阅读说明：本技术 一种基于单基站双标签测距的一维定位系统及方法 (One-dimensional positioning system and method based on single-base-station double-tag ranging ) 是由 李磊 王凡 吴杰 于 2019-08-23 设计创作，主要内容包括：本发明提供了一种基于单基站双标签测距的一维定位系统及方法,属于室内外精确定位技术领域。该方法针对室外环境下,局限于通信网络及工程实施难度成本等因素,在基站部署受数量及位置限制的区域进行精确定位。该方法将单基站部署于定位区域中间位置,通过双标签距离关系来判断区域分段计算坐标,并利用双标签在坐标轴上的距离差和允许误差范围判断坐标是否可信。该方法能提供能够实现精度可靠的定位,具有很强的工程应用价值。(The invention provides a one-dimensional positioning system and a one-dimensional positioning method based on single-base-station double-tag distance measurement, and belongs to the technical field of indoor and outdoor accurate positioning. The method aims at factors such as communication network and engineering implementation difficulty cost under outdoor environment, and accurate positioning is carried out in areas where base station deployment is limited by quantity and position. The method comprises the steps of deploying a single base station at the middle position of a positioning area, judging area segmentation calculation coordinates through a dual-label distance relation, and judging whether the coordinates are credible or not by utilizing the distance difference of dual labels on coordinate axes and an allowable error range. The method can provide positioning with reliable precision and has strong engineering application value.)

1. A one-dimensional positioning system and method based on single-base-station double-tag ranging are disclosed, wherein the positioning system comprises: positioning a base station, a positioning tag and a positioning engine;

the positioning base station is characterized in that the positioning base station receives ranging information of a positioning tag and sends the ranging information to the positioning engine;

the positioning tag is characterized in that the positioning tag broadcasts and sends a ranging signal to the positioning base station in a certain period in a circulating way;

the positioning engine is characterized in that the one-dimensional coordinates of the positioning labels are calculated according to the ranging information of the positioning labels sent by the positioning base station, and whether the coordinates of the positioning terminal are credible or not is judged according to the coordinate difference of the double labels.

2. The positioning method according to claim 1, comprising the steps of:

step 1: according to the actual environment, a positioning base station is installed on one side of a positioning area, the direction of an antenna is parallel to the movement direction of a positioning object, the movement direction of the positioning object is taken as the coordinate axis direction, one end of the base station installation side of the positioning area is taken as the coordinate origin, the other end pointing to the base station installation side is taken as the positive direction, a one-dimensional coordinate system is set, and one-dimensional coordinates(s) of the positioning base station are measured;

step 2: the double tags are arranged on the positioning object and close to one side of the base station, so that no metal shielding exists between the tags and the base station;

and step 3: measuring the vertical height difference a between each tag and a base station and the minimum distance b of a horizontal plane according to the actual environment, wherein c is the hypotenuse of a right triangle formed by a and b, the distance d of the double tags in the moving direction of the object is used for positioning the central position of the object as a point K, e is a point c, and d forms the hypotenuse of the right triangle; the distance between the Tag A (TA) and the base station is LA, the distance between the Tag B (TB) and the base station is LB, the distance between the TA and the base station in the X-axis direction is mapped to DA, the position of the TA in the X-axis direction is XA, the distance between the TB and the base station in the X-axis direction is mapped to DB, the position of the TB in the X-axis direction is XB, and an allowable error range is set to (-u, u);

and 4, step 4: in the process of positioning the movement of an object, continuously measuring the distances LA and LB between the double labels and a base station according to a certain frequency, and uploading the distances LA and LB to a positioning engine;

and 5: and the positioning engine calculates the one-dimensional coordinates of the object according to the size relationship among the LA, the LB and the e, and estimates whether the one-dimensional coordinates are credible.

3. The positioning method according to claim 1, wherein the positioning range of the single positioning base station is 2 times that of the conventional positioning method.

4. The positioning tag of claim 1, wherein the positioning tag broadcasts and transmits a ranging signal to the positioning base station cyclically with a certain period.

5. The method of claim 1, wherein the relationship between LA, LB, e includes LA > LB > e, LB > LA > e, LA > e > LB, LB > e > LA, e > LA > LB, e > LB > LA.

6. The method of claim 1, wherein the coordinates of the moving object are calculated in segments according to the relationship between LA, LB, and e:

step 1: if LA > LB > e, then TA, TB are both in the M region, XA = s-DA, XB = s-DB, the object coordinate K calculated by TA is KA = XA + d/2, KB = XB-d/2 calculated by TB, and the error U = KA-KB;

step 2: if LB > LA > e, then TA, TB are both in the range of N region, XA = s + DA, XB = s + DB, the object coordinate K calculated by TA is KA = XA + d/2, KB = XB-d/2 calculated by TB, and the error U = KA-KB;

and step 3: if LA > e > LB, TA, TB are both in the M region, XA = s-DA, XB = s-DB, the object coordinate K calculated by TA is KA = XA + d/2, KB = XB-d/2 calculated by TB, and the error U = KA-KB;

and 4, step 4: if LB > e > LA, then TA, TB are both in the range of N region, XA = s + DA, XB = s + DB, the object coordinate K calculated by TA is KA = XA + d/2, KB = XB-d/2 calculated by TB, and the error U = KA-KB;

and 5: if e > LA > LB, TA is in the M region range, TB is in the N region range, XA = s-DA, XB = s + DB, the object coordinate K calculated by TA is KA = XA + d/2, KB = XB-d/2 calculated by TB, and the error U = KA-KB;

step 6: if e > LB > LA, TA is in the M region range, TB is in the N region range, XA = s-DA, XB = s + DB, the positioning object coordinate K calculated by TA is KA = XA + d/2, KB = XB-d/2 calculated by TB, and the error U = KA-KB.

7. The method of claim 1, wherein estimating whether the one-dimensional coordinates are authentic comprises:

step 1: if U > U > -U, judging that the one-dimensional coordinates are credible;

step 2: if U is more than or equal to U or less than or equal to-U, the one-dimensional coordinate is judged to be unreliable.

Technical Field

The invention belongs to the field of indoor and outdoor accurate positioning, and particularly relates to a one-dimensional positioning system and a one-dimensional positioning method based on single-base-station and double-tag distance measurement.

Background

The ultra-wideband carrier-free communication technology transmits data by sending and receiving extremely narrow pulses with nanosecond or below, and compared with a traditional narrow-band system, the ultra-wideband carrier-free communication system has the advantages of strong penetrating power, low power consumption, strong interference resistance and the like; meanwhile, the ultra-wideband carrier-free communication technology is widely applied to the positioning fields of factories, storage, robots and the like by virtue of the characteristics of high precision, wide applicability and the like.

In the existing distance measurement one-dimensional positioning scheme realized by adopting the ultra-wideband communication technology, a base station mostly adopts a positioning area edge deployment mode, however, due to the problem of difficulty in communication network and engineering implementation, the positioning area edge deployment mode of the base station is limited and unavailable, and the base station needs to be deployed in a positioning area.

The invention effectively solves the problems by deploying the positioning base station in the positioning area and realizing one-dimensional positioning and error judgment by the distance measurement difference of the double positioning tags.

Disclosure of Invention

The invention provides a one-dimensional positioning system and a one-dimensional positioning method based on single-base-station double-tag ranging.

A one-dimensional positioning system and method based on single-base-station dual-tag ranging are provided, the one-dimensional positioning system comprises: the system comprises a positioning base station, a positioning label and a positioning engine.

And the positioning base station is used for receiving the ranging information of the positioning terminal and sending the ranging information to the positioning engine.

And the positioning tag broadcasts and sends the ranging signal to the positioning base station in a certain period in a circulating way.

And the positioning engine respectively calculates the one-dimensional coordinates of the positioning labels according to the ranging information of each positioning label sent by the positioning base station, and judges whether the coordinates of the positioning labels are credible or not according to the one-dimensional coordinate difference of each label.

The invention provides a positioning method based on single-base-station double-tag ranging.

Step 01: according to the actual environment, the positioning base station ANC is installed on one side of a positioning area, the direction of an antenna is parallel to the movement direction of a positioning object, the movement direction of the positioning object is taken as the coordinate axis direction, one end of the base station installation side of the positioning area is taken as the coordinate origin, the other end pointing to the base station installation side is taken as the positive direction, a one-dimensional coordinate system is set, and one-dimensional coordinates(s) of the positioning base station are measured.

Step 02: the double positioning tags are arranged on one side close to the positioning base station, so that no metal shielding exists between the positioning tags and the positioning base station.

Step 03: measuring the vertical height difference a between each positioning tag and the positioning base station and the minimum distance b between the positioning tag and the horizontal plane according to the actual environment, wherein c is the hypotenuse of a right triangle formed by a and b, the distance d of the double positioning tags in the object movement direction is the point K at the center of the positioning object, e is the hypotenuse of the right triangle formed by c and d; the distance between the positioning Tag A (TA) and the positioning base station is LA, the distance between the positioning Tag B (TB) and the positioning base station is LB, the distance between the TA and the base station in the X-axis direction is mapped to DA, the position of the TA in the X-axis direction is XA, the distance between the TB and the positioning base station in the X-axis direction is mapped to DB, the position of the TB in the X-axis direction is XB, and an allowable error range is set to (-u, u).

Step 04: in the process of positioning the movement of the object, the distance LA and LB between the double labels and the base station are measured continuously according to a certain frequency.

Step 05: and calculating the one-dimensional coordinates of the object according to the size relationship among the LA, the LB and the e, and estimating whether the one-dimensional coordinates are credible according to the allowable error range.

Further, the size relationship among LA, LB and e includes LA > LB > e, LB > LA > e, LA > e > LB, LB > e > LA, e > LA > LB, e > LB > LA.

If LA > LB > e, then TA, TB are both in the M region, XA = s-DA, XB = s-DB, the object coordinate K calculated by TA is KA = XA + d/2, KB = XB-d/2 calculated by TB, and the error U = KA-KB.

If LB > LA > e, then TA, TB are both in the N region, XA = s + DA, XB = s + DB, the object coordinate K calculated by TA is KA = XA + d/2, KB = XB-d/2 calculated by TB, and the error U = KA-KB.

If LA > e > LB, then TA, TB are both in the M region, XA = s-DA, XB = s-DB, the object coordinate K calculated by TA is KA = XA + d/2, KB = XB-d/2 calculated by TB, and the error U = KA-KB.

If LB > e > LA, then TA, TB are both in the N region, XA = s + DA, XB = s + DB, the object coordinate K calculated by TA is KA = XA + d/2, KB = XB-d/2 calculated by TB, and the error U = KA-KB.

If e > LA > LB, TA is in the M region range, TB is in the N region range, XA = s-DA, XB = s + DB, the positioning object coordinate K calculated by TA is KA = XA + d/2, KB = XB-d/2 calculated by TB, and the error U = KA-KB.

If e > LB > LA, TA is in the M region range, TB is in the N region range, XA = s-DA, XB = s + DB, the positioning object coordinate K calculated by TA is KA = XA + d/2, KB = XB-d/2 calculated by TB, and the error U = KA-KB.

And further estimating whether the one-dimensional coordinates are credible, wherein U is greater than U > -U, and U is greater than or equal to U or less than or equal to-U.

And if U > U > -U, judging that the one-dimensional coordinates are credible.

If U is more than or equal to U or less than or equal to-U, the one-dimensional coordinate is judged to be unreliable.

Drawings

Fig. 1 is a schematic diagram of a one-dimensional positioning system based on single-base-station dual-tag ranging.

Fig. 2 is a flow chart of a one-dimensional positioning method based on single-base-station dual-tag ranging.

FIG. 3 is a schematic diagram of fixed offset parameters.

Fig. 4 is a schematic diagram of ranging.

Fig. 5 is a schematic diagram of a coordinate calculation method.

Detailed Description

The following detailed description of embodiments of the invention refers to the accompanying drawings.

It should be understood that the detailed description and specific examples, while indicating the present invention, are given by way of illustration and explanation only, not limitation.

As shown in fig. 2, the method includes the following steps.

Step 01: according to the actual environment, a positioning base station is installed on one side of a positioning area, the direction of an antenna is parallel to the movement direction of a positioning object, a one-dimensional coordinate system is set by taking the movement direction of the positioning object as the coordinate axis direction, one end of the base station installation side of the positioning area as the coordinate origin and the other end pointing to the base station installation side as the positive direction, and one-dimensional coordinates(s) of the positioning base station are measured.

Step 02: the double-label is arranged on one side of the positioning object close to the base station, so that no metal shielding exists between the label and the base station.

Step 03: as shown in fig. 3 and 4, the vertical height difference a between each tag and the base station and the minimum distance b between each tag and the horizontal plane are measured according to the actual environment, c is the hypotenuse of the right triangle formed by a and b, the distance d between the two tags in the object moving direction is the distance d between the two tags, the central position of the positioning object is the coordinate K of the positioning object, e is the hypotenuse of the right triangle formed by c and d; the distance between the Tag A (TA) and the base station is LA, the distance between the Tag B (TB) and the base station is LB, the distance between the TA and the base station in the X-axis direction is mapped to DA, the position of the TA in the X-axis direction is XA, the distance between the TB and the base station in the X-axis direction is mapped to DB, the position of the TB in the X-axis direction is XB, and the allowable error range is set to (-u, u).

Step 04: and in the moving process of the object, the distance LA and LB between the double labels and the base station are continuously measured according to the frequency of 500 ms.

Step 05: and calculating the one-dimensional coordinates of the object according to the size relationship among the LA, the LB and the e.

Step 06: as shown in fig. 5, the one-dimensional coordinate calculation step is as follows.

Step 07: if LA > LB > e, TA, TB are all in M area range, XA = s-DA, XB = s-DB, the moving object coordinate K is calculated by TA as KA = XA + d/2, KB = XB-d/2 is calculated by TB, and the error U = KA-KB.

Step 08: if LB > LA > e, TA, TB are all in the range of N region, XA = s + DA, XB = s + DB, the moving object coordinate K is calculated by TA as KA = XA + d/2, KB = XB-d/2 is calculated by TB, and the error U = KA-KB.

Step 09: if LA > e > LB, TA, TB are all in M area range, XA = s-DA, XB = s-DB, the moving object coordinate K is calculated by TA as KA = XA + d/2, KB = XB-d/2 is calculated by TB, and the error U = KA-KB.

Step 10: if LB > e > LA, TA, TB are all in the range of N region, XA = s + DA, XB = s + DB, the moving object coordinate K is calculated by TA as KA = XA + d/2, KB = XB-d/2 is calculated by TB, and the error U = KA-KB.

Step 11: if e > LA > LB, TA is in M area range, TB is in N area range, XA = s-DA, XB = s + DB, moving object coordinate K is calculated by TA as KA = XA + d/2, KB = XB-d/2 is calculated by TB, and error U = KA-KB.

Step 12: if e > LB > LA, TA is in M area range, TB is in N area range, XA = s-DA, XB = s + DB, moving object coordinate K is calculated by TA as KA = XA + d/2, KB = XB-d/2 is calculated by TB, and error U = KA-KB.

Step 13: and judging whether the one-dimensional coordinate is credible or not according to the fact that the distance difference in the X-axis direction of the double labels is a fixed value d.

And estimating whether the one-dimensional coordinates are credible, wherein U is greater than U > -U, and U is greater than or equal to U or less than or equal to-U.

And if U > U > -U, judging that the one-dimensional coordinates are credible.

If U is more than or equal to U or less than or equal to-U, the one-dimensional coordinate is judged to be unreliable.

It will be understood that the above embodiments are merely exemplary embodiments taken to illustrate the principles of the present invention, which is not limited thereto. It will be apparent to those skilled in the art that various modifications and improvements can be made without departing from the spirit and substance of the invention, and these modifications and improvements are also considered to be within the scope of the invention.