UWB signal indoor and outdoor switching blind area system and method thereof

Abstract

The invention discloses a UWB signal indoor and outdoor switching blind area system and method, and the method comprises the steps: adding a UWB signal base station at a doorway position between an indoor base station and an outdoor base station, connecting original non-connected detection ranges, adding a small detection region between two original large detection regions, and carrying out the re-division of the detection regions, thereby achieving the indoor and outdoor switching blind area of the UWB signal, and achieving the indoor and outdoor switching blind area of the UWB signal. And full coverage of detection signals is realized. The system is composed of a UWB vehicle-mounted terminal and a UWB ground field end, the UWB ground field end system provides a high-precision positioning service network, and the UWB vehicle-mounted terminal device provides a positioning calculation position result. According to the method, UWB positioning base stations are additionally arranged in an area with poor GNSS positioning quality and a UWB signal coverage blind area, original detection ranges which are not connected are connected, a small detection area is additionally arranged in two original large detection areas, and full coverage of detection signals is achieved by re-dividing the detection areas. And a continuous and reliable positioning signal is provided for automatic driving of the vehicle.

Description

Technical Field

[0001] The present invention relates to the field of UWB signal application, and more specifically to a system and method for blind area switching of UWB signals indoors and outdoors. Background Art

[0002] UWB technology is a wireless carrier communication technology. It does not use a sinusoidal carrier, but uses nanosecond non-sinusoidal narrow pulses to transmit data. Therefore, it occupies a wide spectrum range. With UWB technology, it is easy to combine positioning and communication, which is difficult for conventional radio to do. UWB can accurately locate indoors and underground, while satellites can only work within the visible range of the positioning satellite.

[0003] When a vehicle drives from indoors to outdoors, it takes some time for the satellite signal to recover. At this time, the vehicle has no reliable positioning information. Therefore, it is necessary to deploy a certain UWB signal area outdoors to provide the vehicle with reliable location information when the satellite signal is not restored.

[0004] The existing method is to use an inertial navigation device to calculate the position change of the signal blind spot through the vehicle speed. The UWB positioning result is corrected by adding an IMU (Inertial Measurement Unit) to the device to be positioned to obtain its motion state information. When using IMU information to correct the UWB positioning result, the UWB positioning system and the IMU system are regarded as two independent systems, and their respective positioning is completed without interfering with each other. The UWB positioning system will calculate the position information of the device to be positioned according to each TDOA value; in addition, the IMU system can realize the positioning of the device to be positioned according to the initial position of the device to be positioned, and the speed and acceleration components of the device to be positioned obtained during the entire positioning process. The positioning results output by the two are fused to obtain the position information. However, when the UWB positioning system cannot calculate the position information of the device to be positioned because it cannot obtain a sufficient number of TDOA values, it will result in the positioning result of only using the IMU system, and the speed and acceleration components obtained by the IMU may have errors, and this error will continue to accumulate during the entire positioning process, seriously affecting the positioning accuracy.

[0005] Due to the obstruction of walls indoors and outdoors and the occupation of the WUB base station installation location, there are certain blind spots in the WUB signal at indoor and outdoor door locations, which will also affect the positioning accuracy. Summary of the invention

[0006] The purpose of the present invention is to solve the problem of indoor and outdoor blind spots of UWB signals by redividing the detection and solution area, realize full coverage of detection signals, and provide reliable positioning information for vehicles and personnel.

[0007] The technical solution of the present invention is as follows:

[0008] A system and method for blind area switching of UWB signals indoors and outdoors, comprising:

[0009] The method is: add a UWB signal base station at the door between the indoor base station and the outdoor base station, connect the original unconnected detection ranges, add a small detection area to the original two larger detection areas, and achieve full coverage of the detection signal by redividing the detection area.

[0010] The system consists of two parts: UWB vehicle-mounted terminal and UWB ground field terminal. The UWB ground field terminal system provides a high-precision positioning service network, and the UWB vehicle-mounted terminal equipment provides positioning solution results.

[0011] The UWB vehicle terminal receives and processes the signal from the UWB base station to obtain the vehicle's position coordinates, and then converts the vehicle's position coordinates into the longitude and latitude position coordinates of the vehicle in the map according to the longitude and latitude of the coordinates of the UWB solution area in the map, and then transmits the longitude and latitude position coordinates of the vehicle to the vehicle control system. The continuous coordinate positions form the trajectory of the vehicle's movement.

[0012] The UWB vehicle terminal adopts the TDOA solution of field-side synchronization and terminal solution; centimeter-level positioning accuracy, low latency, and unlimited terminal capacity; supports UTC time + 1PPS output to achieve high-precision timing in GNSS blind areas; supports RTK blind spot filling and enhancement; supports CANFD data interface; broadcasts TDoA positioning messages with CEP95<15cm performance in scenes where GNSS / RTK cannot cover or cannot work reliably. The WGS84 coordinate system or the local reference rectangular coordinate system that is the same as GNSS can be selected and can be switched flexibly. The linearly polarized omnidirectional antenna supports 9~36V wide voltage operation, and the typical operating voltage is 12V; dynamic positioning delay <5ms, positioning data timestamp accuracy <1us, timing accuracy <1u, supports PPS output, refresh rate>20Hz, and startup time <0.2s. Operating frequency 6-9GHz, channel bandwidth 3GHz, port impedance 50ohm, gain (passive) 3dBi, linearly polarized omnidirectional antenna, VSWR≤2@6-9GHz.

[0013] The UWB ground terminal is composed of a UWB signal base station, network equipment, industrial computer and monitoring software; the UWB signal base station sends its own status information to the server by wired or wireless means, and receives configuration from the server; sends and receives UWB positioning signals to form a UWB positioning terminal network; receives satellite timing signals to complete the UTC time synchronization of the UWB terminal network; the clock of the positioning / timing base station network is completely synchronized with the GNSS clock to achieve continuous timing coverage; the WGS84 coordinate system or the local reference rectangular coordinate system that is the same as GNSS can be selected and can be switched flexibly; the IEEE802.15.4z UWB standard is adopted; there is no upper limit on the number of positioning terminals, which is similar to the working principle of GNSS receivers; the UWB wireless synchronization link is adopted between positioning base stations, which not only realizes the chain transmission of synchronous clocks, but also realizes the real-time synchronization performance monitoring between base stations. The terminal base station adopts wireless synchronization to achieve high-precision synchronization. In the minimum configuration mode, it can be deployed with only power supply, and the installation is fast and convenient. The operation and maintenance interface of the base station can be connected to the local operation and maintenance server or cloud operation and maintenance system via POE / WIFI / 4G according to the on-site installation conditions.

[0014] The local operation and maintenance server or cloud operation and maintenance system supports multiple functions such as health monitoring of field base stations, coverage signal quality analysis, abnormal intrusion monitoring, etc., which can effectively ensure the operation and maintenance of large-scale deployed networks.

[0015] The power supply and data transmission of indoor base stations and outdoor wall-mounted base stations adopt POE; the power supply of outdoor pole-mounted base stations adopts POE, and data transmission adopts wireless method.

[0016] Ground monitoring can realize positioning management, terminal management, base station management, algorithm configuration, and operation record functions. The monitoring software can be accessed through the local area network or the Internet of Things. Local area network access, access the industrial computer software through the browser WEB in the same local area network. Internet access, access the Internet, and access the industrial computer monitoring software through remote desktop. You can also access the Internet by installing a SIM card on a 4G router for remote monitoring.

[0017] The UWB positioning base stations include two, and the distance between base stations adjacent to the UWB positioning base station can be increased.

[0018] By debugging the software, the UWB positioning base station and the base stations in the indoor and outdoor base station coverage areas are set to form a new coherent solution group. The process is: start measuring the detection area, find the UWB signal blind area, increase the number of UWB positioning base stations according to the on-site conditions, increase the base stations and measure the location coordinates of the base stations, decompose the large signal blind area into small detection areas, and connect the originally discontinuous detection areas into a continuous detection range through software settings.

[0019] Technical effects and advantages of the present invention:

[0020] By adding UWB positioning base stations in areas with poor GNSS positioning quality and UWB signal coverage blind areas, the original disconnected detection ranges are connected, and a small detection area is added to the original two larger detection areas. By redividing the detection area, full coverage of detection signals is achieved, providing continuous and reliable positioning signals for vehicle autonomous driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a schematic diagram of the vehicle-side system;

[0022] Figure 2 This is a schematic diagram of the ground system;

[0023] Figure 3 It is a schematic diagram of ground base station layout;

[0024] Figure 4 This is a schematic diagram of the base station signal blind area;

[0025] Figure 5 This is a schematic diagram of improved base station signal coverage;

[0026] Figure 6 To find signal blind spots, add a flow chart of base stations. DETAILED DESCRIPTION

[0027] The technical solutions in the embodiments of the present invention are described clearly and completely below. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0028] The solution to the UWB signal busy areas indoors and outdoors is to add a UWB signal base station at the door, connect the original unconnected detection ranges, add a small detection area to the original two larger detection areas, and achieve full coverage of the detection signal by redividing the detection area.

[0029] UWB (Ultra Wideband) is a carrier-free communication technology that uses non-sinusoidal narrow pulses from nanoseconds to picoseconds to transmit data. UWB has many advantages, such as narrow pulse width, strong anti-interference performance, high transmission rate, extremely wide bandwidth, low power consumption, and low transmission power. The positioning system using UWB signals as positioning signals can make up for areas that cannot be covered by satellites in the sky.

[0030] By setting up UWB positioning base stations in areas with poor GNSS positioning quality, a positioning terminal that exchanges positioning signals with the UWB positioning base stations is added to the device to be positioned.

[0031] The system consists of two parts: UWB vehicle-mounted terminal and UWB ground field terminal. The UWB ground field terminal system provides a high-precision positioning service network, and the UWB vehicle-mounted terminal equipment provides positioning solution results.

[0032] like Figure 1 The UWB vehicle terminal shown

[0033] The UWB vehicle terminal receives and processes the signal from the UWB base station to obtain the vehicle's position coordinates, and then converts the vehicle's position coordinates into the longitude and latitude coordinates of the vehicle in the map according to the longitude and latitude of the coordinates of the UWB solution area in the map, and then transmits the longitude and latitude coordinates of the vehicle to the vehicle control system. The continuous coordinate positions form the trajectory of the vehicle's movement.

[0034] Adopts the TDOA solution with field-side synchronization and terminal solution; centimeter-level positioning accuracy, low latency, and unlimited terminal capacity; supports UTC time + 1PPS output to achieve high-precision timing in GNSS blind areas; supports RTK blind spot filling and enhancement; supports CANFD data interface; broadcasts TDoA positioning messages with CEP95<15cm performance in scenarios where GNSS / RTK cannot cover or cannot work reliably. You can choose the same WGS84 coordinate system as GNSS or the local reference rectangular coordinate system, and can switch flexibly. The linearly polarized omnidirectional antenna supports 9~36V wide voltage operation, and the typical operating voltage is 12V. Dynamic positioning delay <5ms, positioning data timestamp accuracy <1us, timing accuracy <1u, supports PPS output, refresh rate >20Hz, and startup time <0.2s. Operating frequency 6-9GHz, channel bandwidth 3GHz,

[0035] Port impedance 50ohm, gain (passive) 3dBi, linearly polarized omnidirectional antenna, VSWR≤2@6-9GHz.

[0036] like Figure 2 Ground system shown

[0037] The ground system consists of UWB signal base stations, network equipment, industrial computers and monitoring software.

[0038] The UWB signal base station sends its own status information to the server through wired and wireless means, and receives configuration from the server; sends and receives UWB positioning signals to form a UWB positioning field network; receives satellite timing signals to complete the UTC time synchronization of the UWB field network. The clock of the positioning / timing base station network is fully synchronized with the GNSS clock to achieve continuous timing coverage; the WGS84 coordinate system or the local reference rectangular coordinate system, which is the same as GNSS, can be selected and switched flexibly; the IEEE802.15.4z UWB standard is adopted; there is no upper limit on the number of positioning terminals, which is similar to the working principle of GNSS receivers; the UWB wireless synchronization link is used between positioning base stations to realize the chain transmission of synchronous clocks and the real-time synchronization performance monitoring between base stations. The field base station adopts wireless synchronization to achieve high-precision synchronization. In the minimum configuration mode, it can be deployed with only power supply, and the installation is fast and convenient. The operation and maintenance interface of the base station can be connected to the local operation and maintenance server or the cloud operation and maintenance system by POE / WIFI / 4G according to the installation conditions on site.

[0039] The positioning network operation and maintenance system can be deployed in the cloud or locally, supporting multiple functions such as health monitoring of field base stations, coverage signal quality analysis, abnormal intrusion monitoring, etc., which can effectively ensure the operation and maintenance of large-scale deployed networks.

[0040] The power supply and data transmission of indoor base stations and outdoor wall-mounted base stations adopt POE. The power supply of outdoor pole-mounted base stations adopts POE, and data transmission adopts wireless mode.

[0041] Ground monitoring can realize positioning management, terminal management, base station management, algorithm configuration, and operation record functions. The monitoring software can be accessed through the local area network or the Internet of Things. Local area network access, access the industrial computer software through the browser WEB in the same local area network. Internet access, access the Internet, and access the industrial computer monitoring software through remote desktop. You can also access the Internet by installing a SIM card on a 4G router for remote monitoring.

[0042] like Figure 3 Schematic diagram of ground base station layout shown

[0043] In the figure: wall 1, indoor base station 2, door opening 3, outdoor base station 4, vehicle 5,

[0044] The indoor base stations 2 (A1, A2, A3, A4) are installed on the upper part of the indoor wall 1, and the installation position is higher than the top of the vehicle. The outdoor base stations 4 (B1, B2, B3, B4) are installed on the upper part of the outdoor wall 1 and the upper part of the outdoor pole, and the installation position is higher than the top of the vehicle.

[0045] The UWB vehicle terminal is installed on the center line of the top of the vehicle.

[0046] like Figure 4 Schematic diagram of base station signal blind area shown

[0047] Indoor base stations 2 (A1, A2, A3, A4) form detection area A, outdoor base stations 4 (B1, B2, B3, B4) form detection area B, and the door opening positions of base stations A2, A4 and base stations B1, B3 form a signal blind area C. When vehicle 5 passes through area C from A to B or from B to A, there is no reliable positioning data.

[0048] To ensure that the C area has signal coverage when the vehicle passes through the doorway, the solution is to add UWB positioning base stations X1 and X2 at the top of the doorway. Move the positioning base stations a2 and a4 in the A area to the direction of A1 and A3, and the moving distance is such that A2 and X1, A4 and X2 can be visually visible. Move the positioning base stations b1 and b3 in the B area to the direction of B2 and B4, and the moving distance is such that B1 and X1, B3 and X2 can be visually visible.

[0049] At this time, the four base stations A2 and X1, A4 and X2 form a new signal coverage area E, and the four base stations B1 and X, B3 and X22 form a new signal coverage area D. The new signal coverage area D\E eliminates the signal coverage blind area C at the original door opening position.

[0050] The new signal coverage areas D and E are connected to the original signal coverage areas A and B to form complete signal coverage on the vehicle route. Figure 5 shown.

[0051] Through debugging software, 10 base stations in four areas of AEDB are set to form a new coherent solution group.

[0052] like Figure 6 As shown, the process is: start measuring the detection area, find the UWB signal blind area, increase the number of UWB positioning base stations according to the on-site conditions, add base stations and measure the location coordinates of the base stations, decompose the large signal blind area into small detection areas, and connect the original discontinuous detection areas into a continuous detection range through software settings.

[0053] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. System and method for blind area switching of UWB signal indoor and outdoor, its characteristics Due to, including, The method is: add a UWB signal base station at the door between the indoor base station and the outdoor base station, connect the original disconnected detection ranges, add a small detection area to the original two larger detection areas, and achieve full coverage of detection signals by redividing the detection area; The system consists of two parts: UWB vehicle-mounted terminal and UWB ground field terminal. The UWB ground field terminal system provides a high-precision positioning service network, and the UWB vehicle-mounted terminal equipment provides positioning solution results.

2. The system and method for indoor and outdoor switching blind areas of UWB signals according to claim 1, characterized in that: The UWB vehicle-mounted terminal receives and processes the signal from the UWB base station to obtain the vehicle's position coordinates, and then converts the vehicle's position coordinates into the vehicle's longitude and latitude position coordinates in the map based on the longitude and latitude of the coordinates of the UWB solution area in the map, and then transmits the vehicle's longitude and latitude position coordinates to the vehicle control system; the continuous coordinate positions form a trajectory of the vehicle's movement.

3. The system and method for blind area switching of UWB signals indoors and outdoors according to claim 1, characterized in that: The UWB vehicle-mounted terminal adopts the TDOA solution of field-side synchronization and terminal solution; centimeter-level positioning accuracy, low latency, and unlimited terminal capacity; supports UTC time + 1PPS output, and achieves high-precision timing in GNSS blind areas; supports RTK blind spot filling and enhancement; supports CANFD data interface; Broadcast TDoA positioning messages with CEP95<15cm performance in scenarios where GNSS / RTK cannot cover or cannot work reliably; can select the same WGS84 coordinate system as GNSS or the local reference rectangular coordinate system, and can switch flexibly; linearly polarized omnidirectional antenna supports 9~36V wide voltage operation, typical operating voltage 12V; dynamic positioning delay <5ms, positioning data timestamp accuracy <1us, timing accuracy <1u, support PPS output, refresh rate >20Hz, start-up time <0.2s; operating frequency 6-9GHz, channel bandwidth 3GHz, port impedance 50ohm, gain (passive) 3dBi, linearly polarized omnidirectional antenna, VSWR≤2@6-9GHz.

4. The system and method for blind area switching of UWB signals indoors and outdoors according to claim 1, characterized in that: The UWB ground terminal is composed of a UWB signal base station, network equipment, an industrial computer and monitoring software; the UWB signal base station sends its own status information to the server by wired or wireless means, and receives configuration from the server; sends and receives UWB positioning signals to form a UWB positioning terminal network; receives satellite timing signals to complete the UTC time synchronization of the UWB terminal network; the clock of the positioning / timing base station network is fully synchronized with the GNSS clock to achieve continuous timing coverage; the WGS84 coordinate system or the local reference rectangular coordinate system that is the same as the GNSS can be selected and can be flexibly switched; the IEEE802.15.4z UWB standard is adopted; there is no upper limit on the number of positioning terminals; the UWB wireless synchronization link is adopted between the positioning base stations, which not only realizes the chain transmission of the synchronous clock, but also realizes the real-time synchronization performance monitoring between the base stations; the terminal base station adopts wireless synchronization to achieve high-precision synchronization, and only needs power supply to be deployed in the minimum configuration mode, and the installation is fast and convenient; the operation and maintenance interface of the base station can be connected to the local operation and maintenance server or the cloud operation and maintenance system by POE / WIFI / 4G according to the installation conditions on site.

5. The system and method for blind area switching of UWB signals indoors and outdoors according to claim 4, characterized in that: The local operation and maintenance server or cloud operation and maintenance system supports multiple functions such as health monitoring of field base stations, coverage signal quality analysis, abnormal intrusion monitoring, etc., which can effectively ensure the operation and maintenance of large-scale deployed networks.

6. The system and method for blind area switching of UWB signals indoors and outdoors according to claim 1, characterized in that: The power supply and data transmission of indoor base stations and outdoor wall-mounted base stations adopt POE; the power supply of outdoor pole-mounted base stations adopts POE, and data transmission adopts wireless method.

7. The system and method for blind area switching of UWB signals indoors and outdoors according to claim 1, characterized in that: It also includes ground monitoring and monitoring software. Ground monitoring can realize positioning management, terminal management, base station management, algorithm configuration, and operation record functions; the monitoring software can be accessed through the local area network or the Internet of Things; LAN access: access the industrial computer software through the browser WEB in the same LAN; Internet access: connect to the Internet and access the industrial computer monitoring software through remote desktop; you can also connect to the Internet by installing a SIM card through a 4G router for remote monitoring.

8. The system and method for indoor and outdoor blind area switching of UWB signals according to claim 1, characterized in that: The UWB positioning base stations include two, and the distance between base stations adjacent to the UWB positioning base station can be increased.

9. The system and method for indoor and outdoor blind area switching of UWB signals according to claim 1, characterized in that: By debugging the software, the UWB positioning base station and the base stations in the indoor and outdoor base station coverage areas are set to form a new coherent solution group. The process is: start measuring the detection area, find the UWB signal blind area, increase the number of UWB positioning base stations according to the on-site conditions, increase the base stations and measure the location coordinates of the base stations, decompose the large signal blind area into small detection areas, and connect the originally discontinuous detection areas into a continuous detection range through software settings.

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