CN118803548B - Positioning method, device, system and medium based on UWB downlink arrival time difference - Google Patents
Positioning method, device, system and medium based on UWB downlink arrival time difference Download PDFInfo
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- H04W4/02—Services making use of location information
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Abstract
The disclosure provides a positioning method, a device, a system and a medium based on UWB downlink arrival time difference, which are applied to a tag device and can comprise the steps of receiving a ranging message sent by a positioning base station, recording receiving time stamps of the ranging message, analyzing the ranging message to obtain fixed coordinate information of the master base station and the slave base station, receiving and transmitting time difference information of the ranging message and a clock compensation coefficient, obtaining a preliminary arrival time difference according to the receiving time stamp and the receiving and transmitting time difference information of the ranging message, carrying out clock drift compensation on the preliminary arrival time difference according to a time reference of the master base station and the clock compensation coefficient to obtain an accurate arrival time difference, and obtaining positioning coordinates of the tag device according to the accurate arrival time difference and the fixed coordinate information of the master base station and the slave base station.
Description
Technical Field
The embodiment of the disclosure relates to the technical field of UWB communication, in particular to a positioning method, device, system and medium based on UWB downlink arrival time difference.
Background
Ultra Wide Band (UWB) technology is a carrier-free communication technology, and uses non-sinusoidal narrow pulses of nanosecond to microsecond order to transmit data, so that very low power signals can be transmitted over a wider frequency spectrum, and thus, UWB technology is widely applied to application scenarios such as data transmission, positioning, ranging, and the like.
In UWB-based positioning systems, time difference of Arrival (TIME DIFFERENCE of Arrival, TDOA) is a positioning method of high accuracy positioning and tracking for determining the time difference of Arrival of a signal or object at two or more receivers. The TDOA positioning comprises two modes, namely a downlink TDOA and an uplink TDOA, in the downlink TDOA positioning mode, at least four positioning base stations are needed to complete positioning of the tag equipment, wherein the four positioning base stations form three pairs of base station pairs, message interaction is conducted between each pair of base stations, after the tag equipment receives the message, a time difference value from the base station pair, namely a TDOA value, is calculated, and then coordinates of the tag equipment are obtained through calculation by utilizing coordinate positions fixed by different positioning base stations and the time difference value of the base station pairs, so that the positioning function of the tag equipment is achieved. In this mode, the tag device needs to have a high computational power and is also a challenge for power consumption.
At present, in order to obtain accurate TDOA values in a downlink TDOA positioning scheme, strict clock synchronization is required between positioning base stations to simultaneously transmit positioning signals at the same time point, otherwise, the obtained TDOA values are inaccurate, so that positioning of tag equipment is inaccurate, in addition, clock synchronization between the positioning base stations is difficult to be kept in a UWB system, and extra cost is increased for keeping clocks between the positioning base stations in synchronization by means of external technology.
Disclosure of Invention
In view of this, the embodiments of the present disclosure desire to provide a positioning method, device, system and medium based on UWB downlink arrival time difference, where a tag device only receives a ranging message of a positioning base station and does not send the ranging message, so that low power consumption operation can be achieved. And the preliminary arrival time difference is subjected to drift compensation according to the clock compensation coefficient, so that the accuracy of the positioning system is improved.
The technical scheme of the embodiment of the disclosure is realized as follows:
in a first aspect, an embodiment of the present disclosure provides a positioning method based on a UWB downlink arrival time difference, where the method is applied to a tag device, and the method includes:
receiving a ranging message sent by a positioning base station, and recording a receiving time stamp of the ranging message, wherein the positioning base station comprises a master base station and at least three slave base stations covered by the master base station;
Analyzing the ranging message to obtain fixed coordinate information of the master base station and the slave base station, receiving and transmitting time difference information of the ranging message and clock compensation coefficients;
Obtaining a preliminary arrival time difference according to the receiving time stamp and the receiving and transmitting time difference information of the ranging message;
According to the time reference of the main base station and the clock compensation coefficient, performing clock drift compensation on the preliminary arrival time difference to obtain an accurate arrival time difference;
and obtaining the positioning coordinates of the tag equipment according to the accurate arrival time difference and the fixed coordinate information of the main base station and the auxiliary base station.
In a second aspect, an embodiment of the present disclosure provides a positioning method based on a UWB downlink arrival time difference, where the method is applied to a master base station, and the method includes:
Transmitting the divided time sequence information to a slave base station so that the slave base station can acquire the corresponding ranging cycle and ranging time slot in the allocated ranging block;
In a ranging period, completing the interactive flow of the ranging message with the slave base station on the ranging cycle and the ranging time slot, and obtaining the receiving and transmitting time difference information of the ranging message with the slave base station;
acquiring a clock compensation coefficient according to the receiving and transmitting time difference information of the ranging message;
And transmitting the clock compensation coefficient to a tag device in the coverage range of the main base station, so that the tag device performs clock drift compensation based on the clock compensation coefficient.
In a third aspect, an embodiment of the present disclosure provides a positioning method based on a UWB downlink arrival time difference, where the method is applied to a slave base station, and the method includes:
Receiving time sequence information sent by a main base station, and acquiring a ranging cycle and a ranging time slot interacted with a ranging message of the main base station according to the time sequence information;
In a ranging period, completing interaction of ranging messages with the master base station on the ranging cycle and ranging time slot, and recording receiving and transmitting time difference information of the ranging messages;
and transmitting the fixed coordinate information, the clock compensation coefficient and the receiving and transmitting time difference information of the ranging message to the tag equipment in the coverage area of the tag equipment so that the tag equipment obtains the arrival time difference.
In a fourth aspect, an embodiment of the present disclosure provides a tag device apparatus including a receiving portion, a parsing portion, a first obtaining portion, a compensating portion, and a second obtaining portion, wherein,
The receiving part is configured to receive a ranging message sent by a positioning base station and record a receiving time stamp of the ranging message, wherein the positioning base station comprises a master base station and at least three slave base stations covered by the master base station;
The analyzing part is configured to analyze the ranging message to obtain fixed coordinate information of the master base station and the slave base station, receiving and transmitting time difference information of the ranging message and clock compensation coefficients;
The first obtaining part is configured to obtain a preliminary arrival time difference according to the receiving time stamp and the receiving and transmitting time difference information of the ranging message;
the compensation part is configured to perform clock drift compensation on the preliminary arrival time difference according to the time reference of the main base station and the clock compensation coefficient so as to obtain an accurate arrival time difference;
The second obtaining section is configured to obtain positioning coordinates of the tag device itself based on the accurate arrival time difference and fixed coordinate information of the master base station and the slave base station.
In a fifth aspect, an embodiment of the present disclosure provides a master base station apparatus including a dividing section, a ranging section, an acquiring section, and a first transmitting section, wherein,
The dividing part is configured to send the divided time sequence information to the slave base station so that the slave base station knows the corresponding ranging cycle and ranging time slot in the allocated ranging block;
The ranging part is configured to complete the interactive flow of the ranging message with the slave base station in the ranging cycle and the ranging time slot in one ranging period, and obtain the receiving and transmitting time difference information of the ranging message with the slave base station;
The acquisition part is configured to acquire a clock compensation coefficient according to the receiving and transmitting time difference information of the ranging message;
The first transmitting part is configured to transmit the clock compensation coefficient to a tag device in a coverage area of a main base station, so that the tag device performs clock drift compensation based on the clock compensation coefficient.
In a sixth aspect, an embodiment of the present disclosure provides a slave base station apparatus including a learning section, a recording section, and a second transmitting section, wherein,
The acquisition part is configured to receive time sequence information sent by a main base station, and acquire a ranging cycle and a ranging time slot interacted with a ranging message of the main base station according to the time sequence information;
The recording part is configured to complete interaction of ranging messages with the main base station in the ranging cycle and ranging time slot in one ranging period, and record the receiving and transmitting time difference information of the ranging messages;
the second transmitting section is configured to transmit the fixed coordinate information of itself, the clock compensation coefficient, and the transmission-reception time difference information of the ranging message to the tag device in its own coverage area so that the tag device obtains the arrival time difference.
In a seventh aspect, embodiments of the present disclosure provide a positioning system based on a UWB downlink arrival time difference, the positioning system comprising a master base station, one or more slave base stations, and one or more tag devices, wherein,
The one or more tag devices configured to perform the steps of the UWB downlink time difference of arrival based positioning method of the first aspect;
The main base station is configured to execute the step of the positioning method based on UWB downlink arrival time difference according to the second aspect;
the one or more slave base stations are configured to perform the steps of the positioning method based on UWB downlink arrival time differences according to the third aspect.
In an eighth aspect, an embodiment of the present disclosure provides a computer storage medium storing a positioning program based on a UWB downlink arrival time difference, where the positioning program based on a UWB downlink arrival time difference implements the steps of the positioning method based on a UWB downlink arrival time difference according to the first aspect, the second aspect, or the third aspect when executed by at least one processor.
The embodiment of the disclosure provides a positioning method, a device, a system and a medium based on UWB downlink arrival time difference, wherein in the positioning process of a tag device, the tag device only receives a ranging message sent by a positioning base station and does not send the ranging message, so that the tag device can realize low-power-consumption operation. In the ranging process of the positioning base station, the tag equipment records a receiving time stamp of each ranging message, and obtains a preliminary arrival time difference according to the recorded receiving time stamp, the obtained fixed coordinate information of the master base station and the slave base station and the receiving and transmitting time difference information of the ranging message. And carrying out clock drift compensation on the preliminary arrival time difference according to the time reference of the main base station and the clock compensation coefficients sent by the main base station and the slave base station to obtain an accurate arrival time difference, thereby improving the accuracy of a positioning system.
Drawings
FIG. 1 is a schematic diagram of a positioning system according to an embodiment of the present disclosure;
fig. 2 is a schematic diagram of a network node device according to an embodiment of the present disclosure;
FIG. 3 is a network architecture diagram of a UWB downlink TDOA location;
fig. 4 is a schematic flow chart of a positioning method based on UWB downlink arrival time difference according to an embodiment of the present disclosure;
FIG. 5 is a diagram illustrating an exemplary network structure for UWB downlink TDOA positioning according to an embodiment of the present disclosure;
fig. 6 is a message interaction flow chart of a tag device monitoring positioning base station ranging according to an embodiment of the present disclosure;
FIG. 7 is a schematic diagram of a message interaction timing for calculating TDOA according to an embodiment of the present disclosure;
Fig. 8 is a flowchart of another positioning method based on UWB downlink arrival time difference according to an embodiment of the present disclosure;
FIG. 9 is a schematic diagram of a timing structure provided in an embodiment of the disclosure;
fig. 10 is a message interaction flow chart of a positioning base station for ranging a tag device according to an embodiment of the present disclosure;
fig. 11 is a flowchart of another positioning method based on UWB downlink arrival time difference according to an embodiment of the present disclosure;
fig. 12 is a schematic diagram of a label device assembly according to an embodiment of the disclosure;
fig. 13 is a schematic diagram of a main base station apparatus according to an embodiment of the disclosure;
Fig. 14 is a schematic diagram of a slave base station apparatus according to an embodiment of the present disclosure.
Detailed Description
The technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the drawings in the embodiments of the present disclosure.
Referring to fig. 1, a schematic diagram of a positioning system 100 is shown in which embodiments of the present disclosure can be implemented. It is noted that the positioning system 100 shown in fig. 1 is just one example of a possible system, and that embodiments of the present disclosure may be implemented in any of a variety of systems as desired.
As shown in fig. 1, the positioning system 100 includes a master base station 11, one or more slave base stations, in this embodiment of the disclosure, 3 slave base stations are respectively identified as slave base stations 21, 22, 23, and one or more Tag devices (tags) that are in the coverage area of the base station signal (as shown by the oval circles in fig. 1) and are capable of moving, in this embodiment, 5 Tag devices are respectively identified as tags 31, 32, 33, 34, 35. In some non-limiting examples, the master base station 11, the slave base stations 21, 22, 23 and the tags 31, 32, 33, 34, 35 may communicate wirelessly using any of a variety of wireless communication techniques, possibly including UWB communication techniques (e.g., IEEE 802.15.4z compliant), wi-Fi (e.g., IEEE 802.11), and/or other techniques based on WPAN or WLAN wireless communications. In addition, the master base station 11 and one or more of the slave base stations 21, 22, 23 and the tags 31, 32, 33, 34, 35, and one or more of the slave base stations 21, 22, 23 and the tags 31, 32, 33, 34, 35 can also communicate via one or more additional wireless communication protocols, such as any of bluetooth, bluetooth low energy (Bluetooth Low Energy, BLE), near Field Communication (NFC), GSM, UMTS (WCDMA, TDSCDMA), LTE-Advanced (LTE-a), NR, 3gpp2 cdma1000 (e.g., 1xRTT, 1xEV-DO, HRPD, eHRPD), wi-MAX, GPS, etc. Embodiments of the present disclosure generally employ UWB communication techniques as shown by the solid arrows in fig. 1 for communication.
As an illustrative example and not by way of limitation, the tags 31, 32, 33, 34, 35 shown in fig. 1 may be specifically printers, personal digital assistants (Personal DIGITAL ASSISTANT, PDA), cameras, speaker systems or wireless networks, including mobile devices, cellular (cell) phones, smart phones, session initiation protocol (Session Initiation Protocol, SIP) phones, laptop devices, personal computers (Personal Computer, PCs), notebooks, netbooks, smartbooks, tablet devices, and a wide variety of embedded systems, e.g., corresponding to the "internet of things" (IoT). Additionally, the tag device may be an automobile or other transportation vehicle, a remote sensor or actuator, a robot or robotic device, a satellite radio, a global positioning system (Global Positioning System, GPS) device, an object tracking device, a drone, a multi-axis aircraft, a four-axis aircraft, a remote control device, a consumer and/or wearable device (such as eyeglasses), a wearable camera, a virtual reality device, a smart watch, a health or fitness tracker, a digital audio player, e.g., an MP3 player, a camera, a game console, etc. Additionally, the tag device may also be a digital home or smart home device, such as a home audio, video and/or multimedia device, an appliance, a vending machine, a smart lighting device, a home security system, a smart meter, etc. Additionally, the tag device may also be a smart energy device, a security device, a solar panel or solar array, a municipal infrastructure device controlling electricity, lighting, water, etc., such as smart grids, industrial automation and enterprise devices, logistics controllers, agricultural equipment, military defense equipment, vehicles, airplanes, boats, weapons, etc.
Based on the positioning system 100 shown in fig. 1, fig. 2 shows the components of an exemplary network node device 200 capable of implementing the master base station 11, the slave base stations 21, 22, 23 and the tags 31, 32, 33, 34, 35, including a processor 210, a memory 220, a wireless communication circuit 230 and a power supply 240, which may be connected by various suitable types of buses, such as a power bus, a control bus, a status signal bus, etc. The power supply 240 provides power to the components within the network node device 200.
In some examples, processor 210 may be a general purpose Processor, a digital signal Processor (DIGITAL SIGNAL Processor, DSP), an Application SPECIFIC INTEGRATED Circuit (ASIC), a field programmable gate array (Field Programmable GATE ARRAY, FPGA) or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component. The various methods, steps and logic blocks of the disclosure in the embodiments of the disclosure may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The disclosure in connection with the embodiments of the present disclosure may be embodied directly in hardware, in a decoded processor, or in a combination of hardware and software modules in a decoded processor. The software modules may be located in memory 220.
In some examples, memory 220 may be volatile memory or nonvolatile memory, or may include both volatile and nonvolatile memory. The nonvolatile Memory may be a Read-Only Memory (ROM), a Programmable ROM (PROM), an Erasable PROM (EPROM), an Electrically Erasable EPROM (EEPROM), or a flash Memory. The volatile memory may be random access memory (Random Access Memory, RAM) which acts as external cache memory. By way of example, and not limitation, many forms of RAM are available, such as static random access memory (STATIC RAM, SRAM), dynamic random access memory (DYNAMIC RAM, DRAM), synchronous Dynamic Random Access Memory (SDRAM), double data rate Synchronous dynamic random access memory (Double DATA RATE SDRAM, DDRSDRAM), enhanced Synchronous dynamic random access memory (ENHANCED SDRAM, ESDRAM), synchronous link dynamic random access memory (SYNCHLINK DRAM, SLDRAM), and Direct memory bus random access memory (DRRAM). The memory 220 of the systems and methods described herein is intended to comprise, without being limited to, these and any other suitable types of memory.
In some examples, wireless communication circuitry 230 may include communication components capable of wireless communication using multiple wireless communication standards or radio access technologies, such as UWB communication component 231 shown in fig. 2, wherein UWB communication component 231 is configured to enable network node device 200 to perform UWB communications and/or to range communications according to the 802.15.4 protocol. Of course, in other examples, the wireless communication circuit 230 may further include a communication component capable of wireless communication according to a communication protocol other than UWB, and this disclosure will not be repeated.
In connection with the foregoing fig. 1 and 2, in some examples, in the event that any one of the tags 31, 32, 33, 34, 35 is required to be located, it is typically required to receive UWB ranging messages for at least four locating base stations, including a master base station and at least three slave base stations of its coverage. Referring to the network structure diagram of UWB downlink TDOA location shown in fig. 3, the network structure diagram includes four location base stations of a master base station 11, slave base stations 21, 22, and 23, and a Tag device 35, where the coordinate positions of the four location base stations are fixed, the four location base stations are formed into three base station pairs, respectively, UWB communication ranging processes are respectively completed between the master base station 11 and the slave base station 21, between the master base station 11 and the slave base station 22, and between the master base station 11 and the slave base station 23, and in the UWB communication ranging process, the Tag device, such as any one of the tags 31, 32, 33, 34, and 35 in the location system 100 shown in fig. 1, takes the Tag35 as an example, receives the ranging message sent by the four location base stations at the same time, records a receiving timestamp of each ranging message, calculates the arrival time difference of the three base station pairs, that is, a TDOA value, according to the receiving timestamp, lists three hyperbola equation, and substitutes the hyperbola equation into the hyperbola equation to calculate the coordinate of the Tag device. Based on the above description, in the UWB communication ranging process, the tag device receives ranging messages sent by four positioning base stations simultaneously, in order to obtain accurate TDOA values, strict clock synchronization is required between the positioning base stations, so that the ranging messages can be sent at the same time point at the same time, otherwise, the obtained TDOA values are inaccurate, and thus, the positioning of the tag device is inaccurate. Based on this, the embodiments of the present disclosure desire to provide a positioning technical solution based on UWB downlink TDOA, where strict clock synchronization between positioning base stations is not required, and external synchronization technology is not required, so that system cost is reduced. Referring to fig. 4, there is shown a positioning method based on UWB downlink arrival time difference according to an embodiment of the present disclosure, which may be applied to any one of the tag devices 31, 32, 33, 34, 35 in the positioning system 100 shown in fig. 1, and may include:
S401, receiving a ranging message sent by a positioning base station, and recording a receiving time stamp of the ranging message, wherein the positioning base station comprises a master base station and at least three slave base stations covered by the master base station;
s402, analyzing the ranging message to obtain fixed coordinate information of the master base station and the slave base station, receiving and transmitting time difference information of the ranging message and clock compensation coefficients;
the fixed coordinate information is set when the master base station and the slave base station system are initialized and updated according to the needs. The receiving and transmitting time difference information of the ranging message is a time difference value recorded by the slave base station when receiving the ranging message of the master base station and transmitting a response message. The clock compensation coefficient is a value for correcting a synchronization error between two or more clocks. In systems requiring high precision time synchronization, the clocks of different devices or nodes may deviate due to imperfections in the hardware clocks, said deviations being called clock drift, said clock compensation factor being a correction factor introduced in order to correct said clock drift.
S403, obtaining a preliminary arrival time difference according to the receiving time stamp and the receiving and transmitting time difference information of the ranging message;
the preliminary arrival time difference is based on the fact that the propagation speed of a signal (such as radio waves, sound waves, etc.) is constant in a uniform medium, and is used for determining the time difference of arrival of the signal at two or more receivers, if a signal source (such as a master base station) transmits signals to a plurality of receivers (such as slave base stations or tag devices) at the same time, the arrival time of the signal at each receiver will be different due to the difference in distance between the receiver and the signal source. By measuring these time differences, the position of the signal source can be deduced.
S404, performing clock drift compensation on the preliminary arrival time difference according to the time reference of the main base station and the clock compensation coefficient to obtain an accurate arrival time difference;
s405, obtaining the positioning coordinates of the tag equipment according to the accurate arrival time difference and the fixed coordinate information of the master base station and the slave base station.
With the technical scheme, in the positioning process of the tag equipment, the tag equipment only receives the ranging message sent by the positioning base station and does not send the ranging message, so that the tag equipment can realize low-power-consumption operation. In the ranging process of the positioning base station, the tag equipment records a receiving time stamp of each ranging message, and obtains a preliminary arrival time difference according to the recorded receiving time stamp, the obtained fixed coordinate information of the master base station and the slave base station and the receiving and transmitting time difference information of the ranging message. And carrying out clock drift compensation on the preliminary arrival time difference according to the time reference of the main base station and the clock compensation coefficients sent by the main base station and the slave base station to obtain an accurate arrival time difference, thereby improving the accuracy of a positioning system.
For the technical solution shown in fig. 4, in some possible implementations, the receiving a ranging message sent by a positioning base station, recording a receiving timestamp of the ranging message includes:
in a ranging period, receiving Poll information and Final information sent by a main base station in the positioning base station;
receiving the Response message sent from the base station in a ranging period;
recording the received Poll message, final message and receiving time stamp of Response message.
For the above implementation, refer specifically to fig. 5, which shows an exemplary diagram of a network structure of UWB downlink TDOA location provided by an embodiment of the present disclosure, where network connections are established between location base stations and between the location base stations and a tag device and perform role assignment, in conjunction with the location system 100 shown in fig. 1, a master base station is determined, that is, the master base station 11 is responsible for initiating a ranging procedure and performing time sequence management, other base stations are designated as slave base stations, for example, the slave base stations 21, 22, 23 participate in the ranging procedure, are responsible for receiving ranging messages of the master base station 11, and reply with response ranging messages at a designated time sequence, where the ranging messages only interact between the location base stations, and the tag device only receives the ranging messages interacted between the location base stations. The three pairs of the master base station 11 and the slave base station 21, the master base station 11 and the slave base station 22, and the master base station 11 and the slave base station 23 in the network configuration diagram shown in fig. 5 are set to the distances between the master base station 11 and the slave base station 21 and between the master base station 11 and the slave base station 22, respectively, and the distances between the master base station 11 and the slave base station 21 are set to be the distances between the master base station 11 and the slave base station 21, respectively, as indicated by solid arrows in fig. 5The distance between the master base station 11 and the slave base station 22 isThe distance between the master base station 11 and the slave base station 23 is. The distance between the positioning base station and any one of the tag devices is set, as shown by the dotted arrow in fig. 5, and in this disclosure, the tag device 35 is taken as an example, and the distance between the main base station 11 and the tag device 35 is set asThe distance between the slave base station 21 and the tag device 35 isThe distance between the slave base station 22 and the tag device 35 isThe distance between the slave base station 23 and the tag device 35 isFor subsequent calculation of the TDOA value.
In some examples, the recording the receiving time stamp of the ranging Message, as shown in fig. 6, during the process of locating the tag device, the tag device listens to each ranging Message interacted with by all locating base stations, and recording the receiving time stamp of each received ranging Message, specifically includes that in the example of UWB ranging process, the master base station 11, the slave base stations 21, 22, 23 and the tag devices 31, 32, 33, 34, 35 in the locating system 100 shown in fig. 1 can be collectively referred to as ranging devices, and the ranging messages involved in the UWB ranging process are Poll Message, response Message and Final Message, namely Poll Message, response Message and FINAL MESSAGE, respectively. The tag device receives each ranging Message interacted by all positioning base stations, specifically, in one ranging period, receives Poll messages sent by the master base station 11 through a broadcasting mode, receives Response messages sent by the slave base station 21, the slave base station 22 and the slave base station 23 respectively, receives FINAL MESSAGE sent by the master base station 11 through a broadcasting mode, and records the receiving time stamp of each ranging Message respectively when the Poll messages, the Response messages and FINAL MESSAGE are received. The tag device marks the end of a ranging period from receiving the Poll Message sent by the master base station 11 to receiving FINAL MESSAGE sent by the master base station 11.
For the technical solution shown in fig. 4, in some possible implementations, the parsing the ranging message to obtain fixed coordinate information of the master base station and the slave base station, transmit-receive time difference information of the ranging message, and clock compensation coefficients includes:
Analyzing the Poll message sent by the main base station to obtain fixed coordinate information of the main base station, receiving and transmitting time difference information of the ranging message and clock compensation coefficient;
And analyzing the Response message sent by the slave base station to obtain the fixed coordinate information of the slave base station, the receiving and transmitting time difference information of the ranging message and the clock compensation coefficient.
For the above implementation, specifically, in the system based on the UWB downlink TDOA location method, the tag device needs to parse the ranging message from the location base station to obtain necessary information, for example, fixed coordinate information of the master base station 11 and the slave base stations 21, 22, 23, transmit/receive time difference information of the ranging message, and clock compensation coefficient in the location system 100 shown in fig. 1. In detail, the tag device parses the Poll Message sent by the master base station 11 to obtain the fixed coordinate information of the master base station 11. Then, the time difference information of the ranging Message of the master base station 11 is extracted from the Poll Message, and the time difference information of the ranging Message of the master base station 11 includes a time stamp of the Message transmitted by the master base station 11 and time difference information of the response of the slave base stations 21, 22, 23 expected to be received. The tag device obtains the clock compensation coefficient of the master base station 11 from the Poll Message to compensate for clock drift existing between the master base station 11 and the tag device. The tag device analyzes the received Response Message sent by the slave base stations 21, 22 and 23 to obtain the fixed coordinate information of each slave base station. And extracting the receiving and transmitting time difference information of the ranging Message of each slave base station in the Response Message, wherein the receiving and transmitting time difference information of the ranging Message comprises the time stamp of the Poll Message sent by the master base station and the time difference value of the time stamp of the Response Message sent by the slave base station. And acquiring a clock compensation coefficient of the slave base station in the Response Message, wherein the clock compensation coefficient is used for compensating clock drift of the slave base station. And when receiving the Poll Message and the Response Message, the tag equipment records own receiving time stamps.
It should be noted that the clock drift refers to a long-term change between the frequency of a clock and its specified or expected frequency, which is usually caused by the influence of clock hardware, environmental conditions (such as temperature, humidity, supply voltage fluctuations) or aging and wear inside the clock. In applications requiring high precision time synchronization, such as communication systems, scientific measurements, global positioning systems, etc., the clock drift can lead to inaccuracy in the time measurement.
In some examples, the tag device further needs to analyze and obtain clock compensation coefficients of the master base station and the slave base station after receiving the ranging Message sent by the positioning base station, taking interaction of the ranging Message between the master base station 11 and the slave base station 21 as an example, the master base station 11 records the time difference between sending Poll Message and sending FINAL MESSAGE asAnd fills in the value into the Poll Message, and the time difference between the reception of the Poll Message from the base station 21 and the reception FINAL MESSAGE is recorded asAnd writes the value into Response Message, and the time difference between receiving Poll Message and receiving FINAL MESSAGE of the label device is recorded asThe tag equipment analyzes the obtained current ranging period、、The parameters are clock compensation coefficients.
For the solution shown in fig. 4, in some possible implementations, the obtaining the preliminary arrival time difference according to the receiving time stamp and the sending and receiving time difference information of the ranging message includes:
obtaining a preliminary time difference value of the tag equipment according to the recorded receiving time stamp of the ranging message received by the tag equipment;
Obtaining a preliminary time difference value of the master base station and the slave base station according to the receiving and transmitting time difference information of the ranging message obtained through analysis;
and obtaining a preliminary arrival time difference according to the preliminary time difference of the tag equipment and the preliminary time difference of the master base station and the slave base station.
For the above implementation, in some examples, the specific implementation manner of obtaining the preliminary time difference value of the tag device according to the recorded receiving time stamp of the ranging Message received by the tag device is that the tag device obtains the preliminary time difference value of the Poll Message received by the master base station and the Response Message received by the slave base station according to the recorded time stamp of the Poll Message received by the master base station 11 and the time stamp of the Response Message received by any one of the slave base stations 21, 22 and 23, and the tag device obtains the preliminary time difference value of the master base station 11 and the slave base stations 21, 22 and 23 according to the recorded time stamp of the Response Message received by the slave base stations 21, 22 and 23 and the time stamp of FINAL MESSAGE received by the master base station 11. Taking the interaction of the ranging messages of the base station to the master base station 11 and the slave base station 21 as an example, referring to fig. 7, a message interaction timing diagram for calculating TDOA provided by an embodiment of the present disclosure is shown, where the time difference information of the ranging messages of the master base station and its coverage area, that is, the preliminary time difference and other parameters in fig. 7, are respectively:
a Poll Message is sent to the main base station 11 to obtain a time difference value FINAL MESSAGE received by the tag device;
the time difference between the receipt of the Poll Message of the master base station 11 to the receipt of the Response Message of the slave base station 21 for the tag device;
the time difference from the receipt of the Response Message of the base station 21 to the receipt of the FINAL MESSAGE of the master base station 11 for the tag device;
In order to receive the time difference from the Poll Message of the main base station 11 to the Response Message from the base station 21, all UWB chips currently support a delayed transmission function, i.e. the transmission time is calculated in advance and written into a register, and the time difference is obtained by subtracting the time stamp when the Poll Message was received from the transmission time of the base station 21 from the transmission time when the system clock reaches the transmission time Filling the Response Message into the Response Message, and obtaining a difference value by analyzing after the tag equipment receives the Response Message;
The same principle applies to the time difference from the reception of the Response Message by the master base station 11 to the transmission FINAL MESSAGE of the slave base station 21;
The time difference from the receipt of the Response Message of the slave base station 21 to the receipt of the Response Message of the slave base station 21 by the tag device is received for the master base station 11;
Distance from the tag device to the master base station 11; distance from the base station 21 for the tag device;
A distance from the master base station 11 to the slave base station 21; Is the speed of light.
In some examples, the obtaining the preliminary arrival time difference according to the preliminary time difference of the tag device itself and the preliminary time differences of the master base station and the slave base station includes:
The relation of the preliminary time difference value obtained according to the preliminary time difference value of the label equipment and the preliminary time difference values of the main base station and the slave base station is as follows:
According to the difference The following equation is obtained:
(4)
substituting formula (3) into formula (4) to obtain:
(5)
The preliminary arrival time difference TDOA value obtained by arrangement is as follows:
(6)
Wherein, The time difference value from the receiving of the Poll Message of the main base station to the receiving of the Response Message of the slave base station is received for the tag equipment; Receiving a time difference value from Response Message of the base station to FINAL MESSAGE of the main base station for the tag equipment; the time difference from the receiving of the Poll Message of the main base station to the sending of the Response Message is the slave base station; The time difference from the Response Message of the base station to the transmission FINAL MESSAGE is received for the master base station, Distance from the tag device to the main base station; distance from the base station for the tag device; Is the speed of light.
For the solution shown in fig. 4, in some possible implementations, the performing clock drift compensation on the preliminary arrival time difference according to the time reference of the master base station and the clock compensation coefficient to obtain an accurate arrival time difference includes:
obtaining clock drift amounts of the slave base station and the tag equipment according to the obtained receiving and transmitting time difference information of the ranging messages of the master base station and the slave base station and the receiving time stamp of the ranging message recorded by the tag equipment;
And carrying out drift compensation on the clock drift amount according to the clock compensation coefficient to obtain an accurate arrival time difference.
In some examples, after obtaining the receiving and transmitting time difference information of the ranging messages of the master base station and the slave base station, the clock drift amount of the slave base station and the tag device is obtained in combination with the receiving time stamp of the ranging Message recorded by the tag device. In some examples, the clock drift amount of the slave base station and the tag device is obtained from the ranging message acquisition time difference information and the reception time stamp. The clock drift amounts of the slave base station and the tag device are specifically the aforementioned time difference values、And。
The preliminary arrival time difference obtained by the calculation in step S403 is assumed that the clocks between all the positioning base stations and the tag device are identical, and in reality, the crystal oscillation of each base station is different, which results in crystal oscillation errors between the nodes, so that clock drift is necessarily present between the positioning base stations and the tag device, and clock drift compensation needs to be performed between the nodes. The crystal oscillator of each node is usually fixed, so the clock drift is also fixed, and therefore, the compensation is only needed once in a certain time. It should be noted that the crystal oscillator of the main base station is usually measured by frequency deviation, for example, in parts per million, and the crystal oscillator with high accuracy can provide smaller frequency deviation, so as to ensure accuracy of time measurement.
When the tag device gets in the current ranging period、、After parameters, i.e. the instantaneous compensation coefficient, the next ranging cycle can be compensated for clock offset, thus obtaining an accurate arrival time difference. In detail, in some examples, all nodes in the system perform drift compensation with the master base station 11 in the positioning system 100 as shown in fig. 1 as a reference time base, and the TDOA value after the drift compensation is obtained according to the formula (6), that is, the accurate arrival time difference is:
(7)
The above is sorted to obtain accurate TDOA values as:
(8)
Wherein, The time difference between the transmission of the Poll Message to the transmission FINAL MESSAGE is sent to the master base station; For the time difference between receipt of Poll Message from the base station to receipt FINAL MESSAGE; The time difference between receiving the Poll Message to receiving FINAL MESSAGE for the tag device; the time difference value from the receiving of the Poll Message of the main base station to the receiving of the Response Message of the slave base station is received for the tag equipment; Receiving a time difference value from Response Message of the base station to FINAL MESSAGE of the main base station for the tag equipment; the time difference from the receiving of the Poll Message of the main base station to the sending of the Response Message is the slave base station; The time difference from the Response Message of the base station to the transmission FINAL MESSAGE is received for the master base station, Distance from the tag device to the main base station; distance from the base station for the tag device; Is the speed of light.
For the above example, the first and second, ideally,、、The parameter values of (2) are the same, but due to the existence of clock drift, the three have deviation, and the clock drift compensation process only needs to have higher crystal oscillator precision of the main base station 11. Therefore, when the master base station 11 is used as a time reference standard, the clock drift compensation specifically operates as follows: as a reference value, in combination with the message exchange timing diagram for calculating TDOA shown in fig. 7, it can be seen that, 、Respectively, the measured time difference of the label device, multiplied by a correction factorThe instantaneous compensation coefficient can be converted into a time reference for the master base station 11.To multiply the measured time difference from the base station 21 by a correction factorIt can be converted into a time reference of the master base station 11.No correction is needed for the measurement time difference of the master base station 11.
For the technical solution shown in fig. 4, in some possible implementations, the location coordinates of the tag device are obtained according to the accurate arrival time difference and the fixed coordinate information of the master base station and the slave base stations, specifically, TDOA values are obtained by calculating the master base station 11 and the slave base station 21 with reference to the base station shown in fig. 7, and the location coordinates of the tag device can be obtained by calculating the distance between the tag device and the location base stations, that is, the relative positions of the tag device and at least four location base stations, according to the fixed coordinate information of the location base stations and the relative positions, by listing three hyperbola equations after three TDOA values are obtained, according to the location principles of the base station to the master base station 11 and the slave base station 22, and the master base station 11 and the slave base station 23 to the location processes of the tag device and the base station to the master base station 11 and the slave base station 21.
Based on the same inventive concept as the foregoing technical solution, referring to fig. 8, another positioning method based on UWB downlink arrival time difference according to an embodiment of the present disclosure is shown, where the method may be applied to the main base station 11 in the positioning system 100 shown in fig. 1, and the method may include:
s801, sending the divided time sequence information to a slave base station so that the slave base station can acquire the corresponding ranging cycle and ranging time slot in the allocated ranging block;
S802, in a ranging period, completing the interactive flow of ranging messages with the slave base station on the ranging cycle and ranging time slot to obtain the receiving and transmitting time difference information of the ranging messages with the slave base station;
s803, obtaining a clock compensation coefficient according to the receiving and transmitting time difference information of the ranging message;
and S804, the clock compensation coefficient is sent to the tag equipment in the coverage range of the main base station, so that the tag equipment performs clock drift compensation based on the clock compensation coefficient.
For the technical scheme, network connection is established between the positioning base stations and the tag equipment so as to construct a positioning network for the tag equipment, a base station pair between a master base station and any one of the slave base stations is used for sending time sequence information to all the slave base stations through the communication connection, in one ranging period, the master base station and the slave base stations respectively complete the interaction process of ranging messages according to the time sequence information, the time stamps of the ranging messages are recorded by the master base station and the slave base stations, the receiving and transmitting time difference information of the ranging messages and a clock compensation coefficient are obtained, and the clock compensation coefficient is sent to the tag equipment so that the tag equipment carries out drift compensation on the obtained primary arrival time difference, thereby improving the positioning precision of the tag equipment.
For the technical solution shown in fig. 8, in some possible implementations, the divided timing information is sent to the slave base station, so that the slave base station knows the ranging cycle and the ranging Slot corresponding to the allocated ranging Block, specifically, the master base station 11 is responsible for managing the division of the timing information of the entire system, see fig. 9, which shows a schematic diagram of the timing structure provided by the embodiment of the present disclosure, the timing is divided into blocks, round and Slot, one Block is set to include Nround (Number Round Per Block) rounds, one Round includes Nslot (Number Slot Per Round) slots, the period of one Slot is set to Tslot (Slot period, for example, 2 ms), and then the time length of a single Round is tslot×nslot, and the duration of a single Block is tslot×nslot× Nround.
It should be noted that, the timing information may specifically be a Slot allocated to the master base station itself and each slave base station in one Round, so that the master base station and the slave base stations complete interaction of the ranging message in the corresponding Slot to obtain the corresponding ranging result. For example, in order to implement the interaction of ranging messages between the master base station and the slave base stations in the positioning system 100 shown in fig. 1, reasonable timing allocation is required, and the number of slots in each Round needs to ensure that the master base station and all the slave base stations can complete the interaction of ranging messages. As can be seen from the timing structure diagram shown in fig. 9, in one Round, for the master base station 11, slot0 is used to transmit Poll Message, slots 1-3 are used to receive Response Message of each slave base station, and Slot4 is used to transmit FINAL MESSAGE.
For the technical solution shown in fig. 8, after the division and the transmission of the time sequence information are completed through the above examples, the positioning base station completes the ranging message interaction of one tag device in one Round, and the positioning base station records the time stamp of the ranging message interaction respectively through the ranging process reflected by the ranging message interaction, so as to obtain the receiving and transmitting time difference information of the ranging message of the positioning base station. For clarity of explanation, the following roles or terminology are defined with respect to the UWB ranging procedure in that a ranging device that defines and controls ranging parameters by transmitting Poll Message in a ranging control period may be defined as a controller, for example, a master base station 11 in a positioning system 100 as shown in fig. 1, and a ranging device that uses ranging parameters received from the controller and responds may be defined as a slave, for example, slave base stations 21, 22, 23. As a controller of the UWB ranging process, as shown in fig. 10, the detailed flow of ranging the tag device by the main base station 11 in the ranging cycle allocated to the main base station 11, first, the main base station 11 starts the ranging flow by broadcasting a Poll Message sent on the Slot0 Slot allocated to the main base station, where the Poll Message carries the ranging block index, the ranging cycle index and the Slot index allocated to the main base station. Then, on the Slot1-Slot3 time slots allocated to the slave base stations, the Response Message sent by each slave base station is received, the slave base stations 21, 22 and 23 align their own time sequences with the master base station 11 after receiving the Poll Message, send the Response Message in their respective time sequence allocations, and fill out specific parameters in the Response Message, such as time difference information of the time of sending the Response Message and the time of receiving the Poll Message and fixed coordinate information of the slave base stations. Accordingly, the master base station 11 receives Response Message transmitted from the base stations 21, 22, 23 on Slot1-Slot3 slots allocated to itself. Then, the master base station 11 sends FINAL MESSAGE after receiving the Response Message of all the slave base stations, and marks the end of one ranging period, by broadcasting the end Message FINAL MESSAGE on the Slot4 time Slot allocated to itself. Each positioning base station records a time stamp when sending and receiving the ranging message, maintains own position information, and transmits the information so that the tag device can perform subsequent TDOA calculation and final determination of the position of the tag device.
Based on the same inventive concept as the foregoing technical solution, referring to fig. 11, there is shown another positioning method based on UWB downlink arrival time difference according to an embodiment of the present disclosure, which may be applied to any one of the slave base stations 21, 22, 23 in the positioning system 100 shown in fig. 1, and the method may include:
S1101, receiving time sequence information sent by a main base station, and acquiring a ranging cycle and a ranging time slot interacted with a ranging message of the main base station according to the time sequence information;
S1102, in a ranging period, finishing interaction of ranging information with the main base station on the ranging cycle and the ranging time slot, and recording the receiving and transmitting time difference information of the ranging information;
and S1103, transmitting the fixed coordinate information, the clock compensation coefficient and the receiving and transmitting time difference information of the ranging message to the tag equipment in the coverage area of the tag equipment so that the tag equipment obtains the arrival time difference.
For the above technical solution, the master base station is responsible for timing coordination of the entire system, the slave base station needs to synchronize its own operation according to these information, the slave base station determines a specific ranging cycle and a ranging slot for performing ranging message interaction with the master base station according to the received timing information, the slave base station completes the ranging message interaction with the master base station on the allocated ranging cycle and ranging slot to obtain time difference information of the ranging message, obtains its own fixed coordinate information when the slave base station is initialized, and obtains a clock compensation coefficient according to the synchronization condition with the master base station to compensate for the clock bias. And sending the fixed coordinate information, the clock compensation coefficient and the time difference information of the ranging message to the tag equipment so that the tag equipment obtains all information required by the preliminary arrival time difference, thereby ensuring that the tag equipment obtains accurate positioning information and improving the precision of the whole positioning system.
For the technical solutions and examples shown in fig. 8 and 11 and the technical solutions shown in fig. 4, which belong to the same inventive concept, the technical solutions and examples shown in fig. 8 and 11 are not described in detail, and reference may be made to the description of the technical solutions shown in fig. 4, which are not repeated in the embodiments of the disclosure.
Based on the same inventive concept as the previous technical solution, referring to fig. 12, there is shown a tag device apparatus 120 provided in an embodiment of the present disclosure, the tag device apparatus 120 including a receiving part 1201, a parsing part 1202, a first obtaining part 1203, a compensating part 1204, and a second obtaining part 1205, wherein,
The receiving part 1201 is configured to receive a ranging message sent by a positioning base station, and record a reception timestamp of the ranging message, where the positioning base station includes a master base station and at least three slave base stations of its coverage area;
The parsing part 1202 is configured to parse the ranging message to obtain fixed coordinate information of the master base station and the slave base station, transmit-receive time difference information of the ranging message, and clock compensation coefficient;
the first obtaining part 1203 is configured to obtain a preliminary arrival time difference according to the reception time stamp and the transmission/reception time difference information of the ranging message;
the compensating part 1204 is configured to perform clock drift compensation on the preliminary arrival time difference according to the time reference of the master base station and the clock compensation coefficient to obtain an accurate arrival time difference;
The second obtaining part 1205 is configured to obtain the positioning coordinates of the tag device itself according to the accurate arrival time difference and the fixed coordinate information of the master base station and the slave base station.
Based on the same inventive concept as the foregoing technical solution, referring to fig. 13, there is shown a main base station apparatus 130 provided in an embodiment of the present disclosure, the main base station apparatus 130 including a dividing section 1301, a ranging section 1302, an acquiring section 1303 and a first transmitting section 1304, wherein,
The dividing section 1301 is configured to transmit divided timing information to a slave base station so that the slave base station knows a ranging cycle and a ranging slot corresponding to the allocated ranging block;
the ranging section 1302 is configured to obtain the information of the time difference between the transmission and reception of the ranging message with the slave base station in the ranging cycle and the interactive flow of the ranging message with the slave base station in the ranging slot in one ranging cycle;
The acquisition part 1303 is configured to acquire a clock compensation coefficient according to the receiving and transmitting time difference information of the ranging message;
the first transmitting part 1304 is configured to transmit the clock compensation coefficient to a tag device in a coverage area of a master base station, so that the tag device performs clock drift compensation based on the clock compensation coefficient.
Based on the same inventive concept as the foregoing technical solution, referring to fig. 14, there is shown a slave base station apparatus 140 provided in an embodiment of the present disclosure, the slave base station apparatus 140 including a learning portion 1401, a recording portion 1402 and a second transmitting portion 1403, wherein,
The learning portion 1401 is configured to receive timing information sent by a master base station, and learn a ranging cycle and a ranging slot interacted with a ranging message of the master base station according to the timing information;
The recording section 1402 is configured to complete interaction of a ranging message with the master base station during the ranging cycle and ranging slot in one ranging cycle, and record the transceiving time difference information of the ranging message;
The second transmitting part 1403 is configured to transmit the fixed coordinate information of itself, the clock compensation coefficient, and the transmission and reception time difference information of the ranging message to the tag device in its coverage area so that the tag device obtains the arrival time difference.
It is to be appreciated that the ranging section 1302 described above may be the UWB communication component 231 in the network node device 200 in an implementation process. The embodiments of the present disclosure will not be described in detail. In addition, in this embodiment, the "part" may be a part of a circuit, a part of a processor, a part of a program or software, or the like, and of course, may be a unit, or may be a module or may be non-modular.
In addition, each component in the present embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional modules.
The integrated units, if implemented in the form of software functional modules, may be stored in a computer-readable storage medium, if not sold or used as separate products, and based on such understanding, the technical solution of the present embodiment may be embodied essentially or partly in the form of a software product, which is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) or processor to perform all or part of the steps of the method described in the present embodiment. The storage medium includes various media capable of storing program codes, such as a U disk, a removable hard disk, a Read Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk.
Accordingly, the present embodiment provides a computer storage medium storing a positioning program based on a UWB downlink arrival time difference, where the positioning program based on the UWB downlink arrival time difference implements the steps of the positioning method based on the UWB downlink arrival time difference described in the above technical solution when executed by at least one processor.
It will be appreciated that the exemplary solutions of the tag device apparatus 120, the master base station apparatus 130 and the slave base station apparatus 140 described above are the same as those of the positioning method based on the UWB downlink arrival time difference, and therefore, for details not described in detail in the solutions of the tag device apparatus 120, the master base station apparatus 130 and the slave base station apparatus 140, reference may be made to the description of the solutions of the positioning method based on the UWB downlink arrival time difference. The embodiments of the present disclosure will not be described in detail.
The technical schemes described in the embodiments of the present disclosure may be arbitrarily combined without any conflict.
The foregoing is merely specific embodiments of the disclosure, but the protection scope of the disclosure is not limited thereto, and any person skilled in the art can easily think about changes or substitutions within the technical scope of the disclosure, and it is intended to cover the scope of the disclosure. Therefore, the protection scope of the present disclosure shall be subject to the protection scope of the claims.
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