CN104280716B - Indoor positioning device and method - Google Patents
Indoor positioning device and method Download PDFInfo
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- CN104280716B CN104280716B CN201410416423.1A CN201410416423A CN104280716B CN 104280716 B CN104280716 B CN 104280716B CN 201410416423 A CN201410416423 A CN 201410416423A CN 104280716 B CN104280716 B CN 104280716B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/12—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves by co-ordinating position lines of different shape, e.g. hyperbolic, circular, elliptical or radial
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0205—Details
- G01S5/0215—Interference
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- Engineering & Computer Science (AREA)
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Mobile Radio Communication Systems (AREA)
Abstract
An indoor positioning system is composed of a controller, at least three base stations which are not on the same straight line and a plurality of tags to be positioned. The controller is composed of a synchronous control module and a signal processing module, the base stations can be in communication with the tags and the controller, the tags can transmit frequency modulated continuous waves to an indoor space after receiving signals transmitted by the base stations, and the synchronous signal transmission time delay of the controller is equal to that of the base stations. An indoor positioning method comprises the steps that the tags are positioned independently, and the distance differences, obtained by conducting subtraction in a pairwise mode on the pseudorange between the positioned tags and the base stations, between the tags and the base stations are calculated; an equation is solved based on a hyperbolic positioning principle, and the positions of the tags to be positioned are obtained according to plus-minus sign solving ambiguity of the distance differences. By means of the indoor positioning system and the indoor positioning method, the distance differences between the tags and the different base stations can be measured with high precision, and the tags are positioned with high precision based on the hyperbolic positioning principle.
Description
Technical field
The invention belongs to electronic communication field, it is related to a kind of indoor positioning device and method.
Background technology
Development with information technology and wireless communication technology and popularization, people increasingly increase to the demand of positioning and navigation
Greatly.Global positioning system（GPS）It is the location technology being most widely used at present, disclosure satisfy that the need in outdoor positioning for the people
Ask.But when GPS works indoors, signal intensity is affected by building and substantially reduces, receiver cannot enter
Row positioning.However as the continuous development of modern society, Development of China's Urbanization is accelerated, and heavy construction is increasing, and people more than 80%
Time be in indoor environment（Containing underground, mine, tunnel etc.）, in complicated indoor environment, people service to indoor location
Demand just increases sharply.And public safety, production safety, emergency management and rescue, Internet of Things, special population monitoring, large stadium management,
The fields such as smart city construction are required for using accurate indoor positioning information
The indoor positioning technologies of comparative maturity have radio-frequency (RF) tag at present（RFID）Indoor positioning technologies, ultra broadband（UWB）Room
Interior location technology, purple honeybee（ZigBee）Indoor positioning technologies, Wi-Fi indoor positioning technologies.Wherein RFID indoor positioning technologies
Positioning precision depends on the arranged in high density by reader number and reference label, and realizing meter level positioning precision based on this technology needs
Lay a large amount of reference label it is difficult to realize popularization and application on a large scale.UWB indoor positioning technologies are mainly reached using based on signal
Time（TOA）Method although having very high precision, but wherein produce ultra-broadband signal device and measurement dual-mode antenna
The device in the propagation time of direct wave is very expensive so that UWB alignment system cost is high it is difficult to large-scale application is in people's day
Often position.By contrast, the cost of ZigBee technology and Wi-Fi technology and complexity are all relatively low, the room based on both technology
Interior alignment system is widely applied.Yet with both alignment systems all using based on signal amplitude attenuation model
（RSSI）Localization method, positioning precision affected by indoor multipath environment larger, and personnel walk about, body of wall/door block anti-
Penetrate etc. and positioning precision all can be led to decline it is however generally that positioning precision can only achieve 3 meters about【Indoor and outdoor hi-Fix navigates
White paper（2013）】【Indoor positioning is theoretical, methods and applications（Electronic Industry Press）】It is difficult to meet indoor high accuracy
The demand of positioning.
Content of the invention
For overcoming the not enough technological deficiency of existing indoor orientation method precision, the invention discloses a kind of indoor positioning device
And the indoor orientation method based on this device.
Indoor locating system of the present invention, by controller, at least three not base stations on the same line and some treat
Positioning label composition, described controller is made up of synchronization control module and signal processing module, described base station can with label and
Controller is communicated, and described label can launch Continuous Wave with frequency modulation to the interior space after receiving the signal of Base Transmitter,
Synchronous transmission of signal time delay between described controller and each base station is equal.
Specifically, described base station by base station communication module, antenna for base station, base station, frequency mixer, filter amplifier,
AD converter forms, and signal flow direction is followed successively by antenna for base station-base station-frequency mixer-filter amplifier-AD converter-base
Stand communication module.
Further, described base station also includes the local oscillator being connected with frequency mixer.
Further, described local oscillator is made up of MCU, Direct Digital Frequency Synthesizers and upconverter, described MCU when
Clock input is connected with the output terminal of clock of synchronization control module, and the synchronous signal input end of MCU is same with synchronization control module
Step signal output part connects, and MCU is connected with the frequency control input of Direct Digital Frequency Synthesizers, direct digital synthesis technique
The outfan of device is connected with upconverter, and the outfan of upconverter is connected with the local oscillator input of frequency mixer.
Preferably, described label is by label communication module, Continuous Wave with frequency modulation generator, label amplifier and label antenna group
Become, signal flows to as label communication module-Continuous Wave with frequency modulation generator-label amplifier-label antenna.
Preferably, pass through wired mode transmission signal between described controller and each base station, and controller is to each base
The synchronous transmission of signal line transmission delay stood is equal.
The invention also discloses a kind of indoor orientation method, based on indoor locating system as above, including several
Separate label positioning step, described separate label positioning step comprises the steps：
SS1. controller sends label coding to each base station, and base station is forwarded to respective labels after receiving label coding；Control
While device transmitting label coding processed, synchronous signal transmission is to each base station；
SS2. after label receives the label coding of base station forwarding, launch framing signal, each base station receives framing signal, profit
With frequency mixing technique, input signal is converted into digital medium-frequency signal, and transmits to controller；Described framing signal is that frequency modulation is continuous
Ripple；
The synchronizing signal of controller transmitting is same for carrying out to local oscillation signal during being converted into digital medium-frequency signal
Walk or directly as local oscillation signal；
SS3. controller is handled as follows to the digital medium-frequency signal of each base station receiving：
SS31 calculates the pseudorange between each base station and label to be positioned according to digital medium-frequency signal,
Pseudorange between SS32 label to be positioned and each base station makees difference two-by-two, and to obtain the distance between label and each base station poor；
According to hyperbolic positioning principle, solving equation simultaneously obtains label to be positioned according to the sign ambiguity solution of range difference to SS33
Position.
Preferably, controller determines all labels in positioning region, and totalize N each label is numbered from 1 to N,
From the beginning of first label, repeat described separate label positioning step, until all labels in traversal positioning region.
Preferably, the Continuous Wave with frequency modulation in described step SS2 is linear frequency modulation continuous wave or stepped FMCW.
Preferably, when the Continuous Wave with frequency modulation in described step SS2 is stepped FMCW, to puppet in described step SS31
Away from computational methods be：Digital medium-frequency signal is done inverse Fourier transform, obtains one-dimensional range profile, therefrom choose at image peak value
Numerical value, obtain the pseudorange between label and base station using k
In above formula, c is vacuum light speed,For the step-length of step frequency, N is step frequency number；
When Continuous Wave with frequency modulation in described step SS2 is linear frequency modulation continuous wave, the meter to pseudorange in described step SS31
Calculation method is：Digital medium-frequency signal is obtained frequency spectrum as fast Fourier transform, from frequency spectrum, then finds the maximum frequency of amplitude
Rate point, using the pseudorange obtaining between label and base station
In above formula, c is vacuum light speed,For the maximum frequency deviation of label tranmitting frequency, TmFor the frequency modulation cycle.
Compared with prior art, the invention has the beneficial effects as follows：The present invention is found range using Continuous Wave with frequency modulation method, leads to
Excessive bandwidth obtains high range resolution, can effectively suppress the impact to range accuracy for the multipath effect.The present invention passes through to close
The system design of reason and digital signal processing algorithm, can eliminate the thick synchronous error existing between base station and label to positioning precision
Impact, specifically include：Design isochronous controller in system design, send a synchronization to each base station at regular intervals
Signal, this synchronizing signal can use the transmission line of identical time delay to each base station, to ensure each base station precise synchronization；
When carrying out Digital Signal Processing, will be poor two-by-two for distance between calculated label and each base station, realize high accuracy and survey
Amount label and the range difference of different base station, hereby it is possible to accurately position to label according to hyperbolic positioning principle.
Brief description
Fig. 1 is a kind of annexation figure of specific embodiment of indoor positioning device of the present invention；
Fig. 2 is the label of the present invention, base station, each a kind of specific embodiment schematic diagram of controller；
Fig. 3 is that to positioning region, all labels carry out the specific embodiment party of one-time positioning to indoor locating system of the present invention
Formula flow chart；
Fig. 4 is the relation schematic diagram in the present invention using triangular linear Continuous Wave with frequency modulation transmission signal and receipt signal；
Fig. 5 is using stepped FMCW emission signal frequency change schematic diagram in the present invention；
Fig. 6 is embodiment 1 positioning region, positioner distribution schematic diagram；
Fig. 7 is the structure chart of label and base station in embodiment 1；
Fig. 8 is one-time positioning sequential chart in embodiment 1；
Fig. 9 is one-time positioning result schematic diagram in embodiment 1；
Figure 10 is embodiment 2 positioning region, positioner distribution schematic diagram；
Figure 11 is the structure chart of label and base station in embodiment 2；
Figure 12 is one-time positioning sequential chart in embodiment 2；
Figure 13 is one-time positioning result schematic diagram in embodiment 2.
Specific embodiment
Below in conjunction with the accompanying drawings, the specific embodiment of the present invention is described in further detail.
As shown in Fig. 1 is to 2, give signal connected mode and each components interior knot of indoor positioning device of the present invention
One specific embodiment of structure.
Including controller one, label to be positioned be some and at least three base stations, label wherein to be positioned includes communicating
Module 1, Continuous Wave with frequency modulation generator 2, label amplifier 3, label antenna 4.When communication module 1 receives the communication module 11 of base station
Transmission signal order after Continuous Wave with frequency modulation signal is produced by Continuous Wave with frequency modulation generator 2, amplify through label amplifier 3, so
Radiate to the interior space by from label antenna 4；Carry out determining because the present invention offsets thick synchronous error using hyperbolic localization method
Position, needs at least two different hyperbolies it is therefore desirable at least three base stations, and these three base stations is not on the same line.
Base station number is determined according to space size and shape, when applying the present invention in two dimensional surface, at least needs three bases
Stand, the structure of each base station is identical, all include communication module and FM signal receiver, its structure includes communication module 11, base
Station antenna 5, base station 6, frequency mixer 7, local oscillator 8, filter amplifier 9, analog-digital converter（ADC）10.The effect bag of base station
Containing two parts.One be communication module with the positioning region of this base station in all label communications, determine the sum of label with each
The label coding of individual label, and send and collected to controller, by controller, label is managed.In position fixing process, control
Device processed sends the label coding of a label being located in positioning region every time to base station, forwards this mark by the communication module of base station
Sign coding, notify corresponding label to start to launch framing signal.Another effect of base station is that FM signal receiver receives label
The framing signal of transmitting, specifically includes：Antenna for base station 5 receives the signal that label is launched, and this signal is put through base station 6
Greatly, obtain intermediate-freuqncy signal subsequently into the local oscillation signal mixing that frequency mixer 7 is produced with local oscillator 8（Radiofrequency signal reduces through frequency mixer
Signal after frequency）, amplifier 9 is filtered being converted into counting through ADC10 with processing and amplifying intermediate-freuqncy signal later after filtering
Word signal, exports to the signal processor 13 in controller.
Two parts are comprised in controller：Synchronization control module 12 and signal processing module 13.Synchronization control module every
Certain time synchronizes control to the base station of all diverse locations, and control mode has two kinds, and one kind is that synchronization control module is produced
Raw synchronizing signal, gives each base station by the transmission line waiting time delay, synchronous to the local oscillation signal in each base station；Another kind of
Mode is that isochronous controller directly produces local oscillation signal, is then divided into multichannel, by waiting the transmission line of time delay to each base
Stand, as the local oscillation signal of frequency mixer, local oscillator 8 now in base station, can be no longer necessary to.While control is synchronized to base station,
Synchronization control module sends the label coding of the label being located in positioning region to base station, and is turned by the communication module in base station
Send out, thus controlling the label in positioning region to launch framing signal.The function of signal processing module is by each base receiving
The digital medium-frequency signal stood is processed, and exports positioning result, i.e. the position of label or coordinate.
The signal of label transmitting to be positioned is usually high frequency radio signals, and the ADC chip for meeting prior art inputs letter
Number sampling request, the signal down that label to be positioned is launched by base station is to intermediate-frequency band.
In order to ensure the high-precision positioning of invention device, in each base station, the local oscillation signal requirement of mixer input is strictly same
Step it is therefore desirable to the synchronizing signal propagation delay of controller to each base station is identical, using wireless mode transmit signal when it is desirable to
The space length of controller to each base station is identical, when using wired mode transmission signal, may require that controller arrives each
The signal transmssion line type of base station all identical with length it is clear that using wired mode be easier different structure shape positioning
Equal synchronizing signal transmission time delay is obtained in region.
Based on indoor locating system as above, the invention discloses a kind of indoor orientation method, only including several
Vertical tag location step, each separate label positioning step label to be positioned to carries out one-time positioning, described independent mark
Sign positioning step to comprise the steps：
SS1. controller sends label coding to each base station, and base station is forwarded to respective labels after receiving label coding, with
Realize the thick synchronization between base station and label；While controller transmitting label coding, transmitting synchronizing signal to each base station, to protect
Stringent synchronization between card base station；
SS2. after label receives the label coding of base station forwarding, launch framing signal, each base station receives framing signal, profit
With frequency mixing technique, input signal is converted into digital medium-frequency signal, is concurrently incident upon controller；Described framing signal is that frequency modulation is continuous
Ripple；
The synchronizing signal of controller transmitting is same for carrying out to local oscillation signal during being converted into digital medium-frequency signal
Walk or directly as local oscillation signal；
SS3. controller is handled as follows to the digital medium-frequency signal of each base station receiving：
SS31 calculates the pseudorange between each base station and label to be positioned according to digital medium-frequency signal,
Pseudorange between SS32 label to be positioned and each base station makees difference two-by-two, and to obtain the distance between label and each base station poor；
According to hyperbolic positioning principle, solving equation simultaneously obtains label to be positioned according to the sign ambiguity solution of range difference to SS33
Position.
In actual mechanical process, in positioning region, generally include multiple labels to be positioned, now each label can be compiled
Number successively circulation positioning, specially：Controller determines all labels in positioning region, totalize N and to each label from 1 to
N numbers, and from the beginning of first label, repeats described separate label positioning step, until all labels in traversal positioning region.
As shown in figure 3, providing the specific embodiment party N number of label being positioned using indoor orientation method of the present invention
Formula,
Step 1：Each base station is set up with labels all in positioning region and is connected, and obtains its label coding, and sends to control
Device, determines number of labels N（N≥1）；
Step 2：Initialization n=1；
Step 3：Controller sends the label coding of label n to base station, forwards this label coding notified tag n to send out by base station
Penetrate signal, simultaneously to each Base Transmitter synchronizing signal；Send label coding and during synchronizing signal, can be according to certain time between
Every periodic transmission.
Step 4：Label n launches framing signal after receiving order；
Step 5：Base station 1, base station 2, base station 3 etc. receive the framing signal of label n respectively；
Step 6：The framing signal that base station 1, base station 2, base station 3 etc. dock receipts respectively is processed, output digital intermediate frequency letter
Number, and all send and carry out Digital Signal Processing to controller；
Step 7：Controller receives digital medium-frequency signal, and carries out Digital Signal Processing：First according to digital medium-frequency signal
Calculate the pseudorange between each base station and label to be positioned, then the pseudorange between label to be positioned and each base station makees poor obtaining two-by-two
The distance between label and each base station are poor（Distinguish positive and negative）, finally according to hyperbolic positioning principle, solving equation according to range difference
Sign ambiguity solution obtain the position of label to be positioned, i.e. positioning result；
Step 8：Controller exports positioning result；
Step 9：Execution n=n+1, and judge whether n is more than N, if it is, one-time positioning terminates, conversely, skipping to step 3 weight
The separate label positioning step of multiple execution step 3 ~ step 9 successively, until n is more than N；
By above step 1 ~ step 9, label existing in positioning region can be carried out with the process of one-time positioning, repeat
The real-time dynamic positioning to label can be realized.
The signal waveform of label to be positioned transmitting is Continuous Wave with frequency modulation, can be linear frequency modulation continuous wave signal it is also possible to
It is stepped frequency continuous wave signal, their frequency can be changed by periodic triangular shape ripple or periodic serrations shape ripple, the two
Difference is that sawtooth waveforms adopts mutational formats in the frequency decline stage, and triangular wave is then for continuously gradual mode, such as FREQUENCY CONTROL
Word Changing Pattern is that now DDS output waveform is triangular wave to 1-2-3-4-5-4-3-2-1-2-3-4-5 ...；If Changing Pattern
For 1-2-3-4-5-1-2-3-4-5-1-2- ..., now DDS output waveform is zigzag wave.Frequency modulation using multi-form is continuous
During ripple, in the digital signal processing module in controller, corresponding processing method is also different.
When using linear frequency modulation continuous wave signal, according to linear frequency modulation continuous wave signal range measurement principle, if FM signal
The frequency modulation cycle be,Represent the speed that the light in vacuum is propagated.Bidding signs launched signal transient frequency, in it
Frequency of heart is, tranmitting frequency modulation maximum frequency deviation be, the signal transient frequency that any two base station receives isThe difference frequency obtaining as difference frequency respectively with local oscillation signal for the signal that two base stations receive；
In real work, controller one side passes through same type and isometric transmission line synchronizing signal or homology
Local oscillation signal, to base station, on the one hand sends label coding and launches framing signal, due to base forwarding notified tag by base station
The airborne spread path of forwarding label of standing coding does not know, and there is random delay between label and base station, referred to as thick synchronous error,
It is set to, the initial time of therefore transmitting interrogation signals lags behind the initial time of the local oscillation signal in base station.
Taking the positive frequency modulation slope in triangular modulation linear frequency modulation continuous wave signal as a example, as shown in figure 4, the transmitting of label
1. frequency is changed by the curve in Fig. 4, can be written as formula（1）：
(1)
In the receives frequency of two base stations such as Fig. 4, curve is 3. 4. shown, can be write as following formula（2）、（3）:
(2)
(3)
Because there is thick synchronous error between base station and label, during the local oscillation signal in base station for the signal lag of label transmitting
Between, the local oscillation signal in therefore all base stations is as 1. shown in the curve in Fig. 4, can be write as following formula（4）：
(4)
The difference frequency signal of the receipt signal in two base stations and local oscillation signal is respectively as following formula（5）（6）：
(5)
(6)
The distance therefore deducing that label and two base stations is respectively as formula（7）、（8）：
(7)
(8)
WhereinFor the measured distance of label and two base stations,True for label and two base stations
Distance.WillDiffer from, the range difference obtaining label with two base stations is
(9)
Can see there is thick synchronous error, formula due in label and base station（7）And formula（8）Obtained distance is to contain
Have the pseudorange of error, the present invention obtains range difference and positioned by the way of making difference, rather than directly using record away from
From positioning.By formula（9）It is recognized that while there is thick synchronous error between base station and label, but the range difference measured by the present invention
It is exactly real range difference, the present invention has the effect eliminating thick synchronous error.
Therefore, for linear frequency modulation continuous wave, the processing method in digital signal processor includes：By digital medium-frequency signal
Make fast Fourier transform（FFT）Obtain the frequency spectrum of intermediate-freuqncy signal, then therefrom find prominent Frequency point, corresponding
（5）、（6）In,, and according to formula（7）、（8）Calculate the pseudorange between label and base station.Then willWork difference obtains label and the actual distance of two base stations is poor, thus can determine a hyperbola.In position fixing process
In, due at least three not conllinear base stations, label and the pseudorange of three base stations can be obtained, they be made two-by-two difference and obtain
Range difference, recycles hyperbolic positioning principle to resolve the positional information of outgoing label and export.
When using stepped FMCW signal, bidding is signed and issued the signal penetrated and is
(10)
In formulaNFor step frequency number,For the single-frequency point persistent period,For the initial frequency of carrier frequency stepping,For carrier frequency
Number of frequency steps,,, emission signal frequency change such as Fig. 5
Shown.
Apart from label it isBase station received signal be
(11)
Wherein.
Local oscillation signal in base station is
(12)
WhereinFor synchronous error.
Signal after the mixing of receipt signal and local oscillator is
(13)
=R/c, c are the light velocity, to static（Or slowly move）Label for, the distance between it is with base station, and R is considered as often
Number, and synchronous errorGenerally fixed value, therefore for static targetFor constant, in formula（13）In, first
Exponential term is constant term, and second exponential term can regard the frequency-region signal of frequency linearity change as.Sub- arteries and veins to receipt signal
Rush sequence to be sampled, can obtain：
(14)
IFFT process is carried out to it, you can the range information of the target obtaining.
(15)
In formula, k is the integer between 0 ~ N-1, is the frequency after discrete Fourier transform (DFT),Amplitude for corresponding frequency
Value, by（15）Understand, whenWhen, the mould of above formula obtains maximum.Therefore, by searchMaximum
The corresponding frequency of point can obtain k value, and then can resolve outgoing label and the distance between base station information：
(16)
It is respectively by the distance that above stepped FMCW range measurement principle can obtain label to two base stations
(17)
(18)
Represent the maximum amplitude institute carrying out after two base station received signals are sampled after IFFT process respectively
Corresponding frequency, whereinFor the measured distance of label and two base stations,For label and two base stations
Actual distance.WillDiffer from, the range difference obtaining label with two base stations is
(19)
With using linear FM signal as transmission signal in the same manner, in real work, exist slightly due in label and base station
Synchronous error, the distance surveyed not is the distance of real label and base station, and of the present invention by a label with
The distance of two base stations is made difference and recycles the technology of location from range-difference measurements can overcome the impact to positioning precision for the thick synchronous error.
Therefore, the processing method in digital signal processor includes：Digital medium-frequency signal is done inverse Fourier transform
（IFFT）, obtain one-dimensional range profile, then therefrom choose corresponding frequency at image peak value, then pass through formula（17）Obtain label with
Pseudorange between one base station, pass through formula in the same manner（18）Obtain the pseudorange of label and another base station, then willWork difference obtains label and the actual distance of two base stations is poor, thus can determine a hyperbola.In position fixing process
In, due at least three not conllinear base stations, label and the pseudorange of three base stations can be obtained, they be made two-by-two difference and obtain
Range difference, recycles hyperbolic positioning principle to resolve the positional information of outgoing label and export.
Two specific embodiments given below.
Specific embodiment one
Transmitted waveform adopts symmetric triangular linear frequency modulation continuous wave（STLFMCW）.Positioner includes label, base station, control
Synchronization control module in device processed, wherein controller adopts and directly produces local oscillation signal by isometric transmission line to each base station
Mode carrying out base station synchronization.Label adopts ZigBee module with the communication module in base station, the Continuous Wave with frequency modulation in label
Generator adopts single-chip microcomputer（MCU）Directly produce frequency control word to control DDS to produce the working method of linear FM signal.With
As a example label 1 and base station 1, the structure of label and base station is as shown in fig. 7, label includes label antenna, label amplifier, up-conversion
Device, DDS（Direct Digital Synthesizer, Direct Digital Synthesizer）, MCU, ZigBee module；Base station
Including antenna for base station, base station, frequency mixer, filter amplifier, ADC, ZigBee module；Controller architecture includes synchronization
Control module and signal processing module.ZigBee module in above base station is base station communication module, the ZigBee mould in label
Block be label communication module, ZigBee is the low-power consumption LAN protocol based on IEEE802.15.4 standard, be a kind of short distance,
The wireless communication technology of low-power consumption, is known to the skilled person.
It is assumed that positioning region is length of side is 25 meters of square room, in the present embodiment, 3 base stations are set, position is divided
Cloth such as base station 1, base station 2, base station 3 in Fig. 6, with room Liang Tiao side as X, Y-axis set up rectangular coordinate system.It is assumed that depositing in positioning region
In two labels, i.e. label 1 and label 2, position exists respectively（5.5,15.6）、（16.5,7.2）, as shown in Figure 6.
In this implementation, the synchronization control module in controller sends the tag addresses of label 1 first to base station 1
Code, is forwarded from the ZigBee module in base station to positioning region, and the ZigBee module in label 1 receives in rear abstract factory 1
MCU starts working.MCU and DDS（Direct synthesizer）Constitute Continuous Wave with frequency modulation generator, MCU produces frequency control word
It is input to DDS, linear frequency modulated waveform needed for DDS synthesis, then through upconverter, signal frequency is modulated in required frequency, warp
Cross input antenna after amplifier amplifies and be converted into electromagenetic wave radiation in space；
The address code setting label as 24, when the ZigBee module in base station forwards this address code, the length of Frame
For 64, data transmission rate is 250kbps, and the time that data transfer is consumed is about 2.2 milliseconds, adds the response of data transfer
Frame（ACK）Transmission time and protocol stack process time within a processor, from base station, forwarding address code responds to label,
Time-consuming about 4 milliseconds altogether；
Synchronization control module in controller also needs to produce local oscillation signal, and the transmission line through equal length for point three tunnels inputs
Base station 1, base station 2, base station 3, as the local oscillation signal of respective base station frequency mixer.Due to time-consuming about 4 millis of ZigBee module communication
Second, in order that the local oscillation signal in base station is as synchronous as possible with the transmission signal of label, so synchronization control module should be to base
Stand 1 transmission label 1 address code while postpone 4 milliseconds produce local oscillation signals and to each base station transmission；
The antenna of three base stations all receives the LFMCW signal of label 1 transmitting, input mixer after amplifier amplifies
With local oscillation signal mixing, export intermediate-freuqncy signal, amplifier is converted in numeral by analog-digital converter ADC after processing after filtering
Frequency signal, is transmitted separately to controller.
Controller receives the output signal of each base station, calculates the pseudorange of three base stations and label 1 respectively, then makees two-by-two
Difference, obtain label 1 arrive the range difference of base station 1 and label 1 to base station 2, label 1 to base station 1 and label 1 to the range difference of base station 3,
Label 1 arrives base station 2 and label 1 arrives the range difference of base station 3, and during making difference, thick synchronous error is eliminated, and obtains real distance
Difference, then the exact position obtaining label 1 by hyperbolic positioning principle.
After completing label 1 positioning, the synchronization control module in controller sends the address code of label 2 again to base station 1,
Forwarded from the ZigBee module in base station to positioning region, the ZigBee module in label 2 is opened after receiving the address code of this label
Beginning work, the workflow of concrete positioning is identical with the positioning workflow of above-mentioned label 1, positioner complete a secondary label 1,
The sequential of the complete positioning of label 2 is as shown in Figure 8；In Fig. 8, abscissa is time shafts, longitudinally represents in indoor locating system each
The respective behavior of base station, controller and label.
If the modulation period of transmission signalT r =1ms, centre carrier frequencyf 0 =10.525GHz, modulating bandwidthB=1.2GHz,
If signal sampling ratef s =1MHz, FFT points are increased as N=2 by zero padding16, signal to noise ratio 10dB is it is considered to multi-path influence.According to
The workflow of the present invention, Fig. 9 is shown in by schematic diagram.Positioning result is as follows：
It is -8.4496 that label 1 arrives the range difference arriving base station 2 with label 1 in base station 1（Rice）
It is 5.6248 that label 1 arrives the range difference arriving base station 3 with label 1 in base station 1（Rice）
The coordinate of label 1 is（5.4877,15.5847）, position error is 0.0196（Rice）；
It is 6.9485 that label 2 arrives the range difference arriving base station 2 with label 1 in base station 1（Rice）
It is -6.1760 that label 2 arrives the range difference arriving base station 3 with label 1 in base station 1（Rice）
The coordinate of label 2 is（16.5613,7.2691）, position error is 0.0924（Rice）
Specific embodiment 2
The present embodiment is another kind of way of realization of the present invention, and the present embodiment difference from Example 1 is：Frequency modulation is even
Continuous ripple signal adopts stepping frequency-modulated form, by the way of the synchronous transmission synchronizing signal using controller between base station and base station, therefore
Base station is different with the structure of the Continuous Wave with frequency modulation signal generator in label.The structure of controller, label and base station such as Figure 11 institute
Show.Label construction is identical with the label in specific embodiment 1；Base station include antenna, amplifier, frequency mixer, filter amplifier,
ADC, upconverter, DDS, MCU, ZigBee module；Controller architecture includes synchronization control module and signal processing module.Simultaneously
It is assumed that positioning region is identical with the positioning region in embodiment 1,3 arrangement of base stations are also identical.Label is set in this embodiment
Number is 1, i.e. label 1, and position is（10.5,9.8）, arrangement of base stations and label position as shown in Figure 10.
In the present embodiment, controller sends the address code of label 1 first, from the ZigBee module in base station to positioning area
Domain forwards, and after the ZigBee in label receives address signal, MCU in abstract factory starts working.MCU 5 directly produces frequency
Rate control word is input to DDS, stepping fm waveform needed for DDS synthesis, then through upconverter, signal frequency is modulated required frequency
In rate, after amplifier amplifies, input antenna is converted into electromagenetic wave radiation in space；Wherein, ZigBee module communication is time-consuming
With embodiment one, it is 4 milliseconds.
Controller postpones one synchronization pulse of 4 milliseconds of generations, this synchronization pulse after sending the address code of label 1
The transmission line through equal length for three tunnels is divided to input base station 1, base station 2, base station 3.Phase is done after receiving synchronization pulse in each base station
With process：MCU in base station carries out a clock after receiving the synchronization pulse of controller synchronous, and by lock-out pulse
Signal produces the starting point of frequency control word as MCU, and the frequency control word that MCU produces is input to DDS, the stepping that DDS produces
Frequency waveform is input to frequency mixer as the local oscillation signal of frequency mixer after upconverter；The antenna of base station receives label transmitting
SFCW signal, after base station amplifies, input mixer and local oscillation signal are mixed, and export intermediate-freuqncy signal, put after filtering
Big device is converted into digital medium-frequency signal by ADC after processing, and digital medium-frequency signal transmits to controller.
Digital signal processing method in the present embodiment is different from embodiment 1, and corresponding distance measurement method is adjusted for stepping
Frequency continuous wave telemetry, description Summary is discussed in detail, and is not repeated herein.Transmit to the intermediate frequency letter of controller
After digital signal processor processes, number obtain the pseudorange of 1 to 3 base stations of label, then poor two-by-two, obtain label 1 to base station
1 arrives the range difference of base station 2, label 1 to base station 1 and the range difference of label 1 to base station 3, label 1 with label 1 arrives base station 2 and label
1 range difference arriving base station 3, during making difference, thick synchronous error is eliminated, and obtains real range difference, then is positioned by hyperbolic
Principle obtains the exact position of label 1.Positioner completes the sequential of the complete positioning of a secondary label 1 as shown in figure 12, Figure 12
Middle abscissa is time shafts, longitudinally represents the respective behavior of each base station, controller and label in indoor locating system.
The present embodiment arranges the modulation period of transmission signalT r =1ms, stepping frequency modulation points N is 500, centre carrier frequencyf 0
=10.525GHz, modulating bandwidthB=1GHz, signal to noise ratio 10dB, IFFT point number is increased as N=2 by zero padding20It is considered to multipath effect
Impact.According to the workflow of the present invention, positioning result is as follows, and Figure 13 is shown in by schematic diagram：
It is -3.1747 that label 1 arrives the range difference arriving base station 2 with label 1 in base station 1（Rice）
It is -4.1506 that label 1 arrives the range difference arriving base station 3 with label 1 in base station 1（Rice）
The coordinate of label 1 is（10.4786,9.7762）, position error is 0.0321（Rice）.
Disclosed in this invention the method for embodiment description or the step of algorithm can directly use hardware, computing device
Software module, or the combination of the two is implementing.Software module can be placed in random access memory（RAM）, internal memory, read-only storage
Device（ROM）, electrically programmable ROM, electrically erasable ROM, depositor, hard disk, moveable magnetic disc, CD-ROM or technology neck
In known any other form of storage medium in domain.
Previously described each preferred embodiment for the present invention, if the preferred implementation in each preferred embodiment
It is not substantially contradictory or premised on a certain preferred implementation, each preferred implementation can any stack combinations
Use, the design parameter in described embodiment and embodiment merely to clearly state inventor invention proof procedure, and
It is not used to limit the scope of patent protection of the present invention, the scope of patent protection of the present invention is still defined by its claims, all
It is to change with the equivalent structure that description and the accompanying drawing content of the present invention are made, should be included in the protection model of the present invention in the same manner
In enclosing.
Claims (7)
1. indoor locating system is it is characterised in that by controller, at least three not base stations on the same line and some undetermined
Position label composition, described controller is made up of synchronization control module and signal processing module, and described base station can be with label and control
Device processed is communicated, and described label can launch Continuous Wave with frequency modulation, institute to the interior space after receiving the signal of Base Transmitter
The synchronous transmission of signal time delay stated between controller and each base station is equal；
Described base station is by base station communication module, antenna for base station, base station, frequency mixer, filter amplifier, AD converter group
Become, signal flow direction is followed successively by antenna for base station-base station-frequency mixer-filter amplifier-AD converter-base station communication module；
Described base station also includes the local oscillator being connected with frequency mixer；
Described local oscillator is made up of MCU, Direct Digital Frequency Synthesizers and upconverter, the input end of clock of described MCU and synchronization
The output terminal of clock of control module connects, and the synchronous signal input end of MCU is connected with the synchronous signal output end of synchronization control module
Connect, MCU is connected with the frequency control input of Direct Digital Frequency Synthesizers, the outfan of Direct Digital Frequency Synthesizers with upper
Converter connects, and the outfan of upconverter is connected with the local oscillator input of frequency mixer.
2. indoor locating system as claimed in claim 1 is it is characterised in that described label is connected by label communication module, frequency modulation
Continuous wave producer, label amplifier and label antenna composition, signal flow to for label communication module-Continuous Wave with frequency modulation generator-
Label amplifier-label antenna.
3. indoor locating system as claimed in claim 1 it is characterised in that between described controller and each base station pass through have
Line mode transmission signal, and the synchronous transmission of signal line transmission delay of controller to each base station is equal.
4. indoor orientation method is it is characterised in that based on the indoor locating system as described in claims 1 to 3 any one, wrap
Include several separate label positioning steps, described separate label positioning step comprises the steps：
SS1. controller sends label coding to each base station, and base station is forwarded to respective labels after receiving label coding；Controller
While transmitting label coding, synchronous signal transmission is to each base station；
SS2. after label receives the label coding of base station forwarding, launch framing signal, each base station receives framing signal, using mixed
Input signal is converted into digital medium-frequency signal by frequency technology, and transmits to controller；Described framing signal is Continuous Wave with frequency modulation；
Controller transmitting synchronizing signal be used for during being converted into digital medium-frequency signal, local oscillation signal is synchronized or
Directly as local oscillation signal；
SS3. controller is handled as follows to the digital medium-frequency signal of each base station receiving：
SS31 calculates the pseudorange between each base station and label to be positioned according to digital medium-frequency signal,
Pseudorange between SS32 label to be positioned and each base station makees difference two-by-two, and to obtain the distance between label and each base station poor；
According to hyperbolic positioning principle, solving equation simultaneously obtains the position of label to be positioned to SS33 according to the sign ambiguity solution of range difference
Put.
5. indoor orientation method as claimed in claim 4 is it is characterised in that controller determines all labels in positioning region,
Totalize N each label is numbered from 1 to N, from the beginning of first label, repeats described separate label positioning step, directly
Whole labels to traversal positioning region.
6. indoor orientation method as claimed in claim 4 is it is characterised in that the Continuous Wave with frequency modulation in described step SS2 is line
Property Continuous Wave with frequency modulation or stepped FMCW.
7. indoor orientation method as claimed in claim 4 it is characterised in that
When Continuous Wave with frequency modulation in described step SS2 is stepped FMCW, the calculating side to pseudorange in described step SS31
Method is：Digital medium-frequency signal is done inverse Fourier transform, obtains one-dimensional range profile, therefrom choose the numerical value at image peak value, profit
Obtain the pseudorange R ' between label and base station with k
In above formula, c is vacuum light speed, and △ f is the step-length of step frequency, and N is step frequency number, after k is discrete Fourier transform (DFT)
Frequency；
When Continuous Wave with frequency modulation in described step SS2 is linear frequency modulation continuous wave, the calculating side to pseudorange in described step SS31
Method is：Digital medium-frequency signal is obtained frequency spectrum as fast Fourier transform, from frequency spectrum, then finds the maximum Frequency point of amplitude
fb, using the pseudorange R ' obtaining between label and base station
In above formula, c is vacuum light speed, and △ f is the maximum frequency deviation of label tranmitting frequency, TmFor the frequency modulation cycle.
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