AOA seven-array antenna positioning device based on UWB

Abstract

The invention discloses a UWB-based AOA seven-array antenna positioning device, and relates to the technical field of UWB wireless positioning, the UWB-based AOA seven-array antenna positioning device comprises a lower base, a network power line, an upper cover protective cover, an antenna calibration board, a plurality of AOA antennas, a TOF antenna and an algorithm module, and further comprises an MCU algorithm processing module, a UWB positioning chip module, a power module and a network communication module. According to the technical scheme of the invention, in combination with the cooperative work of seven antennas, signals can be received and transmitted more effectively, and the coverage range of the signals is expanded, so that the base station can effectively suppress the influence of interference on a positioning result through comprehensive analysis of various positioning information when facing the interference of a complex electromagnetic environment, a multipath effect and the like; angle information measured by AOA and distance information measured by TOF are fused, through accurate calculation of a built-in algorithm module, the position coordinates of a target are determined more accurately, and compared with a traditional base station, the positioning precision is greatly improved.

Description

TECHNICAL FIELD

[0001] The application relates to the field of UWB wireless positioning technology, in particular to an AOA seven-array antenna positioning device based on UWB. BACKGROUND

[0002] In the existing UWB (AOA) wireless positioning device, whether it is a 3-antenna or a 6-antenna array base station, the angle information of the target is mainly determined by measuring the phase difference of the target signal arriving at the antenna array of the base station. In a complex environment, this type of base station has defects such as easy to be interfered by multipath, fast precision attenuation at long distance, poor penetration ability, short coverage distance and the like;

[0003] In the existing UWB (TOF) wireless positioning device, the distance is calculated by measuring the round-trip time of the target signal between the base station and the target. This type of base station has good penetration and multipath anti-interference ability, but the single-antenna design cannot provide the target direction information, and the single-base station cannot realize the spatial accurate positioning, and needs to be used in cascade with multiple base stations, and requires that the system has a high-precision time synchronization function;

[0004] Therefore, the UWB positioning base station in the prior art has defects in angle measurement or limitations in distance measurement and positioning implementation, and cannot simultaneously meet the requirements of high precision, long distance, anti-interference and single-base station positioning. Therefore, there is an urgent need for an AOA seven-array antenna positioning device based on UWB which can overcome the defects of the prior art. Therefore, the application provides an AOA seven-array antenna positioning device based on UWB. SUMMARY

[0005] In view of the deficiencies of the prior art, the application provides an AOA seven-array antenna positioning device based on UWB, which solves the problems raised in the background art.

[0006] To achieve the above purpose, the application is implemented by the following technical scheme: an AOA seven-array antenna positioning device based on UWB, comprising a lower base and a network power line connected to the lower base, and an upper cover protection cover mounted on the top of the lower base, and further comprising:

[0007] An antenna calibration plate is installed on the upper end of the lower base and is used for rigidly connecting AOA antennas and TOF antennas;

[0008] A plurality of AOA antennas are arrayed on the antenna calibration plate and are used for obtaining target angle information by measuring the phase difference of the signal arriving at each antenna;

[0009] A TOF antenna is installed on the antenna calibration plate and is located at the geometric center of the six AOA antennas, and is used for obtaining target distance information by measuring the signal flight time;

[0010] An algorithm module is used for fusing the angle information obtained by the six AOA antennas and the distance information obtained by the TOF antenna to obtain the three-dimensional coordinates of the target.

[0011] As a further technical scheme of the present application, the six AOA antennas are distributed in a hexagonal or circular shape on the antenna calibration board.

[0012] As a further technical scheme of the present application, the antenna calibration board is provided with a three-dimensional positioning pin fixing structure to ensure that the installation level tolerance is ≤±0.1mm.

[0013] As a further technical scheme of the present application, the antenna calibration board adopts a ceramic substrate material, and the coefficient of thermal expansion CTE is ≤8ppm / ℃.

[0014] As a further technical scheme of the present application, the upper cover protection cover is a polycarbonate hemispherical radar cover with a wave transmittance >95%;

[0015] The lower base is an aluminum alloy heat dissipation shell with a thermal conductivity ≥200W / m·K;

[0016] The upper cover protection cover is arranged outside the AOA antenna and the TOF antenna and is fixed on the lower base.

[0017] As a further technical scheme of the present application, the inside of the upper cover protection cover is also provided with a limiting plate for limiting the AOA antenna and the TOF antenna, a limiting hole is formed in the limiting plate corresponding to each of the AOA antenna and the TOF antenna, and the limiting plate is made of the same material as the antenna calibration board.

[0018] As a further technical scheme of the present application, the algorithm module adopts an AOA+TOF fusion positioning algorithm.

[0019] As a further technical scheme of the present application, it further comprises an MCU algorithm processing module, a UWB positioning chip module, a power module and a network communication module installed in the lower base.

[0020] The MCU algorithm processing module is used for running the algorithm module and controlling each functional module.

[0021] The UWB positioning chip module is used for amplifying, filtering and demodulating the signals received by the antenna.

[0022] The power module is used for providing stable voltage for each functional module.

[0023] The network communication module is used for realizing the communication between the positioning device and the external network.

[0024] The present application provides an AOA seven-array antenna positioning device based on UWB, which has the following advantages compared with the prior art:

[0025] 1、The UWB-based AOA seven-array antenna positioning device of the design arranges the TOF antenna at the geometric center of the six array AOA antennas, and utilizes the AOA+TOF fusion positioning algorithm technology, so that signals can be more effectively received and transmitted, the coverage range of the signals is expanded, the coverage distance of the base station is improved, and the fusion of the AOA and TOF technologies enables the base station to effectively suppress the influence of interference on the positioning result through comprehensive analysis of various positioning information when facing complex electromagnetic environments and multipath effects and the like, and the anti-interference capability is improved.

[0026] 2、The UWB-based AOA seven-array antenna positioning device of the design adopts the design of seven miniaturized omnidirectional antennas, and especially the advantages of the seventh TOF antenna in the middle in distance measurement, so that the signal can more accurately obtain distance information when penetrating obstacles, the error in the signal penetration process is reduced, and the penetration of the base station is improved.

[0027] 3、The UWB-based AOA seven-array antenna positioning device of the design fuses the angle information measured by the AOA and the distance information measured by the TOF, and through accurate calculation of the built-in algorithm module, the position coordinates of the target can be more accurately determined, the positioning precision is greatly improved compared with the traditional base station, and the demand for high-precision positioning in the fields of the Internet of Things, intelligent transportation and the like can be met. BRIEF DESCRIPTION OF DRAWINGS

[0028] Figure 1 is a structural schematic view of the present application;

[0029] Figure 2 is an exploded schematic view of the present application;

[0030] Figure 3 is a top view of the seven antennas on the antenna calibration plate in the present application;

[0031] Figure 4 is a structural schematic view of the seven antennas and the antenna calibration plate in the present application;

[0032] Figure 5 is a structural schematic view of the seven antennas, the antenna calibration plate and the limiting plate in the present application;

[0033] Figure 6 is a flow chart of the core algorithm in the present application.

[0034] In the figure: 1, lower base; 2, upper cover protection cover; 3, network power cord; 4, AOA antenna; 5, TOF antenna; 6, antenna calibration plate; 7, limiting plate; DETAILED DESCRIPTION

[0035] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0036] Please refer to Figures 1-6 The application provides a UWB-based AOA seven-array antenna positioning device technical scheme, which comprises a lower base 1 and a network power line 3 connected to the lower base 1. The network power line 3 is integrated with a POE power supply and a gigabit Ethernet interface, penetrates through the side wall of the lower base 1, and has power supply and data transmission functions. On one hand, the network power line 3 provides stable power supply for various functional modules inside the base station (i.e., the antenna positioning device), and on the other hand, the network power line 3 realizes data interaction between the base station and external equipment, and transmits positioning data to a terminal device or a server. An upper cover protection cover 2 is also installed on the top of the lower base 1. The upper cover protection cover 2 covers the outside of AOA antennas 4 and TOF antennas 5 and is fixed on the lower base 1, and is used for protecting the internal antennas, preventing the antennas from being physically damaged, dust polluted and affected by bad weather, and ensuring that the antennas can work normally. In addition, the upper cover protection cover 2 is a polycarbonate hemispherical radome with a wave transmittance > 95%, which can reduce the penetration loss while being simple and beautiful. The installation between the upper cover protection cover 2 and the lower base 1 can adopt a buckle connection mode or a bolt fixing mode, and a waterproof sealing ring is added at the connection position.

[0037] The lower base 1 is an aluminum alloy heat dissipation shell, which is used for fixing internal circuit boards and providing stable mounting platforms for the circuit boards to ensure the normal operation of various electronic components on the circuit boards. In addition, the thermal conductivity of the lower base 1 is ≥200 W / m·K. In addition, a limiting plate 7 for limiting the AOA antennas 4 and the TOF antennas 5 is installed inside the upper cover protection cover 2. Limiting holes are formed in the limiting plate 7 corresponding to the positions of the AOA antennas 4 and the TOF antennas 5. The limiting plate 7 and the antenna calibration plate 6 are made of the same material.

[0038] The antenna calibration plate 6 is installed on the upper end of the lower base 1 and is used for rigidly connecting the AOA antennas 4 and the TOF antennas 5, which facilitates the fixation of the seven antenna arrays (i.e., six AOA antennas 4 and one TOF antenna 5) and prevents the antennas from shaking and deforming during use, thereby ensuring the stable performance of the antennas and avoiding the influence of the positioning effect caused by the change of the antenna position. In addition, the antenna calibration plate 6 is made of a ceramic substrate material, and the dielectric constant εr of the ceramic substrate material is 9.8. Considering the temperature change, the thermal expansion coefficient of the antenna calibration plate 6 is designed to be CTE≤8ppm / ℃, which is used to suppress the temperature drift deformation. In addition, the antenna calibration plate 6 is provided with a three-dimensional positioning pin fixing structure to ensure that the installation horizontal tolerance is ≤±0.1mm.

[0039] A plurality of AOA antennas 4 are arranged on the antenna calibration board 6 to obtain the angle information of the target by measuring the phase difference of the signal arriving at each antenna, and the TOF antenna 5 is arranged on the antenna calibration board 6 and located at the geometric center of the six AOA antennas 4 to obtain the distance information of the target by measuring the time of flight of the signal, the six AOA antennas 4 are distributed in a hexagonal or circular shape on the antenna calibration board 6, and the six AOA antennas 4 are arranged in a circular or hexagonal array to form a 6-element array for phase angle measurement, and the angle information of the target is obtained by accurately calculating the phase difference of the signal arriving at each antenna. And a seventh antenna (i.e. the TOF antenna 5) is added in the middle of the six circular array AOA antennas 4, which is specially used for distance measurement, and the distance between the target and the base station is calculated by measuring the time of flight of the signal between the base station and the target, wherein the six AOA antennas 4 are distributed at equal intervals according to a hexagonal array (radius = λ / 2, λ is the wavelength of the UWB frequency band), and the seventh TOF antenna 5 is arranged in the center. The hexagonal layout can cover 360° azimuth, and the radius is optimized to λ / 2 to balance the spatial resolution and phase ambiguity problem;

[0040] It also includes an algorithm module for fusion processing of the angle information obtained by the six AOA antennas 4 and the distance information obtained by the TOF antenna 5 to obtain the three-dimensional coordinates of the target, and the algorithm module adopts an AOA+TOF fusion positioning algorithm, and the specific core algorithm steps are as follows:

[0041] S1, parallel processing of the original signals collected by the seven antennas;

[0042] S2, TOF ranging is performed by the seventh antenna to obtain the distance information of the target and the base station;

[0043] S3, phase difference solution is performed on the signals of the 6-element array to obtain the AOA azimuth angle and the pitch angle;

[0044] S4, filtering and noise reduction processing is performed on the above angle and distance information;

[0045] S5, comprehensive analysis and calculation are performed on the processed information by using the fusion positioning algorithm;

[0046] S6, output the three-dimensional coordinates of the target.

[0047] Further, the positioning device further includes an MCU algorithm processing module, a UWB positioning chip module, a power module and a network communication module installed in the lower base 1:

[0048] The MCU algorithm processing module is used to run the algorithm module and control each functional module, and can adopt an STM32H7 series to run the fusion positioning algorithm;

[0049] The UWB positioning chip module is used for amplifying, filtering and demodulating the signal received by the antenna, which can adopt but is not limited to Decawave DW3000 series, and supports 6-channel AOA phase difference measurement + 1-channel TOF two-way ranging;

[0050] The power module is used for providing stable voltage for each functional module;

[0051] The network communication module is used for realizing the communication between the positioning device and an external network, and can adopt but is not limited to W5500 Ethernet controller, and supports UDP / TCP protocol to transmit positioning data.

[0052] The working principle of the present application is as follows: when the target emits a UWB signal, six AOA antennas 4 receive the signal, the phase difference of the signal arriving at each antenna is calculated to obtain the angle information of the target; at the same time, a TOF antenna 5 in the middle receives the signal, and the distance information between the target and the base station is calculated by measuring the time of flight of the signal;

[0053] Then, the signal is first amplified, filtered, demodulated and the like by the UWB positioning chip module, and then transmitted to the MCU algorithm processing module, and then the fusion algorithm is run by the MCU algorithm processing module, so as to comprehensively process the angle information and the distance information, wherein the influence of factors such as filtering noise reduction and multipath interference is removed, and then the three-dimensional coordinates of the target are calculated by the fusion positioning algorithm;

[0054] Further, in the use process, the power module is powered by the network power line 3, converts the input electric energy into stable voltage required by each functional module, and ensures the normal work of each module, and then the network communication module transmits the calculated positioning data to an external terminal device or a server, and receives external control instructions at the same time, so as to realize remote control and management of the base station.

[0055] In addition, the seven antennas can be protected by the upper cover protection cover 2, the influence of the external environment on the antennas is reduced, the signal transmission quality can also be ensured by the high wave permeability, and the three-dimensional positioning pin fixing structure can inhibit the deformation caused by temperature change by the ceramic substrate material and the specific thermal expansion coefficient design, so as to ensure the stability of the position of the seven antennas, and thus ensure the accuracy of the phase measurement and improve the positioning stability.

[0056] The above is only the preferred embodiment of the present application, and it should be pointed out that for ordinary skilled persons in the art, some improvements and refinements can be made without departing from the principle of the present application, and these improvements and refinements should also be regarded as the protection range of the present application. The structures, devices and operation methods not specifically described and explained in the present application, such as no special description and limitation, are implemented according to the conventional means in the art.

Claims

1. A UWB-based AOA seven-array antenna positioning device, comprising a lower base (1) and a network power line (3) connected to the lower base (1), wherein a top cover protective cover (2) is further installed on the top of the lower base (1), characterized in that: Also includes: An antenna calibration plate (6) is mounted on the upper end of the lower base (1) and is used to rigidly connect the AOA antenna (4) and the TOF antenna (5); A plurality of the AOA antennas (4) are arrayed and mounted on the antenna calibration board (6), and are used to obtain target angle information by measuring the phase difference of signals reaching each antenna; A TOF antenna (5) is mounted on the antenna calibration board (6) and is located at the geometric center of the six AOA antennas (4), and is used to obtain target distance information by measuring signal flight time; The algorithm module is used for fusing and processing the angle information obtained by the six AOA antennas (4) and the distance information obtained by the TOF antenna (5) to obtain the three-dimensional coordinates of the target.

2. The UWB-based AOA seven-array antenna positioning device according to claim 1, characterized in that: The six AOA antennas (4) are distributed on the antenna calibration plate (6) in a hexagonal or circular shape.

3. The UWB-based AOA seven-array antenna positioning device according to claim 1, characterized in that: The antenna calibration plate (6) is provided with a three-dimensional positioning pin fixing structure to ensure that the installation levelness tolerance is ≤±0.1mm.

4. The UWB-based AOA seven-array antenna positioning device according to claim 1, characterized in that: The antenna calibration plate (6) is made of a ceramic substrate material, and has a thermal expansion coefficient CTE of ≤8ppm / °C.

5. The UWB-based AOA seven-array antenna positioning device according to claim 1, characterized in that: The upper protective cover (2) is a polycarbonate hemispherical radar cover with a wave transmittance greater than 95%; The lower base (1) is an aluminum alloy heat dissipation shell, and its thermal conductivity is ≥200W / m·K; The upper cover protective cover (2) is arranged outside the AOA antenna (4) and the TOF antenna (5) and is fixed on the lower base (1).

6. The UWB-based AOA seven-array antenna positioning device according to claim 1, characterized in that: A limiting plate (7) for limiting the AOA antenna (4) and the TOF antenna (5) is also installed inside the upper cover protective cover (2). Limiting holes are provided on the limiting plate (7) corresponding to a plurality of the AOA antennas (4) and the TOF antennas (5). The limiting plate (7) is made of the same material as the antenna calibration plate (6).

7. The UWB-based AOA seven-array antenna positioning device according to claim 1, characterized in that: The algorithm module adopts AOA+TOF fusion positioning algorithm.

8. The UWB-based AOA seven-array antenna positioning device according to claim 1, characterized in that: It also includes an MCU algorithm processing module, a UWB positioning chip module, a power module and a network communication module installed in the lower base (1): The MCU algorithm processing module is used to run the algorithm module and control each functional module; The UWB positioning chip module is used to amplify, filter and demodulate the signal received by the antenna; The power supply module is used to provide stable voltage for each functional module; The network communication module is used to realize communication between the positioning device and the external network.

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