CN113325403B - Ultra-wideband technology-based cluster ranging method in unmanned system cluster - Google Patents
Ultra-wideband technology-based cluster ranging method in unmanned system cluster Download PDFInfo
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Abstract
The invention discloses a cluster ranging method based on ultra-wideband technology in an unmanned system cluster, which mainly comprises five parts, namely network protocol frame design, ranging message generation and ranging information update, high-dynamic cluster self-adaptation improvement, ranging message loss and ranging period mismatch processing and high-density cluster self-adaptation improvement. The invention designs a simple protocol framework firstly, so that each side of the ranging only needs to periodically send the ranging message instead of replying the message immediately after receiving the message. Then, the message structure of the data packet of the ranging message is designed, and meanwhile, the updating method and the distance calculating method of the ranging information are designed according to the data packet of the ranging message. Then, the ranging process is designed to adapt according to speed and distance based on the data in the updated ranging message. Finally, the method for simultaneously supporting wireless ranging and data transmission and applying the ultra-wideband technology in a dense and dynamic cluster is realized.
Description
Technical Field
The invention relates to the field of ultra-wideband technology-based research in unmanned system clusters, in particular to emerging technologies based on unmanned aerial vehicles and the like, and particularly relates to a cluster ranging method based on the ultra-wideband technology in an unmanned system cluster.
Background
With the rapid development of electronic manufacturing industry, more and more aerial robots, terrestrial robots, wearable devices and portable devices are commercially available. Robots and equipment are becoming increasingly smaller, lighter, and cheaper, and thus, becoming popular. This makes it possible to group tens to thousands of such machine devices into one cluster and have them accomplish complex tasks by cooperating with each other. One small robot and cluster of devices has several advantages over a single fully functional large robot, including better fault tolerance, more flexibility in deployment scale and number, and faster deployment speed.
Three important characteristics of robots and equipment clusters: large number, high maneuverability and short distance. First, tens to thousands of robots and devices will be deployed to cooperate, depending on the complexity of the task. Secondly, the miniature unmanned system, the wheeled robot, the walking robot, the wearable device and the portable device which can be carried by human can all move rapidly as required. Furthermore, due to the small size of these robots and devices, they can cooperate within a relatively short distance to accomplish complex tasks. In summary, the application of robots and clusters of devices in the near future should be dynamic and dense. A successful dynamic and dense cluster application requires low latency communication and real-time positioning. Without external infrastructure support, it is critical that relative positioning within the ad hoc network and the cluster be preformed.
Disclosure of Invention
In order to solve the problems, the invention aims to design a cluster ranging method based on ultra-wideband technology for a dynamic and dense cluster formed by unmanned systems and equipment, which has the advantages of simplicity, high efficiency, strong self-adaptability, robustness, expandability, compatibility and the like.
The technical scheme is as follows: in order to achieve the above purpose, the invention adopts the following technical scheme: a cluster ranging method based on ultra-wideband technology in unmanned system clusters comprises the following steps:
step 1: the simple network protocol framework is designed so that each side of the communication periodically sends ranging messages rather than replying to the message immediately after receiving the message.
Step 2: aiming at the ranging message and the protocol framework in the step 1, a message structure of a ranging message data packet, a ranging message generation method and a ranging information updating method are designed.
Step 3: for the ranging interval of each ranging message in the step 2, a ranging interval P is designed to be self-adaptive according to the speed and the distance, and a proper ranging message transmission interval is set for the high dynamic state of rapid movement.
Step 4: aiming at the problem that the ranging message loss and the ranging period are not matched due to the fact that different ranging intervals are used in the step 3, corresponding solutions are provided for different situations.
Step 5: the cluster ranging method based on the ultra-wideband technology is popularized to a large-scale high-density cluster, and further improvement is made for the message structure of ranging messages, the ranging message generating method, the ranging message updating method and the distance calculating method.
The invention is further improved in that: the step 1 comprises the following design:
(1) The protocol framework for designing the transmitting and receiving parties is as follows:
a) Sender protocol framework:
step 1011, the sender generates a ranging message;
step 1012, the sender broadcasts the ranging message generated in step 1011;
step 1013, updating the current equipment ranging message;
(b) The receiver protocol framework:
step 1021, the receiver receives a ranging message, and step 1022 is executed;
step 1022, updating the ranging data of the current ranging table;
step 1023, calculating the propagation delay ToF of the data packet between the transmitting and receiving parties according to the updated ranging data;
(2) Defining ranging message X i Is the ith broadcast message by robot or device X, which can be expressed as:the parameters have the following meanings: x is X i Is a message identifier representing a message sender and a sequence number; />Is X i-1 Where X is the transmission time stamp of i-1 I.e. the last transmitted message; rxM is a set of reception time stamps and corresponding message identifiers, e.g. +.>v is X i Is set to the current speed of (2).
The invention is further improved in that:
step 2 firstly designs a ranging message generating method, and designs a ranging message structure capable of storing the latest 7 time stamps according to interaction of ranging messages of the receiving and transmitting parties under the protocol framework of step 1. Meanwhile, according to the designed ranging message structure, a ranging information updating method and a propagation delay ToF calculation method of a data packet between the transmitting and receiving parties are designed.
For the ranging message in step 2, the generation method comprises the following steps:
step 2011: clearing the set of receive timestamps and corresponding message identifiers;
step 2012: step 2013 is performed for each message received since the last transmission;
step 2013: combining the current receiving time stamp and the set of corresponding message identifiers until the receiving of all ranging messages is completed;
step 2014: returning the generated ranging message data packet;
aiming at the ranging message in the step 2, a specific updating method is designed, and the steps are as follows;
step 2021: step 2022 is performed if the current device is sending ranging messages, otherwise step 2023 is performed;
step 2022: updating T for each distance meter maintained by current equipment f A time stamp;
step 2023: the current device receives the ranging message and the ranging message comes from the neighbor device Y, step 2024 is performed;
step 2024: updating T in ranging table of device Y maintained by current device A f ，R f ，R e ；
For the updated range table in step 2024, a distance calculation method between two devices is designed, and the steps are as follows:
step 2031: if the ranging table maintained by the current device a with respect to the neighbor device Y is complete, step 2032 is performed; otherwise, returning to the null value;
step 2032: according to the formula, calculating the propagation delay ToF of the data packet between the two parties by using the corresponding time stamp in the complete range table;
step 2033: resetting the range table in step 2024;
step 2034: returning to the propagation delay ToF of the data packet between the two parties in step 2032.
The invention is further improved in that:
and 3, designing a ranging process according to the ranging message in the step 2, wherein the ranging process is self-adaptive according to the speed and the distance. According to the protocol frame and the ranging message in the step 1, the step 3 theoretically analyzes the self-adaption of the ranging interval P according to the speed and the distance under the high-speed long ranging interval scene. From the analysis it is concluded that: the closer the distance, the shorter the ranging interval; meanwhile, the faster the speed, the shorter the ranging interval.
The invention is further improved in that:
in the step 4, according to the analysis of the problem of mismatching between the ranging message loss and the ranging period caused by using different ranging intervals, the unbalanced situations of four message exchanges are summarized, which are respectively:
the case (1) where the ranging message received by the receiving side is larger than the ranging message transmitted by the transmitting side;
a ranging message transmitted by the sender is lost in case (2);
case (3) the sender sends more ranging messages than it receives ranging messages;
case (4) one ranging message sent by the receiver is lost.
For the cases (1) and (2), the partial time stamp is missing from the data packet sent by the sender in the next round, and the solution is to directly discard the time stamp sent by the receiver in the previous round stored by the sender.
For case (3), the solution is to update or overwrite the transmission time stamp in the ranging table in time each time a message is transmitted.
For case (4), the solution is to discard the corresponding timestamp of the previous round. The solution method is summarized as follows:
step 401: if device a receives a ranging message from neighbor Y, step 402 is performed;
step 402: if the arrival time stamp in the ranging message sent by the device a of the previous round of device a maintenance is not received with the ranging message of the neighbor Y, executing step 403, otherwise executing step 404;
step 403: updating and clearing the relevant time stamp;
step 404: if the sequence numbers of the ranging message sent by the equipment A and the ranging message received by the equipment Y are not matched, updating the related time stamp so as to perform the next round of ranging calculation;
and step 5, improving the message structure of the ranging message, the ranging message generation method, the ranging message updating method and the distance calculation method, so that the method can be popularized and applied to large-scale high-density clusters.
The method comprises the following specific steps:
step 501: improved message structure of range list. Three parameters are added compared with the data table in the step 1, namely, the latest ranging interval of A and Y, the next expected transmission time of Y and the expiration time of the neighbor Y ranging message.
Step 502: the method for updating the range table is redesigned. Updating the ranging interval P in the ranging table according to the existing calculation formula after the propagation delay ToF of the data packet between the transmitting party and the receiving party calculated according to the ranging table is updated;
step 503: when a ranging message for the neighbor Y is sent out, the next expected transmission time is updated; when a ranging message from a neighbor Y is received, the expiration time is updated;
step 504: as the ranging tables are improved and properly maintained, the design generates a ranging message based on the next expected transmission time and expiration time in all ranging tables. Ordering according to the time sequence according to the next expected transmission time of the message, and selecting m (the maximum number of time stamps carried by the ranging message) most urgent neighbors. The reception time stamps of the m neighbors are loaded into and transmitted with the ranging message. The m next transmission times will then be updated by the ranging table update method according to their respective ranging intervals. This process is repeated and a next ranging message is generated when the next transmission time arrives.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention is the first method to apply ultra wideband technology in dense and dynamic clusters in order to support wireless ranging and data transmission simultaneously.
2. A simple and efficient cluster ranging method based on ultra-wideband technology is designed. The message types involved therein are only one and easy to implement, and the design exploits the broadcast nature of the wireless ranging information and is therefore more efficient in the cluster.
3. An adaptive and robust ultra-wideband ranging protocol is designed. The protocol employs a rotation scheme to cope with the case where excessive neighbor information is to be carried in single ranging information, and is compatible with a higher layer network protocol such as OLSR protocol.
Drawings
FIG. 1 is a cluster ranging protocol main frame based on ultra-wideband technology designed by the invention;
FIG. 2 is a diagram of a two-way ranging (DS-TWR) protocol ranging message communication process according to the present invention;
FIG. 3 is a diagram of a ranging message structure according to the present invention;
FIG. 4 is a scenario of the theoretical analysis of the present invention for high speed long ranging intervals;
fig. 5 is a diagram of a ranging message structure modified for a large-scale cluster according to the present invention.
Detailed Description
The present invention is further illustrated in the following drawings and detailed description, which are to be understood as being merely illustrative of the invention and not limiting the scope of the invention. It should be noted that the words "front", "rear", "left", "right", "upper" and "lower" used in the following description refer to directions in the drawings, and the words "inner" and "outer" refer to directions toward or away from, respectively, the geometric center of a particular component.
A cluster ranging method based on ultra-wideband technology in unmanned system clusters comprises the following steps:
1. network protocol frame design:
step 1. According to the designed network protocol framework, the cluster ranging protocol main framework is divided into two parts, namely a Transmission (TX) related part and a Reception (RX) related part, as shown in fig. 1.
1) According to the related parameters of the ranging message, the protocol frames of the transmitting and receiving parties are as follows:
a) Sender protocol framework:
step 1011, sender (TX): program generation () generates a ranging message msg,
step 1012, the sender (TX) broadcasts the ranging message msg generated in step 101 by program Transmit ();
step 1013, calling Update () to Update the ranging data;
b) The receiver protocol framework:
step 1021, the Receiver (RX) receives a ranging message, and step 1022 is performed;
step 1022, calling Update () to receive the ranging message msg, and updating the ranging data;
step 1023, calling computer () to calculate the propagation delay ToF of the data packet between the transmitting and receiving parties according to the updated ranging data;
2) Defining ranging message X i Is the ith broadcast message by robot or device X, which can be expressed as:wherein X is i Is a message identifier representing a message sender and a sequence number; />Is X i-1 Where X is the transmission time stamp of i-1 I.e. the last transmitted message; rxM is a set of reception time stamps and corresponding message identifiers, e.g. +.>v is X i Is set to the current speed of (2).
2. Ranging message generation and ranging information update:
step 2, firstly, a ranging message generating method is designed, and according to the interaction of ranging messages of the receiving party and the transmitting party under the protocol framework of step 1, a ranging message structure capable of storing the latest 7 time stamps is designed, as shown in fig. 2. Meanwhile, according to the designed ranging message structure, a ranging information updating method and a propagation delay ToF calculation method of a data packet between the transmitting and receiving parties are designed. According to the analysis of the time stamp and the calculation of the propagation delay ToF of the data packet between the two transmitting and receiving parties in the bilateral two-way ranging protocol, as shown in fig. 3, the calculation formula of the propagation delay ToF of the data packet between the two transmitting and receiving parties is as follows:
a d ＝R r -T p ，b p ＝T r -R p ，b d ＝R f -T r ，a p ＝T f -R r (1)
1) Aiming at the designed ranging message structure, a generating method of the ranging message is designed,
the method comprises the following steps:
step 2011, clearing a receiving time stamp and a set RxM of corresponding message identifiers;
step 2012, for each message Y received since the last transmission i Step 2013 is performed;
step 2013, merging the current received timestamp with the set of corresponding message identifiers: rxM U (Y) j ，R Yj ) Until the reception of all ranging messages is completed;
step 2014. Return the generated ranging message data packet
2) Aiming at the ranging message in the step 2, a specific updating method is designed, and the steps are as follows:
step 2021. If the current device is sending ranging message, go to step 2022, otherwise go to step 2023;
step 2022, updating Tf time stamp for each ranging table maintained by the current device;
step 2023, the current device receives the ranging message, and the ranging message is from the neighbor device Y, and step 2024 is performed;
step 2024 update T in the ranging table of device Y maintained by device A at present f ，R f ，R e ；
3) For the updated range table in step 2024, a distance calculation method between two devices is designed, and the steps are as follows:
step 2031, if the ranging table maintained by the current device a about the neighbor device Y is complete, executing step 2032; otherwise, return to
Step 2032, according to the formula (2) in step 1, calculating the propagation delay ToF of the data packet between the transmitting and receiving parties by using the corresponding time stamp in the complete range table;
step 2033. Reset the range table in step 2024: r is R p ←R f ，T p ←T f ，R r ←R e ；
Step 2034. Returning to the propagation delay ToF of the data packet between the two parties in step 2032;
3. high dynamic cluster adaptation improvement:
and 3, designing a ranging process to be self-adaptive according to the speed and the distance. According to the protocol frame and ranging message of step 1, step 3 theoretically analyzes the adaptation of the ranging interval P according to the speed and the distance in the high-speed long ranging interval scenario, as shown in fig. 4, according to the theoretical analysis process:
in theory, the propagation delay ToF of the data packet between the transmitting and receiving parties can be calculated by the following formula:
the reception time is divided by a transmission period into a ratio of β to α, where α+β=1.
In the actual protocol implementation process, the propagation delay ToF of the data packet between the actual transceiver and the receiving party can be calculated by the following formula:
in the protocol implementation process, the error is constrained as follows:
by error constraint formula and relation vp=t Δ c, obtaining:
the distance d2 is calculated from the given velocity v as a reference for determining the ranging interval P. Through theoretical analysis, it can be seen from the inequality that the closer the distance is, the shorter the ranging interval is; meanwhile, the faster the speed, the shorter the ranging interval.
4. Ranging message loss and ranging period mismatch processing:
step 4, according to the analysis of the problem of mismatching between the ranging message loss and the ranging period caused by using different ranging intervals, summarizing the unbalanced conditions of four message exchanges, namely: (1) The ranging message received by the receiving party is larger than the ranging message sent by the sending party; (2) a ranging message transmitted by the sender is lost; (3) The sender sends more ranging messages than it receives; (4) one ranging message transmitted by the receiving side is lost. For the cases (1) and (2), the partial time stamp is missing from the data packet sent by the sender in the next round, and the solution is to directly discard the time stamp sent by the receiver in the previous round stored by the sender. For case (3), the solution is to update or overwrite the transmission time stamp in the ranging table in time each time a message is transmitted. For case (4), the solution is to discard the corresponding timestamp of the previous round. The solution method is summarized as follows:
step 401. If device a receives a ranging message msg from neighbor Y, step 402 is performed;
step 402. If device A maintains R in the table (AY) f Is thatExecuting step 403, otherwise executing step 404;
step 403. Clear relevant parameters in the table (AY) of device a: simultaneously updating related parameters: r is R r ←R e ；
Step 404. If ranging message sequence number is transmitted and receivedMismatch: index (T) r )≠index(R r ) Updating the relevant timestamp: r is R p ←R f ，T p ←T f ,R r ←R e And clears the associated timestamp:
5. high dense cluster adaptation improvement:
and 5, improving a message structure of the ranging message, a ranging message generation method, a ranging message updating method and a distance calculating method, so that the method can be popularized and applied to a large-scale high-density cluster. The method comprises the following specific steps:
1) The improved message structure of the ranging table is characterized in that compared with the data table in the step 1, three parameters are added: p, t n And t s The latest ranging intervals for a and Y, the next expected transmission time for Y, and the expiration time for neighbor Y are shown, respectively, as shown in fig. 5.
2) Redesigning a distance meter updating method: updating the ranging interval P in the ranging table according to the formula (2) after the propagation delay ToF of the data packet between the transmitting party and the receiving party calculated according to the ranging table is updated;
3) When sending out a ranging message to neighbor Y, the next expected transmission time t n Is updated; expiration time t when receiving a ranging message from neighbor Y s An update is made. The specific implementation steps are as follows:
step 5011. If device a sent a ranging message;
step 5012 for each Y in msg carrying a receive timestamp, execute step 5013;
step 5013 update t n The method comprises the following steps: t is t n ←t current +P；
Step 5014. If device a receives the ranging message from neighbor Y, step 5015 is performed;
step 5015 update t n The method comprises the following steps: t is t n ←t current +T expiration ；
4) With the rangefinder improved and properly maintained, the design is based on the next expected transmission time t in all rangefinders n And expiration time t s A ranging message is generated. According to their next expected transmission time t n Sequencing according to time sequence, and selecting m (the maximum number of time stamps carried by the ranging message) most urgent neighbors. The reception time stamps of the m neighbors are loaded into a ranging message and transmitted. The m next transmission times will then be updated by the ranging table update method according to their respective ranging intervals. This process is repeated and a next ranging message is generated when the next transmission time arrives. The specific implementation steps are as follows:
step 5021, for each neighbor ranging table (AY) maintained by a, executing step 502;
step 5022. If the current time is greater than the expiration time t s Deleting the ranging table (AY);
step 5023. According to t n Ascending order sorting is carried out on all tables;
step 5024. Empty the collection of receipt time stamps and corresponding message identifiers: rxM;
step 5025. For the first m neighbor Y ranging tables maintained by a, step 506 is performed;
step 5026. Receive the timestamp from neighbor Y: rxM≡RxM≡Y, RY;
step 5027, returning the generated ranging message;
through the steps, the cluster ranging method based on the ultra-wideband technology in the unmanned system can be obtained. The design of the cluster ranging method based on the ultra-wideband technology in the large-scale unmanned system is completed, and a new method is provided for large-scale cluster ranging.
The technical means disclosed by the scheme of the invention is not limited to the technical means disclosed by the embodiment, and also comprises the technical scheme formed by any combination of the technical features.
Claims (5)
1. A cluster ranging method based on ultra-wideband technology in unmanned system clusters is characterized in that:
the method comprises the following steps:
step 1: designing a simple network protocol framework such that each side of the communication periodically sends ranging messages instead of replying to the message immediately after receiving the message;
step 2: aiming at the ranging message and the protocol frame in the step 1, a message structure of a ranging message data packet, a ranging message generation method and a ranging information updating method are designed;
step 3: aiming at the ranging interval of each ranging message in the step 2, designing a ranging interval P to be self-adaptive according to the speed and the distance, and setting a ranging message transmission interval for a fast-moving high-dynamic unmanned system cluster;
step 4: according to the analysis of the problem of mismatching between ranging message loss and ranging period caused by using different ranging intervals, the unbalanced situation of four message exchanges is summarized, and the unbalanced situation is respectively:
the case (1) where the ranging message received by the receiving side is larger than the ranging message transmitted by the transmitting side;
a ranging message transmitted by the sender is lost in case (2);
case (3) the sender sends more ranging messages than it receives ranging messages;
a ranging message sent by the receiving party is lost in case (4);
aiming at the situations (1) and (2), the part of the time stamp of the data packet sent by the sender in the next round is missing, and the solution is to directly discard the time stamp sent by the receiver in the previous round stored by the sender; aiming at the case (3), the solution is to update or overwrite the sending time stamp in the ranging table in time every time the message is sent; for case (4), the solution is to discard the corresponding timestamp of the previous round;
step 5: the method improves the message structure of the ranging message, the ranging message generating method, the ranging message updating method and the distance calculating method, so that the method can be popularized and applied to large-scale high-density clusters, and comprises the following specific steps:
step 501: an improved ranging table message structure; three parameters are added in comparison with the data table in the step 1, namely, the latest ranging interval of A and Y, the next expected transmission time of Y and the expiration time of neighbor Y ranging information;
step 502: redesigning a distance meter updating method; updating the ranging interval P in the ranging table according to the existing calculation formula after the propagation delay ToF of the data packet between the transmitting party and the receiving party calculated according to the ranging table is updated;
step 503: when a ranging message for the neighbor Y is sent out, the next expected transmission time is updated; when a ranging message from a neighbor Y is received, the expiration time is updated;
step 504: as the ranging tables are improved and properly maintained, the design generates a ranging message based on the next expected transmission time and expiration time in all ranging tables; sequencing according to the time sequence according to the next expected transmission time of the message, and selecting m most urgent neighbors, wherein m is the maximum number of time stamps carried by the ranging message; loading the receiving time stamps of the m neighbors into a ranging message and sending the ranging message; then, the m next transmission times are updated by a ranging table updating method according to the respective ranging intervals; this process is repeated and a next ranging message is generated when the next transmission time arrives.
2. The method for cluster ranging based on ultra-wideband technology in unmanned system cluster as claimed in claim 1, wherein the method is characterized in that: the step 1 comprises the following design:
(1) The protocol framework for designing the transmitting and receiving parties is as follows:
a) Sender protocol framework:
step 1011, the sender generates a ranging message;
step 1012, the sender broadcasts the ranging message generated in step 1011;
step 1013, updating the current equipment ranging message;
b) The receiver protocol framework:
step 1021, the receiving party receives a ranging message, and step 1022 is executed;
step 1022, updating the ranging data of the current ranging table;
step 1023, calculating the propagation delay ToF of the data packet between the transmitting and receiving parties according to the updated ranging data;
(2) Defining ranging message X i Is the ith broadcast message by robot or device X, which can be expressed as:wherein the parameters respectively represent X i Is a message identifier representing a message sender and a sequence number; />Is X i-1 Where X is the transmission time stamp of i-1 I.e. the last transmitted message; rxM is a set of receive time stamps and corresponding message identifiers; v is X i Is set to the current speed of (2).
3. The method for cluster ranging based on ultra-wideband technology in unmanned system cluster as claimed in claim 1, wherein the method is characterized in that: step 2 designs a ranging message generating method firstly, and designs a ranging message structure capable of storing the latest 7 time stamps according to interaction of ranging messages of the receiving and transmitting parties under the protocol framework of step 1; meanwhile, according to the designed ranging message structure, a ranging information updating method and a propagation delay ToF calculation method of a data packet between a transmitting party and a receiving party are designed;
(3) For the ranging message in step 2, the generation method comprises the following steps:
step 2011: clearing the set of receive timestamps and corresponding message identifiers;
step 2012: step 2013 is performed for each message received since the last transmission; step 2013: combining the current receiving time stamp and the set of corresponding message identifiers until the receiving of all ranging messages is completed;
step 2014: returning the generated ranging message data packet;
(4) Aiming at the ranging message in the step 2, a specific updating method is designed, and the steps are as follows;
step 2021: step 2022 is performed if the current device is sending ranging messages, otherwise step 2023 is performed;
step 2022: updating a corresponding time stamp of each distance meter maintained by the current equipment; step 2023: the current device receives the ranging message and the ranging message comes from the neighbor device Y, step 2024 is performed;
step 2024: updating a corresponding time stamp in a ranging table of the equipment Y maintained by the current equipment A;
(5) For the updated range table in step 2024, a distance calculation method between two devices is designed, and the steps are as follows:
step 2031: if the ranging table maintained by the current device a with respect to the neighbor device Y is complete, step 2032 is performed; otherwise, returning to the null value;
step 2032: according to the formula, calculating the propagation delay ToF of the data packet between the two parties by using the corresponding time stamp in the complete range table;
step 2033: resetting the range table in step 2024;
step 2034: returning to the propagation delay ToF of the data packet between the two parties in step 2032.
4. The method for cluster ranging based on ultra-wideband technology in unmanned system cluster as claimed in claim 1, wherein the method is characterized in that: step 3, according to the ranging message in the step 2, designing a ranging process to be self-adaptive according to the speed and the distance; according to the protocol frame and the ranging message in the step 1, in the step 3, the self-adaption of the ranging interval P according to the speed and the distance under the high-speed long ranging interval scene is theoretically analyzed; from the analysis it is concluded that: the closer the distance, the shorter the ranging interval; meanwhile, the faster the speed, the shorter the ranging interval.
5. The method for cluster ranging based on ultra-wideband technology in unmanned system cluster as claimed in claim 1, wherein the method is characterized in that: the method for updating the range table comprises the following steps:
step 401: if device a receives a ranging message from neighbor Y, step 402 is performed;
step 402: if the arrival time stamp in the ranging message sent by the device a of the previous round of device a maintenance is not received with the ranging message of the neighbor Y, executing step 403, otherwise executing step 404;
step 403: updating and clearing the relevant time stamp;
step 404: if the ranging message sent by device a does not match the ranging message sequence number received by device Y, the associated time stamp is updated for the next round of ranging calculation.
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