UWB positioning method based on staggered matrix type star chain

Abstract

The invention provides a UWB positioning method based on a staggered matrix type star chain. The UWB positioning method comprises the following steps: step 1, arranging a staggered matrix; step 2, signal propagation and reception; 3, measuring and calculating time difference; 4, optimizing a positioning algorithm; 5, optimization and calibration are carried out; and step 6, performing real-time feedback and monitoring. In the UWB positioning system, a UWB star chain system adopts a time slot positioning technology, and each UWB device sends and receives UWB pulse signals in different time slots. Due to the ultra-short pulse duration of the UWB signal, a plurality of terminals can simultaneously transmit and receive signals without interfering with each other.

Description

Technical Field

[0001] The present invention belongs to the technical field of navigation and positioning, and in particular relates to a UWB positioning method based on an interlaced matrix star link. Background Art

[0002] Unmanned mining vehicles, or unmanned mining vehicles, are mining vehicles that can automatically complete tasks such as loading, transporting and unloading without human operation in the mine area. It uses advanced control devices, GPS navigation, wireless communication technology and software to achieve automated operations in the mine area. As an important part of mine automation, it has been increasingly used in mining areas in recent years.

[0003] At present, the real-time positioning of unmanned mining vehicles in the process of working underground has the following technical difficulties:

[0004] (1) Complex underground terrain: Mine tunnels are undulating and of varying widths. This complex terrain makes the propagation path of wireless signals uncertain, increasing the difficulty of positioning.

[0005] (2) Severe electromagnetic interference: There are a large number of electrical equipment in the mine. These devices will generate electromagnetic interference when working, affecting the transmission quality of wireless signals and thus affecting the accuracy of positioning.

[0006] (3) Multipath effect and non-line-of-sight propagation: In mine tunnels, wireless signals may undergo multiple reflections, refractions, and scattering, resulting in multipath effects. At the same time, due to the obstruction of tunnel structures, signals may not be able to directly propagate to the receiver, resulting in non-line-of-sight propagation. These factors will cause signal attenuation, phase shift, and additional delay, thus affecting positioning performance.

[0007] (4) Insufficient positioning accuracy: The positioning technologies commonly used in mines, such as radio frequency identification (RFID) technology, are mainly used to realize personnel attendance functions and cannot accurately measure distance and positioning.

[0008] (5) Low anti-interference ability: In a mine environment, existing positioning technologies often have difficulty in effectively dealing with problems such as electromagnetic interference and multipath effects, resulting in unstable positioning results or large errors.

[0009] Unmanned vehicles need to be able to effectively sense and respond to environmental changes in mines, and operation in mine tunnels requires safe, efficient and reliable real-time positioning capabilities. This involves the use of a variety of sensor technologies, communication protocols and emergency measures to adapt to the particularities of the tunnel environment.

[0010] In view of this, it is very necessary to invent a UWB positioning method based on an interlaced matrix star link. Summary of the invention

[0011] In order to solve the above technical problems, the present invention provides a UWB positioning method based on an interlaced matrix star link to solve the problems mentioned in the background technology.

[0012] A UWB positioning method based on staggered matrix starlink includes the following steps:

[0013] Step 1: Staggered matrix layout: Base stations are deployed in a staggered matrix arrangement to ensure signal coverage density and uniformity within the coverage area; the location coordinates of each base station must be accurately measured and entered into the system as the basic data for the positioning algorithm;

[0014] Step 2: Signal transmission and reception: The unmanned mining vehicle carries a UWB tag and sends UWB pulse signals regularly or on demand; the base stations in the staggered matrix receive these signals and record the timestamp of the signal arrival;

[0015] Step 3: Time difference measurement and calculation: The system uses a high-precision clock synchronization mechanism to ensure time synchronization between base stations. By comparing the timestamps of the same tag signal received by different base stations, the time difference between the signal arriving at each base station is calculated.

[0016] Step 4: Positioning algorithm optimization: Input the time difference data and the known coordinates of the base station into the positioning algorithm; the positioning algorithm uses geometric principles to calculate the three-dimensional coordinates of the target to be located;

[0017] Step 5: Optimization and calibration: In practical applications, the system needs to be optimized and calibrated to eliminate the impact of environmental factors on positioning accuracy; use filtering algorithms or matching algorithms to process the raw data to improve the accuracy and stability of positioning results;

[0018] Step 6: Real-time feedback and monitoring: The system can provide real-time feedback of the location information of the target to be located to the monitoring center or user terminal. The monitoring center can track, dispatch or conduct security monitoring on the target based on the location information.

[0019] Furthermore, the high-precision clock synchronization mechanism in step three is one of GPS timing or network time protocol NTP.

[0020] Furthermore, the positioning algorithm in step 4 is a TWR algorithm; and the geometric principle is a hyperbola positioning principle.

[0021] Furthermore, a UWB positioning method based on staggered matrix starlink, the specific steps are as follows:

[0022] S1. Staggered Matrix Layout

[0023] Base station and tag deployment: Several UWB base stations are pre-deployed in the mine. The positions of the base stations are fixed and the coordinates are known. At the same time, UWB tags are equipped for the personnel or equipment that need to be located.

[0024] S2. Signal propagation and reception

[0025] (1) Base station sends a signal: The base station sends a ranging request signal to the tag and records the timestamp T1 of the sending time;

[0026] (2) Tag receiving and replying: After receiving the ranging request signal from the base station, the tag records the timestamp T2 of the reception, and after a preset reply time Treply, sends a ranging reply signal to the base station, and records the timestamp T3 of the sending;

[0027] (3) Base station receiving reply: After the base station receives the ranging reply signal from the tag, it records the timestamp T4 of the reception;

[0028] S3. Time difference measurement and calculation

[0029] (1) Calculate the round-trip time: Based on the timestamps recorded by the base station and the tag, calculate the round-trip time of the signal; the calculation method is as follows:

[0030] (2) Flight time from base station to tag Tprop1 = (T3-T2) + eB

[0031] eB is the clock offset of the label

[0032] (4) Flight time from tag to base station Tprop2 = (T4-T3) + eA

[0033] eA is the clock offset of the base station

[0034] (4) Since Tprop1 and Tprop2 should be equal in theory, that is, the round-trip time of the signal is the same, and the local clock errors, that is, eA and eB, can offset each other in multiple measurements, the average of the two is usually taken as the final flight time Tprop.

[0035] In practical applications, since the clock offset between the base station and the tag is usually unknown and very small, the impact of the clock offset on the ranging results can be reduced through multiple measurements and algorithm optimization.

[0036] Calculate the distance: Given the signal flight time Tprop and the speed of light c, the distance d between the base station and the tag can be calculated:

[0037] d = Tprop × c

[0038] S4. Positioning algorithm optimization

[0039] (1) Multilateral positioning: To determine the location of a tag in three-dimensional space, at least three non-collinear base stations are usually required to measure the distance between the tag and the base station. Each base station will exchange signals and calculate the distance with the tag according to the above steps to obtain the distance between each base station and the tag.

[0040] (2) Position calculation: The distance information between the three base stations and the tag is input into the positioning algorithm, and the three-dimensional coordinates of the tag can be calculated by solving the equation group;

[0041] S5. Optimization and calibration phase

[0042] Use filtering algorithms to process raw data to improve the accuracy and stability of positioning results;

[0043] S6. Real-time feedback and monitoring

[0044] (1) Data transmission: The calculated tag location information is transmitted to the monitoring center or host computer via wired or wireless means.

[0045] (2) Real-time display: The location information of underground personnel or equipment is displayed in real time on the host computer, including the movement trajectory of a single person, statistical list search / filter personnel location, etc., to facilitate real-time monitoring and scheduling by management personnel.

[0046] Compared with the prior art, the present invention has the following beneficial effects:

[0047] (1) The present invention realizes high-precision positioning by sending and receiving extremely narrow pulse signals at the nanosecond or sub-nanosecond level. These pulse signals have extremely wide frequency domain bandwidth, which can usually reach the GHz level, thus providing very high time resolution, which is very suitable for accurately measuring signal propagation time.

[0048] (2) In the UWB positioning system of the present invention, the UWB Starlink system adopts time slot positioning technology, in which each UWB device sends and receives UWB pulse signals in different time slots. Due to the ultra-short pulse duration of the UWB signal, multiple terminals can send and receive signals simultaneously without interfering with each other.

[0049] (3) The TWR algorithm is used in distance measurement. Different from the traditional TOA and TDOA algorithms, TWR's distance measurement technology has more advantages. TWR can achieve very high-precision distance measurement, usually within a few centimeters. Secondly, the resolution is extremely high, allowing the detection of tiny distance differences between objects, thereby supporting more complex scene perception and positioning. This ensures the positioning accuracy in the mine environment. DETAILED DESCRIPTION

[0050] The present invention is further described below:

[0051] Example:

[0052] A UWB positioning method based on staggered matrix starlink includes the following steps:

[0053] Step 1: Staggered matrix layout: Base stations are deployed in a staggered matrix arrangement to ensure signal coverage density and uniformity within the coverage area; the location coordinates of each base station must be accurately measured and entered into the system as the basic data for the positioning algorithm;

[0054] Step 2: Signal transmission and reception: The unmanned mining vehicle carries a UWB tag and sends UWB pulse signals regularly or on demand; the base stations in the staggered matrix receive these signals and record the timestamp of the signal arrival;

[0055] Step 3: Time difference measurement and calculation: The system uses a high-precision clock synchronization mechanism to ensure time synchronization between base stations. By comparing the timestamps of the same tag signal received by different base stations, the time difference (TDOA) of the signal arriving at each base station is calculated.

[0056] Step 4: Positioning algorithm optimization: Input the time difference data and the known coordinates of the base station into the positioning algorithm; the positioning algorithm uses geometric principles to calculate the three-dimensional coordinates of the target to be located;

[0057] Step 5: Optimization and calibration: In practical applications, the system needs to be optimized and calibrated to eliminate the impact of environmental factors on positioning accuracy; use filtering algorithms or matching algorithms to process the raw data to improve the accuracy and stability of positioning results;

[0058] Step 6: Real-time feedback and monitoring: The system can provide real-time feedback of the location information of the target to be located to the monitoring center or user terminal. The monitoring center can track, dispatch or conduct security monitoring on the target based on the location information.

[0059] Furthermore, the high-precision clock synchronization mechanism in step three is one of GPS timing or network time protocol NTP.

[0060] Furthermore, the positioning algorithm in step 4 is a TWR algorithm; and the geometric principle is a hyperbola positioning principle.

[0061] Furthermore, a UWB positioning method based on staggered matrix starlink, the specific steps are as follows:

[0062] S1. Staggered Matrix Layout

[0063] Base station and tag deployment: Several UWB base stations are pre-deployed in the mine. The positions of the base stations are fixed and the coordinates are known. At the same time, UWB tags are equipped for the personnel or equipment that need to be located.

[0064] S2. Signal propagation and reception

[0065] (1) Base station sends a signal: The base station sends a ranging request signal to the tag and records the timestamp T1 of the sending time;

[0066] (2) Tag receiving and replying: After receiving the ranging request signal from the base station, the tag records the timestamp T2 of the reception, and after a preset reply time Treply, sends a ranging reply signal to the base station, and records the timestamp T3 of the sending;

[0067] (3) Base station receiving reply: After the base station receives the ranging reply signal from the tag, it records the timestamp T4 of the reception;

[0068] S3. Time difference measurement and calculation

[0069] (1) Calculate the round-trip time: Based on the timestamps recorded by the base station and the tag, calculate the round-trip time of the signal; the calculation method is as follows:

[0070] (2) Flight time from base station to tag Tprop1 = (T3-T2) + eB

[0071] eB is the clock offset of the label

[0072] (5) Flight time from tag to base station Tprop2 = (T4-T3) + eA

[0073] eA is the clock offset of the base station

[0074] (4) Since Tprop1 and Tprop2 should be equal in theory, that is, the round-trip time of the signal is the same, and the local clock errors, that is, eA and eB, can offset each other in multiple measurements, the average of the two is usually taken as the final flight time Tprop.

[0075] In practical applications, since the clock offset between the base station and the tag is usually unknown and very small, the impact of the clock offset on the ranging results can be reduced through multiple measurements and algorithm optimization.

[0076] Calculate the distance: Given the signal flight time Tprop and the speed of light c (approximately 3×10^8 m / s), the distance d between the base station and the tag can be calculated:

[0077] d = Tprop × c

[0078] S4. Positioning algorithm optimization

[0079] (1) Multilateral positioning: To determine the location of a tag in three-dimensional space, at least three non-collinear base stations are usually required to measure the distance between the tag and the base station. Each base station will exchange signals and calculate the distance with the tag according to the above steps to obtain the distance between each base station and the tag.

[0080] (2) Position calculation: The distance information between the three base stations and the tag is input into the positioning algorithm, and the three-dimensional coordinates of the tag can be calculated by solving the equation group;

[0081] S5. Optimization and calibration phase

[0082] Use filtering algorithms to process raw data to improve the accuracy and stability of positioning results;

[0083] S6. Real-time feedback and monitoring

[0084] (1) Data transmission: The calculated tag location information is transmitted to the monitoring center or host computer via wired or wireless means.

[0085] (2) Real-time display: The location information of underground personnel or equipment is displayed in real time on the host computer, including the movement trajectory of a single person, statistical list search / filter personnel location, etc., to facilitate real-time monitoring and scheduling by management personnel.

[0086] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, etc., indicate orientations or positional relationships, and the orientations or positional relationships shown are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0087] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A UWB positioning method based on staggered matrix star chain, characterized in that: Here are the steps: Step 1: Staggered matrix layout: Base stations are deployed in a staggered matrix arrangement to ensure signal coverage density and uniformity within the coverage area; the location coordinates of each base station must be accurately measured and entered into the system as the basic data for the positioning algorithm; Step 2: Signal transmission and reception: The unmanned mining vehicle carries a UWB tag and sends UWB pulse signals regularly or on demand; the base stations in the staggered matrix receive these signals and record the timestamp of the signal arrival; Step 3: Time difference measurement and calculation: The system uses a high-precision clock synchronization mechanism to ensure time synchronization between base stations; By comparing the timestamps of the same tag signal received by different base stations, the time difference of the signal arriving at each base station is calculated; Step 4: Positioning algorithm optimization: Input the time difference data and the known coordinates of the base station into the positioning algorithm; the positioning algorithm uses geometric principles to calculate the three-dimensional coordinates of the target to be located; Step 5: Optimization and calibration: In practical applications, the system needs to be optimized and calibrated to eliminate the impact of environmental factors on positioning accuracy; use filtering algorithms or matching algorithms to process the raw data to improve the accuracy and stability of positioning results; Step 6: Real-time feedback and monitoring: The system can provide real-time feedback of the location information of the target to be located to the monitoring center or user terminal. The monitoring center can track, dispatch or conduct security monitoring on the target based on the location information.

2. A UWB positioning method based on staggered matrix starlink as claimed in claim 1, characterized in that: The high-precision clock synchronization mechanism in step three is one of GPS timing or network time protocol NTP.

3. A UWB positioning method based on staggered matrix starlink as claimed in claim 1, characterized in that: The positioning algorithm in step 4 is the TWR algorithm; the geometric principle is the hyperbolic positioning principle.

4. A UWB positioning method based on staggered matrix starlink as claimed in claim 1, characterized in that: The specific steps are as follows: S1. Staggered Matrix Layout Base station and tag deployment: Several UWB base stations are pre-deployed in the mine. The positions of the base stations are fixed and the coordinates are known. At the same time, UWB tags are equipped for the personnel or equipment that need to be located. S2. Signal propagation and reception (1) Base station sends a signal: The base station sends a ranging request signal to the tag and records the timestamp T1 of the sending time; (2) Tag receiving and replying: After receiving the ranging request signal from the base station, the tag records the timestamp T2 of the reception, and after a preset reply time Treply, sends a ranging reply signal to the base station, and records the timestamp T3 of the sending; (3) Base station receiving reply: After the base station receives the ranging reply signal from the tag, it records the timestamp T4 of the reception; S3. Time difference measurement and calculation (1) Calculate the round-trip time: Calculate the signal round-trip time based on the timestamps recorded by the base station and the tag; The calculation is as follows: (2) Flight time from base station to tag Tprop1 = (T3-T2) + eB eB is the clock offset of the label (3) Flight time from tag to base station Tprop2 = (T4-T3) + eA eA is the clock offset of the base station (4) Since Tprop1 and Tprop2 should be equal in theory, that is, the round-trip time of the signal is the same, and the local clock errors, that is, eA and eB, can cancel each other out in multiple measurements, the average of the two is usually taken as the final flight time Tprop In practical applications, since the clock offset between the base station and the tag is usually unknown and small, the impact of the clock offset on the ranging result can be reduced through multiple measurements and algorithm optimization; Calculate the distance: Given the signal flight time Tprop and the speed of light c, the distance d between the base station and the tag can be calculated: d = Tprop × c S4. Positioning algorithm optimization (1) Multilateral positioning: To determine the location of a tag in three-dimensional space, at least three non-collinear base stations are usually required to measure the distance between the tag and the base station. Each base station will exchange signals and calculate the distance with the tag according to the above steps to obtain the distance between each base station and the tag. (2) Position calculation: The distance information between the three base stations and the tag is input into the positioning algorithm, and the three-dimensional coordinates of the tag can be calculated by solving the equation group; S5. Optimization and calibration phase Use filtering algorithms to process raw data to improve the accuracy and stability of positioning results; S6. Real-time feedback and monitoring (1) Data transmission: The calculated tag location information is transmitted to the monitoring center or host computer via wired or wireless means; (2) Real-time display: The location information of underground personnel or equipment is displayed in real time on the host computer, including the movement trajectory of a single person, statistical list search / filter personnel location, etc., to facilitate real-time monitoring and scheduling by management personnel.