be described in detail with reference to the accompanying drawing.
Embodiment
The invention discloses a kind of indoor orientation method based on inverse positioning principle, Fig. 1 gives a kind of tool of the invention
Body embodiment.The specific embodiment is made of following unit module:
(1), a sync tag S；
(2), a positioning label L；
(3), four locating base stations B1, B2, B3, B4；
(4), interchanger；
(5), engine of positioning；
(6), cable.
As shown in Figure 1, the specific embodiment use one-way transmission signal mode, i.e., sync tag and positioning label timing to
Four locating base stations emit ultra wideband narrow-pulse wireless signal.Between locating base station and interchanger, interchanger and engine of positioning it
Between pass through cable connect.After locating base station receives ultra wideband narrow-pulse wireless signal, it will be received based on User Datagram Protocol
Synchronous package and positioning encapsulating be attached in datagram, datagram is forwarded to by engine of positioning by interchanger.Engine of positioning is completed
TDOA is resolved after forming the reaching time-difference that positioning label reaches each locating base station to the data parsing of positioning packet and synchronous package
Hyperbolic Equation obtains the spatial position of positioning label.
A kind of indoor orientation method based on inverse positioning principle of the present invention in step 1, generates and is modulated with positioning packet
The process of ultra wideband narrow-pulse signal includes:
Step 1a: generating packet header, packet classification, the packet serial number of 16 bits, the positioning tag ID of 16 bits respectively, 32 bits
Positioning time stamp；
Step 1b: generating parity check bit according to the result of step 1a, and forms positioning packet；
Step 1c: bit --- symbol conversion.The binary data of step 1b is accorded with according to every 8 bits switch at one
Number value aj；
Step 1d: according to value of symbol ajCalculate corresponding ultra wideband narrow-pulse position offset ajε gives delayer；
Step 1e: generating pulsewidth is 1 nanosecond, the ultra wideband narrow-pulse signal that the period was 200 nanoseconds, is sent into delayer；
Step 1f: the position offset a that delayer is calculated according to step 1djε adjusts the position of ultra wideband narrow-pulse
It sets, completes PPM modulation；
Step 1g: pulse shaping module is a bandpass filter, is to prevent intersymbol dry ultra wideband narrow-pulse shaping
It disturbs.Ultra wideband narrow-pulse signal is exported after pulse shaping resume module.
A kind of indoor orientation method based on inverse positioning principle of the present invention, in step 2, the calibration of locating base station clock deviation
Algorithmic procedure it is as follows:
Step 2a: it is placed on the distance of the sync tag on the fixed known locating base station B1 in position to each locating base station
It for fixed value, can accurately calculate to obtain, and be converted into time quantum Δ Ts,i:
In formula: xi,yi,ziIt is the coordinate of locating base station i；x1,y1,z1It is the coordinate of sync tag, is equal to locating base station B1
Coordinate；Δ indicates the time of the propagation of signal, and c is the light velocity, and subscript s indicates sync tag；
Engine of positioning receives Δ t when walking of the sync tag s to each locating base station i parsed after synchronous packagei,sFor reality
Measured value may be expressed as:
In formula, ρi,sGeometric distance between locating base station i and sync tag s is poor, ρi,s=c Δ Ts,i, τs,iIt is same
Label s is walked in the clock deviation at its transmitting signal moment, τi,sThe clock at sync tag s signal moment is received at it for locating base station i
Difference.τl,iFor the propagation delay of each locating base station to engine of positioning, according to Fig. 1, τl,iIt may be expressed as:
Wherein liIt can Accurate Calibration be in advance given value for the length of cable of locating base station i to engine of positioning；C is the light velocity,
εiFor the hardware delay of locating base station.
Step 2b: sync tag timing transmitting is modulated with the ultra wideband narrow-pulse signal of synchronous package base band data；
Step 2c: the clock deviation τ of calibrating and positioning base stationi,s.Theoretically, when each locating base station synchronous (i.e. no clock deviation),
Each locating base station is in moment tiWhen receiving the same synchronous package, only include from the temporal information that its synchronized timestamp parses
ΔTs,i；But there are clock deviation τ for actual locating base stationi,s, therefore engine of positioning parses after the synchronous package for receiving locating base station forwarding
It also include the clock deviation τ of locating base station in temporal information outi,s.If not considering hardware delay error, Multipath Errors and clock drift
It moves, then can calibrate the clock deviation of locating base station: τi,s=ti-ΔTs,i.In formula, tiThe same synchronous package is received for locating base station i
Moment；τ is made a concrete analysis of belowi,sMethod for solving.First analyze the signal of sync tag s to two locating base station 1,2 when walking it
Difference:
Δt(2-1),sThe practical difference that the epoch that sync tag s are stabbed at the same time is received for two locating base stations 1,2 of value is
Observation.(τ2,s-τ1,s) be clock deviation of the locating base station 1,2 when receiving sync tag s signal difference.There is no volumes in the present invention
It is outer to provide a clock to guarantee the synchronization of each locating base station, but pass through Accurate Calibration (τ2,s-τ1,s) Lai Shixian.
(τs,2-τs,1) indicate sync tag s emit to different locating base stations 1,2 signals transmission time interval in clock deviation drift, because
For Δ t(2-1),sMeasuring basis be same timestamp in synchronous package, therefore (τs,2-τs,1)=0, thus (7) can abbreviation be
Δt(2-1),s=(Δ Ts,2-ΔTs,1)+(τl,2-τl,1)+(τ2,s-τ1,s) (8)
Formula (6) are substituted into formula (8), can be obtained:
(9) ε in2、ε1The hardware delay for respectively indicating locating base station 1,2 receives the locating base station of same model
Machine, (ε2-ε1) the delay very little (nanosecond) that generates, cable propagation delay and hardware delay can regard to constant as, therefore can be with
Hardware delay item is merged into cable delay item, then after (9) abbreviation arranges:
(10) formula right side of the equal sign first item Δ t(2-1),sFor known observed quantity；Section 2 (Δ Ts,2-ΔTs,1) indicate positioning
The difference of geometric delay between base station 1,2 and sync tag s, can calculated in advance obtain, be known quantity；Section 3It is fixed
Position base station 1,2 to engine of positioning cable delay and hardware delay difference, can demarcate in advance and known quantity, therefore can basis
(10) formula Accurate Calibration locating base station clock deviation (τ2,s-τ1,s)。
Step 2d: to the difference (τ for carrying out clock deviation when walking of the positioning label in positioning packet to engine of positioningi,s-τ1,s) compensation
Afterwards, influence of the clock deviation error of locating base station to positioning label signal transmission time measurement value is eliminated.
A kind of indoor orientation method based on inverse positioning principle of the present invention, in the step 3, locating base station receives super
After wideband-short pulse wireless signal, synchronous package and positioning encapsulating are attached in datagram based on User Datagram Protocol, pass through line
The network switch of cable connection, is forwarded to engine of positioning for datagram.The detailed process of step 3 is as follows:
Step 3a: source IP address is distributed to each locating base station i, and distributes engine of positioning address in datagram headers
(purpose IP address)；
Step 3b: the time of reception t that locating base station receives synchronous package and positioning packet respectively is extracted from locating base stations,i、
tL,iValue；
Step 3c: sync tag is extracted from locating base station and positions synchronous package and positioning packet that label is sent；
Step 3d: by source address, destination address, receive synchronous package and positioning wrap at the time of and synchronous package and positioning bag data
It is encapsulated into datagram；
Step 3e: datagram is forwarded to engine of positioning.
A kind of indoor orientation method based on inverse positioning principle of the present invention, the step 4 specifically include:
Step 4a: parsing datagram obtains synchronous bag data, and the clock deviation (τ of each locating base station is calculated according to step 2i,s-
τ1,s)；
Step 4b: parsing datagram obtains positioning bag data, on the basis of locating base station B1, calculates positioning label to each fixed
Position base station arrival time with position label to locating base station B1 arrival time difference TDOA.Detailed process is as follows:
Positioning label L to locating base station i space geometry distance be
In formula, (xi,yi,zi) it is the coordinate of locating base station i, for given value.(xL,yL,zL) it is the coordinate for positioning label L,
It is parameter to be solved.On the basis of the TOA value of locating base station B1, the TOA value and benchmark of locating base station i (i ≠ 1) makes the difference fortune
It calculates, obtains TDOA observational equation:
In formula, Δ ti,LTo position measured value when walking that the signal of label L reaches locating base station i, (τi,s-τ1,s) it is positioning
The difference of clock deviation when base station receives positioning label signal, Accurate Calibration in step 2.(τm,i-τm,1) it is the more of locating base station
The difference of tracking error, (Δ τi-Δτ1) be locating base station hardware delay equal error difference, be absorbed in parameter in step 2
(τi,s-τ1,s) in, it can be omitted, then (12) formula is reduced to
Step 4c: locating base station clock deviation is carried out to TDOA and hardware delay compensates, forms Hyperbolic Equation group；
Ignore Multipath Errors (τm,i-τm,1), and to Δ t(i-1),LIt is the difference (τ of clock deviationi,s-τ1,s) after compensation, Δ t(i-1),L
It is updated to Δ t '(i-1),L:
Δt′(i-1),L≈Δt(i-1),L-(τi,s-τ1,s)
Based on TDOA observational equation, the Hyperbolic Equation group of formation are as follows:
Each parameter and lower target are defined with (11) formula in above formula.
Step 4d: the determination of observation weight.Due to positioning label signal to each locating base station walking time error variance not
Know, the clock drift of each locating base station is also unequal, therefore need to rationally determine the weight of Hyperbolic Equation group observations come to its into
Row is adjusted.The present invention takes Δ t when walking of positioning label L arrival locating base station iiSquare it is reciprocal as TDOA measurement each when resolving
The weight of value.For irrelevant observation, have the right a gust W:
W=diag (w1 w2 … wi) (4)
In formula, diag () indicates diagonal matrix, wi=1/ (Δ ti)2.Since the TDOA algorithm for solving positioning label position is
Iterative process, therefore weigh wiAlso dynamic is needed to update.
Step 4e: substituting into the coordinate value of each locating base station, resolves TDOA hyperbolic fix with weighted least-squares method (WLS)
Equation group obtains location information of the positioning label under local horizontal coordinates.
TDOA hyperbola algorithm is a kind of method positioned using time difference.By detecting signal from positioning label
The absolute time for reaching the time difference of two locating base stations, rather than reaching determines the position of positioning label.It is reached with measurement
The TOA method of time is compared, and it is synchronous with locating base station clock that TDOA method does not need label, it is only necessary to which clock is same between locating base station
Step.Three groups of TDOA can be obtained using four different locating base stations in the algorithm, and positioning label is located in true by three groups of TDOA
On fixed hyp intersection point, therefore, three groups of Hyperbolic Equations (13) of solution can must position the position of label.Solution is as follows:
It enables
Ri,1=Δ t 'i,1C,xi,1=xi-x1, yi,1=yi-y1, zi,1=zi-z1
Then (13) formula arranges are as follows:
Above formula equal sign left end items are known quantity, three-dimensional coordinate of the unknown parameter of equal sign right end in addition to positioning label
(xL,yL,zL) outside, ρ1,LIt is also unknown parameter, therefore enables
Write (14) formula as matrix form:
Φ=Η X (15)
In view of the power battle array W that step 4d is determined, unknown parameter X can be acquired according to weighted least-squares method:
X=(ΗTWΗ)-1ΗTWΦ (16)
After finding out X, so that it may obtain the position (x of positioning labelL,yL,zL)。
Claims (5)
1. a kind of indoor orientation method based on inverse positioning principle, which is characterized in that this method comprising the following specific steps
Step 1: using unidirectional signal transfer mode, using ultra wideband narrow-pulse wireless signal as carrier, positioning label timing emits
Positioning packet signal containing timestamp is with the reletive arriving time of calibrating and positioning base station received signal；
Step 2: the sync tag timing transmitting synchronous package being placed in the fixed known locating base station in position is fixed with Accurate Calibration
The clock deviation of position base station；
Step 3: after locating base station receives ultra wideband narrow-pulse wireless signal, being based on User Datagram Protocol for synchronous package and positioning
Encapsulating is attached in datagram, and datagram is forwarded to engine of positioning by the network switch connected by cable；
Step 4: engine of positioning completes the data parsing to positioning packet and synchronous package, extracts each locating base station clock deviation information, is formed
Positioning label reaches the reaching time-difference TDOA of each locating base station；Using the known location coordinate of no less than four locating base stations,
Hyperbolic fix equation group is resolved with weighted least-squares method after weighing surely to observation, obtains the location information of positioning label.
2. indoor orientation method according to claim 1, which is characterized in that contain the positioning of timestamp described in step 1
Packet, positioning packet are made of packet header, packet classification, serial number, positioning tag ID, positioning time stamp and check field；Positioning time stamp
It is the counter of 32 bits, is started counting after powering on from 0, is resetted after counter is full.
3. indoor orientation method according to claim 1, which is characterized in that the timing of sync tag described in step 2 emits
Synchronous package with the clock deviation of Accurate Calibration locating base station, specifically: set the transmitting frequency of sync tag to and position label phase
Together；Synchronous pack arrangement is made of packet header, packet classification, packet serial number, synchronized timestamp and check field, when core field is synchronous
Between stab, synchronized timestamp is the counter of 32 bits, and tag ID field is not necessarily in synchronous pack arrangement；The clock of its locating base station
Poor calibration process includes:
Step 2a: it is solid for being placed on the distance of sync tag to each locating base station on the fixed known locating base station B1 in position
Definite value can accurately calculate to obtain, and be converted into time quantum △ TS, i:
In formula: (xi, yi, zi) be locating base station i coordinate；(x1,y1,z1) be sync tag coordinate and locating base station B1
Coordinate；△Ts,iIndicate the time that signal is propagated, c is the light velocity, and subscript s indicates sync tag；
Step 2b: sync tag is modulated with the ultra wide band of synchronous package base band data according to transmitting frequency timing transmitting set in advance
Narrow pulse signal；
Step 2c: the clock deviation of calibrating and positioning base station
It include the clock deviation of locating base station in the temporal information that engine of positioning parses after the synchronous package for receiving locating base station forwarding
τi,s；If not considering hardware delay error, Multipath Errors and clock drift, the clock deviation τ of locating base station is calibratedi,s=ti-
△Ts,i；In formula, tiAt the time of receiving the same synchronous package for locating base station i；
Step 2d: clock deviation τ is carried out to engine of positioning to the positioning label signal in positioning packet when walkingi,sAfter compensation, it is fixed to eliminate
The clock deviation error of position base station.
4. indoor orientation method according to claim 1, which is characterized in that locating base station described in step 3 receives ultra-wide
After band burst pulse wireless signal, need in the stem addition of UDP datagram in advance to the source IP address of locating base station distribution, positioning
Base station receives the time of reception t of synchronous package and positioning packet respectivelyS, i、tL, iValue, then synchronous package and positioning encapsulating are attached to datagram
In, by the network switch, datagram is forwarded to engine of positioning.
5. indoor orientation method according to claim 1, which is characterized in that the step 4 specifically includes:
Step 4a: parsing datagram obtains synchronous bag data, calculates the clock deviation of each locating base station；
Step 4b: parsing datagram obtains positioning bag data, on the basis of locating base station B1, calculates positioning label to each positioning base
The time difference TDOA of the arrival time and arrival locating base station B1 stood；
Step 4c: locating base station clock deviation is done to TDOA and hardware delay compensates, forms Hyperbolic Equation group；
Step 4d: the determination of observation weight: positioning label L is taken to reach △ t when walking of locating base station iiSquare it is reciprocal as solution
The weight of each TDOA measured value when calculation；For irrelevant observation, have the right a gust W:
W=diag (w1 w2 ... wi) (4)
In formula, diag () indicates diagonal matrix, wi=1/ (△ ti)2；The algorithm that TDOA solves positioning label position is an iteration mistake
Journey, therefore weigh wiDynamic is needed to update；
Step 4e: substituting into the known coordinate value of each locating base station, resolves hyperbolic fix equation group with weighted least-squares method, obtains
To location information of the positioning label under local horizontal coordinates.
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