UWB positioning device based on six-unit array antenna

Abstract

The invention discloses a UWB positioning device based on a six-unit array antenna, and relates to the technical field of wireless positioning, the UWB positioning device comprises a lower base, an antenna calibration plate, six miniaturized omnidirectional antennas and an upper cover protective cover, the lower base is connected with a network power line; the lower base is internally provided with an MCU algorithm processing module, a UWB positioning chip module, a power supply module and a network communication module, according to the design, through innovative antenna layout, an optimized signal processing algorithm and a built-in antenna calibration board, the problems that in the prior art, the deployment cost of multiple base stations is high, the positioning precision of a single base station is low, and the anti-interference capability is weak are solved; the single-base-station high-precision two-dimensional or three-dimensional positioning method is suitable for indoor and outdoor high-precision positioning scenes, and has the advantages of high positioning precision, strong anti-interference capability, long coverage distance and the like.

Description

Technical Field

[0001] This invention relates to the field of wireless positioning technology, specifically to a UWB positioning device based on a six-element array antenna. Background Technology

[0002] With the development of the Internet of Things (IoT) and location-based services (LBS), the demand for high-precision, low-cost positioning technologies is increasing. However, existing UWB positioning technologies have many shortcomings:

[0003] (1) Single-antenna TOF / TDOA base station: It can only measure distance and cannot determine direction. It must rely on multiple base stations, which is costly and complex to deploy.

[0004] (2) PDOA base station: It uses two antennas to perform phase difference ranging and angle estimation. The accuracy is limited, the antenna spacing requirement is high, and multiple base stations are usually still required.

[0005] (3) 3-antenna AOA base station: Compared with dual-antenna PDOA, the accuracy is improved, but the number of antennas is small, resulting in limited angular resolution, insufficient anti-multipath interference capability and measurement stability. A single base station usually cannot achieve reliable positioning.

[0006] Existing technologies mainly suffer from problems such as high system deployment costs (requiring multiple base stations), weak or absent positioning capabilities of a single base station, limited positioning accuracy (especially in complex multipath environments), insufficient anti-interference capabilities, penetration performance affecting positioning stability, and antenna structure being susceptible to environmental factors (such as temperature and vibration) leading to performance drift.

[0007] Therefore, the present invention provides a UWB positioning device based on a six-element array antenna. Summary of the Invention

[0008] To address the shortcomings of existing technologies, this invention provides a UWB positioning device based on a six-element array antenna, which solves the problems mentioned in the background.

[0009] To achieve the above objectives, the present invention provides the following technical solution: a UWB positioning device based on a six-element array antenna, comprising a lower base, and further comprising:

[0010] An antenna calibration plate is mounted on the lower base for rigidly fixing the miniaturized omnidirectional antenna.

[0011] Six miniaturized omnidirectional antennas are mounted on the antenna calibration board via welding or a precision connector array for phase angle and distance measurements.

[0012] The upper cover protective cover is set on the lower base and is used to protect the six miniaturized omnidirectional antennas.

[0013] The lower base is connected to a network power cable, and the lower base has a built-in MCU algorithm processing module, UWB positioning chip module, power module and network communication module.

[0014] As a further technical solution of the present invention, the included angle between each two adjacent miniaturized omnidirectional antennas is sixty degrees, and they are distributed in a circular or hexagonal shape on the antenna calibration plate.

[0015] The six miniaturized omnidirectional antennas form a six-antenna array, which is used to accurately calculate the angle of arrival of the signal by utilizing the phase difference between the received signals of different antennas, and at the same time, it combines the inherent time-of-flight measurement capability of UWB signals to calculate the distance.

[0016] As a further technical solution of the present invention, the circumferential radius of the six miniaturized omnidirectional antennas is designed according to the UWB center frequency and is 1 / 2 of the wavelength of the UWB band.

[0017] As a further technical solution of the present invention, the upper cover protective cover is connected to the lower base by a snap-on or bolt-fixed method, and the upper cover protective cover is a polycarbonate hexagonal radar dome with a transmittance of >95%.

[0018] As a further technical solution of the present invention, the lower base adopts an aluminum alloy heat dissipation shell with a thermal conductivity ≥200W / m·K.

[0019] As a further technical solution of the present invention, the MCU algorithm processing module is responsible for running the positioning algorithm, specifically including AOA phase difference calculation, distance measurement, data fusion, filtering algorithm, multipath suppression algorithm, and is also responsible for system scheduling, data processing and communication with the host computer.

[0020] As a further technical solution of the present invention, the UWB positioning chip module integrates a standard-compliant UWB radio frequency transceiver for generating, transmitting and receiving UWB pulse signals, amplifying, filtering and demodulating the signals, and providing accurate timestamp information.

[0021] The multi-channel RF ports of the UWB positioning chip module are connected to the six miniaturized omnidirectional antennas via low-loss coaxial cables or microstrip lines.

[0022] As a further technical solution of the present invention, the power module is used to convert and distribute the electrical energy input from the network power line, and provide a stable and suitable voltage for various functional modules inside the base station;

[0023] The network communication module is responsible for communication between the base station and the external network, enabling remote transmission of positioning data and receiving of external control commands.

[0024] The MCU algorithm processing module, power supply module, and network communication module are interconnected via pin headers, connectors, or PCB traces.

[0025] As a further technical solution of the present invention, a positioning plate is also provided inside the upper cover protective cover, directly above the antenna calibration plate, for limiting the upper ends of the six miniaturized omnidirectional antennas to prevent shaking and deformation during use.

[0026] This invention provides a UWB positioning device based on a six-element array antenna. Compared with the prior art, it has the following advantages:

[0027] 1. A UWB positioning device based on a six-element array antenna provides a significantly higher number of phase difference measurement points and spatial sampling rate than three-antenna or dual-antenna schemes through the six-element antenna array. Combined with an advanced AOA algorithm, it significantly improves angular resolution and achieves positioning accuracy down to the centimeter level. Moreover, the additional antenna elements provide spatial diversity gain. Combined with array signal processing algorithms, it can more effectively suppress interference signals from non-target directions and false signals caused by multipath propagation, and performs more robustly in complex indoor environments.

[0028] 2. A UWB positioning device based on a six-element array antenna. UWB signals themselves have good penetration. The six-antenna design further improves the effective detection capability and ranging / angle measurement accuracy under non-line-of-sight (NLOS) or weak signal conditions through signal fusion.

[0029] 3. A UWB positioning device based on a six-element array antenna, the built-in rigid antenna calibration board fundamentally solves the antenna position drift problem, ensuring that the system maintains the high precision of the factory calibration under long-term operation and various environmental conditions, greatly reducing maintenance requirements, and the integrated design and single base station characteristics make installation and deployment extremely convenient.

[0030] 4. A UWB positioning device based on a six-element array antenna can determine the two-dimensional (direction + distance) or three-dimensional location information of the tag to be located with only a single base station, which greatly simplifies system deployment, reduces overall cost, and the optimized array gain and signal processing capabilities make the coverage of a single base station larger than that of traditional AOA / PDOA base stations. Attached Figure Description

[0031] Figure 1 This is a schematic diagram of a UWB positioning device based on a six-element array antenna.

[0032] Figure 2 This is a schematic diagram of the internal structure of a UWB positioning device based on a six-element array antenna.

[0033] Figure 3This is a disassembly diagram of a UWB positioning device based on a six-element array antenna;

[0034] Figure 4 This is a schematic diagram of a miniaturized omnidirectional antenna array on an antenna calibration board in a UWB positioning device based on a six-element array antenna.

[0035] In the diagram: 1. Lower base; 2. Upper cover protective cover; 3. Network power cable; 4. Antenna calibration board; 5. Miniaturized omnidirectional antenna. Detailed Implementation

[0036] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0037] Please see Figure 1-4 The present invention provides a technical solution for a UWB positioning device based on a six-element array antenna: a UWB positioning device based on a six-element array antenna includes a lower base 1, the lower base 1 is made of aluminum alloy heat dissipation shell with a thermal conductivity ≥200W / m·K, the lower base 1 is used to fix the internal circuit board, providing a stable installation platform for the circuit board and ensuring the normal operation of each electronic component on the circuit board.

[0038] It also includes an antenna calibration plate 4, which is mounted on the lower base 1 to rigidly fix the miniaturized omnidirectional antenna 5; six miniaturized omnidirectional antennas 5 are mounted on the antenna calibration plate 4 by welding or precision connector array for phase angle and distance measurement. The antenna calibration plate 4 is used to fix the six miniaturized omnidirectional antennas 5 to prevent them from shaking and deforming during use, thereby ensuring the stability of the antenna performance and avoiding the impact of antenna position changes on the positioning effect.

[0039] In addition, a positioning plate is provided inside the protective cover 2, directly above the antenna calibration plate 4, to limit the upper end of the six miniaturized omnidirectional antennas 5 and prevent them from shaking and deforming during use.

[0040] The included angle between any two adjacent miniaturized omnidirectional antennas 5 is 60 degrees, and they are distributed in a circular or hexagonal pattern on the antenna calibration plate 4. The circumference radius of the six miniaturized omnidirectional antennas 5 is designed according to the UWB center frequency and is 1 / 2 of the wavelength of the UWB band. The six miniaturized omnidirectional antennas 5 form a six-antenna array (i.e., a six-element array antenna), which is used to accurately calculate the angle of arrival (AOA) of the signal by utilizing the phase difference of the received signals between different antennas. At the same time, it combines the inherent time-of-flight measurement capability of the UWB signal to calculate the distance. That is, the AOA antennas (miniaturized omnidirectional antennas 5) are distributed at equal intervals in a hexagonal array (radius = λ / 2, where λ is the wavelength of the UWB band) to perform phase difference AOA measurement and distance measurement.

[0041] The upper cover 2, which is installed on the lower base 1, is used to protect the six miniaturized omnidirectional antennas 5. The upper cover 2 is connected to the lower base 1 by means of snap-fit ​​or bolt fixation. A waterproof sealing ring can also be added at the connection to improve its waterproof effect. The upper cover 2 is made of polycarbonate hexagonal radome with a wave transmittance of >95%. The upper cover 2 is used to protect the antenna inside, prevent the antenna from being affected by external physical damage, dust contamination and severe weather, and ensure that the antenna can work normally.

[0042] The lower base 1 is connected to a network power cable 3, which has both power supply and data transmission functions. On the one hand, it provides a stable power supply for the various functional modules inside the base station, and on the other hand, it enables data interaction between the base station and external devices, transmitting location data to terminal devices or servers.

[0043] Furthermore, the lower base 1 has a built-in MCU algorithm processing module, UWB positioning chip module, power supply module and network communication module. The MCU algorithm processing module, UWB positioning chip module, power supply module and network communication module can be integrated on a circuit board and the circuit board is fixed in the lower base 1. The MCU algorithm processing module is responsible for running the positioning algorithm, specifically including AOA phase difference calculation, distance measurement, data fusion, filtering algorithm, multipath suppression algorithm, and is also responsible for system scheduling, data processing and communication with the host computer.

[0044] Furthermore, the UWB positioning chip module integrates a standard-compliant UWB radio frequency transceiver for generating, transmitting, and receiving UWB pulse signals, amplifying, filtering, and demodulating the signals, and providing accurate timestamp information.

[0045] The multi-channel RF ports of the UWB positioning chip module are connected to six miniaturized omnidirectional antennas 5 via low-loss coaxial cables or microstrip lines to reduce signal loss during transmission.

[0046] The power module is used to convert and distribute the electrical energy input from the network power line 3, providing a stable and suitable voltage for the various functional modules inside the base station.

[0047] The network communication module is responsible for communication between the base station and the external network, enabling remote transmission of positioning data and reception of external control commands;

[0048] The MCU algorithm processing module, power supply module, and network communication module are electrically connected and transmit data to each other through pin headers, connectors, or PCB traces.

[0049] The working principle of this invention is as follows: When in use, the UWB positioning chip module generates a UWB pulse signal and sends it out through a six-element array antenna, while simultaneously receiving the UWB signal reflected or transmitted by the tag to be located.

[0050] Furthermore, the six-antenna array uses the phase difference between the received signals from different antennas to accurately calculate the angle of arrival (AOA) of the signal, while the UWB positioning chip module uses the time-of-flight measurement capability of the UWB signal to calculate the distance between itself and the tag to be located.

[0051] The MCU algorithm processing module receives angle and distance information from the UWB positioning chip module, runs positioning algorithms, including AOA phase difference calculation, data fusion, filtering algorithms and multipath suppression algorithms, and performs comprehensive analysis and processing on the angle and distance information to obtain the precise location coordinates of the tag to be located.

[0052] Meanwhile, the network communication module transmits the positioning data to the terminal device or server through the network power line, and receives external control commands to realize remote control and data interaction. In addition, the power module converts and distributes the electrical energy input from the network power line 3 to provide stable and appropriate voltage for each functional module, ensuring the normal operation of the device.

[0053] In addition, the antenna calibration board 4 keeps the six-antenna array fixed during the operation of the device to prevent it from shaking and deforming, ensuring stable antenna performance and guaranteeing that the positioning effect is not affected by changes in the antenna position.

[0054] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0055] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A UWB positioning device based on a six-element array antenna, comprising a lower base (1), characterized in that, Also includes: Antenna calibration plate (4) is mounted on the lower base (1) for rigidly fixing the miniaturized omnidirectional antenna (5); Six miniaturized omnidirectional antennas (5) are mounted on the antenna calibration plate (4) by welding or precision connector array for phase angle and distance measurement; The upper cover protective cover (2) is set on the lower base (1) to protect the six miniaturized omnidirectional antennas (5); The lower base (1) is connected to a network power cable (3), and the lower base (1) has a built-in MCU algorithm processing module, UWB positioning chip module, power module and network communication module.

2. The UWB positioning device based on a six-element array antenna according to claim 1, characterized in that, The included angle between each pair of miniaturized omnidirectional antennas (5) is sixty degrees, and they are distributed in a circular or hexagonal pattern on the antenna calibration plate (4). The six miniaturized omnidirectional antennas (5) form a six-antenna array, which is used to accurately calculate the angle of arrival of the signal by utilizing the phase difference of the received signals between different antennas, and at the same time calculate the distance by combining the inherent time-of-flight measurement capability of the UWB signal.

3. The UWB positioning device based on a six-element array antenna according to claim 1, characterized in that, The circumference of the six miniaturized omnidirectional antennas (5) is designed according to the UWB center frequency and is 1 / 2 of the wavelength of the UWB band.

4. A UWB positioning device based on a six-element array antenna according to claim 1, characterized in that, The upper cover protective cover (2) is connected to the lower base (1) by a snap-on or bolt-fixed method, and the upper cover protective cover (2) is a polycarbonate hexagonal radar cover with a transmittance of >95%.

5. A UWB positioning device based on a six-element array antenna according to claim 1, characterized in that, The MCU algorithm processing module is responsible for running the positioning algorithm, which includes AOA phase difference calculation, distance measurement, data fusion, filtering algorithm, multipath suppression algorithm, system scheduling, data processing and communication with the host computer.

6. A UWB positioning device based on a six-element array antenna according to claim 1, characterized in that, The UWB positioning chip module integrates a standard-compliant UWB radio frequency transceiver for generating, transmitting, and receiving UWB pulse signals, amplifying, filtering, and demodulating the signals, and providing accurate timestamp information. The multi-channel RF ports of the UWB positioning chip module are connected to the six miniaturized omnidirectional antennas (5) via low-loss coaxial cables or microstrip lines.

7. A UWB positioning device based on a six-element array antenna according to claim 1, characterized in that, The power module is used to convert and distribute the electrical energy input from the network power line (3) to provide a stable and suitable voltage for each functional module inside the base station; The network communication module is responsible for communication between the base station and the external network, enabling remote transmission of positioning data and receiving of external control commands. The MCU algorithm processing module, power supply module, and network communication module are interconnected via pin headers, connectors, or PCB traces.

8. A UWB positioning device based on a six-element array antenna according to claim 1, characterized in that, A positioning plate is also provided inside the upper cover protective cover (2) directly above the antenna calibration plate (4) to limit the upper ends of the six miniaturized omnidirectional antennas (5) and prevent them from shaking and deforming during use.

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