CN109819513B - Positioning system for transmitting synchronous signals by multiple positioning base stations and method thereof - Google Patents
Positioning system for transmitting synchronous signals by multiple positioning base stations and method thereof Download PDFInfo
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Abstract
The invention discloses a positioning system for transmitting synchronous signals by a plurality of positioning base stations, wherein in a positioning period, the plurality of positioning base stations transmit synchronous signals to other positioning base stations so that the other positioning base stations at least receive the synchronous signals transmitted by one positioning base station; the positioning base station transmitting the synchronizing signal and the positioning base station capable of receiving the synchronizing signal transmitted by the positioning base station form a positioning base station group, the time information of transmitting and receiving the synchronizing signal and the position information of the positioning base station are utilized to carry out clock synchronization on the positioning base station in the positioning base station group, and the positioning base station in the positioning base station group is utilized to realize positioning of the positioning label. According to the invention, when the distribution range of the positioning base stations is wider and the topography of the area to be positioned is more complex, each positioning base station can receive the synchronous signal, so that the synchronization with other positioning base stations is realized. The synchronous signals are prevented from being transmitted between the positioning base stations through the wired lines, and the economic and labor costs are saved.
Description
Technical Field
The present disclosure relates to wireless communications, and more particularly, to a positioning system and method thereof in which a plurality of positioning base stations transmit synchronization signals.
Background
With the rapid increase of data services and multimedia services, the demand for sensing positional information is increasing on the basis of short-distance high-rate wireless communication. Particularly in complex environments, such as airport halls, exhibition halls, warehouses, supermarkets, libraries, underground parking lots, mines and the like, or some environments requiring special demands for personnel positioning, such as prisons, kindergartens, hospitals, nursing homes and the like, the position information of mobile terminals or holders, facilities and articles thereof often needs to be determined, and then the mobile terminals or the holders, facilities and articles are used for monitoring management, safety alarm, command scheduling, logistics, telemetry and remote control, emergency rescue and the like.
In existing positioning systems, common positioning algorithms include, for example, a TDOA (Time Difference of Arrival ) positioning algorithm, that is, a positioning tag placed on a device to be positioned transmits a positioning signal to a positioning base station at a known location, and the positioning system records the time difference of receiving the positioning signal by each positioning base station to calculate the position information of the device to be positioned. The algorithm requires accurate time synchronization among positioning base stations in the implementation process to achieve higher positioning accuracy. The common synchronization method for each positioning base station in the prior art mainly comprises the following steps that firstly, each positioning base station respectively comprises an accurate synchronization clock, such as an atomic clock, and the like, and the method has higher cost and needs to be periodically checked; secondly, a wire line is used for transmitting synchronous signals among the positioning base stations, the wire line is required to be distributed among the positioning base stations, more economic and labor costs are required to be consumed, regular maintenance is required, and in some special environments, the wire line cannot be distributed due to geographical environment and aesthetic factors; thirdly, a certain device is utilized to broadcast synchronous signals to all positioning base stations in a wireless mode, however, when the distribution range of the positioning base stations is wider and the terrain of a region to be positioned is complex, the positioning base stations which are far away from the certain device or are blocked with the certain device cannot receive the synchronous signals, so that the synchronization with other positioning base stations cannot be realized. Therefore, research on a low-cost, low-power-consumption and high-precision synchronous positioning system becomes a problem to be solved by researchers in the field.
Disclosure of Invention
According to one aspect of the present invention, a positioning system for transmitting synchronization signals by a plurality of positioning base stations is disclosed, comprising N positioning base stations with known positions, N being an integer greater than or equal to 3, and a positioning tag to be positioned, wherein: in a positioning period T, x positioning base stations transmit synchronous signals to other positioning base stations so that the other positioning base stations at least receive the synchronous signals transmitted by one positioning base station, wherein x is an integer greater than or equal to 2 and less than or equal to N; the method comprises the steps that a positioning base station transmitting a synchronous signal and a positioning base station capable of receiving the synchronous signal transmitted by the positioning base station form a positioning base station group, the time information of transmitting and receiving the synchronous signal and the position information of the positioning base station are utilized to carry out clock synchronization on the positioning base stations in the positioning base station group, and the positioning base stations in the positioning base station group are utilized to realize positioning of the positioning tag, wherein one positioning period comprises a synchronous period and a positioning signal receiving and transmitting period, each positioning base station completes transmitting and receiving of the synchronous signal in the synchronous period, and each positioning tag receives and transmits the positioning signal in the positioning signal receiving and transmitting period.
According to another aspect of the present invention, a positioning method for transmitting synchronization signals by a plurality of positioning base stations is disclosed, comprising: in a positioning period T, a plurality of positioning base stations transmit synchronous signals to other positioning base stations so that the other positioning base stations at least receive the synchronous signals transmitted by one positioning base station, wherein the positioning base stations transmitting the synchronous signals and the positioning base stations capable of receiving the synchronous signals transmitted by the positioning base stations form a positioning base station; recording time information of transmitting and receiving the synchronous signals; the time information of transmitting and receiving the synchronizing signal and the position information of the positioning base stations are utilized to carry out clock synchronization on the positioning base stations in the positioning base station group; positioning of the positioning tag is achieved by using positioning base stations in the positioning base station group, wherein in one positioning period, a synchronization period and a positioning signal receiving and transmitting period are included, each positioning base station completes transmission and reception of a synchronization signal in the synchronization period, and each positioning tag and each positioning base station receive and transmit positioning signals in the positioning signal receiving and transmitting period.
In the positioning system for transmitting the synchronous signals by the plurality of positioning base stations, the plurality of positioning base stations alternately transmit the synchronous signals, so that each positioning base station in the positioning system can also receive the synchronous signals when the distribution range of the positioning base stations is wider and the terrain of a region to be positioned is more complex, thereby realizing the synchronization with other positioning base stations. The synchronous signals are prevented from being transmitted between the positioning base stations through the wired lines, and the economic and labor costs are saved.
Drawings
Fig. 1 is a schematic diagram of a positioning system 100 in which a plurality of positioning base stations transmit synchronization signals according to one embodiment of the invention;
FIG. 2 shows a timing diagram of the operation of the positioning system 100 of the embodiment of FIG. 1 in which a plurality of positioning base stations transmit synchronization signals;
FIG. 3 is a diagram of grouping positioning base stations of the positioning system 100 according to one embodiment of the invention;
fig. 4 is a diagram illustrating grouping of positioning base stations of the positioning system 100 according to another embodiment of the present invention;
FIG. 5 illustrates another operational timing diagram of the positioning system 100 of the embodiment of FIG. 1 in which a plurality of positioning base stations transmit synchronization signals;
FIG. 6 illustrates yet another operational timing diagram of the positioning system 100 of the embodiment of FIG. 1 in which a plurality of positioning base stations transmit synchronization signals;
fig. 7 is a flow chart of a positioning method 700 in which a plurality of positioning base stations transmit synchronization signals according to one embodiment of the invention.
Detailed Description
Specific embodiments of the invention will be described in detail below, it being noted that the embodiments described herein are for illustration only and are not intended to limit the invention. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. However, it will be apparent to one of ordinary skill in the art that: no such specific details are necessary to practice the invention. In other instances, well-known circuits, materials, or methods have not been described in detail in order not to obscure the invention.
Throughout the specification, references to "one embodiment," "an embodiment," "one example," or "an example" mean: a particular feature, structure, or characteristic described in connection with the embodiment or example is included within at least one embodiment of the invention. Thus, the appearances of the phrases "in one embodiment," "in an embodiment," "one example," or "an example" in various places throughout this specification are not necessarily all referring to the same embodiment or example. Furthermore, the particular features, structures, or characteristics may be combined in any suitable combination and/or sub-combination in one or more embodiments or examples. Moreover, those of ordinary skill in the art will appreciate that the illustrations provided herein are for illustrative purposes and that the illustrations are not necessarily drawn to scale. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may be present. In contrast, when an element is referred to as being "directly connected to" or "directly coupled to" another element, there are no intervening elements present. Like reference numerals designate like elements. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.
It will be appreciated by those skilled in the art that in the present context, locating a device to be located may be understood at least as obtaining location information of the device to be located or as resolving the location of the device to be located. In addition, clock synchronization between positioning base stations can be understood as obtaining a relative difference in time of the remaining positioning base station clocks with respect to a reference clock with respect to at least one of the positioning base stations. In addition, it will be understood by those skilled in the art that reference herein to a "positioning period" refers to the time taken for each positioning base station that is to transmit a synchronization signal to complete the transmission of the synchronization signal and for the positioning system to complete the positioning of all the devices to be positioned.
Fig. 1 is a schematic diagram of a positioning system 100 in which a plurality of positioning base stations transmit synchronization signals according to an embodiment of the invention. The positioning system 100 includes N positioning base stations BS1 to BSN with known positions, and M devices MS1 to MSM to be positioned, where N is an integer greater than or equal to 3, and M is an integer greater than or equal to 1. Next, the positioning system 100 shown in fig. 1 will be described in detail by taking n=6 and m=5 as an example. As shown in fig. 1, the positioning system exemplarily includes positioning base stations BS1, BS2, BS3, BS4, BS5, and BS6 and devices to be positioned MS1, MS2, MS3, MS4, and MS5, wherein positioning tags capable of transmitting and receiving positioning signals with the positioning base stations are respectively disposed on the devices to be positioned MS1, MS2, MS3, MS4, and MS 5. Since the positioning tag is placed on the device to be positioned, the positioning tag and the device to be positioned can be considered to have a known relative positional relationship, and even in some cases, since the distance between the positioning tag and the device to be positioned is small, the positioning tag can be approximately considered to be the same as the position of the device to be positioned, so in this context, for convenience of description, positioning of the positioning tag is regarded as positioning of the device to be positioned, and in relation, for example, description of transmitting and receiving positioning signals between the positioning base station and the positioning tag and description of transmitting and receiving positioning signals between the positioning base station and the device to be positioned have the same meaning. In one embodiment, the positioning tags disposed on the device to be positioned are ultra wideband positioning tags, and the ultra wideband positioning signals are interacted (or transceived) between each positioning tag and the positioning base station.
The positioning system 100 obtains the position of the positioning tag by using the sending time of the positioning signal and/or the receiving time of the positioning signal and the position of the positioning base station, thereby realizing the positioning of the device to be positioned. In one embodiment, the location system 100 utilizes a TDOA (Time Difference of Arrival, time of Arrival) or TOA (Time of Arrival) location algorithm to resolve the location information of the location tag. When the TOA positioning algorithm is used for positioning, accurate synchronization is needed between each positioning base station and the positioning label, and if the positioning base stations are synchronized, the positioning label can be synchronized with all the positioning base stations only by synchronizing with one of the positioning base stations, so that the synchronization efficiency is high. In the TOA positioning algorithm, the positioning label, namely the device to be positioned, can be positioned by utilizing the time information of the positioning base station to transmit the positioning signal and the positioning label to receive the positioning signal, or vice versa, by utilizing the time information of the positioning label to transmit the positioning signal and the positioning base station to receive the positioning signal. When the TDOA positioning algorithm is used, only synchronization is needed between the positioning base stations, and positioning of the positioning tag, namely the device to be positioned, can be achieved by utilizing the time information of the positioning base stations or the positioning tag receiving the positioning signals. The present invention is described using the TDOA location algorithm to solve the location information of the location tag as an example, but it will be understood by those skilled in the art that some functions of the location system and the principles thereof, for example, the synchronization function between the location base stations and the principles thereof are equally applicable to the solution of the location information of the location tag using the TOA algorithm.
In the process of positioning signals interactively between the positioning tag and the positioning base station, a receiver of the positioning signals needs to know which sender the positioning signals come from. In one embodiment, the positioning system 100 adds identity information to each positioning signal that characterizes the sender of the positioning signal, and in one embodiment, assigns a dedicated positioning signal transceiving time slot to each positioning signal. In order to reduce the complexity of the positioning signal transmitting device and facilitate the positioning signal receiving side to detect and demodulate the positioning signal, the present invention is described by taking as an example that a special positioning signal receiving and transmitting time slot is allocated to each positioning signal to know which sender the positioning signal comes from, but those skilled in the art will understand that the technical solution of the present invention is applicable to other methods to know which sender the positioning signal comes from.
It will be appreciated by those skilled in the art that during a positioning period T, as will be described below, at least some of the positioning base stations in the positioning system 100 are synchronized with each other (e.g., positioning base stations in the same group of positioning base stations, as will be described below), with less clock error relative to each other, so that, as a preferred embodiment, positioning base stations synchronized with each other may be selected to position the device to be positioned, resulting in a higher positioning accuracy. Of course, when the distance between the device to be positioned and the positioning base station is relatively short, the propagation effect of the positioning signal is better, so as to select the positioning base station relatively short from the device to be positioned to position the device to be positioned, as another embodiment, the error of the arrival time difference of the obtained positioning signal is smaller. As shown in fig. 1, when positioning the to-be-positioned devices MS1, MS2, MS3, MS4, MS5 in the positioning system 100, three positioning base stations closer to the to-be-positioned devices are selected to position the to-be-positioned devices according to the positions of the to-be-positioned devices, for example, for the to-be-positioned device MS1, positioning base stations BS1, BS2, BS4 are preferred to position the to-be-positioned devices; for the device to be positioned MS2, it is preferable that the positioning base stations BS1, BS2, BS3 position it; for the device to be positioned MS3, it is preferable that the positioning base stations BS2, BS3, BS4 position it; for the device to be located MS4, it is preferred that the positioning base stations BS3, BS4, BS6 locate it; for the device to be located MS5, it is preferred that the base stations BS4, BS5, BS6 locate it. Of course, it will be appreciated by those skilled in the art that no matter what of the two schemes is selected or even the other scheme, the positioning base stations are not affected in synchronization with each other.
The present invention utilizes the positioning base station to send the synchronization signal to other positioning base stations, in one embodiment the synchronization signal is a wireless signal, in one embodiment the synchronization signal is an ultra wideband signal, and the ultra wideband signal brings higher synchronization accuracy to the positioning system 100 with higher clock resolution. However, due to the influence of factors such as propagation distance and space shielding, when the distribution range of the positioning base stations in the positioning system 100 is wide or there is space shielding between the positioning base stations, the synchronization signal transmitted by one positioning base station cannot be received by all positioning base stations in the positioning system 100. In the embodiment shown in fig. 1, the synchronization signal transmitted by the positioning base station BS1 can only be received by the positioning base stations BS2 and BS 4; the synchronization signal transmitted by the positioning base station BS2 can only be received by the positioning base stations BS1 and BS 3; the synchronization signal transmitted by the positioning base station BS3 can only be received by the positioning base stations BS2, BS4 and BS 6; the synchronization signal transmitted by the positioning base station BS4 can only be received by the positioning base stations BS1, BS3 and BS 5; the synchronization signal transmitted by the positioning base station BS5 can only be received by the positioning base stations BS4 and BS 6; the synchronization signal transmitted by the positioning base station BS6 can only be received by the positioning base stations BS3 and BS 5. I.e. in the positioning system 100, no synchronization signal transmitted by any positioning base station can be received by all other positioning base stations. In order to enable all positioning base stations in the positioning system 100 to be utilized, the present invention provides a positioning system 100 in which a plurality of positioning base stations transmit synchronization signals.
Fig. 2 shows a timing diagram of the operation of the positioning system 100 of the embodiment of fig. 1 in which a plurality of positioning base stations transmit synchronization signals. Fig. 2 shows a schematic operation timing diagram of a positioning period T of the positioning system 100, where the positioning system 100 divides each positioning period T into a corresponding number of time periods according to the number of positioning base stations transmitting synchronization signals in the positioning system 100. Specifically, in the positioning system 100 shown in fig. 2, the positioning base stations BS1 to BS6 each transmit a synchronization signal, and the positioning system 100 divides the positioning period T into periods T1 to T6 corresponding to the positioning base stations BS1 to BS6 in the order in which the positioning base stations BS1 to BS6 transmit the synchronization signals, and the positioning base stations BS1 to BS6 transmit the synchronization signals in corresponding ones of the periods T1 to T6, respectively.
In one embodiment, each of the periods T1-T6 in turn includes a synchronization period and a positioning signal transceiving period, for example, the period T1 corresponding to the positioning base station BS1 includes a synchronization period ST1 and a positioning signal transceiving period PT1. Next, the synchronization principle of the positioning base station BS1 will be explained in detail taking as an example the operation of the positioning base station BS1 in the period T1. The positioning base station BS1 transmits a synchronization signal S1 in the synchronization period ST1, and the synchronization signal S1 is received by the positioning base station BS2 and the positioning base station BS4. The positioning system 100 records the time t1 at which the positioning base station BS1 transmits the synchronization signal S1, and the times t2 and t4 at which the positioning base station BS2 and the positioning base station BS4 receive the synchronization signal S1. Since the transmitting time and the arrival time of the synchronization signal recorded by the positioning system 100 are obtained based on the clocks of the transmitting end and the receiving end of the synchronization signal, and the positioning base stations are not synchronized yet, the clocks of the positioning base stations have deviation and need to be corrected. Since the locations of the positioning base stations in the positioning system 100 are known, the distance between each two positioning base stations is known, and thus the time of flight for the synchronization signal to travel between each two positioning base stations is known. Specifically to the positioning base stations BS1, BS2 and BS4, the time of flight of the synchronization signal S1 from the positioning base station BS1 to the positioning base station BS2 and from the positioning base station BS1 to the positioning base station BS4 can be obtained based on the propagation speed of the synchronization signal, denoted as t12 and t14, respectively. In one embodiment, the positioning system 100 corrects the clocks of other positioning base stations with reference to the clock of the positioning base station BS1 in the period T1 corresponding to the positioning base station BS 1. Taking the clock of the positioning base station BS2 as an example, the following formula exists, t1+t12=t2+Δt2, where Δt2 is the time correction value of the clock of the positioning base station BS2 relative to the clock of the positioning base station BS 1. From the above formula, the time correction value Δt2 of the positioning base station BS2 clock with respect to the positioning base station BS1 clock can be obtained. Similarly, clock correction can be performed on the positioning base station BS4 that receives the synchronization signal S1, so as to obtain a time correction value of the clock of the positioning base station BS4 relative to the clock of the positioning base station BS 1.
It will be appreciated by those skilled in the art that in the above-described embodiment, the positioning base station BS1 transmitting the synchronization signal is selected as the reference for clock synchronization of the positioning base stations BS2 and BS4 receiving the synchronization signal, but due to the time relativity, in other embodiments, any one of the positioning base station transmitting the synchronization signal and the positioning base station receiving the synchronization signal may be selected as the reference for clock reference of the remaining base stations among them.
After entering a positioning signal receiving and transmitting period PT1, a positioning base station interacts positioning signals with a device to be positioned, and the positioning system 100 records arrival time information of the positioning signals, and utilizes the arrival time information and the position information of the positioning base station to calculate the position information of the device to be positioned by utilizing a TDOA positioning algorithm.
In one embodiment, a positioning tag placed on a device to be positioned transmits a positioning signal to a positioning base station, which receives the positioning signal and records time information that the positioning signal arrives at itself. In yet another embodiment, the positioning base station transmits a positioning signal, and the positioning tag receives the positioning signal and records time information of arrival of the positioning signal at itself.
In one embodiment, the positioning signal receiving and transmitting manner of the positioning system 100 is that the to-be-positioned device transmits the positioning signal to the positioning base station, the positioning system 100 allocates a dedicated positioning signal receiving and transmitting time slot for each to-be-positioned device, and the positioning base station receives the positioning signal in the corresponding positioning signal receiving and transmitting time slot, so that it can be known from which to-be-positioned device the positioning signal comes.
In one embodiment, the positioning signal is an ultra wideband positioning signal.
In the embodiment shown in fig. 2, in the positioning signal transceiving period PT1 in the period T1 corresponding to the positioning base station BS1, since the positioning base stations BS1, BS2 and BS4 are clock-synchronized, the positioning device MS1 to be positioned having the positioning base stations BS1, BS2 and BS4 as the preferred positioning base station is positioned with higher accuracy.
Likewise, the synchronization period ST2 and the positioning signal transceiving period PT2 are included in the period T2 corresponding to the positioning base station BS2, and the positioning base station BS2 transmits the synchronization signal S2 in the synchronization period ST2, and the synchronization signal S2 is received by the positioning base station BS1 and the positioning base station BS 3. In the period T2 corresponding to the positioning base station BS2, the positioning system 100 corrects the clocks of other positioning base stations with the clock of the positioning base station BS2 as a reference, and can perform clock correction on the positioning base station BS1 and the positioning base station BS3 that receive the synchronization signal S2. Thus, in the positioning signal transceiving period PT2 corresponding to the positioning base station BS2, the to-be-positioned device MS2 having the positioning base stations BS1, BS2, and BS3 as the preferred positioning base stations is positioned with higher accuracy.
Similarly, in the period T3 corresponding to the positioning base station BS3, the positioning base stations BS2, BS3, BS4, BS6 perform clock synchronization, and the devices MS3 and MS4 to be positioned are positioned with higher accuracy; in a period T5 corresponding to the positioning base station BS5, the positioning base stations BS4, BS5, BS6 perform clock synchronization, and the device to be positioned MS5 obtains positioning with higher accuracy. Therefore, in one positioning period T, the positioning device to be positioned, which uses any positioning base station as the preferred positioning base station, can obtain positioning with higher accuracy.
In the embodiment shown in fig. 2, all positioning base stations in the positioning system 100 transmit synchronization signals. However, in other embodiments, the positioning system 100 may select only a portion of the positioning base stations to transmit the synchronization signal according to the receiving condition of the synchronization signal, so as to shorten the entire positioning period T and increase the positioning refresh rate of the positioning system 100. In one embodiment, the positioning base station transmitting the synchronization signal and the positioning base station capable of receiving the synchronization signal transmitted by the positioning base station form a positioning base station group. For example, if the positioning base stations BS2 and BS4 are able to receive the synchronization signal transmitted by the positioning base station BS1, the positioning base stations BS1, BS2 and BS4 form a positioning base station group.
Fig. 3 is a diagram of grouping positioning base stations of the positioning system 100 according to an embodiment of the present invention. The positioning system 100 only selects the positioning base station BS1 and the positioning base station BS6 to transmit the synchronization signal, wherein the positioning base stations BS2 and BS4 can receive the synchronization signal transmitted by the positioning base station BS1, and the positioning base stations BS1, BS2 and BS4 form a positioning base station group 301; the positioning base stations BS3 and BS5 can receive the synchronization signal transmitted by the positioning base station BS6, and the positioning base stations BS3, BS5 and BS6 constitute the positioning base station group 302. One positioning period T of the positioning system 100 may include only the period T1 corresponding to the positioning base station BS1 and the period T6 corresponding to the positioning base station BS6, greatly shortening the duration of the positioning period T. In the embodiment shown in fig. 3, the positioning base station groups 301 and 302 do not include positioning base stations belonging to two positioning base station groups at the same time, and the two positioning base station groups are independent from each other.
In yet another embodiment, the positioning system 100 selects only a portion of the positioning base stations to transmit the synchronization signal, and each positioning base station group includes at least one identical positioning base station with at least one other positioning base station group. Fig. 4 is a diagram of grouping positioning base stations of the positioning system 100 according to an embodiment of the present invention. The positioning system 100 only selects the positioning base station BS3 and the positioning base station BS4 to transmit the synchronization signal, wherein the positioning base stations BS2, BS4 and BS6 can receive the synchronization signal transmitted by the positioning base station BS3, and the positioning base stations BS2, BS3, BS4 and BS6 form a positioning base station group 401; the positioning base stations BS1, BS3 and BS5 can receive the synchronization signal transmitted by the positioning base station BS4, and the positioning base stations BS1, BS3, BS4 and BS5 constitute the positioning base station group 402. Each set of positioning base stations in the positioning system 100 comprises at least one identical positioning base station with at least one other set of positioning base stations, i.e. the sets of positioning base stations 401 and 402 each comprise positioning base stations BS3 and BS4. One positioning period T of the positioning system 100 may include only the period T3 corresponding to the positioning base station BS3 and the period T4 corresponding to the positioning base station BS4, greatly shortening the duration of the positioning period T.
In one embodiment, the preferred positioning base stations of the to-be-positioned device MS belong to between two positioning base station groups, for example, as shown in fig. 4, the preferred positioning base stations of the to-be-positioned device MS are positioning base stations BS1, BS2 and BS4 which are closer to the to-be-positioned device MS, wherein the positioning base station BS1 and the positioning base station BS2 belong to the positioning base station group 402 and the positioning base station group 401. In the synchronization period ST3 corresponding to the positioning base station BS3, the positioning base stations BS2, BS3, BS4, and BS6 in the positioning base station group 401 are synchronized; in the positioning signal receiving and transmitting period PT3, the to-be-positioned device MS transmits positioning signals to each positioning base station, and the positioning base station that receives the positioning signals records the time information that the positioning signals reach itself. In this case, the synchronized positioning base stations BS2 and BS4 can receive the positioning signal and record the time information of arrival thereof, and since the positioning base stations BS2 and BS4 are synchronized in the period T3, the time difference of arrival of the positioning signal at the positioning base stations BS2 and BS4 can be accurately known. In the synchronization period ST4 corresponding to the positioning base station BS4, the positioning base stations BS1, BS3, BS4, and BS5 in the positioning base station group 402 are synchronized; in the positioning signal receiving and transmitting period PT4, the to-be-positioned device MS transmits positioning signals to each positioning base station, and the positioning base station that receives the positioning signals records the time information that the positioning signals reach itself. In this case, the synchronized positioning base stations BS1 and BS4 can receive the positioning signal and record the time information of arrival thereof, and since the positioning base stations BS1 and BS4 are synchronized in the period T4, the time difference of arrival of the positioning signal at the positioning base stations BS1 and BS4 can be accurately known. Since the time periods T3 and T4 are short, the displacement of the device to be positioned MS in the time periods T3 and T4 is negligible, and thus, it can be considered that the position of the device to be positioned MS with respect to the positioning base stations BS1, BS2, and BS4 is unchanged in the time periods T3 and T4, and the positioning system 100 can perform TDOA positioning on the device to be positioned MS by using the time difference of the arrival of the positioning signal at the positioning base stations BS2 and BS4 and the time difference of the arrival of the positioning signal at the positioning base stations BS1 and BS4, which are obtained in the time periods T3 and T4, respectively. The position of the device to be positioned MS thus obtained is also relatively accurate.
Fig. 5 shows another operational timing diagram of the positioning system 100 of the embodiment of fig. 1 in which a plurality of positioning base stations transmit synchronization signals. Fig. 5 shows a schematic operation timing diagram of the positioning system 100 in a positioning period T, where the positioning period T includes a synchronization period ST and a positioning signal receiving and transmitting period PT. Unlike the embodiment shown in fig. 2, the positioning base station synchronization of the positioning system 100 is achieved during the synchronization period ST. The positioning system 100 orders the positioning base stations according to the arrangement positions of the positioning base stations, and in the embodiment shown in fig. 5, the positioning base stations sequentially transmit the synchronization signals S1-S5 according to the order of BS1, BS2, BS3, BS4, and BS5, except for the positioning base station BS1 transmitting the synchronization signal S1, each positioning base station transmits its own synchronization signal under the trigger of the synchronization signal transmitted by the last positioning base station preset by the system.
The positioning base station BS1 firstly transmits a synchronization signal S1 to the positioning base station BS2, and records time information of transmitting the synchronization signal S1, and the positioning base station BS2 transmits the synchronization signal S2 under the triggering of the synchronization signal S1, and records time information of receiving the synchronization signal S1 and transmitting the synchronization signal S2. In one embodiment, the positioning base station BS2 transmits the synchronization signal S2 immediately under the triggering of the synchronization signal S1, and in another embodiment, the positioning base station BS2 transmits the synchronization signal S2 after a system preset time interval under the triggering of the synchronization signal S1. As shown in fig. 1, the positioning base station BS4 may also receive the synchronization signal S1 because it is close to the positioning base station BS1, but since the synchronization signal S1 is not a synchronization signal sent by the positioning base station BS3 preset by its system, the positioning base station BS4 is not triggered to send the synchronization signal.
In one embodiment, synchronization signals S1-S5 in the positioning system 100 each carry identity information characterizing the positioning base station transmitting the synchronization signal. In one embodiment, the synchronization signal is an ultra wideband signal. In another embodiment, the synchronization signals are ultra-wideband pulse train signals, and the ultra-wideband in each synchronization signal carries identity information according to a pulse position coding mode. For example, the synchronization signal includes two ultra-wideband pulses, and the different synchronization signals are characterized by setting the time interval between the two ultra-wideband pulses to be different.
As shown in fig. 5, the positioning base station BS3 transmits the synchronization signal S3 under the trigger of the synchronization signal S2, the positioning base station BS4 transmits the synchronization signal S4 under the trigger of the synchronization signal S3, the positioning base station BS5 transmits the synchronization signal S5 under the trigger of the synchronization signal S4, and the positioning base station BS6 receives the synchronization signal S5. The manner in which each two positioning base stations in the embodiment shown in fig. 5 are synchronized is the same as the manner in which each two positioning base stations in the embodiment shown in fig. 2 are synchronized. Namely, the time information of the synchronous signal is transmitted and received by the synchronous signal transmitting base station (transmitting end) and the synchronous signal receiving base station (receiving end), and the clock correction value is obtained between the flight of the synchronous signal between the transmitting end and the receiving end, so that the clock synchronization between the synchronous signal transmitting end and the receiving end is realized. In addition, since the synchronization signals among the positioning base stations are sequentially triggered and transmitted, and the time of the triggering interval is preset for the positioning system 100, clock synchronization of all the positioning base stations in the positioning system 100 can be realized.
After entering a positioning signal receiving and transmitting period PT, a positioning base station interacts positioning signals with a device to be positioned, and the positioning system 100 records arrival time information of the positioning signals, and utilizes the arrival time information and position information of the positioning base station to calculate the position information of the device to be positioned by utilizing a TDOA positioning algorithm.
Fig. 6 shows a further operational timing diagram of the positioning system 100 of the embodiment of fig. 1 in which a plurality of positioning base stations transmit synchronization signals. Unlike the embodiment shown in fig. 5, the positioning system 100 selects only a part of positioning base stations to transmit the synchronization signal according to the reception situation of the synchronization signal. In the embodiment shown in fig. 6, the positioning system 100 selects the positioning base stations BS1, BS4 and BS5 to transmit the synchronization signal, the positioning base station BS4 transmits the synchronization signal S4 under the trigger of the synchronization signal S1 transmitted by the positioning base station BS1, and the positioning base station BS5 transmits the positioning signal S5 under the trigger of the synchronization signal S4 transmitted by the positioning base station BS4. Therefore, the emission of the synchronous signals is reduced, the duration of the positioning period T is shortened, and the positioning refresh rate is improved. And the positioning base stations BS2, BS3 and BS6 which do not transmit the synchronization signal may not have the hardware resources required for transmitting the synchronization signal, thereby saving the system cost.
In the positioning system for transmitting the synchronous signals by the plurality of positioning base stations, the plurality of positioning base stations alternately transmit the synchronous signals, so that each positioning base station in the positioning system can also receive the synchronous signals when the distribution range of the positioning base stations is wider and the terrain of a region to be positioned is more complex, thereby realizing the synchronization with other positioning base stations. The synchronous signals are prevented from being transmitted between the positioning base stations through the wired lines, and the economic and labor costs are saved.
Fig. 7 shows a flowchart of a positioning method 700 for transmitting synchronization signals by a plurality of positioning base stations according to an embodiment of the present invention, the positioning method 700 includes the following steps:
step 701: in a positioning period T, a plurality of positioning base stations transmit synchronization signals to other positioning base stations, wherein the positioning base stations transmitting the synchronization signals and the positioning base stations capable of receiving the synchronization signals transmitted by the positioning base stations form a positioning base station group.
In one embodiment, the synchronization signal and the positioning signal are ultra wideband signals.
In one embodiment, each set of positioning base stations comprises at least one identical positioning base station as the other at least one set of positioning base stations.
Step 702: recording time information of transmitting and receiving the synchronous signals;
step 703: correcting the clock of each positioning base station by using the position information of the positioning base station and the time information of transmitting the synchronous signal and receiving the synchronous signal;
step 704: and each positioning base station records the time information of transmitting and/or receiving the positioning signals by using the corrected clock, and calculates the position information of the device to be positioned by using the time information of transmitting and/or receiving the positioning signals and the position information of the positioning base station.
It should be understood by those skilled in the art that although step 703 is illustrated in fig. 7 as preceding step 704, in other embodiments, the step of correcting the positioning base station clock may be performed after the step of correcting the positioning base station clock is completed, or the step of correcting the positioning base station clock may be performed after the step of correcting the positioning base station clock is partially completed, and the steps may be alternately performed, for example, as shown in the embodiment of fig. 2.
In one embodiment, the method further includes, in a positioning period T, allocating a corresponding period to each positioning base station transmitting a synchronization signal, where each period further includes a synchronization period and a positioning signal transceiving period, each positioning base station transmitting a synchronization signal in the synchronization period of the corresponding period, and each positioning base station interacting with the positioning tag to position the positioning signal in the positioning signal transceiving period.
In another embodiment, the method further includes, in a positioning period T, a synchronization period and a positioning signal transceiving period, where each positioning base station completes transmission and reception of a synchronization signal in the synchronization period, and each positioning base station interacts with the positioning tag to position a signal in the positioning signal transceiving period.
In one embodiment, the method further comprises causing the positioning base station transmitting the synchronization signal to transmit the synchronization signal in a sequence preset by the positioning system. In a positioning period T, besides the positioning base station which transmits the synchronizing signal first, other positioning base stations which transmit the synchronizing signal receive the synchronizing signal transmitted by the positioning base station preset by the previous system and transmit the synchronizing signal of the positioning base station under the triggering of the synchronizing signal.
As mentioned above, while the preferred embodiment of the present invention has been illustrated and described, many changes can be made without departing from the spirit and scope of the invention. Thus, the scope of the invention is not limited by the disclosure of the preferred embodiment. Rather, the invention should be determined entirely by reference to the claims that follow.
Claims (6)
1. A positioning system in which a plurality of positioning base stations transmit synchronization signals, comprising:
n positioning base stations with known positions, wherein in one positioning period, x positioning base stations in the N positioning base stations transmit wireless synchronous signals, wherein N is an integer greater than or equal to 3, and x is an integer greater than or equal to 2 and less than or equal to N; and
the method comprises the steps that a positioning label to be positioned and a positioning base station receive and transmit positioning signals, wherein the positioning label is positioned by utilizing position information of the positioning base station and time information of transmitting and/or receiving the positioning signals between the positioning base station and the positioning label;
the method is characterized in that a positioning base station transmitting a wireless synchronization signal and a plurality of positioning base stations receiving the wireless synchronization signal form a positioning base station group, and clock synchronization is realized among the positioning base stations in the positioning base station group by utilizing time information of transmitting and receiving the wireless synchronization signal in the positioning base station group and position information of the positioning base stations;
wherein, in a positioning period, the positioning period comprises a synchronous period and a positioning signal receiving and transmitting period, each positioning base station completes the transmission and the reception of a wireless synchronous signal in the synchronous period, and each positioning label and the positioning base station receive and transmit positioning signals in the positioning signal receiving and transmitting period; in a positioning period, except for the positioning base station which transmits the wireless synchronization signal first, other positioning base stations which transmit the wireless synchronization signal of the positioning base station under the triggering of the wireless synchronization signal transmitted by the last preset positioning base station, wherein the wireless synchronization signal carries identity information representing the positioning base station which transmits the wireless synchronization signal; and positioning the positioning tag by utilizing the position information of the positioning base station in the same positioning base station group and the time information of transmitting and/or receiving the positioning signal between the positioning base station and the positioning tag.
2. The positioning system according to claim 1, wherein the clock synchronization between the positioning base stations in the positioning base station group is achieved by obtaining a time correction value of the clock of the positioning base station receiving the wireless synchronization signal relative to the clock of the positioning base station transmitting the wireless synchronization signal, wherein the time when the positioning base station transmits the wireless synchronization signal is denoted by t1, the time when the positioning base station receives the wireless synchronization signal is denoted by t2, the time when the wireless synchronization signal propagates between the positioning base station transmitting the wireless synchronization signal and the positioning base station receiving the wireless synchronization signal is denoted by t12, and the time correction value Δt2 of the clock of the positioning base station receiving the wireless synchronization signal relative to the clock of the positioning base station transmitting the wireless synchronization signal is: Δt2=t1+t12-t 2.
3. A positioning system as claimed in any one of claims 1-2, wherein each group of positioning base stations comprises at least one identical positioning base station with at least one other group of positioning base stations.
4. A positioning method for transmitting synchronization signals by a plurality of positioning base stations, comprising:
in a positioning period, a plurality of positioning base stations transmit wireless synchronous signals to other positioning base stations, wherein the positioning base stations transmitting the wireless synchronous signals and the plurality of positioning base stations capable of receiving the wireless synchronous signals transmitted by the positioning base stations form a positioning base station group;
recording time information of transmitting and receiving the wireless synchronous signals;
performing clock synchronization on the positioning base stations in the positioning base station group by using time information of transmitting and receiving wireless synchronization signals and position information of the positioning base stations; and
positioning the positioning label by receiving and transmitting positioning signals between a positioning base station and the positioning label;
wherein, in a positioning period, the positioning period comprises a synchronous period and a positioning signal receiving and transmitting period, each positioning base station completes the transmission and the reception of a wireless synchronous signal in the synchronous period, and each positioning label and the positioning base station receive and transmit positioning signals in the positioning signal receiving and transmitting period; in a positioning period, except for the positioning base station which transmits the wireless synchronization signal first, other positioning base stations which transmit the wireless synchronization signal of the positioning base station under the triggering of the wireless synchronization signal transmitted by the last preset positioning base station, wherein the wireless synchronization signal carries identity information representing the positioning base station which transmits the wireless synchronization signal; and positioning the positioning tag by utilizing the position information of the positioning base station in the same positioning base station group and the time information of transmitting and/or receiving the positioning signal between the positioning base station and the positioning tag.
5. The positioning method as set forth in claim 4, wherein the clock synchronization between the positioning base stations in the positioning base station group is achieved by obtaining a time correction value of the clock of the positioning base station receiving the wireless synchronization signal with respect to the clock of the positioning base station transmitting the wireless synchronization signal, wherein the time at which the positioning base station transmits the wireless synchronization signal is represented by t1, the time at which the positioning base station receives the wireless synchronization signal is represented by t2, the time at which the wireless synchronization signal propagates between the positioning base station transmitting the wireless synchronization signal and the positioning base station receiving the wireless synchronization signal is represented by t12, and the time correction value Δt2 of the clock of the positioning base station receiving the wireless synchronization signal with respect to the clock of the positioning base station transmitting the wireless synchronization signal is: Δt2=t1+t12-t 2.
6. A positioning method according to any of claims 4-5, wherein each positioning base station group comprises at least one identical positioning base station as at least one other positioning base station group.
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| CN110662287A (en) * | 2019-08-23 | 2020-01-07 | 上海孟伯智能物联网科技有限公司 | Method for realizing wireless clock synchronization and information convergence in ultra-wideband positioning |
| CN111866894A (en) * | 2020-04-24 | 2020-10-30 | 中兴通讯股份有限公司 | Networking signal sending method and device of positioning network |
| CN113347706B (en) * | 2021-06-01 | 2023-05-16 | 四川中电昆辰科技有限公司 | System and method for determining position occurrence time of device to be positioned in positioning system |
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