Indoor positioning device based on UWB technology

Abstract

The utility model provides an indoor positioning device based on UWB technology, comprising at least four UWB positioning base stations used for transmitting and receiving UWB signals; the four UWB positioning base stations are arranged to be not in the same straight line and not in the same horizontal plane and are used for cross positioning; and the positioning label and the UWB positioning base station are arranged in the same indoor space in a communication manner. According to the multi-base-station positioning system, at least four UWB positioning base stations are adopted for cross positioning, and the base stations are arranged to be not on the same straight line and not on the same horizontal plane, so that accurate positioning of a three-dimensional space can be realized through multi-point positioning, accurate positioning can be realized in a larger indoor space, and the multi-base-station positioning system has higher robustness; even if a certain base station breaks down or is interfered, other base stations can still work normally, and the stability and reliability of the positioning system are guaranteed.

Description

Technical Field

[0001] The utility model relates to the field of positioning equipment, in particular to an indoor positioning device based on UWB technology. Background Art

[0002] With the rapid development of wireless communication technology, indoor positioning has become a key technology for improving management efficiency, ensuring personnel safety, and optimizing user experience. Traditional indoor positioning methods, such as Bluetooth and Wi-Fi, often suffer from low positioning accuracy, poor anti-interference capabilities, and insufficient real-time performance, making them difficult to meet the high-precision and high-reliability application requirements. Against this backdrop, ultra-wideband (UWB) radio ranging technology has gradually emerged with its unique advantages and has become a research hotspot in the field of indoor positioning.

[0003] Existing indoor positioning devices based on UWB technology mostly use a single UWB positioning base station for positioning. A single base station can only measure the distance between the tag and the base station, and cannot achieve precise positioning in three-dimensional space through multi-point positioning. Therefore, the measurement range is small and the accuracy is limited. In complex and changeable indoor environments, there are large errors in the positioning results. A single base station cannot achieve real-time reading of the location of people or equipment. In application scenarios with high real-time requirements, such as construction sites and mines, where the location of people or equipment needs to be known in real time, this delay or error may lead to serious consequences. Traditional single-base station UWB positioning devices are difficult to meet the needs of modern indoor positioning systems. Utility Model Content

[0004] The technical problem to be solved by the present invention is: to provide an indoor positioning device based on UWB technology in view of the above technical defects of the existing indoor positioning devices.

[0005] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0006] An indoor positioning device based on UWB technology includes: at least four UWB positioning base stations for transmitting and receiving UWB signals; the four UWB positioning base stations are arranged to be not on the same straight line and not in the same horizontal plane for cross positioning; a positioning tag, which communicates with the UWB positioning base stations and is placed in the same indoor space and is used to send a response signal to the UWB positioning base station; a base station data decoder, which is placed in the same indoor space as the UWB positioning base stations and is connected to the UWB positioning base stations, and is used to decode the signals received by the UWB positioning base stations and convert them into digital data.

[0007] Preferably, the indoor positioning device based on UWB technology further comprises: a network transmission mechanism connected to the base station data decoder for transmitting decoded digital data.

[0008] Preferably, the indoor positioning device based on UWB technology also includes: a host computer, connected to the network transmission mechanism, for receiving and processing the transmitted data, and calculating the three-dimensional spatial coordinates of the positioning tag based on the distance data measured by at least four UWB positioning base stations that are not in the same plane.

[0009] More preferably, the host computer includes: a data processing mechanism connected to the host computer and used to process data received by the host computer.

[0010] Preferably, the indoor positioning device based on UWB technology further includes: a data service station, which is placed in the same indoor space to communicate with the UWB positioning base station, and the host computer, network transmission mechanism and base station data decoder are all installed on the data service station.

[0011] Preferably, the positioning tag includes: a UWB communication module and an ID identification code, which are built into the positioning tag and used to bind the measured object or person, respond to the UWB positioning base station signal, and send location information to the UWB positioning base station.

[0012] More preferably, the network transmission mechanism includes: a wired network, which is used to transmit the decoded data to the host computer via a network cable.

[0013] More preferably, the network transmission mechanism further includes: a wireless network for transmitting the decoded data to a host computer via WiFi.

[0014] The present invention adopts the above technical solution, and compared with the prior art, has the following technical effects:

[0015] (1) At least four UWB positioning base stations are used for cross positioning, and the base stations are set to be not on the same straight line and not in the same horizontal plane. Accurate positioning in three-dimensional space can be achieved through multi-point positioning, which significantly improves the positioning accuracy. Reasonable deployment of multiple base stations can expand the measurement range of the positioning system, so that accurate positioning can be achieved in larger indoor spaces.

[0016] (2) This solution can read the location information of people or equipment in real time, meeting the needs of application scenarios with high real-time requirements. In complex and changeable indoor environments such as construction sites and mines, potential safety hazards can be discovered and handled in a timely manner.

[0017] (3) The multi-base station positioning system has higher robustness. Even if a base station fails or is interfered with, other base stations can still work normally, ensuring the stability and reliability of the positioning system. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic diagram of the three-dimensional structure of an indoor positioning device based on UWB technology in the present utility model;

[0019] Figure 2 This is a structural diagram of a UWB positioning base station and a positioning tag in an indoor positioning device based on UWB technology in the present utility model;

[0020] Figure 3 This is a structural diagram of a UWB positioning base station and a positioning tag in an indoor positioning device based on UWB technology in the present invention from another perspective;

[0021] Figure 4 This is a communication diagram of a UWB positioning base station and a positioning tag in an indoor positioning device based on UWB technology in the present utility model;

[0022] Figure 5 This is a communication diagram of another state between a UWB positioning base station and a positioning tag in an indoor positioning device based on UWB technology in the utility model. DETAILED DESCRIPTION

[0023] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0024] Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative work shall fall within the scope of protection of the present invention.

[0025] Example 1

[0026] Reference Figure 1-Figure 5, an indoor positioning device based on UWB technology, comprising: at least four UWB positioning base stations 1, for transmitting and receiving UWB signals; the four UWB positioning base stations 1 are set to be not on the same straight line and not in the same horizontal plane for cross positioning; a positioning tag 2, which is placed in the same indoor space to communicate with the UWB positioning base station 1 and is used to send a response signal to the UWB positioning base station 1; a base station data decoder 301, which is placed in the same indoor space as the UWB positioning base station 1 and is connected to the UWB positioning base station 1, the base station data decoder 301 is used to decode the signal received by the UWB positioning base station 1 and convert it into digital data; a network transmission mechanism 302, which is connected to the base station data decoder 301 and is used to transmit the decoded digital data; a host computer 303, which is connected to the network transmission mechanism 302, is used to receive and process the transmitted data, and calculate the three-dimensional spatial coordinates of the positioning tag 2 based on the distance data measured by at least four UWB positioning base stations 1 that are not in the same plane.

[0027] The UWB positioning base station 1 with model number D-MAX-BS-B is a long-distance communication base station that supports TWR ranging and TOF positioning algorithm. It is mainly used for long-distance, high-precision positioning. The base station is powered by POEIEEE802.3af protocol standard.

[0028] The positioning tag 2 can be a UWB bracelet, or a UWB work badge, UWB asset tag or a UWB safety helmet split tag. The positioning tag 2 needs to interact with the base station nearby for ranging. When it is arranged, it is necessary to combine the communication distance between the tag and the base station to ensure that they can communicate. If the communication distance of the positioning tag 2 is 200 meters, the communication distance of the base station is 500 meters, and the base stations are placed in a square, the maximum side length of the square is 100 meters. In this way, the base station can communicate with the positioning tag 2 at any position in the square area.

[0029] The host computer 303 includes: a data processing mechanism 304, which is connected to the host computer 303 and is used to process the data received by the host computer 303. The data processing mechanism 304 adopts the solution engine software LinkPro. The solution engine software LinkPro includes the central positioning solution engine LEPro and the LinkPro system configuration Demo software. The main function of LEPro is to control the base station and obtain the positioning information of the base station, interact with the configuration end, and transmit data. The LinkPro system configuration software allows the user end to configure the positioning system information and obtain the positioning information for display. The base station, LEPro calculation engine and other application software work in the same local area network, and they interact with each other through the TCP / IP protocol; on the one hand, the LEPro calculation engine will establish a TCP connection with each base station, and on the other hand, it will open two ports to transmit different data.

[0030] The data service station 3 is placed in the same indoor space for communication with the UWB positioning base station 1 . The host computer 303 , the network transmission mechanism 302 and the base station data decoder 301 are all installed on the data service station 3 .

[0031] The positioning tag 2 includes: a UWB communication module and an ID identification code, which are built into the positioning tag 2 and are used to bind the object or person to be measured, and respond to the UWB positioning base station 1 signal to send location information to the UWB positioning base station 1; each positioning tag 2 has a unique identification ID number and needs to be bound to the object or person to be measured. Taking a construction site or a mine as an example, facial recognition and binding can be performed when personnel enter the site. Once bound, UWB can measure the tag position in real time and feed the data back to the host computer 303. According to the customer's application scenario, virtual areas can be set, such as dangerous areas and sensitive areas. Once the tag position appears in these unauthorized areas, an alarm will be triggered immediately. For certain dangerous scenarios, such as the shaft area of the construction site, the fall of personnel will also be measured immediately.

[0032] The network transmission mechanism 302 includes: a wired network, which is used to transmit the decoded data to the host computer 303 through the network cable.

[0033] Example 2

[0034] Reference Figure 2 and Figure 5 The difference between this embodiment and the first embodiment is that: the number of the UWB positioning base stations is three; the network transmission mechanism 302 includes: a wireless network for transmitting the decoded data to the host computer 303 via WiFi.

[0035] During use, at least four UWB positioning base stations 1 are deployed in the indoor space, ensuring that they are not in the same straight line and in the same horizontal plane to achieve cross-positioning. According to the communication distance of the positioning tag 2 and the communication distance of the base station, the placement of the base station is reasonably planned to ensure that the positioning tag 2 can communicate with at least four base stations in the target area. The base station data decoder 301, network transmission mechanism 302, host computer 303 and data service station 3 and other equipment are installed and configured to ensure that the connection between them is normal. A unique ID identification code is assigned to each positioning tag 2 and bound to the measured object or person. In construction sites or mines, face recognition technology can be used to achieve binding when personnel enter. The data processing mechanism 304 in the host computer 303 is started, and the information of the base station and the tag is configured to ensure that the system can work normally. The UWB communication module built into the positioning tag 2 responds to the signal of the UWB positioning base station 1 and sends a response signal to the base station. After receiving the signal, the base station calculates the distance data between the tag and each base station through TWR ranging and TOF positioning algorithms. The base station number The decoder 301 decodes the received signal and converts it into digital data. The network transmission mechanism 302 transmits the decoded digital data to the host computer 303 via a wired or wireless network. The data processing mechanism 304 in the host computer 303 receives and processes the transmitted data. The three-dimensional spatial coordinates of the positioning tag 2 are calculated using a three-dimensional spatial positioning algorithm based on the distance data measured by at least four UWB positioning base stations 1 that are not in the same plane. The host computer 303 monitors the location information of the tag 2 in real time based on the calculated three-dimensional spatial coordinates of the positioning tag 2. Virtual areas are set according to the customer's application scenarios. Once the tag position appears in these unauthorized areas, the host computer 303 will immediately trigger the alarm mechanism to remind relevant personnel to take corresponding measures. For certain dangerous scenarios, such as the shaft area of a construction site, the host computer 303 can also measure the fall of personnel in real time and issue an alarm in time. The LinkPro system configuration software will display the positioning information for user viewing and monitoring. Users can interact with LEPro through the configuration terminal to transfer data and configure positioning system information.

[0036] In summary, compared with the existing technology, it has the following beneficial effects:

[0037] At least four UWB positioning base stations 1 are used for cross-positioning, and the base stations are set not to be on the same straight line and not to be in the same horizontal plane. Accurate positioning in three-dimensional space can be achieved through multi-point positioning, which significantly improves the positioning accuracy. Reasonable deployment of multiple base stations can expand the measurement range of the positioning system, so that accurate positioning can be achieved in larger indoor spaces.

[0038] This solution can read the location information of people or equipment in real time, meeting the needs of application scenarios with high real-time requirements. In complex and changeable indoor environments such as construction sites and mines, potential safety hazards can be discovered and addressed in a timely manner.

[0039] The multi-base station positioning system has higher robustness. Even if a base station fails or is interfered with, other base stations can still work normally, ensuring the stability and reliability of the positioning system.

[0040] Finally, a few points should be explained: First, in the description of this application, it should be noted that, unless otherwise specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense, and may refer to mechanical or electrical connections, internal communication between two components, or direct connection. "Up," "down," "left," and "right" are only used to indicate relative positional relationships. When the absolute positions of the objects being described change, the relative positional relationships may also change.

[0041] Secondly, the drawings of the embodiments disclosed in the present invention only involve structures related to the embodiments disclosed in the present invention. Other structures can refer to common designs. In the absence of conflicts, the same embodiment and different embodiments of the present invention can be combined with each other.

[0042] Finally, the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. An indoor positioning device based on UWB technology, characterized in that: include: At least four UWB positioning base stations (1) for transmitting and receiving UWB signals; Four UWB positioning base stations (1) are set to be not on the same straight line and not in the same horizontal plane for cross positioning; A positioning tag (2) is placed in the same indoor space for communication with the UWB positioning base station (1) and is used to send a response signal to the UWB positioning base station (1); A base station data decoder (301) is placed in the same indoor space as the UWB positioning base station (1) and is connected to the UWB positioning base station (1). The base station data decoder (301) is used to decode the signal received by the UWB positioning base station (1) and convert it into digital data.

2. The indoor positioning device based on UWB technology according to claim 1, characterized in that: Also includes: The network transmission mechanism (302) is connected to the base station data decoder (301) and is used to transmit the decoded digital data.

3. The indoor positioning device based on UWB technology according to claim 2, characterized in that: Also includes: The host computer (303) is connected to the network transmission mechanism (302) and is used to receive and process the transmitted data, and calculate the three-dimensional space coordinates of the positioning tag (2) based on the distance data measured by at least four UWB positioning base stations (1) that are not in the same plane.

4. The indoor positioning device based on UWB technology according to claim 3, characterized in that: The host computer (303) includes: The data processing mechanism (304) is connected to the host computer (303) and is used to process the data received by the host computer (303).

5. The indoor positioning device based on UWB technology according to claim 4, characterized in that: Also includes: A data service station (3) is placed in the same indoor space for communication with the UWB positioning base station (1), and the host computer (303), the network transmission mechanism (302) and the base station data decoder (301) are all installed on the data service station (3).

6. The indoor positioning device based on UWB technology according to claim 1, characterized in that: The positioning tag (2) comprises: The UWB communication module and the ID identification code are built into the positioning tag (2) and are used to bind the measured object or person, and respond to the UWB positioning base station (1) signal to send location information to the UWB positioning base station (1).

7. The indoor positioning device based on UWB technology according to claim 3, characterized in that: The network transmission mechanism (302) includes: The wired network is used to transmit the decoded data to the host computer (303) via the network cable.

8. The indoor positioning device based on UWB technology according to claim 3, characterized in that: The network transmission mechanism (302) further includes: The wireless network is used to transmit the decoded data to the host computer (303) via WiFi.

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