CN109975746B - Positioning method based on pulse counting type distance measurement - Google Patents
Positioning method based on pulse counting type distance measurement Download PDFInfo
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- CN109975746B CN109975746B CN201910226572.4A CN201910226572A CN109975746B CN 109975746 B CN109975746 B CN 109975746B CN 201910226572 A CN201910226572 A CN 201910226572A CN 109975746 B CN109975746 B CN 109975746B
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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
- G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
- G01S11/02—Systems for determining distance or velocity not using reflection or reradiation using radio waves
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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
- G01S5/0009—Transmission of position information to remote stations
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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
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Abstract
The invention relates to the technical field of wireless distance measurement and positioning, and discloses a positioning method based on pulse counting type distance measurement. The invention can firstly determine the distance from the locator to the positioning target device based on the pulse counting between the receiving and transmitting signals, then, according to the known position of the locator and the distance between the locator and the positioning target equipment, the current position of the positioning target equipment is obtained, and in the distance measuring process, because the distance measurement is carried out by adopting an interactive response mode, the positioning target equipment can be appointed to receive and feed back the modulated signal, so that the distance measurement has the appointed character or the directivity, and because the pulse modulation signal is not affected by interference and air quality in the transceiving process, therefore, the problems of multipath reflection, multipath fading and the like do not need to be considered in the final signal processing, the requirement on the aspect of data processing capacity can be greatly reduced on the locator side, and the final ranging result can be obtained only through analog modulation, demodulation, phase discrimination and simple operation processing.
Description
Technical Field
The invention belongs to the technical field of wireless ranging and positioning, and particularly relates to a pulse counting type ranging-based positioning method suitable for an Internet of things RFID positioning system.
Background
The wireless ranging is a ranging method based on an electromagnetic wave application technology, and has wide application prospects in the fields of wireless positioning, wireless measurement, wireless detection and the like. After the wireless ranging is finished, the distance information can be further utilized to realize the positioning and tracking of the target or self-adaptively adjust communication parameters and the like. Compared with the technologies of infrared ranging, laser ranging and the like, the wireless ranging can be organically integrated with a wireless communication system to form a communication ranging integrated system. With the increasing popularity of wireless networks, wireless ranging technology will be used more and more.
Radio Frequency identification (rfid) technology, also called radio Frequency identification (rfid), is a communication technology, commonly called electronic tag, that can identify a specific target and read and write related data through radio signals. Currently, the RFID technology has been widely used in various fields, for example, goods sales, transportation, production, waste management, postal tracking, air baggage management, vehicle toll management, etc., and the conventional tape bar code has been slowly replaced by the RFID system in the identification field due to its small storage capacity, non-rewritable property, etc.
A typical RFID positioning system for the internet of things is composed of a positioning base station, a locator and a target positioning device (i.e. an electronic tag), wherein the locator is configured to use a wireless ranging technology to obtain a spatial distance from a local location to the target positioning device, and the positioning base station is configured to obtain an accurate location of the target positioning device according to a known location of the locator and the spatial distance to the target positioning device, such as a three-point positioning algorithm. The existing wireless ranging technology generally performs ranging based on wireless Signal reflection or RSSI (Received Signal Strength Indication), and the former lacks directivity or specificity (namely ranging is performed for a certain specific positioning target device), and needs to consider the problem of multipath reflection, so that the requirement on the data processing capability of the ranging side is high, which is not favorable for designing a locator and a positioning base station at low cost, and meanwhile, the existing wireless ranging technology cannot perform reflection ranging for a concealed target positioning device; although the latter can measure the distance of a hidden target positioning device, the influence of a propagation path on signal fading (for example, the influence on wireless signal fading in a foggy day is large, and the influence on wireless signal fading in a sunny day is small) and the problem of multipath fading need to be considered, so that the requirement on the data processing capacity of the distance measuring device side is high, the design of a positioner and a positioning base station at low cost is not facilitated, the specific application and popularization of the internet of things RFID positioning system are severely limited, and the method is particularly not suitable for the internet of things RFID positioning system which is arranged in places such as mountainous areas or ports and has a coverage range of 30M-3 KM, and therefore, a new distance measuring method or a new distance measuring device, a new positioning method or a new positioning system which has low requirement on data processing capacity and is beneficial to low-cost hardware design.
Disclosure of Invention
The invention aims to solve the problems of high data processing capacity requirement on the side of a distance measuring device, high hardware cost and the like in the existing RFID positioning system of the Internet of things, and provides a pulse counting type distance measuring-based positioning method suitable for the RFI D positioning system of the Internet of things.
The technical scheme adopted by the invention is as follows:
a positioning method based on pulse counting type distance measurement comprises the following steps:
s101, a positioning base station generates and sends a positioning starting message, wherein the positioning starting message comprises locator address information and positioning target equipment address information, the locator address information is used for indicating a locator needing to immediately enter a positioning and ranging mode, and the positioning target equipment address information is used for indicating positioning target equipment to be positioned;
s102, after the locator receives the positioning starting message, if the locator address information is judged to be matched with the local locator address, entering a positioning and ranging mode: executing subsequent steps S103-S104;
s103, acquiring the distance from the local locator to the positioning target equipment according to the following steps S201 to S208:
s201, generating a ranging starting message according to the positioning starting message, wherein the ranging starting message comprises first ranging target equipment address information, and the first ranging target equipment address information is used for indicating positioning target equipment needing to immediately enter a ranging response mode;
s202, wirelessly sending the ranging starting message on a first channel;
s203, generating a pulse modulation signal and a downlink carrier signal, wherein the frequency of the pulse modulation signal is between 100M and 300MHz, and the frequency of the downlink carrier signal is between 1G and 3 GHz;
s204, performing analog modulation on the pulse modulation signal and the downlink carrier signal to obtain a downlink modulated signal;
s205, wirelessly sending the downlink modulated signal on a downlink channel, and starting pulse counting;
s206, an uplink channel is intercepted, and an uplink modulated signal from a positioning target device is wirelessly received, wherein the uplink modulated signal is a modulated signal obtained by performing analog modulation on a pulse modulated signal demodulated from the downlink modulated signal and a generated uplink carrier signal at the side of the positioning target device, and the frequency of the uplink carrier signal is between 1G and 3 GHz;
s207, respectively introducing the pulse modulation signals demodulated from the uplink modulated signals and locally generated pulse modulation signals into an AND gate;
s208, stopping pulse counting when the operation result of the AND gate is '1', counting the number of sent pulses, and then calculating the distance from the local to the ranging target equipment according to the following formula:
wherein N is the number of sent pulses, f0The frequency of the pulse modulation signal is delta t, the fixed processing time delay is delta t, and the light speed is c;
s104, generating and feeding back a positioning response message to the positioning base station, wherein the positioning response message comprises the distance from the local positioner to the positioning target equipment, the positioner address corresponding to the local positioner and the equipment address corresponding to the positioning target equipment;
and S105, after receiving the positioning response message, the positioning base station acquires the current position of the positioning target equipment according to the known position of the positioner and the distance between the positioner and the positioning target equipment.
Preferably, the ranging initiation message further includes a unique downlink channel identifier and/or a unique uplink channel identifier.
Preferably, when the locator address information indicates a plurality of locators, the ranging initiation message further includes a downlink channel unique identifier and an uplink channel unique identifier, where the downlink channel unique identifier is a channel unique identifier randomly allocated on a corresponding locator side or a channel unique identifier included in the ranging initiation message and corresponding to the corresponding locator one to one, and the uplink channel unique identifier is a channel unique identifier randomly allocated on a corresponding locator side or a channel unique identifier included in the ranging initiation message and corresponding to the corresponding locator one to one.
Preferably, when the address information of the first ranging target device indicates a plurality of positioning target devices, the ranging start message further includes unique uplink channel identifiers corresponding to the positioning target devices one to one.
Preferably, the ranging start message further includes ranging start duration information, where the ranging start duration information is used to instruct the positioning target device to maintain the maximum duration of the ranging response mode.
Preferably, in the step S105, the method includes the following steps:
s501, after receiving a plurality of positioning response messages fed back by different positioners in the same time period, the positioning base station determines three positioners closest to the positioning target equipment according to the distance from each positioner to the positioning target equipment;
s502, according to the known positions of the three nearest locators and the distances from the three nearest locators to the positioning target equipment respectively, three-point positioning algorithm processing is carried out, and the current position of the positioning target equipment is obtained through calculation.
Preferably, the location response message further includes a timestamp for obtaining the distance from the local locator to the location target device.
Preferably, before the step S206, the method further includes the following steps:
s601, after the positioning target device receives the ranging starting message, if the address information of the first ranging target device is judged to be matched with the address of the local device, entering a ranging response mode: executing the subsequent steps S602-S604;
s602, monitoring a downlink channel, and demodulating a pulse modulation signal from the downlink modulated signal when the downlink modulated signal is wirelessly received;
s603, performing analog modulation on the pulse modulation signal demodulated from the downlink modulated signal and the locally generated uplink carrier signal to obtain an uplink modulated signal;
and S604, wirelessly transmitting the uplink modulated signal on an uplink channel.
Preferably, after the step S205, if the uplink modulated signal is not received within the effective response time, the wireless transmission of the downlink modulated signal is terminated.
Preferably, after the step S208, the method further includes the following steps:
s209, generating a ranging ending message, and wirelessly sending the ranging ending message on a second channel, wherein the ranging ending message comprises second ranging target device address information, and the second ranging target device address information is used for indicating a positioning target device needing to immediately end a ranging response mode.
The invention has the beneficial effects that:
(1) the invention provides a novel positioning method based on pulse counting type distance measurement, which can firstly measure the distance from a locator to a positioning target device based on the pulse counting between a receiving signal and a transmitting signal, then obtains the current position of the positioning target device according to the known position of the locator and the distance between the locator and the positioning target device, and in the distance measurement process, because the distance measurement is carried out by adopting an interactive response mode, the positioning target device can be appointed to receive and feed back a modulated signal, so that the distance measurement has the specificity or the directivity, and because the pulse modulation signal is not influenced by the interference and the adverse effect of the air quality in the receiving and transmitting processes, the problems of multipath reflection, multipath fading and the like do not need to be considered in the final signal processing, the requirements on the data processing capability can be greatly reduced on the locator side, and only the requirements on the data processing capability can be met through analog modulation, The final ranging result can be obtained through demodulation, phase discrimination and simple operation processing, hardware can be designed at low cost, and the method is particularly suitable for an RFI D positioning system of the Internet of things;
(2) the positioning method also has the advantages of simultaneous multi-target positioning and distance measurement, convenience for positioning target equipment, energy conservation, flexible application and the like, and is convenient for practical popularization and application.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic flow chart of a positioning method based on pulse counting ranging provided by the present invention.
Fig. 2 is a schematic flow chart of a method for performing pulse counting type distance measurement between a locator and a target device according to the present invention.
FIG. 3 is a schematic diagram of waveforms of related signals for pulse counting ranging between a locator and a target device according to the present invention.
FIG. 4 is a timing diagram of related channels for pulse counting ranging between a locator and a target device according to the present invention.
Fig. 5 is a schematic structural diagram of a pulse counting type ranging-based positioning system provided by the invention.
Detailed Description
The invention is further described with reference to the following figures and specific embodiments. It should be noted that the description of the embodiments is provided to help understanding of the present invention, but the present invention is not limited thereto. Specific structural and functional details disclosed herein are merely illustrative of example embodiments of the invention. This invention may, however, be embodied in many alternate forms and should not be construed as limited to the embodiments set forth herein.
It will be understood that, although the terms first, second, etc. may be used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another. For example, a first element could be termed a second element, and, similarly, a second element could be termed a first element, without departing from the scope of example embodiments of the present invention.
It should be understood that the term "and/or" herein is merely one type of association relationship that describes an associated object, meaning that three relationships may exist, e.g., a and/or B may mean: a exists alone, B exists alone, and A and B exist at the same time, and the term "/and" is used herein to describe another association object relationship, which means that two relationships may exist, for example, A/and B, may mean: a alone, and both a and B alone, and further, the character "/" in this document generally means that the former and latter associated objects are in an "or" relationship.
It will be understood that when an element is referred to as being "connected," "connected," or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may be present. In contrast, when an element is referred to as being "directly adjacent" or "directly coupled" to another element, there are no intervening elements present. Other words used to describe the relationship between elements should be interpreted in a similar manner (e.g., "between … …" versus "directly between … …", "adjacent" versus "directly adjacent", etc.).
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments of the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises," "comprising," "includes," and/or "including," when used herein, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, numbers, steps, operations, elements, components, and/or groups thereof.
It should also be noted that, in some alternative implementations, the functions/acts noted may occur out of the order noted in the figures. For example, two figures shown in succession may, in fact, be executed substantially concurrently, or the figures may sometimes be executed in the reverse order, depending upon the functionality/acts involved.
In the following description, specific details are provided to facilitate a thorough understanding of example embodiments. However, it will be understood by those of ordinary skill in the art that the example embodiments may be practiced without these specific details. For example, systems may be shown in block diagrams in order not to obscure the examples in unnecessary detail. In other instances, well-known processes, structures and techniques may be shown without unnecessary detail in order to avoid obscuring example embodiments.
Example one
As shown in fig. 1 to 4, the positioning method based on pulse counting ranging provided in this embodiment may include, but is not limited to, the following steps.
S101, a positioning base station generates and sends a positioning starting message, wherein the positioning starting message comprises locator address information and ranging target equipment address information, the locator address information is used for indicating a locator needing to immediately enter a positioning and ranging mode, and the ranging target equipment address information is used for indicating positioning target equipment to be positioned.
In the step S101, the positioning start message is used to inform the receiver (i.e. the locator) to immediately enter the positioning and ranging mode: the method includes the steps of obtaining a distance from a local locator to a positioning target device through a pulse counting type ranging method (i.e., the method described in the subsequent steps S201 to S208), and then binding and uploading the distance from the local locator to the positioning target device, a locator address corresponding to the local locator and a device address corresponding to the positioning target device to a positioning base station, so that the positioning base station obtains a current position of the positioning target device according to a known position of the locator and the distance between the locator and the positioning target device. In order to save the time required for positioning, a plurality of positioners may be simultaneously started to position the positioning target device, that is, it is optimized that, when the locator address information indicates a plurality of positioners, the positioning start message further includes a channel unique identifier corresponding to the corresponding positioners one to one, where the channel unique identifier is used to indicate an uplink channel and/or a downlink channel required for pulse counting type ranging between the positioners and the positioning target device, so as to avoid that two adjacent positioners transmit downlink modulated signals on the same downlink channel and/or listen to the uplink modulated signals on the same uplink channel, that is, to reduce the probability of mutual interference between the two modulated signals.
S102, after the locator receives the positioning starting message, if the locator address information is judged to be matched with the local locator address, entering a positioning and ranging mode: the subsequent steps S103 to S104 are executed.
S103, the distance from the local locator to the positioning target device can be obtained but is not limited according to the following steps S201 to S208.
S201, generating a ranging starting message according to the positioning starting message, wherein the ranging starting message comprises address information of a first ranging target device, and the address information of the first ranging target device is used for indicating a positioning target device which needs to immediately enter a ranging response mode.
In step S201, the ranging initiation message is used to inform the receiver (i.e. the positioning target device) to immediately enter a ranging response mode: the method comprises the steps of monitoring a downlink channel, wirelessly receiving a downlink modulated signal, obtaining an uplink modulated signal according to the downlink modulated signal, and wirelessly transmitting the uplink modulated signal on an uplink channel. The uplink channel and the downlink channel are respectively dedicated channels different from a subsequent first channel, and can be defaulted through a standard protocol, or can be specified in the ranging start message, that is, optimized, the ranging start message further comprises a unique identifier of the downlink channel and/or a unique identifier of the uplink channel, wherein the unique identifier of the downlink channel is used for indicating the downlink channel which needs to be monitored by the positioning target device, and the unique identifier of the uplink channel is used for indicating the uplink channel which carries out feedback response by the positioning target device, so that the purpose of dynamically appointing the downlink channel and/or the uplink channel can be realized, and the application flexibility is strong.
In step S101, for the purpose of fast ranging, pulse counting ranging may be simultaneously started to a plurality of positioning target devices at one time, at this time, for the plurality of positioning target devices, they may simultaneously listen to the same downlink channel, but in order to avoid the problem of mutual interference of a plurality of uplink modulated signals, a corresponding uplink channel must be specified for each positioning target device, that is, it is optimized that, when the first ranging target device address information indicates a plurality of positioning target devices, the ranging start message further includes uplink channel unique identifiers corresponding to the positioning target devices one to one.
In step S101, if a plurality of locators are simultaneously enabled to locate the positioning target device through the positioning initiation message for the purpose of fast positioning, in order to avoid that two adjacent locators transmit downlink modulated signals on the same downlink channel and/or listen to uplink modulated signals on the same uplink channel, it is preferred, when the locator address information indicates a plurality of locators, the ranging initiation message further comprises a downlink channel unique identifier and an uplink channel unique identifier, wherein the downlink channel unique identifier is a channel unique identifier randomly allocated at the side of a corresponding locator or a channel unique identifier which is contained in the positioning start message and corresponds to the corresponding locator one by one, the unique identifier of the uplink channel is a unique identifier of a channel randomly allocated at the side of a corresponding locator or a unique identifier of a channel which is contained in the positioning start message and corresponds to the corresponding locator one by one. Therefore, the downlink channel can be randomly allocated or preset in advance, and the uplink channel can be randomly allocated or preset in advance, so that the probability of mutual interference of two modulated signals can be effectively reduced.
In the step S101, for the purpose of saving energy, preferably, the ranging start message further includes ranging start duration information, where the ranging start duration information is used to indicate that the positioning target device maintains a maximum duration of the ranging response mode. Therefore, after the positioning target equipment enters the ranging response mode, if the positioning target equipment does not wirelessly receive the downlink modulated signal on the downlink channel and does not receive other end messages, the positioning target equipment can exit the ranging response mode at regular time according to the ranging starting time length information so as to sleep or switch to other modes in time.
S202, the ranging starting message is wirelessly sent on a first channel.
In the step S202, for energy saving purposes, a positioning target device (i.e. an electronic tag) in an RFI D positioning system of the internet of things typically sleeps and listens to the first channel periodically, and in order to ensure that the positioning target device can be started to perform a ranging response mode, it is optimized that a plurality of the ranging start messages are continuously and periodically transmitted on the first channel within a first period, wherein the duration of the first period is greater than a sleep cycle of the positioning target device, the sleep cycle includes a sleep duration of the positioning target device and a first channel listening duration, and the transmission period of the ranging start message is less than the first channel listening duration of the positioning target device. Because the duration of the first time interval is longer than the sleep period of the positioning target device and the sending period of the ranging start message is shorter than the first channel monitoring duration of the positioning target device, the positioning target device can be ensured to completely receive the ranging start message in the first channel monitoring duration of any sleep period, and the starting omission is avoided. For example, if the first channel sensing duration is 100ms, and the sleep duration is 3900ms, the sleep cycle of the target device is 4 seconds, the transmission cycle may be designed to be 60ms (assuming that the transmission duration of the ranging start message is 50ms, a slot interval of 10ms is reserved), and the duration of the first period may be designed to be 4020ms, that is, the ranging start message may be continuously transmitted 67 times. Preferably, the ranging initiation message further includes first period duration information and current message sending clock information, where the current message sending clock information is used to indicate a timestamp from the start time of the first period to the current message sending time. Through the information configuration, after acquiring the first period duration information and the current message transmission clock information, the non-ranging target device or the ranging target device can know the transmission ending time of the ranging starting message in the current round, so that a longer sleep time can be set, the energy saving of the device is facilitated, and particularly for the non-ranging target device or the ranging target device (which may be simply referred to as a ranging device) which finishes the feedback of the uplink modulated signal, the non-ranging target device or the ranging target device can wake up after the transmission is ended due to no need of ranging response.
In step S202, since the ranging initiation message may inform that it is a ranging initiation message by the message frame attribute pair, for the positioning target device, the identity of the sender of the ranging initiation message and/or the group identity of the recipient may not be known, preferably, therefore, the ranging initiation message may further include a source address invalid bit and/or a location target device group address invalid bit, wherein the source address invalid bit is used to indicate that source address information is not present in the ranging initiation message, the positioning target device group address invalid bit is used to indicate that there is no positioning target device group address information in the ranging initiation message, the source address information is used for indicating the sender identity of the ranging start message, and the positioning target device group address information is used for indicating the group identity of the positioning target device. By the address default configuration of the ranging starting message, the message length (generally, 4 bytes or 8 bytes) and the sending time length can be effectively shortened, the channel utilization rate can be improved, the first channel interception time length of the positioning target device can be effectively shortened, and the energy conservation of the device is further facilitated.
S203, generating a pulse modulation signal and a downlink carrier signal, wherein the frequency of the pulse modulation signal is between 100M and 300MHz, and the frequency of the downlink carrier signal is between 1G and 3 GHz.
In step S203, the pulse modulation signal and the downlink carrier signal may be generated by an existing crystal oscillator unit and associated frequency doubling unit and shaping unit.
And S204, performing analog modulation on the pulse modulation signal and the downlink carrier signal to obtain a downlink modulated signal.
In step S204, the analog modulation is a conventional modulation technique, such as an amplitude modulation technique, a phase modulation technique, or a frequency modulation technique, for example, the amplitude modulation technique is adopted as shown in fig. 3 and 4.
And S205, wirelessly sending the downlink modulated signal on a downlink channel, and starting pulse counting.
In the step S205, the pulses of the pulse modulation signal may be counted, but not limited to, by using a start counter.
After step S205, considering that there may be a situation where the positioning target device fails to feed back the uplink modulated signal due to reasons such as not receiving the ranging initiation message or receiving the downlink modulated signal, in order to avoid unnecessary energy consumption and continuing ranging, it is optimized to terminate the wireless transmission of the downlink modulated signal if the uplink modulated signal is not received within the effective response time.
And S106, intercepting an uplink channel, and wirelessly receiving an uplink modulated signal from a distance measurement target device, wherein the uplink modulated signal is a modulated signal obtained by performing analog modulation on a pulse modulated signal demodulated from the downlink modulated signal and a generated uplink carrier signal at the distance measurement target device side, and the frequency of the uplink carrier signal is between 1G and 3 GHz.
Before step S206 and on the side of the positioning target device, the following steps are also required: s601, after the positioning target device receives the ranging starting message, if the address information of the first ranging target device is judged to be matched with the address of the local device, entering a ranging response mode: executing the subsequent steps S602-S604; s602, monitoring a downlink channel, and demodulating a pulse modulation signal from the downlink modulated signal when the downlink modulated signal is wirelessly received; s603, performing analog modulation on the pulse modulation signal demodulated from the downlink modulated signal and the locally generated uplink carrier signal to obtain an uplink modulated signal; and S604, wirelessly transmitting the uplink modulated signal on an uplink channel. In addition, if a plurality of the ranging initiation messages are not continuously and periodically transmitted in the first period, before the step S601, the method needs to wake up the positioning target device, that is, the method further includes the following steps: s600, after receiving a specified awakening message, the positioning target device starts to monitor a first channel, wherein the specified awakening message comprises address information of the specified awakening device matched with the address of the ranging target device. The designated wake-up message is used to send on a wake-up channel and wake up a positioning target device that is periodically sleeping, and in order to ensure that the positioning target device can be woken up, the sending mode on the wake-up channel may refer to the ranging start-up message, which is not described herein again.
And S207, respectively leading the pulse modulation signal demodulated from the uplink modulated signal and the locally generated pulse modulation signal into an AND gate.
In step S207, the two pulse modulation signals may be logically and-operated by using an existing and gate device.
S208, stopping pulse counting when the operation result of the AND gate is '1', counting the number of sent pulses, and then calculating the distance from the local to the ranging target equipment according to the following formula:
wherein N is the number of sent pulses, f0And the frequency of the pulse modulation signal is delta t, the fixed processing delay time is delta t, and the speed of light is c.
In the step S208, Δ t is a fixed processing delay time necessary on the ranging target apparatus side and the ranging apparatus side, which can be determined in advance by a routine experiment. Thus, through the foregoing steps S201 to S208, the distance from the local to the ranging target device can be determined based on the pulse count result between the transmission and reception signals.
After step S208, in order to timely notify the positioning target device that the ranging result is obtained, without continuing to upload the uplink modulated signal, the method further includes the following steps: s209, generating a ranging ending message, and wirelessly sending the ranging ending message on a second channel, wherein the ranging ending message comprises second ranging target device address information, and the second ranging target device address information is used for indicating a positioning target device needing to immediately end a ranging response mode. The second channel may be the same channel as the first channel or may be different. And after the positioning target equipment receives the ranging ending message, if the address information of the second ranging target equipment is judged to be matched with the address of the local equipment, the positioning target equipment exits the ranging response mode. Further optimally, if the ranging is started for multiple positioning target devices through the ranging start message at the same time, multiple ranging tasks are simultaneously completed, and in order to reduce the time length for the positioning target devices to listen to the second channel and facilitate energy conservation of the terminal devices, if the ranging start message contains the address information of the positioning target devices, the address information of the second ranging target devices is the address content of the positioning target devices or the address content of the positioning target devices. In addition, in order to indicate whether the next action of the positioning target device is to continue to listen or to go to sleep, it is further optimized that the ranging end message further includes duration information of continuing to wait or duration information of immediately sleeping, where the duration information of continuing to wait is used to indicate a duration for which the positioning target device needs to continue to listen to the operating channel, and the duration information of immediately sleeping is used to indicate a duration for which the positioning target device needs to immediately go to the sleep mode. After receiving the ranging end message, the positioning target device can continue to monitor the working channel according to the continuous waiting time length information so as to complete other tasks, or sleep periodically according to the instant sleep time length information so as to save energy. The setting manner of the continuous waiting time length information and the immediate sleep time length information is not limited.
And S104, generating and feeding back a positioning response message to the positioning base station, wherein the positioning response message comprises the distance from the local positioner to the positioning target equipment, the positioner address corresponding to the local positioner and the equipment address corresponding to the positioning target equipment.
In step S104, considering that the target device may have a mobility characteristic, to facilitate accurate space-time dimension positioning or path tracking of the target device, the positioning response message further includes a timestamp for obtaining a distance from the local locator to the target device.
And S105, after receiving the positioning response message, the positioning base station acquires the current position of the positioning target equipment according to the known position of the positioner and the distance between the positioner and the positioning target equipment.
In the step S105, the method for obtaining the current position of the positioning target device according to the known position of the locator and the distance between the locator and the positioning target device may adopt an existing conventional method, such as a three-point positioning algorithm. The following steps may also be taken, but are not limited to, obtaining the current location of the positioning-target device: s501, after receiving a plurality of positioning response messages fed back by different positioners in the same time period, the positioning base station determines three positioners closest to the positioning target equipment according to the distance from each positioner to the positioning target equipment; s502, according to the known positions of the three nearest locators and the distances from the three nearest locators to the positioning target equipment respectively, three-point positioning algorithm processing is carried out, and the current position of the positioning target equipment is obtained through calculation. The three-point positioning algorithm is the existing algorithm, and the current position of the positioning target device can be accurately obtained through the steps S501-S502, so that the positioning accuracy is guaranteed.
Therefore, through the foregoing steps S101 to S105 and steps S201 to S208, the distance from the locator to the positioning target device can be measured based on the pulse count between the transmitted and received signals, then the current position of the positioning target device is obtained according to the known position of the locator and the distance between the locator and the positioning target device, and in the ranging process, since the ranging is performed by using the interactive response method, the positioning target device can be designated to receive and feed back the modulated signal, so that the ranging has designation or directivity, and since the pulse modulated signal is not affected by interference and air quality in the transmitting and receiving processes, the problems of multipath reflection, fading, multipath and the like do not need to be considered in the final signal processing, so that the requirements on the data processing capability can be greatly reduced on the locator side, and the final ranging result can be obtained only by analog modulation, demodulation, phase discrimination and simple operation processing, hardware can be designed at low cost, and the method is particularly suitable for an RFI D positioning system of the Internet of things.
In summary, the positioning method based on pulse counting type ranging provided by this embodiment has the following technical effects:
(1) the embodiment provides a novel positioning method based on pulse counting type distance measurement, which can firstly measure the distance from a locator to a positioning target device based on pulse counting between a receiving signal and a transmitting signal, then obtain the current position of the positioning target device according to the known position of the locator and the distance between the locator and the positioning target device, and in the distance measurement process, because the distance measurement is carried out by adopting an interactive response mode, the positioning target device can be appointed to receive and feed back a modulated signal, so that the distance measurement has the specificity or the directivity, and because the pulse modulation signal can not be influenced by interference and air quality in the receiving and transmitting processes, the problems of multipath reflection, fading multipath and the like do not need to be considered in the final signal processing, the requirement on the aspect of data processing capacity can be greatly reduced on the locator side, and only the requirements on the aspects of data processing capacity can be met through analog modulation, The final ranging result can be obtained through demodulation, phase discrimination and simple operation processing, hardware can be designed at low cost, and the method is particularly suitable for an RFI D positioning system of the Internet of things;
(2) the positioning method also has the advantages of simultaneous multi-target positioning and distance measurement, convenience for positioning target equipment, energy conservation, flexible application and the like, and is convenient for practical popularization and application.
Example two
As shown in fig. 5, this embodiment provides a positioning system for implementing the method of the first embodiment, including a positioning base station and a locator, where the positioning base station includes a first transceiver unit and a first control unit;
the first transceiver unit is in communication connection with the first control unit and is used for sending a positioning starting message from the first control unit to a positioner and receiving a positioning response message fed back by the positioner;
the first control unit is configured to generate the positioning start message, and obtain a current position of the positioning target device according to a known position of the positioner and a distance between the positioner and the positioning target device after receiving the positioning response message, where the positioning start message includes positioner address information and positioning target device address information, the positioner address information is used to indicate a positioner that needs to immediately enter a positioning and ranging mode, and the positioning target device address information is used to indicate a positioning target device to be positioned;
the locator comprises a first carrier signal generating unit, a pulse modulation signal generating unit, a first analog modulation unit, a first wireless transceiving unit, a first analog demodulation unit, an AND gate unit, a second control unit and a second transceiving unit;
the first carrier signal generation unit is in communication connection with the second control unit and is configured to generate a downlink carrier signal and an uplink carrier signal under the control of the second control unit, where frequencies of the downlink carrier signal and the uplink carrier signal are respectively between 1G and 3 GHz;
the pulse modulation signal generation unit is in communication connection with the second control unit and is used for generating a pulse modulation signal under the control of the second control unit, wherein the frequency of the pulse modulation signal is between 100M and 300 MHz;
the first analog modulation unit is respectively in communication connection with the first carrier signal generation unit and the pulse modulation signal generation unit, and is configured to perform analog modulation on the pulse modulation signal from the pulse modulation signal generation unit and the downlink carrier signal from the first carrier signal generation unit to obtain a downlink modulated signal;
the first wireless transceiving unit is respectively connected with the second control unit and the first analog modulation unit in a communication manner and is used for controlling the second control unit, wirelessly transmitting a ranging initiation message from said second control unit on a first channel, and wirelessly transmitting a downlink modulated signal from said first analog modulation unit on a downlink channel, and listening to an uplink channel and wirelessly receiving an uplink modulated signal from a location target device, wherein the ranging initiation message includes first ranging target device address information indicating a positioning target device that needs to immediately enter a ranging response mode, the uplink modulated signal is a modulated signal obtained by performing analog modulation on a pulse modulated signal demodulated from the downlink modulated signal and a generated uplink carrier signal at a positioning target device side;
the first analog demodulation unit is respectively in communication connection with the first carrier signal generation unit and the first wireless transceiver unit, and is configured to demodulate the uplink modulation signal from the first wireless transceiver unit according to the uplink carrier signal from the first carrier signal generation unit;
the AND gate unit is respectively in communication connection with the first analog demodulation unit and the pulse modulation signal generation unit, and is used for performing logical AND operation on the pulse modulation signal demodulated from the uplink modulated signal and the pulse modulation signal from the pulse modulation signal generation unit from the first analog demodulation unit and outputting an operation result;
the second control unit is respectively in communication connection with the and gate unit and the second transceiver unit, and configured to, after receiving a positioning start message from the second transceiver unit, if it is determined that locator address information in the positioning start message matches a local locator address, control the first carrier signal generation unit, the pulse modulation signal generation unit, and the first wireless transceiver unit to enter a positioning and ranging mode, generate the ranging start message according to the positioning start message, start pulse counting when the downlink modulated signal is wirelessly transmitted, stop pulse counting when an and gate operation result is "1", count the number of pulses that have been sent, and then calculate a distance from the local to a ranging target device according to the following formula:
wherein N is the number of sent pulses, f0The frequency of the pulse modulation signal is delta t, the fixed processing time delay is delta t, and the light speed is c;
the second transceiver unit is configured to receive the positioning start message sent by the positioning base station and feed back a positioning response message from the second control unit to the positioning base station, where the positioning response message includes a distance from a local locator to a positioning target device, a locator address corresponding to the local locator, and a device address corresponding to the positioning target device.
Preferably, the ranging initiation message further includes a unique downlink channel identifier and/or a unique uplink channel identifier.
Preferably, when the locator address information indicates a plurality of locators, the ranging initiation message further includes a downlink channel unique identifier and an uplink channel unique identifier, where the downlink channel unique identifier is a channel unique identifier randomly allocated on a corresponding locator side or a channel unique identifier included in the ranging initiation message and corresponding to the corresponding locator one to one, and the uplink channel unique identifier is a channel unique identifier randomly allocated on a corresponding locator side or a channel unique identifier included in the ranging initiation message and corresponding to the corresponding locator one to one.
Preferably, when the address information of the first ranging target device indicates a plurality of positioning target devices, the ranging start message further includes unique uplink channel identifiers corresponding to the positioning target devices one to one.
Preferably, the ranging start message further includes ranging start duration information, where the ranging start duration information is used to instruct the positioning target device to maintain the maximum duration of the ranging response mode.
Preferably, the first control unit is further configured to, after receiving a plurality of positioning response messages fed back by different locators in the same time period, determine three locators closest to the positioning target device according to distances from the locators to the positioning target device, perform three-point positioning algorithm processing according to known positions of the three closest locators and distances from the three closest locators to the positioning target device, and calculate a current position of the positioning target device.
Preferably, the location response message further includes a timestamp for obtaining the distance from the local locator to the location target device.
Preferably, the second control unit is further configured to terminate pulse counting and control the first wireless transceiver unit to terminate the wireless transmission of the downlink modulated signal if the uplink modulated signal is not received within an effective response time after the wireless transmission of the downlink modulated signal.
Preferably, the second control unit is further configured to generate a ranging end message after calculating a distance between the local locator and the ranging target device, and control the first wireless transceiving unit to wirelessly send the ranging end message on the second channel, where the ranging end message includes address information of the second ranging target device, and the address information of the second ranging target device is used to indicate the positioning target device that needs to immediately end the ranging response mode.
The optimized positioning target equipment further comprises a positioning target equipment, wherein the positioning target equipment comprises a second wireless transceiving unit, a second carrier signal generating unit, a second analog demodulating unit, a second analog modulating unit and a third controlling unit;
the second wireless transceiver unit is communicatively connected to the third control unit, and is configured to, under the control of the third control unit, listen to the first channel and receive a ranging initiation message from the locator, listen to the downlink channel and receive a downlink modulated signal from the locator, and wirelessly transmit an uplink modulated signal from the second analog modulator unit on the uplink channel;
the second carrier signal generation unit is communicatively connected to the third control unit and configured to generate a downlink carrier signal and an uplink carrier signal under the control of the third control unit, where frequencies of the downlink carrier signal and the uplink carrier signal are respectively between 1G and 3 GHz;
the second analog demodulation unit is respectively connected to the second wireless transceiver unit and the second carrier signal generation unit in a communication manner, and is configured to demodulate the downlink modulated signal from the second wireless transceiver unit according to the uplink carrier signal from the second carrier signal generation unit;
the second analog modulation unit is respectively in communication connection with the second analog demodulation unit and the second carrier signal generation unit, and is configured to perform analog modulation on the pulse modulation signal, which is from the second analog demodulation unit and demodulated from the downlink modulated signal, and the uplink carrier signal from the second carrier signal generation unit, so as to obtain an uplink modulated signal;
the third control unit is configured to, after receiving the ranging start message from the second wireless transceiver unit, control the second wireless transceiver unit and the second carrier signal generation unit to enter a ranging response mode if it is determined that the first ranging target device address information in the ranging start message matches the local device address.
The technical details and technical effects of the present embodiment are the same as those of the first embodiment, and are not described herein again.
The present invention is not limited to the above-described alternative embodiments, and various other forms of products can be obtained by anyone in light of the present invention. The above detailed description should not be taken as limiting the scope of the invention, which is defined in the claims, and which the description is intended to be interpreted accordingly.
Claims (10)
1. A positioning method based on pulse counting type distance measurement is characterized by comprising the following steps:
s101, a positioning base station generates and sends a positioning starting message, wherein the positioning starting message comprises locator address information and positioning target equipment address information, the locator address information is used for indicating a locator needing to immediately enter a positioning and ranging mode, and the positioning target equipment address information is used for indicating positioning target equipment to be positioned;
s102, after the locator receives the positioning starting message, if the locator address information is judged to be matched with the local locator address, entering a positioning and ranging mode: executing subsequent steps S103-S104;
s103, acquiring the distance from the local locator to the positioning target equipment according to the following steps S201 to S208:
s201, generating a ranging starting message according to the positioning starting message, wherein the ranging starting message comprises first ranging target equipment address information, and the first ranging target equipment address information is used for indicating positioning target equipment needing to immediately enter a ranging response mode;
s202, wirelessly sending the ranging starting message on a first channel;
s203, generating a pulse modulation signal and a downlink carrier signal, wherein the frequency of the pulse modulation signal is between 100M and 300MHz, and the frequency of the downlink carrier signal is between 1G and 3 GHz;
s204, performing analog modulation on the pulse modulation signal and the downlink carrier signal to obtain a downlink modulated signal;
s205, wirelessly sending the downlink modulated signal on a downlink channel, and starting pulse counting;
s206, an uplink channel is intercepted, and an uplink modulated signal from a positioning target device is wirelessly received, wherein the uplink modulated signal is a modulated signal obtained by performing analog modulation on a pulse modulated signal demodulated from the downlink modulated signal and a generated uplink carrier signal at the side of the positioning target device, and the frequency of the uplink carrier signal is between 1G and 3 GHz;
s207, respectively introducing the pulse modulation signals demodulated from the uplink modulated signals and locally generated pulse modulation signals into an AND gate;
s208, stopping pulse counting when the operation result of the AND gate is '1', counting the number of sent pulses, and then calculating the distance from the local to the ranging target equipment according to the following formula:
wherein N is the number of sent pulses, f0The frequency of the pulse modulation signal is delta t, the fixed processing time delay is delta t, and the light speed is c;
s104, generating and feeding back a positioning response message to the positioning base station, wherein the positioning response message comprises the distance from the local positioner to the positioning target equipment, the positioner address corresponding to the local positioner and the equipment address corresponding to the positioning target equipment;
and S105, after receiving the positioning response message, the positioning base station acquires the current position of the positioning target equipment according to the known position of the positioner and the distance between the positioner and the positioning target equipment.
2. A positioning method based on pulse counting ranging as claimed in claim 1, characterized in that:
the ranging start message further comprises a downlink channel unique identifier and/or an uplink channel unique identifier.
3. A positioning method based on pulse counting ranging as claimed in claim 1, characterized in that:
when the locator address information indicates a plurality of locators, the ranging start message further includes a downlink channel unique identifier and an uplink channel unique identifier, wherein the downlink channel unique identifier is a channel unique identifier randomly allocated at a corresponding locator side or a channel unique identifier included in the ranging start message and corresponding to the corresponding locator one to one, and the uplink channel unique identifier is a channel unique identifier randomly allocated at a corresponding locator side or a channel unique identifier included in the ranging start message and corresponding to the corresponding locator one to one.
4. A positioning method based on pulse counting ranging as claimed in claim 1, characterized in that:
when the first ranging target device address information indicates a plurality of positioning target devices, the ranging start message further includes uplink channel unique identifiers corresponding to the positioning target devices one to one.
5. A positioning method based on pulse counting ranging as claimed in claim 1, characterized in that:
the ranging start message further includes ranging start duration information, where the ranging start duration information is used to indicate that the positioning target device maintains the maximum duration of the ranging response mode.
6. A positioning method based on pulse counting ranging as claimed in claim 1, characterized in that:
in step S105, the method includes the following steps:
s501, after receiving a plurality of positioning response messages fed back by different positioners in the same time period, the positioning base station determines three positioners closest to the positioning target equipment according to the distance from each positioner to the positioning target equipment;
s502, according to the known positions of the three nearest locators and the distances from the three nearest locators to the positioning target equipment respectively, three-point positioning algorithm processing is carried out, and the current position of the positioning target equipment is obtained through calculation.
7. A positioning method based on pulse counting ranging as claimed in claim 1, characterized in that:
the positioning response message also comprises a time stamp for acquiring the distance from the local positioner to the positioning target device.
8. A positioning method based on pulse counting ranging as claimed in claim 1, characterized in that:
before the step S206, the following steps are further included:
s601, after the positioning target device receives the ranging starting message, if the address information of the first ranging target device is judged to be matched with the address of the local device, entering a ranging response mode: executing the subsequent steps S602-S604;
s602, monitoring a downlink channel, and demodulating a pulse modulation signal from the downlink modulated signal when the downlink modulated signal is wirelessly received;
s603, performing analog modulation on the pulse modulation signal demodulated from the downlink modulated signal and the locally generated uplink carrier signal to obtain an uplink modulated signal;
and S604, wirelessly transmitting the uplink modulated signal on an uplink channel.
9. A positioning method based on pulse counting ranging as claimed in claim 1, characterized in that:
after step S205, if the uplink modulated signal is not received within the effective response time, terminating the wireless transmission of the downlink modulated signal.
10. A positioning method based on pulse counting ranging as claimed in claim 1, characterized in that:
after the step S208, the following steps are also included:
s209, generating a ranging ending message, and wirelessly sending the ranging ending message on a second channel, wherein the ranging ending message comprises second ranging target device address information, and the second ranging target device address information is used for indicating a positioning target device needing to immediately end a ranging response mode.
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