CN108989985A - Single-node indoor high-precision positioning system and positioning method - Google Patents
Single-node indoor high-precision positioning system and positioning method Download PDFInfo
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Abstract
Description
技术领域technical field
本发明涉及定位系统领域技术，尤其是指一种单节点室内高精度定位系统及定位方法。The invention relates to the technology in the field of positioning systems, in particular to a single-node indoor high-precision positioning system and a positioning method.
背景技术Background technique
基于位置的服务和位置感知计算在实际应用中已变得越来越重要，与此类应用相关的智能机器人、智能家居、以及智能无线传感网等产业的发展已进入爆发期。尽管基于导航卫星的定位技术很成熟，但因微波信号很容易被建筑物等物体吸收和反射，故不能用于室内环境。然而目前有许多基于位置的服务和位置感知计算的需求是在非室外区域，无法利用卫星定位功能，例如室内移动机器人自主行驶时，必须连续、实时的获得可靠、精确的定位信息。Location-based services and location-aware computing have become more and more important in practical applications, and the development of industries related to such applications, such as intelligent robots, smart homes, and intelligent wireless sensor networks, has entered an explosive period. Although the positioning technology based on navigation satellites is very mature, it cannot be used in indoor environments because microwave signals are easily absorbed and reflected by objects such as buildings. However, at present, many location-based services and location-aware computing requirements are in non-outdoor areas, and satellite positioning functions cannot be used. For example, when indoor mobile robots drive autonomously, reliable and accurate positioning information must be obtained continuously and in real time.
发明内容Contents of the invention
有鉴于此，本发明针对现有技术存在之缺失，其主要目的是提供一种单节点室内高精度定位系统及定位方法，能够满足室内定位需求，且定位距离精度误差在厘米级别以内，从而克服现有技术的不足。In view of this, the present invention aims at the deficiencies of the existing technology, and its main purpose is to provide a single-node indoor high-precision positioning system and positioning method, which can meet the needs of indoor positioning, and the positioning distance accuracy error is within the centimeter level, thereby overcoming Insufficiency of existing technology.
为实现上述目的，本发明采用如下之技术方案：To achieve the above object, the present invention adopts the following technical solutions:
一种单节点室内高精度定位系统，包括定位主机、参考基站、有源定位终端，所述定位主机通过交换机以及网线与参考基站建立连接，所述参考基站与有源定位终端通过UWB超宽带无线信道建立连接；A single-node indoor high-precision positioning system, including a positioning host, a reference base station, and an active positioning terminal. The positioning host establishes a connection with the reference base station through a switch and a network cable. The reference base station and the active positioning terminal are connected through a UWB ultra-wideband wireless Channel establishment connection;
所述有源定位终端是信号发射端，是移动端和待定位端，该有源定位终端配设UWB超宽带数据发送模块，该UWB超宽带数据发送模块连接有1条UWB信号发送天线；The active positioning terminal is a signal transmitting terminal, which is a mobile terminal and a terminal to be positioned. The active positioning terminal is equipped with a UWB ultra-wideband data transmission module, and the UWB ultra-wideband data transmission module is connected with a UWB signal transmission antenna;
所述参考基站是信号接收端，是参考点，其的位置固定，包括天线阵列、微型电脑、UWB超宽带采集程序模块，所述天线阵列是由6个60°扇面的天线组成的可以覆盖360°的范围，天线阵列通过6到1的射频交换相连至微型电脑和UWB超宽带采集程序模块23，其中UWB超宽带采集程序模块与UWB超宽带数据发送模块的速率、带宽和使用频段相一致；The reference base station is a signal receiving end, a reference point, and its position is fixed, including an antenna array, a microcomputer, and a UWB ultra-wideband acquisition program module, and the antenna array is composed of six 60 ° sector antennas and can cover 360 ° range, the antenna array is connected to the microcomputer and the UWB ultra-wideband acquisition program module 23 through 6 to 1 radio frequency exchange, wherein the UWB ultra-wideband acquisition program module is consistent with the rate, bandwidth and frequency band of the UWB ultra-wideband data transmission module;
所述定位主机内置远程主机、基于shell脚本编写的UWB超宽带数据下载模块、基于Matlab脚本编写的AOA估计模块、测距模块和定位模块，该远程主机通过shell脚本程序远程登录控制UWB超宽带采集程序模块，该UWB超宽带数据下载模块通过远程下载的方式把采集数据从参考基站拷贝到本地，然后被送入定位主机的AOA估计模块和测距模块，最后AOA值和测距结果被送入定位模块得到最终的定位结果。The positioning host has a built-in remote host, a UWB ultra-wideband data download module based on shell scripting, an AOA estimation module, a ranging module and a positioning module based on Matlab scripting, and the remote host controls the UWB ultra-wideband acquisition through remote login of the shell script program Program module, the UWB ultra-wideband data download module copies the collected data from the reference base station to the local through remote downloading, and then sends it to the AOA estimation module and the ranging module of the positioning host, and finally the AOA value and the ranging result are sent to the The positioning module obtains the final positioning result.
作为一种优选方案，所述天线阵列固定在天线底座上，该天线底座罩设有天线罩将天线阵列封闭在内。As a preferred solution, the antenna array is fixed on the antenna base, and the antenna base is covered with a radome to enclose the antenna array.
作为一种优选方案，所述UWB超宽带采集程序模块包括依次串接的自动增益单元、采样/ADC单元、包检测器、CFO校正器和OFDM接收器。As a preferred solution, the UWB ultra-wideband acquisition program module includes an automatic gain unit, a sampling/ADC unit, a packet detector, a CFO corrector and an OFDM receiver connected in sequence.
作为一种优选方案，所述OFDM接收器是由FFT单元和串接的信道估计单元组成。As a preferred solution, the OFDM receiver is composed of an FFT unit and a channel estimation unit connected in series.
作为一种优选方案，所述AOA估计模块包括依次串接的阵列接收信号单元、预处理单元、小波去噪单元、二维平滑MUSIC算法单元、AOA空间谱单元。As a preferred solution, the AOA estimation module includes an array receiving signal unit, a preprocessing unit, a wavelet denoising unit, a two-dimensional smoothing MUSIC algorithm unit, and an AOA spatial spectrum unit connected in sequence.
作为一种优选方案，所述小波去噪单元是由小波基函数选取单元、小波分解单元、小波系数处理单元、信号重构单元组成。As a preferred solution, the wavelet denoising unit is composed of a wavelet basis function selection unit, a wavelet decomposition unit, a wavelet coefficient processing unit, and a signal reconstruction unit.
作为一种优选方案，所述UWB超宽带使用的是频率介于500MHz到7.5GHz之间的信号。As a preferred solution, the UWB ultra-wideband uses signals with a frequency between 500MHz and 7.5GHz.
一种单节点室内高精度定位系统的定位方法，在定位主机的远程控制下，参考基站和有源定位终端通过UWB超宽带无线信道建立连接，有源定位终端从节点A不断地发送位置信号，参考基站从节点B不断地接收位置定号，假设从节点A向节点B发送信号的时间为TA，信号到达节点B之后参考基站接收信号的时间为TB，那么节点A、节点B两个节点之间的距离就可以用下面的式子表示：A positioning method for a single-node indoor high-precision positioning system. Under the remote control of a positioning host, a reference base station and an active positioning terminal establish a connection through a UWB ultra-wideband wireless channel, and the active positioning terminal continuously sends position signals from node A. The reference base station continuously receives the location number from node B, assuming that the time for sending a signal from node A to node B is T A , and the time for the reference base station to receive the signal after the signal arrives at node B is T B , then two nodes A and B The distance between nodes can be expressed by the following formula:
TAB＝(TB-TA) (1)T AB ＝(T B -T A ) (1)
dAB＝TAB*c (2)d AB ＝T AB *c (2)
其中，c为电磁波的传播速度，dAB为从节点A到节点B的距离。Among them, c is the propagation speed of electromagnetic wave, and d AB is the distance from node A to node B.
本发明与现有技术相比具有明显的优点和有益效果，具体而言，由上述技术方案可知，相比于传统多节点的的基站进行定位，本发明基于单节点超宽带定位技术，结合6条天线形成的天线阵列，可以在任何环境下达到360°的范围的高精度信号接收，再通过对AOA定位算法精确度的提高来改善系统定位准确度，进而达到改善最终的定位精确。本发明基于UWB超宽带信号的单基站定位算法研究以及AOA定位研究下测量的距离误差在厘米级别(一般为2cm以下)以及角度在1度之下。Compared with the prior art, the present invention has obvious advantages and beneficial effects. Specifically, it can be seen from the above technical solutions that, compared with traditional multi-node base stations for positioning, the present invention is based on single-node ultra-wideband positioning technology, combined with 6 The antenna array formed by three antennas can achieve high-precision signal reception in a range of 360° in any environment, and then improve the positioning accuracy of the system by improving the accuracy of the AOA positioning algorithm, thereby improving the final positioning accuracy. The present invention is based on the single base station positioning algorithm research of the UWB ultra-wideband signal and the AOA positioning research. The distance error measured under the centimeter level (generally below 2cm) and the angle is below 1 degree.
为更清楚地阐述本发明的结构特征和功效，下面结合附图与具体实施例来对本发明进行详细说明。In order to more clearly illustrate the structural features and functions of the present invention, the present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.
附图说明Description of drawings
图1是本发明之实施例的系统结构示意图。FIG. 1 is a schematic diagram of the system structure of an embodiment of the present invention.
图2是本发明之实施例的系统结构框图。Fig. 2 is a system structure block diagram of an embodiment of the present invention.
图3是本发明之实施例的天线阵列的示意图。FIG. 3 is a schematic diagram of an antenna array according to an embodiment of the present invention.
图4是本发明之实施例的天线阵列接收定位信号的波形重叠图。FIG. 4 is a waveform overlapping diagram of positioning signals received by an antenna array according to an embodiment of the present invention.
图5是本发明之实施例的UWB超宽带采集程序模块的结构框图。Fig. 5 is a structural block diagram of the UWB ultra-wideband acquisition program module of the embodiment of the present invention.
图6是本发明之实施例的AOA估计模块的结构框图。FIG. 6 is a structural block diagram of an AOA estimation module according to an embodiment of the present invention.
图7是本发明之实施例的测距方法示意图。FIG. 7 is a schematic diagram of a ranging method according to an embodiment of the present invention.
附图标识说明：Explanation of the accompanying drawings:
10、定位主机 11、远程主机10. Positioning host 11. Remote host
12、UWB超宽带数据下载模块 13、AOA估计模块12. UWB ultra-wideband data download module 13. AOA estimation module
131、阵列接收信号单元 132、预处理单元131. Array receiving signal unit 132. Preprocessing unit
133、小波基函数选取单元 134、小波分解单元133. Wavelet basis function selection unit 134. Wavelet decomposition unit
135、小波系数处理单元 136、信号重构单元135. Wavelet coefficient processing unit 136. Signal reconstruction unit
137、二维平滑MUSIC算法单元 138、AOA空间谱单元137. Two-dimensional smoothing MUSIC algorithm unit 138. AOA spatial spectrum unit
14、测距模块 15、定位模块14. Ranging module 15. Positioning module
20、参考基站 21、天线阵列20. Reference base station 21. Antenna array
22、微型电脑 23、UWB超宽带采集程序模块22. Microcomputer 23. UWB ultra-wideband acquisition program module
231、自动增益单元 232、采样/ADC单元231. Automatic gain unit 232. Sampling/ADC unit
233、包检测器 234、CFO校正器233. Packet detector 234. CFO corrector
235、FFT单元 236、信道估计单元235. FFT unit 236. Channel estimation unit
24、天线底座 25、天线罩24. Antenna base 25. Radome cover
30、有源定位终端 31、UWB超宽带数据发送模块30. Active positioning terminal 31. UWB ultra-wideband data transmission module
32、UWB信号发送天线 40、交换机。32. UWB signal sending antenna 40. Switch.
具体实施方式Detailed ways
请参照图1至图5所示，其显示出了本发明之较佳实施例的具体结构，是一种单节点室内高精度定位系统。Please refer to FIG. 1 to FIG. 5 , which show the specific structure of a preferred embodiment of the present invention, which is a single-node indoor high-precision positioning system.
如图1和图2所示，该系统包括定位主机10、参考基站20、有源定位终端30，所述定位主机10通过交换机40以及网线与参考基站20建立连接，所述参考基站20与有源定位终端30通过UWB超宽带无线信道建立连接。As shown in Figures 1 and 2, the system includes a positioning host 10, a reference base station 20, and an active positioning terminal 30. The positioning host 10 establishes a connection with the reference base station 20 through a switch 40 and a network cable, and the reference base station 20 is connected to the active positioning terminal 30. The source location terminal 30 establishes a connection through a UWB ultra-wideband wireless channel.
其中，所述有源定位终端30是信号发射端，是移动端和待定位端，该有源定位终端30配设UWB超宽带数据发送模块31，该UWB超宽带数据发送模块31连接有1条UWB信号发送天线32。Wherein, the active positioning terminal 30 is a signal transmitting terminal, which is a mobile terminal and a terminal to be positioned. The active positioning terminal 30 is equipped with a UWB ultra-wideband data transmission module 31, and the UWB ultra-wideband data transmission module 31 is connected to a UWB signal transmitting antenna 32 .
所述参考基站20是信号接收端，是参考点，其的位置固定，包括天线阵列21、微型电脑22、UWB超宽带采集程序模块23，所述天线阵列21是由6个60°扇面的天线组成的可以覆盖360°的范围，天线阵列21通过6到1的射频交换相连至微型电脑22和UWB超宽带采集程序模块23，其中UWB超宽带采集程序模块23与UWB超宽带数据发送模块31的速率、带宽和使用频段相一致。Described reference base station 20 is a signal receiving terminal, is a reference point, and its position is fixed, and comprises antenna array 21, microcomputer 22, UWB ultra-wideband acquisition program module 23, and described antenna array 21 is by the antenna of 6 60 ° sectors It can cover a range of 360°, and the antenna array 21 is connected to the microcomputer 22 and the UWB ultra-wideband acquisition program module 23 through 6 to 1 radio frequency exchange, wherein the UWB ultra-wideband acquisition program module 23 is connected to the UWB ultra-wideband data transmission module 31 The speed, bandwidth and frequency band used are consistent.
所述定位主机10内置远程主机11、基于shell脚本编写的UWB超宽带数据下载模块12、基于Matlab脚本编写的AOA估计模块13、测距模块14和定位模块15，该远程主机11通过shell脚本程序远程登录控制UWB超宽带采集程序模块23，该UWB超宽带数据下载模块12通过远程下载的方式把采集数据从参考基站20拷贝到本地，然后被送入定位主机10的AOA估计模块13和测距模块14，最后AOA值和测距结果被送入定位模块15得到最终的定位结果。Described positioning host 10 built-in remote host 11, UWB ultra-wideband data download module 12 based on shell script writing, AOA estimation module 13, ranging module 14 and positioning module 15 based on Matlab script writing, this remote host 11 passes shell script program The remote login controls the UWB ultra-wideband acquisition program module 23, and the UWB ultra-wideband data download module 12 copies the acquisition data from the reference base station 20 to the local by way of remote download, and then is sent to the AOA estimation module 13 and the distance measurement module of the positioning host 10. In module 14, the final AOA value and ranging result are sent to positioning module 15 to obtain the final positioning result.
相比于传统多节点的的基站进行定位，本发明基于单节点超宽带定位技术，结合6条天线形成的天线阵列21，可以在任何环境下达到360°的范围的高精度信号接收，再通过对AOA定位算法精确度的提高来改善系统定位准确度，进而达到改善最终的定位精确。本发明基于UWB超宽带信号的单基站定位算法研究以及AOA定位研究下测量的距离误差在厘米级别(一般为2cm以下)以及角度在1度之下。Compared with traditional multi-node base stations for positioning, the present invention is based on single-node ultra-wideband positioning technology, combined with the antenna array 21 formed by 6 antennas, which can achieve high-precision signal reception in the range of 360° under any environment, and then pass Improve the accuracy of the AOA positioning algorithm to improve the positioning accuracy of the system, thereby improving the final positioning accuracy. The present invention is based on the single base station positioning algorithm research of the UWB ultra-wideband signal and the AOA positioning research. The distance error measured under the centimeter level (generally below 2cm) and the angle is below 1 degree.
如图3所示，所述天线阵列21固定在天线底座24上，该天线底座24罩设有天线罩25将天线阵列21封闭在内。这样，每个天线均会有60°的带宽，波束图形会有相互重叠的部分，参见图4。结合图1，假定有源定位终端30发射的是a1的脉冲，其在天线1、2范围内是有效的脉冲，超宽带脉冲到达天线为1、2的时间分别为t1、t2，又已知脉冲在空气中的传播速度为c，则有源定位终端30到达天线1、2的距离就可以得到，分别是：r1＝c*t1，r2＝c*t2。若脉冲的幅度为A，则天线1、2所接收到的脉冲幅度分别为：As shown in FIG. 3 , the antenna array 21 is fixed on the antenna base 24 , and the antenna base 24 is covered with a radome 25 to enclose the antenna array 21 . In this way, each antenna will have a bandwidth of 60°, and the beam patterns will overlap with each other, see Figure 4. In combination with Fig. 1, it is assumed that the active positioning terminal 30 transmits the pulse of a 1 , which is an effective pulse within the range of antennas 1 and 2, and the time when the UWB pulse arrives at antennas 1 and 2 is t 1 and t 2 respectively, It is also known that the propagation velocity of the pulse in the air is c, then the distances from the active positioning terminal 30 to the antennas 1 and 2 can be obtained, respectively: r 1 =c*t 1 , r 2 =c*t 2 . If the pulse amplitude is A, the pulse amplitudes received by antenna 1 and antenna 2 are respectively:
其中PL为：where PL is:
测量得到脉冲到达天线1、2的脉冲幅度就可以推导出脉冲的到达角度(AOA)。以上的方法可以替代用微量时间差来测量到达角度的方法，可以避免在应用微量时间差测量到达角度时所需要用的高精度时钟，从而化简了设备以及降低了设备费用。同时，应用幅度测量转化到达角度比较简单且精确度较高，从而可以实现高精度定位。The angle of arrival (AOA) of the pulse can be deduced by measuring the pulse amplitude of the pulse reaching the antennas 1 and 2 . The above method can replace the method of measuring the angle of arrival with a small time difference, and can avoid the high-precision clock needed when the small time difference is used to measure the angle of arrival, thereby simplifying the equipment and reducing the cost of the equipment. At the same time, it is relatively simple and highly accurate to convert the angle of arrival by using the amplitude measurement, so that high-precision positioning can be realized.
如图5所示，所述UWB超宽带采集程序模块23包括依次串接的自动增益单元231、采样/ADC单元232、包检测器233、CFO校正器234和OFDM接收器。更进一步的，所述OFDM接收器是由FFT单元235和串接的信道估计单元236组成。其中，天线阵列的接收的位置信号输入到自动增益单元231，该自动增益单元231放大位置信号的功率，再输送到采样/ADC单元232，该采样/ADC单元232调整位置信号的频率，再输送到包检测器233，该包检测器233负责包检测不确定度，再通过CFO校正器234去除残余载波频率，发送到OFDM接收器将位置信号纠正偏移量，提高位置定位的精确度。As shown in FIG. 5 , the UWB ultra-wideband acquisition program module 23 includes an automatic gain unit 231 , a sampling/ADC unit 232 , a packet detector 233 , a CFO corrector 234 and an OFDM receiver connected in sequence. Furthermore, the OFDM receiver is composed of an FFT unit 235 and a channel estimation unit 236 connected in series. Wherein, the position signal received by the antenna array is input to the automatic gain unit 231, and the automatic gain unit 231 amplifies the power of the position signal, and then sends it to the sampling/ADC unit 232, and the sampling/ADC unit 232 adjusts the frequency of the position signal, and then sends To the packet detector 233, the packet detector 233 is responsible for the packet detection uncertainty, and then removes the residual carrier frequency through the CFO corrector 234, and sends it to the OFDM receiver to correct the offset of the position signal to improve the accuracy of position positioning.
如图6所示，所述AOA估计模块13包括依次串接的阵列接收信号单元131、预处理单元132、小波去噪单元、二维平滑MUSIC算法单元137、AOA空间谱单元138。其中，所述小波去噪单元是由小波基函数选取单元133、小波分解单元134、小波系数处理单元135、信号重构单元136组成。该AOA估计模块13基于小波去噪预处理AOA估计方法是，首先对接收到的阵列信号即信道状态信息进行相位校正预处理；其次，根据信号的特点选择合适的小波基函数和滤波器参数，接着根据选定的参数进行小波分解和小波系数处理，然后根据保留的信号的小波系数对信号进行重构，完成小波去噪的过程，最后对小波去噪后的信号采用二维平滑MUSIC算法进行对AOA空间谱进行估计。As shown in FIG. 6 , the AOA estimation module 13 includes an array receiving signal unit 131 , a preprocessing unit 132 , a wavelet denoising unit, a two-dimensional smoothing MUSIC algorithm unit 137 , and an AOA spatial spectrum unit 138 connected in sequence. Wherein, the wavelet denoising unit is composed of a wavelet basis function selection unit 133 , a wavelet decomposition unit 134 , a wavelet coefficient processing unit 135 , and a signal reconstruction unit 136 . The AOA estimation module 13 is based on the wavelet denoising preprocessing AOA estimation method is, first, phase correction preprocessing is performed on the received array signal, that is, the channel state information; secondly, appropriate wavelet basis functions and filter parameters are selected according to the characteristics of the signal, Then carry out wavelet decomposition and wavelet coefficient processing according to the selected parameters, and then reconstruct the signal according to the wavelet coefficient of the reserved signal to complete the process of wavelet denoising, and finally use the two-dimensional smoothing MUSIC algorithm for the signal after wavelet denoising The AOA spatial spectrum is estimated.
如图7所示，其显示了一种单节点室内高精度定位系统的定位方法，在定位主机10的远程控制下，参考基站20和有源定位终端30通过UWB超宽带无线信道建立连接，有源定位终端30从节点A不断地发送位置信号，参考基站20从节点B不断地接收位置定号，假设从节点A向节点B发送信号的时间为TA，信号到达节点B之后参考基站20接收信号的时间为TB，那么节点A、节点B两个节点之间的距离就可以用下面的式子表示：As shown in FIG. 7 , it shows a positioning method of a single-node indoor high-precision positioning system. Under the remote control of the positioning host 10, the reference base station 20 and the active positioning terminal 30 establish a connection through a UWB ultra-wideband wireless channel. The source positioning terminal 30 continuously sends position signals from node A, and the reference base station 20 continuously receives position numbers from node B. Assuming that the time for sending signals from node A to node B is T A , after the signal reaches node B, the reference base station 20 receives The signal time is T B , then the distance between node A and node B can be expressed by the following formula:
TAB＝(TB-TA) (1)T AB ＝(T B -T A ) (1)
dAB＝TAB*c (2)d AB ＝T AB *c (2)
其中，c为电磁波的传播速度，dAB为从节点A到节点B的距离。Among them, c is the propagation speed of electromagnetic wave, and d AB is the distance from node A to node B.
在此过程中，利用定位主机10的AOA估计模块13基于小波去噪预处理AOA估计方法，首先对接收到的阵列信号即信道状态信息进行相位校正预处理；其次，根据信号的特点选择合适的小波基函数和滤波器参数，接着根据选定的参数进行小波分解和小波系数处理，然后根据保留的信号的小波系数对信号进行重构，完成小波去噪的过程，最后对小波去噪后的信号采用二维平滑MUSIC算法进行对AOA空间谱进行估计，以提高定位精度。In this process, using the AOA estimation module 13 of the positioning host 10 based on the wavelet denoising preprocessing AOA estimation method, firstly perform phase correction preprocessing on the received array signal, that is, the channel state information; secondly, select the appropriate AOA according to the characteristics of the signal Wavelet basis function and filter parameters, then perform wavelet decomposition and wavelet coefficient processing according to the selected parameters, and then reconstruct the signal according to the wavelet coefficients of the retained signal, complete the wavelet denoising process, and finally denoise the wavelet The signal adopts the two-dimensional smoothing MUSIC algorithm to estimate the AOA spatial spectrum to improve the positioning accuracy.
以上所述，仅是本发明的较佳实施例而已，并非对本发明的技术范围作任何限制，故凡是依据本发明的技术实质对以上实施例所作的任何细微修改、等同变化与修饰，均仍属于本发明技术方案的范围内。The above descriptions are only preferred embodiments of the present invention, and do not limit the technical scope of the present invention in any way, so any minor modifications, equivalent changes and modifications made to the above embodiments according to the technical essence of the present invention are still valid. It belongs to the scope of the technical solutions of the present invention.
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