CN109743701A - Indoor 3-D positioning method based on ultra-wideband communications - Google Patents
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Abstract
The present invention provides a kind of indoor 3-D positioning method for being based on ultra-wideband communications (Ultra-wide bandwidth, UWB), realizes under environment indoors to the high accuracy positioning of mobile UWB blind node.The specific steps of method include: that console passes through Wi-Fi to UWB blind node initiation Location Request, UWB blind node uses asymmetric bidirectional ranging, the more accurately two-way flight time between UWB blind node and each anchor node is obtained with lower time cost, and console is sent to by Wi-Fi；After console receives the two-way flight time, TDoA model is established, to convert obtained UWB blind node to the two-way flight time between UWB anchor node to the TDoA equation of description UWB blind node position.After filtering out useless noise and error using the extended Kalman filter that Chan enhances, the three-dimensional coordinate of UWB blind node is quickly obtained.
Description
Technical field
The invention belongs to indoor wireless field of locating technology, more particularly to the indoor three-dimensional localization side based on ultra-wideband communications
Method.
Background technique
With universal and mobile Internet the fast development of smart machine, demand of the people to indoor three-dimensional localization is increasingly
Increase.Indoor three-dimensional localization supports many applications, public safety, processing emergency and indoor navigation etc..And due to
Signal is excessively weak after GPS passes through building, is not enough to carry out indoor positioning, so short-distance wireless communication technology is widely used in interior
Positioning, such as Zigbee, Wi-Fi, ultra wide band (Ultra-Wideband, UWB).UWB can multiple frequency ranges (3.1GHz~
10.6GHz) emit signal simultaneously, can not only be completed in a short time ranging and there are also very high precision.So setting herein
The indoor orientation method of meter is based on the UWB communication technology.
There are many methods applied to UWB measurement electromagnetic wave flight time (Time-of-Fight, ToF), such as two-way survey
Away from (Two-Way Ranging, TWR) and symmetrical bidirectional ranging (Symmetric Double-Sided Two-Way Ranging,
SDS-TWR).The latter, which considerably reduces UWB range finder module clock jitter bring relative to the former, to be influenced, but due to repeating to pass
It is defeated, cause to take the former time more than 2 times, so this paper presents asymmetric bidirectional ranging (Asymmetry Double-
Sided Two-Way Ranging, ADS-TWR) algorithm, reduces UWB range finder module clock jitter band with lower time cost
The influence come.
In addition, after obtaining ToF, available reaching time-difference (Time Difference of Arrival, TDoA),
To establish TDoA equation to describe the position of target.After having TDoA equation, there is the available final positioning of many methods
Coordinate.Such as existing least square method (Least Squares, LS) and weighted least-squares method (constrained
Weighted least squares, CWLS), but iterative process needs take a lot of time；Chan algorithm only needs iteration two
It is secondary, precise results can be quickly obtained, it is a kind of approximate realization of Maximum-likelihood estimation, be can be obtained near small error band
Cramer-Rao lower bound.However, if obtain TDoA error it is larger if, the effect of Chan algorithm is by very fast decline；Minimum is flat
The square available very high-precision solution of error approach (Least-sum-squared-error, LSSE), but it is also required to iteration
And it also requires a more accurate initial value；The linear combination of Chan algorithm and Taylor algorithm can effectively reduce error, but
It cannot filter out some useless noises.
This paper presents the extended Kalman filter enhanced by Chan (Chan assisted Extended Kalman
Filter, Chan-EKF), it is effectively utilized that Chan without iteration is quickly obtained result and EKF filters out useless noise and interference
Ability, to realize the indoor three-dimensional localization of high-precision.
Summary of the invention
Goal of the invention: present invention aim to address in existing indoor orientation method, to reduce UWB range finder module clock
The excessive problem of time cost is paid in the influence of deviation bring.
Technical solution: the present invention uses following technical scheme to solve above-mentioned technical problem:
A kind of indoor orientation method based on ultra-wideband communications, comprising the following steps:
(1) console initiates Location Request to UWB blind node by the Wi-Fi module of its own, and UWB blind node is by ADS-
TWR is applied to UWB module and obtains the two-way flight time, caused by being reduced with lower time cost because of UWB module clock error
Measurement error；
(2) the two-way flight time obtained according to step (1), TDoA model is established, by UWB blind node to each UWB anchor section
The two-way flight-time information of point is converted into the TDoA equation of description location information；
(3) TDoA equation is iteratively solved twice using Chan, obtain N group solution Li(i=1,2 ..., N), by L1As this
Moment UWB blind node initial coordinate, by remaining N-1 group solution and L1It is input in Chan-EKF together；During iteration, the
K iteration result is by -1 iteration result of kth and LkWeighting obtain, iv-th iteration result is that the three-dimensional of UWB blind node is sat
Mark.
Further, in the step (1), UWB blind node initiates distance measurement request to each UWB anchor node first；UWB anchor
After node receives request, sends and request to UWB blind node；After UWB blind node receives, the preset time that is delayed is to UWB anchor node
Send confirmation message；UWB anchor node sends confirmation and metrical information to UWB blind node also after the preset time that is delayed simultaneously；
After UWB anchor node receives, two-way flight time ToF is calculated.
Further, in the step (1), UWB blind node includes a UWB module and a Wi-Fi module, UWB blind
Node coordinate be it is unknown, be denoted as (xp,yp,zp), Wi-Fi module is used to and the Wi-Fi module of console itself is communicated；
UWB anchor node is node known to coordinate as reference mode and is denoted as (xi,yi,zi) (i=0,1,2 ..., n), wherein n is
The number of anchor node, (x0,y0,z0) it is used as origin.
Further, in the step (1), measurement specifically includes the following steps:
UWB blind node initiates distance measurement request to UWB anchor node.After UWB anchor node receives this request, at once to UWB
Blind node initiates distance measurement request, while the time t being previously set that is delayedReplyBAfterwards, ranging confirmation is sent to UWB blind node
With flight time measurement process data；UWB blind node receives after UWB anchor node distance measurement request, and delay one is previously set
Time tReplyA(t afterwardsReplyA+2ToF≤tReplyB), ranging confirmation is sent to UWB anchor node；Therefore, UWB blind node and UWB
The time-consuming t that distance measurement request confirms to ranging each time between anchor nodeDelayAAnd tDelayBAre as follows:
Since UWB module clock can have certain deviation in practice, the two-way flight time after considering deviation are as follows:
Wherein eAAnd eBThe respectively clock jitter of UWB blind node and UWB anchor node, unit ppm；
Its two-way flight time ToF between UWB anchor node is calculated in UWB blind node, and will by Wi-Fi module
Measurement result is sent to console.
Further, in the step (2), console obtains UWB blind node between each UWB anchor node when two-way flight
Between ToFi(i=1,2 ..., n) after, the value of differential time of flight TDoA can be calculated by following equation:
ΔToFi=ToFi-ToFi-1, i=1,2 ..., n formula (3)
Therefore, the distance between UWB blind node and UWB anchor node difference can be obtained by the following formula:
Δri=c × Δ ToFi, i=1,2,3 ..., n formula (4)
Wherein, c is the speed of Electromagnetic Wave Propagation；Therefore, TDoA equation is available are as follows:
Wherein, DiIt is the distance between UWB blind node and UWB anchor node, can be obtained by following formula:
Further, in the step (3), the state equation and observational equation of Chan-EKF are as follows:
Wherein Pk=(xk,yk,zk)TRepresent the system mode of kth step；UkFor systematic procedure noise, it is assumed that it is Gaussian noise,
Its variance is E (Uk·Uk T)=Qk；VkIt indicates observation noise, also assumes that as Gaussian noise, variance is E (Vk·Vk T)=Rk；
Kth time priori prediction in order to obtain, using STATE FEEDBACK CONTROL, time update equation calculate current state variable and
Error covariance estimated value；The priori prediction of (k-1) can be used as the reference of kth time priori prediction, while update kth time
When state, combine kalman gain and by Chan tentatively obtain as a result, as follows in conjunction with formula:
Wherein GkIt is kalman gain,For the PRELIMINARY RESULTS obtained by Chan；The step of Chan-EKF iteration, is as follows:
1) variance matrix C is initialized0, Q, R, the coordinate of UWB anchor node: (xi,yi,zi) (i=0,1,2,3 ... n)；
2) initial coordinate that UWB blind node is obtained using Chan, is denoted as L1；
3) for k=2:Num, the coordinate of UWB blind node is obtained using Chan, is denoted as Lk；K is successively substituted into following public affairs
Formula:
Ck|k-1=Φ Ck-1ΦT+Qk
Gk=Ck|k-1H[k,Pk|k-1]T/([H[k,Pk|k-1]Ck|k-1H[k,Pk|k-1]T+Vk])
Ck=[I-GkH[k,Pk|k-1]]Ck|k-1
Wherein, Num is a certain moment, UWB blind node ranging sum；
4)It is exactly the coordinate of finally obtained UWB blind node.
The utility model has the advantages that the invention adopts the above technical scheme compared with prior art:
The present invention fully considers that ultra-wideband communications module clock error and amendment clocking error bring excessive time cost
Problem in a relatively short period of time, 4 times is completed between UWB blind node and UWB anchor node and is led to by the ADS-TWR of proposition
Letter, relative to SDS-TWR, reducing ultra wide band module clock deviation bring with lower time cost influences.It merges simultaneously
Chan is not necessarily to loop iteration, quickly obtains TDoA equation result and EKF filters out the ability of useless noise, additional defeated not increasing
In the case where entering, the acquisition positioning result of fast accurate provides a kind of indoor 3-D positioning method based on ultra-wideband communications.
Detailed description of the invention
Fig. 1 is the indoor 3-D positioning method flow chart based on ultra-wideband communications；
Fig. 2 is the three-dimensional localization schematic diagram of a scenario based on ultra-wideband communications；
Fig. 3 is the flow chart using ADS-TWR measurement ToF；
Fig. 4 is to solve TDoA equation using Chan-EKF to obtain the flow chart of UWB blind node coordinate.
Specific embodiment
The present invention is the indoor 3-D positioning method based on ultra-wideband communications, uses ADS-TWR with lower time cost
Eliminating ultra-wideband communications module clock deviation bring influences, the accurate two-way flight time of Quick Acquisition to ultra wide band electrically magnetic wave
Afterwards, TDoA model is established, then according to model, it is three-dimensional that obtained two-way flight time condition is converted into description UWB blind node
The accurate three-dimensional coordinate of blind node, the main step of method is finally quickly calculated in the TDoA equation of coordinate using Chan-EKF
It is rapid to make further concrete analysis and description as shown in Figure 1, designing with reference to the accompanying drawing the present invention program.
As shown in Fig. 2, system is largely divided into three parts: UWB anchor node, UWB blind node and console.UWB blind node packet
Include a UWB module and a Wi-Fi module, UWB blind node coordinate be it is unknown, be denoted as (xp,yp,zp), Wi-Fi module is used
To be communicated with console；UWB anchor node is node known to coordinate as reference mode and is denoted as (xi,yi,zi) (i=0,
1,2 ..., n), wherein n is the number of anchor node, we select (x0,y0,z0) it is used as origin；Console is controlled by Wi-Fi
UWB blind node initiates ranging and stops ranging, while receiving the two-way time of flight data measured from blind node, and run this
The Chan-EKF that text proposes calculates positioning result.
Before positioning starts, console initiates distance measurement request to UWB blind node by Wi-Fi module, and UWB blind node receives
To after Location Request, two-way flight time measurement single measurement schematic diagram is carried out between each UWB anchor node using ADS-TWR
As shown in Figure 3.Measuring process are as follows: UWB blind node initiates distance measurement request to UWB anchor node first.UWB anchor node receives this
After request, and distance measurement request is initiated to UWB blind node at once, while the time t being previously set that is delayedReplyBAfterwards, to UWB
Blind node sends ranging confirmation and flight time measurement process data.UWB blind node is received from UWB anchor node distance measurement request
Afterwards, be delayed a time t being previously setReplyA(t afterwardsReplyA+2ToF≤tReplyB), ranging confirmation is sent to UWB anchor node.
Therefore, the time-consuming t that distance measurement request confirms to ranging each time between UWB blind node and UWB anchor nodeDelayAAnd tDelayBAre as follows:
Since UWB module clock can have certain deviation in practice, the two-way flight time after considering deviation are as follows:
Wherein eAAnd eBThe respectively clock jitter of UWB blind node and UWB anchor node, unit ppm.
Finally, its two-way flight time ToF between UWB anchor node is calculated in UWB blind node, and pass through Wi-Fi
Measurement result is sent to console by module.Console obtains UWB blind node to the two-way flight time between each UWB anchor node
ToFi(i=1,2 ..., n) after, the value of differential time of flight TDoA can be calculated by following equation:
ΔToFi=ToFi-ToFi-1, i=1,2 ..., n formula (3)
Therefore, the distance between UWB blind node and UWB anchor node difference can be obtained by the following formula:
Δri=c × Δ ToFi, i=1,2,3 ..., n formula (4)
Wherein, c is the speed of Electromagnetic Wave Propagation.Therefore, TDoA equation is available are as follows:
Wherein, DiIt is the distance between UWB blind node and UWB anchor node, can be obtained by following formula:
After obtaining TDoA equation, there is Chan-EKF iteration proposed in this paper to obtain final positioning result.Have benefited from applying
The UWB module of ADS-TWR can fast and accurately obtain the two-way flight time, and UWB blind node can be when one very of short duration
Interior measurement obtains much organizing ToF data, therefore the state equation and observational equation of Chan-EKF are as follows:
Wherein Pk=(xk,yk,zk)TRepresent the system mode of kth step.UkFor systematic procedure noise, it is assumed that it is Gaussian noise,
Its variance is E (Uk·Uk T)=Qk。VkIt indicates observation noise, also assumes that as Gaussian noise, variance is E (Vk·Vk T)=Rk.Such as
Shown in Fig. 4, kth time priori prediction in order to obtain, using STATE FEEDBACK CONTROL, time update equation calculate current state variable and
Error covariance estimated value.The priori prediction of (k-1) can be used as the reference of kth time priori prediction, while update herein
When kth next state, combine kalman gain and by Chan tentatively obtain as a result, as follows in conjunction with formula:
Wherein GkIt is kalman gain,For the PRELIMINARY RESULTS obtained by Chan.The step of Chan-EKF iteration, is as follows:
1, variance matrix C is initialized0, Q, R, the coordinate of UWB anchor node: (xi,yi,zi) (i=0,1,2,3 ... n).
2, the initial coordinate that UWB blind node is obtained using Chan, is denoted as L1。
3, for k=2:Num, the coordinate of UWB blind node is obtained using Chan, is denoted as Lk.K is successively substituted into following public affairs
Formula:
Ck|k-1=Φ Ck-1ΦT+Qk
Gk=Ck|k-1H[k,Pk|k-1]T/([H[k,Pk|k-1]Ck|k-1H[k,Pk|k-1]T+Vk])
Ck=[I-GkH[k,Pk|k-1]]Ck|k-1
Wherein, Num is a certain moment, UWB blind node ranging sum.
4、It is exactly the coordinate of finally obtained UWB blind node.
Claims (6)
1. a kind of indoor orientation method based on ultra-wideband communications, which comprises the following steps:
(1) console initiates Location Request to UWB blind node by the Wi-Fi module of its own, and UWB blind node is by ADS-TWR
The two-way flight time is obtained applied to UWB module, is reduced with lower time cost because being measured caused by UWB module clock error
Error；
(2) the two-way flight time obtained according to step (1), TDoA model is established, by UWB blind node to each UWB anchor node
Two-way flight-time information is converted into the TDoA equation of description location information；
(3) TDoA equation is iteratively solved twice using Chan, obtain N group solution Li(i=1,2 ..., N), by L1As this moment
UWB blind node initial coordinate, by remaining N-1 group solution and L1It is input in Chan-EKF together；During iteration, kth time
Iteration result is by -1 iteration result of kth and LkWeighting obtain, iv-th iteration result is the three-dimensional coordinate of UWB blind node.
2. the indoor orientation method according to claim 1 based on ultra-wideband communications, which is characterized in that the step (1)
In, UWB blind node initiates distance measurement request to each UWB anchor node first；After UWB anchor node receives request, sent out to UWB blind node
Send request；After UWB blind node receives, the preset time that is delayed sends confirmation message to UWB anchor node；UWB anchor node simultaneously
After the preset time that is delayed, confirmation and metrical information are sent to UWB blind node；After UWB anchor node receives, two-way fly is calculated
Row time ToF.
3. the indoor orientation method according to claim 1 based on ultra-wideband communications, which is characterized in that the step (1)
In, UWB blind node include a UWB module and a Wi-Fi module, UWB blind node coordinate be it is unknown, be denoted as (xp,yp,
zp), Wi-Fi module is used to and the Wi-Fi module of console itself is communicated；UWB anchor node is node known to coordinate, is made
For reference mode, it is denoted as (xi,yi,zi) (i=0,1,2 ..., n), wherein n is the number of anchor node, (x0,y0,z0) as former
Point.
4. the indoor orientation method according to claim 1 based on ultra-wideband communications, which is characterized in that the step (1)
In, measurement is specifically includes the following steps: UWB blind node initiates distance measurement request to UWB anchor node.UWB anchor node receives this
After request, distance measurement request is initiated to UWB blind node at once, while the time t being previously set that is delayedReplyBAfterwards, blind to UWB
Node sends ranging confirmation and flight time measurement process data；UWB blind node receives after UWB anchor node distance measurement request,
Be delayed a time t being previously setReplyA(t afterwardsReplyA+2ToF≤tReplyB), ranging confirmation is sent to UWB anchor node；Cause
This, the time-consuming t that distance measurement request confirms to ranging each time between UWB blind node and UWB anchor nodeDelayAAnd tDelayBAre as follows:
Since UWB module clock can have certain deviation in practice, the two-way flight time after considering deviation are as follows:
Wherein eAAnd eBThe respectively clock jitter of UWB blind node and UWB anchor node, unit ppm；It is calculated in UWB blind node
To after its two-way flight time ToF between UWB anchor node, measurement result is sent to by console by Wi-Fi module.
5. the indoor orientation method according to claim 1 based on ultra-wideband communications, which is characterized in that the step (2)
In, console obtains UWB blind node to flight time ToF two-way between each UWB anchor nodei(i=1,2 ..., n) after, under
The value of differential time of flight TDoA can be calculated in column formula:
ΔToFi=ToFi-ToFi-1, i=1,2 ..., n formula (3)
Therefore, the distance between UWB blind node and UWB anchor node difference can be obtained by the following formula:
Δri=c × Δ ToFi, i=1,2,3 ..., n formula (4)
Wherein, c is the speed of Electromagnetic Wave Propagation；Therefore, TDoA equation is available are as follows:
Wherein, DiIt is the distance between UWB blind node and UWB anchor node, can be obtained by following formula:
。
6. the indoor orientation method according to claim 1 based on ultra-wideband communications, which is characterized in that the step (1)
In, in the step (3), the state equation and observational equation of Chan-EKF are as follows:
Wherein Pk=(xk,yk,zk)TRepresent the system mode of kth step；UkFor systematic procedure noise, it is assumed that be Gaussian noise, side
Difference is E (Uk·Uk T)=Qk；VkIt indicates observation noise, also assumes that as Gaussian noise, variance is E (Vk·Vk T)=Rk；
Kth time priori prediction in order to obtain calculates current state variable and error using STATE FEEDBACK CONTROL, time update equation
Covariance estimated value；The priori prediction of (k-1) can be used as the reference of kth time priori prediction, while update kth next state
When, combine kalman gain and by Chan tentatively obtain as a result, as follows in conjunction with formula:
Wherein GkIt is kalman gain,For the PRELIMINARY RESULTS obtained by Chan；The step of Chan-EKF iteration, is as follows:
1) variance matrix C is initialized0, Q, R, the coordinate of UWB anchor node: (xi,yi,zi) (i=0,1,2,3 ... n)；
2) initial coordinate that UWB blind node is obtained using Chan, is denoted as L1；
3) for k=2:Num, the coordinate of UWB blind node is obtained using Chan, is denoted as Lk；K is successively substituted into following formula:
Ck|k-1=Φ Ck-1ΦT+Qk
Gk=Ck|k-1H[k,Pk|k-1]T/([H[k,Pk|k-1]Ck|k-1H[k,Pk|k-1]T+Vk])
Ck=[I-GkH[k,Pk|k-1]]Ck|k-1
Wherein, Num is a certain moment, UWB blind node ranging sum；
4)It is exactly the coordinate of finally obtained UWB blind node.
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| CN110493742B (en) * | 2019-08-28 | 2020-12-04 | 哈尔滨工程大学 | Indoor three-dimensional positioning method for ultra-wideband |
| CN110531317A (en) * | 2019-09-05 | 2019-12-03 | 国网江苏省电力有限公司镇江供电分公司 | Substation inspection localization method based on UWB |
| CN110933630A (en) * | 2019-11-27 | 2020-03-27 | 云南电网有限责任公司电力科学研究院 | Indoor three-dimensional positioning method and device based on ultra-wideband communication |
| CN113038597A (en) * | 2021-02-23 | 2021-06-25 | 清华大学 | UWB-based positioning method and system |
| CN113567925A (en) * | 2021-06-22 | 2021-10-29 | 山东师范大学 | Ultra-wideband technology-based accurate positioning method, system and device |
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