CN105911543A - Method and system for radio range finding on moving terminal, and apparatus - Google Patents

Abstract

The invention, which belongs to the radio range finding field, discloses a method and system for radio range finding on a moving terminal, and an apparatus. The method comprises: a first request frame is sent to a positioning base station; a first replying frame is received, wherein the first replying frame is replied after the positioning base station receives the first request frame and waits for a time interval T<B>ta; after the wait for a time interval T<A>ta, a second request frame is sent to the positioning base station; a second replying frame is received, wherein the second replying frame is replied immediately after the positioning base station receives the second request frame; a time stamp replying frame is received, wherein the time stamp replying frame is replied after the positioning base station receives the second request frame and includes T<B>round and T<B>ta, and the T<B>round expresses a time interval between receiving the second request frame and sending the first replying frame by the positioning base station; and on the basis of a formula, a range 1 is calculated, wherein the range 1 expresses a distance to the positioning base station when the first request frame is sent to the positioning base station. According to the invention, the distance between a positioning base station and a tested terminal in a high-speed motion mode can be measured precisely.

Description

Motion terminals is carried out the methods, devices and systems of radio distance-measuring

Technical field

The present invention relates to radio distance-measuring field, particularly relate to one and motion terminals is carried out wireless electrical measurement Away from methods, devices and systems.

Background technology

Radio distance-measuring is a kind of distance-finding method based on electromagnetic wave application technology.Range measurement principle is wireless Electric wave time-of-flight, anchor (locating base station) and tag (measured terminal) sends radio wave Preferably UWB (Ultra Wideband, ultra broadband) radio wave, records the time used, is multiplied by nothing The speed (light velocity) of line electric wave, i.e. obtains tag relative to the distance between anchor.Due to anchor And time asynchronous between tag, and the factor such as safety verification to be considered, so needing anchor And repeatedly mutual between tag, accurate distance could be calculated by wireless flight theory.Among these The most frequently used algorithm is SDS range finding (ranging protocol symmetric double-sided ranging Protocol, symmetrical bilateral ranging protocol).

SDS range finding radio wave interaction situation as shown in Figure 1:

Tag sends RFRAMEreq1 (the first claim frame) to anchor；

Anchor receives RFRAMEreq1, and etc. duration to be fixedAfter, send to tag RFRAMErep1 (first replys frame)；

Tag receives RFRAMErep1, and record receives RFRAMErep1 and transmission The time interval of RFRAMEreq1, is designated as

Tag is waiting duration to be fixedRFRAMEreq2 (the second claim frame) is sent afterwards to anchor；

Anchor receives RFRAMEreq2, and calculating receives RFRAMEreq2 and transmission The time interval of RFRAMErep1, is designated as

Anchor sends Time-stamp Report (timestamp reply frame), Time-stamp to tag In Report withWithValue；

Calculating the distance of Tag Yu anchor, wherein distance is:

SDS range finding is limited in, and only considered the tag range finding under static scene, namely tag is static Time could be effectively.Under the scene of tag high-speed motion, what SDS measured is that tag sends out for many times in fact Send the meansigma methods of claim frame moment distance.For example, if tag moves with 300 kilometers of speed per hours, It is about the speed motion of 83.3 meter per seconds.AssumeWithIt is 100ms, then Fig. 1 position 2 Having changed and for 8.33 meters with the distance at 3, the distance change at position 1 and 2 is also about 8.33 Rice is (owing to must add the time T spent by two distance rangings_t).It is to say, SDS range finding The distance recorded is in fact: the meansigma methods of 1,3 and 2 these 4 distance values of position 2 in position, makes Obtain measurement result inaccurate.

Summary of the invention

The present invention provides a kind of methods, devices and systems that motion terminals carries out radio distance-measuring, should With the distance of locating base station when method can accurately measure measured terminal high-speed motion.

For solving above-mentioned technical problem, the present invention provides technical scheme as follows:

On the one hand, it is provided that a kind of method that motion terminals is carried out radio distance-measuring, including:

The first claim frame is sent to locating base station；

Receiving the first reply frame, described first reply frame is that described locating base station is receiving described first Claim frame, and latency periodRear reply；

Latency periodAfter, send the second claim frame to described locating base station；

Receiving the second reply frame, described second reply frame is that described locating base station is receiving described second Respond immediately to after claim frame；

Receive timestamp and reply frame, described timestamp reply frame be described locating base station receive described Replying after second claim frame, described timestamp is replied frame and is includedWith For described location Base station receives described second claim frame and sends the described first time interval replying frame；

Calculate range1, described range1 be to described locating base station send described first claim frame time and The distance of described locating base station, wherein:

$range1=T_{round}^{A2}\&times;C/2+\left(\right(T_{round}^{A1}+T_{ta}^A)-(T_{round}^B+T_{ta}^B\left)\right)\&times;C;$

Reply frame for receiving described first and send the time interval of described first claim frame；

Reply frame for receiving described second and send the time interval of described second claim frame.

Further, described calculating range1 is further: calculate range1, range2 and range3；

Described range1 is when described locating base station sends described first claim frame and described location base The distance stood, described range2 be receive described first when replying frame with the distance of described locating base station, Described range3 be to described location base send described second claim frame time with described locating base station away from From, wherein:

$range1=range3+\left(\right(T_{round}^{A1}+T_{ta}^A)-(T_{round}^B+T_{ta}^B\left)\right)\&times;C$

Range2=(4range-range1-range3)/2

$range3=T_{round}^{A2}\&times;C/2;$

$range=\frac{(T_{round}^A-T_{ta}^B)+(T_{round}^B-T_{ta}^A)}{4}\&times;C.$

Further, described reception second is replied in the step of frame, and described second reply frame is described fixed Position base station physical interface transceiver after receiving described second claim frame, not to locating base station with Too net media access controller sends information, responds immediately to.

On the other hand, it is provided that a kind of measured terminal, including:

First claim frame sending module, for sending the first claim frame to locating base station；

First replys frame receiver module, and for receiving the first reply frame, described first reply frame is described Locating base station is receiving described first claim frame, and latency periodRear reply；

Second claim frame sending module, uses latency periodAfter, send the to described locating base station Two claim frames；

Second replys frame receiver module, and for receiving the second reply frame, described second reply frame is described Locating base station responds immediately to after receiving described second claim frame；

Timestamp replys frame receiver module, is used for receiving timestamp and replys frame, and described timestamp replys frame Being that described locating base station is replied after receiving described second claim frame, described timestamp replys frame bag IncludeWith Receive described second claim frame for described locating base station and send described first time The time interval of multi-frame；

Computing module, it is described to the transmission of described locating base station for being used for calculating range1, described range1 With the distance of described locating base station during the first claim frame, wherein:

$range1=T_{round}^{A2}\&times;C/2+\left(\right(T_{round}^{A1}+T_{ta}^A)-(T_{round}^B+T_{ta}^B\left)\right)\&times;C;$

Reply frame for receiving described first and send the time interval of described first claim frame；

Reply frame for receiving described second and send the time interval of described second claim frame.

Another further aspect, it is provided that a kind of method that motion terminals is carried out radio distance-measuring, including:

Receive the first claim frame that measured terminal sends；

Latency periodAfter, send the first reply frame to described measured terminal；

Receiving the second claim frame, described second claim frame is that described measured terminal receives described first reply Frame, and latency periodRear transmission；

The second reply frame is sent to described measured terminal immediately after receiving described second claim frame；

Send timestamp to described measured terminal and reply frame, so that described measured terminal calculates range1； Described range1 is distance during described measured terminal described first claim frame of transmission, and described timestamp returns Multi-frame includesWith For receiving described second claim frame and sending described first reply frame Time interval, wherein:

$range1=T_{round}^{A2}\&times;C/2+\left(\right(T_{round}^{A1}+T_{ta}^A)-(T_{round}^B+T_{ta}^B\left)\right)\&times;C;$

Receive described first for described measured terminal reply frame and send described first claim frame Time interval；

Receive described second for described measured terminal reply frame and send described second claim frame Time interval.

Further, described to described measured terminal send timestamp reply frame be further: to described Measured terminal send timestamp reply frame so that described measured terminal calculate range1, range2 and range3；

Described range1 is distance during described measured terminal described first claim frame of transmission, described Range2 is distance during the described first reply frame of described measured terminal reception, and described range3 is described Measured terminal sends distance during described second claim frame, wherein:

$range1=range3+\left(\right(T_{round}^{A1}+T_{ta}^A)-(T_{round}^B+T_{ta}^B\left)\right)\&times;C$

Range2=(4range-range1-range3)/2

$range3=T_{round}^{A2}\&times;C/2;$

$range=\frac{(T_{round}^A-T_{ta}^B)+(T_{round}^B-T_{ta}^A)}{4}\&times;C.$

Further, second is sent to described measured terminal immediately after described second claim frame of described reception Replying frame is further: after the second claim frame described in physical interface transceivers, not to Ethernet matchmaker Body access controller sends information, sends the second reply frame to described measured terminal immediately.

Another further aspect, it is provided that a kind of locating base station, including:

First claim frame receiver module, for receiving the first claim frame, described first claim frame is tested Terminal sends；

First replys frame sending module, for latency periodAfter, send to described measured terminal First replys frame；

Second claim frame receiver module, for receiving the second claim frame, described second claim frame is described Measured terminal receives described first and replys frame, and latency periodRear transmission；

Second replys frame sending module, is used for receiving after described second claim frame immediately to described tested end End sends the second reply frame；

Timestamp replys frame sending module, replys frame for sending timestamp to described measured terminal, with Described measured terminal is made to calculate range1；Described range1 is that described measured terminal transmission described first please Seeking distance during frame, described timestamp is replied frame and is includedWith Please for receiving described second Seek frame and send the described first time interval replying frame, wherein:

$range1=T_{round}^{A2}\&times;C/2+\left(\right(T_{round}^{A1}+T_{ta}^A)-(T_{round}^B+T_{ta}^B\left)\right)\&times;C;$

Receive described first for described measured terminal reply frame and send described first claim frame Time interval；

Receive described second for described measured terminal reply frame and send described second claim frame Time interval.

Another further aspect, it is provided that a kind of system that motion terminals carries out radio distance-measuring, including above-mentioned quilt Survey terminal and locating base station.

The method have the advantages that

Compared with prior art, the method that motion terminals is carried out radio distance-measuring of the present invention, it is possible to With the distance of locating base station when accurately measuring measured terminal high-speed motion, it is especially suitable for mine and track This measured terminal of traffic is all the time in the scene of rapid movement.

Accompanying drawing explanation

Fig. 1 is SDS range measurement principle figure of the prior art；

Fig. 2 is the Method And Principle figure that motion terminals carries out radio distance-measuring of the present invention；

Fig. 3 is the side that motion terminals carries out radio distance-measuring applied on measured terminal of the present invention The schematic diagram of one embodiment of method；

Fig. 4 is the schematic diagram of an embodiment of the measured terminal of the present invention；

Fig. 5 is the side that motion terminals carries out radio distance-measuring applied in locating base station of the present invention The schematic diagram of one embodiment of method；

Fig. 6 is the schematic diagram of an embodiment of the locating base station of the present invention；

Fig. 7 is the system schematic that motion terminals carries out radio distance-measuring of the present invention.

Detailed description of the invention

For making the technical problem to be solved in the present invention, technical scheme and advantage clearer, below will knot Conjunction drawings and the specific embodiments are described in detail.

On the one hand, the present invention provides a kind of method that motion terminals is carried out radio distance-measuring, this method Apply on measured terminal, in the present invention, measured terminal (tag) and locating base station (anchor) Between found range by radio wave, UWB radio wave, UWB time energy are preferably used Enough being accurate to nanosecond rank, range accuracy can reach a centimetre rank.Radio wave is sent by network interface card And reception, network interface card includes that (Ethernet media access control to MAC (physical interface transceiver) and PHY Device processed).As shown in Figures 2 and 3, the step of one embodiment of the present of invention is as follows:

Step 101: send the first claim frame to locating base station.

The MAC of measured terminal sends request of data (Data Request) to the PHY of measured terminal Instruction, after the PHY of measured terminal receives data requesting instructions, sending first to locating base station please Seek frame (1FRAMEreq), and record the moment sending the first claim frame.

Step 102: receive the first reply frame, first reply frame be locating base station receive first please Ask frame, and latency periodRear reply.

After the PHY of locating base station receives the first claim frame, send data to the MAC of locating base station Instruction (Data Indication) instruction, and record the moment receiving the first claim frame；Locating base station After MAC receives data indicator, waiting for a period of time (is not), to the PHY of locating base station Send data requesting instructions, after the PHY of locating base station receives data requesting instructions, to tested end End sends the first reply frame (1FRAMErep, ACK), and record sends the moment of the first reply frame, And send data validation instruction (Data Confirm) to the MAC of locating base station, send the first reply The moment of frame is with the difference in the moment receiving the first claim frame

After the PHY of measured terminal receives the first reply frame, send data to the MAC of measured terminal Instruction (Data Indication) instruction, and record the moment receiving the first reply frame.

Step 103: latency periodAfter, send the second claim frame to locating base station.

After the MAC of measured terminal receives data indicator, waiting for a period of time (is not), Sending data requesting instructions to the PHY of measured terminal, the PHY of measured terminal receives request of data After instruction, send the second claim frame (2FRAMEreq) to locating base station, and record transmission second please Asking the moment of frame, the difference in the moment sending the second claim frame and the moment receiving the first reply frame is i.e. For

Step 104: receive the second reply frame, second reply frame be locating base station receive second please Respond immediately to after seeking frame.

After the PHY of locating base station receives the second claim frame, send second time to measured terminal immediately Multi-frame (2FRAMErep, ACK), and record and receive moment of the second claim frame and (be also simultaneously Send the moment of the second reply frame), the PHY of measured terminal receives the second reply frame and record receives Second moment replying frame.

Step 105: receive timestamp and reply frame, timestamp replys frame, and to be locating base station receiving the Replying after two claim frames, timestamp is replied frame and is includedWith Is received for locating base station Two claim frames and the time interval of transmission the first reply frame.

After the PHY of locating base station receives the second claim frame, send data to the MAC of locating base station Indicator, after the MAC of locating base station receives data indicator, to location in random time The PHY of base station sends data requesting instructions, after the PHY of locating base station receives data requesting instructions, Send timestamp to measured terminal and reply frame (Time-stamp Report, ACK), record the transmission time The moment of frame replied by stamp, sends data validation instruction to the MAC of locating base station simultaneously.

After the PHY of measured terminal receives timestamp reply frame, send number to the MAC of measured terminal According to indicator, so that measured terminal calculates the distance of remaining locating base station.

Step 106: calculating range1, range1 is with fixed when locating base station sends the first claim frame The distance of base station, position, wherein:

$range1=T_{round}^{A2}\&times;C/2+\left(\right(T_{round}^{A1}+T_{ta}^A)-(T_{round}^B+T_{ta}^B\left)\right)\&times;C;$

For receiving the first reply frame and sending the time interval of the first claim frame；

For receiving the second reply frame and sending the time interval of the second claim frame.

In this step, the parameters that measured terminal obtains according to abovementioned steps calculates to locating base station With the accurate distance range1 of locating base station when sending the first claim frame, details are as follows for concrete principle:

From background technology, distance range that SDS records in fact: position 1 is (to fixed With the distance of locating base station when base station, position sends the first claim frame, range1), position 3 is (to location base With the distance of locating base station when sending the second claim frame, range3) and two positions 2 (receptions first With the distance of locating base station, range2 when replying frame) meansigma methods of these four distance values, it may be assumed that

$range=\frac{(T_{round}^A-T_{ta}^B)+(T_{round}^B-T_{ta}^A)}{4}\&times;C.$

By mathematical method, the relation theorem that we can obtain range1 and range3 is as follows:

Theorem one:

Prove:It is that measured terminal sends the first claim frame and the second request in position 1 and 3 The time interval of frame,It is that locating base station receives the first claim frame and the time of the second claim frame Interval.If measured terminal transfixion, then the two time interval should be equal, namely distance Difference is 0.If measured terminal moves, then the difference of the two time interval is not 0, then this difference Being multiplied by the light velocity should be the measured terminal difference in the distance of position 1 and 3.Must demonstrate,prove.

Theorem two:

Prove: respond immediately to the second reply frame, relative to light owing to locating base station receives the second claim frame For speed, the movement velocity of measured terminal is negligible, know accordingly now measured terminal away from From forMust demonstrate,prove.

Therefore, theorem two is substituted into theorem one, the most available:

$range1=T_{round}^{A2}\&times;C/2+\left(\right(T_{round}^{A1}+T_{ta}^A)-(T_{round}^B+T_{ta}^B\left)\right)\&times;C.$

Compared with prior art, the side that motion terminals is carried out radio distance-measuring of the embodiment of the present invention Method, it is possible to the distance of locating base station when accurately measuring measured terminal high-speed motion, be especially suitable for ore deposit Well and this measured terminal of track traffic are all the time in the scene of rapid movement.

A kind of improvement as the embodiment of the present invention, it is also possible to calculate range2 and range3, concrete, The step (step 106) calculating range1 is further: calculate range1, range2 and range3；

Range1 is the distance when locating base station sends the first claim frame with locating base station, and range2 is With the distance of locating base station when receiving the first reply frame, range3 is for sending the second claim frame to location base Time with the distance of locating base station, wherein:

$range1=range3+\left(\right(T_{round}^{A1}+T_{ta}^A)-(T_{round}^B+T_{ta}^B\left)\right)\&times;C$

Range2=(4range-range1-range3)/2

$range3=T_{round}^{A2}\&times;C/2;$

$range=\frac{(T_{round}^A-T_{ta}^B)+(T_{round}^B-T_{ta}^A)}{4}\&times;C.$

In order to measure range2, it would be desirable to extraction theorem three:

Theorem three: then range2=(4range-range1 range3)/2.

Due to range=(range1+2range2+range3)/4, institute's above formula must be demonstrate,proved.

By theorem one to theorem three, range1, range2 and range3 can be calculated.The present invention is real Execute example and can calculate when measured terminal is in multiple position the distance with locating base station so that location is more Accurately.

Further, at step 104, the PHY of locating base station after receiving the second claim frame, Do not send information to the MAC of locating base station, immediately the second reply frame is replied to measured terminal, when So, the PHY of locating base station can also send information to the MAC of locating base station during follow-up.

On the other hand, the present invention provides a kind of measured terminal corresponding with said method, and one of them is real Execute such as shown in Fig. 4, including:

First claim frame sending module 11, for sending the first claim frame to locating base station；

First replys frame receiver module 12, and for receiving the first reply frame, the first reply frame is location base Stand in and receive the first claim frame, and latency periodRear reply；

Second claim frame sending module 13, uses latency periodAfter, send the to locating base station Two claim frames；

Second replys frame receiver module 14, and for receiving the second reply frame, the second reply frame is location base Stand in and respond immediately to after receiving the second claim frame；

Timestamp replys frame receiver module 15, is used for receiving timestamp and replys frame, and timestamp is replied frame and is Locating base station is replied after receiving the second claim frame, and timestamp is replied frame and includedWith Receive the second claim frame for locating base station and send the time interval of the first reply frame；

Computing module 16, is used for calculating range1, and range1 is for send the first claim frame to locating base station Time with the distance of locating base station, wherein:

$range1=T_{round}^{A2}\&times;C/2+\left(\right(T_{round}^{A1}+T_{ta}^A)-(T_{round}^B+T_{ta}^B\left)\right)\&times;C;$

For receiving the first reply frame and sending the time interval of the first claim frame；

For receiving the second reply frame and sending the time interval of the second claim frame.

Compared with prior art, the motion terminals of the embodiment of the present invention can accurately measure self at a high speed With the distance of locating base station during motion, it is especially suitable for mine and this measured terminal of track traffic exists all the time The scene of rapid movement.

A kind of improvement as the embodiment of the present invention, it is also possible to calculate range2 and range3, concrete, Computing module is further used for: calculate range1, range2 and range3；

Range1 is the distance when locating base station sends the first claim frame with locating base station, and range2 is With the distance of locating base station when receiving the first reply frame, range3 is for sending the second claim frame to location base Time with the distance of locating base station, wherein:

$range1=range3+\left(\right(T_{round}^{A1}+T_{ta}^A)-(T_{round}^B+T_{ta}^B\left)\right)\&times;C$

Range2=(4range-range1-range3)/2

$range3=T_{round}^{A2}\&times;C/2;$

$range=\frac{(T_{round}^A-T_{ta}^B)+(T_{round}^B-T_{ta}^A)}{4}\&times;C.$

The embodiment of the present invention can calculate when measured terminal is in multiple position with locating base station away from From so that position more accurate.

Further, replying in frame receiver module second, the PHY of locating base station is receiving second After claim frame, not to locating base station MAC send information, immediately by second reply frame reply to by Surveying terminal, certainly, the PHY of locating base station can also be to the MAC of locating base station during follow-up Transmission information.

Another further aspect, the present invention provides the another kind of method that motion terminals is carried out radio distance-measuring, this Method is applied in locating base station, one of them embodiment as shown in Figure 5:

Step 101 ': receive the first claim frame that measured terminal sends.

In this step, the MAC of measured terminal sends request of data (Data to the PHY of measured terminal Request) instruction, after the PHY of measured terminal receives data requesting instructions, sends out to locating base station Send the first claim frame (1FRAMEreq), and record the moment sending the first claim frame.

After the PHY of locating base station receives the first claim frame, send data to the MAC of locating base station Instruction (Data Indication) instruction, and record the moment receiving the first claim frame.

Step 102 ': latency periodAfter, send the first reply frame to measured terminal；

After the MAC of locating base station receives data indicator, waiting for a period of time (is not), Sending data requesting instructions to the PHY of locating base station, the PHY of locating base station receives request of data After instruction, send the first reply frame (1FRAMErep, ACK), record transmission the to measured terminal One moment replying frame, and send data validation instruction (Data to the MAC of locating base station Confirm), the difference in the moment and the moment receiving the first claim frame that send the first reply frame is

Step 103 ': receiving the second claim frame, the second claim frame is that measured terminal receives the first reply frame, And latency periodRear transmission；

After the PHY of measured terminal receives the first reply frame, send data to the MAC of measured terminal Instruction (Data Indication) instruction, and record the moment receiving the first reply frame.

After the MAC of measured terminal receives data indicator, waiting for a period of time (is not), Sending data requesting instructions to the PHY of measured terminal, the PHY of measured terminal receives request of data After instruction, send the second claim frame (2FRAMEreq) to locating base station, and record transmission second please Asking the moment of frame, the difference in the moment sending the second claim frame and the moment receiving the first reply frame is i.e. For

After the PHY of locating base station receives the second claim frame, and record receives the second claim frame Moment.

Step 104 ': send the second reply frame to measured terminal immediately after receiving the second claim frame；

After the PHY of locating base station receives the second claim frame, send second time to measured terminal immediately Multi-frame (2FRAMErep, ACK), and record and send moment of the second reply frame and carve and (be also simultaneously Receive the second claim frame time), so that measured terminal PHY receive second reply frame and record connect Receive the moment of the second reply frame.

Step 105 ': send timestamp to measured terminal and reply frame, so that measured terminal calculates range1； Range1 is measured terminal distance when sending the first claim frame, and timestamp is replied frame and includedWith For receiving the second claim frame and sending the time interval of the first reply frame, wherein:

$range1=T_{round}^{A2}\&times;C/2+\left(\right(T_{round}^{A1}+T_{ta}^A)-(T_{round}^B+T_{ta}^B\left)\right)\&times;C;$

Receive the first reply frame for measured terminal and send the time interval of the first claim frame；

Receive the second reply frame for measured terminal and send the time interval of the second claim frame.

After the PHY of locating base station receives the second claim frame, send data to the MAC of locating base station Indicator, after the MAC of locating base station receives data indicator, to location in random time The PHY of base station sends data requesting instructions, after the PHY of locating base station receives data requesting instructions, Send timestamp to measured terminal and reply frame (Time-stamp Report, ACK), record the transmission time The moment of frame replied by stamp, sends data validation instruction to the MAC of locating base station simultaneously.

After the PHY of measured terminal receives timestamp reply frame, send number to the MAC of measured terminal According to indicator, so that measured terminal calculates the distance of remaining locating base station.

Compared with prior art, the side that motion terminals is carried out radio distance-measuring of the embodiment of the present invention Method, it is possible to the distance of locating base station when accurately measuring measured terminal high-speed motion, be especially suitable for ore deposit Well and this measured terminal of track traffic are all the time in the scene of rapid movement.

A kind of improvement as the embodiment of the present invention, it is also possible to calculate range2 and range3, concrete, The step (step 105 ') calculating range1 is further: sends timestamp to measured terminal and replys Frame, so that measured terminal calculates range1, range2 and range3；

Range1 is measured terminal distance when sending the first claim frame, and range2 is that measured terminal receives First replys distance during frame, and range3 is measured terminal distance when sending the second claim frame, wherein:

$range1=range3+\left(\right(T_{round}^{A1}+T_{ta}^A)-(T_{round}^B+T_{ta}^B\left)\right)\&times;C$

Range2=(4range-range1-range3)/2

$range3=T_{round}^{A2}\&times;C/2;$

$range=\frac{(T_{round}^A-T_{ta}^B)+(T_{round}^B-T_{ta}^A)}{4}\&times;C.$

The embodiment of the present invention can calculate when measured terminal is in multiple position with locating base station away from From so that position more accurate.

Further, in step 104 " in, the PHY of locating base station after receiving the second claim frame, Do not send information to the MAC of locating base station, immediately the second reply frame is replied to measured terminal, when So, the PHY of locating base station can also send information to the MAC of locating base station during follow-up.

Another further aspect, the present invention provides a kind of locating base station corresponding with said method, and one of them is real Execute such as shown in Fig. 6, including:

First claim frame receiver module 11 ', for receiving the first claim frame, the first claim frame is tested Terminal sends；

First replys frame sending module 12 ', for latency periodAfter, send to measured terminal First replys frame；

Second claim frame receiver module 13 ', for receiving the second claim frame, the second claim frame is tested Terminal receives the first reply frame, and latency periodRear transmission；

Second replys frame sending module 14 ', sends out to measured terminal immediately after receiving the second claim frame Send the second reply frame；

Timestamp replys frame sending module 15 ', replys frame for sending timestamp to measured terminal, with Measured terminal is made to calculate range1；Range1 is measured terminal distance when sending the first claim frame, time Between stamp reply frame includeWith For receive the second claim frame and send first reply frame time Between be spaced, wherein:

$range1=T_{round}^{A2}\&times;C/2+\left(\right(T_{round}^{A1}+T_{ta}^A)-(T_{round}^B+T_{ta}^B\left)\right)\&times;C;$

Receive the first reply frame for measured terminal and send the time interval of the first claim frame；

Receive the second reply frame for measured terminal and send the time interval of the second claim frame.

Compared with prior art, the locating base station of the embodiment of the present invention can accurately measure measured terminal With the distance of locating base station during high-speed motion, it is especially suitable for mine and this measured terminal of track traffic begins Eventually in the scene of rapid movement.

A kind of improvement as the embodiment of the present invention, it is also possible to calculate range2 and range3, concrete, Timestamp is replied frame sending module and is further used for: sends timestamp to measured terminal and replys frame, so that Measured terminal calculates range1, range2 and range3；

Range1 is measured terminal distance when sending the first claim frame, and range2 is that measured terminal receives First replys distance during frame, and range3 is measured terminal distance when sending the second claim frame, wherein:

$range1=range3+\left(\right(T_{round}^{A1}+T_{ta}^A)-(T_{round}^B+T_{ta}^B\left)\right)\&times;C$

Range2=(4range-range1-range3)/2

$range3=T_{round}^{A2}\&times;C/2;$

$range=\frac{(T_{round}^A-T_{ta}^B)+(T_{round}^B-T_{ta}^A)}{4}\&times;C.$

The embodiment of the present invention can calculate when measured terminal is in multiple position with locating base station away from From so that position more accurate.

Further, replying in frame sending module second, the PHY of locating base station is receiving second After claim frame, not to locating base station MAC send information, immediately by second reply frame reply to by Surveying terminal, certainly, the PHY of locating base station can also be to the MAC of locating base station during follow-up Transmission information.

Another further aspect, the present invention also provides for a kind of system that motion terminals carries out radio distance-measuring, One of them embodiment is as it is shown in fig. 7, comprises above-mentioned measured terminal 1 and locating base station 2.

The system of the radio distance-measuring of the embodiment of the present invention can accurately measure measured terminal fortune at a high speed With the distance of locating base station time dynamic, it is especially suitable for mine and this measured terminal of track traffic all the time soon The scene of speed motion.

The above is the preferred embodiment of the present invention, it is noted that general for the art For logical technical staff, on the premise of without departing from principle of the present invention, it is also possible to make some changing Entering and retouch, these improvements and modifications also should be regarded as protection scope of the present invention.

Claims (9)

1. the method that motion terminals is carried out radio distance-measuring, it is characterised in that including:

The first claim frame is sent to locating base station；

Receiving the first reply frame, described first reply frame is that described locating base station is receiving described first Claim frame, and latency periodRear reply；

Latency periodAfter, send the second claim frame to described locating base station；

Receiving the second reply frame, described second reply frame is that described locating base station is receiving described second Respond immediately to after claim frame；

Receive timestamp and reply frame, described timestamp reply frame be described locating base station receive described Replying after second claim frame, described timestamp is replied frame and is includedWithFor described location Base station receives described second claim frame and sends the described first time interval replying frame；

Calculate range1, described range1 be to described locating base station send described first claim frame time and The distance of described locating base station, wherein:

$range1=T_{round}^{A2}\&times;C/2+\left(\right(T_{round}^{A1}+T_{ta}^A)-(T_{round}^B+T_{ta}^B\left)\right)\&times;C;$

Reply frame for receiving described first and send the time interval of described first claim frame；

Reply frame for receiving described second and send the time interval of described second claim frame.

The method that motion terminals is carried out radio distance-measuring the most according to claim 1, it is special Levying and be, described calculating range1 is further: calculate range1, range2 and range3；

Described range1 is when described locating base station sends described first claim frame and described location base The distance stood, described range2 be receive described first when replying frame with the distance of described locating base station, Described range3 be to described location base send described second claim frame time with described locating base station away from From, wherein:

$range1=range3+\left(\right(T_{round}^{A1}+T_{ta}^A)-(T_{round}^B+T_{ta}^B\left)\right)\&times;C$

Range2=(4range-range1-range3)/2

$range3=T_{round}^{A2}\&times;C/2;$

$range=\frac{(T_{round}^A-T_{ta}^B)+(T_{round}^B-T_{ta}^A)}{4}\&times;C.$

The method that motion terminals is carried out radio distance-measuring the most according to claim 1 and 2, It is characterized in that, described reception second is replied in the step of frame, and described second reply frame is described location The physical interface transceiver of base station is after receiving described second claim frame, not to the ether of locating base station Net media access controller sends information, responds immediately to.

4. a measured terminal, it is characterised in that including:

First claim frame sending module, for sending the first claim frame to locating base station；

First replys frame receiver module, and for receiving the first reply frame, described first reply frame is described Locating base station is receiving described first claim frame, and latency periodRear reply；

Second claim frame sending module, uses latency periodAfter, send the to described locating base station Two claim frames；

Second replys frame receiver module, and for receiving the second reply frame, described second reply frame is described Locating base station responds immediately to after receiving described second claim frame；

Timestamp replys frame receiver module, is used for receiving timestamp and replys frame, and described timestamp replys frame Being that described locating base station is replied after receiving described second claim frame, described timestamp replys frame bag IncludeWithReceive described second claim frame for described locating base station and send described first time The time interval of multi-frame；

Computing module, it is described to the transmission of described locating base station for being used for calculating range1, described range1 With the distance of described locating base station during the first claim frame, wherein:

$range1=T_{round}^{A2}\&times;C/2+\left(\right(T_{round}^{A1}+T_{ta}^A)-(T_{round}^B+T_{ta}^B\left)\right)\&times;C;$

Reply frame for receiving described first and send the time interval of described first claim frame；

Reply frame for receiving described second and send the time interval of described second claim frame.

5. the method that motion terminals is carried out radio distance-measuring, it is characterised in that including:

Receive the first claim frame that measured terminal sends；

Latency periodAfter, send the first reply frame to described measured terminal；

Receiving the second claim frame, described second claim frame is that described measured terminal receives described first reply Frame, and latency periodRear transmission；

The second reply frame is sent to described measured terminal immediately after receiving described second claim frame；

Send timestamp to described measured terminal and reply frame, so that described measured terminal calculates range1； Described range1 is distance during described measured terminal described first claim frame of transmission, and described timestamp returns Multi-frame includesWithFor receiving described second claim frame and sending described first reply frame Time interval, wherein:

$range1=T_{round}^{A2}\&times;C/2+\left(\right(T_{round}^{A1}+T_{ta}^A)-(T_{round}^B+T_{ta}^B\left)\right)\&times;C;$

Receive described first for described measured terminal reply frame and send described first claim frame Time interval；

Receive described second for described measured terminal reply frame and send described second claim frame Time interval.

The method that motion terminals is carried out radio distance-measuring the most according to claim 5, it is special Levy and be, described to described measured terminal send timestamp reply frame be further: to described tested end End sends timestamp and replys frame, so that described measured terminal calculates range1, range2 and range3；

Described range1 is distance during described measured terminal described first claim frame of transmission, described Range2 is distance during the described first reply frame of described measured terminal reception, and described range3 is described Measured terminal sends distance during described second claim frame, wherein:

$range1=range3+\left(\right(T_{round}^{A1}+T_{ta}^A)-(T_{round}^B+T_{ta}^B\left)\right)\&times;C$

Range2=(4range-range1-range3)/2

$range3=T_{round}^{A2}\&times;C/2;$

$range=\frac{(T_{round}^A-T_{ta}^B)+(T_{round}^B-T_{ta}^A)}{4}\&times;C.$

7. according to the method that motion terminals is carried out radio distance-measuring described in claim 5 or 6, It is characterized in that, send second time to described measured terminal immediately after described second claim frame of described reception Multi-frame is further: after the second claim frame described in physical interface transceivers, not to Ethernet media Access controller sends information, sends the second reply frame to described measured terminal immediately.

8. a locating base station, it is characterised in that including:

First claim frame receiver module, for receiving the first claim frame, described first claim frame is tested Terminal sends；

First replys frame sending module, for latency periodAfter, send to described measured terminal First replys frame；

Second claim frame receiver module, for receiving the second claim frame, described second claim frame is described Measured terminal receives described first and replys frame, and latency periodRear transmission；

Second replys frame sending module, is used for receiving after described second claim frame immediately to described tested end End sends the second reply frame；

Timestamp replys frame sending module, replys frame for sending timestamp to described measured terminal, with Described measured terminal is made to calculate range1；Described range1 is that described measured terminal transmission described first please Seeking distance during frame, described timestamp is replied frame and is includedWithPlease for receiving described second Seek frame and send the described first time interval replying frame, wherein:

$range1=T_{round}^{A2}\&times;C/2+\left(\right(T_{round}^{A1}+T_{ta}^A)-(T_{round}^B+T_{ta}^B\left)\right)\&times;C;$

Receive described first for described measured terminal reply frame and send described first claim frame Time interval；

Receive described second for described measured terminal reply frame and send described second claim frame Time interval.

9. the system that motion terminals is carried out radio distance-measuring, it is characterised in that include right Require the measured terminal described in 4 and the locating base station described in claim 8.