Indoor positioning hardware processing module and processing method thereof

Abstract

The present invention discloses an indoor positioning hardware processing module and a processing method thereof, which belong to the field of indoor positioning technology. The processing module is deployed in an indoor positioning system including a programmable logic module and a host computer, and includes a main program module, a host computer interface module, a frame filling and frame parsing module and a ranging logic control module. The main program module generates a linear frequency modulation spread spectrum reference signal and executes system initialization and main control processes; the host computer interface module realizes device registration and data return; the frame filling and frame parsing module completes the application layer processing of the frame data; the ranging logic control module coordinates the ranging interaction with the programmable logic module. The processing method includes the steps of signal initialization, device registration, frame data processing, ranging cycle and result return. The present invention improves the automated ranging efficiency and communication reliability of the indoor positioning system through module division of labor and coordination mechanism, and solves the problem of low process automation in the prior art.

Description

Technical Field

[0001] The present invention relates to the field of indoor positioning technology, and in particular to an indoor positioning hardware processing module and a processing method thereof. Background Art

[0002] Indoor positioning technology uses hardware systems to achieve real-time location tracking of targets and is widely used in scenarios such as shopping mall navigation, warehouse management, and industrial monitoring. Existing indoor positioning system hardware architectures typically utilize a heterogeneous design combining ARM and FPGAs. The functional division and coordination between the processing module (PS) and programmable logic module (PL) are key factors affecting system performance.

[0003] In current technology, the PS module serves as the upper-layer logic control core of the system, but its design specifications have the problem of low automation level of the ranging process. Summary of the Invention

[0004] In order to solve the technical problem that the design specification of the indoor positioning hardware processing module in the prior art has a low degree of automation in the ranging process, the present invention provides an indoor positioning hardware processing module and a processing method thereof.

[0005] The technical solution adopted in the present invention is:

[0006] A first aspect of the present application provides an indoor positioning hardware processing module, wherein the processing module is deployed in an indoor positioning system. The system includes a processing module, a programmable logic module, and a host computer. The processing module includes:

[0007] Main program module: configured to generate linear frequency modulation spread spectrum reference signal and store in-phase and quadrature data, provide register interface address for programmable logic module to call, and perform system initialization and main control process logic control;

[0008] Host computer interface module: configured to realize communication interaction with the host computer, including device registration, parameter return and data transmission control;

[0009] Frame filling and frame parsing module: configured to complete application layer processing of frame data according to system communication specifications, including frame format filling and underlying data parsing;

[0010] Ranging logic control module: configured to coordinate the ranging process interaction between the processing module and the programmable logic module;

[0011] The linear frequency modulation spread spectrum reference signal generated by the main program module includes a signal frequency range, a chirp period and a sampling rate. The linear frequency modulation spread spectrum reference signal is used to drive the ranging logic control module to execute an arrival time extraction algorithm.

[0012] Preferably, the main program module is further configured to: write experimentally measured hardware radio frequency delay parameters into a fixed storage, wherein the radio frequency delay parameters are used to correct signal propagation time errors.

[0013] Preferably, the host computer interface module is further configured to transmit the manually measured base station angle parameters and the automatically tested base station spacing parameters back to the host computer for coordinate calculation.

[0014] Preferably, the ranging logic control module is further configured to: generate a matched filter based on the frequency range of the linear frequency modulation spread spectrum reference signal, perform correlation operation on the received signal, and determine the signal peak position according to the sampling rate, thereby calculating the signal arrival time.

[0015] A second aspect of the present application provides a processing method of an indoor positioning hardware processing module, which uses the above-mentioned indoor positioning hardware processing module and includes the following steps:

[0016] Step 1: The main program module generates a linear frequency modulation spread spectrum reference signal and stores the in-phase and quadrature data, which are then called by the programmable logic module through the register interface address; the linear frequency modulation spread spectrum reference signal is synchronously configured from the host computer by the host computer interface module, and the linear frequency modulation spread spectrum reference signal includes the signal frequency range, chirp period and sampling rate;

[0017] Step 2: The host computer interface module sends registration information to the host computer, and continues to retry if no configuration response is received; after the mobile tag and the slave base station are powered on, they send registration information to the master base station through the host computer interface module. The master base station forwards the registration data to the host computer and waits for confirmation, while establishing a registration target ID list locally in the main program module;

[0018] Step 3: The frame filling and frame parsing module completes the application layer data frame filling according to the system communication specification and sends it to the programmable logic module for underlying synchronization verification. After receiving the underlying data frame returned by the programmable logic module, it parses the frame content and outputs it to the main program module to drive the main control process state switching.

[0019] Step 4: The main program module initiates a total ranging cycle through a token mechanism. Under token authorization, the master and slave base stations perform ranging on the target based on the chirp spread spectrum reference signal generated in step 1. The slave base station transmits the results back to the master base station for aggregation. After parsing the frame data type, the ranging logic control module sends a command to the programmable logic module to trigger arrival time extraction. This arrival time extraction performs signal feature matching based on the signal frequency range and sampling rate parameters configured in step 1.

[0020] Step 5: The host computer interface module packages the ranging results summarized by the main base station and transmits them back to the host computer. If no confirmation is obtained, a retry mechanism is started until the reception is successful.

[0021] Preferably, the main program module writes experimentally measured hardware radio frequency delay parameters into fixed storage, wherein the radio frequency delay parameters are used to correct signal propagation time errors;

[0022] After being written, the hardware radio frequency delay parameters are configured as read-only state, prohibiting write operations through the host computer interface module; the generation parameters of the linear frequency modulation spread spectrum signal are kept synchronized with the real-time data of the host computer through the host computer interface module.

[0023] Preferably, the frame filling and frame parsing module in step 3 is configured as follows:

[0024] Complete the encapsulation and parsing of application layer data segments based on the preset frame format specifications;

[0025] Through the interface with the programmable logic module, the application layer data is transmitted to the programmable logic module for bottom layer frame synchronization verification;

[0026] Receive the verification result returned by the programmable logic module, parse the application layer data segment and generate status indication information.

[0027] Preferably, the registration retry mechanism of the host computer interface module in step 2 is: when no confirmation message from the host computer is received within a preset time period, the registration request is automatically resent until it succeeds.

[0028] The beneficial effects of the present invention are at least one of the following:

[0029] Through the functional division of the main program module, host computer interface module, etc., the signal generation, device registration, data interaction and other links in the ranging process are integrated into a unified architecture to avoid manual intervention.

[0030] The linear frequency modulation spread spectrum signal parameters support dynamic configuration by the host computer, while the hardware RF delay parameters are fixed and written after experimental measurement. This not only adapts to the signal adjustment requirements of different scenarios, but also avoids ranging errors caused by changes in hardware characteristics. Compared with the chaotic parameter management in existing technologies, it improves the reliability of system automatic calibration.

[0031] Arrival time extraction is performed based on the linear frequency modulation spread spectrum signal parameters, which deeply couples the ranging algorithm with the signal generation parameters to form a standardized processing flow, reduces the ranging error caused by parameter mismatch in the existing technology, and realizes automated ranging control. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 This is a system block diagram of the first embodiment of the present invention;

[0033] Figure 2 This is a partial structural block diagram of a processing module for a mobile tag in Embodiment 1 of the present invention;

[0034] Figure 3 Schematic diagram of the processing method in embodiment 2 of the present invention. DETAILED DESCRIPTION

[0035] The embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0036] Embodiment 1 provides an indoor positioning hardware processing module, which is deployed in an indoor positioning system. The system includes a processing module, a programmable logic module, and a host computer; Figure 1 As shown, the processing module includes:

[0037] Main program module: configured to generate linear frequency modulation spread spectrum reference signal and store in-phase and quadrature data, provide register interface address for programmable logic module to call, and perform system initialization and main control process logic control.

[0038] In a possible implementation, the main program module is further configured to: write experimentally measured hardware radio frequency delay parameters into a fixed storage, wherein the radio frequency delay parameters are used to correct signal propagation time errors.

[0039] For example, an ARM processor generates a Chirp Spread Spectrum (CSS) signal, splitting it into in-phase (I) and quadrature (Q) data. The data is stored in a dual-port random access memory (RAM), providing register interface addresses for the programmable logic (PL). Basic signal generation parameters (such as frequency range and scan period) are configured via a host computer interface and synchronized to the processing module via a communication interface.

[0040] The signal transmission delay of the hardware RF link (such as the antenna and cable) is measured experimentally, and the measured delay parameters are directly written to the fixed storage area of ​​the processing module. This parameter is only related to the physical characteristics of the hardware and does not support dynamic configuration by the host computer.

[0041] For example, the system master control program uses a state machine mechanism to control the main process of the hardware system, including monitoring the interface link status with the host computer and the PL, and executing single-target ranging loops and multi-target ranging loops. The state machine defines the switching conditions and execution logic for each process stage (such as initialization, ranging, and result return).

[0042] Host computer interface module: configured to realize communication interaction with the host computer, including device registration, parameter return and data transmission control.

[0043] Exemplarily, the device registration process includes:

[0044] After the main base station is powered on, it automatically sends registration information to the host computer, transmits it through the designated interface and waits for a configuration response; if no confirmation message is received within a preset time (such as 100 milliseconds), it will retry indefinitely until it succeeds.

[0045] After the mobile tag is turned on, it sends registration information to the main base station through the system main frequency. The main base station forwards it to the host computer and waits for confirmation. At the same time, it establishes a list of registered target IDs locally for subsequent ranging.

[0046] The slave base station first registers with the master base station, which then forwards the information to the host computer. The retry mechanism is also used to ensure successful registration.

[0047] In the specific implementation process, Figure 1 and Figure 2 As shown in Figure 1, the hardware architecture of the mobile tag and the master base station is exactly the same. After the tag is powered on, it automatically sends a registration message to the master base station. The master base station confirms the message and carries the host computer configuration parameters, completing the tag system initialization.

[0048] System initialization: Generates a Chirp reference signal and stores I and Q data, providing an interface address for the PL; writes hardware RF delay parameters (same as the base station initialization process).

[0049] Passive ranging process:

[0050] The Tag enters the wireless link monitoring state. After receiving the ranging information from the base station, it triggers the PL to extract the signal arrival time, sends a confirmation message to the base station, and initiates the second ranging.

[0051] After receiving confirmation from the base station, the PL is triggered again to extract the arrival time, and the ranging result is sent back to the base station. After waiting for confirmation of successful reception, the next ranging cycle is entered (continue monitoring the link).

[0052] In one possible scenario, a mobile tag (Tag) is a device carried by the user and is a passive ranging and positioning device entity. The Tag's system operation status is passively triggered by external events, and the Tag itself does not actively trigger any ranging-related logic processes. When the Tag is carried on the user, static electricity (or lightning) on ​​the human body may cause ranging data errors. To address this technical issue, in one possible implementation:

[0053] After receiving a ranging command from a base station, the tag automatically samples the power supply voltage (and current). If the detected voltage (and current) fluctuation exceeds a threshold (e.g., ±10%), the tag does not initiate an active operation. Instead, it appends an electrostatic error code (e.g., 0x0F) to the base station's confirmation frame, passively notifying the base station of the interference. This also triggers a reset of the tag's internal software. After the reset, the first time the tag receives a command from the base station, it will again include an interference report in its response frame for the base station to record.

[0054] When the base station receives an electrostatic error frame from the tag, it actively sends a parameter verification command. After passively receiving the command, the tag reads the hardware delay parameters, calculates the checksum, and transmits it back to the base station for comparison. If the parameter verification fails, the tag passively receives the backup parameters sent by the base station and writes them to the backup storage area without actively modifying the original parameters. If the base station sends a "reduce transmit power" command after electrostatic interference, the tag passively adjusts the RF transmit power to reduce the risk of electrostatic coupling.

[0055] In another possible scenario, a mobile tag (Tag) is a device carried by the user and is a passive ranging and positioning device entity. The tag's system operation status is passively triggered by external events, and the tag itself does not actively trigger any ranging-related logic processes. If the tag carried by the user is in an industrial environment, electromagnetic interference may cause signal reception distortion. To solve this technical problem, in one possible implementation:

[0056] After the tag receives the ranging command from the base station, the PL module performs a low-level frame check on the received signal. If the check fails multiple times (for example, five times) or the error rate exceeds a preset threshold (for example, 20%), the tag's main program module records the interference status.

[0057] When the base station sends a "status query command", the Tag adds an interference tag to the response frame, for example:

[0058] If the error rate exceeds a preset threshold (e.g., 20%), it is marked as “moderate interference”;

[0059] If the verification fails multiple times in a row (for example, 5 times), it is marked as "heavy interference".

[0060] Considering the presence of strong narrowband interference sources (such as harmonics from industrial equipment) within electromagnetic interference, the base station proactively sends a "temporary frequency adjustment command" (e.g., adjusting the signal carrier frequency range from 2.4-2.5 GHz to 2.3-2.4 GHz) based on the interference signature transmitted back by the tag. After the tag passively receives the command, the tag's main program module updates the linear frequency modulation spread spectrum signal generation parameters and configures the signal generation circuit of the PL module through the register interface. The tag's ranging logic control module then generates a matched filter based on the new signal carrier frequency range.

[0061] If the interference is not alleviated after the temporary frequency adjustment (for example, multiple verification failures still occur or the error rate exceeds the preset threshold), the base station sends the "power increase by 10dBm" command again, and the tag passively increases the chirp signal transmission power from -10dBm to 0dBm to enhance the signal's anti-interference capability.

[0062] In a possible implementation manner, the host computer interface module is further configured to transmit the manually measured base station angle parameters and the automatically tested base station spacing parameters back to the host computer for coordinate calculation.

[0063] For example, the angle between base stations is measured manually, and the system automatically tests the distance between each base station and transmits the data back to the host computer for calculating the base station coordinates. After the main base station initiates the ranging, the ranging data of each base station is collected and summarized, packaged and transmitted back to the host computer, and waits for confirmation to ensure the reliability of data transmission.

[0064] Frame filling and frame parsing module: configured to complete application layer processing of frame data according to system communication specifications, including frame format filling and underlying data parsing.

[0065] For example, in a specific implementation, according to the system communication specification, the main program module padded the message frame format, processing only the application layer data (such as ranging instructions and target ID). The PL module completed the underlying frame synchronization and verification, and the padded frame was sent to the PL through the interface. The PL module monitored the underlying data frames returned by the PL, parsed the application layer information according to the frame format, and passed the results to the main control module, driving the state machine switching and subsequent logic processing.

[0066] Ranging logic control module: configured to coordinate the ranging process interaction between the processing module and the programmable logic module.

[0067] The linear frequency modulation spread spectrum reference signal generated by the main program module includes a signal frequency range, a chirp period and a sampling rate. The linear frequency modulation spread spectrum reference signal is used to drive the ranging logic control module to execute an arrival time extraction algorithm.

[0068] In one possible implementation, the ranging logic control module is further configured to: generate a matched filter based on the frequency range of the linear frequency modulation spread spectrum reference signal, perform a correlation operation on the received signal, and determine the signal peak position according to the sampling rate, thereby calculating the signal arrival time.

[0069] The second embodiment provides a processing method of an indoor positioning hardware processing module, which uses the above-mentioned indoor positioning hardware processing module, such as Figure 3 As shown, the following steps are included:

[0070] Step 1: The main program module generates a linear frequency modulation spread spectrum reference signal and stores the in-phase and quadrature data, which is called by the programmable logic module through the register interface address; the linear frequency modulation spread spectrum reference signal is synchronously configured from the host computer by the host computer interface module, and the linear frequency modulation spread spectrum reference signal includes the signal frequency range, chirp period and sampling rate.

[0071] In one possible implementation, the hardware RF delay parameters in step 1 are configured as read-only after being written, prohibiting write operations through the host computer interface module; and the generation parameters of the linear frequency modulation spread spectrum signal are synchronized with the real-time data of the host computer through the host computer interface module.

[0072] In a possible implementation, the main program module writes experimentally measured hardware radio frequency delay parameters into a fixed storage, where the radio frequency delay parameters are used to correct signal propagation time errors.

[0073] After being written, the hardware radio frequency delay parameters are configured as read-only state, prohibiting write operations through the host computer interface module; the generation parameters of the linear frequency modulation spread spectrum signal are kept synchronized with the real-time data of the host computer through the host computer interface module.

[0074] Specifically, by dynamically synchronizing the linear frequency modulation spread spectrum signal parameters (frequency range, chirp period, etc.), the signal characteristics are adapted to different scenarios (such as indoor space size, multipath effect), ensuring the environmental adaptability of the ranging signal; the hardware delay parameters are solidified in a read-only state to prevent accidental modification during runtime and ensure the stability of the ranging benchmark.

[0075] Step 2: The host computer interface module sends registration information to the host computer, and continues to retry if no configuration response is received; after the mobile tag and the slave base station are powered on, they send registration information to the master base station through the host computer interface module. The master base station forwards the registration data to the host computer and waits for confirmation, and at the same time establishes a registration target ID list locally in the main program module.

[0076] Specifically, the retry mechanism of the full device registration process realizes the automated deployment of "network access as soon as the device is turned on", reducing the workload of manual configuration; the main base station locally establishes a list of registered target IDs to provide an index for subsequent multi-target ranging to avoid missing targets.

[0077] Step 3: The frame filling and frame parsing module completes the application layer data frame filling according to the system communication specification and sends it to the programmable logic module for underlying synchronization verification; after receiving the underlying data frame returned by the programmable logic module, it parses the frame content and outputs it to the main program module to drive the main control process state switching.

[0078] In a possible implementation, the frame filling and frame parsing module in step 3 is configured to:

[0079] Complete the encapsulation and parsing of application layer data segments based on the preset frame format specifications;

[0080] Through the interface with the programmable logic module, the application layer data is transmitted to the programmable logic module for bottom layer frame synchronization verification;

[0081] Receive the verification result returned by the programmable logic module, parse the application layer data segment and generate status indication information.

[0082] Specifically, the application layer frame encapsulation is separated from the underlying verification, which not only ensures the standardization of the data format, but also utilizes the parallel processing capabilities of PL to accelerate frame verification and improve data transmission efficiency; the analysis results drive the state machine to realize the linkage between process control and data processing, avoiding logical faults.

[0083] Step 4: The main program module initiates a total ranging cycle through a token mechanism: Under token authorization, the master base station and the slave base station perform ranging on the target based on the linear frequency modulation spread spectrum reference signal generated in step 1. The slave base station transmits the results back to the master base station for aggregation; after parsing the frame data type, the ranging logic control module sends an instruction to the programmable logic module to trigger arrival time extraction. The arrival time extraction performs signal feature matching based on the signal frequency range and sampling rate parameters configured in step 1.

[0084] The token mechanism ensures the ranging timing synchronization between the master base station and the slave base station, avoiding signal interference caused by concurrent ranging of multiple base stations; the arrival time extraction based on signal parameters (such as matched filtering and peak detection) enables deep coupling of the ranging algorithm with signal characteristics, thereby improving the time measurement accuracy.

[0085] Step 5: The host computer interface module packages the ranging results summarized by the main base station and transmits them back to the host computer. If no confirmation is obtained, a retry mechanism is started until the reception is successful.

[0086] In a possible implementation, the registration retry mechanism of the host computer interface module in step 2 is: when no confirmation message from the host computer is received within a preset time period, the registration request is automatically resent until it succeeds.

[0087] Specifically, the confirmation and retry mechanism of the ranging results ensures that the data is delivered to the host computer, avoiding the loss of results due to network fluctuations; the main base station aggregates the data and transmits it back in a unified manner, reducing the receiving pressure on the host computer and improving the overall throughput of the system.

[0088] The above-described embodiments merely represent specific implementations of the present invention. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art would be able to make numerous variations and improvements without departing from the spirit of the present invention, and all such variations and improvements fall within the scope of protection of the present invention.

Claims

1. An indoor positioning hardware processing module, characterized in that: The processing module is deployed in an indoor positioning system, which includes a processing module, a programmable logic module and a host computer; the processing module includes: A main program module configured to generate a linear frequency modulation spread spectrum reference signal and store in-phase and quadrature data, provide register interface addresses for the programmable logic module to call, and perform system initialization and main control process logic control; A host computer interface module, which is configured to implement communication interaction with the host computer, including device registration, parameter return and data transmission control; A frame filling and frame parsing module, wherein the frame filling and frame parsing module is configured to complete application layer processing of frame data according to system communication specifications, including frame format filling and underlying data parsing; a ranging logic control module, wherein the ranging logic control module is configured to interact with the ranging process of the programmable logic module; The linear frequency modulation spread spectrum reference signal generated by the main program module includes a signal frequency range, a chirp period and a sampling rate. The linear frequency modulation spread spectrum reference signal is used to drive the ranging logic control module to execute an arrival time extraction algorithm.

2. The indoor positioning hardware processing module according to claim 1, characterized in that: The main program module is further configured to write experimentally measured hardware radio frequency delay parameters into a fixed storage, wherein the radio frequency delay parameters are used to correct signal propagation time errors.

3. The indoor positioning hardware processing module according to claim 1, characterized in that: The host computer interface module is further configured to transmit the manually measured base station angle parameters and the automatically tested base station spacing parameters back to the host computer for coordinate calculation.

4. The indoor positioning hardware processing module according to claim 1, characterized in that: The ranging logic control module is further configured to generate a matched filter based on the frequency range of the linear frequency modulation spread spectrum reference signal, perform a correlation operation on the received signal, and determine the signal peak position according to the sampling rate to calculate the signal arrival time.

5. A processing method for an indoor positioning hardware processing module, characterized in that: The indoor positioning hardware processing module according to any one of claims 1 to 4 comprises the following steps: Step 1: The main program module generates a linear frequency modulation spread spectrum reference signal and stores the in-phase and quadrature data, which are then called by the programmable logic module through the register interface address; the linear frequency modulation spread spectrum reference signal is synchronously configured from the host computer by the host computer interface module, and the linear frequency modulation spread spectrum reference signal includes the signal frequency range, chirp period and sampling rate; Step 2: The host computer interface module sends registration information to the host computer, and continues to retry if no configuration response is received; after the mobile tag and the slave base station are powered on, they send registration information to the master base station through the host computer interface module. The master base station forwards the registration data to the host computer and waits for confirmation, while establishing a registration target ID list locally in the main program module; Step 3: The frame filling and frame parsing module completes the application layer data frame filling according to the system communication specification and sends it to the programmable logic module for underlying synchronization verification. After receiving the underlying data frame returned by the programmable logic module, it parses the frame content and outputs it to the main program module to drive the main control process state switching. Step 4: The main program module initiates a total ranging cycle through a token mechanism. Under token authorization, the master and slave base stations perform ranging on the target based on the chirp spread spectrum reference signal generated in step 1. The slave base station transmits the results back to the master base station for aggregation. After parsing the frame data type, the ranging logic control module sends a command to the programmable logic module to trigger arrival time extraction. This arrival time extraction performs signal feature matching based on the signal frequency range and sampling rate parameters configured in step 1. Step 5: The host computer interface module packages the ranging results summarized by the main base station and transmits them back to the host computer. If no confirmation is obtained, a retry mechanism is started until the reception is successful.

6. The processing method of the indoor positioning hardware processing module according to claim 5, characterized in that: The main program module writes the experimentally measured hardware radio frequency delay parameters into a fixed storage, wherein the radio frequency delay parameters are used to correct the signal propagation time error; After being written, the hardware radio frequency delay parameters are configured as read-only state, prohibiting write operations through the host computer interface module; the generation parameters of the linear frequency modulation spread spectrum signal are kept synchronized with the real-time data of the host computer through the host computer interface module.

7. The processing method of the indoor positioning hardware processing module according to claim 5, characterized in that: The frame filling and frame parsing module in step 3 is configured as follows: Complete the encapsulation and parsing of application layer data segments based on the preset frame format specifications; Through the interface with the programmable logic module, the application layer data is transmitted to the programmable logic module for bottom layer frame synchronization verification; Receive the verification result returned by the programmable logic module, parse the application layer data segment and generate status indication information.

8. The processing method of the indoor positioning hardware processing module according to claim 5, characterized in that: The registration retry mechanism of the host computer interface module in step 2 is: when no confirmation message from the host computer is received within a preset time period, the registration request is automatically resent until it succeeds.

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