CN208636421U - A kind of locating base station and system - Google Patents
A kind of locating base station and system Download PDFInfo
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- CN208636421U CN208636421U CN201821053215.XU CN201821053215U CN208636421U CN 208636421 U CN208636421 U CN 208636421U CN 201821053215 U CN201821053215 U CN 201821053215U CN 208636421 U CN208636421 U CN 208636421U
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Abstract
This application discloses a kind of locating base station and system, it is related to communicating positioning field.The base station includes: first antenna array, the second aerial array, ultra-broadband signal phase discriminator and controller；First antenna array includes two antennas, and the second aerial array includes two antennas, and first antenna array and the second aerial array are orthogonal；First antenna array and the second aerial array receive the signal that label to be positioned is sent respectively；Ultra-broadband signal phase discriminator be used for determine first antenna array first phase difference and the second aerial array second phase it is poor；Controller is for determining first angle θ of the label relative to first antenna array1And second angle θ of the label relative to the second aerial array2；According to first angle θ1With second angle θ2, the distance between base station and label position the three-dimensional coordinate of outgoing label.The application reduces the cost and complexity of positioning.
Description
Technical field
This application involves communication positioning fields, more particularly to a kind of locating base station and system.
Background technique
Traditional UWB (Ultra Wideband, ultra wide band) positioning system is at least needed when carrying out the positioning of region inner plane
Want 3 base stations that could complete to position, deployment is complicated, with high costs.
Utility model content
The utility model is intended to provide a kind of locating base station and system, to reduce the cost and complexity of positioning.
According to the one aspect of the application, a kind of locating base station is provided, comprising:
First antenna array, the second aerial array, ultra-broadband signal phase discriminator and controller；
The first antenna array, the second aerial array and controller are electrically connected with the ultra-broadband signal phase discriminator,
The first antenna array includes two antennas, and second aerial array includes two antennas, and the first antenna array
It is orthogonal with second aerial array；
The first antenna array and the second aerial array receive the signal that label to be positioned is sent respectively；
The ultra-broadband signal phase discriminator is used for the letter arrived according to the first antenna array and the second antenna array receiver
Number, the second phase of the first phase difference and second aerial array that determine the first antenna array is poor；
The controller be used for according between two antennas in the first phase difference, the first antenna array away from
From determining first angle θ of the label relative to the first antenna array1, poor, described second according to the second phase
The distance between two antennas in aerial array determine second angle θ of the label relative to second aerial array2；
The controller is also used to according to the first angle θ1With second angle θ2, between the base station and the label
Distance, orient the three-dimensional coordinate of the label；Alternatively, by the first angle θ1With second angle θ2And the base station
The distance between described label is sent to server or the label to orient the three-dimensional coordinate of the label.
Optionally, plane where the base station is the first plane, is vertical flat with the perpendicular plane of first plane
Face, the distance between the base station and the label are Distance；The controller is pressed from both sides for determining with the vertical plane
Angle is the first angle θ1The second plane, and with the vertical plane angle be the second angle θ2Third plane,
The intersection of second plane Yu the third plane is obtained, it is described for being oriented on the intersection apart from the base station length
The point of Distance, obtains the three-dimensional coordinate of the label.
Optionally, the first antenna array includes antenna A and antenna B, and second aerial array includes the antenna B
With antenna C；
Or,
The first antenna array includes antenna G and antenna H, and second aerial array includes antenna J and antenna K.
Optionally, the first antenna array and the second aerial array receive the first signal that the label is sent respectively；
The ultra-broadband signal phase discriminator is for determining that first signal reaches the phase of two antennas in the first antenna array
First phase difference of the difference as the first antenna array determines that first signal reaches in second aerial array two
The phase difference of antenna is poor as the second phase of second aerial array；
Or,
Two antennas receive the second signal that the label is sent, second antenna respectively in the first antenna array
Two antennas receive the third signal that the label is sent respectively in array；Described in the ultra-broadband signal phase discriminator is used to determine
Second signal reaches first phase of the phase difference of two antennas in the first antenna array as the first antenna array
Difference determines that the third signal reaches the phase difference of two antennas in second aerial array as second aerial array
Second phase it is poor.
Optionally, the controller determines first of the label relative to the first antenna array according to following formula
Angle, θ1Or second angle θ of the label relative to second aerial array2；
Wherein, the θ is the first angle θ1, the α is the first phase difference, and λ is signal wavelength, and c is the light velocity,
F is carrier frequency, and d is the distance between two antennas in the first antenna array；
Alternatively, the θ is the second angle θ2, the α is that the second phase is poor, and λ is signal wavelength, and c is the light velocity,
F is carrier frequency, and d is the distance between two antennas in second aerial array.
Optionally, the controller calculates the distance between the base station and the label according to following formula:
Wherein, the Distance is the distance between the base station and the label, and the c is the light velocity, the t1For
At the time of the base station issues ultra-wideband impulse signal, the treplyAfter receiving the ultra-wideband impulse signal for the label
Delay time, the t2At the time of receiving the response signal of the label for the base station.
According to further aspect of the application, a kind of positioning system is provided, comprising: first base station and the second base station；
The first base station includes:
First antenna array, the second aerial array, the first ultra-broadband signal phase discriminator and the first controller；Described first day
Linear array, the second aerial array and the first controller are electrically connected with the first ultra-broadband signal phase discriminator, and described first
Aerial array includes two antennas, and second aerial array includes two antennas, the first antenna array and described second
Aerial array is orthogonal；The first antenna array and the second aerial array receive the signal that label to be positioned is sent respectively；Institute
Signal of the first ultra-broadband signal phase discriminator for arriving according to the first antenna array and the second antenna array receiver is stated, is determined
The first phase difference of the first antenna array and the second phase of second aerial array are poor；First controller is used for
According to the distance between two antennas in the first phase difference, the first antenna array, determine the label relative to institute
State the first angle θ of first antenna array1, in the second aerial array poor according to the second phase, described between two antennas
Distance, determine second angle θ of the label relative to second aerial array2；
Second base station includes:
Third antenna array, the 4th aerial array, the second ultra-broadband signal phase discriminator and second controller；The third day
Linear array, the 4th aerial array and second controller are electrically connected with the second ultra-broadband signal phase discriminator, and the third
Aerial array includes two antennas, and the 4th aerial array includes two antennas, the third antenna array and the described 4th
Aerial array is orthogonal；The third antenna array and the 4th aerial array receive the signal that the label is sent respectively；Described
Two ultra-broadband signal phase discriminators are used for the signal that arrives according to the third antenna array and the 4th antenna array receiver, determine described in
4th phase difference of the third phase potential difference of third antenna array and the 4th aerial array；The second controller is used for basis
The distance between two antennas in the third phase potential difference, the third antenna array determine the label relative to described
The third angle θ of triantennary array3, according between two antennas in the 4th phase difference, the 4th aerial array away from
From determining fourth angle θ of the label relative to the 4th aerial array4；
The system is also used to according to the first angle θ1, second angle θ2, third angle θ3With fourth angle θ4, fixed
Position goes out the three-dimensional coordinate of the label；Alternatively, by the first angle θ1, second angle θ2, third angle θ3And fourth angle
θ4, server or the label are sent to orient the three-dimensional coordinate of the label.
Optionally, plane where the first base station is P1, with the plane P1Perpendicular plane is first vertical flat
Face；
First controller is the first angle θ for determining and the first vertical plane angle1Plane P2,
It and with the first vertical plane angle is the second angle θ2Plane P3, obtain the plane P2With the plane P3
Intersection l1；
Plane where second base station is P4, with the plane P4Perpendicular plane is the second vertical plane；
The second controller is the third angle θ for determining and the second vertical plane angle3Plane P5,
It and with the second vertical plane angle is the fourth angle θ4Plane P6, obtain the plane P5With the plane P6
Intersection l2；
First controller and/or the second controller are also used to:
Determine the intersection l1With the intersection l2Intersection point, obtain the three-dimensional coordinate of the label；Alternatively, by the friendship
Line l1With the intersection l2Information, be sent to server or the label to orient the three-dimensional coordinate of the label.
Optionally, the controller of the first base station determines the label relative to the first antenna according to following formula
The first angle θ of array1Or second angle θ of the label relative to second aerial array2；
Wherein, the θ is the first angle θ1, the α is the first phase difference, and λ is signal wavelength, and c is the light velocity,
F is carrier frequency, and d is the distance between two antennas in the first antenna array；
Alternatively, the θ is the second angle θ2, the α is that the second phase is poor, and λ is signal wavelength, and c is the light velocity,
F is carrier frequency, and d is the distance between two antennas in second aerial array.
Optionally, the controller of second base station determines the label relative to the third antenna according to following formula
The third angle θ of array3Or fourth angle θ of the label relative to the 4th aerial array4；
Wherein, the θ is the third angle θ3, the α is the third phase potential difference, and λ is signal wavelength, and c is the light velocity,
F is carrier frequency, and d is the distance between two antennas in the third antenna array；
Alternatively, the θ is the fourth angle θ4, the α is the 4th phase difference, and λ is signal wavelength, and c is the light velocity,
F is carrier frequency, and d is the distance between two antennas in the 4th aerial array.
The locating base station and system of the application due to using a base station or two base stations to can be achieved with the positioning of label,
Therefore the cost and complexity of positioning are significantly reduced, can preferably realizes the positioning of region interior label.
Further, when realizing positioning based on a base station, outgoing label is positioned according to angle and distance, is greatly saved
Cost；When realizing positioning based on two base stations, determine that the intersection point of two intersections realizes positioning by angle, without calculating mark
Label significantly reduce the complexity of location Calculation at a distance from base station.
According to the accompanying drawings to the detailed description of the specific embodiment of the application, those skilled in the art will be more
Above-mentioned and other purposes, the advantages and features of the application are illustrated.
Detailed description of the invention
Some specific embodiments of the application are described in detail by way of example and not limitation with reference to the accompanying drawings hereinafter.
Identical appended drawing reference denotes same or similar part or part in attached drawing.It should be appreciated by those skilled in the art that these
What attached drawing was not necessarily drawn to scale.In attached drawing:
Fig. 1 is the structural schematic diagram of the locating base station in the application one embodiment；
Fig. 2 is the structural schematic diagram of the locating base station in the application one embodiment；
Fig. 3 is the positioning principle schematic diagram of inside of base station aerial array in the application one embodiment；
Fig. 4 is the schematic illustration disposing a base station in the application one embodiment and being positioned；
Fig. 5 is the structural schematic diagram of the positioning system in the application one embodiment；
Fig. 6 is the structural schematic diagram of the positioning system in the application one embodiment；
Fig. 7 is the schematic illustration disposing two base stations in the application one embodiment and being positioned；
Fig. 8 be this application involves schematic illustration of the measurement label relative to the angle of aerial array；
Fig. 9 be this application involves measurement label to base station distance schematic illustration.
Specific embodiment
Locating base station and system provided by the present application can be applied to the positioning of region interior label, not influence accurate positioning
Property and positioning accuracy in the case where, can reduce positioning cost, reduce complexity, deployment is convenient, flexibly, has stronger application
Property, Centimeter Level high-precision indoor positioning can be reached.Wherein, the positioning in region in a positioning including but not limited to room,
Such as the positioning of office's interior label, the positioning etc. of computer room interior label.The label can be any electricity that can send signal
Sub- equipment especially sends the electronic equipment of UWB signal, including but not limited to: the network equipment, terminal device, handheld device etc.
Deng.
Referring to Fig. 1, the application one embodiment provides a kind of locating base station 100, comprising:
First antenna array, the second aerial array, ultra-broadband signal phase discriminator and controller；
First antenna array, the second aerial array and controller are electrically connected with ultra-broadband signal phase discriminator, first antenna
Array includes two antennas, and the second aerial array includes two antennas, and first antenna array and the second aerial array are orthogonal；
First antenna array and the second aerial array receive the signal that label to be positioned is sent respectively；
Ultra-broadband signal phase discriminator is used for the signal that arrives according to first antenna array and the second antenna array receiver, determines the
The first phase difference of one aerial array and the second phase of the second aerial array are poor；
Controller is used to determine label phase according to the distance between two antennas in first phase difference, first antenna array
For the first angle θ of first antenna array1, the distance between two antennas in, the second aerial array poor according to second phase,
Determine second angle θ of the label relative to the second aerial array2；
Controller is also used to according to first angle θ1With second angle θ2, the distance between base station and label position outgoing label
Three-dimensional coordinate；Alternatively, by first angle θ1With second angle θ2And the distance between base station and label, it is sent to server
Or label is to position the three-dimensional coordinate of outgoing label.
Optionally, first antenna array and the second aerial array receive the first signal of label transmission respectively；Ultra-wide is taken a message
Number phase discriminator is used to determine that the first signal to reach the phase difference of two antennas in first antenna array as first antenna array
First phase difference determines that the first signal reaches the of the phase difference of two antennas in the second aerial array as the second aerial array
Two-phase potential difference；
Or,
Two antennas receive the second signal of label transmission, two days in the second aerial array respectively in first antenna array
Line receives the third signal of label transmission respectively；Ultra-broadband signal phase discriminator is for determining that second signal reaches first antenna array
First phase difference of the phase difference of interior two antennas as first antenna array determines that third signal reaches in the second aerial array
The phase difference of two antennas is poor as the second phase of the second aerial array.
In one embodiment, first antenna array includes antenna A and antenna B, the second aerial array include antenna B and
Antenna C, antenna B are the antenna that two aerial arrays are shared, and can be realized simple and convenient with save the cost.
Under another embodiment, first antenna array includes antenna G and antenna H, and the second aerial array includes antenna J
With antenna K, two aerial arrays are without shared antenna in this case.
It is illustrated in case where the first above-mentioned embodiment has shared antenna below.
Referring to fig. 2, above-mentioned base station 100 provided in this embodiment can specifically include:
Antenna A, antenna B, antenna C, ultra-broadband signal phase discriminator and controller；
Antenna A, antenna B, antenna C and controller are electrically connected with ultra-broadband signal phase discriminator, and antenna A and antenna B group
At first antenna array, antenna B and antenna C form the second aerial array, and first antenna array and the second aerial array are orthogonal；
Antenna A, antenna B and antenna C receive the signal that label to be positioned is sent respectively；
Ultra-broadband signal phase discriminator is used for the signal received according to antenna A, antenna B and antenna C, determines first antenna battle array
The first phase difference of column and the second phase of the second aerial array are poor；
Controller is used to determine label relative to first day according to the distance between first phase difference, antenna A and antenna B
The first angle θ of linear array1, the distance between, antenna B poor according to second phase and antenna C determine label relative to second day
The second angle θ of linear array2；
Controller is also used to according to first angle θ1With second angle θ2, the distance between base station and label position outgoing label
Three-dimensional coordinate；Alternatively, by first angle θ1With second angle θ2And the distance between base station and label, it is sent to server
Or label is to position the three-dimensional coordinate of outgoing label.
In the present embodiment, optionally,
Plane where base station is the first plane, is vertical plane with the perpendicular plane of the first plane, base station and label it
Between distance be Distance；
Controller is first angle θ for determining and vertical plane angle1The second plane, and with vertical plane angle
For second angle θ2Third plane, obtain the intersection of the second plane Yu third plane, oriented on intersection long apart from base station
Degree is the point of Distance, obtains the three-dimensional coordinate of label.
Referring to Fig. 3, there are 2 groups of orthogonal aerial arrays in base station provided in this embodiment.P in figure1、P2、P3It is 3
Different planes.Antenna A and antenna B, antenna B and antenna C are P1The aerial array of two groups of adjacent orthogonals in plane.Two groups of antennas
Array can share antenna B, can also be respectively with independent antenna.The present embodiment is by taking shared antenna as an example.If there is label exists
P1Above plane, AB aerial array will test label and be located relative to P1Vertical plane angle is θ1Plane P2On, i.e., in figure
Mark and P1Plane included angle is the plane P of α2On, wherein α is θ1Complementary angle.In addition, BC aerial array will test label position
In relative to P1Vertical plane angle is θ2Plane P3On, i.e., marked in figure and P1Plane included angle is the plane P of β3On, wherein
β is θ2Complementary angle.Therefore, base station can position outgoing label first and be located at plane P2With plane P3Intersecting lens on it is (i.e. black in figure
Color heavy line).
Referring to fig. 4, above-mentioned base station provided in this embodiment can also pass through the ranging side UWB after determining above-mentioned intersecting lens
The distance Distance of method acquisition tag distances aerial array.Because aerial array AB and aerial array BC size it is smaller and be spaced
Relatively closely, a point i.e. base station can be considered as when ranging, therefore is exactly label at a distance from base station at a distance from label and aerial array
Distance.The intersecting lens determined in dotted line, that is, Fig. 3 in Fig. 4, base station is in conjunction with the label measured at a distance from base station
Distance, so that it may the three-dimensional coordinate (x, y, z) for calculating outgoing label, to complete to position.Wherein, three are calculated based on distance
Dimension is sat there are many kinds of calibration methods, can be chosen any one kind of them, the present embodiment is not specifically limited in this embodiment.
In the present embodiment, when determining phase difference, two ways can be used, under a kind of embodiment:
Antenna A, antenna B and antenna C receive the first signal of label transmission respectively；
Ultra-broadband signal phase discriminator is used to determine that the first signal to reach the phase difference of antenna A and antenna B as first antenna
The first phase difference of array determines that the first signal reaches second phase of the phase difference of antenna B and antenna C as the second aerial array
Potential difference.
Under another embodiment:
The antenna A and antenna B receives the second signal that the label is sent respectively, and the antenna B and antenna C connect respectively
Receive the third signal that the label is sent；
The ultra-broadband signal phase discriminator is for determining that the second signal reaches the phase of the antenna A and the antenna B
First phase difference of the potential difference as the first antenna array determines that the third signal reaches the antenna B and antenna C
Phase difference it is poor as the second phase of second aerial array.
It is oriented when carrying out the positioning of region interior label according to angle and distance above-mentioned base station provided in this embodiment
Label only needs a base station that can realize positioning, dramatically saves cost.
Referring to Fig. 5, the application one embodiment provides a kind of positioning system 200, comprising: first base station and the second base
It stands；
First base station includes:
First antenna array, the second aerial array, the first ultra-broadband signal phase discriminator and the first controller；First antenna battle array
Column, the second aerial array and the first controller are electrically connected with the first ultra-broadband signal phase discriminator, and first antenna array includes
Two antennas, the second aerial array include two antennas, and first antenna array and the second aerial array are orthogonal；First antenna array
The signal that label to be positioned is sent is received respectively with the second aerial array；First ultra-broadband signal phase discriminator is used for according to first
The signal that aerial array and the second antenna array receiver arrive determines the first phase difference and the second aerial array of first antenna array
Second phase it is poor；First controller is used for according to the distance between two antennas in first phase difference, first antenna array, really
First angle θ of the calibration label relative to first antenna array1, in, the second aerial array poor according to second phase two antennas it
Between distance, determine second angle θ of the label relative to the second aerial array2；
Second base station includes:
Third antenna array, the 4th aerial array, the second ultra-broadband signal phase discriminator and second controller；Third antenna battle array
Column, the 4th aerial array and second controller are electrically connected with the second ultra-broadband signal phase discriminator, and third antenna array includes
Two antennas, the 4th aerial array include two antennas, and third antenna array and the 4th aerial array are orthogonal；Third antenna array
Receive the signal of label transmission respectively with the 4th aerial array；Second ultra-broadband signal phase discriminator is used for according to third antenna array
The signal arrived with the 4th antenna array receiver determines the third phase potential difference of third antenna array and the 4th phase of the 4th aerial array
Potential difference；Second controller is used to determine label phase according to the distance between two antennas in third phase potential difference, third antenna array
For the third angle θ of third antenna array3, according to the distance between two antennas in the 4th phase difference, the 4th aerial array,
Determine fourth angle θ of the label relative to the 4th aerial array4；
Above system 200 is also used to according to first angle θ1, second angle θ2, third angle θ3With fourth angle θ4, positioning
The three-dimensional coordinate of outgoing label；Alternatively, by first angle θ1, second angle θ2, third angle θ3With fourth angle θ4, it is sent to clothes
Business device or label are to position the three-dimensional coordinate of outgoing label.
In above system in the present embodiment, two aerial arrays in any one base station can be using shared antenna side
Formula specifically can not also be limited using without antenna mode is shared.Wherein, sharing antenna mode such as first antenna array includes day
Line A and antenna B, the second aerial array include antenna B and antenna C, and antenna B is the antenna that two aerial arrays are shared, can be with
Save the cost is realized simple and convenient.It include antenna G and antenna H, the second antenna array without antenna mode such as first antenna array is shared
Column include antenna J and antenna K, and two aerial arrays are without shared antenna in this case.
It is illustrated in such a way that two base stations in system are all made of shared antenna below.
Referring to Fig. 6, above system 200 can specifically include first base station and the second base station；
First base station includes:
Antenna A1, antenna B1, antenna C1, the first ultra-broadband signal phase discriminator and the first controller；Antenna A1, antenna B1, day
Line C1It is electrically connected with the first ultra-broadband signal phase discriminator with the first controller, and antenna A1With antenna B1Form first antenna battle array
Column, antenna B1With antenna C1The second aerial array is formed, first antenna array and the second aerial array are orthogonal；Antenna A1, antenna B1
With antenna C1The signal that label to be positioned is sent is received respectively；First ultra-broadband signal phase discriminator is used for according to antenna A1, antenna
B1With antenna C1The second phase of the signal received, the first phase difference and the second aerial array that determine first antenna array is poor；
First controller is used for according to first phase difference, antenna A1With antenna B1The distance between, determine label relative to first antenna battle array
The first angle θ of column1, antenna B poor according to second phase1With antenna C1The distance between, determine label relative to the second antenna
The second angle θ of array2；
Second base station includes:
Antenna A2, antenna B2, antenna C2, the second ultra-broadband signal phase discriminator and second controller；Antenna A2, antenna B2, day
Line C2It is electrically connected with the second ultra-broadband signal phase discriminator with second controller, and antenna A2With antenna B2Form third antenna battle array
Column, antenna B2With antenna C2The 4th aerial array is formed, third antenna array and the 4th aerial array are orthogonal；Antenna A2, antenna B2
With antenna C2The signal that label is sent is received respectively；Second ultra-broadband signal phase discriminator is used for according to antenna A2, antenna B2And antenna
C2The signal received determines the third phase potential difference of third antenna array and the 4th phase difference of the 4th aerial array；Second control
Device processed is used for according to third phase potential difference, antenna A2With antenna B2The distance between, determine of label relative to third antenna array
Three angle, θs3, according to the 4th phase difference, antenna B2With antenna C2The distance between, determine label relative to the 4th aerial array
Fourth angle θ4；
Above system is also used to according to first angle θ1, second angle θ2, third angle θ3With fourth angle θ4, orient
The three-dimensional coordinate of label；Alternatively, by first angle θ1, second angle θ2, third angle θ3With fourth angle θ4, it is sent to service
Device or label are to position the three-dimensional coordinate of outgoing label.
In the present embodiment, optionally,
Plane where first base station is P1, with plane P1Perpendicular plane is the first vertical plane；
First controller is first angle θ for determining and the first vertical plane angle1Plane P2, and with first hang down
Straight plane included angle is second angle θ2Plane P3, obtain plane P2With plane P3Intersection l1；
Plane where second base station is P4, with plane P4Perpendicular plane is the second vertical plane；
Second controller is third angle θ for determining and the second vertical plane angle3Plane P5, and with second hang down
Straight plane included angle is fourth angle θ4Plane P6, obtain plane P5With plane P6Intersection l2；
First controller and/or second controller are also used to:
Determine intersection l1With intersection l2Intersection point, obtain the three-dimensional coordinate of label；Alternatively, by intersection l1With intersection l2Letter
Breath, is sent to server or label to position the three-dimensional coordinate of outgoing label.
Referring to Fig. 3 and Fig. 7, as the first base station principle all as shown in Figure 3 with the aerial array in the second base station, respectively
It is positioned.As shown in fig. 7, first base station positions to obtain intersection l1, the second base station location obtains intersection l2；The friendship of two intersections
Point exactly positions obtained label position, so as to calculate the three-dimensional coordinate of outgoing label, specific algorithm according to this two intersections
It can arbitrarily choose, the present embodiment is not specifically limited in this embodiment.Moreover, can according to the three-dimensional coordinate that two intersections calculate outgoing label
To be calculated by first base station, is perhaps calculated by the second base station or respectively calculated by first base station and the second base station respectively
?；The server that the information of two intersections can also be sent to backstage calculates the three-dimensional coordinate of outgoing label, or is sent to
Label is calculated the three-dimensional coordinate of itself by label oneself, and implementation is varied, and the present embodiment does not do this specifically
It limits.
Above system provided in this embodiment determines two intersections according to angle when carrying out the positioning of region interior label
Intersection point can position outgoing label, without measuring the distance of label to base station, significantly reduce the complexity of location Calculation.
Referring to Fig. 8, the aerial array measurement label in base station involved in any of the above-described embodiment of the application is relative to day
When the angle of linear array, concrete principle is as follows:
Orthogonal antenna array on base station can receive the UWB signal that label to be positioned is sent, and pass through AOA (Angle
Of Arrival) measuring principle measures angle, θ of the label to be positioned relative to aerial array.Wherein, aerial array measures the angle AOA
There are many ways to spending, including but not limited to: time difference measurements, phase difference measurement etc..This sentence for phase difference measurement method into
Row explanation.
Fig. 8 show any base station in any of the above-described embodiment, and one of aerial array is by antenna A and antenna B group
At.The phase difference that the same UWB signal is received by measuring 2 antennas in the aerial array, it is opposite can to calculate outgoing label
In the angle, θ of the aerial array.
Derivation formula is as follows:
Such as figure, the range difference of antenna A and antenna B are arrived separately at from the same UWB signal of label to be positioned are as follows:
P=d sin θ (distance that d is two antennas A and B)
P in figure is parallel with the signal from label, indicates that label sends the direction of signal, it is possible thereby to constitute one with d
A right angled triangle.
Signal wavelength are as follows:
(c is the light velocity, and f is carrier frequency)
If α is that the above-mentioned UWB signal that UWB signal phase discriminator acquires in figure reaches the phase difference of aerial array:
That is:
So:
That is:
Because the frequency of UWB signal is relatively high (being typically 3GHz~7GHz), i.e., wavelength X is several centimetres of scale, so
Lesser range difference p can also obtain obvious phase difference α.
Since if the distance d value of two antennas is greater thanHave multiple solutions.It is therefore preferred that two antennas away from
From d, value is equal to or slightly less than
Referring to Fig. 9, the Method And Principle of the distance of measurement label involved in any of the above-described embodiment of the application to base station is such as
Under:
The aerial array of base station and label to be positioned carry out real time distance by UWB signal, and precision can reach 10cm.Cause
For the clock of base station and label and asynchronous, so practical carried out by TWR (Two-Way Ranging) algorithm.
TWR algorithm principle is as follows:
Base station is in t1Moment issues UWB pulse signal and starts ranging, after undergoing flight time ToF (Time of Flight)
The UWB pulse signal is received by label to be positioned, by treplyIt is delayed after (processing time of CPU etc.), label issues UWB response
Signal, using after the ToF time in t2Moment, the response signal was received by base station.
Known UWB pulse signal transmission speed is equal to light velocity c, treplyIt is the set time, it can be by measuring and calculating
It arrives.Then the distance between base station and label Distance are as follows:
The preferable specific embodiment of the above, only the application, but the protection scope of the application is not limited thereto,
Within the technical scope of the present application, any changes or substitutions that can be easily thought of by anyone skilled in the art,
Should all it cover within the scope of protection of this application.Therefore, the protection scope of the application should be with scope of protection of the claims
Subject to.
Claims (6)
1. a kind of locating base station, comprising:
First antenna array, the second aerial array, ultra-broadband signal phase discriminator and controller；
The first antenna array, the second aerial array and controller are electrically connected with the ultra-broadband signal phase discriminator, described
First antenna array includes two antennas, and second aerial array includes two antennas, and the first antenna array and institute
It is orthogonal to state the second aerial array；
The first antenna array and the second aerial array receive the signal that label to be positioned is sent respectively；
The ultra-broadband signal phase discriminator is used for the signal arrived according to the first antenna array and the second antenna array receiver, really
The first phase difference of the fixed first antenna array and the second phase of second aerial array are poor；
The controller is used for according to the distance between two antennas in the first phase difference, the first antenna array, really
Fixed first angle θ of the label relative to the first antenna array1, the second antenna poor according to the second phase, described
The distance between two antennas in array determine second angle θ of the label relative to second aerial array2；
The controller is also used to the first angle θ1With second angle θ2And between the base station and the label away from
From being sent to server or the label to orient the three-dimensional coordinate of the label.
2. base station according to claim 1, which is characterized in that
Plane where the base station is the first plane, is vertical plane, the base station with the perpendicular plane of first plane
The distance between described label is Distance；
The controller is the first angle θ for the determining and vertical plane angle1The second plane, and with it is described
Vertical plane angle is the second angle θ2Third plane, obtain the intersection of second plane Yu the third plane,
The point for being the Distance apart from the base station length is oriented on the intersection, obtains the three-dimensional coordinate of the label.
3. base station according to claim 1, which is characterized in that
The first antenna array includes antenna A and antenna B, and second aerial array includes the antenna B and antenna C；
Or,
The first antenna array includes antenna G and antenna H, and second aerial array includes antenna J and antenna K.
4. base station according to claim 1, which is characterized in that
The first antenna array and the second aerial array receive the first signal that the label is sent respectively；The ultra-wide is taken a message
Number phase discriminator is used to determine that first signal to reach the phase differences of two antennas in the first antenna array as described the
The first phase difference of one aerial array determines that first signal reaches the phase difference of two antennas in second aerial array
Second phase as second aerial array is poor；
Or,
Two antennas receive the second signal that the label is sent, second aerial array respectively in the first antenna array
Interior two antennas receive the third signal that the label is sent respectively；The ultra-broadband signal phase discriminator is for determining described second
Signal reaches first phase difference of the phase difference of two antennas in the first antenna array as the first antenna array, really
The fixed third signal reaches the of the phase differences of two antennas in second aerial array as second aerial array
Two-phase potential difference.
5. a kind of positioning system, comprising: first base station and the second base station；
The first base station includes:
First antenna array, the second aerial array, the first ultra-broadband signal phase discriminator and the first controller；The first antenna battle array
Column, the second aerial array and the first controller are electrically connected with the first ultra-broadband signal phase discriminator, and the first antenna
Array includes two antennas, and second aerial array includes two antennas, the first antenna array and second antenna
Ary Quadrature；The first antenna array and the second aerial array receive the signal that label to be positioned is sent respectively；Described
One ultra-broadband signal phase discriminator is used for the signal that arrives according to the first antenna array and the second antenna array receiver, determine described in
The first phase difference of first antenna array and the second phase of second aerial array are poor；First controller is used for basis
The distance between two antennas in the first phase difference, the first antenna array determine the label relative to described
The first angle θ of one aerial array1, in the second aerial array poor according to the second phase, described between two antennas away from
From determining second angle θ of the label relative to second aerial array2；
Second base station includes:
Third antenna array, the 4th aerial array, the second ultra-broadband signal phase discriminator and second controller；The third antenna battle array
Column, the 4th aerial array and second controller are electrically connected with the second ultra-broadband signal phase discriminator, and the third antenna
Array includes two antennas, and the 4th aerial array includes two antennas, the third antenna array and the 4th antenna
Ary Quadrature；The third antenna array and the 4th aerial array receive the signal that the label is sent respectively；It is described the second to surpass
Broadband signal phase discriminator is used for the signal arrived according to the third antenna array and the 4th antenna array receiver, determines the third
4th phase difference of the third phase potential difference of aerial array and the 4th aerial array；The second controller is used for according to
The distance between two antennas in third phase potential difference, the third antenna array, determine the label relative to the third day
The third angle θ of linear array3, according to the distance between two antennas in the 4th phase difference, the 4th aerial array, really
Fixed fourth angle θ of the label relative to the 4th aerial array4；
The system is also used to the first angle θ1, second angle θ2, third angle θ3With fourth angle θ4, it is sent to service
Device or the label are to orient the three-dimensional coordinate of the label.
6. system according to claim 5, which is characterized in that
Plane where the first base station is P1, with the plane P1Perpendicular plane is the first vertical plane；
First controller is the first angle θ for determining and the first vertical plane angle1Plane P2, and
It is the second angle θ with the first vertical plane angle2Plane P3, obtain the plane P2With the plane P3Friendship
Line l1；
Plane where second base station is P4, with the plane P4Perpendicular plane is the second vertical plane；
The second controller is the third angle θ for determining and the second vertical plane angle3Plane P5, and
It is the fourth angle θ with the second vertical plane angle4Plane P6, obtain the plane P5With the plane P6Friendship
Line l2；
First controller and/or the second controller are also used to:
Determine the intersection l1With the intersection l2Intersection point, obtain the three-dimensional coordinate of the label；Alternatively, by the intersection l1
With the intersection l2Information, be sent to server or the label to orient the three-dimensional coordinate of the label.
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| CN201821053215.XU CN208636421U (en) | 2018-07-04 | 2018-07-04 | A kind of locating base station and system |
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| CN201821053215.XU CN208636421U (en) | 2018-07-04 | 2018-07-04 | A kind of locating base station and system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109932709A (en) * | 2019-04-10 | 2019-06-25 | 江苏霆升科技有限公司 | RFID location system and localization method |
| CN111212401A (en) * | 2019-12-26 | 2020-05-29 | 天地融科技股份有限公司 | OBU positioning method and device |
| CN113382473A (en) * | 2021-06-10 | 2021-09-10 | 杭州海康威视数字技术股份有限公司 | Positioning method, device, system, equipment and storage medium |
| CN113782984A (en) * | 2021-08-06 | 2021-12-10 | 北京航空航天大学 | Single-station positioning method combining UWB ranging and interferometer direction finding and antenna array |
| CN114115328A (en) * | 2021-10-14 | 2022-03-01 | 荣耀终端有限公司 | Unmanned aerial vehicle, positioning device and positioning system |
| CN114384465A (en) * | 2020-10-20 | 2022-04-22 | Oppo广东移动通信有限公司 | Azimuth angle determination method and device |
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2018
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109932709A (en) * | 2019-04-10 | 2019-06-25 | 江苏霆升科技有限公司 | RFID location system and localization method |
| CN111212401A (en) * | 2019-12-26 | 2020-05-29 | 天地融科技股份有限公司 | OBU positioning method and device |
| CN111212401B (en) * | 2019-12-26 | 2023-06-13 | 天地融科技股份有限公司 | OBU positioning method and device |
| CN114384465A (en) * | 2020-10-20 | 2022-04-22 | Oppo广东移动通信有限公司 | Azimuth angle determination method and device |
| CN113382473A (en) * | 2021-06-10 | 2021-09-10 | 杭州海康威视数字技术股份有限公司 | Positioning method, device, system, equipment and storage medium |
| CN113782984A (en) * | 2021-08-06 | 2021-12-10 | 北京航空航天大学 | Single-station positioning method combining UWB ranging and interferometer direction finding and antenna array |
| CN113782984B (en) * | 2021-08-06 | 2022-10-21 | 北京航空航天大学 | Single-station positioning method combining UWB ranging and interferometer direction finding and antenna array |
| CN114115328A (en) * | 2021-10-14 | 2022-03-01 | 荣耀终端有限公司 | Unmanned aerial vehicle, positioning device and positioning system |
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