CN108770056B - Ultra-wideband synchronization signal correction method and device and positioning base station - Google Patents
Ultra-wideband synchronization signal correction method and device and positioning base station Download PDFInfo
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Abstract
The invention provides an ultra-wideband synchronization signal correction method, an ultra-wideband synchronization signal correction device and a positioning base station, and relates to the technical field of positioning systems. The signal correction method in the embodiment of the application enables the ultra-wideband positioning base station to perform advanced correction when the received signal is advanced, thereby improving the precision of the synchronous signal in the ultra-wideband positioning system and further improving the positioning precision of the system. The condition that the synchronous signal is abnormal due to the fact that the synchronous signal is transmitted by a physical medium is effectively avoided. Meanwhile, the signal correction method can carry out lag correction on the synchronous signal, and the precision of the synchronous signal is improved.
Description
Technical Field
The invention relates to the technical field of positioning systems, in particular to an ultra-wideband synchronization signal correction method, an ultra-wideband synchronization signal correction device and a positioning base station.
Background
In an Ultra Wide Band (UWB) positioning system, clock synchronization is required for each positioning base station to improve positioning accuracy. However, when each positioning base station performs clock synchronization with the synchronization controller, the synchronization signal needs to be transmitted through a physical medium, which causes the synchronization signal received by the positioning base station to have signal abnormality due to the influence of the physical medium, and affects the positioning accuracy of the positioning system.
Disclosure of Invention
In view of the above, the present invention provides a method and an apparatus for correcting a fixed ultra-wideband synchronization signal, and a positioning base station.
The technical scheme provided by the invention is as follows:
an ultra-wideband synchronization signal correction method is applied to an ultra-wideband positioning base station, the ultra-wideband positioning base station predetermines a predicted count value of a synchronization signal at a first moment, and the ultra-wideband synchronization signal correction method comprises the following steps:
after the synchronous signal begins to be received, calculating an actual count value of the synchronous signal received at a second moment;
determining whether the synchronization signal received at the second moment is a valid signal;
when the synchronous signal at the second moment is a valid signal, determining whether the actual count value reaches the expected count value;
and when the actual count value does not reach the expected count value, performing advanced correction on the received synchronous signal.
Further, the ultra-wideband positioning base station determines a first period value of the synchronization signal in advance; the step of performing an advance correction on the synchronization signal comprises:
determining a second period value of the synchronization signal at the second time;
calculating a difference between the first period value and the second period value;
and taking the difference value of the first period value and the second period value as the time value corresponding to the lead correction.
Further, when the actual count value does not reach the expected count value, the method further comprises:
and setting the synchronizing signal at the second moment as invalid.
Further, the method further comprises:
when the current moment is the first moment, determining whether the synchronous signal received at the first moment is an effective signal;
and when the synchronous signal at the first moment is an invalid signal, performing lag correction on the synchronous signal.
Further, the step of performing lag correction on the synchronization signal when the synchronization signal at the first time is an invalid signal includes:
calculating a third period value of the synchronization signal from the first time to a time when the synchronization signal is changed from the invalid signal to the valid signal;
calculating a remainder of a quotient of the expected count value and the first cycle value;
calculating a difference value of the third cycle value and the remainder;
and taking the difference value of the third period value and the remainder as the time value of the lag correction.
Further, when the synchronization signal at the first time is an invalid signal, the method further includes:
and setting the synchronous signal at the first moment as an effective signal.
Further, the ultra-wideband positioning base station determines a maximum count value of the synchronization signal in advance, and the method further includes:
when the received actual count value of the synchronization signal is equal to the maximum count value, the actual count value of the synchronization signal is calculated from zero again.
The invention also provides an ultra-wideband synchronization signal correction device, which is applied to an ultra-wideband positioning base station, wherein the ultra-wideband positioning base station predetermines a predicted count value of the synchronization signal at a first moment, and the ultra-wideband synchronization signal correction device comprises:
the counting module is used for calculating the actual counting value of the received synchronous signal at the second moment after the synchronous signal is received;
the processing module is used for determining whether the synchronization signal received at the second moment is an effective signal;
when the synchronous signal at the second moment is a valid signal, determining whether the actual count value reaches the expected count value;
and when the actual count value does not reach the expected count value, performing advanced correction on the received synchronous signal.
Further, the ultra-wideband positioning base station determines a first period value of the synchronization signal in advance; the method for the processing module to perform advanced correction on the synchronization signal comprises the following steps:
determining a second period value of the synchronization signal at the second time;
calculating a difference between the first period value and the second period value;
and taking the difference value of the first period value and the second period value as the time value corresponding to the lead correction.
Further, the processing module is further configured to:
when the current moment is the first moment, determining whether the synchronous signal received at the first moment is an effective signal;
and when the synchronous signal at the first moment is an invalid signal, performing lag correction on the synchronous signal.
The invention also provides an ultra-wideband positioning base station, which comprises a counter, a timer and a processor, wherein the timer is used for providing a clock signal for the ultra-wideband positioning base station, and the ultra-wideband positioning base station comprises:
the counter is used for predetermining an expected count value of the synchronous signal at a first moment and calculating an actual count value of the synchronous signal received at a second moment after the synchronous signal begins to be received;
the processor is used for determining whether the synchronization signal received at the second moment is a valid signal;
when the synchronous signal at the second moment is a valid signal, determining whether the actual count value reaches the expected count value;
and when the actual count value does not reach the expected count value, performing advanced correction on the received synchronous signal.
The signal correction method in the embodiment of the application enables the ultra-wideband positioning base station to perform advanced correction when the received signal is advanced, thereby improving the precision of the synchronous signal in the ultra-wideband positioning system and further improving the positioning precision of the system. The condition that the synchronous signal is abnormal due to the fact that the synchronous signal is transmitted by a physical medium is effectively avoided.
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 technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a schematic flowchart of a method for correcting an ultra-wideband synchronization signal according to an embodiment of the present invention.
Fig. 2 is a flowchart illustrating a sub-step of step S104 in a method for correcting an ultra-wideband synchronization signal according to an embodiment of the present invention.
Fig. 3 is another flow chart of a method for correcting an ultra-wideband synchronization signal according to an embodiment of the present invention.
Fig. 4 is a flowchart illustrating a sub-step of step S106 in a method for correcting an ultra-wideband synchronization signal according to an embodiment of the present invention.
Fig. 5 is a schematic functional block diagram of an ultra-wideband positioning base station according to an embodiment of the present invention.
Icon: 100-an ultra-wideband positioning base station; 101-a counter; 102-a timer; 103-a processor.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present invention, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
The existing positioning system is composed of a synchronous controller, a base station and a label, and the positioning principle is as follows approximately: the synchronous controller sends a synchronous signal, the base station extracts the synchronous signal, and meanwhile, the base station receives a positioning signal sent by the label; and calculating the time difference after combining the extracted synchronous signal and the positioning signal sent by the label at the base station, uploading the time difference to an upper computer system to operate a positioning algorithm, and finally obtaining the specific coordinate of the target (label).
The positioning accuracy depends on the accuracy of the clock source of the synchronous controller, the accuracy of the time mark extracted by the base station and the accuracy of the positioning signal sent by the receiving label of the base station. The synchronous signal sent by the synchronous controller is transmitted by a physical medium, and due to certain characteristics of the physical medium, the synchronous signal can be delayed or distorted in phase in the sending process, so that an error is generated or the synchronous signal cannot be extracted when the base station extracts the synchronous signal, so that the positioning precision deviation is serious, and the positioning cannot be performed if the base station extracts the synchronous signal.
The embodiment of the application provides an ultra-wideband synchronization signal correction method, which is applied to an ultra-wideband positioning base station, wherein the ultra-wideband positioning base station predetermines a predicted count value of a synchronization signal at a first moment. The ultra-wideband positioning base station can be internally provided with a counter, the number of received synchronous signals can be calculated through the counter, in the ultra-wideband positioning system, the synchronous controller can generate synchronous signals which can be used as a reference for time synchronization of all the ultra-wideband positioning systems in the positioning system, the synchronous signals can be pulse signals with a certain period, and the counter in the ultra-wideband positioning base station can calculate the number of the received pulse signals. In this embodiment of the application, the first time may be a certain time point spaced by a preset time length from a zero time, and the ultra-wideband positioning base station may calculate, according to the frequency of the pulse signal and the time length from the first time to the zero time, the number of the synchronization signals that should be received at the first time, where the number is used as an expected count value. As shown in fig. 1, the method for correcting the ultra-wideband synchronization signal comprises the following steps.
Step S101, after the synchronization signal starts to be received, calculates an actual count value of the synchronization signal received at the second time.
The ultra-wideband positioning base station may count the number of all the synchronization signals from the time of starting to receive the synchronization signal to the second time through a counter when the ultra-wideband positioning base station starts to receive the synchronization signal, and count the number of the synchronization signals at the second time as an actual count value. It will be appreciated that a high precision clock is provided within the ultra-wideband positioning signal from which the exact time and duration can be determined.
It is understood that the synchronization controller may generate a primary synchronization control signal, and the ultra-wideband positioning base station starts counting the number of received synchronization signals when receiving the primary synchronization control signal. The ultra-wideband positioning base station can start timing and receive the number of the synchronous signals after receiving the initial synchronization control signal.
Step S102, determining whether the synchronization signal received at the second time is a valid signal.
The specific time of the second time can be preset, and after the time reaches the second time, the ultra-wideband positioning base station can judge the synchronization signal and determine whether the synchronization signal at the second time is an effective signal.
Step S103, when the synchronization signal at the second time is an effective signal, determining whether the actual count value reaches the expected count value.
And when the synchronous signal at the second moment is judged to be the effective signal, determining whether the actual count value recorded at the second moment reaches the pre-calculated expected count value. I.e. whether the actual count value is smaller than the expected count value. It can be understood that the preset first time is a certain time away from the initial zero time by a certain time, and the time of the first time away from the initial zero time may be longer than the time of the second time away from the initial zero time.
When the synchronization controller transmits the synchronization signal to each base station, the effective signal has a certain interval, and the signals at all time points are not effective signals. The signal between the two valid signals is the invalid signal.
And step S104, when the actual count value does not reach the expected count value, performing advanced correction on the received synchronous signal.
When the actual count value is less than the expected count value, the received synchronization signal may be advanced.
In detail, as shown in fig. 2, the ultra-wideband positioning base station determines a first period value of the synchronization signal in advance; the step of performing an advance correction on the synchronization signal includes the following substeps.
And a sub-step S141 of determining a second period value of the synchronization signal at the second time.
In the lead correction, the received period value of the synchronization signal may be determined as the second period value. The ultra-wideband positioning base station calculates a theoretical period value of the synchronization signal in advance as a first period value.
In the substep S142, a difference between the first period value and the second period value is calculated.
When the lead correction is performed, it is indicated that the first period value and the second period value have been different, and therefore, when the lead correction is performed, the difference between the first period value and the second period value can be calculated.
In the substep S143, the difference between the first period value and the second period value is used as the time value corresponding to the lead correction.
And correcting the currently received synchronous signal by using the difference value of the first period value and the second period value obtained by calculation, so that the currently received synchronous signal is consistent with the theoretical synchronous signal, and the accuracy of the synchronous signal received by the ultra-wideband positioning base station is improved.
And when the actual count value does not reach the expected count value while the advance correction is performed, the synchronization signal at the second time is set to be invalid.
The above-mentioned flow is a flow for performing the advance correction, and when the synchronization signal is delayed, as shown in fig. 3, the method further includes the following steps.
Step S105, when the current time is the first time, determining whether the synchronization signal received at the first time is an effective signal.
And the time length between the current time and the initial time of the ultra-wideband positioning base station is equal to the time length between the first time and the initial time, and the current time can be regarded as the first time. At this time, it is still necessary to determine whether the received synchronization signal is a valid signal.
And step S106, when the synchronization signal at the first time is an invalid signal, performing hysteresis correction on the synchronization signal.
If the synchronization signal is an invalid signal at this time, it indicates that the signal is lagging. A hysteresis correction is required.
In detail, as shown in fig. 4, when the synchronization signal at the first time is an invalid signal, the step of performing hysteresis correction on the synchronization signal includes the following substeps.
And a substep S161 of calculating a third period value from the first time to a time when the synchronization signal is changed from the inactive signal to the active signal.
When it is determined that the synchronization signal at the first time lags behind, the count value of the synchronization signal may be continuously detected, and when the synchronization signal is changed from the invalid signal to the valid signal, a value of a period from the first time to a time when the synchronization signal is changed from the invalid signal to the valid signal may be recorded as a third period value.
Sub-step S162, calculating a remainder of the quotient of the expected count value and the first period value.
And a substep S163 of calculating a difference value between the third cycle value and the remainder.
And a substep S164 of determining a difference between the third cycle value and the remainder as a time value of the lag correction.
The remainder of the quotient of the expected count value divided by the first cycle value is calculated, and the remainder is subtracted from the third cycle value to obtain the time which is the time value of the lag correction. If the time value is present, the synchronization signal is corrected to be a correct signal by performing lag correction on the synchronization signal.
Meanwhile, when the synchronous signal at the first moment is an invalid signal, the synchronous signal at the first moment is set as an valid signal.
In another embodiment, the ultra-wideband positioning base station determines a maximum count value of the synchronization signals in advance, and the method further comprises the following steps.
And step S107, when the received actual count value of the synchronization signal is equal to the maximum count value, the actual count value of the synchronization signal is calculated from zero again.
After the advance correction or the retard correction is completed, the counter is cleared, that is, the arrival of the initial synchronization signal is waited again, the judgment whether the signal is advanced or retarded is carried out again when the next initial synchronization signal arrives, and the steps of the advance correction or the retard correction are repeated when the signal is advanced or retarded.
In summary, the signal correction method in the embodiment of the present application enables the ultra-wideband positioning base station to perform advanced correction when the received signal is advanced, so as to improve the precision of the synchronization signal in the ultra-wideband positioning system, and further improve the positioning precision of the system. The condition that the synchronous signal is abnormal due to the fact that the synchronous signal is transmitted by a physical medium is effectively avoided.
Meanwhile, the signal correction method can carry out lag correction on the synchronous signal, and the precision of the synchronous signal is improved.
The embodiment of the present application further provides an ultra wide band synchronization signal correction device, which is applied to an ultra wide band positioning base station, where the ultra wide band positioning base station predetermines a predicted count value of a synchronization signal at a first time, and the ultra wide band synchronization signal correction device includes:
the counting module is used for calculating the actual counting value of the received synchronous signal at the second moment after the synchronous signal is received;
the processing module is used for determining whether the synchronization signal received at the second moment is an effective signal;
when the synchronous signal at the second moment is a valid signal, determining whether the actual count value reaches the expected count value;
and when the actual count value does not reach the expected count value, performing advanced correction on the received synchronous signal.
Further, the ultra-wideband positioning base station determines a first period value of the synchronization signal in advance; the method for the processing module to perform advanced correction on the synchronization signal comprises the following steps:
determining a second period value of the synchronization signal at the second time;
calculating a difference between the first period value and the second period value;
and taking the difference value of the first period value and the second period value as the time value corresponding to the lead correction.
Further, the processing module is further configured to:
when the current moment is the first moment, determining whether the synchronous signal received at the first moment is an effective signal;
and when the synchronous signal at the first moment is an invalid signal, performing lag correction on the synchronous signal.
The embodiment of the present application further provides an ultra-wideband positioning base station 100, as shown in fig. 5, including a counter 101, a timer 102 and a processor 103, where the timer 102 is configured to provide a clock signal for the ultra-wideband positioning base station 100, where:
the counter 101 is configured to predetermine an expected count value of the synchronization signal at a first time, and calculate an actual count value of the synchronization signal received at a second time after the synchronization signal starts to be received;
the processor 103 is configured to determine whether the synchronization signal received at the second time is a valid signal; when the synchronous signal at the second moment is a valid signal, determining whether the actual count value reaches the expected count value; and when the actual count value does not reach the expected count value, performing advanced correction on the received synchronous signal.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (8)
1. An ultra-wideband synchronization signal correction method is applied to an ultra-wideband positioning base station, the ultra-wideband positioning base station predetermines a predicted count value of a synchronization signal at a first time, and the ultra-wideband positioning base station predetermines a first period value of the synchronization signal, and the ultra-wideband synchronization signal correction method comprises the following steps:
after the synchronous signal begins to be received, calculating an actual count value of the synchronous signal received at a second moment;
determining whether the synchronization signal received at the second moment is a valid signal;
when the synchronous signal at the second moment is a valid signal, determining whether the actual count value reaches the expected count value;
when the actual count value does not reach the expected count value, performing advanced correction on the received synchronization signal;
when the current moment is the first moment, determining whether the synchronous signal received at the first moment is an effective signal;
when the synchronous signal at the first moment is an invalid signal, carrying out lag correction on the synchronous signal;
wherein performing a hysteresis correction on the synchronization signal comprises:
calculating a third period value of the synchronization signal from the first time to a time when the synchronization signal is changed from the invalid signal to the valid signal;
calculating a remainder of a quotient of the expected count value and the first cycle value;
calculating a difference value of the third cycle value and the remainder;
and taking the difference value of the third period value and the remainder as the time value of the lag correction.
2. The method of claim 1, wherein the step of performing advanced correction on the synchronization signal comprises:
determining a second period value of the synchronization signal at the second time;
calculating a difference between the first period value and the second period value;
and taking the difference value of the first period value and the second period value as the time value corresponding to the lead correction.
3. The method of claim 1, wherein when the actual count value does not reach the expected count value, the method further comprises:
and setting the synchronizing signal at the second moment as invalid.
4. The method of claim 1, wherein when the synchronization signal at the first time is an invalid signal, the method further comprises:
and setting the synchronous signal at the first moment as an effective signal.
5. The method of any of claims 1 to 4, wherein the UWB positioning base station predetermines a maximum count value of the synchronization signal, and the method further comprises:
when the received actual count value of the synchronization signal is equal to the maximum count value, the actual count value of the synchronization signal is calculated from zero again.
6. An ultra-wideband synchronization signal correction apparatus, applied to an ultra-wideband positioning base station, wherein the ultra-wideband positioning base station predetermines a predicted count value of a synchronization signal at a first time, and the ultra-wideband positioning base station predetermines a first period value of the synchronization signal, the ultra-wideband synchronization signal correction apparatus comprising:
the counting module is used for calculating the actual counting value of the received synchronous signal at the second moment after the synchronous signal is received;
the processing module is used for determining whether the synchronization signal received at the second moment is an effective signal;
when the synchronous signal at the second moment is a valid signal, determining whether the actual count value reaches the expected count value;
when the actual count value does not reach the expected count value, performing advanced correction on the received synchronization signal;
the processing module is further configured to: when the current moment is the first moment, determining whether the synchronous signal received at the first moment is an effective signal; when the synchronous signal at the first moment is an invalid signal, carrying out lag correction on the synchronous signal;
wherein performing a hysteresis correction on the synchronization signal comprises:
calculating a third period value of the synchronization signal from the first time to a time when the synchronization signal is changed from the invalid signal to the valid signal;
calculating a remainder of a quotient of the expected count value and the first cycle value;
calculating a difference value of the third cycle value and the remainder;
and taking the difference value of the third period value and the remainder as the time value of the lag correction.
7. The apparatus of claim 6, wherein the processing module performs advanced correction on the synchronization signal, comprising:
determining a second period value of the synchronization signal at the second time;
calculating a difference between the first period value and the second period value;
and taking the difference value of the first period value and the second period value as the time value corresponding to the lead correction.
8. An ultra-wideband positioning base station comprising a counter, a timer, and a processor, wherein the timer is configured to provide a clock signal to the ultra-wideband positioning base station, wherein the ultra-wideband positioning base station is configured to predetermine a predicted count value of a synchronization signal at a first time, wherein the ultra-wideband positioning base station is configured to predetermine a first period value of the synchronization signal, and wherein:
the counter is used for predetermining an expected count value of the synchronous signal at a first moment and calculating an actual count value of the synchronous signal received at a second moment after the synchronous signal begins to be received;
the processor is used for determining whether the synchronization signal received at the second moment is a valid signal; when the synchronous signal at the second moment is a valid signal, determining whether the actual count value reaches the expected count value; when the actual count value does not reach the expected count value, performing advanced correction on the received synchronization signal;
the processing module is further configured to: when the current moment is the first moment, determining whether the synchronous signal received at the first moment is an effective signal; when the synchronous signal at the first moment is an invalid signal, carrying out lag correction on the synchronous signal;
wherein performing a hysteresis correction on the synchronization signal comprises:
calculating a third period value of the synchronization signal from the first time to a time when the synchronization signal is changed from the invalid signal to the valid signal;
calculating a remainder of a quotient of the expected count value and the first cycle value;
calculating a difference value of the third cycle value and the remainder;
and taking the difference value of the third period value and the remainder as the time value of the lag correction.
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