CN217406732U - UWB positioning system of high-speed communication, UWB access control system of high-speed communication and car - Google Patents

Abstract

The embodiment of the utility model discloses a UWB positioning system of high-speed communication, UWB access control system of high-speed communication and car, including at least three UWB anchor points, at least three first difference transceiver, UWB main control unit and second difference transceiver; the data transceiving ports of the at least three UWB anchors are connected with the data transceiving ports of the at least three first differential transceivers in a one-to-one correspondence mode, and the first differential transceivers are used for converting UWB signals detected by the UWB anchors into differential signals; the at least three first differential transceivers are connected with the second differential transceiver through twisted pairs and used for transmitting differential signals to the second differential transceiver; and a data receiving and transmitting port of the second differential transceiver is connected with a data receiving and transmitting port of the UWB main controller, and the second differential transceiver is used for converting the differential signal into a UWB signal and transmitting the UWB signal to the UWB main controller. The positioning related signals are transmitted through the twisted pair, so that the transmission speed of the positioning signals is improved, the signal communication time is further shortened, and the response speed of the whole access control system is improved.

Description

UWB positioning system of high-speed communication, UWB access control system of high-speed communication and car

Technical Field

The embodiment of the utility model provides a relate to electron technical field, especially relate to UWB access control system and car of UWB positioning system, high-speed communication of high-speed communication.

Background

UWB (Ultra Wide Band) is a wireless carrier communication technology, which does not use a sinusoidal carrier but uses nanosecond-level non-sinusoidal narrow pulses to transmit data, and thus occupies a Wide frequency spectrum.

The UWB technology has the advantages of low system complexity, low power spectral density of transmitted signals, insensitivity to channel fading, low interception capability, high positioning accuracy and the like, and is particularly suitable for high-speed wireless access in indoor and other dense multipath places. The UWB technology solves the major problems of the traditional wireless communication technology in the aspect of transmission for many years, and has the advantages of insensitivity to channel fading, low power spectral density of transmitted signals, low interception rate, low system complexity, capability of providing positioning accuracy of a few centimeters and the like.

In the UWB automobile access control system in the prior art, transmission of related signals is mainly achieved through an LIN (Local Interconnect Network) bus, and the automobile access control function implemented under such a framework is relatively slow in response of the whole access control system due to too long communication time.

SUMMERY OF THE UTILITY MODEL

The utility model provides a UWB access control system and car of high-speed communication's UWB positioning system, high-speed communication to solve prior art car entrance guard function because of the communication time overlength, whole access control system's response is more dull's technical problem.

In a first aspect, an embodiment of the present invention provides a UWB positioning system for high-speed communication, including at least three UWB anchor points, at least three first differential transceivers, a UWB main controller, and a second differential transceiver;

the data transceiving ports of the at least three UWB anchors are connected with the data transceiving ports of the at least three first differential transceivers in a one-to-one correspondence manner, and the first differential transceivers are used for converting UWB signals detected by the UWB anchors into differential signals;

the at least three first differential transceivers are connected with the second differential transceiver through twisted pairs and used for transmitting the differential signals to the second differential transceiver;

and the data receiving and transmitting port of the second differential transceiver is connected with the data receiving and transmitting port of the UWB main controller, and the second differential transceiver is used for converting the differential signal into a UWB signal and transmitting the UWB signal to the UWB main controller.

Further, the data transceiving ports of the UWB anchor point, the first differential transceiver, the second differential transceiver and the UWB main controller include a data transmitting port and a data receiving port.

Further, the first differential transceiver is a balun transformer.

Further, the system also comprises a gateway and a high-speed CAN transceiver;

the CAN interface of the UWB main controller is connected with the first end of the high-speed CAN transceiver, and the CAN interface of the gateway is connected with the second end of the high-speed CAN transceiver.

Further, the high-speed CAN transceiver is a TJA1044 chip.

Further, the first differential transceiver is provided with a power amplifying unit for amplifying the differential signal before transmitting the differential signal.

Further, the number of the UWB anchor points is 6.

In a second aspect, the embodiment of the present invention further provides a UWB access control system for high-speed communication, including a control terminal and the UWB positioning system for high-speed communication described in the first aspect;

the control terminal is provided with a wireless receiving and transmitting device which is used for transmitting control instructions with the gateway.

In a third aspect, an embodiment of the present invention further provides an automobile, including the UWB positioning system for high-speed communication according to any one of the first aspect.

Further, the UWB anchor points are at least arranged at the front part, the middle part and the tail part of the automobile.

The UWB positioning system for high-speed communication, the UWB access control system for high-speed communication and the automobile comprise at least three UWB anchor points, at least three first differential transceivers, a UWB main controller and a second differential transceiver; the data transceiving ports of the at least three UWB anchors are connected with the data transceiving ports of the at least three first differential transceivers in a one-to-one correspondence manner, and the first differential transceivers are used for converting UWB signals detected by the UWB anchors into differential signals; the at least three first differential transceivers are connected with the second differential transceiver through twisted pairs and used for transmitting the differential signals to the second differential transceiver; and the data receiving and transmitting port of the second differential transceiver is connected with the data receiving and transmitting port of the UWB main controller, and the second differential transceiver is used for converting the differential signal into a UWB signal and transmitting the UWB signal to the UWB main controller. The UWB signals detected by the anchor points are converted into differential signals, and the differential signals are transmitted through the twisted pair, so that the transmission speed of the positioning signals is improved, the signal communication time is further shortened, and the response speed of the whole access control system is improved.

Drawings

Fig. 1 is a schematic structural diagram of a UWB positioning system for high-speed communication according to an embodiment of the present invention.

Fig. 2 is a schematic diagram of an automobile access control system based on UWB positioning.

Fig. 3 is a schematic diagram of UWB positioning.

Fig. 4 is a diagram of the LIN frame data format.

Fig. 5 is a diagram of UWB LIN packet structure definition.

Fig. 6 is a communication timing diagram of a UWB positioning system for high-speed communication according to an embodiment of the present invention.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are for purposes of illustration and not limitation of the invention. It should be further noted that, for the convenience of description, only some of the structures associated with the present invention are shown in the drawings, not all of them.

It should be noted that the present specification is not intended to exhaust all alternative embodiments for the sake of brevity, and it should be understood by those skilled in the art after reading the present specification that any combination of features may constitute an alternative embodiment as long as the features are not mutually inconsistent.

The following examples are described in detail.

Please refer to fig. 1-6, wherein fig. 1 is a schematic diagram of an architecture of a UWB positioning system for high-speed communication according to an embodiment of the present invention, fig. 2 is a schematic diagram of an automobile door access system based on UWB positioning, fig. 3 is a schematic diagram of UWB positioning, fig. 4 is a schematic diagram of an LIN frame data format, fig. 5 is a diagram of UWB LIN data packet structure definition, and fig. 6 is a communication timing diagram of the UWB positioning system for high-speed communication according to an embodiment of the present invention.

Automobile access control system is a typical use scene based on UWB location, also mainly uses automobile access control system as the exemplary illustration in the embodiment of the utility model, should understand, under scenes such as indoor location, robot path planning, this scheme also can be implemented and have the same implementation effect.

As shown in fig. 1, the embodiment of the present invention includes at least three UWB anchor points 101, at least three first differential transceivers 102, a UWB main controller 105, and a second differential transceiver 104;

the data transceiving ports of the at least three UWB anchor points 101 are connected with the data transceiving ports of the at least three first differential transceivers 102 in a one-to-one correspondence manner, and the first differential transceivers 102 are configured to convert the UWB signals detected by the UWB anchor points 101 into differential signals;

the at least three first differential transceivers 102 are all connected with the second differential transceiver 104 through a twisted pair 103 for transmitting the differential signals to the second differential transceiver 104;

the data transceiving port of the second differential transceiver 104 is connected to the data transceiving port of the UWB main controller 105, and the second differential transceiver 104 is configured to convert the differential signal into a UWB signal and transmit the UWB signal to the UWB main controller 105.

In the scheme, as shown in fig. 1, corresponding to each UWB anchor point 101, a first differential transceiver 102 is respectively and correspondingly arranged, and the first differential transceiver 102 directly performs data interaction with the UWB anchor point 101; the second differential transceiver 104 is correspondingly arranged on the UWB main controller 105, and the second differential transceiver 104 directly performs data interaction with the UWB main controller 105. Through the first differential transceiver 102 and the second differential transceiver 104 and the connection therebetween through the twisted pair 103, the data transmission between the UWB anchor point 101 and the UWB main controller 105 actually adopts the differential communication based on the twisted pair 103, and the transmission speed can be effectively improved. And data transmission through differential transceiver and twisted pair 103 optimizes and does not need extra MCU to realize high-speed communication, for example CAN realize high-speed communication too based on CAN bus, but need to correspond the effect that MCU CAN realize high-speed communication, the implementation mode in this scheme compares and realizes high-speed transmission with other bus framework completely, CAN effectively reduce BOM device quantity and cost, thus reduce the volume of UWB anchor point, it is more convenient to arrange in UWB anchor point 101. Meanwhile, the reliability of the system is improved due to the adoption of the twisted pair 103 and differential communication, so that the anti-interference capability of the whole positioning system is stronger.

It should be noted that the first differential transceiver 102 and the second differential transceiver 104 in the present embodiment may be the same differential transceiver, and the connection relationship when the differentiation definition is only used for description is more clear. The specific structure that the UWB anchor point 101 corresponds to the UWB antenna is a basic hardware implementation in the UWB positioning system, and the existing basic implementation is not described herein too much.

UWB-based technology is commonly used for positioning, and compared to other positioning technologies (e.g., high and low frequency signals), UWB-based positioning has a long sensing distance, which may be up to 50 meters or more; the positioning precision is high, and a more accurate positioning result can be provided; the hardware for realizing UWB detection is small in size, positioning can be realized through a mobile phone, a bracelet and the like, and the number of articles carried by a user can be relatively reduced; the time stamp function of the signal in the UWB positioning process can also effectively prevent relay attack and improve the use safety of the positioning equipment. Because of the above advantages of UWB positioning, the positioning method is often used in positioning and access control of the vehicle 100 as shown in fig. 2, that is, a plurality of UWB anchor points 101 are provided in the vehicle 100, and when a user carries the control terminal 108 into a detection range of the UWB anchor points 101, positioning (including distance and angle) of a relative position relationship between the control terminal 108 and the vehicle 100 can be achieved, so as to provide a predetermined control logic based on the relative position relationship.

In a specific positioning process, as shown in fig. 3, the positioning system already records the relative position relationship of each UWB anchor point 101, that is, the six UWB anchor points 101 shown in fig. 3 already have fixed positions on the same coordinate system, and when the control terminal 108 enters the detection range of the UWB anchor point 101, each UWB anchor point 101 can independently communicate with the UWB base station in the control terminal 108 to obtain a ranging signal. The processor of the whole device can obtain the distance between the UWB anchor point 101 and the control terminal 108 according to each ranging signal, and as long as there are three distances between the UWB anchor point 101 and the control terminal 108, the position of the control terminal 108 on the same coordinate system can be determined by the three-point positioning principle as shown in fig. 3, and then whether to execute corresponding control logic is determined according to the position.

Further go deep into signal transmission in the ranging process, taking fig. 2 as an example, a processor on the automobile 100 communicates with each UWB anchor point through an LIN bus, the processor configures the UWB anchor points 101 through the LIN bus, starts the UWB anchor points 101 to perform ranging, and reads the measurement results of each UWB anchor point 101. In the LIN bus-based Data transmission process, as shown in fig. 4, in order to transmit as much Data as possible in the LIN Data frame format, the Data length of each frame of LIN Data is 8, the total number of Data bytes is 11 bytes + Break symbol (13-bit Data 0), the number of Data bits to be transmitted in each frame of Data is 123 bits, and the baud rate of the LIN bus communication transmitted in a single-wire form is 19.2Kbps, so that the time for transmitting each frame of Data needs 6.4ms at least.

Further referring to fig. 5, it is the meaning of LIN communication data packet of the processor and UWB anchor, when 8 UWB anchors exist in the whole UWB positioning system, if the existing LIN bus transmission mechanism is used, more than 27 frames of data need to be transmitted, each frame of transmission data is 8 bytes, and more than 172ms of time is needed to complete all UWB anchor configuration and measurement processes. For an automobile, in order to realize the relevant control logic of an access control system based on UWB positioning, a processor is required to rapidly complete communication with each anchor point to obtain a positioning result, logic function control time is reserved as much as possible before a user contacts the automobile, the positioning time of 172ms in the prior art seriously influences the available logic function control time after positioning, and the real-time performance of system function realization cannot be guaranteed. As can be seen from fig. 5, the time difference of 2 bits between the first UWB anchor point and the second UWB anchor point is about 104 μ s, the baud rate of LIN communication is calculated to be 19.2K, and meanwhile, due to the influence of the waveform distortion of long-distance single-wire LIN communication, the duty ratio of the high-level bit and the low-level bit is less than 50%, the overall maximum baud rate is limited to be not more than 20Kbps, which is not the most ideal data transmission state, and cannot meet the requirement of the UWB positioning system for high-speed data transmission.

In this scheme, based on paired line and difference transceiver, construct the difference communication link between UWB anchor point and the UWB main control unit, can realize the communication rate of higher UWB main control unit and UWB anchor point, whole rate can reach 20kbps ~ 8Mbps, it is very obvious, compare in current single line LIN communication mode, the biggest communication bandwidth of UWB main control unit and UWB anchor point has been improved greatly, the communication time of system has been shortened, the robustness of system has also been promoted simultaneously.

Further combine as shown in fig. 6 the utility model discloses the UWB positioning system's of high-speed communication time chart, theoretical analysis through the aforesaid and the actual test of fig. 6 can discover, adopt difference communication between UWB main control unit and the UWB anchor point, can stably realize 500 Kbps's communication rate, shortened entire system's communication time greatly, also can see through in fig. 6, single transmission time of position is 2 mus, transmission time's accuracy is also higher.

In the specific implementation of the scheme, the data receiving and transmitting ports of the UWB anchor point, the first differential transceiver, the second differential transceiver and the UWB main controller all comprise a data transmitting port and a data receiving port. The data transmission port and the data receiving port between the physical structures can provide efficient and stable data transmission, and certainly, for two adjacent physical structures in the signal transmission path, the data transmission port at one end is connected with the data receiving port at the other end, and the data receiving port at one end is connected with the data transmission port at the other end. As an alternative implementation, the first differential transceiver is a balun transformer.

In order to realize the specific control logic based on positioning, the UWB positioning system for high-speed communication in the present solution may further include a gateway 107 and a high-speed CAN transceiver 106;

the CAN interface of the UWB main controller 105 is connected with the first end of the high-speed CAN transceiver 106, and the CAN interface of the gateway 107 is connected with the second end of the high-speed CAN transceiver 106. In a hardware architecture for implementing data transmission, the high-speed CAN transceiver 106 may employ a TJA1044 chip.

For a device to which the UWB positioning system for high-speed communication in the present embodiment is applied, it is generally necessary not only to obtain and use positioning information by itself, but also to transmit the positioning information to other individual devices, whereby transmission of the positioning information to other individual devices CAN be achieved through a gateway and a high-speed CAN transceiver.

In order to further improve the effect of signal transmission, the first differential transceiver is provided with a power amplification unit for amplifying the differential signal before transmitting the differential signal, so as to improve the signal transmission effect.

In order to improve the accuracy and coverage of positioning detection, the number of the UWB anchor points in the scheme may be set to 6. For example, in the scenario of the car 100 shown in fig. 2, the UWB anchors 101 are disposed at the four corners of the car 100 and in the middle of the central axis of the car 100. When the user approaches the vehicle 100 from any direction, the control terminal 108 can be detected by at least three UWB anchor points 101 in an unobstructed state, thereby completing the positioning.

Of course, 6 are only optional implementation manners, and in different application scenarios, different layout manners may be provided according to the layout requirements of the UWB anchor points or the characteristics of the application scenarios, for example, in an unmanned smart factory, the UWB anchor points with fixed positions may be set in the factory, the UWB base station is set on each robot, and the UWB anchor points may position the position of each UWB base station, that is, the position of each robot, according to the UWB signal, thereby performing path planning and robot scheduling. In this application scenario, the number of UWB anchor points is comprehensively arranged according to the size of the factory, the spaciousness degree, etc., and it is likely that the number is greater than 6 in the foregoing. In the application scene, the path can be planned automatically after the positioning is finished on the robot, and the positioning information does not need to be sent to other equipment in real time.

The embodiment of the utility model also provides a UWB access control system of high-speed communication, including control terminal and the UWB positioning system of any one of the above-mentioned high-speed communication;

the control terminal is provided with a wireless transceiver device, and the wireless transceiver device is used for transmitting control instructions with the gateway.

In specific product implementation, a control terminal (for example, a mobile terminal device bound and registered by a user, a special automobile key, and the like) is provided with a UWB base station, based on the detection principle described above, a UWB anchor point on an automobile detects a distance between itself and the UWB base station, and then according to a three-point positioning principle, the distance between the control terminal and the automobile can be obtained, so as to determine whether to open an automobile door, close the automobile door, or otherwise control a vehicle, where a specific control logic is an existing automobile control scheme.

The embodiment of the utility model provides a still provide an automobile, including the former arbitrary high-speed communication's UWB positioning system. Specifically, in the automobile, UWB anchor points in a UWB positioning system for high-speed communication are at least arranged at the front part, the middle part and the tail part of the automobile. The positioning system is used for positioning or intelligent control based on positioning of the automobile, the specific control process is described in the foregoing, and has corresponding beneficial effects, and repeated description is not provided herein.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.

It should be noted that the foregoing is only a preferred embodiment of the present invention and the technical principles applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious modifications, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail with reference to the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the scope of the present invention.

Claims (10)

1. The UWB positioning system of high-speed communication is characterized by comprising at least three UWB anchor points, at least three first differential transceivers, a UWB main controller and a second differential transceiver;

the data transceiving ports of the at least three UWB anchors are connected with the data transceiving ports of the at least three first differential transceivers in a one-to-one correspondence manner, and the first differential transceivers are used for converting UWB signals detected by the UWB anchors into differential signals;

the at least three first differential transceivers are connected with the second differential transceiver through twisted pairs and used for transmitting the differential signals to the second differential transceiver;

and the data receiving and transmitting port of the second differential transceiver is connected with the data receiving and transmitting port of the UWB main controller, and the second differential transceiver is used for converting the differential signal into a UWB signal and transmitting the UWB signal to the UWB main controller.

2. The UWB positioning system for high-speed communication according to claim 1, wherein the data transceiving ports of the UWB anchor point, the first differential transceiver, the second differential transceiver and the UWB main controller each comprise a data transmitting port and a data receiving port.

3. The UWB positioning system for high speed communications according to claim 1, wherein the first differential transceiver is a balun transformer.

4. A high-speed communicating UWB positioning system according to any of claims 1-3 further comprising a gateway and a high-speed CAN transceiver;

the CAN interface of the UWB main controller is connected with the first end of the high-speed CAN transceiver, and the CAN interface of the gateway is connected with the second end of the high-speed CAN transceiver.

5. The UWB positioning system of high speed communication of claim 4 wherein the high speed CAN transceiver is a TJA1044 chip.

6. The UWB positioning system for high speed communication according to claim 1, wherein the first differential transceiver is provided with a power amplifying unit for amplifying the differential signal before transmitting it.

7. The UWB positioning system for high speed communication according to claim 1, wherein the number of UWB anchor points is 6.

8. The UWB access control system of high-speed communication is characterized in that, comprising a control terminal and the UWB positioning system of high-speed communication of claim 4 or 5;

the control terminal is provided with a wireless transceiver device, and the wireless transceiver device is used for transmitting control instructions with the gateway.

9. An automobile comprising a high-speed communication UWB positioning system according to any of claims 1 to 7.

10. The vehicle of claim 9, wherein the UWB anchor points are located at least at the front, middle, and rear of the vehicle.

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