CN114615619A - Indoor positioning method based on signal reflection points - Google Patents

Indoor positioning method based on signal reflection points Download PDF

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CN114615619A
CN114615619A CN202210177544.XA CN202210177544A CN114615619A CN 114615619 A CN114615619 A CN 114615619A CN 202210177544 A CN202210177544 A CN 202210177544A CN 114615619 A CN114615619 A CN 114615619A
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signal
receiver
reflection point
excitation source
signals
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CN114615619B (en
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陈凌宇
张少敏
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Xiamen University
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B1/00—Details of transmission systems, not covered by a single one of groups H04B3/00 - H04B13/00; Details of transmission systems not characterised by the medium used for transmission
    • H04B1/69—Spread spectrum techniques
    • H04B1/707—Spread spectrum techniques using direct sequence modulation
    • H04B1/7073—Synchronisation aspects
    • H04B1/7075—Synchronisation aspects with code phase acquisition
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/33—Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

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Abstract

The invention relates to an indoor positioning method based on signal reflection points, which transmits signals through an excitation source, the transmitted signals are received by the signal reflection points, the signal reflection points perform spread spectrum processing on the received signals, finally, a receiver receives the signals of the excitation source and each signal reflection point, the received signals are processed to obtain the distance difference between each signal reflection point, and the TDOA algorithm is adopted for positioning, so that the target position can be obtained finally. The invention can realize mass deployment in an indoor positioning scheme by utilizing the characteristics of simple structure, lower cost and easy deployment of the signal reflection point.

Description

Indoor positioning method based on signal reflection points
Technical Field
The invention relates to the technical field of indoor positioning, in particular to an indoor positioning method based on signal reflection points.
Background
With the rapid development of society and the modern construction of cities, more and more large buildings appear in the lives of people. The maturity of Global Navigation Satellite Systems (GNSS), such as the Global Positioning System (GPS) and the beidou satellite navigation system (BDS), has substantially satisfied the need for outdoor positioning in people's daily life. However, research shows that the time of people in an indoor environment in daily life accounts for 80% -90% of the total time, so when a user wants to position any object in a building or a closed environment, due to the limitation of GNSS and the complexity of the indoor environment, the user cannot realize accurate positioning to meet the user's requirement due to the influence of multipath effect, high-frequency change, shadow effect, non-line-of-sight interference and the like on signals, and thus the demand of indoor positioning service becomes stronger and stronger. For example, the market demand of indoor positioning technology in the fields of building management, intelligent hospital construction, personal service, vehicle position inquiry in parking lots, security and the like is large.
According to the placement position of the information source, the existing indoor positioning technology can be divided into two categories: the indoor positioning technology based on the natural information source and the indoor positioning technology based on the external information source. The indoor positioning technology based on the natural information source comprises inertial navigation, geomagnetic navigation and the like; the indoor positioning technology based on the external information source includes an infrared positioning technology, an ultrasonic positioning technology, a bluetooth positioning technology, a WiFi positioning technology, an Ultra Wideband (UWB) positioning technology, a Radio Frequency Identification (RFID) positioning technology, a positioning technology based on Frequency Modulated Continuous Wave (FMCW) and the like. The performance indexes of the indoor positioning system mainly include cost and positioning accuracy, and the current indoor positioning technology has deviation, but the two indexes are difficult to be considered, and how to control the cost while improving the positioning accuracy as much as possible is a great challenge. The trend in the future will be to combine technologies, fuse their advantages, and overcome their respective disadvantages. Therefore, the design of the indoor positioning system with high cost performance, easy realization and simple structure has practical significance.
Disclosure of Invention
Aiming at the defects of high cost and high power consumption of the existing indoor positioning technology, the invention aims to provide an indoor positioning method based on signal reflection points, which is low in cost, low in power consumption and easy to deploy.
In order to achieve the purpose, the invention adopts the technical scheme that:
an indoor positioning method based on signal reflection points is realized based on an indoor positioning system, wherein the indoor positioning system comprises an excitation source, a receiver and at least three signal reflection points;
the excitation source is used for continuously or discontinuously transmitting signals, linear modulation FMCW signals are adopted, and the signals are obtained by modulating the frequency of continuous waves;
the signal reflection points are composed of a receiving antenna, an amplifier, a spread spectrum module and a transmitting antenna, the signal reflection points amplify the received signals, each signal reflection point has a special spread spectrum code, the sequence is used for modulating the received signals, and finally the signals are sent to a receiver, and the spread spectrum codes can be used for identifying the identity information of the signals in the subsequent signal processing process;
the receiver captures signals of an excitation source and a plurality of signal reflection points by using the related reception of a spread spectrum code through a signal processing method by receiving the signals, obtains code phase offset and frequency offset estimation, separates out the reflection signal of each signal reflection point, can calculate the distance difference from each signal reflection point to the receiver, and obtains the position information of the receiver by using a TDOA (time difference of arrival) positioning method.
The positioning method specifically comprises the following steps:
step 1, generating FMCW signal by excitation source, and setting its emission signal as
Figure BDA0003520904250000031
Wherein mod (T, T) represents T modulo T, T is the sweep period, μ is the sweep rate (Hz/s), fcIs the carrier frequency;
step 2, neglecting the influence of channel multipath, the transmission signal is transmitted from the excitation source, and is received by a certain signal reflection point k (k is 1, 2.), each signal reflection point has a dedicated C/a code, and the modulated signal is
Figure BDA0003520904250000032
wherein ,dk(t) is a spread spectrum chip signal, and when different spreading methods are adopted, the values thereof are different: when OOK regime is adopted, dk(t) a pseudorandom signal having a value of 0 or 1; when BPSK regime is adopted, dk(t) a pseudorandom signal having a value of-1 or 1;
Figure BDA0003520904250000033
is the channel gain from the excitation source to the reflection point, which is a complex number;
Figure BDA0003520904250000034
for the signal propagation delay from the excitation source to the reflection point, the delay from the input antenna to the output antenna of the reflection point can be taken into account
Figure BDA0003520904250000035
Performing the following steps; w is ak(t) is noise;
step 3, the receiver receives the composite signal from the excitation source and the signal reflection point, wherein the received signal is
Figure BDA0003520904250000041
wherein ,
Figure BDA0003520904250000042
for the channel gain of the signal reflection point to the receiver,
Figure BDA0003520904250000043
is the signal propagation delay, w0(t) is receiver noise;
step 4, carrying out synchronous down-conversion processing on the carrier signal received by the receiver to obtain a baseband signal
Figure BDA0003520904250000044
wb(t) is the equivalent low-pass noise after down-conversion;
step 5, the receiver locally synchronizes to generate an FMCW messagePhase tracking the baseband signal and phase locking to
Figure BDA0003520904250000045
The output after synchronous detection is
Figure BDA0003520904250000046
wd(t) noise after synchronous detection;
in that
Figure BDA0003520904250000047
Region, can obtain
Figure BDA0003520904250000048
wherein ,
Figure BDA0003520904250000051
is at a frequency of
Figure BDA0003520904250000052
The sine term of (a) is,
Figure BDA0003520904250000053
in order to be the initial phase of the signal,
Figure BDA0003520904250000054
OOK/BPSK multiplication terms;
step 6, the receiver captures the signal by using the correlation reception of the spread spectrum code to obtain the code phase offset and the frequency offset estimation, and the receiver can know from which reflection point the signal comes; assuming that the distance from the excitation source to a certain reflection point is R1, the distance from the reflection point to the receiver is R2, and the distance from the excitation source to the receiver is R; to pair
Figure BDA0003520904250000055
The frequency estimation is performed to obtain the reflection point and the reception point of each signalThe distance difference between machines; the distance difference (R1+ R2) -R can be calculated according to the frequency offset, and the distance difference (R2-R) from the excitation source to the receiver and the reflection point to the receiver is calculated because R1 is known; and then, according to a plurality of distances and the positions of the signal reflection points, the TDOA positioning method is used for calculation to obtain the position information of the receiver, so that the positioning of the target is realized.
An indoor positioning method based on signal reflection points is realized based on an indoor positioning system, wherein the indoor positioning system comprises at least one excitation source, three signal reflection points and a receiver;
the excitation source is used for continuously or discontinuously transmitting signals, linear modulation FMCW signals are adopted, and the signals are obtained by modulating the frequency of continuous waves;
the signal reflection points are composed of a receiving antenna, an amplifier, a spread spectrum module and a transmitting antenna, the signal reflection points amplify the received signals, each signal reflection point has a special spread spectrum code, the sequence is used for modulating the received signals, and finally the signals are sent to a receiver, and the spread spectrum codes can be used for identifying the identity information of the signals in the subsequent signal processing process;
the receiver captures signals of an excitation source and a plurality of signal reflection points by using the related reception of a spread spectrum code through a signal processing method by receiving the signals, obtains code phase offset and frequency offset estimation, separates out the reflection signal of each signal reflection point, can calculate the distance difference from each signal reflection point to the receiver, and obtains the position information of the excitation source by using a TDOA (time difference of arrival) positioning method.
The positioning method specifically comprises the following steps:
step 1, generating FMCW signal by excitation source, and setting its emission signal as
Figure BDA0003520904250000061
Wherein mod (T, T) represents T modulo T, T is the sweep period, μ is the sweep rate (Hz/s), fcIs the carrier frequency;
step 2, neglecting the influence of channel multipath, the transmission signal is transmitted from the excitation source, and is received by a certain signal reflection point k (k is 1, 2.), each signal reflection point has a dedicated C/a code, and the modulated signal is
Figure BDA0003520904250000062
wherein ,dk(t) is a spread spectrum chip signal, and when different spreading methods are adopted, the values thereof are different: when OOK regime is adopted, dk(t) a pseudorandom signal having a value of 0 or 1; when BPSK regime is adopted, dk(t) a pseudorandom signal having a value of-1 or 1;
Figure BDA0003520904250000063
is the channel gain from the excitation source to the reflection point, which is a complex number;
Figure BDA0003520904250000064
for the signal propagation delay from the excitation source to the reflection point, the delay from the input antenna to the output antenna of the reflection point can be considered
Figure BDA0003520904250000065
Performing the following steps; w is ak(t) is noise;
step 3, the receiver receives the composite signal from the excitation source and the signal reflection point, wherein the received signal is
Figure BDA0003520904250000071
wherein ,
Figure BDA0003520904250000072
for the channel gain of the signal reflection point to the receiver,
Figure BDA0003520904250000073
is the signal propagation delay, w0(t) is receiver noise;
step 4, carrying out synchronous down-conversion processing on the carrier signal received by the receiver to obtain a baseband signal
Figure BDA0003520904250000074
wb(t) is the equivalent low-pass noise after down-conversion;
step 5, the receiver generates an FMCW signal locally and synchronously, carries out phase tracking on the baseband signal and locks the phase to
Figure BDA0003520904250000075
The output after synchronous detection is
Figure BDA0003520904250000076
wd(t) noise after synchronous detection;
in that
Figure BDA0003520904250000077
Region, can obtain
Figure BDA0003520904250000078
wherein ,
Figure BDA0003520904250000081
is at a frequency of
Figure BDA0003520904250000082
The sine term of (a) is,
Figure BDA0003520904250000083
in order to be the initial phase of the signal,
Figure BDA0003520904250000084
OOK/BPSK multiplication terms;
step 6, the receiver uses spread spectrumThe relevant receiving of the code captures the signal to obtain the code phase offset and frequency offset estimation, and the receiver can know from which reflection point the path of signal comes; assuming that the distance from the excitation source to a certain reflection point is R1, the distance from the reflection point to the receiver is R2, and the distance from the excitation source to the receiver is R; to pair
Figure BDA0003520904250000085
The distance difference between each signal reflection point and the receiver can be obtained by carrying out frequency estimation, the distance difference (R1+ R2) -R can be calculated according to the frequency offset, and the distance difference (R1-R) from the excitation source to the receiver and from the excitation source to the reflection point is calculated because R2 is known; and then, according to a plurality of distances and the positions of the signal reflection points, the TDOA positioning method is used for calculation to obtain the position information of the excitation source, so that the target is positioned.
An indoor positioning method based on signal reflection points is realized based on an indoor positioning system, wherein the indoor positioning system comprises at least four excitation sources, at least four receivers and a signal reflection point;
the excitation source is used for continuously or discontinuously transmitting signals, linear modulation FMCW signals are adopted, and the signals are obtained by modulating the frequency of continuous waves;
the signal reflection points are composed of four parts, namely a receiving antenna, an amplifier, a spread spectrum module and a transmitting antenna, the signal reflection points amplify the received signals, each signal reflection point has a special spread spectrum code, the sequence is used for modulating the received signals, and finally the signals are transmitted to a receiver, and the spread spectrum codes can be used for identifying identity information of the signals in the subsequent signal processing process;
the receiver captures signals of an excitation source and a plurality of signal reflection points by using the related reception of a spread spectrum code through a signal processing method by receiving the signals, obtains code phase offset and frequency offset estimation, separates out the reflection signal of each signal reflection point, can calculate the distance difference from each signal reflection point to the receiver, and obtains the position information of the signal reflection points by using a TDOA (time difference of arrival) positioning method.
The positioning method specifically comprises the following steps:
step 1, generating FMCW signal by excitation source, and setting its emission signal as
Figure BDA0003520904250000091
Wherein mod (T, T) represents T modulo T, T is the sweep period, μ is the sweep rate (Hz/s), fcIs the carrier frequency;
step 2, neglecting the influence of channel multipath, the transmission signal is transmitted from the excitation source, and is received by a certain signal reflection point k (k is 1, 2.), each signal reflection point has a dedicated C/a code, and the modulated signal is
Figure BDA0003520904250000092
wherein ,dk(t) is a spread spectrum chip signal, and when different spreading methods are adopted, the values thereof are different: when OOK regime is adopted, dk(t) a pseudorandom signal having a value of 0 or 1; when BPSK regime is adopted, dk(t) a pseudorandom signal having a value of-1 or 1;
Figure BDA0003520904250000093
is the channel gain from the excitation source to the reflection point, which is a complex number;
Figure BDA0003520904250000094
for the signal propagation delay from the excitation source to the reflection point, the delay from the input antenna to the output antenna of the reflection point can be taken into account
Figure BDA0003520904250000095
Performing the following steps; w is ak(t) is noise;
step 3, the receiver receives the composite signal from the excitation source and the signal reflection point, wherein the received signal is
Figure BDA0003520904250000101
Wherein,
Figure BDA0003520904250000102
for the channel gain of the signal reflection point to the receiver,
Figure BDA0003520904250000103
is the signal propagation delay, w0(t) is receiver noise;
step 4, carrying out synchronous down-conversion processing on the carrier signal received by the receiver to obtain a baseband signal
Figure BDA0003520904250000104
wb(t) is the equivalent low-pass noise after down-conversion;
step 5, the receiver generates an FMCW signal locally and synchronously, carries out phase tracking on the baseband signal and locks the phase to
Figure BDA0003520904250000105
The output after synchronous detection is
Figure BDA0003520904250000106
wd(t) noise after synchronous detection;
in that
Figure BDA0003520904250000107
Region, can obtain
Figure BDA0003520904250000108
wherein ,
Figure BDA0003520904250000111
is at a frequency of
Figure BDA0003520904250000112
The sine term of (a) is,
Figure BDA0003520904250000113
in order to be the initial phase of the signal,
Figure BDA0003520904250000114
OOK/BPSK multiplication terms;
step 6, the receiver captures the signal by using the correlation reception of the spread spectrum code to obtain the code phase offset and the frequency offset estimation, and the receiver can know from which reflection point the signal comes; taking one transceiver as an excitation source, and the other transceivers can be used as receivers, wherein the distance from the transceiver as the excitation source to a certain reflection point is assumed to be R1, the distance from the reflection point to the transceiver as the receiver is assumed to be R2, and the distance from the excitation source to the receiver is assumed to be R; for is to
Figure BDA0003520904250000115
The distance difference between each signal reflection point and the receiver can be obtained by carrying out frequency estimation, the distance difference (R1+ R2) -R can be calculated according to the frequency offset, and the distance difference (R1+ R2) from the excitation source to the reflection point and from the reflection point to the receiver is calculated because R is known; and then, according to a plurality of the distances, the determined serial numbers of the signal transmitting points and the positions of the transceivers, calculating by using a TDOA (time difference of arrival) positioning method to obtain the position information of the signal reflecting points, thereby realizing the positioning of the target.
After the scheme is adopted, the signal is transmitted through the excitation source, the transmitted signal is received by the signal reflection points, the signal reflection points perform spread spectrum processing on the received signal, the receiver finally receives the signals of the excitation source and the signal reflection points, the distance difference between the signal reflection points can be obtained by processing the received signal, and the TDOA algorithm is adopted for positioning, so that the target position can be obtained finally. The invention can realize mass deployment in an indoor positioning scheme by utilizing the characteristics of simple structure, lower cost and easy deployment of the signal reflection point.
Drawings
FIG. 1 is a schematic diagram of a receiver positioning system of the present invention;
FIG. 2 OOK spread spectrum schematic diagram of signal reflection point of the present invention
FIG. 3 is a functional block diagram of the receiver positioning system of the present invention;
FIG. 4 is a schematic diagram of a receiver positioning distance relationship;
FIG. 5 is a schematic diagram of an excitation source positioning system of the present invention;
FIG. 6 is a functional block diagram of an excitation source positioning system;
FIG. 7 is a schematic diagram of the relationship between the positioning distances of the excitation sources;
FIG. 8 is a schematic diagram of a signal reflection point locating system;
FIG. 9 is a functional block diagram of a signal reflection point locating system;
fig. 10 is a diagram illustrating the relationship between the positioning distances of the signal reflection points.
Detailed Description
The invention discloses an indoor positioning method based on signal reflection points, which is realized based on an indoor positioning system, wherein the indoor positioning system comprises an excitation source, the signal reflection points and a receiver. The description is as follows:
the excitation source, i.e. the signal source, is used to continuously or intermittently transmit a signal, using a linearly modulated FMCW signal, which is obtained by modulating the frequency of the continuous wave. The frequency modulation mode of the FMCW signal comprises linear frequency modulation and nonlinear frequency modulation. In the scheme, a sawtooth wave modulation mode in linear frequency modulation is adopted. The frequency difference between the received signal and the transmitted signal is obtained by the mixer and the subsequent signal processing module. And calculating the time difference between the signal received by the receiver and the local signal according to the frequency difference.
The signal reflection point is a low-cost signal modulation and amplification unit, and consists of four parts, namely a receiving antenna, an amplifier, a spread spectrum module and a transmitting antenna. The signal reflection points amplify the received signals, each signal reflection point has a special spread spectrum code, the received signals are modulated by the sequence and finally sent to a receiver, and the spread spectrum codes can be used for identifying the identity information of the signals in the subsequent signal processing process.
The receiver captures signals of an excitation source and a plurality of signal reflection points by using the related reception of a spread spectrum code through a signal processing method, obtains code phase offset and frequency offset estimation, separates out the reflection signal of each signal reflection point, and can calculate the distance difference from each signal reflection point to the receiver.
The indoor positioning system can be divided into a receiver positioning system, a signal reflection point positioning system and an excitation source positioning system according to different positioning scenes, and the positioning system is specifically as follows:
as shown in fig. 1, the positions of the excitation source and the signal reflection point in the receiver positioning system are determined, and the position of the receiver is solved. The system at least needs one excitation source, three reflection points and one receiver. The positioning system application is similar to GPS positioning and can be used for positioning plant equipment.
Based on a receiver positioning system, the indoor positioning method comprises the following steps:
step 1, generating FMCW signal by excitation source, and setting its emission signal as
Figure BDA0003520904250000131
Wherein mod (T, T) represents T modulo T, T is the sweep period, μ is the sweep rate (Hz/s), fcIs the carrier frequency.
Step 2, neglecting the influence of channel multipath, the transmission signal is transmitted from the excitation source, and is received by a certain signal reflection point k (k is 1, 2.), each signal reflection point has a dedicated C/a code, and the modulated signal is
Figure BDA0003520904250000132
wherein ,dk(t) is a spread spectrum chip signal, and when different spreading methods are adopted, the values thereof are different: when OOK system (the schematic block diagram is shown in FIG. 2) is adopted, dk(t) takes the value 0 or 1A pseudo-random signal; when BPSK regime is adopted, dk(t) a pseudorandom signal having a value of-1 or 1.
Figure BDA0003520904250000141
It is a complex number that is the channel gain from the excitation source to the reflection point.
Figure BDA0003520904250000142
For the signal propagation delay from the excitation source to the reflection point, the delay from the input antenna to the output antenna of the reflection point can be taken into account
Figure BDA0003520904250000143
In (1). w is ak(t) is noise.
Step 3, the receiver receives the composite signal from the excitation source and the signal reflection point, wherein the received signal is
Figure BDA0003520904250000144
wherein ,
Figure BDA0003520904250000145
for the channel gain of the signal reflection point to the receiver,
Figure BDA0003520904250000146
is the signal propagation delay, w0(t) is the noise of the receiver,
Figure BDA0003520904250000147
and
Figure BDA0003520904250000148
phase ratio w after multiplication0(t) is much smaller and can be directly ignored.
Step 4, the carrier signal received by the receiver is processed by synchronous down-conversion (assuming carrier synchronization is obtained and locked, that is to say
Figure BDA0003520904250000149
) Thus obtained baseband signalIs composed of
Figure BDA00035209042500001410
wbAnd (t) is equivalent low-pass noise after down-conversion.
Step 5, the receiver generates an FMCW signal locally and synchronously, carries out phase tracking on the baseband signal and locks the phase to
Figure BDA0003520904250000151
The output after synchronous detection is
Figure BDA0003520904250000152
wdAnd (t) is noise after synchronous detection.
In that
Figure BDA0003520904250000153
The region, i.e. within one sweep period, is available
Figure BDA0003520904250000154
wherein ,
Figure BDA0003520904250000155
is at a frequency of
Figure BDA0003520904250000156
The sine term of (a) is,
Figure BDA0003520904250000157
in order to be the initial phase of the signal,
Figure BDA0003520904250000158
is OOK/BPSK multiplication term.
Step 6, the receiver captures the signal by using the correlation reception of the spread spectrum code to obtain the code phase deviationAnd (4) estimating the quantity and the frequency offset, and enabling a receiver to know from which reflection point the path signal comes. Assume that the distance from the excitation source to a certain reflection point is R1, the distance from the reflection point to the receiver is R2, and the distance from the excitation source to the receiver is R, as shown in fig. 4. To pair
Figure BDA0003520904250000159
And the distance difference between each signal reflection point and the receiver can be obtained by carrying out frequency estimation. The distance difference (R1+ R2) -R can be calculated from the frequency offset, and since R1 is known, the distance difference (R2-R) from the excitation source to the receiver and from the reflection point to the receiver can be calculated. And then, according to a plurality of distances and the positions of the signal reflection points, the TDOA positioning method is used for calculation to obtain the position information of the receiver, so that the positioning of the target is realized.
As shown in fig. 5, the positions of the reflection points and the receivers in the excitation source positioning system are determined, and the positions of the excitation sources are solved. The positioning system requires at least one excitation source, three signal reflection points and one receiver. If the algorithm supports signals such as 4G/5G/WIFI and the like as excitation sources, positioning of a specific mobile phone can be realized.
As shown in fig. 6, the method for implementing indoor positioning based on the excitation source positioning system specifically includes the following steps:
step 1, generating FMCW signal by excitation source, and setting its emission signal as
Figure BDA0003520904250000161
Where mod (T, T) denotes T modulo T, T is time, T is sweep period, μ is sweep rate (Hz/s), fcIs the carrier frequency.
Step 2, ignoring the influence of channel multipath, the signal is emitted from an excitation source, received by a certain signal reflection point k (k is 1, 2), each signal reflection point has a special C/A code, and the modulated signal is
Figure BDA0003520904250000162
wherein dkAnd (t) is a spread spectrum chip signal, and values of the spread spectrum chip signal are different when different spreading methods are adopted. When OOK regime is adopted, dk(t) a pseudorandom signal having a value of 0 or 1; when BPSK regime is adopted, dk(t) a pseudorandom signal having a value of-1 or 1.
Figure BDA0003520904250000163
It is a complex number that is the channel gain from the excitation source to the reflection point.
Figure BDA0003520904250000164
For the signal propagation delay from the excitation source to the reflection point, the delay from the input antenna to the output antenna of the reflection point can be taken into account
Figure BDA0003520904250000165
In (1). w is ak(t) is noise.
Step 3, the receiver receives the composite signal from the excitation source and the signal reflection point, wherein the received signal is
Figure BDA0003520904250000171
Here, the
Figure BDA0003520904250000172
For the channel gain of the signal reflection point to the receiver,
Figure BDA0003520904250000173
is the signal propagation delay, alpha0，τ0Channel attenuation coefficient and propagation delay, w, from the excitation source to the receiver, respectively0(t) is the noise of the receiver,
Figure BDA0003520904250000174
and
Figure BDA0003520904250000175
phase ratio w after multiplication0(t) is smallMany, and can be directly ignored.
Step 4, the carrier signal received by the receiver is processed by synchronous down-conversion (assuming carrier synchronization is obtained and locked, i.e. carrier synchronization is performed
Figure BDA0003520904250000176
) Then obtaining a baseband signal of
Figure BDA0003520904250000177
wbAnd (t) is equivalent low-pass noise after down-conversion.
Step 5, the receiver generates an FMCW signal locally and synchronously, carries out phase tracking on the baseband signal and locks the phase to
Figure BDA0003520904250000178
The output after synchronous detection is
Figure BDA0003520904250000179
wdAnd (t) is noise after synchronous detection. In that
Figure BDA00035209042500001710
The region, i.e. within one sweep period, is available
Figure BDA0003520904250000181
wherein
Figure BDA0003520904250000182
Is at a frequency of
Figure BDA0003520904250000183
The sine term of (a) is,
Figure BDA0003520904250000184
is the initial phase of the signal and is the initial phase of the signal,
Figure BDA0003520904250000185
is OOK/BPSK multiplication term.
And 6, the receiver captures the signal by utilizing the related reception of the spread spectrum code to obtain the code phase offset and the frequency offset estimation, and the receiver can know from which reflection point the path of signal comes. Assume that the distance from the excitation source to a certain reflection point is R1, the distance from the reflection point to the receiver is R2, and the distance from the excitation source to the receiver is R, as shown in fig. 7.
For is to
Figure BDA0003520904250000186
The frequency estimation is carried out to obtain the distance difference between each signal reflection point and the receiver, the distance difference (R1+ R2) -R can be calculated according to the frequency offset, and the distance difference (R1-R) between the excitation source and the receiver and the distance difference between the excitation source and the reflection point can be calculated according to the known R2. And then, according to a plurality of distances and the positions of signal reflection points, calculating by using a TDOA (time difference of arrival) positioning method to obtain the position information of the excitation source, thereby realizing the positioning of the target.
As shown in fig. 8, the positions of the excitation source and the receiver in the signal reflection point positioning system are determined, and the positions of the signal reflection points are solved. Generally, in the system, an excitation source and a receiver are arranged in one device, namely one radar transceiver, and the system needs at least four transceivers, namely four excitation sources, four receivers and one signal reflection point. The system has the advantages that the signal reflection nodes are low in cost, support mass deployment and can replace UWB schemes.
As shown in fig. 9, based on the signal reflection point positioning system, the indoor positioning method is as follows:
step 1, generating FMCW signal by excitation source, and setting its emission signal as
Figure BDA0003520904250000191
Where mod (T, T) denotes T modulo T, T is time, and T is sweep periodMu is sweep rate (Hz/s), fcIs the carrier frequency.
Step 2, neglecting the influence of channel multipath, the signal is transmitted from the excitation source and received by a certain signal reflection point k (k is 1, 2.), each signal reflection point has a special C/A code, and the modulated signal is
Figure BDA0003520904250000192
wherein dkAnd (t) is a spread spectrum chip signal, and values of the spread spectrum chip signal are different when different spreading methods are adopted. When OOK regime is adopted, dk(t) a pseudorandom signal having a value of 0 or 1; when BPSK regime is adopted, dk(t) a pseudorandom signal having a value of-1 or 1.
Figure BDA0003520904250000193
It is a complex number that is the channel gain from the excitation source to the reflection point.
Figure BDA0003520904250000194
For the signal propagation delay from the excitation source to the reflection point, the delay from the input antenna to the output antenna of the reflection point can be considered
Figure BDA0003520904250000195
In (1). w is ak(t) is noise.
Step 3, the receiver receives the composite signal from the excitation source and the signal reflection point, and the received signal is
Figure BDA0003520904250000196
Here, the
Figure BDA0003520904250000197
For the channel gain of the signal reflection point to the receiver,
Figure BDA0003520904250000198
is the signal propagation delay, alpha0，τ0Channel attenuation coefficient and propagation delay, w, respectively, from the excitation source to the receiver0(t) is the noise of the receiver,
Figure BDA0003520904250000201
and
Figure BDA0003520904250000202
phase ratio w after multiplication0(t) is much smaller and can be directly ignored.
Step 4, the carrier signal received by the receiver is processed by synchronous down-conversion (assuming carrier synchronization is obtained and locked, that is to say
Figure BDA0003520904250000203
) Then obtaining a baseband signal of
Figure BDA0003520904250000204
wbAnd (t) is equivalent low-pass noise after down-conversion.
Step 5, the receiver generates an FMCW signal locally and synchronously, carries out phase tracking on the baseband signal and locks the phase to
Figure BDA0003520904250000205
The output after synchronous detection is
Figure BDA0003520904250000206
wdAnd (t) is noise after synchronous detection. In that
Figure BDA0003520904250000207
Figure BDA0003520904250000208
The area, i.e. within one sweep period, being available
Figure BDA0003520904250000209
wherein
Figure BDA00035209042500002010
Is at a frequency of
Figure BDA00035209042500002011
The sine term of (a) is,
Figure BDA00035209042500002012
in order to be the initial phase of the signal,
Figure BDA00035209042500002013
is OOK/BPSK multiplication term.
Step 6: the receiver captures the signal by using the correlation reception of the spread spectrum code to obtain the code phase offset and the frequency offset estimation, and the receiver can know from which reflection point the path of signal comes. In this scheme, one transceiver is taken as an excitation source, and the remaining transceivers can be taken as receivers, and it is assumed that the distance from the transceiver as the excitation source to a certain reflection point is R1, the distance from the reflection point to the transceiver as the receiver is R2, and the distance from the excitation source to the receiver is R, as shown in fig. 10.
To pair
Figure BDA0003520904250000211
The distance difference between each signal reflection point and the receiver can be obtained by carrying out frequency estimation, the distance difference (R1+ R2) -R can be calculated according to the frequency offset, and the distance difference (R1+ R2) between the excitation source and the reflection point and the receiver can be calculated because R is known. And then, according to a plurality of the distances, the determined serial numbers of the signal transmitting points and the positions of the transceivers, calculating by using a TDOA (time difference of arrival) positioning method to obtain the position information of the signal reflecting points, thereby realizing the positioning of the target.
In summary, in the present invention, a signal is transmitted through an excitation source, the transmitted signal is received by signal reflection points, the signal reflection points perform spread spectrum processing on the received signal, and finally, a receiver receives signals of the excitation source and each signal reflection point, and performs processing on the received signal to obtain a distance difference between each signal reflection point, and a TDOA algorithm is used to perform positioning, so as to finally obtain a target position. The invention can realize mass deployment in an indoor positioning scheme by utilizing the characteristics of simple structure, lower cost and easy deployment of the signal reflection point.
The above description is only exemplary of the present invention and is not intended to limit the technical scope of the present invention, so that any minor modifications, equivalent changes and modifications made to the above exemplary embodiments according to the technical spirit of the present invention are within the technical scope of the present invention.

Claims (6)

1. An indoor positioning method based on signal reflection points is characterized in that: the method is realized based on an indoor positioning system, wherein the indoor positioning system comprises an excitation source, a receiver and at least three signal reflection points;
the excitation source is used for continuously or discontinuously transmitting signals, linear modulation FMCW signals are adopted, and the signals are obtained by modulating the frequency of continuous waves;
the signal reflection points are composed of a receiving antenna, an amplifier, a spread spectrum module and a transmitting antenna, the signal reflection points amplify the received signals, each signal reflection point has a special spread spectrum code, the sequence is used for modulating the received signals, and finally the signals are sent to a receiver, and the spread spectrum codes can be used for identifying the identity information of the signals in the subsequent signal processing process;
the receiver captures signals of an excitation source and a plurality of signal reflection points by using the related reception of a spread spectrum code through a signal processing method by receiving the signals, obtains code phase offset and frequency offset estimation, separates out the reflection signal of each signal reflection point, can calculate the distance difference from each signal reflection point to the receiver, and obtains the position information of the receiver by using a TDOA (time difference of arrival) positioning method.
2. A reflection point based indoor positioning method according to claim 1, characterized in that: the positioning method specifically comprises the following steps:
step 1, generating FMCW signal by excitation source, and setting its emission signal as
Figure FDA0003520904240000011
Wherein mod (T, T) represents T modulo T, T is the sweep period, μ is the sweep rate (Hz/s), fcIs the carrier frequency;
step 2, neglecting the influence of channel multipath, the transmission signal is transmitted from the excitation source, and is received by a certain signal reflection point k (k is 1, 2.), each signal reflection point has a dedicated C/a code, and the modulated signal is
Figure FDA0003520904240000021
wherein ,dk(t) is a spread spectrum chip signal, and when different spreading methods are adopted, the values thereof are different: when OOK regime is adopted, dk(t) a pseudorandom signal having a value of 0 or 1; when BPSK regime is adopted, dk(t) a pseudorandom signal having a value of-1 or 1;
Figure FDA0003520904240000022
is the channel gain from the excitation source to the reflection point, which is a complex number;
Figure FDA0003520904240000023
for the signal propagation delay from the excitation source to the reflection point, the delay from the input antenna to the output antenna of the reflection point can be taken into account
Figure FDA0003520904240000024
Performing the following steps; w is ak(t) is noise;
step 3, the receiver receives the composite signal from the excitation source and the signal reflection point, and the received signal is
Figure FDA0003520904240000025
Figure FDA0003520904240000026
wherein ,
Figure FDA0003520904240000027
for the channel gain of the signal reflection point to the receiver,
Figure FDA0003520904240000028
is the signal propagation delay, w0(t) is receiver noise;
step 4, carrying out synchronous down-conversion processing on the carrier signal received by the receiver to obtain a baseband signal
Figure FDA0003520904240000031
wb(t) is the equivalent low-pass noise after down-conversion;
step 5, the receiver generates a FMCW signal locally and synchronously, performs phase tracking on the baseband signal, and locks the phase to
Figure FDA0003520904240000032
The output after synchronous detection is
Figure FDA0003520904240000033
wd(t) noise after synchronous detection;
in that
Figure FDA0003520904240000034
Region, can obtain
Figure FDA0003520904240000035
wherein ,
Figure FDA0003520904240000036
is at a frequency of
Figure FDA0003520904240000037
The term of the sine of (a) is,
Figure FDA0003520904240000038
in order to be the initial phase of the signal,
Figure FDA0003520904240000039
OOK/BPSK multiplication terms;
step 6, the receiver captures the signal by using the correlation reception of the spread spectrum code to obtain the code phase offset and the frequency offset estimation, and the receiver can know from which reflection point the signal comes; assuming that the distance from the excitation source to a certain reflection point is R1, the distance from the reflection point to the receiver is R2, and the distance from the excitation source to the receiver is R; to pair
Figure FDA00035209042400000310
The distance difference between each signal reflection point and the receiver can be obtained by carrying out frequency estimation; the distance difference (R1+ R2) -R can be calculated according to the frequency offset, and the distance difference (R2-R) from the excitation source to the receiver and the reflection point to the receiver is calculated because R1 is known; and then, according to a plurality of distances and the positions of the signal reflection points, the TDOA positioning method is used for calculation to obtain the position information of the receiver, so that the positioning of the target is realized.
3. An indoor positioning method based on signal reflection points is characterized in that: the method is realized based on an indoor positioning system, wherein the indoor positioning system comprises at least one excitation source, three signal reflection points and a receiver;
the excitation source is used for continuously or discontinuously transmitting signals, linear modulation FMCW signals are adopted, and the signals are obtained by modulating the frequency of continuous waves;
the signal reflection points are composed of a receiving antenna, an amplifier, a spread spectrum module and a transmitting antenna, the signal reflection points amplify the received signals, each signal reflection point has a special spread spectrum code, the sequence is used for modulating the received signals, and finally the signals are sent to a receiver, and the spread spectrum codes can be used for identifying the identity information of the signals in the subsequent signal processing process;
the receiver captures signals of an excitation source and a plurality of signal reflection points by using the related reception of a spread spectrum code through a signal processing method by receiving the signals, obtains code phase offset and frequency offset estimation, separates out the reflection signal of each signal reflection point, can calculate the distance difference from each signal reflection point to the receiver, and obtains the position information of the excitation source by using a TDOA (time difference of arrival) positioning method.
4. A reflection point based indoor positioning method according to claim 3, characterized in that: the positioning method specifically comprises the following steps:
step 1, generating FMCW signal by excitation source, and setting its emission signal as
Figure FDA0003520904240000041
Wherein mod (T, T) represents T modulo T, T is the sweep period, μ is the sweep rate (Hz/s), fcIs the carrier frequency;
step 2, neglecting the influence of channel multipath, the transmission signal is transmitted from the excitation source, and is received by a certain signal reflection point k (k is 1, 2.), each signal reflection point has a dedicated C/a code, and the modulated signal is
Figure FDA0003520904240000051
wherein ,dk(t) is a spread spectrum chip signal, and when different spreading methods are adopted, the values thereof are different: when OOK regime is adopted, dk(t) a pseudorandom signal having a value of 0 or 1; when BPSK regime is adopted, dk(t) a pseudorandom signal having a value of-1 or 1;
Figure FDA0003520904240000052
the channel gain from the excitation source to the reflection point is a complex number;
Figure FDA0003520904240000053
for the signal propagation delay from the excitation source to the reflection point, the delay from the input antenna to the output antenna of the reflection point can be taken into account
Figure FDA0003520904240000054
Performing the following steps; w is ak(t) is noise;
step 3, the receiver receives the composite signal from the excitation source and the signal reflection point, wherein the received signal is
Figure FDA0003520904240000055
Figure FDA0003520904240000056
wherein ,
Figure FDA0003520904240000057
for the channel gain of the signal reflection point to the receiver,
Figure FDA0003520904240000058
is the signal propagation delay, w0(t) is receiver noise;
step 4, carrying out synchronous down-conversion processing on the carrier signal received by the receiver to obtain a baseband signal
Figure FDA0003520904240000061
wb(t) is the equivalent low-pass noise after down-conversion;
step 5, the receiver generates an FMCW signal locally and synchronously, carries out phase tracking on the baseband signal and locks the phase to
Figure FDA0003520904240000062
The output after synchronous detection is
Figure FDA0003520904240000063
wd(t) noise after synchronous detection;
in that
Figure FDA0003520904240000064
Region, can obtain
Figure FDA0003520904240000065
wherein ,
Figure FDA0003520904240000066
is at a frequency of
Figure FDA0003520904240000067
The sine term of (a) is,
Figure FDA0003520904240000068
in order to be the initial phase of the signal,
Figure FDA0003520904240000069
for OOK/BPSK multiplicationAn item;
step 6, the receiver captures the signal by using the correlation reception of the spread spectrum code to obtain the code phase offset and the frequency offset estimation, and the receiver can know from which reflection point the signal comes; assuming that the distance from the excitation source to a certain reflection point is R1, the distance from the reflection point to the receiver is R2, and the distance from the excitation source to the receiver is R; to pair
Figure FDA00035209042400000610
The distance difference between each signal reflection point and the receiver can be obtained by carrying out frequency estimation, the distance difference (R1+ R2) -R can be calculated according to the frequency offset, and the distance difference (R1-R) from the excitation source to the receiver and from the excitation source to the reflection point is calculated because R2 is known; and then, according to a plurality of distances and the positions of the signal reflection points, the TDOA positioning method is used for calculation to obtain the position information of the excitation source, so that the target is positioned.
5. An indoor positioning method based on signal reflection points is characterized in that: the method is realized based on an indoor positioning system, wherein the indoor positioning system comprises at least four excitation sources, at least four receivers and a signal reflection point;
the excitation source is used for continuously or discontinuously transmitting signals, linear modulation FMCW signals are adopted, and the signals are obtained by modulating the frequency of continuous waves;
the signal reflection points are composed of a receiving antenna, an amplifier, a spread spectrum module and a transmitting antenna, the signal reflection points amplify the received signals, each signal reflection point has a special spread spectrum code, the sequence is used for modulating the received signals, and finally the signals are sent to a receiver, and the spread spectrum codes can be used for identifying the identity information of the signals in the subsequent signal processing process;
the receiver captures signals of an excitation source and a plurality of signal reflection points by using the related reception of a spread spectrum code through a signal processing method by receiving the signals, obtains code phase offset and frequency offset estimation, separates out the reflection signal of each signal reflection point, can calculate the distance difference from each signal reflection point to the receiver, and obtains the position information of the signal reflection points by using a TDOA (time difference of arrival) positioning method.
6. A reflection point based indoor positioning method according to claim 1, characterized in that: the positioning method specifically comprises the following steps:
step 1, generating FMCW signal by excitation source, and setting its emission signal as
Figure FDA0003520904240000071
Wherein mod (T, T) represents T modulo T, T is the sweep period, μ is the sweep rate (Hz/s), fcIs the carrier frequency;
step 2, neglecting the influence of channel multipath, the transmission signal is transmitted from the excitation source, and is received by a certain signal reflection point k (k is 1, 2.), each signal reflection point has a dedicated C/a code, and the modulated signal is
Figure FDA0003520904240000081
wherein ,dk(t) is a spread spectrum chip signal, and when different spreading methods are adopted, the values thereof are different: when OOK regime is adopted, dk(t) a pseudorandom signal having a value of 0 or 1; when BPSK regime is adopted, dk(t) a pseudorandom signal having a value of-1 or 1;
Figure FDA0003520904240000082
is the channel gain from the excitation source to the reflection point, which is a complex number;
Figure FDA0003520904240000083
for the signal propagation delay from the excitation source to the reflection point, the delay from the input antenna to the output antenna of the reflection point can be taken into account
Figure FDA0003520904240000084
Performing the following steps; w is ak(t) is noise;
step 3, the receiver receives the composite signal from the excitation source and the signal reflection point, wherein the received signal is
Figure FDA0003520904240000085
Figure FDA0003520904240000086
wherein ,
Figure FDA0003520904240000087
for the channel gain of the signal reflection point to the receiver,
Figure FDA0003520904240000088
is the signal propagation delay, w0(t) is receiver noise;
step 4, carrying out synchronous down-conversion processing on the carrier signal received by the receiver to obtain a baseband signal
Figure FDA0003520904240000091
wb(t) is the equivalent low-pass noise after down-conversion;
step 5, the receiver generates an FMCW signal locally and synchronously, carries out phase tracking on the baseband signal and locks the phase to
Figure FDA0003520904240000092
The output after synchronous detection is
Figure FDA0003520904240000093
wd(t) noise after synchronous detection;
in that
Figure FDA0003520904240000094
Region, can obtain
Figure FDA0003520904240000095
wherein ,
Figure FDA0003520904240000096
is at a frequency of
Figure FDA0003520904240000097
The sine term of (a) is,
Figure FDA0003520904240000098
in order to be the initial phase of the signal,
Figure FDA0003520904240000099
OOK/BPSK multiplication terms;
step 6, the receiver captures the signal by using the correlation reception of the spread spectrum code to obtain the code phase offset and the frequency offset estimation, and the receiver can know from which reflection point the signal comes; taking one transceiver as an excitation source, and the other transceivers can be used as receivers, wherein the distance from the transceiver as the excitation source to a certain reflection point is assumed to be R1, the distance from the reflection point to the transceiver as the receiver is assumed to be R2, and the distance from the excitation source to the receiver is assumed to be R; to pair
Figure FDA00035209042400000910
The distance difference between each signal reflection point and the receiver can be obtained by carrying out frequency estimation, the distance difference (R1+ R2) -R can be calculated according to the frequency offset, and the distance difference (R1+ R2) from the excitation source to the reflection point and from the reflection point to the receiver is calculated because R is known; then according to several such distances, the determined signal transmitting point serial number and transceiver positionAnd calculating by using a TDOA positioning method to obtain the position information of the signal reflection point so as to realize the positioning of the target.
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