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UWB-based real-time ranging method, network structure and network node

A ranging method and network structure technology, applied in the field of communication, can solve problems such as low precision, susceptibility to environmental interference, short measurement time, etc., and achieve the effect of improving ranging accuracy, high robustness, and uniform update of distance data

Active Publication Date: 2022-04-01
SOUTH CHINA UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

The measurement time of this method is short and the speed is fast, but at the same time, there are defects such as low precision and susceptibility to environmental interference.

Method used

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  • UWB-based real-time ranging method, network structure and network node
  • UWB-based real-time ranging method, network structure and network node
  • UWB-based real-time ranging method, network structure and network node

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Effect test

Embodiment 1

[0050] A UWB-based real-time distance measurement method is suitable for mobile robots to communicate through UWB, and complete distance measurement during communication, so as to realize the integration of communication and positioning.

[0051] Assume that there are n mobile robots in the cluster system, that is, the cluster system is a UWB communication network composed of n nodes, and each node needs to obtain the distance to other nodes. The specific distance measurement and positioning method is as follows:

[0052] Such as figure 2 and image 3 As shown, two of the nodes are assumed to be the initiator and the responder respectively. The initiator and the responder need to complete the DS-TWR communication ranging and the mutual RSSI ranging, and the other nodes are listening nodes, and they are connected with the initiator The responder and the responder complete the RSSI ranging.

[0053] The DS-TWR communication ranging process between the initiator and the respon...

Embodiment 2

[0104] A cyclic pairing network structure. At present, a star-shaped network is considered. One node acts as the central node to communicate with other nodes in turn. This will cause the amount of information sent by the central node to be far greater than that of other nodes. The distance to the central node It can be updated in each ranging, and the update cycle of the distance to some other node is n-1 ranging time, this unbalanced phenomenon is unfavorable for the update of the RSSI estimated distance, it will The update frequency of other node distances is much lower than that of the central node. In order to avoid this situation, the present invention proposes a cyclic pairing network structure. Firstly, each node in the network is numbered, and then paired in pairs according to the numbering order from small to large, and then DS-TWR is performed in order according to the pairing results. ranging. This can ensure that each node participates in DS-TWR ranging, and the u...

Embodiment 3

[0107] Such as figure 1 As shown, a network node, each node is composed of a power supply module, a UWB transceiver module, an MCU circuit, a sensor circuit, an actuator circuit and a WIFI module. The power module is composed of a rechargeable battery, a charging circuit and a power supply circuit. It receives external power for charging and provides power of different voltages for each channel of the system; the MCU circuit is the main control circuit of the node. The MCU uses the STM32G431 chip, and the MCU communicates with the UWB through the SPI bus. The module is connected, and the sensor circuit through the I2C interface is connected to the actuator circuit through GPIO; the sensor circuit includes an electronic compass and an IMU circuit, and the MCU obtains the azimuth according to this, and then realizes the positioning of the mobile robot according to the distance data; the actuator circuit realizes the positioning of the mobile robot. Work such as mobile and collab...

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Abstract

The invention discloses a UWB-based real-time distance measurement method, a network structure and a network node, DS-TWR distance measurement is used as a basis for modeling of RSSI distance measurement and adaptive parameter learning, RSSI data in a DS-TWR distance measurement communication process is used for distance measurement of other nodes, the method can be suitable for a large-scale cluster network, a learning mechanism is supervised to obtain real-time parameter update values, and the real-time distance measurement accuracy is improved. The standard data set is obtained from the ranging process of the DS-TWR, the noise of the RSSI ranging process is also obtained, and the noise is used for weight calculation of weighted average of RSSI ranging; in the process of distance measurement between two DS-TWRs, an RSSI method is adopted for distance measurement to improve the distance measurement frequency, and rapid distance measurement and noise reduction are achieved.

Description

technical field [0001] The invention relates to the field of communication technology, in particular to a UWB-based real-time ranging method, network structure and network nodes. Background technique [0002] In a cluster system composed of mobile robots such as unmanned aerial vehicles or unmanned vehicles, each robot cooperates with each other to complete tasks that a single robot cannot complete. The basis for each robot's mutual cooperation is real-time communication, ranging and positioning. Ultra-Wide Band (UWB) technology can realize the integration of communication and positioning. UWB technology realizes communication by transmitting narrow pulse signals. The time width of UWB pulses is nanoseconds. , TOF) to achieve centimeter-level positioning accuracy. [0003] Double side two-way ranging (Double side two-way ranging, DS-TWR) is a TOF-based ranging method, suitable for ranging in the UWB communication process. DS-TWR can calculate the flight time of the electro...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S11/06H04W64/00H04B17/318
Inventor 李向阳许斯涵
Owner SOUTH CHINA UNIV OF TECH
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