Omnibearing 360-degree UWB base station positioning system and method

Abstract

The invention discloses an omnibearing 360-degree UWB base station positioning system and method, and the system comprises a UWB base station which is used for transmitting a UWB signal; wherein the UWB base station has a 360-degree signal coverage range; the intelligent wearable device is used for receiving the UWB signal and providing a feedback signal with the position information of a wearer to the UWB base station through the UWB positioning tag; and the processing module is used for analyzing and processing the position information of the wearer obtained after the feedback signal is demodulated by the UWB base station. The technical scheme of the invention has the advantages of strong anti-interference capability, high positioning precision, strong adaptability and the like, and can be widely applied to the fields of intelligent transportation, service robots, personal assistants and the like.

Description

Technical Field

[0001] The present invention belongs to the technical field of high-precision positioning and wireless communication, and in particular relates to an all-round 360-degree UWB base station positioning system and method. Background Art

[0002] With the rapid development of science and technology, positioning technology has been widely used in various fields, especially in intelligent transportation, Internet of Things, smart home and robotics, and the market demand is growing. Although traditional positioning methods such as global positioning system (GPS) and radio frequency identification (RFID) perform well in some scenarios, their positioning accuracy and real-time performance often cannot meet actual needs in complex environments, especially indoors and in multi-obstacle environments. Therefore, it is particularly important to develop a positioning system that can provide high accuracy and high reliability in various environments.

[0003] Ultra-wideband (UWB) technology has become a strong candidate for solving this problem due to its unique advantages. UWB technology can achieve centimeter-level positioning accuracy by utilizing ultra-wideband signals, and has good anti-interference and penetration capabilities. This makes UWB show great potential in applications such as indoor positioning, near-field communication, and high-precision tracking. However, existing UWB positioning systems often have problems such as limited coverage, complex equipment deployment, and poor interactivity, which limits their application scenarios. Therefore, developing a UWB base station positioning system that can achieve all-round 360-degree coverage has become the key to enhancing its application value.

[0004] The popularity of smart wearable devices has also opened up a new direction for the application of positioning technology. By combining the positioning system with smart wearable devices, real-time tracking and personalized services for users can be achieved. However, there is currently a lack of a solution on the market that can efficiently integrate UWB positioning technology and smart wearable devices. In response to this demand, the present invention proposes a full-range 360-degree UWB base station positioning system and method, which aims to solve the shortcomings of traditional positioning systems in terms of accuracy, reliability and user interaction, so as to meet the higher requirements for positioning technology in the intelligent era. Summary of the invention

[0005] In order to solve the problems existing in the prior art, the present invention provides an all-round 360-degree UWB base station positioning system and method, aiming to achieve high-precision positioning function by combining ultra-wideband (UWB) positioning technology with smart wearable devices.

[0006] To achieve the above object, the present invention provides the following solutions:

[0007] All-round 360-degree UWB base station positioning system, including: UWB base station, smart wearable device and processing module;

[0008] The UWB base station is used to transmit UWB signals; wherein the UWB base station has a signal coverage range of 360 degrees;

[0009] A smart wearable device, used to receive UWB signals and provide a feedback signal with the wearer's location information to the UWB base station through a UWB positioning tag;

[0010] The processing module is used to analyze and process the wearer's location information obtained after the UWB base station demodulates the feedback signal, and completes the wearer's 360-degree UWB base station positioning.

[0011] Preferably, the UWB base station includes a DW3220 chip, a first antenna and a second antenna;

[0012] The DW3220 chip is used to transmit UWB signals to the smart wearable device through a wide-bandwidth pulse signal transmitter;

[0013] The first antenna and the second antenna are used to receive the UWB signal with the wearer's location information fed back by the smart wearable device;

[0014] Wherein, the first antenna and the second antenna are both 360-degree signal receiving antennas;

[0015] The DW3220 chip demodulates the UWB signal carrying the wearer's location information to obtain the wearer's location information.

[0016] Preferably, the processing module includes a main control chip;

[0017] The main control chip is used to filter and smooth the wearer's position information to obtain processed wearer's position information.

[0018] Preferably, the power management module is used to supply power to the main control chip, the DW3220 chip and the peripheral circuits.

[0019] The present invention also provides a 360-degree omnidirectional UWB base station positioning method, which uses the system and includes the following steps:

[0020] The DW3220 chip is used to send a UWB signal to the smart wearable device. After receiving the UWB signal, the smart wearable device uses the UWB positioning tag to send a feedback signal to the first antenna and the second antenna of the UWB base station;

[0021] Based on the time difference between sending and receiving the feedback signal, the distance between the DW3220 chip and the UWB positioning tag is calculated to obtain the position information of the UWB positioning tag; wherein the position information of the UWB positioning tag represents the position information of the wearer;

[0022] The UWB positioning tag position information is processed to complete the 360-degree UWB base station positioning of the wearer.

[0023] Preferably, the method for calculating the distance between the DW3220 chip and the UWB positioning tag includes:

[0024] Calculating a first time difference between when the feedback signal is sent and when it arrives at the first antenna and a second time difference between when the feedback signal is sent and when it arrives at the second antenna;

[0025] Based on the first time difference and the electromagnetic wave transmission speed, obtaining a first distance between the UWB positioning tag and the first antenna;

[0026] Based on the second time difference and the electromagnetic wave transmission speed, a second distance between the UWB positioning tag and the second antenna is obtained.

[0027] Preferably, the method for obtaining the location information of the UWB positioning tag includes:

[0028] Based on the incident direction of the feedback signal, respectively obtain an azimuth angle α and an azimuth angle β of the feedback signal incident relative to the XOY plane of the first antenna and the second antenna;

[0029] Based on the first distance and the azimuth angle α, obtaining a first projection distance between the UWB positioning tag and the first antenna in the XOY plane;

[0030] Based on the second distance and the azimuth angle β, obtaining a second projection distance between the UWB positioning tag and the second antenna in the XOY plane;

[0031] Based on the first antenna coordinates and the first projection distance and the second antenna coordinates and the second projection distance, obtain the XOY coordinates of the UWB positioning tag relative to the DW3220 chip;

[0032] Based on the XOY coordinates of the UWB positioning tag relative to the DW3220 chip, the position information of the UWB positioning tag is obtained.

[0033] Preferably, the method for processing the UWB positioning tag location information includes:

[0034] Using Kalman filtering, the UWB positioning tag state estimation is obtained based on the UWB positioning tag position information, Kalman gain and observation matrix;

[0035] Based on the preset window size, the average value of the UWB positioning tag state estimation within the preset time period is calculated to obtain the smoothed UWB positioning tag position information.

[0036] Compared with the prior art, the beneficial effects of the present invention are: by combining ultra-wideband (UWB) technology with smart wearable devices, high-precision and high-reliability positioning functions are achieved to meet the growing demand for intelligence. The introduction of UWB technology can provide centimeter-level positioning accuracy in complex environments and has good anti-interference capabilities, solving the shortcomings of traditional positioning systems in terms of accuracy and real-time performance. This technology can effectively address the limitations of traditional positioning methods such as GPS and RFID in indoor and multi-obstacle environments, greatly improving the performance and reliability of the device in practical applications.

[0037] By combining UWB positioning with smart wearable devices, the present invention can realize higher-level intelligent services, which is in line with the current trend of social development towards intelligence. In addition, the research and application of the present invention have made positive contributions to the construction of smart cities and smart societies, and can have a wide range of impacts in the fields of public safety, smart transportation, personal health management, etc., with huge market prospects and far-reaching social significance. As the technology continues to mature and become more popular, it is expected to further promote the digital transformation of society and improve people's quality of life and work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solution of the present invention, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0039] Figure 1 This is a schematic diagram of the structure of an all-round 360-degree UWB base station positioning system according to an embodiment of the present invention;

[0040] Figure 2 The 180° scanning angle and mapping diagram of the antenna in the embodiment of the present invention are shown, wherein (a) is the 180° scanning angle behind the antenna; (b) is the 180° mapping diagram behind the antenna; (c) is the 180° scanning angle in front of the antenna; and (d) is the 180° mapping diagram in front of the antenna. DETAILED DESCRIPTION

[0041] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. 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.

[0042] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0043] Embodiment 1

[0044] like Figure 1 , Figure 2 As shown, the 360-degree UWB base station positioning system includes: a UWB base station, a smart wearable device, and a processing module;

[0045] The UWB base station is used to transmit UWB signals; wherein the UWB base station has a 360-degree signal coverage range, and wireless communication is established between the UWB base station and the smart wearable device, and the position of the smart wearable device can be tracked in real time. A further implementation method is that the UWB base station includes a DW3220 chip, a first antenna and a second antenna; in this embodiment, the first antenna and the second antenna are paddle antennas, and the distance between the two paddle antennas is not less than 80m.

[0046] The UWB base station is used to transmit UWB signals and establish wireless communication with smart wearable devices to track the location of smart wearable devices in real time. The UWB base station includes a DW3220 chip, a first antenna and a second antenna, wherein the first antenna and the second antenna are both designed with paddle antennas, and the working frequency band of the antenna is 6.5GHz. The ranging capability of the two paddle antennas is not less than 80 meters. The operating frequency band of the DW1000 positioning tag is 3.5GHz to 6.5GHz, and the antenna's working frequency band of 6.5GHz covers the upper frequency band of the DW1000. The system complies with the UWB communication standard and the IEEE 802.15.4a communication specification.

[0047] The DW3220 chip is used to transmit UWB signals to smart wearable devices through a wide bandwidth pulse signal transmitter; the interface of the DW3220 is a 4-wire SPI interface. The DW3220 will work as an SPI peripheral device in non-cascade mode and support SPI clock frequencies up to 36MHz. By adding an external 38.4MHz crystal and appropriate loading capacitors, the on-chip crystal oscillator provides a reference frequency for the RFPLL of the integrated frequency synthesizer. The crystal oscillator of the DW3220 is used to provide a reference clock to the internal PLL and a direct clock source to the digital core in the low-power INIT_RC mode, operating at a frequency of 38.4MHz. The oscillator is equipped with a trimming function to reduce the initial frequency error of the crystal.

[0048] Load Capacitance Among them, C 1 and C 2 is the capacitor connected in parallel on both sides of the crystal, C PCB is the inherent capacitance on the PCB, C XTAL The crystal's own capacitance.

[0049] The first antenna and the second antenna are used to receive the UWB signal with the wearer's location information fed back by the smart wearable device;

[0050] Among them, the first antenna and the second antenna are both 360-degree signal receiving antennas;

[0051] The DW3220 chip demodulates the UWB signal with the wearer's location information to obtain the wearer's location information.

[0052] Smart wearable device, used to receive UWB signal and provide feedback signal with wearer's location information to UWB base station through UWB positioning tag;

[0053] UWB technology's excellent anti-multipath effect and high-precision positioning capabilities enable signals to be effectively transmitted in complex environments, reducing interference and signal attenuation caused by reflections and obstacles;

[0054] The paddle antenna has strong directivity, which can optimize the signal propagation path and enhance the signal strength, ensuring the stability of the signal during long-distance transmission. Through beamforming technology, the paddle antenna can concentrate signal energy, reduce the impact of environmental noise and interference, and thus improve the reliability of communication.

[0055] The processing module is used to analyze and process the wearer's position information obtained after the UWB base station demodulates the feedback signal, and completes the 360-degree UWB base station positioning of the wearer. A further implementation method is that the processing module includes a main control chip;

[0056] The main control chip is used to filter and smooth the wearer's position information to obtain the processed wearer's position information; in this embodiment, STM32F407VET6 is used as the main control chip, and an LDO (low-dropout linear regulator) is used to convert the external power supply 5V to 3.3V, and a decoupling capacitor is added near the power pin to reduce power supply noise. STM32F407VET6 supports an external crystal oscillator, and a crystal oscillator with a frequency of 8MHz is selected. Two 10pF capacitors are added at both ends of the crystal oscillator to enable it to meet the frequency and stability requirements.

[0057] A further implementation method is that the power management module is used to supply power to the main control chip, the DW3220 chip and the peripheral circuits.

[0058] In summary, the main control chip receives positioning data (location information) from the UWB signal through the connection with the DW3220 chip. The DW3220 chip demodulates the received UWB signal and provides location information, which will be sent to the main control chip for further processing and analysis. The main control chip feedbacks the system status to the user through the status indicator module. When the system is working properly, the LED indicator will light up; if there is a fault, the indicator will flash or go out to prompt the user to check.

[0059] Embodiment 2

[0060] The present invention also provides a 360-degree UWB base station positioning method, which uses the system described in Example 1 and includes the following steps:

[0061] S1: Use the DW3220 chip to send a UWB signal to the smart wearable device. After receiving the UWB signal, the smart wearable device uses the UWB positioning tag to send a feedback signal to the first antenna Antenna1 and the second antenna Antenna2 of the UWB base station.

[0062] A further implementation method is that the method for calculating the distance between the DW3220 chip and the UWB positioning tag includes:

[0063] Calculate a first time difference ta1 between the feedback signal being sent and arriving at the first antenna Antenna1 and a second time difference ta2 between the feedback signal being sent and arriving at the second antenna Antenna2;

[0064] Specifically, the linear antenna array consists of the first antenna Antenna1 and the second antenna Antenna2, with a spacing of l. Assume that the position of the signal source (smart wearable device) is represented by polar coordinates (r, θ), where r is the distance between the target and the center of the array, and θ is the direction of the target relative to the array. Since the signal propagation time is related to the target direction, the distance difference from the source to the two antennas is: Δl = lsin(θ)

[0065] The arrival time difference of the signal at this distance difference is:

[0066] Substituting it into the phase difference formula, we can get:

[0067] The azimuth of the target relative to the antenna array Among them l ij is the distance between the two receiving antennas.

[0068] Based on the first time difference and the electromagnetic wave transmission speed, a first distance d between the UWB positioning tag and the first antenna is obtained. 1 ;

[0069] Based on the second time difference and the electromagnetic wave transmission speed, a second distance d between the UWB positioning tag and the second antenna is obtained. 2 .

[0070] Specifically, the calculation formulas for the first distance and the second distance are as follows:

[0071] d=V·ta,

[0072] Where V is the electromagnetic wave transmission speed, ta is the arrival time difference of the signal, and the distance d between the tag and the two antennas is accurately calculated. 1 d 2 .

[0073] Specific as Figure 2 As shown, Figure 2 The 180° scanning angle and mapping diagram of the antenna in the embodiment of the present invention are shown, wherein (a) is the 180° scanning angle behind the antenna; (b) is the 180° mapping diagram behind the antenna; (c) is the 180° scanning angle in front of the antenna; and (d) is the 180° mapping diagram in front of the antenna.

[0074] S2: Based on the time difference between sending and receiving the feedback signal, the distance between the DW3220 chip and the UWB positioning tag is calculated to obtain the location information of the UWB positioning tag; wherein the location information of the UWB positioning tag represents the location information of the wearer.

[0075] A further implementation method is that the method for obtaining the location information of the UWB positioning tag includes:

[0076] Based on the incident direction of the feedback signal, the azimuth angle α and the azimuth angle β of the feedback signal incident relative to the XOY plane of the first antenna and the second antenna are respectively obtained; wherein the first antenna and the second antenna are both 360-degree signal receiving antennas.

[0077] Based on the first distance and the azimuth angle α, a first projection distance d between the UWB positioning tag and the first antenna in the XOY plane is obtained. 1 ', calculation formula: d 1 '=d 1 *cosα.

[0078] Based on the second distance and the azimuth angle β, the second projection distance d between the UWB positioning tag and the second antenna in the XOY plane is obtained. 2 ', calculation formula: d 2 '=d 2 *cosβ.

[0079] Based on the first antenna coordinates and the first projection distance and the second antenna coordinates and the second projection distance, the XOY coordinates of the UWB positioning tag relative to the DW3220 chip are obtained.

[0080] Specifically, through the Antenna1 coordinates (X t1 ,Y t1 ), Antenna2 coordinates (X t2 ,Y t2 ) and formula Calculate the XOY coordinates of the UWB positioning tag relative to the DW3220 chip (|X t |,|Y t |).

[0081] At the same time, DW3220 calculates the azimuth angle n of the UWB positioning tag relative to the antenna YOZ plane by improving the antenna. When the azimuth angle range is 90°>n>0°, X t >0,Y t >0, 180°>n>90°X t >0,Y t <0, 270°>n>180°X t <0,Y t <0, 360°>n>180°X t <0,Y t >0, and finally solve the projection coordinates of the label on the XOY plane (X t ,Y t ).

[0082] Based on the XOY coordinates of the UWB positioning tag relative to the DW3220 chip, the position information of the UWB positioning tag is obtained.

[0083] S3: Process the location information of the UWB positioning tag to complete the 360-degree UWB base station positioning of the wearer.

[0084] A further implementation method is that the method for processing the position information of the UWB positioning tag includes:

[0085] Kalman filtering is used to obtain the state estimation of the UWB positioning tag based on the UWB positioning tag position information, Kalman gain and observation matrix; specifically, for the position estimation of the dynamic system, Kalman filtering is used to extract the state estimation from a series of measurement values ​​(UWB positioning tag position information), and the state update in, is the estimate of the current state, K k is the Kalman gain, z k is the measurement value and H is the observation matrix.

[0086] The state vector contains position (x, y, z coordinates), speed, and direction. The state vector is in the form of Assume that the measured observables include position (x, y, z) and velocity (v x ,v y ,vz ). The observation vector is expressed as: The observation matrix determines the relationship between the observation and the state vector. The observation is directly related to the state vector. k The elements in depend directly on the state variables, The first row of the matrix corresponds to the measured x coordinate, which is directly extracted from the x of the state vector; the second row corresponds to the measured y coordinate, which is directly extracted from the y of the state vector; the third row corresponds to the measured z coordinate, which is directly extracted from the z of the state vector; and the fourth row corresponds to the measured v x Velocity, directly from the state vector v x Extraction; the fifth row corresponds to the measured v y Velocity, directly from the state vector v y Extract; the sixth row corresponds to the measured v z Velocity, directly from the state vector v z extract.

[0087] Based on the preset window size, the average value of the UWB positioning tag state estimation within the preset time period is calculated to obtain the smoothed UWB positioning tag position information. Specifically, by calculating the average value of the data within a period of time, the volatility of the data is reduced. Among them, S[u] is the smoothed output, x[ui] is the current and previous input value, and N is the window size.

[0088] The embodiments described above are only descriptions of the preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should all fall within the protection scope determined by the claims of the present invention.

Claims

1. All-round 360-degree UWB base station positioning system, characterized by: include: UWB base stations, smart wearable devices and processing modules; The UWB base station is used to transmit UWB signals; wherein the UWB base station has a 360-degree signal coverage range; The smart wearable device is used to receive the UWB signal and provide a feedback signal with the wearer's location information to the UWB base station through the UWB positioning tag; The processing module is used to analyze and process the wearer's position information obtained after the UWB base station demodulates the feedback signal, and completes the 360-degree UWB base station positioning of the wearer.

2. The omnidirectional 360-degree UWB base station positioning system according to claim 1, characterized in that: The UWB base station includes a DW3220 chip, a first antenna and a second antenna; The DW3220 chip is used to transmit UWB signals to the smart wearable device through a wide-bandwidth pulse signal transmitter; The first antenna and the second antenna are used to receive the UWB signal with the wearer's location information fed back by the smart wearable device; Wherein, the first antenna and the second antenna are both 360-degree signal receiving antennas; The DW3220 chip demodulates the UWB signal carrying the wearer's location information to obtain the wearer's location information.

3. The omnidirectional 360-degree UWB base station positioning system according to claim 2, characterized in that: The processing module includes a main control chip; The main control chip is used to filter and smooth the wearer's position information to obtain processed wearer's position information.

4. The omnidirectional 360-degree UWB base station positioning system according to claim 3, characterized in that: The power management module is used to supply power to the main control chip, the DW3220 chip and the peripheral circuits.

5. A 360-degree UWB base station positioning method, using the system described in any one of claims 1 to 4, characterized in that: The following steps are involved: The DW3220 chip is used to send a UWB signal to the smart wearable device. After receiving the UWB signal, the smart wearable device uses the UWB positioning tag to send a feedback signal to the first antenna and the second antenna of the UWB base station; Based on the time difference between sending and receiving the feedback signal, the distance between the DW3220 chip and the UWB positioning tag is calculated to obtain the position information of the UWB positioning tag; wherein the position information of the UWB positioning tag represents the position information of the wearer; The UWB positioning tag position information is processed to complete the 360-degree UWB base station positioning of the wearer.

6. The omnidirectional 360-degree UWB base station positioning method according to claim 5, characterized in that: The method for calculating the distance between the DW3220 chip and the UWB positioning tag includes: Calculating a first time difference between when the feedback signal is sent and when it arrives at the first antenna and a second time difference between when the feedback signal is sent and when it arrives at the second antenna; Based on the first time difference and the electromagnetic wave transmission speed, obtaining a first distance between the UWB positioning tag and the first antenna; Based on the second time difference and the electromagnetic wave transmission speed, a second distance between the UWB positioning tag and the second antenna is obtained.

7. The omnidirectional 360-degree UWB base station positioning method according to claim 6, characterized in that: Methods for obtaining the location information of a UWB positioning tag include: Based on the incident direction of the feedback signal, respectively obtain an azimuth angle α and an azimuth angle β of the feedback signal incident relative to the XOY plane of the first antenna and the second antenna; Based on the first distance and the azimuth angle α, obtaining a first projection distance between the UWB positioning tag and the first antenna in the XOY plane; Based on the second distance and the azimuth angle β, obtaining a second projection distance between the UWB positioning tag and the second antenna in the XOY plane; Based on the first antenna coordinates and the first projection distance and the second antenna coordinates and the second projection distance, obtain the XOY coordinates of the UWB positioning tag relative to the DW3220 chip; Based on the XOY coordinates of the UWB positioning tag relative to the DW3220 chip, the position information of the UWB positioning tag is obtained.

8. The omnidirectional 360-degree UWB base station positioning method according to claim 6, characterized in that: The method for processing the UWB positioning tag location information includes: Using Kalman filtering, the UWB positioning tag state estimation is obtained based on the UWB positioning tag position information, Kalman gain and observation matrix; Based on the preset window size, the average value of the UWB positioning tag state estimation within the preset time period is calculated to obtain the smoothed UWB positioning tag position information.

Images