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CN114924226A - Method for obtaining tag positioning coordinates based on UWB positioning system - Google Patents

Method for obtaining tag positioning coordinates based on UWB positioning system Download PDF

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Publication number
CN114924226A
CN114924226A CN202210551988.5A CN202210551988A CN114924226A CN 114924226 A CN114924226 A CN 114924226A CN 202210551988 A CN202210551988 A CN 202210551988A CN 114924226 A CN114924226 A CN 114924226A
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base station
positioning
formula
central control
control engine
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陆昶宇
刘坤
陈艺嘉
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Beijing Aerospace Communications Technology Co ltd
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Beijing Aerospace Communications Technology Co ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/06—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
    • 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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  • Engineering & Computer Science (AREA)
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Abstract

本发明提供了一种基于UWB定位系统的获得标签定位坐标的方法，待定位目标所携带的标签向其周围布署不少于3个用于定位的基站发送无线电信号，基站测量并记录N+1个所述标签的TOA值，利用经校准后的TOA值，优化定位坐标的算法，并通过卡尔曼滤波器算法过滤掉噪声，得到所述标签的最终定位坐标值。本发明可以在适用于超过3个信号接收装置时的应用场合时，确保定位结果的实时性和稳定性，并且也很好地改善了因噪声干扰而带来的定位结果不稳定的问题。The invention provides a method for obtaining label positioning coordinates based on a UWB positioning system. The label carried by the target to be positioned sends radio signals to no less than three base stations for positioning around it, and the base station measures and records N+ 1 TOA value of the label, using the calibrated TOA value to optimize the algorithm for positioning coordinates, and filtering out noise through the Kalman filter algorithm, to obtain the final positioning coordinate value of the label. The present invention can ensure the real-time performance and stability of the positioning result when it is applicable to the application occasion when there are more than three signal receiving devices, and also well improve the problem of unstable positioning result caused by noise interference.

Description

一种基于UWB定位系统的获得标签定位坐标的方法A method for obtaining label positioning coordinates based on UWB positioning system

技术领域technical field

本发明涉及一种定位的方法，特别涉及一种基于UWB定位系统的获得标签定位坐标的方法。The invention relates to a positioning method, in particular to a method for obtaining label positioning coordinates based on a UWB positioning system.

背景技术Background technique

超宽带(也称UWB)是一种无线电技术，能够以非常低的能量水平，在很大一部分无线电频谱上进行短距离，高带宽通信。可用于室内、室外工业环境的定位。对比基于蓝牙和Wi-Fi的技术，UWB定位技术测量无线电信号的到达时间(TOATime ofArrival)，而不是测量信号强度(Receive Signal Strength Indicator)来进行定位。目前UWB技术已经实现了最高精度达厘米级的室内定位系统，但是当存在多于3个信号接收装置时，没有显示地求解目标位置，增加计算的复杂度，难以确保实时性，另外UWB定位技术，会由于存在噪声干扰，使得定位结果变得不稳定，波动大。Ultra-Wideband (also known as UWB) is a radio technology that enables short-range, high-bandwidth communications over a large portion of the radio spectrum at very low energy levels. It can be used for positioning in indoor and outdoor industrial environments. Compared with technologies based on Bluetooth and Wi-Fi, UWB positioning technology measures the time of arrival of radio signals (TOATime of Arrival) instead of measuring the signal strength (Receive Signal Strength Indicator) for positioning. At present, UWB technology has realized the indoor positioning system with the highest accuracy of centimeter-level, but when there are more than 3 signal receiving devices, the target position is solved without display, which increases the complexity of calculation and makes it difficult to ensure real-time performance. In addition, UWB positioning technology , the positioning result will become unstable and fluctuate greatly due to noise interference.

发明内容SUMMARY OF THE INVENTION

本发明旨在提供一种基于UWB定位系统的获得标签定位坐标的方法，适用于超过3个信号接收装置时的实时定位，且较好地改善了因噪声干扰而带来的定位结果不稳定的问题。本发明通过以下方案实施。The invention aims to provide a method for obtaining label positioning coordinates based on a UWB positioning system, which is suitable for real-time positioning when there are more than three signal receiving devices, and better improves the unstable positioning results caused by noise interference. question. The present invention is carried out by the following embodiments.

一种基于UWB定位系统的获得标签定位坐标的方法，待定位目标所携带的标签向其周围布署的N+1个用于定位的基站发送无线电信号(即TOA值)，其中N为不小于3的自然数，所述用于定位的基站测量并记录N+1个所述标签发送的无线电信号的到达时间值，所述用于定位的基站将记录的N+1个无线电信号的到达时间值分别发送到中央控制引擎，在中央控制引擎中运行依据按下述步骤获得的算法的程序，A method for obtaining tag positioning coordinates based on UWB positioning system, the tag carried by the target to be positioned sends radio signals (ie TOA value) to N+1 base stations for positioning deployed around it, where N is not less than A natural number of 3, the base station for positioning measures and records the time-of-arrival values of N+1 radio signals sent by the tag, and the base station for positioning will record the time-of-arrival values of N+1 radio signals are respectively sent to the central control engine, in which the program according to the algorithm obtained by the following steps is run,

S01：将所述的N+1个无线电信号的到达时间值，分别乘以信号的传播速度c，得到N+1个标签到所述用于定位的基站的伪距Di，其中i为1～N+1中的任一个自然数；计算得到任意两个所述用于定位的基站的伪距之差di,j，其中i和j为1～N+1中的任一个且互不重复的自然数；在需要定位的场合中，基站部署好后，基站的坐标值要通过全站仪预先测量得到，然后把这些坐标值配置到中央控制引擎，中央控制引擎以这个作为参考坐标系。S01: Multiply the time-of-arrival values of the N+1 radio signals by the propagation speed c of the signals respectively to obtain the pseudo-ranges D i from the N+1 tags to the base station for positioning, where i is 1 Any natural number in ~N+1; the difference d i,j between the pseudoranges of any two base stations used for positioning is calculated, wherein i and j are any one of 1 to N+1 and do not repeat each other When positioning is required, after the base station is deployed, the coordinate values of the base station should be measured in advance by the total station, and then these coordinate values are allocated to the central control engine, and the central control engine uses this as the reference coordinate system.

S02：以基站1为坐标原点，得到误差矩阵向量

Figure BDA0003655250200000021
的计算公式(1)；S02: Taking base station 1 as the coordinate origin, obtain the error matrix vector
Figure BDA0003655250200000021
Calculation formula (1);

Figure BDA0003655250200000022
Figure BDA0003655250200000022

式中RS为所述标签到所述坐标原点的距离，式中

Figure BDA0003655250200000023
是所述标签的坐标值，其中s为1～N+1中的任一个自然数where R S is the distance from the label to the origin of the coordinates, where
Figure BDA0003655250200000023
is the coordinate value of the label, where s is any natural number from 1 to N+1

Figure BDA0003655250200000031
Figure BDA0003655250200000031

式中，Rj为基站j到坐标原点的距离(j为2～N+1中的任一个自然数)，即上式中的R2、R3......RN+1；In the formula, R j is the distance from the base station j to the coordinate origin (j is any natural number from 2 to N+1), that is, R 2 , R 3 ......R N+1 in the above formula;

S03：假设Rs已知，计算得到公式(1)的最小二乘解为公式(2)S03: Assuming that Rs is known, the least squares solution of formula (1) is calculated as formula (2)

Figure BDA0003655250200000032
Figure BDA0003655250200000032

式中，

Figure BDA0003655250200000033
其中ST是矩阵S的转置In the formula,
Figure BDA0003655250200000033
where S T is the transpose of matrix S

S04：将公式(2)代入

Figure BDA0003655250200000034
中得到公式(3)S04: Substitute formula (2) into
Figure BDA0003655250200000034
Equation (3) is obtained in

Figure BDA0003655250200000035
Figure BDA0003655250200000035

式中T指矩阵转置，再求得公式(3)的解为公式(4)In the formula, T refers to the matrix transposition, and then the solution of formula (3) is obtained as formula (4)

Figure BDA0003655250200000041
Figure BDA0003655250200000041

式中，In the formula,

Figure BDA0003655250200000042
Figure BDA0003655250200000042

Figure BDA0003655250200000043
Figure BDA0003655250200000043

S05：将公式(4)得到的正根值代入到所述公式(2)中的RS，计算得到所述标签的定位坐标

Figure BDA0003655250200000044
S05: Substitute the positive root value obtained by formula (4) into R S in the formula (2), and calculate the positioning coordinates of the label
Figure BDA0003655250200000044

为降低噪声对算法的干扰，中央控制器通过卡尔曼滤波算法优化所述无线电信号的到达时间值。In order to reduce the interference of noise to the algorithm, the central controller optimizes the time-of-arrival value of the radio signal through the Kalman filtering algorithm.

为解决因各基站的时钟不同频率计时而导致测量的TOA值出现偏离，以影响方法的准确性的问题，可先采用下述方法对所述的无线电信号的到达时间值进行校准之后再于算法中，使用校准后的无线电信号的到达时间值(TOA值)：首先将所述用于定位的基站分为主基站与从基站两类，所述主基站持续地向中央控制引擎发送TX报文，所述从基站持续地向中央控制引擎发送RX报文，中央控制引擎内的时钟同步模块维护所述主基站和所述从基站之间时钟同步状态的数据，并根据所述主基站和所述从基站分别发送的TX与RX报文的信息，实时地更新所述时钟同步状态的数据；当中央控制引擎获得N+1个所述标签的无线电信号的到达时间值后，中央控制引擎通过时钟同步模块，以所述主基站时钟记录的无线电信号的到达时间值和实时的所述时钟同步状态数据，对从基站的无线电信号的到达时间值值进行校准。In order to solve the problem that the measured TOA value deviates due to the different frequencies of the clocks of each base station, which affects the accuracy of the method, the following method can be used to calibrate the time-of-arrival value of the radio signal before applying the algorithm to the algorithm. , using the time-of-arrival value (TOA value) of the calibrated radio signal: first, the base stations used for positioning are divided into two types: master base station and slave base station, and the master base station continuously sends TX messages to the central control engine , the slave base station continuously sends RX messages to the central control engine, and the clock synchronization module in the central control engine maintains the data of the clock synchronization state between the master base station and the slave base station, and according to the master base station and all Describe the information of the TX and RX messages respectively sent from the base station, and update the data of the clock synchronization state in real time; when the central control engine obtains the arrival time values of N+1 radio signals of the tags, the central control engine passes The clock synchronization module calibrates the arrival time value of the radio signal of the slave base station based on the arrival time value of the radio signal recorded by the master base station clock and the real-time clock synchronization state data.

与现有技术相比，基于本发明的这种算法，可以在适用于超过3个信号接收装置时的应用场合时，确保定位结果的实时性和稳定性，并且也很好地改善了因噪声干扰而带来的定位结果不稳定的问题。Compared with the prior art, the algorithm based on the present invention can ensure the real-time performance and stability of the positioning result when it is applied to the application occasion when there are more than three signal receiving devices, and also improve the noise caused by the noise. The problem of unstable positioning results caused by interference.

具体实施方式Detailed ways

实施例1Example 1

提供了一种基于UWB的定位系统，系统包括基站(信号接收装置)，标签(信号发送装置)以及中央定位引擎，标签用于在实际的场景中被要定位的目标所携带。系统中的基站数量应当不少于用于定位的基站数量。Provided is a UWB-based positioning system, the system includes a base station (signal receiving device), a tag (signal sending device) and a central positioning engine, the tag is used to be carried by a target to be positioned in an actual scene. The number of base stations in the system should not be less than the number of base stations used for positioning.

一种基于UWB定位系统的获得标签定位坐标的方法，待定位目标所携带的标签向其周围布署的N+1个用于定位的基站发送无线电信号(即TOA值)，其中N为不小于3的自然数，所述用于定位的基站测量并记录N+1个所述标签发送的无线电信号的到达时间值，所述用于定位的基站将记录的N+1个无线电信号的到达时间值分别发送到中央控制引擎；在中央控制引擎中运行依据按下述步骤获得的算法的程序，A method for obtaining tag positioning coordinates based on UWB positioning system, the tag carried by the target to be positioned sends radio signals (ie TOA value) to N+1 base stations for positioning deployed around it, where N is not less than A natural number of 3, the base station for positioning measures and records the time-of-arrival values of N+1 radio signals sent by the tag, and the base station for positioning will record the time-of-arrival values of N+1 radio signals are respectively sent to the central control engine; in the central control engine run the program according to the algorithm obtained by the following steps,

S00：将所述用于定位的基站分为主基站与从基站两类，所述主基站持续地向中央控制引擎发送TX报文，所述从基站持续地向中央控制引擎发送RX报文，中央控制引擎内的时钟同步模块维护所述主基站和所述从基站之间时钟同步状态的数据，并根据所述主基站和所述从基站分别发送的TX与RX报文的信息，实时地更新所述时钟同步状态的数据；当中央控制引擎获得N+1个所述标签的无线电信号的到达时间(TOA)值后，中央控制引擎通过时钟同步模块，以所述主基站时钟记录的无线电信号的到达时间值和实时的所述时钟同步状态数据，对从基站的无线电信号的到达时间(TOA)值进行校准。S00: The base stations used for positioning are divided into two types: a master base station and a slave base station, the master base station continuously sends a TX message to the central control engine, and the slave base station continuously sends an RX message to the central control engine, The clock synchronization module in the central control engine maintains the data of the clock synchronization state between the master base station and the slave base station, and real-time Update the data of the clock synchronization state; when the central control engine obtains the time of arrival (TOA) value of N+1 radio signals of the tags, the central control engine passes the clock synchronization module to the radio recorded by the master base station clock. The time-of-arrival value of the signal and the real-time clock synchronization status data are used to calibrate the time-of-arrival (TOA) value of the radio signal from the base station.

S01：将所述的N+1个经校准后的无线电信号的到达时间(TOA)值，分别乘以信号的传播速度c，得到N+1个标签到所述用于定位的基站的伪距Di，其中i为1～N+1中的任一个自然数；计算得到任意两个所述用于定位的基站的伪距之差di,j，其中i和j为1～N+1中的任一个且互不重复的自然数；S01: Multiply the time-of-arrival (TOA) values of the N+1 calibrated radio signals by the propagation speed c of the signals to obtain the pseudo-ranges from the N+1 tags to the base station for positioning D i , where i is any natural number from 1 to N+1; the difference d i,j between the pseudoranges of any two base stations used for positioning is calculated, where i and j are among 1 to N+1 Any non-repeating natural number of ;

S02：以基站1为坐标原点，得到误差矩阵向量

Figure BDA0003655250200000061
的计算公式(1)；S02: Taking base station 1 as the coordinate origin, obtain the error matrix vector
Figure BDA0003655250200000061
Calculation formula (1);

Figure BDA0003655250200000062
Figure BDA0003655250200000062

式中RS为所述标签到所述坐标原点的距离，式中

Figure BDA0003655250200000063
是所述标签的坐标值，其中s为1～N+1中的任一个自然数where R S is the distance from the label to the origin of the coordinates, where
Figure BDA0003655250200000063
is the coordinate value of the label, where s is any natural number from 1 to N+1

Figure BDA0003655250200000064
Figure BDA0003655250200000064

式中，Rj为基站j到坐标原点的距离(j为1～N+1中的任一个自然数)；In the formula, R j is the distance from the base station j to the coordinate origin (j is any natural number from 1 to N+1);

S03：假设Rs已知，计算得到公式(1)的最小二乘解为公式(2)S03: Assuming that Rs is known, the least squares solution of formula (1) is calculated as formula (2)

Figure BDA0003655250200000071
Figure BDA0003655250200000071

式中，

Figure BDA0003655250200000072
其中ST是矩阵S的转置In the formula,
Figure BDA0003655250200000072
where S T is the transpose of matrix S

S04：将公式(2)代入

Figure BDA0003655250200000073
中得到公式(3)S04: Substitute formula (2) into
Figure BDA0003655250200000073
Equation (3) is obtained in

Figure BDA0003655250200000074
Figure BDA0003655250200000074

式中，T指矩阵的转置，再求得公式(3)的解为公式(4)In the formula, T refers to the transpose of the matrix, and then the solution of formula (3) is obtained as formula (4)

Figure BDA0003655250200000075
Figure BDA0003655250200000075

式中，In the formula,

Figure BDA0003655250200000076
Figure BDA0003655250200000076

Figure BDA0003655250200000077
Figure BDA0003655250200000077

S05：将公式(4)得到的正根值代入到所述公式(2)中的RS，计算得到所述标签的定位坐标

Figure BDA0003655250200000081
S05: Substitute the positive root value obtained by formula (4) into R S in the formula (2), and calculate the positioning coordinates of the label
Figure BDA0003655250200000081

S06：中央控制器S05得到的定位结果，通过卡尔曼滤波器算法来跟踪标签位置，过滤掉噪声，得到所述标签的最终定位坐标。S06: According to the positioning result obtained by the central controller S05, the position of the label is tracked through the Kalman filter algorithm, noise is filtered out, and the final positioning coordinates of the label are obtained.

Claims (3)

1. A method for obtaining positioning coordinates of a tag based on a UWB positioning system, wherein the tag carried by an object to be positioned sends radio signals to N +1 base stations for positioning deployed around the object, wherein N is a natural number not less than 3, the base station for positioning measures and records the arrival time values of the radio signals sent by the N +1 tags, the base station for positioning respectively sends the recorded arrival time values of the N +1 radio signals to a central control engine, and the method is characterized in that: a program according to an algorithm obtained in the following steps is run in the central control engine,
s01: respectively multiplying the arrival time values of the N +1 radio signals by the propagation velocity c of the signals to obtain the pseudo range D from the N +1 tags to the base station for positioning i Wherein i is any natural number from 1 to N + 1; calculating the difference d between the pseudo ranges of any two base stations for positioning i,j Wherein i and j are natural numbers which are not repeated with each other and are any one of 1 to N + 1;
s02: taking the base station 1 as the origin of coordinates to obtain an error matrix vector
Figure FDA0003655250190000011
Formula (1);
Figure FDA0003655250190000012
in the formula R S Is the distance of the label from the origin of coordinates, where
Figure 1
Is the coordinate value of the label, wherein s is any natural number from 1 to N + 1; wherein each matrix is
Figure FDA0003655250190000014
In the above formula, R j Is the distance from the base station j to the origin of coordinates, j is any natural number from 1 to N + 1;
s03: assuming Rs is known, the least squares solution calculated to equation (1) is equation (2)
Figure FDA0003655250190000021
In the formula (I), the compound is shown in the specification,
Figure FDA0003655250190000022
wherein S T Is a rotation of said matrix SDevice for placing
S04: substituting formula (2) into
Figure FDA0003655250190000023
The equation (3) is obtained
Figure FDA0003655250190000024
In the formula, T is the transposition of the matrix, and the solution of the formula (3) is solved into the formula (4)
Figure FDA0003655250190000025
In the formula (I), the compound is shown in the specification,
Figure FDA0003655250190000026
Figure FDA0003655250190000027
s05: substituting the positive root value obtained by the formula (4) into R in the formula (2) S Calculating to obtain the location coordinates of the label
Figure FDA0003655250190000031
2. The UWB positioning system based method of obtaining tag location coordinates of claim 1, wherein: and the central controller optimizes the arrival time value of the radio signal through a Kalman filtering algorithm.
3. A method of obtaining tag location coordinates based on a UWB positioning system as defined in claim 1 or 2 wherein: firstly, calibrating the arrival time value of the radio signal by adopting the following method, firstly, dividing the base station for positioning into a master base station and a slave base station, wherein the master base station continuously sends a TX message to a central control engine, the slave base station continuously sends an RX message to the central control engine, a clock synchronization module in the central control engine maintains the data of the clock synchronization state between the master base station and the slave base station, and updates the data of the clock synchronization state in real time according to the information of the TX and RX messages respectively sent by the master base station and the slave base station; and after the central control engine obtains the arrival time values of the radio signals of the N +1 tags, the central control engine calibrates the arrival time value of the radio signal of the slave base station through a clock synchronization module according to the arrival time value of the radio signal recorded by the clock of the master base station and the real-time clock synchronization state data.
CN202210551988.5A 2022-05-20 2022-05-20 Method for obtaining tag positioning coordinates based on UWB positioning system Pending CN114924226A (en)

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