A navigation distance difference calculation method, tdoa positioning method and device

Abstract

The invention relates to a TDOA positioning technology, in particular to a navigation type distance difference calculation method and a TDOA positioning method and device. Each positioning base station sequentially broadcasts UWB signals to a terminal according to a positive sequence; and then, each positioning base station sequentially broadcasts the UWB signals to the terminal in a reverse sequence; the terminal receives the UWB signals which are sequentially broadcast by the positioning base stations in the positive sequence, and corresponding local receiving time tzs is recorded when the terminal receives the UWB signals; similarly, the terminal receives the UWB signals which are sequentially broadcast by the positioning base stations in the reverse sequence, and corresponding local receiving time tzf is recorded when the terminal receives the UWB signals; and the distance difference between the terminal and the corresponding two positioning base stations is calculated according tothe local receiving time of the UWB signals, which are broadcast by any two positioning base stations in the positive and reverse sequences and received by the terminal.

Description

technical field [0001] The invention relates to TDOA positioning technology, in particular to a navigation distance difference calculation method, a TDOA positioning method and a device. Background technique [0002] Current UWB-based TDOA positioning technology, such as figure 1 As shown, the terminal broadcasts a signal, each positioning base station receives it, and transmits the received timestamp information to a positioning engine composed of a server or a dedicated processor, and the positioning engine calculates the position of the terminal. Using this technology, location tracking applications such as personnel monitoring and material monitoring can already meet the needs. However, in applications such as robot navigation and locomotive navigation, the terminal needs to know its own location information. If this method is used, the terminal can only access the positioning engine through the wireless network to obtain its own location, which causes a considerable de...

AI Technical Summary

Problems solved by technology

However, during the implementation of this method, the positioning terminal needs to receive signals from different positioning base stations at different times. Since the positioning terminal and the positioning base station have frequency errors due to factors such as process and temperature, the positioning accuracy will be affected by the frequency error. Deterioration

In the existing navigation positioning technology, on the one hand, technicians usually assume that the frequency of the positioning terminal is exactly the same as that of the positioning base station, and often ignore the error caused by the frequency difference between the positioning terminal and the positioning base station, so the actual positioning effect is not good.

On the other hand, if the frequency error between the positioning terminal and the positioning base station is considered, assuming that the frequency ratio of the positioning base station and the terminal timer is k, when k is used for correction, it is necessary for the hardware or the system to be able to measure the terminal in some way The frequency ratio between the positioning base station and the positioning base station increases the complexity of the system

At the same time, there will be errors in the measured frequency ratio, and the errors will accumulate over time, affecting the positioning accuracy

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