CN114845379A - Distributed time slot division method of UWB positioning system - Google Patents
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- H04W56/0015—Synchronization between nodes one node acting as a reference for the others
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Abstract
The invention discloses a distributed time slot dividing method of a UWB positioning system, which comprises the following steps: step 1, carrying out time synchronization among distributed positioning nodes in a time slot allocation process; and 2, carrying out time slot division and time slot acquisition in the time slot allocation process. According to the distributed time slot division method of the UWB positioning system, a central positioning node is not required to carry out clock synchronization and time slot division, positioning nodes in the positioning system have the distributed characteristic, and communication is not required among the positioning nodes; the time slot method is divided into two parts of positioning node clock synchronization and tag end time slot acquisition, the coupling degree of the two parts is low, and the system is easy to expand; only clock synchronization and time slot information recording are needed among the positioning nodes, time slot division is not needed, and the positioning method is relatively simple to implement; the tag end can acquire the time slot according to different service types of the tag end, and the time slot division is more flexible.
Description
Technical Field
The invention relates to the technical field of time slot division methods, in particular to a distributed time slot division method of a UWB positioning system.
Background
The UWB positioning technology is widely used under a mine, is currently extended to equipment positioning, man-machine proximity detection and the like by a personnel accurate positioning system, and extends to position service on a mine from position service under the mine after UWB accurate positioning is finished in the mine, such as coal washing fields, open coal mines and other scenes. Due to the extension of the use scenario, the requirements on the capacity and the positioning speed of the location service are higher, and therefore, in a positioning system of TOF, a tag needs to be accessed in a time slot mode. However, in the field deployment process, because the positioning nodes are usually relatively independent, the positioning nodes have a distributed characteristic, that is, there is no unified clock synchronization and time slot distribution positioning node.
The common time slot method is provided with a central processing positioning node, and the positioning node processes the work of clock synchronization and time slot division.
Chinese patent (application No. CN202110935215.2, application No. 20210816, grant No. CN113382386B, grant No. 20211116) discloses a UWB timeslot scheduling system and method applied in a car welcome system, which describes that a single car connects surrounding UWB keys in a timeslot manner, and uses a 2.4G bluetooth channel for assistance.
Chinese patent (application No. CN201110411255.3, application date 20111212, grant publication No. CN102404856B, grant publication date 20140507) discloses a time slot reservation algorithm based on a distributed reservation protocol in ultra-wideband UWB, which describes that UWB data transmission is performed by using a time slot method, and there is a great difference from distance measurement and positioning performed by using UWB.
Chinese patent application No. CN201610509724.8, application No. 20160701, publication No. CN106211310A, publication No. 20161207 disclose an indoor positioning method based on UWB technology, describing that access is performed using a time slot aloha method, which is essentially a random access method.
Chinese patents (application numbers CN201911385918.1, application date 20191229, grant bulletin numbers CN111163431B and grant bulletin dates 20211119) disclose a distance measurement and positioning method and system for UWB (ultra-wideband) ultra-wideband wireless communication underground locomotive, describe a locomotive positioning method, only mention the use of a time slot method and do not describe how to divide time slots, and meanwhile, the distance is used in the text to divide a plurality of positioning nodes into partitions.
Chinese patents (application No. CN202110974668.6, application No. 20210824, publication No. CN113766626A, and publication No. 20211207) disclose a UWB positioning system time slot synchronization control method, device, storage medium, and program product based on beidou time service, which describe a method for a UWB base station to perform synchronization of time slot control clocks under beidou time service.
Chinese patent (application No. CN201910555412.4, application date 20190625, grant publication No. CN110225461B, grant publication date 20210723) discloses an indoor positioning method based on UWB technology, describing the time slot coordination among a reference positioning base station, a positioning base station, and a tag, where the time slot is allocated by the reference positioning base station.
Chinese patent application No. CN202011306548.0, application No. 20201119, publication No. CN112612000A, publication No. 20210406 discloses an intelligent configuration platform suitable for fast deployment of UWB positioning systems, also by basic allocation of time slots.
Chinese patent application No. CN201210420815.6, application No. 20121029, publication No. CN102970745A, publication No. 20130313 disclose a UWB-based multi-object real-time positioning system and an implementation method thereof, wherein the time slot is a preset time slot and does not need to be dynamically allocated.
Chinese patents (application No. CN201911329852.4, application No. 20191220, publication No. CN111077531A, publication No. 20200428) disclose a UWB communication method, medium, terminal and apparatus based on time division multiple access, which mainly use a frame mode and a time slot mode to multiplex positioning messages, so as to improve positioning efficiency.
Chinese patent application No. cn202110427593.x, application date 20210420, publication No. CN113115460A, publication date 20210713 discloses a time slot selection method and related devices, and mainly teaches a time slot selection method after a conflict occurs.
Obviously, in the prior art, the time slot allocation design is aimed at the time slot allocation with a central positioning node, and the time slot allocation problem in a distributed positioning system is not involved.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art.
The invention provides a distributed time slot division method of a UWB positioning system, which relates to time synchronization among distributed positioning nodes in the time slot UWB positioning system and time slot division and time slot acquisition.
The distributed time slot dividing method of the UWB positioning system comprises the following steps: step 1, carrying out time synchronization among distributed positioning nodes in a time slot allocation process; and 2, carrying out time slot division and time slot acquisition in the time slot allocation process.
The invention has the advantages that the clock synchronization and the time slot division are not needed to be carried out by the central positioning node, the positioning nodes in the positioning system have the distributed characteristic, and the communication is not needed among the positioning nodes; the time slot method is divided into two parts of time synchronization between positioning nodes and time slot division and time slot acquisition, the coupling degree of the two parts is low, and the system is easy to expand; only clock synchronization and time slot information recording are needed among the positioning nodes, time slot division is not needed, and the positioning method is relatively simple to implement; the tag end can acquire the time slot according to different service types of the tag end, and the time slot division is more flexible.
According to an embodiment of the present invention, in the step 1, the method specifically includes the following steps:
step 1.1, setting priority by a positioning node: in the process of synchronizing the clocks of a plurality of positioning nodes, the clock of a positioning node with low priority is synchronized by the clock of a positioning node with high priority;
step 1.2, sensing surrounding positioning nodes by the positioning nodes in the positioning process: the positioning nodes sense the surrounding positioning nodes through the distance measurement response of the labels or the surrounding positioning nodes;
step 1.3, the positioning node updates the clock thereof according to the priority and the time information of the surrounding positioning nodes: the positioning node corrects the clock of the positioning node by sensing the priority and the timestamp of the positioning node, and the clock synchronization with the high-priority positioning node is realized.
According to an embodiment of the present invention, in the step 2, the method specifically includes the following steps:
step 2.1, positioning node broadcast channel use condition: broadcasting channel use conditions and time slot positions occupied by current labels by all positioning nodes in the ranging process;
step 2.2, the label acquires the channel use condition and preempts the time slot: the tag acquires a time slot table, and performs time slot preemption according to the channel use condition and the self time slot use condition stored in the positioning node;
and 2.3, broadcasting and reporting the preempted time slot information by the label: the label reports the preempted time slot information to each positioning node around through broadcasting;
step 2.4, updating the time slot use condition by the positioning node: and the surrounding positioning nodes update the recorded time slot table.
According to one embodiment of the invention, the UWB location system supports a plurality of tags.
According to one embodiment of the invention, the positioning process of a single tag is that the single tag is subjected to ranging with a plurality of positioning nodes, and the plurality of positioning nodes are completely equivalent.
According to one embodiment of the invention, the time synchronization between the distributed positioning nodes is a process in which a plurality of positioning nodes are simultaneously operated.
According to one embodiment of the invention, the time slot division is a process in which a plurality of positioning nodes are simultaneously performing.
According to one embodiment of the present invention, the time slot acquisition is a process in which multiple tags are simultaneously performing.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the embodiments or technical solutions in the prior art of the present invention, the drawings used in the description of the embodiments or prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a flow chart of the present invention;
FIG. 2 is a schematic view of the positioning of a tag in the present invention;
FIG. 3 is a flow chart of time synchronization between distributed positioning nodes in the present invention;
FIG. 4 is a schematic diagram of a positioning node before time synchronization in accordance with the present invention;
FIG. 5 is a schematic diagram of the positioning node after time synchronization in the present invention;
FIG. 6 is a flow chart of time slot division and time slot acquisition in the present invention;
FIG. 7 is a schematic diagram of a tag preemption slot process in the present invention;
FIG. 8 is a schematic diagram of a slot table after slot number 4 is selected;
FIG. 9 is a schematic diagram of a slot table after slot number 6 is selected;
fig. 10 is a diagram of a slot table after slot No. 7 is selected.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, the distributed time slot division method of a UWB positioning system of the present invention includes the following steps:
step 1.1, setting priority by a positioning node: in the process of synchronizing the clocks of the plurality of positioning nodes, the clock of the low priority positioning node is synchronized by the clock of the high priority positioning node.
The priorities are attributes of the positioning nodes, each positioning node has a priority, and different positioning nodes have different priorities, that is, multiple positioning nodes have multiple priorities, and 255 priorities are used in actual use. The high priority and the low priority are relative terms of the two positioning nodes. The purpose of the positioning node setting priority is to synchronize the positioning node clock of low priority with the positioning node clock of high priority.
Step 1.2, sensing surrounding positioning nodes by the positioning nodes in the positioning process: and the positioning node senses the surrounding positioning nodes through the label or the ranging response of the surrounding positioning nodes.
Step 1.3, the positioning node updates the clock thereof according to the priority and the time information of the surrounding positioning nodes: the positioning node corrects the clock of the positioning node by sensing the priority and the timestamp of the positioning node, and the clock synchronization with the high-priority positioning node is realized.
In the case of no clock synchronization, the clocks of the two positioning nodes are usually different, for example, the clock of the positioning node a is x, the priority of the positioning node a is 5, the clock of the positioning node B is y, and the priority of the positioning node B is 6, that is, the priority 6 of the positioning node B is higher than the priority 5 of the positioning node a, then the positioning node B senses (as described in the sensing process in step 2.2, it is possible to change the clock of the positioning node B to y after sensing the positioning node a, and it is also possible to respond by ranging) and changes the clock of the positioning node B to y after sensing the positioning node B, so as to implement clock synchronization.
Referring to fig. 4, taking the positioning node 1 and the positioning node 2 as an example, the positioning node 1 is a high-priority positioning node and the positioning node 2 is a low-priority positioning node, compared to the positioning node 2. The positioning node 1 has 8 usable time slots (respectively, time slot No. 0, time slot No. 1, time slot No. 2, time slot No. 3, time slot No. 4, time slot No. 5, time slot No. 6, and time slot No. 7), the positioning node 2 also has 8 usable time slots (respectively, time slot No. 0, time slot No. 1, time slot No. 2, time slot No. 3, time slot No. 4, time slot No. 5, time slot No. 6, and time slot No. 7), and before the positioning node time synchronization, a time deviation exists between the positioning node 2 and the positioning node 1. Referring to fig. 5, after the time synchronization of the positioning nodes, the clock of the positioning node 2 is aligned with the clock of the positioning node 1, that is, the time slot 0 of the positioning node 2 is aligned with the time slot 0 of the positioning node 1, the time slot 1 of the positioning node 2 is aligned with the time slot 1 of the positioning node 1, the time slot 2 of the positioning node 2 is aligned with the time slot 2 of the positioning node 1, the time slot 3 of the positioning node 2 is aligned with the time slot 3 of the positioning node 1, the time slot 4 of the positioning node 2 is aligned with the time slot 4 of the positioning node 1, the time slot 5 of the positioning node 2 is aligned with the time slot 5 of the positioning node 1, the time slot 6 of the positioning node 2 is aligned with the time slot 6 of the positioning node 1, and the time slot 7 of the positioning node 2 is aligned with the time slot 7 of the positioning node 1.
step 2.1, positioning node broadcast channel use condition: each positioning node broadcasts the channel usage (i.e. slot usage, i.e. slot table) and the slot position occupied by the current tag during the ranging process.
The positioning system has a plurality of tags, and the time slot is unchanged after the tags work stably (or after the tags work stably, the time slot selected by each tag is the same as the previous time slot).
Step 2.2, the label acquires the channel use condition and preempts the time slot: the tag acquires a time slot table, and performs time slot preemption according to the channel use condition and the self time slot use condition (the time slot used by last distance measurement) stored in the positioning node;
and 2.3, broadcasting and reporting the preempted time slot information by the label: the label reports the preempted time slot information to each positioning node around through broadcasting;
step 2.4, updating the time slot use condition by the positioning node: and the surrounding positioning nodes update the recorded time slot table.
Referring to fig. 7, taking the positioning node 1 and the positioning node 2 as an example, the positioning node 1 is a high-priority positioning node and the positioning node 2 is a low-priority positioning node, compared to the positioning node 2. The positioning node 1 has 8 available time slots (respectively, time slot No. 0, time slot No. 1, time slot No. 2, time slot No. 3, time slot No. 4, time slot No. 5, time slot No. 6 and time slot No. 7), the positioning node 2 also has 8 time slots (respectively, time slot No. 0, time slot No. 1, time slot No. 2, time slot No. 3, time slot No. 4, time slot No. 5, time slot No. 6 and time slot No. 7), and the clock of the positioning node 1 is not moved, and the clock of the positioning node 2 is aligned with the clock of the positioning node 1. The positioning node 1 responds to the tag that three time slots including the time slot 0, the time slot 1 and the time slot 2 are used, the base point 2 responds to the tag that three time slots including the time slot 2, the time slot 3 and the time slot 5 are used, the last time used by the tag is the time slot 1, the time slot 1 of the positioning node 1 is occupied, the tag reselects the time slot 4 after the ranging, the time slot 4 is reported to each surrounding positioning node, each surrounding positioning node updates the time slot table, and the process is repeated for each ranging of different tags. Referring to fig. 8, 9 and 10, of course, instead of using the time slot No. 4, the time slot No. 6 and the time slot No. 7 may be used, and the selection of the time slot No. 4 is only one choice, and how to select is determined by the tag. The selection of the time slots in the tag also has a fixed selection mode, typically the smallest-sized time slot is selected, but different selection modes, such as the largest-sized time slot, can be used.
UWB positioning systems support multiple tags, which behave the same. Multiple tags are distinct entities with no direct message interaction with each other.
The positioning process of the single label is that the single label and a plurality of positioning nodes are subjected to distance measurement, the plurality of positioning nodes are completely equivalent, and a central positioning node is not provided; referring to fig. 2, the plurality of positioning nodes include a positioning node 1, a positioning node 2, a positioning node 3, a positioning node 4, a positioning node 5, and the like. Time synchronization among distributed positioning nodes is a process in which a plurality of positioning nodes are simultaneously performed. Time slot division is a process in which multiple positioning nodes are simultaneously in progress. Time slot acquisition is a process in which multiple tags are simultaneously performing.
Ranging refers to distance measurement between two devices, wherein one device is a positioning node and the other device is a tag. The distance measurement aims at measuring the distance between the label and the positioning node, and is a precondition for calculating the position of the label. The measured distance is provided by hardware, and enough time is needed in the process of ranging the tag and a plurality of positioning nodes.
According to the distributed time slot dividing method of the UWB positioning system, the distributed positioning nodes realize clock synchronization among the positioning nodes in the modes of broadcasting, reading timestamps reported by tags and the like; in the process of ranging between the distributed positioning node and the label, the time slot allocation condition (namely the channel use condition) of the positioning node and the time slot information allocated by the current label are issued to the label in the current ranging through message response; the label acquires the channel use conditions of a plurality of positioning nodes, performs time slot acquisition by combining the time slot information acquired before the label, and reports the time slot acquisition condition to the positioning nodes.
In addition, UWB (Ultra Wide Band) positioning systems mainly include two types Of TOF (Time Of Flight) and TDOA (Time Difference Of Arrival) systems. The TOF positioning mode needs multiple message interactions, and one positioning needs a long time, while the TDOA positioning mode only needs to send a broadcast packet once, and the positioning time is short. Therefore, when the system capacity is large by using the TOF method, the random access mode causes wireless signal collision to cause positioning failure, and a time slot scheme is usually required to be used to increase the access amount of the positioning system. The time slot positioning method designed by the invention can well solve the time slot allocation scheme in the positioning system without communication (namely distributed) among the positioning nodes, and can effectively solve the problems that no communication exists among the distributed positioning nodes, the time slot division conflicts exist and the like.
The positioning node may also be referred to as a UWB base station, a node, a positioning base station, and the like, and the positioning node, the UWB base station, the node, and the positioning base station mean the same.
In addition, in the case of distributed positioning nodes, the time slot information may be synchronized periodically between the positioning nodes, but this will affect the capacity of the positioning system and also make the design of the positioning system complicated.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention are equivalent to or changed within the technical scope of the present invention.
Claims (8)
1. A distributed time slot dividing method of a UWB positioning system is characterized by comprising the following steps:
step 1, carrying out time synchronization among distributed positioning nodes in a time slot allocation process;
and 2, carrying out time slot division and time slot acquisition in the time slot allocation process.
2. The distributed time slot division method of a UWB positioning system according to claim 1, wherein: in the step 1, the method specifically comprises the following steps:
step 1.1, setting priority by a positioning node: in the process of synchronizing the clocks of a plurality of positioning nodes, the clock of a positioning node with low priority is synchronized by the clock of a positioning node with high priority;
step 1.2, sensing surrounding positioning nodes by the positioning nodes in the positioning process: the positioning nodes sense the surrounding positioning nodes through the distance measurement response of the labels or the surrounding positioning nodes;
step 1.3, the positioning node updates the clock thereof according to the priority and the time information of the surrounding positioning nodes: the positioning node corrects the clock of the positioning node by sensing the priority and the timestamp of the positioning node, and the clock synchronization with the high-priority positioning node is realized.
3. The distributed time slot division method of a UWB positioning system according to claim 1, wherein: in the step 2, the method specifically comprises the following steps:
step 2.1, positioning node broadcast channel use condition: broadcasting channel use conditions and time slot positions occupied by current labels by all positioning nodes in the ranging process;
step 2.2, the label acquires the channel use condition and preempts the time slot: the tag acquires a time slot table, and performs time slot preemption according to the channel use condition and the self time slot use condition stored in the positioning node;
and 2.3, broadcasting and reporting the preempted time slot information by the label: the label reports the preempted time slot information to each positioning node around through broadcasting;
step 2.4, updating the time slot use condition by the positioning node: and the surrounding positioning nodes update the recorded time slot table.
4. The distributed time slot division method of a UWB positioning system according to claim 1, wherein: the UWB positioning system supports a plurality of tags.
5. The distributed time slot division method of the UWB positioning system according to claim 4, wherein: the positioning process of the single label is that the single label and a plurality of positioning nodes are subjected to ranging, and the plurality of positioning nodes are completely equivalent.
6. The distributed time slot division method of the UWB positioning system according to claim 4, wherein: the time synchronization among the distributed positioning nodes is a process that a plurality of positioning nodes are simultaneously carried out.
7. The distributed time slot division method of a UWB positioning system according to claim 6, wherein: the time slot division is a process in which a plurality of positioning nodes are simultaneously performed.
8. The distributed time slot division method of a UWB positioning system according to claim 7, wherein: the time slot acquisition is a process in which a plurality of tags are simultaneously performed.
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| CN115278878A (en) * | 2022-09-28 | 2022-11-01 | 长沙迪迈数码科技股份有限公司 | Underground UWB positioning method, device and storage medium for time sequence management |
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