Research On Zero Phase Difference And Phase Difference Rate Positioning Technology

With the rapid development of urban construction and the pursuit of high efficiency,automation and environment protection,intelligent robots are used in more and more fields,such as domestic service industry,medical equipment,agricultural automation and so on.It has become a hot research at home and abroad,not only for their high efficiency,but also because of their feasibility in some special circumstances.The positioning of the walking robot is the prerequisite in the working area with a radius of several tens of meters,and the property of independent work also determines the needs of using wireless positioning technology.This paper focuses on the research of wireless location technology based on RF signals.Through comparative analysis of the traditional TDOA positioning,the interferometer orientation,the phase difference rate of change and other methods,integrated the advantages of each method and its high precision parametric measurement method,the servo bisector location based on direction finding of zero phase difference is proposed.The phase difference rateparameter measurement is increased to construct the system of equations to solve the Z-coordinate and realize the three-dimensional positioning,on the basis of zero-phase difference-direction measurement.In this paper,Geometric Dilution Precision(GDOP)distribution map,commonly used to evaluate the positioning error,is used to analyze the influence of different parameters on the accuracy and error distribution of the new model.By comparing and analyzing the GDOP distribution pattern of the new model and the traditional TDOA positioning model,it is shown that the new model can improve the positioning accuracy and enlarge the positioning range.As for the positioning of the two-dimensional plane,it only needs to measure the value of the angle by the absolute encoder with high accuracy and the monitoring value of the 0 phase difference.At the same time,the measurement error of the 0phase difference,which is the worst measurement error,can be migrated to the position of the phase difference measurement chip AD8302 with good linearity,so as to achieve the accurate monitoring of the 0 phase difference.In addition,in order to further optimize the system error of phase difference measurement,the azimuth angle of the target is obtained by monitoring the angle value of the upper and lower bounds of the 0 phase difference,and taking the average as the measured value.According to the experimental design of the positioning model,the experimental results show that the positioning method not only reduces the positioning error,but also increases the positioning range compared with the traditional TDOA positioning method.To solve the measurement of the 3D positioning with zero phase difference direction finding method,Zero phase difference and phase difference rate of change technology is proposed,which increased the measurement parameter of phase difference rate of change.In order to analyze the positioning effect of the method in theory,the influence of different parameters on the positioning error is analyzed by GDOP distribution map,which indicates that the parameter measurement accuracy of the positioning method is easy to implement.The simulation of UKF filtering algorithm of three-dimensional target tracking shows that this method has a fast and accurate tracking ability for the position and velocity of the three-dimensional target,and provides theoretical guidance for the implementation of good positioning method.