CN102595593A - Ultra-wide band signal based multi-node asynchronous arrival time difference positioning method and system - Google Patents

Ultra-wide band signal based multi-node asynchronous arrival time difference positioning method and system Download PDF

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CN102595593A
CN102595593A CN2012100086056A CN201210008605A CN102595593A CN 102595593 A CN102595593 A CN 102595593A CN 2012100086056 A CN2012100086056 A CN 2012100086056A CN 201210008605 A CN201210008605 A CN 201210008605A CN 102595593 A CN102595593 A CN 102595593A
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measured
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time
destination node
signal
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CN102595593B (en
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张霆廷
张钦宇
邹洪良
田旋旋
陈方晓
张红
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Shenzhen Graduate School Harbin Institute of Technology
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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
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

Abstract

The invention relates to an ultra-wide band signal based multi-node asynchronous arrival time difference positioning method and an ultra-wide band signal based multi-node asynchronous arrival time difference positioning system. The problem about synchronization of anchor nodes in the conventional arrival time difference method is solved, so that the positioning system is relatively simple; furthermore, a synchronization process is avoided, so that energy is saved; and the system has extremely high energy efficiency.

Description

Based on the multinode of the ultra-broadband signal asynchronous time of advent of difference localization method and system
Technical field
The present invention relates to a kind of anchor node signal arrival time difference localization method and system, relate in particular to a kind of multinode asynchronous time of advent of difference localization method and system based on ultra-broadband signal.
Background technology
Existing multinode difference time of advent localization method based on ultra-broadband signal needs precise synchronization between the anchor node, and the problem of existence is:
(1) carries out to increase the cost of system so synchronously through connecting lead between the anchor node, and influence the flexibility of system.
(2) under wireless condition, be difficult to accomplish the precise synchronization between the anchor node, the synchronous error of 1ns will cause the range error of 30cm between two anchor nodes, thereby causes very big position error, and this is among a small circle (such as 100m 2) be unacceptable in the location.
(3) even reached precise synchronization at first between the anchor node locating, because the difference of intranodal crystal oscillator frequency, As time goes on, can be asynchronous again between the anchor node.Just need carry out once time synchronization again this moment, and the synchronizing process of repetition can cause the increase of network energy consumption, influences the life-span of network, and this in the small area network of energy constraint (such as WPAN, Wireless Personal Network) is unacceptable equally.
Summary of the invention
The technical problem that the present invention solves is: makes up a kind of multinode and differs from localization method and system the asynchronous time of advent based on ultra-broadband signal, overcome between the prior art anchor node can not precise synchronization and the network energy consumption big
Technical problem.
Technical scheme of the present invention is: make up a kind of multinode based on the ultra-broadband signal asynchronous time of advent of difference localization method; Comprise at least four location awares and the nonsynchronous anchor node AN of clock (Anchor Node, anchor node are called for short " AN "); A plurality of destination node TN (Target Node to be measured; Destination node is called for short " TN "), the said multinode asynchronous time of advent of difference localization method comprises the steps:
Start the location: selected any anchor node AN, by anchor node AN to himself position of whole network others node broadcasts;
Obtain the time of advent: other anchor node AN broadcasts its position separately after receiving the signal of said selected anchor node AN at once, and destination node TN to be measured writes down the time that its signal arrives this destination node TN to be measured respectively after receiving the signal of each anchor node AN;
Calculate the position of destination node to be measured: the signal of the time that arrives this destination node TN to be measured according to the signal of other each anchor node AN with selected anchor node AN arrives the poor of this destination node TN time to be measured, the position that draws this destination node to be measured.
Further technical scheme of the present invention is: in the position step of calculating destination node to be measured, comprise drawing signal arrives destination node TN process to be measured through other anchor node AN from selected anchor node AN distance.
Further technical scheme of the present invention is: in the position step of calculating destination node to be measured, comprise drawing signal directly arrives destination node TN to be measured from selected anchor node AN distance.
Further technical scheme of the present invention is: in the position step of calculating destination node to be measured, obtain the distance of other anchor node AN to selected anchor node AN.
Further technical scheme of the present invention is: in calculating the position step of destination node to be measured, the signal that comprises time that signal with each anchor node AN arrives this destination node TN to be measured and selected anchor node AN arrives the difference of this destination node TN time to be measured and converts range difference into.
Technical scheme of the present invention is: make up a kind of multinode based on the ultra-broadband signal asynchronous time of advent of difference navigation system; Comprise at least four location awares and the nonsynchronous anchor node AN of clock; A plurality of destination node TN to be measured; Said anchor node AN comprises transmitter unit that transmits and the receiving element that receives signal; Said destination node to be measured comprises receiving element that receives signal and the processor unit that carries out computing; Said receiving element comprises the time-obtaining module of obtaining the anchor node time of arrival (toa), and said processor unit comprises the computing module that calculates destination node location to be measured, and the transmitter unit of said anchor node AN is to himself position of whole network others node broadcasts; The said time that the time of advent, acquisition module obtained this destination node TN to be measured of signal arrival of anchor node AN; Said computing module arrives this destination node TN to be measured according to other each anchor node AN time arrives the poor of this destination node TN time to be measured, the position that draws this destination node to be measured with selected anchor node AN.
Technique effect of the present invention is: make up a kind of multinode based on the ultra-broadband signal asynchronous time of advent of difference localization method and system; Comprise at least four location awares and the nonsynchronous anchor node AN of clock; A plurality of destination node TN to be measured; Said multinode asynchronous time of advent of difference localization method comprises the steps: selected any anchor node AN, by anchor node AN to himself position of whole network others node broadcasts; Other anchor node AN receives its position separately of broadcasting behind the signal of said selected anchor node AN, and destination node TN to be measured writes down the time that its signal arrives this destination node TN to be measured respectively after receiving the signal of anchor node AN; The time that arrives this destination node TN to be measured according to other each anchor node AN arrives the poor of this destination node TN time to be measured, the position that draws this destination node to be measured with selected anchor node AN.The present invention relates to a kind of multinode asynchronous time of advent of difference localization method and system based on ultra-broadband signal; Overcome the synchronous problem of anchor node in existing time of advent of the difference method, make navigation system simpler, and owing to there is not synchronizing process; Practice thrift energy, had very high efficiency property.
Description of drawings
Fig. 1 is known anchor node of the present invention and destination node distribution schematic diagram to be measured.
Fig. 2 is known anchor node of the present invention and destination node to be measured location sketch map.
Fig. 3 confirms destination node location sketch map to be measured for known anchor node of the present invention and destination node to be measured.
Fig. 4 is positioning flow figure of the present invention.
Embodiment
Below in conjunction with specific embodiment, technical scheme of the present invention is further specified.
Like Fig. 1, Fig. 2, Fig. 3, shown in Figure 4; Embodiment of the present invention is: make up a kind of multinode based on the ultra-broadband signal asynchronous time of advent of difference localization method; Comprise at least four location awares and the nonsynchronous anchor node AN of clock, a plurality of destination node TN to be measured are because the number of destination node TN to be measured is hard-core; And separate between the destination node TN to be measured, can accomplish the location simultaneously.Be without loss of generality, for simplicity, consider the situation of two dimensional surface, a target is positioned, the location sketch map is as shown in Figure 2.
The said multinode asynchronous time of advent of difference localization method comprises the steps:
Step 100: start the location, that is: selected any anchor node AN 1, by anchor node AN 1To himself position of whole network others node broadcasts.In the specific embodiment, selected No. 1 anchor node AN when arranging network 1, by AN 1Position to whole Web broadcast oneself starts the location.
Step 200: obtain the time of advent, that is: other anchor node AN i(i=2,3 ..., M) receive said selected anchor node AN 1Signal after its position separately of broadcasting, destination node TN to be measured writes down the time that its signal arrives this destination node TN to be measured respectively after receiving the signal of anchor node AN.The practical implementation process is following: as other anchor node AN i(i=2,3 ..., M) receive selected anchor node AN 1Signal after, separately position of broadcasting immediately; When receiving, destination node TN to be measured selectes anchor node AN simultaneously 1Signal after the record this signal the t time of advent 1, other anchor node of destination node TN record AN to be measured i(i=2,3 ..., the M) t time of advent of signal i
Step 300: calculate the position of destination node to be measured, that is: arrive the time and selected anchor node AN of this destination node TN to be measured according to other each anchor node AN 1Arrive the poor of this destination node TN time to be measured, draw the position of this destination node to be measured.
As shown in Figure 3, the practical implementation process is following: the time and selected anchor node AN that arrive this destination node TN to be measured according to the signal of other each anchor node AN 1Signal arrive this destination node TN time to be measured, with being converted into time of advent of unlike signal the time of advent poor, the signal that is about to other each anchor node AN arrives the time of this destination node TN to be measured and the anchor node AN that selectes 1Signal arrive the poor of this destination node TN time to be measured, and combine the position of known anchor node to calculate the position of oneself.Wherein the time of advent, difference obtained like this: suc as formula 1, utilize t iDeduct t 1Thereby, obtain poor value M-1 the time of advent.
Suppose anchor node AN iPosition vector with p=[X iy i] TExpression, the position of destination node TN to be measured is with p=[x y] TExpression, d I1Expression AN i(i=2,3 ..., M) and AN 1Between distance, this is a constant.r I1Expression signal is from selected anchor node AN 1Pass through AN i(i=2,3 ..., the distance that M) arrives destination node TN process to be measured and signal are directly from selected anchor node AN 1Arrive distance poor of destination node TN process to be measured.C represents the light velocity.The position of like this, calculating destination node TN to be measured just is the equal of to separate one group of hyp equation:
c ( t 2 - t 1 ) = d 21 + ( x - x 2 ) 2 + ( y - y 2 ) 2 - ( x - x 1 ) 2 + ( y - y 1 ) 2 c ( t 3 - t 1 ) = d 31 + ( x - x 3 ) 2 + ( y - y 3 ) 2 - ( x - x 1 ) 2 + ( y - y 1 ) 2 KK c ( t M - t 1 ) = d M 1 + ( x - x M ) 2 + ( y - y M ) 2 - ( x - x 1 ) 2 + ( y - y 1 ) 2 - - - ( 1 )
Be converted into range difference to the time difference and rearrangement (1) obtains:
r 21 - d 21 = ( x - x 2 ) 2 + ( y - y 2 ) 2 - ( x - x 1 ) 2 + ( y - y 1 ) 2 r 31 - d 31 = ( x - x 3 ) 2 + ( y - y 3 ) 2 - ( x - x 1 ) 2 + ( y - y 1 ) 2 KK r M 1 - d M 1 = ( x - x M ) 2 + ( y - y M ) 2 - ( x - x 1 ) 2 + ( y - y 1 ) 2 - - - ( 2 ) Separate (2) and just can obtain the numerical solution of TN position.
On the two dimensional surface, three groups of hyp intersection points just can be confirmed the position of TN.As shown in Figure 3, hyp focus be respectively (AN1, AN2), (AN1, AN3), (AN1, AN4).
Embodiment of the present invention is: make up a kind of multinode based on the ultra-broadband signal asynchronous time of advent of difference navigation system; Comprise at least four location awares and the nonsynchronous anchor node AN of clock; A plurality of destination node TN to be measured; Said anchor node AN comprises transmitter unit that transmits and the receiving element that receives signal; Said destination node to be measured comprises receiving element that receives signal and the processor unit that carries out computing; Said receiving element comprises the time-obtaining module of obtaining the anchor node time of arrival (toa), and said processor unit comprises the computing module of the position of calculating destination node to be measured, and the transmitter unit of said anchor node AN is to himself position of whole network others node broadcasts; The said time that the time of advent, acquisition module obtained this destination node TN to be measured of signal arrival of anchor node AN; Said computing module arrives this destination node TN to be measured according to other each anchor node AN time arrives the poor of this destination node TN time to be measured, the position that draws this destination node to be measured with selected anchor node AN.
The practical implementation process is following: selected No. 1 anchor node AN when arranging network 1, by anchor node AN 1Transmitter unit start the location to the position of whole Web broadcast oneself.
Further technical scheme of the present invention is: said computing module also comprises and obtaining from selected anchor node AN 1Through other anchor node AN arrive destination node TN to be measured through distance first apart from acquisition module.As other anchor node AN i(i=2,3 ..., receiving element M) is received selected anchor node AN 1Signal after, separately position of broadcasting immediately; Receiving element comprises and obtains the anchor node acquisition module time of advent of the time of advent, receives selected anchor node AN when the receiving element of destination node TN to be measured simultaneously 1Signal after, the time of advent this signal of acquisition module record the t time of advent 1, other anchor node of acquisition module record AN time of advent of destination node TN to be measured i(i=2,3 ..., the M) t time of advent of signal iThe computing module of destination node TN processor unit to be measured arrives the time and selected anchor node AN of this destination node TN to be measured according to the signal of other each anchor node AN 1Signal arrive the poor of this destination node TN time to be measured, the position that draws this destination node to be measured.
Concrete computational process is following: the time and selected anchor node AN that arrive this destination node TN to be measured according to the signal of other each anchor node AN 1Signal arrive time of this destination node TN to be measured, with being converted into time of advent of unlike signal the time of advent poor, the signal that is about to other each anchor node AN arrives the time and the anchor node AN that selectes of this destination node TN to be measured 1Signal arrive the poor of this destination node TN time to be measured, and combine the position of known anchor node to calculate the position of oneself.Wherein the time of advent, difference obtained like this: suc as formula 1, utilize t iDeduct t 1Thereby, obtain M-1 the time of advent difference.
Suppose anchor node AN iPosition vector with p=[x iy i] TExpression, the position of destination node TN to be measured is with p=[x y] TExpression, d I1Expression AN i(i=2,3 ..., M) and AN 1Between distance, this is a constant.r I1Expression signal is from selected anchor node AN 1Pass through AN i(i=2,3 ..., the distance that M) arrives destination node TN process to be measured and signal are directly from selected anchor node AN 1Arrive distance poor of destination node TN process to be measured.C represents the light velocity.The position of like this, calculating destination node TN to be measured just is the equal of to separate one group of hyp equation:
c ( t 2 - t 1 ) = d 21 + ( x - x 2 ) 2 + ( y - y 2 ) 2 - ( x - x 1 ) 2 + ( y - y 1 ) 2 c ( t 3 - t 1 ) = d 31 + ( x - x 3 ) 2 + ( y - y 3 ) 2 - ( x - x 1 ) 2 + ( y - y 1 ) 2 KK c ( t M - t 1 ) = d M 1 + ( x - x M ) 2 + ( y - y M ) 2 - ( x - x 1 ) 2 + ( y - y 1 ) 2 - - - ( 1 )
Be converted into range difference to the time difference and rearrangement (1) obtains:
r 21 - d 21 = ( x - x 2 ) 2 + ( y - y 2 ) 2 - ( x - x 1 ) 2 + ( y - y 1 ) 2 r 31 - d 31 = ( x - x 3 ) 2 + ( y - y 3 ) 2 - ( x - x 1 ) 2 + ( y - y 1 ) 2 KK r M 1 - d M 1 = ( x - x M ) 2 + ( y - y M ) 2 - ( x - x 1 ) 2 + ( y - y 1 ) 2 - - - ( 2 )
Separate (2) and just can obtain the numerical solution of TN position.
On the two dimensional surface, three groups of hyp intersection points just can be confirmed the position of TN.As shown in Figure 3, hyp focus be respectively (AN1, AN2), (AN1, AN3), (AN1, AN4).
Technique effect of the present invention is: make up a kind of multinode based on the ultra-broadband signal asynchronous time of advent of difference localization method and system; Comprise at least four location awares and the nonsynchronous anchor node AN of clock; A plurality of destination node TN to be measured; Said multinode asynchronous time of advent of difference localization method comprises the steps: selected any anchor node AN, by anchor node AN to himself position of whole network others node broadcasts; Other anchor node AN receives its position separately of broadcasting behind the signal of said selected anchor node AN, and destination node TN to be measured writes down the time that its signal arrives this destination node TN to be measured respectively after receiving the signal of anchor node AN; The time that arrives this destination node TN to be measured according to other each anchor node AN arrives the poor of this destination node TN time to be measured, the position that draws this destination node to be measured with selected anchor node AN.The present invention relates to a kind of multinode asynchronous time of advent of difference localization method and system based on ultra-broadband signal; Overcome the synchronous problem of anchor node in existing time of advent of the difference method, make navigation system simpler, and owing to there is not synchronizing process; Practice thrift energy, had very high efficiency property.
Above content is to combine concrete preferred implementation to the further explain that the present invention did, and can not assert that practical implementation of the present invention is confined to these explanations.For the those of ordinary skill of technical field under the present invention, under the prerequisite that does not break away from the present invention's design, can also make some simple deduction or replace, all should be regarded as belonging to protection scope of the present invention.

Claims (6)

1. the multinode based on the ultra-broadband signal asynchronous time of advent of difference localization method; It is characterized in that; Comprise at least four location awares and the nonsynchronous anchor node AN of clock, a plurality of destination node TN to be measured, the said multinode asynchronous time of advent of difference localization method comprises the steps:
Start the location: selected any anchor node AN, by this anchor node AN to himself position of whole network others node broadcasts;
Obtain the time of advent: other anchor node AN broadcasts its position separately after receiving the signal of said selected anchor node AN at once, and destination node TN to be measured writes down the time that its signal arrives this destination node TN to be measured respectively after receiving the signal of each anchor node AN simultaneously;
Calculate the position of destination node to be measured: the signal of the time that arrives this destination node TN to be measured according to the signal of other each anchor node AN with selected anchor node AN arrives the poor of this destination node TN time to be measured, the position that draws this destination node to be measured.
2. according to the said multinode of the claim 1 asynchronous time of advent of difference localization method based on ultra-broadband signal; It is characterized in that; In the position step of calculating destination node to be measured, comprise drawing signal arrives destination node TN process to be measured through other anchor node AN from selected anchor node AN distance.
3. according to the said multinode of the claim 1 asynchronous time of advent of difference localization method based on ultra-broadband signal; It is characterized in that; In the position step of calculating destination node to be measured, comprise drawing signal directly arrives destination node TN to be measured from selected anchor node AN distance.
4. according to the said multinode of the claim 1 asynchronous time of advent of difference localization method, it is characterized in that, in the position step of calculating destination node to be measured, obtain the distance of other anchor node AN to selected anchor node AN based on ultra-broadband signal.
5. according to the said multinode of the claim 1 asynchronous time of advent of difference localization method based on ultra-broadband signal; It is characterized in that; In calculating the position step of destination node to be measured, the signal that comprises time that signal with each anchor node AN arrives this destination node TN to be measured and selected anchor node AN arrives the difference of this destination node TN time to be measured and converts range difference into.
6. the multinode based on the ultra-broadband signal asynchronous time of advent of difference navigation system; It is characterized in that; Comprise at least four location awares and the nonsynchronous anchor node AN of clock; A plurality of destination node TN to be measured; Said anchor node AN comprises transmitter unit that transmits and the receiving element that receives signal, and said destination node to be measured comprises receiving element that receives signal and the processor unit that carries out computing, and said receiving element comprises the time-obtaining module of obtaining the anchor node time of arrival (toa); Said processor unit comprises the computing module that calculates destination node location to be measured, and the transmitter unit of said anchor node AN is to himself position of whole network others node broadcasts; The said time that the time of advent, acquisition module obtained this destination node TN to be measured of signal arrival of anchor node AN; The signal of said computing module arrives this destination node TN to be measured according to the signal of other each anchor node AN time with selected anchor node AN arrives the poor of this destination node TN time to be measured, the position that draws this destination node to be measured.
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CN103123392A (en) * 2012-10-19 2013-05-29 哈尔滨工业大学深圳研究生院 Asynchronous ultra wide band positioning method and system based on two-way distance measurement
CN102928814A (en) * 2012-10-19 2013-02-13 哈尔滨工业大学深圳研究生院 Method and system for performing ultra-wide band asynchronous positioning under nonideal conditions
CN104777454A (en) * 2014-01-13 2015-07-15 罗伯特·博世有限公司 Method for adjusting positioning system, method for positioning objects, and positioning system
CN108291951A (en) * 2015-12-14 2018-07-17 斯梅奥公司 Utilize the system and method for at least three signal receiving terminals
CN105682225A (en) * 2016-03-28 2016-06-15 广东顺德中山大学卡内基梅隆大学国际联合研究院 Method and system for ultra wideband indoor positioning
CN105960018A (en) * 2016-06-29 2016-09-21 陈晓禾 Time difference on arrival-based hyperbola location method
CN108112070A (en) * 2017-12-25 2018-06-01 武汉大学 A kind of method of time synchronization in unidirectional alignment systems of UWB
CN108112070B (en) * 2017-12-25 2020-08-25 武汉大学 Time synchronization method in UWB (ultra wide band) unidirectional positioning system
CN112351381A (en) * 2019-08-07 2021-02-09 华为技术有限公司 Positioning method and device
CN112351381B (en) * 2019-08-07 2022-05-17 华为云计算技术有限公司 Positioning method and device
CN111554069A (en) * 2020-05-06 2020-08-18 Oppo广东移动通信有限公司 Intelligent alarm method and device
CN111554069B (en) * 2020-05-06 2022-08-02 Oppo广东移动通信有限公司 Intelligent alarm method and device
CN112073905A (en) * 2020-09-15 2020-12-11 Oppo广东移动通信有限公司 Distance difference determining method, data frame transmission method and related product
CN112073905B (en) * 2020-09-15 2022-10-28 Oppo广东移动通信有限公司 Distance difference determining method, data frame transmission method and related product

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