CN107360623A - Wireless network interior joint positions and synchronous method and node apparatus - Google Patents
Wireless network interior joint positions and synchronous method and node apparatus Download PDFInfo
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Abstract
This application discloses a kind of positioning of wireless network interior joint and synchronous method and node apparatus, the positioning and synchronous method include：Each node launches the request frame signal of this node in the first communication time slot in wireless network, and receives the request frame signal of other nodes；Each node generates the return frame signal of this node according to the request frame signals of other nodes of reception；Each node launches the return frame signal of this node in the second communication time slot, and receives the return frame signal of other nodes；Each node determines each node location and synchronization parameter in the wireless network according to the request frame signal and return frame signal of other nodes received.Using the scheme of the application, positioning and synchronization of the node to all nodes in whole wireless network can be achieved, and save communication time slot resource, effectively improve wireless network node positioning and synchronous efficiency.
Description
Technical Field
The present invention relates generally to the field of wireless communication technologies, and in particular, to a method for positioning and synchronizing nodes in a wireless network and a node apparatus.
Background
Research on Positioning and synchronization techniques for nodes in wireless networks began in the fifties of the twentieth century, and is particularly represented by the Global Positioning System (GPS). In the seventies of the twentieth century, on the basis of the research of an early satellite positioning system, a new generation of global satellite navigation positioning system is successfully developed in the United states, and the system can provide services such as real-time, all-weather and global positioning, time synchronization, navigation and the like for the three fields of sea, land and air. In addition, some wireless network node positioning technologies exist, such as a positioning mode based on signal strength, a positioning mode based on angle measurement, a positioning mode based on information hop count, and the like.
Existing radio network node location schemes suffer from certain deficiencies and problems in certain respects. For example, with respect to a global satellite positioning system, it is difficult to achieve positioning of a node indoors, underground, etc., and it is difficult to achieve ranging and synchronization between two nodes to be positioned before achieving positioning. For the signal strength based approach, the positioning accuracy is not good and synchronization between nodes cannot be completed. For the angle measurement mode, a large direction-finding antenna is needed and the synchronization of the nodes cannot be completed. For the mode based on the information hop number, the ranging precision, the positioning precision and the synchronization precision are not good, and only rough estimation can be realized.
Moreover, if positioning and synchronization of all unknown nodes are completed on one node by the conventional node positioning scheme, multiple signal transmissions are often required, a large amount of communication time slot resources are occupied, and the positioning efficiency is low.
Disclosure of Invention
In view of the above-mentioned defects or shortcomings in the prior art, it is desirable to provide a node positioning and synchronizing scheme capable of positioning and synchronizing all nodes in the whole wireless network by one node, saving communication time slot resources, and effectively improving the efficiency of positioning and synchronizing the nodes of the wireless network.
In a first aspect, an embodiment of the present application provides a method for positioning and synchronizing a node in a wireless network, where the method for positioning and synchronizing the node includes:
each node in the wireless network transmits a request frame signal of the node in a first communication time slot and receives request frame signals of other nodes;
each node generates a return frame signal of the node according to the received request frame signals of other nodes;
each node transmits a return frame signal of the node in a second communication time slot and receives return frame signals of other nodes;
and each node determines the position and the synchronization parameter of each node in the wireless network according to the received request frame signal and the received return frame signal of other nodes.
In a second aspect, an embodiment of the present application further provides a node apparatus for positioning and synchronizing a wireless network node, where the node apparatus includes:
a request frame transmitting and receiving module, configured to transmit a request frame signal of the node apparatus in a first communication timeslot, and receive request frame signals of other node apparatuses in a wireless network;
a return frame signal generating module, configured to generate a return frame signal of the node apparatus according to the received request frame signal of the other node apparatus;
a return frame transmitting/receiving module for transmitting the generated return frame signal at the second communication time slot and receiving the return frame signals of other node devices;
and the node positioning synchronization module is used for determining the position and the synchronization parameter of each node device in the wireless network according to the received request frame signal and the received return frame signal of other node devices.
In the node positioning and synchronization scheme provided by the embodiment of the application, a request frame signal and a return frame signal of each node are respectively transmitted through two communication time slots; furthermore, any node in the wireless network can determine the position and the synchronization parameter of each node in the wireless network through the request frame signal and the return frame signal of other nodes received by the node. Compared with the prior art, the scheme of the application can realize the positioning and synchronization of one node to all nodes in the whole wireless network only by signal transmission of two communication time slots, saves a large amount of communication time slot resources, and greatly improves the positioning and synchronization efficiency of the wireless network nodes.
Drawings
Other features, objects and advantages of the present application will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings in which:
FIG. 1 illustrates an exemplary flow chart of a method for node location and synchronization in a wireless network according to one embodiment of the present application;
FIG. 2 illustrates a schematic diagram of a node transceiving signals, according to an embodiment of the present application;
FIG. 3 illustrates a node signal reception diagram according to one embodiment of the present application;
FIG. 4 is a diagram illustrating the transmission and reception of a request frame signal and a return frame signal according to one embodiment of the present application;
FIG. 5 illustrates an exemplary block diagram of a node apparatus suitable for wireless network node location and synchronization according to one embodiment of the present application;
fig. 6 shows an exemplary block diagram of a return frame signal generation module according to an embodiment of the present application;
FIG. 7 illustrates an exemplary block diagram of a node location synchronization module according to one embodiment of the present application.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As used in this application, the terms "module," "device," and the like are intended to encompass a computer-related entity, such as but not limited to hardware, firmware, a combination of hardware and software, or software in execution. For example, a module may be, but is not limited to: a process running on a processor, an object, an executable, a thread of execution, a program, and/or a computer. For example, an application running on a computing device and the computing device may both be a module. One or more modules may reside within a process and/or thread of execution and a module may be localized on one computer and/or distributed between two or more computers.
As mentioned in the background art, in the existing wireless network node positioning and synchronization scheme, if positioning and synchronization of all unknown nodes are to be completed on one node, multiple signal transmissions are required, a large amount of communication time slot resources are occupied, and the positioning efficiency is low.
In view of the above-mentioned drawbacks of the prior art, the inventors of the present invention have found that a simultaneous co-frequency full duplex technology appears with the development of wireless communication technology. The simultaneous co-frequency full duplex technology means that the node receives information from other nodes and simultaneously sends the information, and the frequency channels occupied by the node when sending the information and receiving the information are the same.
The inventors therefore contemplate that wireless network node location and synchronization may be achieved based on simultaneous co-frequency full duplex technology. Specifically, the transmission of the request frame signal of the node and the reception of the request frame signals of other nodes can be completed in one communication time slot based on the simultaneous co-frequency full duplex technology; and completes the transmission of the return frame signal of the node and the reception of the return frame signals of other nodes in another communication time slot. Then, any node in the wireless network can determine the position of the node and the positions of other nodes according to the request frame signal and the return frame signal of other nodes received by the node. Therefore, the positions and the synchronization parameters of all nodes in the whole wireless network can be determined by one node through signal transmission of two communication time slots, precious communication time slot resources can be saved, and the positioning and synchronization efficiency of the wireless network nodes can be greatly improved.
For convenience of description and distinction, a communication slot occupied by transmitting and receiving a request frame signal may be referred to as a first communication slot, or may also be referred to as a request frame slot; the communication time slot occupied by transmitting and receiving the return frame signal is referred to as a second communication time slot or may also be referred to as a return frame time slot.
The technical solution of the present application is described in detail below with reference to the accompanying drawings.
Referring to fig. 1, an exemplary flow chart of a method for node location and synchronization in a wireless network is shown according to one embodiment of the present application.
As shown in fig. 1, a method for node location and synchronization in a wireless network according to an embodiment of the present application may include the following steps:
s110: each node in the wireless network transmits a request frame signal of the node in a first communication time slot and receives request frame signals of other nodes.
In the embodiment of the present application, each node in the wireless network may transmit a request frame signal of the node in one communication timeslot and receive request frame signals from other nodes based on a simultaneous co-frequency full duplex technology, as shown in fig. 2 and 3. FIG. 2 illustrates a schematic diagram of a node transceiving signals, according to an embodiment of the present application; fig. 3 shows a schematic diagram of node signal reception according to an embodiment of the present application.
In the first communication slot (request frame slot), request frame signals of respective nodes in the wireless network are generated by pseudo random code sequences. The request frame signals generated by different nodes are different. For the ith node in the wireless network, the request frame signal generated by the corresponding pseudorandom code sequence may be denoted as si(t); for the jth node in the wireless network, the request frame signal can be denoted as sj(t); when i ≠ j, signal si(t) sum signal sj(t) is different.
S120: each node generates a return frame signal of the node according to the received request frame signals of other nodes.
In this embodiment, each node may determine a request frame composite signal received by the node according to the request frame signal of the other node received by the node and the noise including the noise after the self-interference of the node is eliminated. And then, generating a return frame signal of the node according to the request frame combination signal and the scrambling signal of the node.
In practical application, from the perspective of parameter estimation, the arrival time of the request frame signal from another node can be estimated from the request frame signal received by the node, that is, the direct pseudorange between the node and the other node can be estimated. For example, the direct pseudoranges between the 1 st node and other nodes may be estimated from the request frame signal received by the 1 st node: rho1,2，ρ1,3，……，ρ1,NAnd (N-1) in total.
In this embodiment of the application, the kth node may determine the request framing signal r received by the kth node according to the following formula 1k(t)：
Wherein N is the number of nodes in the wireless network, wk(t) is the noise, p, after self-interference cancellation of the kth nodek,iIs the ith sectionDirect pseudorange between point and kth node, c is speed of light, αiI and k are integers between 1 and N, and the amplitude of the signal received from the ith node is the same as the amplitude of the signal received from the ith node.
After determining the request frame combination signal received by the node, each node may determine the scrambling code signal of the node. Scrambling signals of each node in the wireless network are different, and the scrambling signals of each node are generated by pseudo-random code sequences.
Then, each node performs operation on the determined request frame combination signal received by the node and the scrambling signal of the node to generate a return frame signal of the node.
The operation may be a correlation operation between two signals, a product operation, a convolution operation, or the like. Taking correlation operation as an example, the return frame signal generated by the kth node is:wherein,for the sign of the correlation operation, rk(t) is the request framing signal, p, received by the kth nodekAnd (t) is a scrambling code signal of the kth node.
S130: each node transmits the return frame signal of the node in the second communication time slot and receives the return frame signals of other nodes.
In this embodiment of the present application, each node in the wireless network may implement transmitting a return frame signal of the node in the second communication time slot (return frame time slot) and receiving a return frame signal from another node based on a simultaneous co-frequency full duplex technology, as shown in fig. 4. Fig. 4 shows a schematic diagram of transmission and reception of a request frame signal and a return frame signal according to an embodiment of the present application.
For example, in the return frame time slot, the return frame signals received by the kth node from other nodes are:
wherein N is the number of nodes in the wireless network,to contain the k node noise after self-interference cancellation, βi,jIs the amplitude of the signal received from the ith node associated with the jth node. Rhok,i,jThe distance from the jth node to the ith node and from the ith node to the kth node is obtained, c is the speed of light, j and k are integers from 1 to N, i is not equal to k, and i is not equal to j.
ρk,i,jBelonging to an indirect pseudorange, p, between the j-th node and the k-th nodek,i,jAn indirect pseudorange for the signal path between the jth node and the kth node is determined for the ith node.
S140: and each node determines the position and the synchronization parameter of each node in the wireless network according to the received request frame signal and the received return frame signal of other nodes.
In the embodiment of the application, each node in the wireless network can determine various indirect pseudo ranges between the node and other nodes according to the return frame signals of other nodes received by the node; then, each node determines the distance between any two nodes in the wireless network and the synchronization parameters of the nodes according to the direct pseudo range and the indirect pseudo range between the node and other nodes; and finally, each node determines the position of each node in the wireless network according to the distance between the nodes.
In practical application, from the perspective of parameter estimation, various indirect pseudo ranges between the local node and other nodes can be estimated from return frame signals received by the local node from other nodes. For example, various indirect pseudoranges between the 1 st node and the 3 rd node may be estimated from a return frame signal received from the 3 rd node from the 1 st node: rho1,3,1，ρ1,3,2，ρ1,3,4……，ρ1,3,j……ρ1,3,NAnd (N-1) in total. From all the return frame signals received by the 1 st node from other nodes, various indirect pseudo ranges between the 1 st node and all other nodes can be estimated: rho1,2,1，ρ1,2,3，……，ρ1,i,j……ρ1,N,N-1In total (N-1)2And (4) respectively.
Because the direct pseudo-range between the node and other nodes has a corresponding relation with the distance between the two nodes and the respective synchronous parameters of the two nodes; the indirect pseudo range between the node and other nodes has a corresponding relation with respective synchronous parameters of the two nodes and the distance between the nodes.
E.g. direct pseudoranges p between the kth node and the ith nodek,iSynchronization parameters with the kth nodeSynchronization parameters of the ith nodeAnd the distance d between the kth node and the ith nodek,iThe following correspondence is satisfied:and c is the speed of light.
For example, the indirect pseudorange ρ of the ith node of the signal path between the kth node and the jth nodek，i，jSynchronization parameters with the kth nodeSynchronization parameter of jth nodeDistance d between kth node and ith nodek,iAnd the distance d between the ith node and the jth nodei,jThe following correspondence is satisfied:and c is the speed of light.
Therefore, in the embodiment of the present application, each node constructs its own first pseudorange correspondence and second pseudorange correspondence. And then, determining the distance between any two nodes and the synchronization parameter of each node according to the constructed first pseudo-range corresponding relation and the constructed second pseudo-range corresponding relation.
The first pseudo-range corresponding relation is the corresponding relation of the direct pseudo-range between the node and other nodes, the synchronous parameter of the node, the synchronous parameters of other nodes and the distance between the node and other nodes.
The second pseudo-range correspondence relationship is a correspondence relationship between indirect pseudo-ranges between the local node and other nodes, synchronization parameters of the local node, synchronization parameters of other nodes, and distances between the nodes.
In practical application, each node constructs a first pseudorange correspondence, specifically, constructs a first pseudorange equation set composed of a direct pseudorange between the node and another node, a synchronization parameter of the node, a synchronization parameter of another node, and a distance between the node and another node.
The second pseudorange correspondences constructed by the nodes are specifically constructed by constructing a second pseudorange equation set composed of indirect pseudoranges between the node and other nodes, synchronous parameters of the node, synchronous parameters of other nodes and distances among the nodes.
And then, jointly solving the first pseudorange equation set and the second pseudorange equation set according to the known direct pseudoranges between the local node and other nodes and the known indirect pseudoranges between the local node and other nodes to obtain the distance between any two nodes in the wireless network and the synchronization parameters of all the nodes. Wherein, the joint solution can adopt the least square method and other technical means commonly used in the field.
It should be noted that due to the symmetry of the distances between the nodes of the radio network, the ith node is located at the jth nodeDistance d between nodesi,jDistance d between jth node and ith nodej,iAre equal, i.e. di,j＝dj,i。
Finally, each node may use a Multi-Dimensional Scaling (MDS) method to determine the location of the node and the locations of other nodes in the wireless network based on the distances between the nodes.
As can be seen from the above description, in the embodiment of the present application, to solve the problem that the existing communication time slot resource occupies a large amount, a scheme for transmitting signals through two communication time slots is proposed, where a request frame signal of a local node is transmitted in a first communication time slot and a request frame signal of another node is received; and transmitting the return frame signal of the node at the second communication time slot and receiving the return frame signals of other nodes. Therefore, the signal transmission times among the nodes can be reduced, a large amount of communication time slot resources are saved, and the positioning and synchronization efficiency of the wireless network nodes is improved.
In addition, in the embodiment of the present application, any node in the wireless network may determine the position of the node, the distance between the node and other nodes, and the synchronization parameter of the node according to the received request frame signal and the received return frame signal of other nodes, and may also determine the positions and the synchronization parameters of other nodes, and the distances between other nodes, so as to implement ranging, synchronization, and positioning of one node to all nodes in the entire wireless network.
With further reference to fig. 5, a block diagram of an exemplary architecture of a node apparatus 500 suitable for wireless network node location and synchronization in accordance with one embodiment of the present application is shown.
As shown in fig. 5, a node apparatus 500 adapted for wireless network node location and synchronization may comprise: a request frame transmitting and receiving module 501, a return frame signal generating module 502, a return frame transmitting and receiving module 503 and a node positioning and synchronizing module 504.
In this embodiment, the request frame transmitting and receiving module 501 is configured to transmit a request frame signal of the node apparatus in the first communication timeslot and receive request frame signals of other node apparatuses in the wireless network.
The return frame signal generating module 502 is configured to generate a return frame signal of the node apparatus according to the received request frame signal of the other node apparatus.
The return frame transmitting and receiving module 503 is configured to transmit the generated return frame signal in the second communication time slot, and receive the return frame signals of the other node apparatuses.
The node positioning synchronization module 504 is configured to determine a position and a synchronization parameter of each node device in the wireless network according to the received request frame signal and the received return frame signal of the other node devices.
In practical applications, the request frame transmitting and receiving module 501 may transmit the request frame signal of the node apparatus in a communication timeslot and receive the request frame signals from other node apparatuses based on a simultaneous co-frequency full duplex technology. The request frame signals of each node device in the wireless network are generated by pseudo random code sequences, and the request frame signals generated by different node devices are different.
The return frame transmitting and receiving module 503 may also implement transmitting the return frame signal of the node apparatus in another communication time slot and receiving the return frame signal from other node apparatuses based on the simultaneous co-frequency full duplex technology.
With further reference to fig. 6, an exemplary block diagram of a return frame signal generation module 502 is shown, according to one embodiment of the present application.
As shown in fig. 6, the return frame signal generating module 502 may include: a request frame combination signal generating unit 601 and a return frame signal generating unit 602.
The request frame composite signal generating unit 601 is configured to determine the request frame composite signal received by the node device according to the request frame signal of the other node device received by the request frame transmitting and receiving module 501 and the noise including the noise after the self-interference of the node device is eliminated.
The return frame signal generation unit 602 is configured to generate a return frame signal of the node apparatus according to the request frame combination signal and the scrambling signal of the node apparatus.
In practical applications, from the perspective of parameter estimation, the arrival time of the request frame signal from another node device may be estimated from the request frame signal received by the node device, that is, the direct pseudorange between the node device and another node device may be estimated.
Therefore, in the embodiment of the present application, the request frame combination signal generating unit 601 may determine the request frame combination signal r received by the node apparatus according to the following formula 1k(t)：
Wherein N is the number of node devices in the wireless network, k is the sequence label of the node device, and wk(t) is the noise, rho, after self-interference elimination of the node devicek,iDirect pseudo-range between the i-th node device and the local node device, c is speed of light, αiI and k are integers between 1 and N, and are the amplitude of the signal received from the ith node device.
Further, a scramble signal of the node apparatus is determined. In a wireless network, scrambling signals of respective node apparatuses are different, and the scrambling signals of the respective node apparatuses are generated from pseudo-random code sequences.
In this way, return frame signal generating section 602 can perform an operation on the request frame combination signal received by the identified own node apparatus and the scramble signal of the own node apparatus to generate a return frame signal of the own node apparatus. The operation may be a correlation operation between two signals, a product operation, a convolution operation, or the like.
With further reference to FIG. 7, an exemplary block diagram of the node location synchronization module 504 according to one embodiment of the present application is shown.
As shown in fig. 7, the node location synchronization module 504 may include: indirect pseudo range determining section 701, range synchronization determining section 702, and node position determining section 703.
The indirect pseudorange determining unit 701 is configured to determine various indirect pseudoranges between the local node device and other node devices according to the return frame signals of the other node devices received by the return frame transmitting and receiving module. In practical applications, the indirect pseudorange determining unit 701 may estimate various indirect pseudoranges between the local node apparatus and other node apparatuses from return frame signals received by the return frame transmitting and receiving module 503 from the other node apparatuses, from the perspective of parameter estimation.
For example, various indirect pseudoranges between the 1 st node device and the 3 rd node device may be estimated from a return frame signal received from the 3 rd node device from the 1 st node device: rho1,3,1，ρ1,3,2，ρ1,3,4……，ρ1,3,j……ρ1,3,NAnd (N-1) in total. Various indirect pseudoranges between the 1 st node device and all other node devices in the wireless network can be estimated from all return frame signals received by the 1 st node device from the other node devices: rho1,2,1，ρ1,2,3，……，ρ1,i,j……ρ1,N,N-1In total (N-1)2And (4) respectively.
The distance synchronization determining unit 702 is configured to determine a distance between any two node devices in the wireless network and a synchronization parameter of the node device according to a direct pseudorange and an indirect pseudorange between the node device and another node device.
Because the direct pseudo range between the node device and other node devices has a corresponding relation with the distance between the two node devices and respective synchronous parameters of the two node devices; the indirect pseudo range between the node device and another node device has a correspondence relationship with the synchronization parameter of each of the two node devices and the distance between each of the node devices.
For example, a direct pseudo range ρ between the kth node apparatus and the ith node apparatusk,iSynchronization parameters with a kth node deviceSynchronization parameters of ith node deviceAnd a distance d between the kth node device and the ith node devicek,iThe following correspondence is satisfied:and c is the speed of light.
Indirect pseudorange ρ of a signal path between a kth node device and a jth node device via an ith node devicek,i,jSynchronization parameters with a kth node deviceSynchronization parameter of jth node deviceDistance d between kth node device and ith node devicek,iAnd a distance d between the ith node device and the jth node devicei,jThe following correspondence is satisfied:and c is the speed of light.
In this embodiment, the distance synchronization determining unit 702 may construct a first pseudorange correspondence relationship and a second pseudorange correspondence relationship of the node apparatus. And then, determining the distance between any two node devices in the wireless network and the synchronization parameters of each node device according to the constructed first pseudo-range corresponding relation and the constructed second pseudo-range corresponding relation.
The first pseudo-range correspondence relationship is a correspondence relationship between direct pseudo-ranges between the local node device and other node devices, synchronization parameters of the local node device, synchronization parameters of other node devices, and distances between the local node device and other node devices.
The second pseudo-range correspondence relationship is a correspondence relationship between indirect pseudo-ranges between the local node device and the other node devices, synchronization parameters of the local node device, synchronization parameters of the other node devices, and distances between the respective node devices.
In practical application, the distance synchronization determining unit 702 constructs the first pseudorange correspondence, specifically, constructs a first pseudorange equation set composed of direct pseudoranges between the local node device and other node devices, synchronization parameters of the local node device, synchronization parameters of other node devices, and distances between the local node device and other node devices.
The second pseudorange correspondence relationship constructed by the range synchronization determining unit 702 is specifically constructed by constructing a second pseudorange equation set composed of indirect pseudoranges between the local node device and other node devices, synchronization parameters of the local node device, synchronization parameters of other node devices, and distances between the respective node devices.
And then, jointly solving the first pseudo-range equation set and the second pseudo-range equation set according to the known direct pseudo-range between the node device and other node devices and the known indirect pseudo-range between the node device and other node devices to obtain the distance between any two node devices in the wireless network and the synchronization parameters of the node devices. Wherein, the joint solution can adopt the least square method and other technical means commonly used in the field.
It should be noted that, due to the symmetry of the distances between the wireless network node devices, the distance d between the ith node device and the jth node devicei,jDistance d between jth node device and ith node devicej,iAre equal, i.e. di,j＝dj,i。
The node position determining unit 703 is configured to determine the position of each node device in the wireless network according to the distance between the node devices. In practical applications, the node position determining unit 703 may determine the position of the node apparatus and the positions of other node apparatuses in the wireless network by using an MDS method according to the distance between the node apparatuses.
It should be understood that the modules recited in the node apparatus 500 that are suitable for wireless network node location and synchronization correspond to the various steps in the method described in fig. 1. Thus, the operations and features described above for the method are also applicable to the node apparatus 500, the modules included therein, and the units included in the modules, and are not described again here.
Those skilled in the art will appreciate that the present invention includes apparatus directed to performing one or more of the operations described in the present application. These devices may be specially designed and manufactured for the required purposes, or they may comprise known devices in general-purpose computers. These devices have stored therein computer programs that are selectively activated or reconfigured. Such a computer program may be stored in a device (e.g., computer) readable medium, including, but not limited to, any type of disk including floppy disks, hard disks, optical disks, CD-ROMs, and magnetic-optical disks, ROMs (Read-Only memories), RAMs (Random Access memories), EPROMs (Erasable programmable Read-Only memories), EEPROMs (Electrically Erasable programmable Read-Only memories), flash memories, magnetic cards, or optical cards, or any type of media suitable for storing electronic instructions, and each coupled to a bus. That is, a readable medium includes any medium that stores or transmits information in a form readable by a device (e.g., a computer).
It will be understood by those within the art that each block of the block diagrams and/or flowchart illustrations, and combinations of blocks in the block diagrams and/or flowchart illustrations, can be implemented by computer program instructions. Those skilled in the art will appreciate that the computer program instructions may be implemented by a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, implement the features specified in the block or blocks of the block diagrams and/or flowchart illustrations of the present disclosure.
Those of skill in the art will appreciate that various operations, methods, steps in the processes, acts, or solutions discussed in the present application may be alternated, modified, combined, or deleted. Further, various operations, methods, steps in the flows, which have been discussed in the present application, may be interchanged, modified, rearranged, decomposed, combined, or eliminated. Further, steps, measures, schemes in the various operations, methods, procedures disclosed in the prior art and the present invention can also be alternated, changed, rearranged, decomposed, combined, or deleted.
The above description is only a preferred embodiment of the application and is illustrative of the principles of the technology employed. It will be appreciated by a person skilled in the art that the scope of the invention as referred to in the present application is not limited to the embodiments with a specific combination of the above-mentioned features, but also covers other embodiments with any combination of the above-mentioned features or their equivalents without departing from the inventive concept. For example, the above features may be replaced with (but not limited to) features having similar functions disclosed in the present application.
Claims (10)
1. A method for node location and synchronization in a wireless network, comprising:
each node in the wireless network transmits a request frame signal of the node in a first communication time slot and receives request frame signals of other nodes;
each node generates a return frame signal of the node according to the received request frame signals of other nodes;
each node transmits a return frame signal of the node in a second communication time slot and receives return frame signals of other nodes;
and each node determines the position and the synchronization parameter of each node in the wireless network according to the received request frame signal and the received return frame signal of other nodes.
2. The positioning and synchronization method according to claim 1, wherein the each node generates a return frame signal of the node according to the received request frame signal of the other node, and the method comprises:
each node determines a request frame composite signal received by the node according to the request frame signals of other nodes received by the node and the noise containing the self-interference eliminated by the node;
and generating a return frame signal of the node according to the request frame combination signal and the scrambling signal of the node.
3. The method of claim 2, wherein the request framing signal r received by the kth node is determined according to the following equation 1k(t)：
Wherein N is the number of nodes in the wireless network, wk(t) is the noise, p, after self-interference cancellation of the kth nodek,iIs the direct pseudo-range between the ith node and the kth node, c is the speed of light, αiAnd i and k are the amplitudes of the request frame signals of the ith node, and both values are integers from 1 to N.
4. The positioning and synchronization method according to claim 2 or 3, wherein generating the return frame signal of the node according to the request frame combination signal and the scrambling signal of the node comprises:
and each node carries out operation on the request frame combination signal received by the node and the scrambling signal of the node to generate a return frame signal of the node.
5. The method for positioning and synchronizing according to any one of claims 1 to 4, wherein the determining, by each node, the position and synchronization parameters of each node in the wireless network according to the received request frame signal and the received return frame signal of the other nodes comprises:
each node determines various indirect pseudo ranges between the node and other nodes according to the return frame signals of other nodes received by the node;
each node determines the distance between any two nodes in the wireless network and the synchronization parameters of the nodes according to the direct pseudo-range and the indirect pseudo-range between the node and other nodes;
and each node determines the position of each node in the wireless network according to the distance between the nodes.
6. The method for positioning and synchronizing according to claim 5, wherein each node determines a distance between any two nodes in the wireless network and synchronization parameters of the nodes according to direct pseudoranges and indirect pseudoranges between the node and other nodes, and comprises:
each node constructs a first pseudo-range corresponding relation of the node, wherein the first pseudo-range corresponding relation is a corresponding relation of a direct pseudo-range between the node and other nodes, a synchronous parameter of the node, synchronous parameters of other nodes and distances between the node and other nodes;
each node constructs a second pseudo-range corresponding relation of the node, wherein the second pseudo-range corresponding relation is the corresponding relation of indirect pseudo-range between the node and other nodes, synchronous parameters of the node, synchronous parameters of other nodes and distance between the nodes;
and each node determines the distance between any two nodes and the synchronous parameters of each node according to the constructed first pseudo-range corresponding relation and the constructed second pseudo-range corresponding relation.
7. A node apparatus adapted for wireless network node location and synchronization, comprising:
a request frame transmitting and receiving module, configured to transmit a request frame signal of the node apparatus in a first communication timeslot, and receive request frame signals of other node apparatuses in a wireless network;
a return frame signal generating module, configured to generate a return frame signal of the node apparatus according to the received request frame signal of the other node apparatus;
a return frame transmitting/receiving module for transmitting the generated return frame signal at the second communication time slot and receiving the return frame signals of other node devices;
and the node positioning synchronization module is used for determining the position and the synchronization parameter of each node device in the wireless network according to the received request frame signal and the received return frame signal of other node devices.
8. The node apparatus of claim 7, wherein the return frame signal generating module comprises:
a request frame combination signal generating unit, configured to determine a request frame combination signal received by the node device according to the request frame signals of the other node devices received by the request frame transmitting and receiving module and the noise including the noise of the node device after self-interference elimination;
and the return frame signal generating unit is used for generating a return frame signal of the node device according to the request frame combination signal and the scrambling code signal of the node device.
9. The node apparatus according to claim 7 or 8, wherein the node location synchronization module comprises:
an indirect pseudo-range determining unit, configured to determine various indirect pseudo-ranges between the local node device and other node devices according to the return frame signals of the other node devices received by the return frame transmitting and receiving module;
a distance synchronization determination unit, configured to determine, according to a direct pseudorange and an indirect pseudorange between a local node device and another node device, a distance between any two node devices in the wireless network and a synchronization parameter of the node device;
and the node position determining unit is used for determining the position of each node device in the wireless network according to the distance between the node devices.
10. The node apparatus of claim 9,
the distance synchronization determination unit is specifically configured to construct a first pseudorange correspondence relationship and a second pseudorange correspondence relationship of the node device; determining the distance between any two node devices in the wireless network and the synchronous parameters of each node device according to the constructed first pseudo-range corresponding relation and the constructed second pseudo-range corresponding relation;
wherein the first pseudo-range correspondence relationship is a correspondence relationship between a direct pseudo-range between the local node device and another node device, a synchronization parameter of the local node device, a synchronization parameter of another node device, and a distance between the local node device and another node device;
the second pseudo-range correspondence relationship is a correspondence relationship between indirect pseudo-ranges between the present node device and other node devices, synchronization parameters of the present node device, synchronization parameters of other node devices, and distances between the respective node devices.
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