Research on Navigation-Enhanced Impulse-Radio Ultra-Wideband Conduit-Communication Integrated Self-Organizing Network Architectures for Complex Underground Environments
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摘要: 超宽带(UWB)技术以其大宽带、低功率、高精度等优点广泛应用于室内定位。然而其本质上是一种通信信号体制，复杂环境下组网困难，所以UWB系统在复杂地下环境中仍有挑战。为此该文在UWB标准信号体制的基础上提出了导航增强型超宽带(Hnav-UWB)，通过优化通信信息的冗余度简化帧结构，同时降低脉冲发送频率增加单个脉冲的能量，采用改进的跳时二进制相移键控(TH-BPSK)调制方式提高了信号的多用户和抗多径能力。另外，该文设计了动态重构节点网络适应复杂环境，该网络没有主从节点之分，通过双向测距获得两两距离，根据多维尺度变换(MDS)算法自建相对位置坐标，根据分布式协作定位(DCL)算法提高精度，最后根据最小二乘(LS)法利用某已知点在地图的位置进行地图匹配。基于自建的脉冲超宽带(IR-UWB)仿真系统试验，结果显示相同条件下Hnav-UWB的误码率比对照组降低10倍，定位精度提升3倍。经1000次蒙特卡罗模拟，动态重构网络匹配准确率达95%。Abstract: Ultra-WideBand (UWB) technology is widely used for indoor positioning due to its advantages of large bandwidth, low power, and high precision. However, since UWB is essentially a communication signal system and it is difficult to form a network in complex environments, UWB systems still face challenges in complex indoor environments such as underground. To address this issue, high concurrency and coverage Navigation UWB(Hnav-UWB) is proposed in this paper based on the UWB standard signal system. The frame structure is simplified by optimizing the redundancy of communication information, the pulse transmission frequency is reduced and the energy of each pulse is increased, and an improved Time Hopping Binary Phase Shift Keying (TH-BPSK) modulation method is adopted to enhance the signal’s multi-user and multipath capabilities. Moreover, a dynamic reconstruction node network is designed in this paper to adapt to complex environments. The network has no master-slave nodes, pairwise distances are obtained by bidirectional ranging, relative position coordinates are built by using the MultiDimensional Scaling(MDS) algorithm, accuracy is improved by using the Distributed Cooperative Localization(DCL) algorithm, and map matching is performed by using the Least Squares(LS) method based on the known position of a point on the map. Based on the self-built Impulse-Radio Ultra-WideBand (IR-UWB) simulation system experiment, the results show that under the same conditions, Hnav-UWB’s bit error rate is 10 times lower than that of the control group, and the positioning accuracy is improved by 3 times. After 1 000 Monte Carlo simulations, the matching accuracy of the dynamic reconstruction node network reaches 95%.
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Key words:
- Ultra-WideBand (UWB) /
- Signal structure /
- Network-based positioning
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表 1 不同信道参考波形的宽度及互相关函数的主瓣宽度
信道编号 信道带宽(MHz) 脉冲周期(ns) 互相关函数
主瓣宽度(ns){0:3,5:6,8:10,12:14} 499.2 2.00 0.5 7 1081.6 0.92 0.2 {4,11} 1331.2 0.75 0.2 15 1354.97 0.74 0.2 
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表 2 子帧2各参数说明表
帧位置 长度(bit) 含义 位置1 24 发送方经纬度和高度 位置2 24 接收方经纬度和高度 时间戳1 16 发送方本地时钟计数值 时间戳2 16 接收方本地时钟计数值 时钟偏差 12 收发双方时钟偏差系数 信道衰落 12 收发双方信道衰落系数
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表 3 脉冲类型及对应各项参数
类型 PRF(MHz) 1ms脉冲数 脉冲最大能量(dBm) LRP UWB 1.00 1 000 15.7 ULRP UWB 0.37 370 20.0
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表 4 系统主要参数
参数 符号 数值 脉冲宽度 (ns) ${T_{\text{m}}}$ 2 脉冲重复间隔 (ns) PRI 100 帧信号长度 (bit) ${L_{{\text{frame}}}}$ 408 同步部分长度 (bit) ${L_{{\text{pilot}}}}$ 50 数据部分长度(bit) ${L_{{\text{syn}}}}$ 50 用户数 Tag 10 信号发射功率 (mW) ${\text{pow}}$ 1 采样频率(GHz) ${f_{\text{s}}}$ 2 多径数 N 5/10
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