CN113114405B - Ultra-bandwidth positioning system and method - Google Patents
Ultra-bandwidth positioning system and method Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
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- H04J3/00—Time-division multiplex systems
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- H04J3/06—Synchronising arrangements
- H04J3/0635—Clock or time synchronisation in a network
- H04J3/0638—Clock or time synchronisation among nodes; Internode synchronisation
- H04J3/0644—External master-clock
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W56/00—Synchronisation arrangements
- H04W56/001—Synchronization between nodes
- H04W56/0015—Synchronization between nodes one node acting as a reference for the others
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
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- 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
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- 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
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Abstract
The invention discloses a super-bandwidth positioning system and a method, wherein the super-bandwidth positioning system comprises: the system comprises a positioning tag, a synchronous controller and at least three base stations; the synchronous controller provides a reference clock based on a wired clock synchronization mode and a wireless clock synchronization mode; at least three base stations, which adopt a wired clock synchronization mode or a wireless clock synchronization mode to carry out clock calibration and transmit super-bandwidth signals; the positioning label respectively determines the clock synchronization precision of at least three base stations in a wired clock synchronization mode and a wireless clock synchronization mode according to the ultra-bandwidth signal, and determines the target clock synchronization mode of at least three base stations; the positioning label receives ultra-bandwidth signals transmitted by at least three base stations in a target clock synchronization mode, and positioning information is determined according to the ultra-bandwidth signals. The capacity of the positioning labels in the system is not influenced by the number of the base stations, a large number of positioning labels can be positioned in the system, and the accuracy of the positioning information of the positioning labels is improved.
Description
The application is a divisional application, the application number of the original application is 201911128176.4, the application is 2019, 11 and 18 days, and the invention is named as 'a super-bandwidth positioning system and method'.
Technical Field
The embodiment of the invention relates to the technical field of positioning, in particular to an ultra-bandwidth positioning system and an ultra-bandwidth positioning method.
Background
At present, with the increasing popularization of intelligent equipment, people put forward higher and higher demands on positioning. In outdoor open fields, positioning schemes based on global positioning satellite systems tend to mature. However, in order to obtain a high quality location service, the location terminal must satisfy no blocking of high-rise buildings within a 30 degree elevation angle. This condition is increasingly difficult to satisfy for modern large cities. In addition, in the indoor environment, the satellite signal is blocked, and thus the positioning service cannot be provided.
Nowadays, positioning technologies based on electromagnetic pulses are proposed, such as Ultra Wide Band (UWB) positioning technologies, which can provide centimeter-level positioning services. However, the positioning system based on the ultra-wideband positioning technology has the following problems: firstly, an ultra-wideband signal is periodically broadcast by a positioning tag, a base station uploads a collected tag timestamp and a timestamp of the base station to a server for resolving, and the server obtains position information of the positioning tag; secondly, the clock of the system cannot be guaranteed to be in a synchronous mode state, and therefore the positioning accuracy is poor.
Disclosure of Invention
The embodiment of the invention provides an ultra-bandwidth positioning system and an ultra-bandwidth positioning method, which are used for improving the positioning quality and the positioning label capacity of the ultra-bandwidth positioning system.
In a first aspect, an embodiment of the present invention provides an ultra-bandwidth positioning system, including: the system comprises a positioning tag, a synchronous controller and at least three base stations, wherein the at least three base stations are connected with the synchronous controller respectively based on radio frequency coaxial cables with equal length;
the synchronous controller provides a reference clock based on a wired clock synchronous mode and a wireless clock synchronous mode;
the at least three base stations adopt the wired clock synchronization mode or the wireless clock synchronization mode to carry out clock calibration and transmit an ultra-bandwidth signal;
the positioning tag receives the ultra-bandwidth signals in the wired clock synchronization mode or the wireless clock synchronization mode, respectively determines the clock synchronization precision of the at least three base stations in the wired clock synchronization mode and the wireless clock synchronization mode according to the ultra-bandwidth signals, and determines the target clock synchronization mode of the at least three base stations according to the clock synchronization precision of the at least three base stations;
and the positioning tag receives ultra-bandwidth signals transmitted by the at least three base stations in the target clock synchronization mode, and determines positioning information according to the ultra-bandwidth signals.
In a second aspect, an embodiment of the present invention further provides a super-bandwidth positioning method, including:
based on at least three base stations, performing clock calibration in the wired clock synchronization mode or the wireless clock synchronization mode, and transmitting an ultra-bandwidth signal, wherein the at least three base stations are respectively connected with a synchronization controller based on radio frequency coaxial cables with equal lengths, and the synchronization controller provides a reference clock based on the wired clock synchronization mode and the wireless clock synchronization mode;
based on a positioning label, receiving an ultra-bandwidth signal in the wired clock synchronization mode or the wireless clock synchronization mode, respectively determining the clock synchronization precision of the at least three base stations in the wired clock synchronization mode and the wireless clock synchronization mode according to the ultra-bandwidth signal, and determining the target clock synchronization mode of the at least three base stations according to the clock synchronization precision of the at least three base stations;
performing clock calibration based on the at least three base stations in the target clock synchronization mode, and transmitting an ultra-bandwidth signal;
and receiving ultra-bandwidth signals transmitted by the at least three base stations in the target clock synchronization mode based on the positioning tags, and determining positioning information according to the ultra-bandwidth signals.
According to the technical scheme provided by the invention, the base station broadcasts the ultra-wideband signal, the positioning tag receives the ultra-wideband signal, and the positioning tag actively calculates to obtain the position information of the positioning tag. Compared with the prior art, the technical scheme of the embodiment carries out active positioning through the positioning tags, so that the load of the base station is reduced, correspondingly, the capacity of the positioning tags in the system is not influenced by the number of the base stations, and a large number of positioning tags can be supported to carry out positioning in the system. Meanwhile, each base station is automatically switched between a wireless clock synchronization mode and a wired clock synchronization mode by determining the clock synchronization precision of each base station, so that the positioning of the positioning label in the clock synchronization mode with high clock synchronization precision is ensured, and the accuracy of the positioning information of the positioning label is improved.
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Fig. 1 is a schematic structural diagram of an ultra-wideband positioning system according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a synchronous controller according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of another ultra-wideband positioning system provided in an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a positioning tag according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a base station according to an embodiment of the present invention;
fig. 6 is a schematic flowchart of a super-bandwidth positioning method according to a second embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some structures related to the present invention are shown in the drawings, not all of them.
Example one
Fig. 1 is a schematic structural diagram of an ultra-wideband positioning system according to an embodiment of the present invention, where the ultra-wideband positioning system includes a positioning tag 130, a synchronization controller 120, and at least three base stations 110, it should be noted that fig. 1 is only one implementation example, and the number of base stations in other embodiments may vary according to actual situations.
Wherein, at least three base stations 110 are connected to the synchronization controller 120 based on equal-length rf coaxial cables, respectively, and a solid line between the base station 110 and the synchronization controller 120 in fig. 1 represents the rf coaxial cables (the length is not shown). And a synchronization controller 120 for providing a reference clock, wherein the synchronization controller 120 may provide the reference clock in a wired clock synchronization manner and a wireless clock synchronization manner.
For the wireless clock synchronization mode, the base station 110 performs wired clock synchronization based on radio frequency coaxial cables with equal length, which can improve the synchronization status of each base station in the system to improve the positioning accuracy of the positioning tag in the system, wherein the length of the radio frequency coaxial cables can be determined based on the maximum distance between each base station 110 and the synchronization controller 120.
Optionally, the synchronous controller 120 includes a second main control module 121, a digital-to-analog converter 122, an active crystal oscillator 123 and a clock buffer module 124, for example, referring to fig. 2, fig. 2 is a schematic structural diagram of the synchronous controller provided in an embodiment of the present invention, where the active crystal oscillator 123 may be a voltage-controlled active crystal oscillator. The second main control module 121 is electrically connected to the digital-to-analog converter 122, the digital-to-analog converter 122 is connected to the active crystal oscillator 123, and the second main control module 121 controls the frequency of the active crystal oscillator 123 through the digital-to-analog converter 122; the clock buffer module 124 is connected to the active crystal oscillator 123, and generates a clock signal according to the frequency output by the active crystal oscillator 123, and outputs at least three base stations, where the clock signal performs wireless clock synchronization on the at least three base stations. In this embodiment, the synchronization controller shown in fig. 2 can provide reference clocks for at least three base stations in a wireless manner.
At least three base stations 110, which perform clock calibration in a wired clock synchronization manner or a wireless clock synchronization manner and transmit an ultra-bandwidth signal, optionally, the base stations 110 may include a clock switching module for switching the clock synchronization manner.
In this embodiment, at least three base stations 110 perform clock synchronization based on a wired clock synchronization manner in a first preset time period, respectively, to transmit an ultra-wideband signal, and the positioning tag 130 receives the ultra-wideband signal (shown by a dotted line in fig. 1) in the wired clock synchronization manner, so as to determine the clock synchronization accuracy of the at least three base stations 110 in the wired clock synchronization manner; the at least three base stations 110 perform clock synchronization based on the wireless clock synchronization mode in a second preset time period, respectively, and transmit an ultra-wideband signal, and the positioning tag 130 receives the ultra-wideband signal (shown by a dotted line in fig. 1) in the wireless clock synchronization mode, so as to determine the clock synchronization accuracy of the at least three base stations 110 in the wireless clock synchronization mode, and determine the clock synchronization mode with higher clock synchronization accuracy as a target clock synchronization mode of the at least three base stations 110.
Optionally, the clock synchronization precision of each base station in the wired clock synchronization mode and the wireless clock synchronization mode is determined based on the following modes: the positioning tag 130 receives an ultra-wideband signal transmitted by at least three base stations in a wired clock synchronization mode or a wireless clock synchronization mode, determines distances between the positioning tag and the at least three base stations, wherein the ultra-wideband signal includes a timestamp signal and a base station identifier, determines theoretical position information of each base station according to included angles and distances between the positioning tag 130 and the at least three base stations, and a preset hybrid positioning algorithm, and determines clock synchronization accuracy of each base station according to the theoretical position information and actual position information of each base station, wherein the larger the difference between the theoretical position information and the actual position information of each base station is, the lower the clock synchronization accuracy of each base station is, and correspondingly, the smaller the difference between the theoretical position information and the actual position information of each base station is, the higher the clock synchronization accuracy of each base station is.
Optionally, a coordinate system is established, for example a two-dimensional coordinate system or a three-dimensional coordinate system. Illustratively, in a two-dimensional coordinate system, the system includes base stations a, B, and C, coordinates of which are (x 1, y 1), (x 2, y 2), and (x 3, y 3), respectively, coordinates of the positioning tag 130 are (x 0, y 0), included angles between the positioning tag 130 and the base stations a, B, and C are α, β, and γ, respectively, it should be noted that an angle measurement module is disposed in the positioning tag 130, and an included angle between the positioning tag 130 and any base station is determined in real time. The flight times of the super-bandwidth signals are determined according to the timestamp signals and the positioning identifiers in the super-bandwidth signals, where the super-bandwidth signals transmitted by the base stations are received by the positioning identifiers, for example, the flight times of the super-bandwidth signals transmitted by the base stations a, B, and C are TA, TB, and TC, respectively, and further, the distances between the base stations a, B, and C and the positioning tag 130 are determined to be C × TA, C × TB, and C × TC, where C is the speed of light.
Optionally, the preset hybrid location algorithm in the two-dimensional coordinate system may be:
(x0-x1) 2 +(y0-y1) 2 ＝(c×TA) 2
(x0-x2) 2 +(y0-y2) 2 ＝(c×TB) 2
(x0-x3) 2 +(y0-y3) 2 ＝(c×TC) 2
and inputting the included angles between the positioning tags and the base stations A, B and C and the distances between the positioning tags and the base stations A, B and C into a preset hybrid positioning algorithm, and calculating to obtain the position information of the base stations A, B and C. The position information of each base station is determined through the hybrid positioning algorithm, the influence of obstacles on ultra-wideband signals does not exist, and the calculation accuracy of the position of the base station is improved.
Optionally, the position information of each base station may also be determined based on a preset hybrid location algorithm in a three-dimensional coordinate system, where the coordinates of the base stations a, B, and C are (x 1, y1, z 1), (x 2, y2, z 2), and (x 3, y3, z 3), the coordinate of the location tag 130 is (x 0, y0, z 0), the included angles between the location tag 130 and the base stations a, B, and C are α, β, and γ, and the distances between the base stations a, B, and C and the location tag 130 are C × TA, C × TB, and C × TC. Accordingly, the preset hybrid location algorithm may be:
(x0-x1) 2 +(y0-y1) 2 ＝(c×TA) 2
(x0-x2) 2 +(y0-y2) 2 ＝(c×TB) 2
(x0-x3) 2 +(y0-y3) 2 ＝(c×TC) 2
based on the preset hybrid positioning algorithm, not only the horizontal position of each base station can be obtained, but also the height value of the base station can be obtained. The position information of each base station can be obtained by combining any three base stations.
The positioning tag 130 may store actual position information of each base station, compare theoretical position information of each base station in the wired clock synchronization mode with the prestored actual position information of each base station, and determine clock synchronization accuracy of each base station in the wired clock synchronization mode. Illustratively, the position difference between the theoretical position information and the actual position information of each base station is respectively determined, the position difference mean value of each base station is determined, and the clock synchronization precision of each base station in the wired clock synchronization mode is inversely related to the position difference mean value. Similarly, the theoretical position information of each base station in the wireless clock synchronization mode is compared with the prestored actual position information of each base station, and the clock synchronization precision of each base station in the wireless clock synchronization mode is determined.
And determining the clock synchronization mode with high clock synchronization precision as a target clock synchronization mode, sending signals carrying the target clock synchronization mode to the at least three base stations 110, and switching the clock synchronization mode to the target clock synchronization mode by the at least three base stations 110 according to the signals.
Optionally, if the clock synchronization accuracy in the wired clock synchronization mode and the clock synchronization accuracy in the wireless clock synchronization mode do not meet the accuracy requirement, prompt information is generated, and the prompt information may be output through voice or displayed on a display to prompt the target object.
Optionally, according to the first preset time interval, the clock synchronization precision of each base station in the wired clock synchronization mode and the wireless clock synchronization mode is determined, so as to ensure that each base station performs clock calibration in the clock synchronization mode with high clock synchronization precision.
In this embodiment, the clock synchronization precision of each base station in the wired clock synchronization mode and the wireless clock synchronization mode is determined, so that each base station performs switching of the clock synchronization modes according to the clock synchronization precision, the clock synchronization precision of each base station in the positioning process of the positioning tag is improved, and the accuracy of the positioning information of the positioning tag is further improved.
After determining the target clock synchronization mode, the base station 110 performs clock calibration based on the target clock synchronization mode and transmits an ultra-wideband signal, and the positioning tag 130 is configured to receive the ultra-wideband signal transmitted by at least three base stations 110 and determine positioning information based on the ultra-wideband signal, where the positioning tag 130 may be a robot having a signal receiving function and a positioning resolving function or a positioning component configured on a target to be positioned, and for example, the positioning tag may be worn on the target to be positioned, for example, on clothing or hat of the target to be positioned.
The positioning tag 130 determines the position information according to the Time of Arrival (ToA) of the ultra-wideband signal, and specifically, the positioning tag 130 determines the Time of flight t of the ultra-wideband signal emitted from a plurality of known coordinate base stations and arriving at the positioning tag in the air 1 ，t 2 …t n Based on the flight time multiplied by the speed of light, the speed of light is generally vacuum speed of lightTo the distance of the positioning tag 130 from the respective base station. The positioning tag 130 is located at the intersection of circles having a base station as a circle and the distance as a radius. The coordinates of the intersection point, i.e., the position information of the positioning tag 130, are obtained by solving an over-determined equation set. Optionally, the positioning tag 130 may further determine the position information according to a Time Difference of Arrival (TDoA) of the ultra-wideband signal, and specifically, the positioning tag 130 determines a Time Difference t between the Time of flight in the air of the ultra-wideband signal transmitted from a plurality of known coordinate base stations and the Time of flight in the air of the ultra-wideband signal transmitted from the reference base station and arriving at the reference base station 12 ，t 13 …t 1n (assuming that the reference base station is base station No. 1), the distance difference between the positioning tag 130 and each base station is obtained based on the time-of-flight difference multiplied by the speed of light. The positioning tag 130 is located at an intersection of hyperbolas formed by the plurality of distance differences, and the coordinate of the intersection, that is, the position information of the positioning tag 130 is obtained by solving an over-determined equation set.
According to the technical scheme provided by the embodiment, the base station broadcasts the ultra-wideband signal, the positioning tag receives the ultra-wideband signal, and the positioning tag actively resolves the ultra-wideband signal to obtain the position information of the positioning tag. Compared with the prior art, the technical scheme of the embodiment carries out active positioning through the positioning tags, so that the load of the base station is reduced, correspondingly, the capacity of the positioning tags in the system is not influenced by the number of the base stations, and a large number of positioning tags can be supported to carry out positioning in the system. Meanwhile, each base station is automatically switched between a wireless clock synchronization mode and a wired clock synchronization mode by determining the clock synchronization precision of each base station, so that the positioning of the positioning label in the clock synchronization mode with high clock synchronization precision is ensured, and the accuracy of the positioning information of the positioning label is improved.
Referring to fig. 3, fig. 3 is a schematic structural diagram of another ultra-wideband positioning system according to an embodiment of the present invention, in which the ultra-wideband positioning system in fig. 3 includes a server 140, a positioning tag 130, a synchronization controller 120, and at least three base stations 110. The synchronization controller 120 provides a reference clock based on a wired clock synchronization method and a wireless clock synchronization method, and the at least three base stations 110 are connected to the synchronization controller 120 based on radio frequency coaxial cables with equal lengths. At least three base stations 110 perform clock calibration in a wired clock synchronization manner or a wireless clock synchronization manner, and transmit an ultra-bandwidth signal.
The positioning tag 130 receives an ultra-wideband signal in a wired clock synchronization mode or a wireless clock synchronization mode, determines distances between the positioning tag 130 and at least three base stations 110, determines theoretical position information of each base station 110 according to included angles and distances between the positioning tag 130 and the at least three base stations 110, and a preset hybrid positioning algorithm, sends the theoretical position information of each base station 110 to the server 140, and the server 140 determines clock synchronization accuracy of each base station according to the theoretical position information and actual position information of each base station 110, determines a target clock synchronization mode of the at least three base stations, and sends the target clock synchronization mode to the at least three base stations 110.
At least three base stations 110 switch the clock synchronization mode to the target clock synchronization mode, perform clock calibration in the target clock synchronization mode, and transmit ultra-wideband signals. The server 140 is in communication connection with the positioning tag 130, the positioning tag 130 receives the ultra-wideband signals transmitted by at least three base stations 110 in a target clock synchronization mode, and sends the received ultra-wideband signals and the received time stamps to the server 140; the server 140 resolves the positioning information according to the ultra-wideband signal and the reception timestamp, and feeds back the positioning information to the positioning tag 130. The server 140 may be a raspberry pi system.
In this embodiment, the ultra-wideband signal transmitted by the base station is actively received by the positioning tag and sent to the server for resolving, so as to obtain the position information of the positioning tag. Meanwhile, in the embodiment, the positioning tag does not include a resolving unit, and can be a positioning part integrated into a small volume, so that the object to be positioned is convenient to carry, and the flexibility of the positioning tag is improved.
Optionally, the ultra-wideband positioning system further includes an upper computer display end connected to the server, for example, the upper computer display end may be in communication connection or in electrical connection, and is configured to display, track, and manage position information of each positioning tag.
On the basis of the above embodiment, when the number of the base stations is greater than three, the server 140 screens three target base stations according to the clock synchronization precision of each base station in the target clock synchronization mode, and determines the positioning information of the positioning tag based on the ultra-wideband signal transmitted by the target base station. The server 140 ranks the clock synchronization accuracy of each base station in the target clock synchronization mode, and screens three base stations with higher accuracy as target base stations for resolving the position information of the positioning tag 130. Optionally, the determined base station identifier of the target base station may be sent to the positioning tag 130, so that after receiving the super-bandwidth signals transmitted by each base station, the positioning tag 130 identifies the super-bandwidth signal of the target base station based on the base station identifier, and calculates the position information based on the super-bandwidth signal of the target base station. Optionally, the server 140 may also receive the ultra-wideband signal sent by the positioning tag 130 and receive the time stamp information of the ultra-wideband signal, the server 140 determines the target base station corresponding to the positioning tag 130 according to the identification information of the positioning tag 130, and determines the position information of the positioning tag 130 based on the ultra-wideband signal of the target base station and the time stamp information of the received ultra-wideband signal, where the server stores the corresponding relationship between each positioning tag and the target base station.
In this embodiment, the positioning accuracy of the positioning tags is improved by determining three high-accuracy target base stations corresponding to each positioning tag based on the second preset time interval.
On the basis of the above embodiment, the server 140 includes an emergency adjusting module, and when the target clock synchronization mode is the wired clock synchronization mode, each base station performs clock synchronization through the wired clock synchronization mode. When any base station cannot perform wired clock synchronization with the synchronization controller, an emergency signal is sent to the server 140; the server 140 generates a wireless clock synchronization triggering instruction according to the emergency signal, and sends the wireless clock synchronization triggering instruction to at least three base stations, and the at least three base stations switch the wired clock synchronization to the wireless clock synchronization according to the wireless clock synchronization triggering instruction, where the server and each base station may be in communication connection or wired connection. In this embodiment, two clock synchronization modes are provided for the base stations, and when the wired synchronization mode of any one base station fails, the clock synchronization modes of all the base stations are switched to wireless clock synchronization, so that normal operation of each base station and a system is ensured, and the influence of the wired synchronization mode failure of any one base station on the positioning tag is avoided.
On the basis of the above embodiment, the synchronization status of each base station is periodically detected based on any one of the at least three base stations. And for the current base station which periodically detects the synchronization state, sending synchronization verification information to other base stations in the at least three base stations, wherein the synchronization verification information comprises first timestamp information for verification, receiving return information of the other base stations, the return information comprises second timestamp information for sending the return information and a base station identifier, and the current base station determines the theoretical distance between the current base station and the other base stations for sending the return information according to the first timestamp information and the second timestamp information.
Optionally, the actual distance between the current base station and each base station is stored in the current base station, or the actual position of each base station is stored in the current base station, and the actual distance between the current base station and each base station can be determined according to the actual position of each base station. Comparing the theoretical distance with the actual distance, and determining whether at least three base stations are in a synchronous state, wherein if the theoretical distance and the actual distance between the current base station and each base station are the same or within an error allowable range, each base station is determined to be in the synchronous state, and if the difference between the theoretical distance and the actual distance between the current base station and any one or more base stations is larger than the error allowable range, one or more base stations are determined not to be in the synchronous state.
The current base station can compensate the base station which is not in the synchronization state according to the difference between the theoretical distance and the actual distance. The compensation time difference may be determined according to a difference between a theoretical distance and an actual distance between the current parent base station and the base station not in the synchronization state, for example, the difference between the theoretical distance and the actual distance is divided by the speed of light, so as to obtain the compensation time difference of the base station not in the synchronization state. The base station identifier and the compensation time difference of the base station not in the synchronization state are sent to the positioning tag 130, so that after the positioning tag 130 receives the ultra-wideband signal, the time stamp information in the ultra-wideband signal corresponding to the base station identifier is compensated based on the base station identifier and the compensation time difference, and the positioning accuracy of the positioning tag is improved.
In some embodiments, after determining the theoretical distances to the base stations, the current base station that periodically detects the synchronization state sends the theoretical distances to the server; the server may store actual distances between the current base station and each base station, or store actual positions of each base station, and may determine the actual distances between the current base station and each base station according to the actual positions of each base station. The server compares the theoretical distance and the actual distance corresponding to each base station, and determines whether at least three base stations are in a synchronous state according to the comparison result, wherein if the theoretical distance and the actual distance between the current base station and each base station are the same or within an error allowable range, each base station is determined to be in the synchronous state, and if the difference between the theoretical distance and the actual distance between the current base station and any one or more base stations is larger than the error allowable range, one or more base stations are determined not to be in the synchronous state.
The server determines a compensation time difference of the base station which is not in a synchronization state based on the difference between the theoretical distance and the actual distance. The determination method of the compensation time difference is as before, and is not described herein again.
On the basis of the above embodiment, referring to fig. 4, fig. 4 is a schematic structural diagram of a positioning tag provided in an embodiment of the present invention, where the positioning tag 130 includes: a first main control module 131, a power supply module 132, an amplifying circuit module 133, a first ultra-wideband positioning module 134 and a first antenna 135; the first antenna 135 is used for receiving the ultra-wideband signals transmitted by at least three base stations 110; the amplifying circuit module 133 is electrically connected to the first antenna 135, and is configured to amplify the received ultra-wideband signal, and by setting the amplifying circuit module 133, the received ultra-wideband signal is amplified, so that the stability of the ultra-wideband signal is improved, and the signal receiving range of the positioning tag 130 is expanded.
The first ultra-wideband positioning module 134 may be, for example, a UWB positioning chip, and is electrically connected to the amplifying circuit module 133 and the first main control module 131, respectively, and configured to receive a timestamp signal in the amplified ultra-wideband signal and send timestamp information to the first main control module 131; the first main control module 131 may include a calculating unit for calculating the positioning information according to the timestamp information and the receiving timestamp of the ultra-wideband signal; the power module 132 provides power to the location tag 130.
In some embodiments, the location tag 130 may also include a communication module for transmitting the received ultra-wideband signal and the receive timestamp to the server 140.
Optionally, the positioning tag 130 further includes a posture sensor module 136 electrically connected to the power module 132 and the first main control module 131, respectively, for detecting a motion state of the positioning tag 130, where the motion state of the positioning tag 130 may include static state and motion state. When the motion state of the positioning tag 130 is switched from static to motion, a starting trigger instruction is generated and sent to the first main control module 131, and the first main control module controls 131 to control the positioning tag 130 to start; when the motion state is switched from motion to static, a dormancy trigger instruction is generated and sent to the first main control module 131, and the first main control module 131 controls the positioning tag 130 to enter the dormant state, so that the positioning tag is in the dormant state in the static state without positioning, the electric quantity is saved, and the service time of the positioning tag is prolonged.
Optionally, the positioning tag 130 further includes a touch switch circuit module 137, electrically connected to the first main control module 131, and configured to identify a touch operation of a user, generate a start instruction or a close instruction, and send the start instruction or the close instruction to the first main control module 131, so that the first main control module 131 starts or closes the positioning tag.
On the basis of the foregoing embodiment, referring to fig. 5, fig. 5 is a schematic structural diagram of a base station according to a first embodiment of the present invention. Each base station 110 includes a third main control module 111, a second ultra-wideband positioning module 112, a second antenna 113, an external clock module 114, and a power module 115, where the third main control module 111 is electrically connected to the second ultra-wideband positioning module 112, and the second ultra-wideband positioning module 112 is electrically connected to the second antenna 113 and the external clock module 114, respectively. The external clock module 114 provides a reference clock for the second ultra-wideband positioning module 112, the third main control module 111 transmits a UWB transmitting command to the second ultra-wideband positioning module 112 through the SPI bus, and the second ultra-wideband positioning module 112 transmits a UWB signal through the radio frequency link and the second antenna 113. The power module 115 is used to power the base station 110.
Example two
Fig. 6 is a schematic flowchart of a super-bandwidth positioning method provided in the second embodiment of the present invention, where the method is adapted to a situation where a positioning tag is positioned in a super-bandwidth positioning system, and the method includes:
s210, based on at least three base stations, clock calibration is carried out in a wired clock synchronization mode or a wireless clock synchronization mode, and the super-bandwidth signals are transmitted.
The base stations are connected with a synchronous controller based on radio frequency coaxial cables with equal length, and the synchronous controller provides reference clocks based on a wired clock synchronization mode and a wireless clock synchronization mode.
S220, receiving ultra-bandwidth signals in a wired clock synchronization mode or a wireless clock synchronization mode based on the positioning labels, respectively determining the clock synchronization precision of at least three base stations in the wired clock synchronization mode and the wireless clock synchronization mode according to the ultra-bandwidth signals, and determining the target clock synchronization mode of at least three base stations according to the clock synchronization precision of the at least three base stations.
And S230, performing clock calibration based on at least three base stations in a target clock synchronization mode, and transmitting the ultra-bandwidth signal.
S240, receiving ultra-bandwidth signals transmitted by at least three base stations in a target clock synchronization mode based on the positioning labels, and determining positioning information according to the ultra-bandwidth signals.
In this embodiment, the base station broadcasts the ultra-wideband signal, the positioning tag receives the ultra-wideband signal, and the positioning tag performs active calculation to obtain the position information of the positioning tag. Compared with the prior art, the technical scheme of the embodiment carries out active positioning through the positioning tags, so that the load of the base station is reduced, correspondingly, the capacity of the positioning tags in the system is not influenced by the number of the base stations, and a large number of positioning tags can be supported to carry out positioning in the system. Meanwhile, each base station is automatically switched between a wireless clock synchronization mode and a wired clock synchronization mode by determining the clock synchronization precision of each base station, so that the positioning of the positioning label in the clock synchronization mode with high clock synchronization precision is ensured, and the accuracy of the positioning information of the positioning label is improved.
Optionally, the determining, according to the ultra-wideband signal, the clock synchronization accuracies of the at least three base stations in the wired clock synchronization mode and the wireless clock synchronization mode, and determining, according to the clock synchronization accuracies of the at least three base stations, the target clock synchronization mode of the at least three base stations includes:
receiving ultra-bandwidth signals synchronously transmitted by the at least three base stations in the wired clock synchronization mode or the wireless clock synchronization mode, and determining distances between the positioning tag and the at least three base stations, wherein the ultra-bandwidth signals comprise timestamp signals and base station identifications;
determining theoretical position information of each base station according to included angles and distances between the positioning labels and the at least three base stations and a preset hybrid positioning algorithm, and determining clock synchronization precision of each base station according to the theoretical position information and actual position information of each base station;
and determining the clock synchronization mode with the highest clock synchronization precision as a target clock synchronization mode of each base station.
Optionally, determining the clock synchronization precision of each base station according to the theoretical position information and the actual position information of each base station includes:
transmitting theoretical position information of each base station to the server based on a positioning label;
and determining the clock synchronization precision of each base station according to the theoretical position information and the actual position information of each base station based on a server, determining the target clock synchronization mode of the at least three base stations, and sending the target clock synchronization mode to the at least three base stations.
Optionally, determining the positioning information according to the ultra-wideband signal based on the positioning tag includes:
sending the received ultra-wideband signal and the receiving timestamp to a server based on the positioning tag;
and resolving positioning information according to the ultra-bandwidth signal and the receiving timestamp based on a server, and feeding the positioning information back to the positioning tag.
On the basis of the above embodiment, the method further includes:
and based on a server, screening three target base stations according to the clock synchronization precision of each base station in the target clock synchronization mode, and determining the positioning information of the positioning label based on the ultra-wideband signal transmitted by the target base stations.
On the basis of the above embodiment, the method further comprises:
when the target clock synchronization mode is wired clock synchronization, based on any base station, when the wired clock synchronization with the synchronization controller cannot be carried out, an emergency signal is sent to the server;
generating a wireless clock synchronization triggering instruction according to the emergency signal based on a server, and sending the wireless clock synchronization triggering instruction to the at least three base stations;
and based on the at least three base stations, switching the wired clock synchronization to the wireless clock synchronization according to the wireless clock synchronization triggering instruction.
On the basis of the above embodiment, the method further includes:
based on any base station, sending synchronization verification information to other base stations in the at least three base stations, receiving return information of the other base stations, determining whether the at least three base stations are in a synchronization state according to the return information, and compensating the base stations which are not in the synchronization state;
optionally, determining whether the at least three base stations are in a synchronous state according to the backhaul information includes:
determining theoretical distances between the current base station and the other base stations according to the feedback information, and determining whether the at least three base stations are in a synchronous state or not according to a comparison result of the theoretical distances and actual distances between the current base station and the other base stations;
optionally, compensating for a base station not in a synchronization state includes:
and the current base station determines the compensation time difference of the base station which is not in the synchronization state based on the difference between the theoretical distance and the actual distance.
Optionally, determining whether the at least three base stations are in a synchronous state according to the backhaul information includes:
based on the base station, determining a theoretical distance between the current base station and the other base stations according to the feedback information, and sending the theoretical distance to the server;
and determining whether the at least three base stations are in a synchronous state according to a comparison result of the theoretical distance and the actual distance between the current base station and the other base stations based on the server.
Optionally, compensating for a base station not in a synchronization state includes:
and determining the compensation time difference of the base station which is not in the synchronous state according to the difference between the theoretical distance and the actual distance based on a server.
It is to be noted that the foregoing description is only exemplary of the invention and that the principles of the technology may be employed. 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 changes, 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 by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (9)
1. An ultra-bandwidth positioning system, comprising: the system comprises a positioning tag, a synchronous controller, at least three base stations and a server, wherein the at least three base stations are connected with the synchronous controller respectively based on radio frequency coaxial cables with equal length;
the synchronous controller provides a reference clock based on a wired clock synchronization mode and a wireless clock synchronization mode;
the at least three base stations adopt the wired clock synchronization mode or the wireless clock synchronization mode to carry out clock calibration and transmit an ultra-bandwidth signal;
the positioning tag receives the ultra-bandwidth signals in the wired clock synchronization mode or the wireless clock synchronization mode, respectively determines the clock synchronization precision of the at least three base stations in the wired clock synchronization mode and the wireless clock synchronization mode according to the ultra-bandwidth signals, and determines the target clock synchronization mode of the at least three base stations according to the clock synchronization precision of the at least three base stations;
the positioning label receives ultra-bandwidth signals transmitted by the at least three base stations in the target clock synchronization mode, and positioning information is determined according to the ultra-bandwidth signals;
and any base station sends synchronization verification information to other base stations in the at least three base stations, receives return information of the other base stations, determines whether the at least three base stations are in a synchronization state according to the return information, and determines the compensation time difference of the base stations which are not in the synchronization state based on the theoretical distance and the actual distance between the base stations to compensate the base stations which are not in the synchronization state.
2. The system of claim 1, wherein the location tag is configured to:
receiving ultra-bandwidth signals synchronously transmitted by the at least three base stations in the wired clock synchronization mode or the wireless clock synchronization mode, and determining distances between the positioning tag and the at least three base stations, wherein the ultra-bandwidth signals comprise timestamp signals and base station identifications;
determining theoretical position information of each base station according to included angles and distances between the positioning labels and the at least three base stations and a preset hybrid positioning algorithm, and determining clock synchronization precision of each base station according to the theoretical position information and actual position information of each base station;
and determining the clock synchronization mode with the highest clock synchronization precision as a target clock synchronization mode of each base station.
3. The system of claim 2, wherein the server is communicatively coupled to the location tag;
the positioning label sends theoretical position information of each base station to the server;
and the server determines the clock synchronization precision of each base station according to the theoretical position information and the actual position information of each base station, determines the target clock synchronization modes of the at least three base stations, and sends the target clock synchronization modes to the at least three base stations.
4. The system according to claim 3, wherein the server screens three target base stations according to the clock synchronization precision of each base station in the target clock synchronization manner, and determines the positioning information of the positioning tag based on the ultra-wideband signal transmitted by the target base stations.
5. The system according to claim 3, wherein when the target clock synchronization mode is wired clock synchronization, any one of the base stations transmits an emergency signal to the server when the wired clock synchronization with the synchronization controller is not possible;
the server generates a wireless clock synchronization triggering instruction according to the emergency signal and sends the wireless clock synchronization triggering instruction to the at least three base stations;
and the at least three base stations switch the wired clock synchronization to the wireless clock synchronization according to the wireless clock synchronization triggering instruction.
6. The system according to claim 1, wherein any of the base stations determines a theoretical distance between the current base station and the other base stations according to the feedback information, and determines whether the at least three base stations are in a synchronized state according to a comparison result between the theoretical distance and an actual distance between the current base station and the other base stations;
the current base station determines the compensation time difference of the base station which is not in the synchronization state based on the difference between the theoretical distance and the actual distance;
or,
any base station determines the theoretical distance between the current base station and the other base stations according to the return information, and sends the theoretical distance to a server;
the server determines whether the at least three base stations are in a synchronous state according to a comparison result of the theoretical distance and the actual distance between the current base station and the other base stations;
and the server determines the compensation time difference of the base stations which are not in the synchronization state based on the difference between the theoretical distance and the actual distance.
7. The system of claim 1, wherein the locating tag comprises: the device comprises a first main control module, a power supply module, an amplifying circuit module, a first ultra-bandwidth positioning module and a first antenna; wherein,
the first antenna receives ultra-bandwidth signals transmitted by the at least three base stations;
the amplifying circuit module is electrically connected with the first antenna and is used for amplifying the received ultra-wideband signal;
the first ultra-wideband positioning module is respectively and electrically connected with the amplifying circuit module and the first main control module, and is used for receiving a timestamp signal in the amplified ultra-wideband signal and sending timestamp information in the timestamp signal to the first main control module;
the first main control module is used for resolving positioning information according to the timestamp information;
the power module supplies power to the positioning tag.
8. The system of claim 7, wherein the positioning tag further comprises an attitude sensor module electrically connected to the power module and the first main control module, respectively, for detecting a motion state of the positioning tag;
when the attitude sensor module detects that the motion state is switched from static to motion, a starting trigger instruction is generated and sent to the first main control module, and the first main control module controls the positioning tag to be started;
when the gesture sensor module detects that the motion state is switched from motion to static, a dormancy trigger instruction is generated and sent to the first main control module, and the first main control module controls the positioning tag to enter the dormancy state.
9. An ultra-wideband positioning method, comprising:
based on at least three base stations, performing clock calibration in a wired clock synchronization mode or a wireless clock synchronization mode, and transmitting an ultra-bandwidth signal, wherein the at least three base stations are respectively connected with a synchronization controller based on radio frequency coaxial cables with equal length, and the synchronization controller provides a reference clock based on the wired clock synchronization mode and the wireless clock synchronization mode;
based on a positioning label, receiving an ultra-bandwidth signal in the wired clock synchronization mode or the wireless clock synchronization mode, respectively determining the clock synchronization precision of the at least three base stations in the wired clock synchronization mode and the wireless clock synchronization mode according to the ultra-bandwidth signal, and determining the target clock synchronization mode of the at least three base stations according to the clock synchronization precision of the at least three base stations;
performing clock calibration based on the at least three base stations in the target clock synchronization mode, and transmitting an ultra-bandwidth signal;
receiving ultra-bandwidth signals transmitted by the at least three base stations in the target clock synchronization mode based on the positioning tags, and determining positioning information according to the ultra-bandwidth signals;
and based on any base station sending synchronization verification information to other base stations in the at least three base stations, receiving return information of the other base stations, determining whether the at least three base stations are in a synchronization state according to the return information, and based on theoretical distance and actual distance between the base stations, determining compensation time difference of the base stations which are not in the synchronization state, and compensating the base stations which are not in the synchronization state.
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| CN112566235B (en) * | 2020-11-27 | 2023-03-03 | 深圳市优必选科技股份有限公司 | Wireless synchronization method, device and system for monitoring station |
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| CN113411151A (en) | 2021-09-17 |
| CN113114405A (en) | 2021-07-13 |
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