CN119233387B - Time synchronization method, system and device between base stations based on UWB and base station - Google Patents
Time synchronization method, system and device between base stations based on UWB and base station Download PDFInfo
- Publication number
- CN119233387B CN119233387B CN202411743052.8A CN202411743052A CN119233387B CN 119233387 B CN119233387 B CN 119233387B CN 202411743052 A CN202411743052 A CN 202411743052A CN 119233387 B CN119233387 B CN 119233387B
- Authority
- CN
- China
- Prior art keywords
- base station
- time
- broadcast signal
- data
- synchronization
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 46
- 230000001360 synchronised effect Effects 0.000 claims description 55
- 230000005540 biological transmission Effects 0.000 claims description 20
- 238000004364 calculation method Methods 0.000 claims description 13
- 238000005259 measurement Methods 0.000 claims description 4
- 230000002159 abnormal effect Effects 0.000 claims description 2
- 230000008569 process Effects 0.000 abstract description 9
- 230000002708 enhancing effect Effects 0.000 abstract 1
- 238000004891 communication Methods 0.000 description 11
- 238000010586 diagram Methods 0.000 description 10
- 238000005516 engineering process Methods 0.000 description 4
- 230000003993 interaction Effects 0.000 description 4
- 238000004422 calculation algorithm Methods 0.000 description 3
- 239000013078 crystal Substances 0.000 description 3
- 238000012423 maintenance Methods 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000013213 extrapolation Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000005856 abnormality Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W56/00—Synchronisation arrangements
- H04W56/001—Synchronization between nodes
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/06—Selective distribution of broadcast services, e.g. multimedia broadcast multicast service [MBMS]; Services to user groups; One-way selective calling services
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W88/00—Devices specially adapted for wireless communication networks, e.g. terminals, base stations or access point devices
- H04W88/08—Access point devices
Landscapes
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Multimedia (AREA)
- Mobile Radio Communication Systems (AREA)
- Synchronisation In Digital Transmission Systems (AREA)
Abstract
本公开提供了一种基于UWB的基站间时间同步方法，包括：接收第二基站发送的相对第一基站的同步数据；基于所述同步数据更新所述第二基站相对所述第一基站的时间序列表；根据所述时间序列表拟合得到所述第二基站相对所述第一基站的时钟模型；基于所述时钟模型使所述第二基站与所述第一基站的时间同步。利用本发明的技术方案，以较少的资源占用和成本使得多个基站能够在同一时间轴上进行数据处理，可将基站间的时间同步精度提高到0.1ns，提高了系统的定位精度，增强了定位系统在复杂环境下的适应能力。
The present disclosure provides a method for time synchronization between base stations based on UWB, including: receiving synchronization data sent by a second base station relative to a first base station; updating a time sequence table of the second base station relative to the first base station based on the synchronization data; fitting a clock model of the second base station relative to the first base station according to the time sequence table; and synchronizing the time of the second base station with the first base station based on the clock model. By utilizing the technical solution of the present invention, multiple base stations can process data on the same time axis with less resource occupation and cost, and the time synchronization accuracy between base stations can be increased to 0.1ns, thereby improving the positioning accuracy of the system and enhancing the adaptability of the positioning system in complex environments.
Description
Technical Field
The disclosure relates to the technical field of UWB communication, and in particular, to a method, a system, a device and a base station for time synchronization between base stations based on UWB.
Background
UWB (Ultra-Wideband) technology is used as a short-distance wireless communication technology, has the advantages of high-precision positioning, low power consumption, multipath resistance, interference resistance and the like, has excellent time resolution and penetrating capacity, and can realize centimeter-level high-precision positioning in a complex environment.
In a multi-base-station three-dimensional positioning system based on UWB, in order to ensure the accuracy of positioning data and the overall performance of the system, accurate time synchronization must be realized among all base stations so as to ensure that data exchange and calculation are performed under the same time reference.
At present, to realize synchronization among multiple base stations, a special wired time service mode or a scheme of using global navigation satellites (GNSS) can be utilized, but the existing scheme has limitations in terms of resource occupation, precision and cost, and cannot meet the requirement of high time precision. Therefore, there is a need for a time synchronization scheme between base stations that can provide high precision performance at a low cost.
Disclosure of Invention
The invention provides a time synchronization method, a system, a device and a base station between base stations based on UWB, which are used for solving the problem that the precision of the existing UWB base station synchronization cannot meet the requirements of low cost and high precision.
The present invention solves the above technical problems by:
in a first aspect, the present invention provides a time synchronization method between base stations based on UWB, which is applicable to an operation server side, and includes:
Receiving synchronous data which are sent by a second base station and correspond to a first base station, wherein the synchronous data comprise the transmitting time of a broadcast signal which is transmitted by the first base station and used for synchronization, and the receiving time of the broadcast signal which is received by the second base station;
updating a time sequence table of the second base station relative to the first base station based on the synchronous data;
fitting according to the time sequence table to obtain a clock model of the second base station relative to the first base station;
the second base station is time synchronized with the first base station based on the clock model.
In a second aspect, the present invention provides a time synchronization method between base stations based on UWB, which is applicable to a base station side, and includes:
Transmitting a broadcast signal for synchronization when configured as a first base station;
When the method is configured as a second base station, after receiving a broadcast signal transmitted by the first base station, the method transmits the receiving time of the broadcast signal and the transmitting time of the broadcast signal to an operation server as synchronous data so that the operation server executes synchronous operation, wherein the synchronous operation comprises the steps of receiving the synchronous data, updating a time sequence table of the second base station relative to the first base station based on the synchronous data, fitting a clock model of the second base station relative to the first base station according to the time sequence table, and synchronizing the time of the second base station and the first base station according to the clock model.
In a third aspect, the present invention provides an inter-base station time synchronization system based on UWB, comprising at least a first base station, a second base station, and an operation server, wherein,
The first base station transmits a broadcast signal for synchronization;
the second base station receives the broadcast signal and transmits the receiving time of the broadcast signal and the transmitting time of the broadcast signal as synchronous data to an operation server;
the operation server receives the synchronous data, updates a time sequence table of the second base station relative to the first base station based on the synchronous data, fits according to the time sequence table to obtain a clock model of the second base station relative to the first base station, and synchronizes the time of the second base station and the first base station based on the clock model.
In a fourth aspect, the present invention provides a server-side apparatus for time synchronization between UWB base stations, comprising:
a receiving module configured to receive synchronization data sent by a second base station with respect to a first base station, the synchronization data including a transmission time of a broadcast signal for synchronization transmitted by the first base station, and a reception time of the broadcast signal received by the second base station;
a sequence table module configured to update a time sequence table of the second base station relative to the first base station based on the synchronization data;
The fitting calculation module is configured to obtain a clock model of the second base station relative to the first base station according to the fitting of the time sequence table;
a base station synchronization module configured to synchronize time of the second base station with the first base station based on the clock model.
In a fifth aspect, the present invention provides a UWB base station comprising:
A transmitting module for transmitting a broadcast signal for synchronization when acting as a first base station;
a receiving module for receiving a broadcast signal transmitted from the first base station when acting as a second base station;
The data transmission module is used for transmitting the receiving time of the broadcast signal and the transmitting time of the broadcast signal to the operation server as synchronous data after receiving the broadcast signal transmitted by the first base station, so that the operation server executes synchronous operation, the synchronous operation comprises the steps of receiving the synchronous data, updating a time sequence table of the second base station relative to the first base station based on the synchronous data, fitting according to the time sequence table to obtain a clock model of the second base station relative to the first base station, and synchronizing the time of the second base station and the first base station based on the clock model.
The technical scheme of the invention has the following beneficial effects:
1) The server is fitted with the clock model of the base station, so that the measuring and calculating time at any moment can be extrapolated, time synchronization with the synchronous base station can be maintained, and whether the clock of the base station jumps or not can be detected by using the clock model.
2) The fitting clock model adopts simple linear fitting according to the characteristics of crystal oscillator, so that the accuracy of data fitting is optimized, complex calculation is reduced, and the operation efficiency is improved.
3) According to the scheme, the wireless mode of receiving and transmitting broadcast signals among the base stations is utilized for synchronization, and the scheme does not depend on external satellites or cables, so that occupation of system resources is reduced, and expansibility and flexibility of the system are improved.
4) The transmission time is carried in the broadcast signal, so that the round trip process of the interaction signal between the base stations is reduced, the communication delay is reduced, and the time synchronization accuracy is improved.
By using the technical scheme of the invention, a plurality of base stations can process data on the same time axis with less resource occupation and cost, so that the time synchronization precision between the base stations can be improved to 0.1ns, the positioning precision of the system is improved, and the adaptability of the positioning system in a complex environment is enhanced.
Drawings
In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present disclosure, and other drawings may be obtained according to these drawings without inventive effort for a person of ordinary skill in the art.
FIG. 1 is a schematic diagram of a network architecture of a UWB positioning system in an embodiment of the present disclosure;
fig. 2 is a schematic diagram of a topology of a UWB base station in an embodiment of the present disclosure;
FIG. 3 is a flowchart of a server-side method for time synchronization between UWB-based base stations according to an embodiment of the present disclosure
Fig. 4 is a timing diagram of receiving and transmitting broadcast signals by each base station according to an embodiment of the disclosure;
Fig. 5 is a block diagram of a time synchronization system between UWB-based base stations according to an embodiment of the present disclosure;
fig. 6 is a block diagram of a server-side device according to an embodiment of the present disclosure;
fig. 7 is a block diagram of a UWB base station according to an embodiment of the present disclosure.
Detailed Description
In order to better understand the technical solutions in the present disclosure, the technical solutions of the present disclosure will be clearly and completely described below with reference to the drawings in the embodiments of the present disclosure. It will be apparent that the described embodiments are only some, but not all, of the embodiments of the present disclosure. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments of the present disclosure without inventive faculty, shall fall within the scope of the present disclosure. In addition, for the sake of clarity, portions irrelevant to description of the exemplary embodiments are omitted in the drawings.
In this specification, it should be understood that terms such as "comprises" or "comprising," etc., are intended to indicate the presence of features, numbers, steps, acts, components, portions, or combinations thereof disclosed in the present disclosure, and are not intended to exclude the possibility that one or more other features, numbers, steps, acts, components, portions, or combinations thereof are present or added. In addition, it should be noted that, without conflict, the embodiments of the present disclosure and features of the embodiments may be combined with each other.
In the UWB multi-base-station three-dimensional positioning system, each base station needs to work cooperatively through a communication network, so that the position data of a moving target can be accurately and real-timely transmitted back to a central control system, and real-time monitoring and management of the target are realized. In order to ensure the accuracy of the positioning data and the overall performance of the system, accurate time synchronization must be achieved between the base stations so as to perform data exchange and calculation under the same time reference.
Time synchronization is not only one of the core technologies of the multi-base station positioning system, but also is the basis for ensuring the stability and reliability of the system. The accurate time synchronization can eliminate the negative influence of time errors on positioning calculation, ensure that the data between the base stations can be matched with each other, and further improve the overall positioning accuracy. In practical applications, such as unmanned vehicle team cooperative work, intelligent robot clusters, etc., accurate base station time synchronization is an important factor in ensuring efficient operation of these systems.
Currently, the time synchronization of multiple base stations in a positioning system is realized in two ways:
The first is a special wired time service mode, each base station is connected through a physical cable, unified time reference is achieved, the base station sends and receives UWB signals according to the time reference, and time errors of each base station are guaranteed to be minimized. The distance measurement data of each base station are calculated on the same time axis, so that the positioning accuracy is improved.
Although the wired timing scheme can provide high-precision time synchronization, it has several significant problems:
1) The cost is high, and in complex application environments, large-scale wired connection arrangement is a task with great cost and time consumption, especially in some scenes requiring flexible deployment.
2) The system expansibility is poor, the flexibility of system expansion is limited by wired connection, and newly added equipment or changed deployment needs to be rewired, so that the maintenance difficulty is increased.
3) The physical cable is easily damaged by external environment, such as mechanical damage or electromagnetic interference, so that the stability of the system is reduced, and the maintenance cost is increased.
The second is a time synchronization approach based on GNSS (global navigation satellite system), which is a possible option in some application scenarios. Each base station is internally provided with a GNSS receiving module and uses a time reference provided by satellite signals for synchronization. The limitations of this approach are:
1) The signal dependence is strong, good satellite signal coverage is required, the signal quality is easily affected in an indoor or shielding environment, and continuous high-precision synchronization cannot be ensured.
2) The equipment cost is high, each base station needs to be provided with a GNSS module, and the hardware cost and the power consumption of the system are obviously increased.
3) Time delay-satellite signal propagation has a certain delay, and in dynamic scenarios, the time synchronization accuracy may be poor.
With the development of wireless communication technology, the complexity and application fields of the positioning system are expanding, and the requirement for time synchronization is also increasing. Not only is the precision of synchronization required to reach nanosecond level, but also the cost of system deployment and maintenance is required to be as low as possible, and the system has higher expansibility and adaptability so as to be convenient for effective work in various complex environments and dynamically changing scenes.
Based on the current state of the art, the time synchronization scheme among UWB base stations is improved, and the scheme has good expansibility and adaptability and can be widely applied to various application scenes.
First, a network architecture of a UWB positioning system to which the synchronization method of the embodiments of the present disclosure is applied will be briefly described.
Fig. 1 is a schematic diagram of a network architecture of a UWB positioning system in an embodiment of the present disclosure.
As shown in fig. 1, a plurality of UWB base stations in the system are connected to the NTP server and the arithmetic server, for example, in a local area network, and are connected in a wired manner. The NTP server can provide coarse synchronization among base stations, and all base stations and the NTP server complete time synchronization. Because of uncertainty of transmission delay of the local area network, after the base stations are synchronized in an NTP mode, the time accuracy of each base station can reach 1 us-10 us to the highest extent, and the accuracy requirement cannot be met in some scenes, and an operation server is required to execute the synchronization method provided by the present disclosure to meet the accuracy requirement. When the UWB base station completes the first NTP synchronization, the UWB time counter is synchronously cleared, so that the same time starting point of each base station in the system is ensured.
Multiple UWB base stations in the system may communicate with each other. For example, as shown in the base station topology of fig. 2, the signals transmitted by UWB base station 3 may be received by UWB base station 2, UWB base station 4, UWB base station 5, and UWB base station 6.
Fig. 3 is a flowchart of a server-side method for time synchronization between UWB-based base stations provided in an embodiment of the present disclosure.
As shown in FIG. 3, the method of the server side includes operations S110-S140. The server herein is a calculation server, and the following description refers to the calculation server unless otherwise specified.
And S110, receiving synchronous data which is transmitted by the second base station and corresponds to the first base station, wherein the synchronous data comprises the transmitting moment of a broadcast signal transmitted by the first base station and used for synchronization and the receiving moment of the broadcast signal received by the second base station.
The first base station may be configured as a master base station transmitting a broadcast signal for synchronization such that other base stations in the system receive the broadcast signal and maintain time synchronization with the first base station. The broadcast signal may be broadcast by the first base station with a predetermined period, so that other base stations may be synchronized with the first base station periodically, for example, the system presets a frame structure of transmission time, each frame beginning with a broadcast subframe, the first base station transmitting the broadcast signal in the broadcast subframe, and the second base station receiving the broadcast signal in the broadcast subframe, such a preset time structure being advantageous for cooperation between the base stations. When the second base station receives the broadcast signal, the receiving time is identified, and the transmitting time and the receiving time of the broadcast signal and the ID of the second base station are transmitted to the operation server. The transmitting time of the broadcast signal can be added in the broadcast signal by the first base station and then transmitted to the server by the second base station, so that the communication interaction process between the first base station and the second base station is saved, and the resource occupation is reduced.
And S120, updating a time sequence table of the second base station relative to the first base station based on the synchronous data.
When other base stations receive the broadcast information, the respective receiving time is identified, and the transmitting time, the receiving time and the base station ID are transmitted to an operation server. Since the positions of the base stations are unchanged and the distances between the base stations are fixed, the time difference between the receiving time and the transmitting time should be kept unchanged theoretically, and the changes are caused by clock drift and clock jitter, and the changes can affect the measurement accuracy.
Fig. 4 gives an example of the timing at which each base station transmits and receives a broadcast signal.
As shown in fig. 4, UWB base station 3 is a transmitting base station, UWB base station 2, UWB base station 4, UWB base station 5, and UWB base station 6 are receiving base stations, and the purpose of time synchronization between base stations is to make the transmission and reception times of the respective base stations on the same time axis. The receiving base stations have different receiving moments due to different positions from the transmitting base station. In the drawing the view of the figure,For the kth transmission instant of the UWB base station 3,The other base stations are marked similarly for the kth reception time of UWB base station 2.
The reception timings of the UWB base station 5 and the UWB base station 6 are similar.
The second base station as the receiving party transmits the corresponding receiving time and transmitting time as synchronous data to the server every time the broadcast signal is received, wherein the second base station also comprises the ID of the first base station so as to identify that the synchronous data is opposite to the first base station. The server records the time sequence table corresponding to the second base station according to the synchronous data, and the server updates the corresponding time sequence table along with the second base station receiving new broadcast signals each time. The time sequence table may be stored as a secondary list according to the ID of the base station, for example:
The time sequence of the periodic transmission broadcast signal of the UWB base station 3 is
The time sequence in which the UWB base station 2 receives the broadcast signal is
The time sequence in which the UWB base station 4 receives the broadcast signal is
S130, fitting according to the time sequence table to obtain a clock model of the second base station relative to the first base station.
There may be a variety of fitting algorithms in fitting the clock model, and embodiments of the present disclosure provide a simple linear fitting method. The first base station as the transmitting party can be the main base station, the adjacent second base station which needs to be synchronized with the first base station can be based on the criterion of a least square method, 1-order polynomial fitting is adopted for data in a first time range in a time sequence table, 2-order polynomial fitting is adopted for data in a second time range, and 3-order polynomial fitting is adopted for data in a third time range, so that a clock model of the second base station relative to the first base station is obtained. The first time range, the second time range and the third time range are sequentially far away from the current time. The interval division of the first time range, the second time range and the third time range and the adopted linear fitting mode are matched with the characteristics of the crystal oscillator, so that high-precision performance can be provided by a simple algorithm.
Still taking UWB base station 3 transmitting, UWB base station 2 receiving as an example, the specific fit may be as follows:
a polynomial fit of order 1 is used for data over intervals greater than 10 seconds and less than 30 minutes,
A polynomial fit of order 2 was used for data over intervals greater than 30 minutes and less than 3 hours,
A 3 rd order polynomial fit is used for data over a 3 hour and less than 12 hour interval,
The clock model of the UWB base station 2 relative to the UWB base station 3 is obtained through the polynomial fitting.
And S140, synchronizing the time of the second base station and the time of the first base station according to the clock model.
Performing polynomial fitting extrapolation according to the clock model obtained by current fitting to obtain the extrapolated moment of the second base station at the observation time point. For example, when positioning the UWB tag, the communication between the second base station and the tag occurs in a time range after the communication is synchronized with the first base station, so that the positioning time of the second base station to the tag can be calculated by the clock model, and the time synchronization of the second base station and the first base station is maintained, so that the position of the tag can be calculated with more accurate time. The actual verification can improve the synchronization precision between the base stations to 0.1ns, which can meet the requirements in a high-precision scene.
Further, the method of the embodiment of the disclosure further includes detecting whether a clock of the second base station has a jump according to a measurement result of the clock model. When the second base station receives the new UWB broadcast signal transmitted by the first base station, the clock model is utilized to extrapolate and calculate the current receiving momentCorresponding measuring and calculating timeWhen receiving timeAnd measuring and calculating timeWhen the deviation of (2) exceeds the threshold, it is determined that a clock transition exists. Preferably, the deviation threshold may be set to 10ns. Because the positions of the base stations are unchanged, the distance between the base stations is fixed, the change of time difference between receiving and transmitting time is caused by factors such as clock drift, clock jitter or clock jump, the influence of the clock drift and the jitter can be solved through extrapolation algorithm fitting, the clock jump cannot be matched with a model, and the clock jump is removed after detection is needed. And when the clock abnormality is detected, clearing the data in the corresponding time sequence table, otherwise, continuously updating the time sequence table. After detecting the abnormal synchronization, the positioning data of the second base station can be temporarily not used in positioning, and the clock is used for positioning calculation after the clock is recovered to be normal. By means of anomaly detection, time synchronization errors can be adjusted and repaired in real time, and stability and reliability of the system are guaranteed.
According to the method of the embodiment, the server fits the clock model of the base station and can be used for extrapolating the measuring time at any moment, so that the time synchronization with the synchronous base station can be maintained, and whether the clock of the base station jumps or not can be detected by using the clock model. The fitting clock model adopts simple linear fitting according to the characteristics of crystal oscillator, so that the accuracy of data fitting is optimized, complex calculation is reduced, and the operation efficiency is improved. On the other hand, the scheme utilizes a wireless mode of receiving and transmitting broadcast signals among base stations to synchronize, does not depend on external satellites or cables, reduces occupation of system resources, and improves expansibility and flexibility of the system. On the basis, the transmission time is carried in the broadcast signal, so that the round trip process of the interaction signal between the base stations is reduced, the communication delay is reduced, and the time synchronization accuracy is improved. By using the technical scheme of the invention, a plurality of base stations can process data on the same time axis with less resource occupation and cost, the time synchronization precision of each base station can be improved to 0.1ns, the positioning precision of the system is improved, and the adaptability of the positioning system in a complex environment is enhanced, thereby improving the stability and reliability of the system.
Correspondingly, the present disclosure also provides embodiments of a base station side method of time synchronization between UWB-based base stations.
The UWB base station in the positioning system may be the first base station or the second base station, which may be configured by the system through higher layer instructions.
A broadcast signal for synchronization is transmitted when configured as a first base station.
When the second base station is configured as the second base station, after receiving the broadcast signal transmitted by the first base station, the receiving time of the received broadcast signal and the transmitting time of the broadcast signal are used as synchronous data to be transmitted to the operation server, so that the operation server can execute synchronous operation, and the synchronous operation comprises the steps of receiving the synchronous data, updating a time sequence table of the second base station relative to the first base station based on the synchronous data, fitting to obtain a clock model of the second base station relative to the first base station according to the time sequence table, and synchronizing the time of the second base station and the first base station according to the clock model.
When the first base station is used, corresponding transmitting time is added in the transmitted broadcast signals, so that the signal round trip process when the second base station is synchronous is reduced, the resource occupation is reduced, and the communication efficiency is improved. In addition, the first base station and the second base station can receive and transmit signals according to a preset frame structure, the first base station transmits broadcast signals periodically, and the second base station receives the broadcast signals in corresponding time, so that the adjacent base stations can keep synchronous with the first base station.
On this basis, the present disclosure also provides an inter-base station time synchronization system 200 based on UWB.
Fig. 5 is a block diagram of a time synchronization system between UWB-based base stations according to an embodiment of the present disclosure.
As shown in fig. 5, the system 200 includes at least a first base station 210, a second base station 220, and an operation server 230.
The first base station 210 transmits a broadcast signal for synchronization.
The second base station 220 receives the broadcast signal and transmits a reception time at which the broadcast signal is received and a transmission time at which the broadcast signal is transmitted as synchronous data to the operation server.
The operation server 230 receives the synchronization data, updates a time sequence table of the second base station relative to the first base station based on the synchronization data, fits according to the time sequence table to obtain a clock model of the second base station relative to the first base station, and synchronizes the time of the second base station with the time of the first base station according to the clock model.
The synchronization system in this embodiment may further include an NTP server 240 for initial time synchronization of the first base station with the second base station. The time precision of the base station after NTP synchronization is 1 us-10 us, and in the embodiment of the disclosure, the base station is roughly synchronized. After the NTP synchronization is completed, the first base station may periodically transmit a broadcast signal within a preset time, and the second base station may receive the broadcast signal within a corresponding time. When each base station completes the first NTP synchronization, the respective UWB time counter is synchronously cleared, so as to ensure that the time starting points of each base station in the system are the same.
According to the method of the embodiment of the disclosure, the wireless mode of receiving and transmitting broadcast signals between the base stations is utilized for synchronization, and the method does not depend on external satellites or cables, so that the occupation of system resources is reduced, and the expansibility and flexibility of the system are improved. By utilizing the technical scheme of the invention, a plurality of base stations can process data on the same time axis, so that the positioning precision of the system is improved, the adaptability of the positioning system in a complex environment is enhanced, and the stability and reliability of the system are improved.
Based on the same inventive concept, the present disclosure also provides a server-side apparatus 300 for time synchronization between UWB base stations.
Fig. 6 is a block diagram of the server-side apparatus 300.
As shown in fig. 6, the server-side apparatus 300 includes a data receiving module 310, a sequence table module 320, a fitting calculation module 330, and a base station synchronization module 340, and the server-side apparatus 300 may be implemented by software, hardware, or a combination of software and hardware, and the server-side apparatus 300 may perform the foregoing various synchronization methods on the server side.
The data receiving module 310 is configured to receive synchronization data sent by the second base station with respect to the first base station, where the synchronization data includes a transmission time of a broadcast signal transmitted by the first base station for synchronization, and a reception time of the broadcast signal received by the second base station.
A sequence table module 320 configured to update a time sequence table of the second base station relative to the first base station based on the synchronization data.
The fitting calculation module 330 is configured to obtain a clock model of the second base station relative to the first base station according to the fitting of the time sequence table.
The base station synchronization module 340 is configured to synchronize the time of the second base station with the first base station according to a clock model.
The fitting calculation module 330 may use a 1 st order polynomial fitting for data in a first time range, a2 nd order polynomial fitting for data in a second time range, and a 3 rd order polynomial fitting for data in a third time range in the time sequence table based on a least square method criterion, so as to obtain a clock model of the second base station relative to the first base station. The first time range, the second time range and the third time range are sequentially far away from the current time.
Based on the same inventive concept, the disclosed embodiments also provide a UWB base station 400.
Fig. 7 is a block diagram of a UWB base station according to an embodiment of the present disclosure.
As shown in fig. 7, the base station 400 includes a transmitting module 410, a receiving module 420, and a data transmission module 430, and the base station 400 may be implemented by software, hardware, or a combination of software and hardware, and the base station 400 may perform the aforementioned various synchronization methods on the base station side.
The transmitting module 410 is used for transmitting a broadcast signal used for synchronization when acting as a first base station.
And a receiving module 420 for receiving a broadcast signal transmitted from the first base station when acting as a second base station.
The data transmission module 430 is configured to, after receiving the broadcast signal transmitted from the first base station, transmit the receiving time of the received broadcast signal and the transmitting time of the broadcast signal to the operation server as synchronization data, so that the operation server performs a synchronization operation, where the synchronization operation includes receiving the synchronization data, updating a time sequence table of the second base station relative to the first base station based on the synchronization data, fitting a clock model of the second base station relative to the first base station according to the time sequence table, and synchronizing the time of the second base station and the first base station according to the clock model.
The transmitting module 410 may transmit the broadcast signal in a preset period and add a transmission time to the broadcast signal, thereby reducing a communication interaction procedure with the second base station.
The present disclosure also provides an electronic device for time synchronization between UWB base stations, the electronic device comprising one or more processors and memory for storing one or more computer programs that, when executed by the one or more processors, cause the one or more processors to implement the various synchronization methods as described previously.
The foregoing has described specific embodiments of this disclosure. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims can be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.
The various embodiments in this disclosure are described in a progressive manner, and identical and similar parts of the various embodiments are all referred to each other, and each embodiment is mainly described as different from other embodiments. In particular, for embodiments of the base station side method, the corresponding base station, the server side apparatus, the synchronization system and the electronic device, since they are substantially similar to embodiments of the server side synchronization method, the description is relatively simple, and the relevant points are referred to in the description of the embodiments of the server side method.
The foregoing is merely exemplary of the present disclosure and is not intended to limit the present disclosure. Various modifications and variations of this disclosure will be apparent to those skilled in the art. Any modifications, equivalent substitutions, improvements, or the like, which are within the spirit and principles of the present disclosure, are intended to be included within the scope of the claims of the present disclosure.
Claims (10)
1. The time synchronization method between base stations based on UWB is suitable for operation server side, and is characterized by comprising the following steps:
Receiving synchronous data which are sent by a second base station and are opposite to a first base station, wherein the synchronous data comprise the transmitting time of a broadcast signal which is transmitted by the first base station and used for synchronization, and the receiving time of the broadcast signal which is received by the second base station, and the transmitting time of the broadcast signal is added into the broadcast signal by the first base station;
updating a time sequence table of the second base station relative to the first base station based on the synchronous data;
The clock model of the second base station relative to the first base station is obtained according to the fitting of the time sequence table, which comprises the steps of fitting the data in the first time range in the time sequence table by adopting a 1-order polynomial, fitting the data in the second time range by adopting a 2-order polynomial and fitting the data in the third time range by adopting a 3-order polynomial based on a least square criterion to obtain the clock model of the second base station relative to the first base station;
the second base station is time synchronized with the first base station based on the clock model.
2. The method of claim 1, wherein the broadcast signal is broadcast by the first base station at a preset period.
3. The method of claim 1, wherein the first time range, the second time range, and the third time range are sequentially distant from a current time.
4. The method of claim 1, further comprising detecting whether an anomaly exists in the clock of the second base station based on the measurement of the clock model.
5. The method according to claim 4, wherein the method further comprises:
If the clock of the second base station is abnormal, clearing the data in the time sequence table;
otherwise, continuing to update the time sequence table.
6. A time synchronization method between base stations based on UWB, which is applicable to a base station side, and is characterized by comprising:
transmitting a broadcast signal for synchronization when configured as a first base station, and adding a transmission time of the broadcast signal within the broadcast signal;
When the method is configured as a second base station, after receiving a broadcast signal transmitted by the first base station, transmitting a receiving moment of receiving the broadcast signal and a transmitting moment of transmitting the broadcast signal to an operation server as synchronous data, so that the operation server executes synchronous operation, wherein the synchronous operation comprises the steps of receiving the synchronous data, updating a time sequence table of the second base station relative to the first base station based on the synchronous data, fitting according to the time sequence table to obtain a clock model of the second base station relative to the first base station, and synchronizing the time of the second base station and the first base station according to the clock model, wherein the step of fitting the clock model comprises the steps of fitting data in a first time range in the time sequence table by adopting a 1-order polynomial, fitting data in a second time range by adopting a 2-order polynomial and fitting data in a third time range by adopting a 3-order polynomial based on a least square rule, and obtaining the clock model of the second base station relative to the first base station.
7. A time synchronization system between base stations based on UWB is characterized by comprising at least a first base station, a second base station and an operation server, wherein,
The first base station transmits a broadcast signal for synchronization and adds the transmission time of the broadcast signal into the broadcast signal;
the second base station receives the broadcast signal and transmits the receiving time of the broadcast signal and the transmitting time of the broadcast signal as synchronous data to an operation server;
The operation server receives the synchronous data, updates a time sequence table of the second base station relative to the first base station based on the synchronous data, fits according to the time sequence table to obtain a clock model of the second base station relative to the first base station, synchronizes the time of the second base station and the time of the first base station based on the clock model, wherein fitting the clock model comprises fitting data in a first time range in the time sequence table by adopting a 1-order polynomial, fitting data in a second time range by adopting a 2-order polynomial and fitting data in a third time range by adopting a 3-order polynomial based on a least square criterion to obtain the clock model of the second base station relative to the first base station.
8. The system of claim 7, further comprising an NTP server for initial time synchronization of the first base station with the second base station.
9. A server-side apparatus for time synchronization between UWB base stations, comprising:
A data receiving module configured to receive synchronization data sent by a second base station with respect to a first base station, the synchronization data including a transmission time of a broadcast signal transmitted by the first base station for synchronization and a reception time of the broadcast signal received by the second base station, wherein the transmission time of the broadcast signal is added in the broadcast signal by the first base station;
a sequence table module configured to update a time sequence table of the second base station relative to the first base station based on the synchronization data;
The fitting calculation module is configured to obtain a clock model of the second base station relative to the first base station according to the fitting of the time sequence table, and comprises the steps of fitting data in a first time range in the time sequence table by using a 1-order polynomial, fitting data in a second time range by using a 2-order polynomial, and fitting data in a third time range by using a 3-order polynomial based on a least square criterion to obtain the clock model of the second base station relative to the first base station;
a base station synchronization module configured to synchronize time of the second base station with the first base station based on the clock model.
10. A UWB base station comprising:
a transmitting module for transmitting a broadcast signal for synchronization when acting as a first base station, and adding a transmission time of the broadcast signal in the broadcast signal;
a receiving module for receiving a broadcast signal transmitted from the first base station when acting as a second base station;
The data transmission module is used for transmitting the receiving time of the received broadcast signal and the transmitting time of the broadcast signal to the operation server as synchronous data after receiving the broadcast signal transmitted by the first base station, so that the operation server executes synchronous operation, the synchronous operation comprises the steps of receiving the synchronous data, updating a time sequence table of the second base station relative to the first base station based on the synchronous data, obtaining a clock model of the second base station relative to the first base station according to fitting of the time sequence table, and synchronizing the time of the second base station and the first base station based on the clock model, wherein fitting the clock model comprises fitting data in a first time range in the time sequence table by adopting a 1-order polynomial, fitting data in a second time range by adopting a 2-order polynomial and fitting data in a third time range by adopting a 3-order polynomial based on a least square rule, and obtaining the clock model of the second base station relative to the first base station.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202411743052.8A CN119233387B (en) | 2024-11-29 | 2024-11-29 | Time synchronization method, system and device between base stations based on UWB and base station |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202411743052.8A CN119233387B (en) | 2024-11-29 | 2024-11-29 | Time synchronization method, system and device between base stations based on UWB and base station |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN119233387A CN119233387A (en) | 2024-12-31 |
| CN119233387B true CN119233387B (en) | 2025-03-14 |
Family
ID=94068835
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202411743052.8A Active CN119233387B (en) | 2024-11-29 | 2024-11-29 | Time synchronization method, system and device between base stations based on UWB and base station |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN119233387B (en) |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1500323A (en) * | 2000-11-14 | 2004-05-26 | Ѷ���Ƽ���˾ | Wireless Clock Synchronization |
| CN111193997A (en) * | 2019-11-27 | 2020-05-22 | 湖北航天飞行器研究所 | Time difference of arrival (TDOA) measuring and calibrating method for UWB positioning system |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8644821B2 (en) * | 2009-10-28 | 2014-02-04 | Taiwan Gomet Technology Co., Ltd. | Method of beacon synchronization for base stations |
| CN113079562B (en) * | 2020-01-06 | 2022-06-03 | 广东博智林机器人有限公司 | Time synchronization method and device between base stations and electronic equipment |
| EP4054251A3 (en) * | 2021-03-01 | 2022-11-23 | Nokia Technologies Oy | Clock synchronization |
| CN114364011A (en) * | 2021-12-27 | 2022-04-15 | 浪潮通信技术有限公司 | Wireless synchronization method and device for ultra-wideband base station |
-
2024
- 2024-11-29 CN CN202411743052.8A patent/CN119233387B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1500323A (en) * | 2000-11-14 | 2004-05-26 | Ѷ���Ƽ���˾ | Wireless Clock Synchronization |
| CN111193997A (en) * | 2019-11-27 | 2020-05-22 | 湖北航天飞行器研究所 | Time difference of arrival (TDOA) measuring and calibrating method for UWB positioning system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN119233387A (en) | 2024-12-31 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP2174397B1 (en) | Estimating a time offset between stationary clocks | |
| US20120026041A1 (en) | Systems and methods for locating a target in a gps-denied environment | |
| US20110007650A1 (en) | Method of estimating position of mobile node in wireless sensor network | |
| US20110119024A1 (en) | Method of estimating position of mobile node in wireless sensor network | |
| CN108370551A (en) | Based on reaching time-difference localization method, user equipment and the network equipment | |
| CN110267200A (en) | A kind of base station positioning method based on precise synchronization network | |
| US20110274004A1 (en) | Systems and methods for space-time determinations with reduced network traffic | |
| CN103905135A (en) | Method, device and system for realizing time synchronization | |
| CN109005584A (en) | The Wireless clock synchronization scheme of positioning system based on TDOA technology | |
| JP2017129458A (en) | POSITION IDENTIFICATION SYSTEM AND POSITION IDENTIFICATION METHOD | |
| CN116056202B (en) | An improved method for wireless clock synchronization and positioning solution for UWB indoor positioning | |
| US10165537B1 (en) | Distributed network time synchronization using geo-beacons | |
| CN110049440B (en) | Underwater wireless sensor network synchronization and positioning method and system | |
| CN105634641A (en) | Precise timing system and method based on cascade network communication of switching architecture | |
| CN112566028A (en) | Indoor robot positioning method based on UWB | |
| CN113518310B (en) | TDOA estimation method for ultra-wideband multi-region indoor positioning | |
| CN113038364B (en) | Underground two-dimensional positioning method based on combination of TDOA and DS_TWR of UWB technology | |
| CN116155433B (en) | A multi-domain and cross-scale data collection and timing method | |
| Zhang et al. | Ultrawideband-based real-time positioning with cascaded wireless clock synchronization method | |
| US20180152903A1 (en) | Real-time wireless positioning system and method thereof | |
| CN113518309A (en) | TDOA (time difference of arrival) estimation method and system for ultra-wideband indoor positioning | |
| CN114258041A (en) | Clock source monitoring method and device and computer readable storage medium | |
| CN102625442B (en) | Synchronous data acquisition method based on wireless sensor network | |
| CN119233387B (en) | Time synchronization method, system and device between base stations based on UWB and base station | |
| Liu et al. | Time synchronization in communication networks based on the Beidou foundation enhancement system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |