Following positioning method based on UWB technology

Abstract

The invention discloses a following positioning method based on a UWB technology. Each UWB positioning base station is configured with an ID number and a following base station list. The UWB positioning label comprises a detection process and a positioning process. In the detection process, the label sends a detection message, the peripheral base stations perform delayed reply according to the IDnumbers of the peripheral base stations, the label calculates the distance between the base stations by using a unilateral bidirectional distance measurement method after receiving the reply, and a following base station list of the nearest base station is stored; in a positioning process, the label sends a starting message containing a following base station list; and after receiving the message,the peripheral base station performs delay and reply according to the position of the ID of the peripheral base station in the list, the label sends an end message after receiving the reply, the label finds the nearest base station according to a unilateral bidirectional distance measurement method and updates a following base station list, and the base station calculates the distance according to a bilateral bidirectional distance measurement method and uploads the distance. According to the following positioning method provided by the invention, the problem of message conflict in the replyprocess of the base station is solved, and the ranging stability is improved.

Description

Technical field: [0001] The invention relates to a UWB technology-based tracking positioning method. Background technique: [0002] UWB (UltraWideBand, ultra-wideband) transmits data by sending and receiving extremely narrow pulses with nanoseconds or less, so it has a bandwidth of GHz order. It has many advantages such as strong penetrating power, low power consumption, good anti-multipath effect, high security, low system complexity, and high ranging accuracy. [0003] At present, in the field of UWB positioning, whether it is the unilateral two-way ranging method (SS-TWR) or the bilateral two-way ranging method (SDS-TWR), it needs to go through the transmission of UWB positioning tags (hereinafter referred to as tags) and multiple UWB positioning base stations (hereinafter referred to as The process of replying is called UWB positioning base station). Since there are often multiple UWB positioning base stations within the coverage of the UWB signal, the above reply proc...

AI Technical Summary

Problems solved by technology

If the UWB positioning base stations are densely arranged, after the tag sends the ranging start message, more UWB positioning base stations receive the message, the result of the remainder calculation may be the same, and the two UWB positioning base stations will send a reply at the same time message, resulting in a message conflict;

[0006] (2) The number of UWB positioning base stations participating in ranging is uncontrollable

If there are too many UWB positioning base stations participating in the reply, it will cause redundancy of ranging information;

[0007] (3) Positioning stability is poor

There are often multiple UWB positioning base stations around the tag. Among them, the UWB positioning base stations that are closer to the tag or within the line-of-sight have higher ranging conditions, and the UWB positioning base stations with severe occlusion have poor ranging stability. If the above ranging results Mixed together for positioning calculation, the calculated coordinate value will have a large jump;

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