CN111918207A - Positioning system and method - Google Patents

Positioning system and method Download PDF

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Publication number
CN111918207A
CN111918207A CN202010796039.4A CN202010796039A CN111918207A CN 111918207 A CN111918207 A CN 111918207A CN 202010796039 A CN202010796039 A CN 202010796039A CN 111918207 A CN111918207 A CN 111918207A
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China
Prior art keywords
base station
reference base
system base
clock
positioning
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CN111918207B (en
Inventor
张占军
李斌
陈二刚
樊红杰
秦延龙
贺成柱
吴晓彤
牛靖乾
程涛
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Beijing Ruihua High Tech Co ltd
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Beijing Ruihua High Tech Co ltd
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/025—Services making use of location information using location based information parameters
    • 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
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Mobile Radio Communication Systems (AREA)

Abstract

The present disclosure relates to a positioning system and method, the system includes a server, a first reference base station and a plurality of first system base stations, the first reference base station is used for sending synchronous clock signals to the plurality of first system base stations; a first system base station configured to: determining a clock error of the first system base station relative to the first reference base station according to the synchronous clock signal of the first reference base station; sending a first time and a clock error to a server according to the first time of receiving the positioning request information of the target to be positioned; and the server is used for determining the positioning result of the target to be positioned according to the first time and the clock error of each first system base station. By the aid of the positioning system, clock errors can be reduced, positioning accuracy is improved, communication times among base stations are reduced, and the concurrency of the target to be positioned is improved.

Description

Positioning system and method
Technical Field
The present disclosure relates to the field of communications technologies, and in particular, to a positioning system and method.
Background
With the development of wireless communication technology and internet technology, location services play an important role in production and life.
The positioning service scheme in the related art includes positioning based on RFID (Radio Frequency Identification), infrared, bluetooth, and UWB (Ultra Wide Band). The positioning scheme based on UWB is mainly realized by two modes: time of Flight (TOF) location and Time Difference of Arrival (TDOA) location. The existing TDOA-based positioning scheme requires multiple communications among base stations, limits the number of tags, and is not conducive to large-scale network expansion.
Disclosure of Invention
In view of the above, the present disclosure provides a positioning system, which includes a server, a first reference base station, and a plurality of first system base stations,
the first reference base station is used for sending a synchronous clock signal to the plurality of first system base stations;
the first system base station is configured to:
determining a clock error of the first system base station relative to the first reference base station according to the synchronous clock signal of the first reference base station;
according to a first moment when positioning request information of a target to be positioned is received, sending the first moment and the clock error to the server;
and the server is used for determining the positioning result of the target to be positioned according to the first time of each first system base station and the clock error.
In a possible implementation manner, the determining, by the first system base station, a clock error of the first system base station with respect to the first reference base station according to the synchronous clock signal of the first reference base station includes:
and determining the clock error of the first system base station relative to the first reference base station according to the synchronous clock signal, the second time when the first system base station receives the synchronous clock signal and the predetermined position information of the first reference base station and the first system base station.
In a possible implementation manner, the first system base station is further configured to:
and adjusting the clock information of the first system base station through a clock synchronization algorithm according to the clock error so as to realize clock synchronization between the first system base station and the first reference base station.
In a possible implementation manner, the system further includes a second reference base station, and a plurality of second system base stations in a local area network where the second reference base station is located, where the second reference base station is configured to send a synchronous clock signal to the plurality of second system base stations, and the second reference base station is in a different local area network from the first reference base station,
wherein the first reference base station is further configured to:
transmitting a synchronization clock signal to the second reference base station to clock synchronize the second reference base station with the first reference base station.
In a possible implementation manner, the determining, by the server, the positioning result of the target to be positioned according to the first time and the clock error of each first system base station includes:
and determining a positioning result of the target to be positioned by an arrival time difference positioning method according to the first time and the clock error of each system base station.
In a possible implementation manner, the target to be positioned communicates with the server, the first reference base station, and the plurality of first system base stations in an ultra wideband UWB manner, and the target to be positioned includes a UWB tag.
According to another aspect of the present disclosure, there is provided a positioning method applied to a system base station of a positioning system, the positioning system including a server, a reference base station, and a plurality of system base stations, the method including:
determining a clock error of the system base station relative to the reference base station according to the synchronous clock signal sent by the reference base station;
determining a first time when positioning request information of a target to be positioned is received, and sending the first time and the clock error to the server, so that the server determines a positioning result of the target to be positioned according to the first time of each system base station and the clock error.
In a possible implementation manner, the determining a clock error of the system base station with respect to the reference base station according to the synchronous clock signal sent by the reference base station includes:
and determining the clock error of the system base station relative to the reference base station according to the synchronous clock signal, the second time when the system base station receives the synchronous clock signal and the predetermined position information of the reference base station and the system base station.
In one possible implementation, the method further includes:
and adjusting the clock information of the system base station through a clock synchronization algorithm according to the clock error so as to realize clock synchronization between the system base station and the reference base station.
In a possible implementation manner, the target to be positioned communicates with the server, the reference base station, and the plurality of system base stations in an ultra wideband UWB manner, and the target to be positioned includes a UWB tag.
According to the embodiment of the disclosure, each system base station in the positioning system can determine the clock error of the system base station by referring to the synchronous clock signal of the base station, and the system base station can send the time of receiving the positioning request of the target and the clock error to the server, so that the server determines the positioning result, thereby reducing the clock error, improving the positioning accuracy, reducing the communication times among the base stations, and being beneficial to improving the concurrency capability of the target to be positioned.
Other features and aspects of the present disclosure will become apparent from the following detailed description of exemplary embodiments, which proceeds with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate exemplary embodiments, features, and aspects of the disclosure and, together with the description, serve to explain the principles of the disclosure.
Fig. 1 shows a schematic TOF time-of-flight localization principle.
FIG. 2 shows an architectural diagram of a UWB-based TDOA-TDOA arrival time difference location scheme.
Fig. 3 shows an architectural schematic of a positioning system according to an embodiment of the present disclosure.
Fig. 4 shows a schematic structural diagram of a target to be positioned according to an embodiment of the present disclosure.
Fig. 5 shows a schematic structural diagram of a system base station according to an embodiment of the present disclosure.
Fig. 6 shows a network extension architecture diagram according to an embodiment of the present disclosure.
Fig. 7 shows a flow diagram of a positioning method according to an embodiment of the present disclosure.
Fig. 8 shows an architectural diagram of a positioning method according to an embodiment of the present disclosure.
Detailed Description
Various exemplary embodiments, features and aspects of the present disclosure will be described in detail below with reference to the accompanying drawings. In the drawings, like reference numbers can indicate functionally identical or similar elements. While the various aspects of the embodiments are presented in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.
The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments.
Furthermore, in the following detailed description, numerous specific details are set forth in order to provide a better understanding of the present disclosure. It will be understood by those skilled in the art that the present disclosure may be practiced without some of these specific details. In some instances, methods, means, elements and circuits that are well known to those skilled in the art have not been described in detail so as not to obscure the present disclosure.
Fig. 1 shows a schematic view of TOF time-of-flight positioning principle, as shown in fig. 1, an MS indicates an object to be positioned, BSs 1, BS2, and BS3 respectively indicate 3 different base stations, t1, t2, and t3 respectively indicate transmission times from sending positioning request information from the object to be positioned to arrival of the positioning request information at BSs 1, BS2, and BS3, and d1, d2, and d3 respectively indicate distances between the BS1, BS2, and BS3 and the object to be positioned.
The target to be positioned can send positioning request information (such as broadcast information frame) to a plurality of base stations, the transmission time from the sending of the positioning request information by the target to be positioned to the arrival of the positioning request information at each base station is respectively determined, the positioning request information is propagated at the speed of light, the distance between the target to be positioned and each base station can be determined according to the transmission time from the positioning request information to each base station, a circle is drawn by taking the position of each base station as the center of the circle and the distance between the target to be positioned and each base station as the radius, and the position of the target to be positioned can be determined according to the intersection point of each circle.
The existing positioning method based on TOF flight time has low positioning accuracy because the time error of receiving the positioning request information by different base stations is large.
Fig. 2 shows an architecture diagram of a TDOA time difference of arrival location scheme based on a UWB ultra-wideband system. As shown in fig. 2, the UWB system includes a target to be positioned, a reference base station, a system base station 1, and a system base station 2, where position information of the reference base station, the system base station 1, and the system base station 2 is known. The positioning procedure of the existing UWB-based TDOA positioning scheme is as follows:
a target to be positioned sends positioning request information R, wherein the positioning request information can comprise any broadcast information;
the reference base station, the system base station 1 and the system base station 2 are all in an information receiving state, and after the reference base station, the system base station 1 and the system base station 2 receive the positioning request information, a time stamp tp1, tp2 and tp3 for receiving the positioning request information is triggered;
after receiving the positioning request information, the reference base station sends first reference information R1 to the system base station 1 and the system base station 2 according to a fixed period TD1, wherein the content of R1 is different from the positioning request information;
after the system base station 1 and the system base station 2 receive the R1, a timestamp t2 and a timestamp t3 for receiving the first reference information are triggered and generated;
after the reference base station sends the first reference information, second reference information R2 is sent to the system base station 1 and the system base station 2 according to a fixed period Tref, wherein the content of R2 is different from the content of R1 and the content of the positioning request information;
wherein, since the position information of the reference base station, the system base station 1 and the system base station 2 is known, the times at which the system base station 1 and the system base station 2 receive the R1 and the R2 are also determined on the basis that the first reference information and the second reference information are both propagated at the speed of light, and the position of the object to be positioned is determined by the TDOA positioning method based on the time difference between the times at which the system base station 1 and the system base station 2 receive the first reference information and the second reference information.
The existing TDOA positioning scheme based on UWB needs the reference base station to send reference information twice to determine the position of the target to be positioned, and different base stations need to communicate for many times, thus occupying more wireless communication resources, reducing the number of labels capable of being positioned and reducing the label concurrency capability in the same unit time.
Fig. 3 shows an architectural schematic of a positioning system according to an embodiment of the present disclosure. As shown in fig. 3, the positioning system comprises a server 31, a first reference base station 32 and a plurality of first system base stations 33,
the first reference base station 32 is configured to transmit a synchronous clock signal to the plurality of first system base stations 33;
the first system base station 33 is configured to:
determining a clock error of the first system base station 33 relative to the first reference base station 32 according to the synchronous clock signal of the first reference base station 32;
according to a first time when the positioning request information of the target to be positioned is received, sending the first time and the clock error to the server 31;
the server 31 is configured to determine a positioning result of the target to be positioned according to the first time of each first system base station 33 and the clock error.
According to the embodiment of the disclosure, each system base station in the positioning system can determine the clock error of the system base station by referring to the synchronous clock signal of the base station, and the system base station can send the time of receiving the positioning request of the target and the clock error to the server, so that the server determines the positioning result, thereby reducing the clock error, improving the positioning accuracy, reducing the communication times among the base stations, and being beneficial to improving the concurrency capability of the target to be positioned.
In one possible implementation, the object to be located may comprise a positioning tag, wherein the positioning tag may comprise a UWB tag. The embodiment of the present disclosure does not limit the type of the target to be positioned.
Fig. 4 shows a schematic structural diagram of a target to be positioned according to an embodiment of the present disclosure. As shown in fig. 4, the target to be located may include a micro-control component, a positioning radio frequency transceiver component, a radio frequency power amplification component, and an attendant circuit. The positioning radio frequency transceiving component and the watching circuit are connected to the micro-control component, and the positioning radio frequency transceiving component is connected to the radio frequency power amplification component.
The micro-control assembly of the target to be positioned is used for sending control signals to other assemblies so as to enable each assembly to realize corresponding functions; the positioning radio frequency transceiving component is used for realizing bilateral bidirectional ranging; the radio frequency power amplification component is used for amplifying radio frequency signals; the on-duty circuit is used for awaking the target to be positioned from the sleep state.
Exemplarily, the target to be positioned only needs to send positioning request information to the first system base station once, and the calculated pressure and energy consumption are transferred to the first system base station and the server, so that the electric quantity consumption of the target to be positioned can be effectively reduced, and the endurance time of the target to be positioned is prolonged.
In one possible implementation, fig. 5 shows a schematic structural diagram of a system base station according to an embodiment of the present disclosure. As shown in fig. 5, the system base station may include a micro-control component, a positioning rf component, a rf power amplifier component, a 5G communication component, an RS485 communication component, and a power supply component. Wherein, location radio frequency subassembly, radio frequency power amplifier subassembly, 5G communication module, RS485 communication module all are connected to little the control assembly, and the power supply module provides the power for each subassembly.
The system comprises a micro-control assembly of a system base station, a target positioning module, a clock synchronization algorithm and the like, wherein the micro-control assembly of the system base station is used for determining the position of the target to be positioned according to data sent by each assembly, calculating the clock synchronization algorithm and the like; the positioning radio frequency component and the radio frequency power amplifier component are used for acquiring the timestamp to complete the receiving and sending of radio frequency data; the 5G communication assembly is used for receiving a control instruction of the server and sending the control instruction to the micro-control assembly; and the RS485 communication assembly is used for sending the position of the target to be positioned.
In a possible implementation manner, the target to be located communicates with the server, the first reference base station, and the plurality of first system base stations in an ultra wideband UWB manner.
In a possible implementation manner, the first reference base station may be a base station selected from a plurality of first system base stations according to user requirements or actual application scenario requirements, and having the same function as the first system base station. In practical application, a plurality of first system base stations may work independently, and after a long time, time errors may exist between different first system base stations, and the time errors existing between different first system base stations will cause the accuracy of the positioning result of the target to be positioned to be reduced. The first reference base station may be a base station selected according to a user requirement, and the clock information of the first reference base station may be used as a standard to determine a time error between each first system base station and the first reference base station, so as to make up the time error and improve the positioning accuracy.
In one possible implementation manner, the first reference base station may send a synchronization clock signal to a plurality of first system base stations, and the first system base station determines a clock error of the first system base station with respect to the first reference base station according to the synchronization clock signal.
For example, the first reference base station may send a synchronization clock signal according to a preset period, where the synchronization clock signal may include clock synchronization frames (CCP), and a clock error of each first system base station with respect to the first reference base station may be determined through the synchronization clock signal, and then clock information of each first system base station may be adjusted according to the clock error, so that each first system base station and the first reference base station achieve clock synchronization, thereby improving the positioning accuracy.
In a possible implementation manner, the determining, by the first system base station, a clock error of the first system base station with respect to the first reference base station according to the synchronous clock signal of the first reference base station includes:
and determining the clock error of the first system base station relative to the first reference base station according to the synchronous clock signal, the second time when the first system base station receives the synchronous clock signal and the predetermined position information of the first reference base station and the first system base station.
For example, since the positions of the first system base station and the first reference base station are fixed, the position information of the first system base station and the first reference base station may be predetermined. The synchronization clock signal may indicate the current clock information of the first reference base station, and the second time may indicate the time when the synchronization clock signal is received by the first system base station, because the distance between the first system base station and the first reference base station is determined, and the synchronization clock signal propagates at the speed of light, so the time length for the synchronization clock signal to be transmitted from the first reference base station to the first system base station is also determined.
Exemplarily, with the current clock information of the first reference base station as 0: 001ns, the second time is 0:003ns, and the time length of the transmission of the synchronous clock signal from the first reference base station to the first system base station is 1ns, for example, if there is no clock error between the first system base station and the first reference base station, the synchronous clock signal is sent from the first reference base station to the first system base station, and the synchronous clock signal is received, the current clock information of the first system base station should be 0:002ns, but the second time is actually 0:003ns, so that it can be seen that the clock error of the first system base station relative to the first reference base station is 1 ns.
By determining the clock error, the positioning error can be avoided, and the positioning precision is improved.
In a possible implementation manner, the first system base station is further configured to:
and adjusting the clock information of the first system base station through a clock synchronization algorithm according to the clock error so as to realize clock synchronization between the first system base station and the first reference base station.
Illustratively, the clock synchronization algorithm may include a kalman filter algorithm, and the embodiments of the present disclosure do not limit the clock synchronization algorithm. Taking the number of the first system base stations as two as an example, if the current clock information of the first reference base station is 0: 001ns, the current clock information of the first system base station A is 0:002ns, the current clock information of the first system base station B is 0:003ns for example, and assuming that the distance between the target to be positioned and the first system base station a is the same as the distance between the target to be positioned and the first system base station B, the time for the positioning request information to reach the two system base stations is also the same, but because the current clock information of the two system base stations is not synchronous, the positioning result of the target to be positioned finally has an error.
The clock information of the first system base station is adjusted to enable the first system base station and the first reference base station to realize clock synchronization, so that the positioning error can be effectively reduced, and the positioning precision is improved.
In a possible implementation manner, the target to be located may send location request information to the first system base station so as to determine its location, where the location request information may include information used for determining the location, such as a broadcast information frame (broadcast message), and the type of the location request information is not limited in the embodiments of the present disclosure.
In a possible implementation manner, for any one of the first system base stations, after receiving the information of the positioning request to be determined, the time stamp of receiving the information of the positioning request may be triggered to be generated, that is, the time stamp is a first time of receiving the information of the positioning request of the target to be determined. The first system base station may send the first time and the clock error to the server, so that the server determines a positioning result of the target to be positioned according to the first time and the clock error.
In a possible implementation manner, the server is configured to determine a positioning result of the target to be positioned according to the first time of each first system base station and the clock error.
For example, the first reference base station may send a synchronization clock signal (e.g., clock synchronization frames (CCPs)) through the ultra wideband UWB module according to a preset period (e.g., 500ms), and the server may determine the positioning result of the target to be positioned according to the first time of each first system base station and the clock error. The communication times among the base stations and between the target to be positioned and the base stations are reduced, and the occupation of space wireless communication resources is reduced.
In the related art, the first reference base station needs to transmit the broadcast information twice, whereas the first reference base station of the present application needs to transmit the synchronization clock signal only once. In the same unit time, the related technology can only realize positioning one target to be positioned, but the method and the device can realize positioning two targets to be positioned, can improve the concurrency capability of the targets to be positioned, and improve the positioning efficiency.
In a possible implementation manner, the determining, by the server, the positioning result of the target to be positioned according to the first time and the clock error of each first system base station includes:
and determining a positioning result of the target to be positioned by an arrival time difference positioning method according to the first time and the clock error of each system base station.
The time difference of arrival positioning method is to determine the positioning result of the target to be positioned by utilizing the time difference of the first time when the plurality of first system base stations receive the positioning request information. For example, the location of each first system base station is determined, the time difference of the positioning request information sent by the target to be positioned to reach each first system base station is also determined, the distance difference is determined according to the time difference between each first system base station, the hyperbola is determined according to the distance difference between each first system base station, and the positioning result of the target to be positioned is determined through the intersection point of at least two hyperbolas.
The positioning result of the target to be positioned is determined by the arrival time difference positioning method, the positioning result is not limited by the length of each first system base station antenna, the problem of phase ambiguity does not exist, and the positioning precision is high.
It should be understood that the server may also determine the positioning result of the target to be positioned by using other positioning methods such as TOF positioning, and the disclosure is not limited thereto.
In a possible implementation manner, after the positioning result of the target to be positioned is determined, the positioning result can be sent to the target to be positioned, so that the target to be positioned determines the position of the target to be positioned; the result to be positioned can also be sent to the terminal, so that the user can determine the position of the target to be positioned and further process the target according to the position of the target to be positioned.
In a possible implementation manner, the system further includes a second reference base station, and a plurality of second system base stations in a local area network where the second reference base station is located, where the second reference base station is configured to send a synchronous clock signal to the plurality of second system base stations, and the second reference base station is in a different local area network from the first reference base station,
wherein the first reference base station is further configured to:
transmitting a synchronization clock signal to the second reference base station to clock synchronize the second reference base station with the first reference base station.
Fig. 6 shows a network extension architecture diagram according to an embodiment of the present disclosure. As shown in fig. 6, the system of the embodiment of the present disclosure includes a plurality of second reference base stations, where the second reference base stations are in different local area networks from the first reference base stations.
The first reference base station may transmit a synchronization clock signal to the second reference base station, where the synchronization clock signal may include a local clock synchronization frame, and the local clock synchronization frame may include a number of a local area network where the first reference base station is located and current clock information of the first reference base station.
For example, the clock errors of the first reference base station and the second reference base station may be determined according to the synchronous clock signal of the first reference base station;
according to the synchronous clock signal and the third time when the second reference base station receives the synchronous clock signal, the predetermined position information of the first reference base station and the second reference base station can determine the clock error of the first reference base station and the second reference base station; and adjusting the clock information of the second reference base station through a clock synchronization algorithm according to the clock errors of the first reference base station and the second reference base station so as to realize clock synchronization of the first reference base station and the second reference base station.
Further, the second reference base station may send a synchronization clock signal to the plurality of second system base stations, so that the second reference base station and the plurality of second system base stations implement clock synchronization, and the specific content may refer to the content of implementing clock synchronization, which is not described herein again.
The first reference base station sends a synchronous clock signal to the second reference base station to synchronize clocks of the second reference base station and the first reference base station, and then a plurality of second system base stations in a local area network where the second reference base station is located and the second reference base station realize clock synchronization, so that the clock synchronization of the plurality of system base stations in different local area networks is realized, a target to be positioned can be quickly and accurately positioned in any local area network, and the network expansibility of the positioning system is improved while the positioning precision is ensured.
The target to be positioned only needs to send positioning request information to the first system base station once, so that the power consumption of the target to be positioned can be effectively reduced, and the endurance time of the target to be positioned is prolonged. Each system base station in the positioning system can determine the clock error of the system base station through the synchronous clock signal of the reference base station, and the system base station can send the time when the positioning request of the target is received and the clock error to the server, so that the server determines the positioning result, the clock error is reduced, the positioning precision is improved, the communication times among the base stations are reduced, and the concurrency capability of the target to be positioned is improved. The first reference base station sends a synchronous clock signal to the second reference base station, so that clock synchronization of a plurality of system base stations in different local area networks is realized, a target to be positioned can be quickly and accurately positioned in any local area network, and the network expansibility of the positioning system is improved while the positioning precision is ensured.
Fig. 7 shows a flow diagram of a positioning method according to an embodiment of the present disclosure. As shown in fig. 7, the positioning method is applied to a system base station of a positioning system, where the positioning system includes a server, a reference base station, and a plurality of system base stations, and the method includes:
step S701, determining a clock error of the system base station relative to the reference base station according to the synchronous clock signal sent by the reference base station;
step S702, determining a first time at which the positioning request information of the target to be positioned is received, and sending the first time and the clock error to the server.
In a possible implementation manner, the determining a clock error of the system base station with respect to the reference base station according to the synchronous clock signal sent by the reference base station includes:
and determining the clock error of the system base station relative to the reference base station according to the synchronous clock signal, the second time when the system base station receives the synchronous clock signal and the predetermined position information of the reference base station and the system base station.
In one possible implementation, the method further includes:
and adjusting the clock information of the system base station through a clock synchronization algorithm according to the clock error so as to realize clock synchronization between the system base station and the reference base station.
In a possible implementation manner, the target to be positioned communicates with the server, the first reference base station, and the plurality of first system base stations in an ultra wideband UWB manner, and the target to be positioned includes a UWB tag.
Fig. 8 shows an architectural diagram of a positioning method according to an embodiment of the present disclosure. As shown in fig. 8, the first reference base station transmits synchronization clock information CCP to the first system base station 1 and the first system base station 2;
the first system base station 1 and the first system base station 2 receive the synchronous clock information and trigger to generate a time stamp Tr1 and a time stamp Tr2 for receiving the synchronous clock information respectively;
the first system base station 1 and the first system base station 2 respectively determine clock errors with the first reference base station through a clock synchronization algorithm according to the distances between the first system base station and the first reference base station, and the clock errors are respectively marked as Dt1 and Dt 2;
a target to be positioned sends positioning request information, wherein the positioning request information can comprise broadcast information;
the first system base station 1 and the first system base station 2 respectively receive the positioning request information and respectively trigger to generate a time stamp Ta1 and Ta2 for receiving the positioning request information;
the first system base station 1 transmits the clock error Dt1 and the time stamp Ta1 of the received positioning request information to the server, and similarly, the first system base station 2 transmits the clock error Dt2 and the time stamp Ta2 of the received positioning request information to the server, so that the server determines the position of the object to be positioned.
The first reference base station sends the synchronous clock signals to the plurality of first system base stations, and the clock error of the first system base stations relative to the first reference base stations can be determined, so that the first system base stations realize clock synchronization with the reference base stations according to the clock error, the clock error is reduced, the positioning precision is improved, the communication times among the base stations are reduced, and the concurrency capability of the target to be positioned is improved.
Having described embodiments of the present disclosure, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen in order to best explain the principles of the embodiments, the practical application, or improvements made to the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.

Claims (10)

1. A positioning system, characterized in that the system comprises a server, a first reference base station and a plurality of first system base stations,
the first reference base station is used for sending a synchronous clock signal to the plurality of first system base stations;
the first system base station is configured to:
determining a clock error of the first system base station relative to the first reference base station according to the synchronous clock signal of the first reference base station;
according to a first moment when positioning request information of a target to be positioned is received, sending the first moment and the clock error to the server;
and the server is used for determining the positioning result of the target to be positioned according to the first time of each first system base station and the clock error.
2. The system of claim 1, wherein the first system base station determines the clock error of the first system base station relative to the first reference base station according to the synchronized clock signal of the first reference base station, comprising:
and determining the clock error of the first system base station relative to the first reference base station according to the synchronous clock signal, the second time when the first system base station receives the synchronous clock signal and the predetermined position information of the first reference base station and the first system base station.
3. The system of claim 1, wherein the first system base station is further configured to:
and adjusting the clock information of the first system base station through a clock synchronization algorithm according to the clock error so as to realize clock synchronization between the first system base station and the first reference base station.
4. The system of claim 1, further comprising a second reference base station, and a plurality of second system base stations within a local area network of the second reference base station, the second reference base station configured to transmit a synchronized clock signal to the plurality of second system base stations, the second reference base station being in a different local area network from the first reference base station,
wherein the first reference base station is further configured to:
transmitting a synchronization clock signal to the second reference base station to clock synchronize the second reference base station with the first reference base station.
5. The system of claim 1, wherein the server determines the positioning result of the target to be positioned according to the first time and the clock error of each first system base station, and comprises:
and determining a positioning result of the target to be positioned by an arrival time difference positioning method according to the first time and the clock error of each system base station.
6. The system of claim 1, wherein the object to be located communicates with the server, the first reference base station, and the plurality of first system base stations via ultra-wideband UWB, and wherein the object to be located comprises a UWB tag.
7. A positioning method is applied to a system base station of a positioning system, the positioning system comprises a server, a reference base station and a plurality of system base stations, and the method comprises the following steps:
determining a clock error of the system base station relative to the reference base station according to the synchronous clock signal sent by the reference base station;
determining a first time when positioning request information of a target to be positioned is received, and sending the first time and the clock error to the server, so that the server determines a positioning result of the target to be positioned according to the first time of each system base station and the clock error.
8. The method of claim 7, wherein determining the clock error of the system base station relative to the reference base station according to the synchronization clock signal transmitted by the reference base station comprises:
and determining the clock error of the system base station relative to the reference base station according to the synchronous clock signal, the second time when the system base station receives the synchronous clock signal and the predetermined position information of the reference base station and the system base station.
9. The method of claim 7, further comprising:
and adjusting the clock information of the system base station through a clock synchronization algorithm according to the clock error so as to realize clock synchronization between the system base station and the reference base station.
10. The method of claim 7, wherein the target to be located communicates with the server, the reference base station, and the plurality of system base stations via ultra-wideband UWB, and wherein the target to be located comprises a UWB tag.
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