CN106851696B - UWB multi-label multi-base station scheduling system based on wireless clock synchronization - Google Patents
UWB multi-label multi-base station scheduling system based on wireless clock synchronization Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W24/00—Supervisory, monitoring or testing arrangements
- H04W24/02—Arrangements for optimising operational condition
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W24/00—Supervisory, monitoring or testing arrangements
- H04W24/08—Testing, supervising or monitoring using real traffic
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W56/00—Synchronisation arrangements
- H04W56/001—Synchronization between nodes
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W56/00—Synchronisation arrangements
- H04W56/001—Synchronization between nodes
- H04W56/0015—Synchronization between nodes one node acting as a reference for the others
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- 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
Abstract
A UWB multi-tag multi-base station scheduling system based on wireless clock synchronization is provided. The scheduling system comprises a hardware platform and a scheduling method under clock synchronization. The hardware platform comprises 2 or more than 2 UWB labels, 4 or more than 4 UWB positioning base stations and a calculation control unit. The scheduling method under clock synchronization comprises (1) selectively performing millisecond wireless clock synchronization on a UWB tag in communication and a UWB positioning base station in a communication range according to the clock level; (2) the UWB tag and UWB positioning base station are scheduled to transmit a uniformly coded sequence of short pulse signals. The scheduling system has the characteristics of low power consumption, low communication overhead, good expansibility and good stability, can infinitely expand the number of UWB labels and UWB positioning base stations and infinitely expand the high-precision ranging positioning range, and can restore scheduling in a very short time when the system scheduling is interfered. The UWB-based scheduling system may be applied to more complex and diverse environments.
Description
Technical Field
The application relates to the field of ultra-wideband short-distance wireless communication, in particular to a UWB multi-label multi-base station scheduling system based on wireless clock synchronization.
Background
UWB is an abbreviation for Ultra Wide Band, meaning Ultra wideband, is a communication utilizing a much wider frequency spectrum (typically hundreds of Mhz to several GHz) than conventional communication technologies. According to Shannon theory, the wider the channel bandwidth is, the stronger the anti-interference capability is, the smaller the required transmitting power is, and the faster the transmission rate is. Therefore, the UWB technology can use less electric energy to effectively transmit data more quickly, the transmission time of each data packet can be very short and reach ps level, and thus, a great problem in indoor positioning, namely a multi-path problem, is effectively solved. This is difficult to solve by several other techniques.
Clock synchronization is a growing demand in the field of communications, and the demands for time synchronization by various communication systems can be divided into high precision time demands (microsecond and nanosecond) and ordinary precision time demands (millisecond and second).
The wireless sensor network has a plurality of nodes, and the energy, bandwidth, processing capacity and the like of the nodes are relatively limited, so that the clock synchronization algorithm is required to have the characteristics of good expansibility, low communication overhead, low calculation complexity and the like. To achieve full network clock synchronization, the clock synchronization algorithm must also provide multi-hop synchronization support. The synchronous precision, the synchronous holding time and the synchronous area are different from each other in the different application, such as cooperative dormancy and the like, the synchronous precision of the whole network clock is always kept in millisecond level, and for the target tracking application, only the local nodes close to the target are needed to keep microsecond synchronous precision, and the synchronous duration is in direct proportion to the residence time of the target.
The scheduling algorithm refers to a resource allocation algorithm specified according to a resource allocation policy of the system. While several criteria for selecting the scheduling manner and algorithm are as follows: (1) user-oriented criteria: short turn-around time, fast response time, guarantee of deadline, priority criteria. (2) system-oriented criteria: the system throughput, the processor utilization rate are good, and various resources are utilized in a balanced way. (3) optimization criteria: maximum CPU utilization, maximum throughput, shortest turn-around time, shortest latency, shortest response time.
Disclosure of Invention
The application aims to fully utilize communication ranging of the UWB tag and the UWB positioning base station, reduce communication overhead of clock synchronization, reduce action frequency of a calculation control unit, reduce power consumption of a scheduling system, improve information utilization rate of single communication, simplify expansion of the UWB tag and the UWB positioning base station, and promote easy operability of a large-scale layout accurate positioning system. Therefore, a UWB multi-label multi-base station scheduling system based on wireless clock synchronization is provided.
The application adopts the following technical scheme to realize the aim:
the scheduling system of the UWB multi-label multi-base station based on the wireless clock synchronization is characterized by comprising a hardware platform and a scheduling method under the clock synchronization.
(1) The hardware platform comprises 2 or more than 2 UWB labels, 4 or more than 4 UWB positioning base stations and a calculation control unit.
(2) The scheduling method under clock synchronization comprises (1) selectively performing clock synchronization on a UWB tag in communication and a UWB positioning base station in a communication range according to the level of a clock; (2) the UWB tag and UWB positioning base station are scheduled to transmit a uniformly coded sequence of short pulse signals.
Further, the hardware platform comprises 2 or more UWB tags, 4 or more UWB positioning base stations and a calculation control unit.
(1) The UWB tag broadcasts a uniformly coded short pulse signal containing the ranging time stamp information, and receives the short pulse signal which is fed back by the UWB positioning base station and contains the time stamp information and the scheduling information after being uniformly coded.
(2) And the UWB base station receives the uniformly coded short pulse signals for starting ranging and stopping ranging and transmits the uniformly coded short pulse signals containing the scheduling information and the clock synchronization information.
(3) The calculation control unit extracts time stamp information and clock synchronization information in the uniformly coded short pulse signals received by the UWB positioning base stations, calculates TOF time and scheduling time information, extracts clock synchronization information received by the UWB tags, and coordinates the time when the plurality of UWB tags and the plurality of UWB positioning base stations transmit the short pulse signals.
Further, the scheduling method under clock synchronization is embodied as follows:
(1) The UWB tag in communication and the UWB positioning base station in communication range are selectively synchronized according to the clock level.
(2) The UWB tag and UWB positioning base station are scheduled to transmit a uniformly coded sequence of short pulse signals.
Further, the implementation steps of the UWB multi-label multi-base station scheduling system based on wireless clock synchronization are as follows:
(1) A hardware platform for a UWB multi-tag multi-base station scheduling system based on wireless clock synchronization is constructed, assuming that UWB tags and UWB positioning base stations are laid out in an example environment as shown in fig. 1. The No. 0 UWB tag selects to communicate with and range from No. 0,1,2,3 UWB positioning base stations, and the No. 1 UWB tag selects to communicate with and range from No. 3,5,6,7 UWB positioning base stations. The clock level of the UWB positioning base station is reduced in sequence from small to large according to the address, and when the scheduling system just starts to work, a time is needed to establish a scheduling relation.
(2) All the UWB tags and the calculation control units on the UWB positioning base station node count by the own millisecond-level clock and serve as the dispatch clock of the calculation control unit of the node.
(3) UWB tag No. 0 broadcasts a uniformly coded short pulse signal containing information to begin ranging.
(4) The No. 0,1,2 and 3 UWB positioning base stations receive the short pulse signals for starting ranging broadcast by the No. 0 UWB tag. Taking the same behavior of the UWB positioning base station in operation into consideration, and analyzing the number 0 UWB positioning base station. The UWB positioning base station No. 0 records the own scheduling clock count as the time when the ranging start signal is received. Consider that the total time for one UWB tag to complete a ranging with four UWB positioning base stations is Δt, and there are a total of 2 UWB tags in this example environment. The scheduling idea is that the time axis of the No. 0 base station is divided into countless segments according to 2 x delta t, the No. 0 UWB tag communicates and ranges with the selected four base stations in the first delta t of the 2 x delta t time period, and the No. 1 UWB tag communicates and ranges with the selected four base stations in the second delta t of the 2 x delta t time period on the premise that the No. 0 UWB positioning base station and the No. 3 UWB positioning base station are in clock synchronization. The UWB tag No. 0 is located at a distance from the next transmission start ranging short pulse signal time= ((2×Δt) - (% (2×Δt))) + (2×Δt). The time stamp information is converted and inserted into the information to be fed back according to the encoding rule.
(5) Taking the same behavior of the UWB positioning base station in operation into consideration, and analyzing the number 0 UWB positioning base station. And the No. 0 UWB positioning base station inserts own clock information into the fed back information according to a unified coding rule. And the UWB positioning base stations 0,1,2 and 3 send out uniformly coded short pulse signals according to the sequence from small to large addresses.
(6) And the No. 0 UWB tag sequentially receives feedback signals of No. 0, no. 1, no. 2 and No. 3 UWB positioning base stations. Scheduling information and clock synchronization signals in the feedback signal are extracted. The clock with the highest clock level is selected as the self clock and counted, and the time point of starting ranging signal for the next self transmission is calculated through the time in the scheduling information.
(7) Taking the fact that the UWB positioning base stations in operation have the same behaviors, and analyzing feedback signals of the No. 0 UWB positioning base stations. The signals fed back by UWB positioning base station number 0 are received by all UWB positioning base stations within communication range, such as base stations number 1,3 in the example environment. The UWB positioning base station receiving the feedback signal compares the self clock grade with the clock grade contained in the feedback signal, and if the clock grade in the feedback signal is higher, the clock in the feedback signal is used as the self clock and counted by the clock. The UWB positioning base station in operation behaves the same when receiving feedback signals from other UWB positioning base stations.
(8) In the above steps, the clock synchronization of the UWB positioning base stations No. 0 and No. 3 is completed.
(9) When the tag No. 1 starts ranging, repeating the steps to finish the clock synchronization of the UWB positioning base station with lower clock level than the UWB positioning base station No. 3.
(10) No matter the sequence of starting ranging of the No. 0 UWB tag and the No. 1 UWB tag, the scheduling can be completed under the clock of the No. 0 UWB base station after the steps, the time points of the UWB tag and the UWB positioning base station in the coordination work for transmitting the short pulse signals can be guaranteed, and the stable operation of the scheduling system can be guaranteed.
(11) Consider that UWB positioning base station # 0 suddenly disappears or breaks down. Through the steps, the clock of the No. 1 UWB positioning base station is used as a clock source for synchronizing the clock of the whole scheduling system, so that the anti-interference capability and the self-recovery capability of the whole system are improved.
In summary, the present application provides a scheduling system for UWB multi-tag and multi-base station based on wireless clock synchronization. The application is illustrated by way of example with respect to a specific constitution of the scheduling system, but the following variations remain within the scope of protection of the application:
(1) The clock synchronization information can be further subdivided into clock source level, clock synchronization hop count, etc.
(2) The number of UWB tags increases or decreases.
(3) The number of UWB positioning base stations increases or decreases.
Drawings
The application is further described above with reference to the accompanying drawings and examples:
FIG. 1 is a schematic diagram of a clock level flow.
Claims (1)
1. A UWB multi-label multi-base station scheduling system based on wireless clock synchronization is characterized in that,
the scheduling system comprises a hardware platform, wherein the hardware platform comprises 2 or more than 2 UWB tags, 4 or more than 4 UWB positioning base stations and a calculation control unit; the UWB labels comprise No. 0 UWB labels and No. 1 UWB labels, the UWB positioning base stations comprise No. 0-7 UWB positioning base stations, the No. 0 UWB labels select to communicate and range with No. 0, no. 1, no. 2 and No. 3 UWB positioning base stations, and the No. 1 UWB labels select to communicate and range with No. 3, no. 5, no. 6 and No. 7 UWB positioning base stations; the clock level of the UWB positioning base station is sequentially reduced according to the order from small to large, and when the scheduling system just starts to work, a time is needed to establish a scheduling relation; all the UWB labels and the calculation control units on the UWB positioning base station node count by self millisecond clocks and serve as scheduling clocks of the calculation control units of the node; the UWB tag broadcasts a uniformly coded short pulse signal containing the ranging time stamp information and receives the short pulse signal which is fed back by the UWB positioning base station and contains the time stamp and the scheduling information after being uniformly coded; the UWB positioning base station receives the uniformly coded short pulse signals for starting ranging and stopping ranging and sends the uniformly coded short pulse signals containing scheduling information and clock synchronization information; the calculation control unit extracts time stamp information and clock synchronization information in the uniformly coded short pulse signals received by the UWB positioning base stations, calculates TOF time and scheduling time information, extracts time synchronization information received by the UWB tags, and coordinates the time for transmitting the short pulse signals between the plurality of UWB tags and the plurality of UWB positioning base stations;
the scheduling method under the clock synchronization of the scheduling system comprises the following steps:
(1) The UWB tag No. 0 broadcasts a uniformly coded short pulse signal containing information of starting ranging;
(2) The method comprises the steps that a 0,1,2 and 3 UWB positioning base station receives a short pulse signal for starting ranging, which is broadcasted by a 0 UWB tag; taking the UWB positioning base stations with the number 0 into consideration that the behaviors of the UWB positioning base stations in operation are the same, and analyzing the UWB positioning base stations; the No. 0 UWB positioning base station records own scheduling clock counting bit when receiving a ranging starting signal; considering that the total time for one UWB tag to complete one ranging with four UWB positioning base stations is deltat, and 2 UWB tags are shared in the system; the scheduling idea is that a time axis of a No. 0 base station is divided into countless segments according to 2 x delta t, a No. 0 UWB tag is used for communication ranging with the selected four base stations in the first delta t of the 2 x delta t time period, and a No. 1 UWB tag is used for communication ranging with the selected four base stations in the second delta t of the 2 x delta t time period on the premise that a No. 0 UWB positioning base station and a No. 3 UWB positioning base station are in clock synchronization; converting the short pulse signal time of the UWB tag number 0 from the next transmission to start ranging into time stamp information and inserting the time stamp information into information to be fed back according to a coding rule;
(3) Taking the UWB positioning base stations with the number 0 into consideration that the behaviors of the UWB positioning base stations in operation are the same, and analyzing the UWB positioning base stations; the No. 0 UWB positioning base station inserts own clock information into the fed back information according to a unified coding rule; the UWB positioning base stations 0,1,2 and 3 send out uniformly coded short pulse signals according to the sequence from small to large addresses;
(4) The No. 0 UWB tag sequentially receives feedback signals of No. 0, no. 1, no. 2 and No. 3 UWB positioning base stations; extracting scheduling information and clock synchronization signals in the feedback signals; selecting the clock with the highest clock level as the self clock, counting the clock, and calculating the time point of starting ranging signal for the next self transmission through the time in the scheduling information;
(5) Taking the fact that the UWB positioning base stations in operation have the same behaviors, and analyzing feedback signals of the No. 0 UWB positioning base stations; the signal fed back by the No. 0 UWB positioning base station is received by No. 1 and No. 3 UWB positioning base stations in the communication range; the UWB positioning base station receiving the feedback signal compares the self clock grade with the clock grade contained in the feedback signal, if the clock grade in the feedback signal is higher, the clock in the feedback signal is used as the self clock and is counted; the UWB positioning base stations in operation act the same when receiving feedback signals of other UWB positioning base stations;
(6) In the steps, the clock synchronization of the No. 0 UWB positioning base station and the No. 3 UWB positioning base station is completed;
(7) When the tag No. 1 starts ranging, repeating the steps to finish the clock synchronization of the UWB positioning base station with lower clock level than the UWB positioning base station No. 3.
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| CN108508405A (en) * | 2018-04-08 | 2018-09-07 | 四川省靓固智能科技有限公司 | A kind of localization method synchronized without clock based on UWB |
| CN108692726A (en) * | 2018-04-08 | 2018-10-23 | 四川省靓固智能科技有限公司 | A kind of UWB indoor orientation methods |
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| EP3874773A4 (en) | 2018-12-11 | 2022-01-26 | Zhejiang Dahua Technology Co., Ltd | Systems and methods for determining position and distance of a terminal |
| CN113114405B (en) * | 2019-11-18 | 2022-10-11 | 广东博智林机器人有限公司 | Ultra-bandwidth positioning system and method |
| CN112261585B (en) * | 2020-10-14 | 2021-06-15 | 南京沃旭通讯科技有限公司 | UWB-based safety region monitoring method |
| CN112312537B (en) * | 2020-10-14 | 2022-04-08 | 珠海格力电器股份有限公司 | Clock synchronization method and device, storage medium and electronic device |
| CN112887906B (en) * | 2021-02-01 | 2022-03-11 | 清华大学 | Wireless network joint positioning method and system |
| CN113203982A (en) * | 2021-04-30 | 2021-08-03 | 中煤科工集团重庆研究院有限公司 | TDOA (time difference of arrival) cross-region positioning method for mine |
| CN113692046B (en) * | 2021-07-15 | 2023-03-24 | 上海闻泰信息技术有限公司 | Label positioning method and device, computer equipment and storage medium |
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