CN113556682A - Pilot frequency deployed UWB positioning system and implementation method thereof - Google Patents
Pilot frequency deployed UWB positioning system and implementation method thereof Download PDFInfo
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- H04W4/02—Services making use of location information
- H04W4/029—Location-based management or tracking services
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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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- G01S5/0027—Transmission from mobile station to base station of actual mobile position, i.e. position determined on mobile
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- G—PHYSICS
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- 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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- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
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Abstract
The invention relates to a pilot frequency deployed UWB positioning system and a realization method thereof, belonging to the UWB positioning technical field, wherein the positioning system consists of one or more UWB positioning labels supporting a plurality of frequency bands, four or more UWB positioning base stations supporting different frequency bands and a UWB positioning server; each UWB positioning base station is connected with the UWB positioning server through wired communication; each UWB positioning tag can be simultaneously connected with four or more UWB positioning base stations with different frequency bands through wireless air interfaces, and each UWB positioning tag is indirectly connected with a UWB positioning server; the method comprises the steps of deploying pilot frequency UWB positioning base stations and UWB positioning servers according to a six-step method in a place needing indoor positioning, and selecting UWB positioning base stations supporting different frequency bands to be deployed at intervals in space; the invention has the characteristic of simultaneously carrying out rapid real-time positioning processing under different frequency bands, and helps a real-time positioning system based on the UWB positioning technology to provide position positioning service in time.
Description
Technical Field
The invention belongs to the technical field of UWB positioning, and particularly provides a pilot frequency deployed UWB positioning system and an implementation method thereof.
Background
The Ultra Wide Band (UWB) technology is a wireless carrier communication technology, which does not use sinusoidal carriers, but uses nanosecond-level non-sinusoidal narrow pulses to transmit data or position, so that the occupied frequency spectrum range is Wide. The UWB technology has the advantages of low system complexity, low power spectral density of transmitted signals, strong anti-interference, high safety, low power consumption, high positioning precision and the like, and is particularly suitable for high-speed wireless access in dense multipath places such as indoor places and the like. UWB pulse communication has gained increasingly widespread use in the fields of wireless multimedia communication, radar, precision positioning, through-the-wall and through-the-earth detection, imaging, and measurement, etc., due to its superior and unique technical characteristics. Since UWB is one of wireless communication technologies, the effective positioning coverage radius refers to the distance from the position of a signal transmitted from a transmitter to the farthest position where the signal can be received and analyzed, and is mainly related to the transmission power of the transmitter, the receiving sensitivity of a receiver, the interference resistance of wireless signals, the environment in which the wireless signals propagate, and other factors. Currently, the international standard of UWB positioning technology is mainly set by the IEEE802.15.4 standard task group, wherein 16 frequency bands are allocated to UWB, as shown in table 1.
TABLE 1 frequency band List currently allocated to UWB
The three-dimensional UWB positioning system mainly comprises a UWB positioning server with positioning data processing function, more than 4 UWB positioning base stations deployed at the same frequency and one or more UWB positioning tags at the same frequency, and the system mainly aims at the UWB positioning tags to perform accurate position positioning. The UWB positioning tag is composed of a transceiver module supporting a certain frequency band, a baseband module, a positioning function module, a transceiver antenna module and a power management module. The UWB positioning base station consists of a transceiver module supporting a certain frequency band, a baseband module, a positioning function module, a clock synchronization client module, a transceiving antenna module, one or more wired communication interface modules and a power management module. The UWB positioning server consists of a positioning data processing module, a clock synchronization server module, a communication module and a power management module.
Many wireless location algorithms can be used in UWB location technology, and a more common location algorithm is the TDOA location algorithm. The TDOA location algorithm is a method for locating by using time difference, and the location algorithm is to measure the time of the UWB location tag location broadcast signal reaching the UWB location base station which is completely clock-synchronized, and calculate the time difference of the location broadcast signal reaching different UWB location base stations to determine the distance of the signal source (UWB location tag), that is: the uplink TDOA location algorithm, or, by measuring the time when the location broadcast signal transmitted simultaneously by the UWB location base stations that have been perfectly clock synchronized reaches the UWB location tag, the time difference between the location broadcast signal and the UWB location tag can be calculated to determine the distance of the signal source (UWB location base station), that is: and (4) a downlink TDOA location algorithm. By using the signal receiving or arrival time difference from the signal source to the signal monitoring point, a hyperbola with the UWB positioning base station as the focus and the distance difference as the major axis can be made, and the intersection point of the hyperbola is the position of the UWB positioning tag, so that the position of the UWB positioning tag can be determined. Because two-two time difference is needed to obtain an algorithm formula under the positioning algorithm, in order to realize three-dimensional positioning, the required UWB positioning base stations can complete positioning only by 4, and only 3 UWB positioning base stations are needed to realize two-dimensional positioning.
The contents of the positioning data required by different positioning algorithms are different. If the following TDOA positioning algorithm is taken as an example, the positioning data includes the identifier and coordinate data of each UWB positioning base station participating in positioning, and absolute time data of the UWB positioning broadcast signal arriving at each UWB positioning tag.
The deployment method of the current common-frequency UWB positioning system comprises six steps, namely: drawing a map, determining a coordinate system, deploying a UWB positioning base station, mapping coordinates of the UWB positioning base station, debugging a network and debugging software.
At present, all deployed UWB positioning systems are deployed at the same frequency, namely a UWB positioning base station and a UWB positioning tag which adopt the same frequency are adopted. Under the condition of co-frequency deployment, each UWB positioning base station or UWB positioning label can only communicate with one UWB positioning label or UWB positioning base station at the same time, otherwise, co-frequency signal interference is generated, and the problems of measurement error, poor positioning real-time performance and the like caused by co-frequency interference among UWB positioning base stations are solved. In order to solve this problem, the prior patent documents provide a set of solutions, such as: a novel indoor positioning system and a positioning method based on alternate awakening anchor points (patent application number: 201810181803. X). The UWB positioning anchor points mentioned therein are UWB positioning base stations, and the patent mentions that positioning using three UWB positioning anchor points can only accomplish positioning of a two-dimensional plane, but cannot accomplish positioning of a three-dimensional space. The networking diagram of the novel indoor positioning system based on awakening UWB positioning base station in turn disclosed by the patent is shown in figure 1, and comprises a tag to be detected, three UWB positioning anchor points with the same frequency, a UWB controller module and a positioning server, wherein the UWB controller module and the positioning server are composed of a communication module, a controller driving module and a UWB management module, and the positioning method is as follows: the UWB controller module adopts a mechanism of awakening UWB positioning base stations in turn, the module only awakens one UWB positioning base station to work at each time, the tag to be tested is enabled to establish communication with the awakened UWB positioning base stations in turn, the tag to be tested is always ensured to establish communication connection with one UWB positioning base station at each moment, and other positioning base stations are in a dormant state (also called a dormant mode) at the moment. The scheme can effectively avoid the error of obtaining the positioning parameters caused by the same frequency interference between UWB positioning base stations, thereby improving the precision of indoor positioning. In this scheme, although the normal positioning function of the same-frequency UWB positioning technology is ensured, some time delay is introduced by the method of waking up the UWB positioning base stations in turn, so that the positioning result of the UWB positioning tag cannot be obtained in real time, and for the moving UWB positioning tag, the accuracy of the real-time positioning result is also reduced, and the positioning accuracy is affected, that is: the positioning accuracy is lower. In addition, in the prior art, a UWB controller module is added, and a coordination management function between different UWB positioning base stations is introduced, so that the system is difficult to implement.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a pilot frequency deployed UWB positioning system and an implementation method thereof.
The invention provides a pilot frequency deployed UWB positioning system which is characterized by consisting of one or more UWB positioning labels supporting multiple frequency bands, four or more UWB positioning base stations supporting different frequency bands and a UWB positioning server; each UWB positioning base station is connected with the UWB positioning server through wired communication; each UWB positioning tag can be simultaneously connected with four or more UWB positioning base stations with different frequency bands through wireless air interfaces, each UWB positioning tag is indirectly connected with a UWB positioning server, and all UWB positioning base stations periodically send positioning broadcast messages at the same time; note that there are K UWB positioning base stations in the UWB positioning system, there are N usable frequency bands, and there are M UWB positioning tags, where K and N are integers greater than or equal to 4, and K is greater than or equal to N, and M is an integer greater than or equal to 1.
The invention also provides a realization method of the pilot frequency deployed UWB positioning system, which is characterized by comprising the following steps:
step 1: deploying an pilot frequency UWB positioning base station and a UWB positioning server according to a six-step method in a place needing indoor positioning, selecting UWB positioning base stations supporting different frequency bands in the deployment process, and performing space interval deployment based on the different frequency bands;
ensuring that all UWB positioning base stations and UWB positioning servers are in a clock synchronization state in a network debugging link of a six-step method; confirming that the configuration on all UWB positioning base stations meets the requirement of synchronously sending positioning broadcast messages in a downlink TDOA positioning algorithm in a software debugging link;
step 2: UWB positioning tags supporting multiple frequency bands simultaneously receive positioning broadcast messages sent by UWB positioning base stations working on different frequency bands nearby, and UWB positioning tags or a UWB positioning server complete the position positioning of the UWB positioning tags and output the position positioning results of the UWB positioning tags on the basis of collected positioning data required by a downlink TDOA positioning algorithm;
and step 3: after the UWB positioning tag or the UWB positioning server outputs the positioning result, the positioning result is locally stored and used in combination with a specific application scene;
and 4, step 4: and (3) the UWB positioning tag or the UWB positioning server repeats the processes of the step (2) and the step (3) according to the positioning requirement until the UWB positioning system is closed.
The invention has the following characteristics and beneficial effects:
1. the method can quickly and simultaneously obtain the connection of a plurality of pilot frequency UWB positioning base stations and enter a positioning state, and simultaneously execute positioning message interaction, and changes the serial alternate positioning of the original UWB positioning base stations deployed at the same frequency into parallel simultaneous positioning, so that the positioning is faster;
2. compared with a same-frequency UWB positioning system, the method reduces more complex cooperative scheduling processing among UWB positioning base stations, and is simpler to realize;
3. compared with a same-frequency UWB positioning system, the pilot frequency deployment UWB positioning system can support more UWB positioning labels to be positioned simultaneously due to the fact that channel resources are added and a downlink TDOA positioning algorithm is adopted, namely: the capacity of the system is improved;
4. the interference of co-frequency signals between co-frequency UWB positioning base stations is avoided through a co-frequency deployment scheme.
Drawings
FIG. 1 is a schematic diagram of a "novel indoor positioning system and positioning method based on alternate awakening anchor point" patent in the prior art;
FIG. 2 is a block diagram of the components of the UWB positioning tag of the present invention;
FIG. 3 is a block diagram of the components of a UWB positioning base station of the present invention;
FIG. 4 is a block diagram of the components of the UWB positioning server of the present invention;
FIG. 5 is an overall flow chart of the method of the present invention;
fig. 6 is a cellular mode deployment diagram of different frequency bands of the UWB positioning system according to embodiment 1 of the present invention;
fig. 7 is an illustration of deployment distance requirements of three UWB positioning base stations with a frequency band of CH5 in embodiment 1 of the present invention;
FIG. 8 is a diagram of a continuous checkered pattern deployment of different frequency bands of a UWB positioning system according to embodiment 2 of the invention
Fig. 9 is an illustration of deployment distance requirements of two UWB positioning base stations in the frequency band CH5 according to embodiment 2 of the present invention.
Detailed Description
The invention provides a pilot frequency deployed UWB positioning system, which is a positioning system consisting of one or more UWB positioning tags supporting multiple frequency bands, four or more UWB positioning base stations supporting different frequency bands and a UWB positioning server.
The UWB positioning system is connected in the following mode: the UWB positioning base station is connected with the UWB positioning server through wired communication; the UWB positioning system comprises a UWB positioning base station, UWB positioning tags, UWB positioning servers and UWB positioning base stations, wherein the UWB positioning tags are connected with the UWB positioning base stations through wireless air interfaces, the UWB positioning tags are indirectly connected with the UWB positioning servers (for example, the UWB positioning base stations are indirectly connected, and the UWB positioning tags can also be indirectly connected in a non-UWB mode, such as a wireless local area network or a 5G cellular mobile communication network) through the UWB positioning base stations, all the UWB positioning base stations periodically send positioning broadcast messages at the same time, K UWB positioning base stations in the UWB positioning system are arranged, N usable frequency bands are arranged, M UWB positioning tags are arranged, and 1 UWB positioning server is arranged. Wherein K and N are integers of 4 or more, K is N or more, and M is an integer of 1 or more. Each UWB positioning label can be simultaneously connected with four UWB positioning base stations with different frequency bands or more.
The UWB positioning tag supporting multiple frequency bands refers to a UWB positioning terminal capable of performing positioning interaction on multiple frequency bands simultaneously in a positioning process. The UWB location tag supporting multiple frequency bands is composed of a group of transceiver modules supporting different frequency bands, a baseband module, a location function module supporting a downlink TDOA location algorithm, a transceiver antenna module, and a power management module, as shown in fig. 2.
The UWB positioning base stations supporting different frequency bands refer to UWB positioning base stations supporting a certain frequency band among a plurality of frequency bands planned for use in the UWB positioning system, and a required frequency band may be configured according to the frequency band requirement of a deployment area in deployment. The UWB positioning base station supporting different frequency bands is composed of a transmitter module supporting a certain frequency band, a baseband module, a positioning function module supporting a downlink TDOA positioning algorithm, a clock synchronization client module, a transceiver antenna module, a wired communication interface module, and a power management module, as shown in fig. 3.
The UWB positioning server is a computer server which can be used as a clock synchronization server to perform periodic clock synchronization with all UWB positioning base stations and ensure the clock synchronization among all UWB positioning base stations in the UWB positioning system. The UWB positioning server can acquire the calculated positioning result from the UWB positioning tag, or acquire the corresponding positioning data of the downlink TDOA positioning algorithm from the UWB positioning tag, calculate the position of the UWB positioning tag according to the downlink TDOA positioning algorithm and output the positioning result. The UWB positioning server can also acquire the positioning result of the UWB positioning label or the positioning data corresponding to the downlink TDOA positioning algorithm through the approaches of other communication systems (such as a wireless local area network, a mobile cellular communication network and the like). The UWB positioning server consists of a clock synchronization server module, one or more communication interface modules and a power management module. The UWB location server component module may further optionally include a location data processing module for performing location calculation based on location data corresponding to a downlink TDOA location algorithm, as shown in fig. 4.
The positioning data processing module in the UWB positioning server can be integrated with one of the UWB positioning base stations as a main UWB positioning service base station of the UWB positioning system, and is used to complete a positioning result collecting function of UWB positioning tag calculation in the UWB positioning system, or complete a positioning data collecting and positioning calculating function related to other downlink TDOA positioning algorithms, and a clock synchronization server function, that is: functionality provided by a UWB location server.
Because the system of the invention adopts the downlink TDOA positioning algorithm, the UWB positioning tags do not need to interact with the UWB positioning base station or send any message, and the self-position positioning can be realized only by receiving the positioning broadcast message sent by the UWB positioning base stations which are synchronous with the clock and work in different frequency bands, therefore, the number of the UWB positioning tags in the invention can theoretically support infinite, and the capacity of the UWB positioning system is very large, which is a prominent characteristic of the invention.
The invention also provides a pilot frequency deployed UWB positioning method, the overall flow chart of which is shown in fig. 5, and the detailed steps are as follows:
step 1: the method comprises the steps of deploying pilot frequency UWB positioning base stations and UWB positioning servers according to a six-step method in a place needing indoor positioning, selecting UWB positioning base stations supporting different frequency bands in the deployment process, and deploying at intervals in space based on the different frequency bands.
The specific steps of the deployment of the pilot frequency UWB positioning base station in the step 1 are the same as the six-step method of the deployment of the existing same-frequency UWB positioning base station in the background technology, and the difference is that different UWB positioning base stations in the UWB positioning system work in different frequency bands, different frequency bands supported by the UWB positioning base stations are determined before the deployment of the UWB positioning system, the UWB positioning base stations can be deployed at intervals based on different frequency bands according to different cellular modes and linear continuous square grid networks according to different application scenes.
In a network debugging link of deploying the six-step method, a clock synchronization state is required to be ensured between all UWB positioning base stations and a UWB positioning server. In the software debugging link, it needs to be confirmed that the configuration on all UWB positioning base stations meets the requirement of synchronously sending positioning broadcast messages in the downlink TDOA positioning algorithm.
Step 2: UWB positioning tags supporting multiple frequency bands simultaneously receive positioning broadcast messages sent by UWB positioning base stations working on different frequency bands nearby, and UWB positioning tags or UWB positioning servers complete UWB positioning of the positioning tags and output positioning results of the UWB positioning tags on the basis of collected positioning data required by a downlink TDOA positioning algorithm.
And the positioning broadcast message sent by the UWB positioning base station carries the identification and the coordinate information of the UWB positioning base station.
Specifically, the specific positioning process of the UWB positioning tag is as follows: the UWB positioning tag completes the position positioning of the UWB positioning tag and outputs the calculated position positioning result on the basis of the collected positioning data required by the downlink TDOA positioning algorithm, or the specific positioning process of the UWB positioning server is as follows: after the UWB positioning server receives positioning data recorded by the UWB positioning tag and required by a downlink TDOA (time division multiple access) based positioning algorithm from the UWB positioning tag through a certain communication mode (such as a wireless local area network or a cellular mobile communication network), the UWB positioning server calculates the position of the UWB positioning tag by using the downlink TDOA positioning algorithm according to the collected positioning data required by the downlink TDOA based positioning algorithm and outputs the position positioning result.
And step 3: and after the UWB positioning tag or the UWB positioning server outputs the positioning result, the positioning result is locally stored and is used in combination with a specific application scene.
And 4, step 4: and (3) the UWB positioning tag or the UWB positioning server repeats the processes of the step (2) and the step (3) according to the positioning requirement until the UWB positioning system is closed.
The following describes in further detail embodiments of the method of the present invention with reference to the accompanying drawings and examples. The following examples are intended to illustrate the invention, but are not intended to limit the scope of the invention.
In an inter-frequency deployed UWB positioning system in embodiment 1 of the present invention, system entity module compositions and system architectures are shown in fig. 2, fig. 3, and fig. 4.
In the specific implementation method of embodiment 1 of the present invention, as shown in the cellular mode deployment diagram with different frequency bands shown in fig. 6, the cellular mode deployment manner corresponds to an application scene that is an indoor positioning scene with a large area, such as a large mall, a large warehouse, or a large exhibition hall, and the steps of the embodiment are as follows:
step 1: a UWB positioning server is deployed in indoor positioning scenes with large areas, such as large malls, large warehouses or large exhibition halls, 20 UWB positioning base stations supporting 7 different frequency bands are selected, and interval deployment is carried out according to a cellular mode based on the different frequency bands.
The specific content of the step is as follows:
fig. 6 shows a deployment situation of the UWB positioning base station network in a certain large mall, large warehouse, or large exhibition hall. The handset-shaped graph in fig. 6 represents a UWB positioning tag, the cellular wireless coverage node CHi in fig. 6 represents a UWB positioning base station, and the cellular-like hexagon in fig. 6 represents a position relationship with an adjacent UWB positioning base station, that is: each UWB positioning base station may be in adjacent relationship with up to 6 UWB positioning base stations of different frequency bands. In the present embodiment, 20 UWB positioning base stations are specifically deployed in the cellular manner. The upper right hand server diagram in fig. 6 represents a UWB location server, connected in wired communication with each UWB location base station. The outer bold solid box in fig. 6 represents the walls around a room such as a deployed mall, warehouse or exhibition hall.
One of the methods for ensuring the interval deployment of the UWB positioning base stations in different frequency bands in this embodiment is as follows:
selecting 7 different frequency bands, and combining the UWB positioning base stations of the different frequency bands into a group according to a cellular mode, namely: the UWB positioning base station with one frequency band is arranged in the middle, and UWB positioning base stations with 6 different frequency bands different from the UWB positioning base stations are arranged around the UWB positioning base stations. The UWB positioning base stations in different frequency bands of the group are relatively fixed in position, and in the case where the deployment space needs 20 UWB positioning base stations to be deployed, the deployment group in the group in which UWB positioning base stations in different frequency bands are relatively fixed in position may be repeated and then placed in the space for deployment, specifically referring to the dotted thick line portion in the deployment diagram of fig. 6.
In addition, in the figure, the UWB positioning tag is connected with the nearby UWB positioning base station through wireless signals, and all the UWB positioning base stations are connected with the UWB positioning server through wires.
Before deployment, a map is drawn and a coordinate system is determined after a place where the UWB positioning system needs to be deployed is selected, and different frequency bands supported by the UWB positioning base station are determined before planning of the UWB positioning system. In this embodiment, 7 frequency bands are selected from an HRP UWB frequency band table in ieee802.15.4-2020 of table 1, and are deployed according to a principle that every two adjacent deployed UWB positioning base stations are different in frequency band.
In this embodiment, the frequency bands selected by the UWB positioning base station are seven frequency bands with a bandwidth of 499.2MHz in a Band group of 2: CH5, CH6, CH8, CH9, CH10, CH12, CH 13. Here, "CH" means "Channel", and the following numbers mean "Channel number" in table 1. The selected seven frequency bands are respectively CH5 with the central frequency point of 6489.6MHz, CH6 with the central frequency point of 6988.8MHz, CH8 with the central frequency point of 7488.0MHz, CH9 with the central frequency point of 7987.2MHz, CH10 with the central frequency point of 6988.8MHz, CH12 with the central frequency point of 8985.6MHz and CH13 with the central frequency point of 9484.8MHz, the intervals among the central frequency points of the selected different frequency bands are all larger than or equal to 499.2MHz, and the bandwidths of the frequency bands are 499.2 MHz. Each UWB positioning base station only supports one frequency band of the seven frequency bands, and each UWB positioning tag simultaneously needs to support four or more frequency bands of the seven selected frequency bands.
As shown in fig. 7, the present embodiment gives the requirement of deployment distance by taking three UWB positioning base stations with a frequency band of CH5 as an example. The average radius of coverage of the UWB positioning base stations of CH5 is R, the coverage range is defined by a dotted circle, the distance between two UWB positioning base stations of CH5 is D, and the grey UWB positioning base stations are UWB positioning base stations of other frequency bands. In order to maintain continuous coverage and avoid positioning blind spots, the deployment distance D between every two adjacent UWB positioning base stations in the same frequency band CHi must be smaller than or equal to the effective positioning coverage average radius R of the UWB positioning base station signals
Doubling, namely:
secondly, as shown in fig. 6, after the UWB positioning base stations supporting different frequency bands are deployed and installed at intervals according to different frequency bands in a cellular mode, coordinate measurement is performed on the UWB positioning base stations, and a measured coordinate system is based on the selected coordinate system. The UWB positioning base station and the UWB positioning server are connected to the network and powered on for network debugging, the network modulation comprises the debugging of clock synchronization, connectivity and the like between each UWB positioning base station and the UWB positioning server, and the UWB positioning base station is in a standby state after the network debugging is finished, namely: a state of power-on but not performing any substantial work.
And finally, carrying out software debugging on the UWB positioning base station in the standby state, wherein the software debugging mainly comprises the operations of parameter configuration effectiveness, software function verification and the like, and in the software debugging process, the UWB positioning base station with synchronous clock can configure the same periodic parameters and simultaneously transmit positioning broadcast messages. After the software is debugged, the UWB positioning base station enters a working state, namely: in a state of wireless signal reception or transmission.
Step 2: UWB positioning tags supporting 7 frequency bands are positioned simultaneously in parallel with UWB positioning base stations on different frequency bands supported by the UWB positioning tags based on a downlink TDOA positioning algorithm, and the UWB positioning tags or a UWB positioning server completes position positioning calculation of the UWB positioning tags and outputs position positioning results of the UWB positioning tags on the basis of collected positioning data required by the downlink TDOA positioning algorithm.
When a certain UWB positioning label supporting multiple frequency bands enters the range of the UWB positioning system, the UWB positioning label scans nearby UWB positioning base stations, if the quantity of UWB positioning base stations obtaining effective positioning broadcast signals in the same positioning broadcast period reaches the condition that the quantity of UWB positioning base stations needing the positioning of the downlink TDOA positioning algorithm is at least four, the UWB positioning label can directly perform positioning, otherwise, the UWB positioning label continues to scan the nearby UWB positioning base stations until the quantity of UWB positioning base stations obtaining the effective positioning broadcast signals in the same positioning broadcast period reaches four.
In this embodiment, the positioning processing operation process based on the downlink TDOA positioning algorithm in this step is as follows: firstly, a UWB positioning label receives positioning broadcast packets which are simultaneously and respectively sent by four or more than four nearby UWB positioning base stations according to a period on different frequency channel. Secondly, the UWB positioning tags parse the positioning broadcast packets and record the associated positioning data, including: the identity and coordinates of the UWB location base station and the time of receipt of the location broadcast packet, etc. Taking the positioning broadcast packets of the UWB positioning base station 1 and the UWB positioning base station 2 as an example, the time record of receiving the positioning broadcast packet of the UWB positioning base station 1 is T1, and the time record of receiving the positioning broadcast packet of the UWB positioning base station 2 is T2. And thirdly, calculating the time difference Td which is T2-T1. And fourthly, obtaining three groups of positioning data between every two UWB positioning base stations which are effectively positioned and in communication connection. Fifthly, the space coordinates of the UWB positioning label can be calculated through a TDOA positioning algorithm formula.
And step 3: after the UWB positioning tag is positioned, the positioning result is stored in the UWB positioning tag, so that a user holding the UWB tag can track the movement track of the user.
And 4, step 4: and (3) the UWB positioning tag or the UWB positioning server repeats the processes of the step (2) and the step (3) according to the positioning requirement until the UWB positioning system is closed.
The beneficial effects of this example 1 are as follows:
1. the method can quickly and simultaneously obtain the connection of a plurality of pilot frequency UWB positioning base stations and enter a positioning state, and simultaneously execute positioning message interaction, and changes the serial alternate positioning of the UWB positioning base stations into parallel simultaneous positioning, so that the positioning is faster;
2. compared with a same-frequency system, the method reduces the steps of cooperative scheduling among UWB positioning base stations, and is simpler to realize;
3. compared with a same-frequency UWB positioning system, the pilot frequency deployment UWB positioning system can support more UWB positioning labels to be positioned simultaneously due to the fact that channel resources are added and a downlink TDOA positioning algorithm is adopted, namely: the capacity of the system is improved;
4. the interference of the same-frequency signals of the UWB positioning base station is avoided through the pilot frequency deployment scheme.
In an inter-frequency deployed UWB positioning system in embodiment 2 of the present invention, reference is made to the description in the previous section of this specification, and system entity module compositions and system architectures are shown in fig. 2, fig. 3, and fig. 4.
The specific implementation method of embodiment 2, as shown in fig. 8, is deployed in a linear continuous grid pattern with different frequency bands, and the main application scenario is an indoor positioning scenario such as a tunnel or a pipe gallery, and the specific implementation steps are as follows:
step 1: a plurality of UWB positioning base stations are deployed in indoor positioning scenes such as tunnels or pipe galleries, seven UWB positioning base stations supporting four different frequency bands are selected in the deployment process, and the UWB positioning base stations are deployed at intervals according to a linear continuous grid mode based on the different frequency bands. The specific content of the step is as follows:
firstly, before deployment, a map is drawn and a coordinate system is determined after a place where a UWB positioning system needs to be deployed is selected, and different frequency bands supported by a UWB positioning base station are determined before planning of the UWB positioning system. And selecting four proper frequency bands from an HRP UWB frequency band table in IEEE802.15.4-2020 in Table 1 to perform interval deployment on every two adjacent UWB positioning base stations according to the principle that the frequency bands are different.
In this embodiment, the UWB positioning base station selects a frequency Band in a Band group of 2 frequency bands, frequency intervals between center frequency points of the frequency bands are all around 1GHz, bandwidths of the frequency bands are 499.2MHz, each UWB positioning base station only supports one of the four frequency bands, and the four frequency bands include CH5 with a center frequency point of 6489.6MHz, CH8 with a center frequency point of 7488.0MHz, CH10 with a center frequency point of 8486.4MHz, and CH13 with a center frequency point of 9484.8 MHz. The UWB positioning tag in the deployment scenario also needs to support the selected four frequency bands at the same time, that is: CH5, CH8, CH10, CH 13. Fig. 8 shows a UWB positioning base station network deployed in a tunnel or a pipe gallery.
As shown in fig. 9, the distance between every two UWB positioning base stations is equal to or less than the sum of effective positioning coverage radii of the two UWB positioning base station signals. The deployment distance requirement is given in fig. 9 by taking two UWB positioning base stations with a frequency band of CH5 as an example. The average coverage radius of the UWB positioning base stations of CH5 is R, the coverage range is defined by a dotted line circle, the distance between two UWB positioning base stations of CH5 is D, and UWB positioning base stations of other frequency bands are respectively and sequentially arranged on the two sides of the UWB positioning base stations. In order to maintain continuous coverage and avoid positioning blind spots, the deployment distance D between every two adjacent UWB positioning base stations in the same frequency band CHi must be less than or equal to 2 times the average radius R of effective positioning coverage of signals of the UWB positioning base stations, that is: d is less than or equal to 2R.
Secondly, as shown in fig. 8, after the UWB positioning base stations supporting different frequency bands are deployed and installed at intervals according to different frequency bands in a linear continuous grid pattern, coordinate measurement is performed on the UWB positioning base stations, and a measured coordinate system is based on the selected coordinate system. The UWB positioning base stations and the UWB positioning server are connected to the network and powered on to carry out network debugging, the network modulation comprises the debugging of clock synchronization, connectivity and the like between each UWB positioning base station and the UWB positioning server, and the UWB positioning base stations are in a standby state after the network debugging is finished.
And finally, performing software debugging on the UWB positioning base station in the standby state, wherein the software debugging mainly comprises the operations of parameter configuration effectiveness, software function verification and the like, and entering a working state after the software debugging is finished.
Step 2: UWB positioning tags supporting multiple frequency bands are positioned with UWB positioning base stations on different frequency bands in parallel, and UWB positioning tags or UWB positioning servers complete UWB positioning of the positioning tags and output positioning results on the basis of collected positioning data required by a downlink TDOA positioning algorithm.
The downlink TDOA location procedure of the UWB location tag in this step is the same as that of embodiment 1, and is not described herein again.
And step 3: after the positioning of the UWB positioning tag is completed, the positioning result is stored in the UWB positioning tag or sent to a UWB positioning server through an available communication connection, so that a user or a network manager holding the UWB positioning tag can track the movement track of the UWB positioning tag.
And 4, step 4: and (3) the UWB positioning tag or the UWB positioning server repeats the processes of the step (2) and the step (3) according to the positioning requirement until the UWB positioning system is closed.
The beneficial effects of this example 2 are as follows:
1. the method can quickly and simultaneously obtain the connection of a plurality of pilot frequency UWB positioning base stations and enter a positioning state, and simultaneously execute positioning message interaction, and changes the serial alternate positioning of the UWB positioning base stations into parallel simultaneous positioning, so that the positioning is faster;
2. compared with a same-frequency system, the method reduces the steps of cooperative scheduling among UWB positioning base stations, and is simpler to realize;
3. compared with a same-frequency UWB positioning system, the pilot frequency deployment UWB positioning system can support more UWB positioning labels to be positioned simultaneously due to the fact that channel resources are added and a downlink TDOA positioning algorithm is adopted, namely: the capacity of the system is improved;
4. the interference of co-frequency signals of adjacent UWB positioning base stations is avoided through a pilot frequency deployment scheme.
The information of the number of the deployed frequency bands, the positioning algorithm and the like mentioned in the embodiment of the pilot frequency deployment of the UWB positioning system is used for explaining the present invention, but is not used for limiting the scope of the present invention.
Claims (8)
1. A pilot frequency deployed UWB positioning system is characterized in that the positioning system consists of one or more UWB positioning tags supporting multiple frequency bands, four or more UWB positioning base stations supporting different frequency bands and a UWB positioning server; each UWB positioning base station is connected with the UWB positioning server through wired communication; each UWB positioning tag can be simultaneously connected with four or more UWB positioning base stations with different frequency bands through wireless air interfaces, each UWB positioning tag is indirectly connected with a UWB positioning server, and all UWB positioning base stations periodically send positioning broadcast messages at the same time; note that there are K UWB positioning base stations in the UWB positioning system, there are N usable frequency bands, and there are M UWB positioning tags, where K and N are integers greater than or equal to 4, and K is greater than or equal to N, and M is an integer greater than or equal to 1.
2. The positioning system of claim 1, wherein the UWB positioning tag is a UWB positioning terminal capable of performing positioning interaction on a plurality of frequency bands simultaneously in the positioning process; each UWB positioning label is composed of a group of transceiver modules supporting different frequency bands, a baseband module, a positioning function module supporting a downlink TDOA positioning algorithm, a transceiving antenna module and a power supply management module.
3. The positioning system of claim 1, wherein the UWB positioning base station is a UWB positioning base station supporting a certain frequency band among a plurality of frequency bands planned to be used in the UWB positioning system, and the UWB positioning base station is composed of a transceiver module supporting a certain frequency band, a baseband module, a positioning function module supporting a downlink TDOA positioning algorithm, a clock synchronization client module, a transceiver antenna module, a wired communication interface module, and a power management module.
4. The positioning system of claim 1, wherein the UWB positioning server is a computer server capable of performing periodic clock synchronization with all UWB positioning base stations as a clock synchronization server to ensure clock synchronization between all UWB positioning base stations in the UWB positioning system; the UWB positioning server can obtain a positioning result obtained by calculation from the UWB positioning label; the UWB positioning server consists of a clock synchronization server module, one or more communication interface modules and a power management module.
5. The location system of claim 4, wherein the UWB location server further comprises a location data processing module for performing location calculation based on location data corresponding to the downlink TDOA location algorithm, and the UWB location server acquires the location data corresponding to the downlink TDOA location algorithm from the UWB location tag, calculates the location of the UWB location tag according to the downlink TDOA location algorithm, and outputs the location result.
6. The positioning system of claim 5, wherein the positioning data processing module is integrated with one of the UWB positioning base stations as a UWB positioning service master base station of the UWB positioning system, and is configured to perform a positioning result collecting function and a clock synchronization service side function of the UWB positioning tag calculation in the UWB positioning system.
7. A method for implementing an inter-frequency deployed UWB positioning system as defined in claim 1, the method comprising the steps of:
step 1: deploying an pilot frequency UWB positioning base station and a UWB positioning server according to a six-step method in a place needing indoor positioning, selecting UWB positioning base stations supporting different frequency bands in the deployment process, and performing space interval deployment based on the different frequency bands;
ensuring that all UWB positioning base stations and UWB positioning servers are in a clock synchronization state in a network debugging link of a six-step method; confirming that the configuration on all UWB positioning base stations meets the requirement of synchronously sending positioning broadcast messages in a downlink TDOA positioning algorithm in a software debugging link;
step 2: UWB positioning tags supporting multiple frequency bands simultaneously receive positioning broadcast messages sent by UWB positioning base stations working on different frequency bands nearby, and UWB positioning tags or a UWB positioning server complete the position positioning of the UWB positioning tags and output the position positioning results of the UWB positioning tags on the basis of collected positioning data required by a downlink TDOA positioning algorithm;
and step 3: after the UWB positioning tag or the UWB positioning server outputs the positioning result, the positioning result is locally stored and used in combination with a specific application scene;
and 4, step 4: and (3) the UWB positioning tag or the UWB positioning server repeats the processes of the step (2) and the step (3) according to the positioning requirement until the UWB positioning system is closed.
8. The method as claimed in claim 7, wherein the step 1 of spatially deploying based on different frequency bands comprises that the UWB positioning base stations are deployed at intervals based on different frequency bands according to different application scenarios according to a cellular mode, or according to a linear continuous square grid network.
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