CN110446253A - A kind of synchronous method by UWB position fixing process Satellite - Google Patents
A kind of synchronous method by UWB position fixing process Satellite Download PDFInfo
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- CN110446253A CN110446253A CN201910683530.3A CN201910683530A CN110446253A CN 110446253 A CN110446253 A CN 110446253A CN 201910683530 A CN201910683530 A CN 201910683530A CN 110446253 A CN110446253 A CN 110446253A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04J—MULTIPLEX COMMUNICATION
- H04J3/00—Time-division multiplex systems
- H04J3/02—Details
- H04J3/06—Synchronising arrangements
- H04J3/0635—Clock or time synchronisation in a network
- H04J3/0638—Clock or time synchronisation among nodes; Internode synchronisation
- H04J3/0658—Clock or time synchronisation among packet nodes
- H04J3/0661—Clock or time synchronisation among packet nodes using timestamps
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04J—MULTIPLEX COMMUNICATION
- H04J3/00—Time-division multiplex systems
- H04J3/02—Details
- H04J3/06—Synchronising arrangements
- H04J3/0635—Clock or time synchronisation in a network
- H04J3/0682—Clock or time synchronisation in a network by delay compensation, e.g. by compensation of propagation delay or variations thereof, by ranging
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W56/00—Synchronisation arrangements
- H04W56/001—Synchronization between nodes
- H04W56/0015—Synchronization between nodes one node acting as a reference for the others
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/18578—Satellite systems for providing broadband data service to individual earth stations
- H04B7/18582—Arrangements for data linking, i.e. for data framing, for error recovery, for multiple access
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- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Mobile Radio Communication Systems (AREA)
Abstract
The present invention discloses a kind of synchronous method by UWB position fixing process Satellite, which is characterized in that the clock drift coefficient including calculating satellite and main satellite；The initial time for calculating satellite and main satellite is poor；The launch time stamp being calibrated on main satellite clock domain；Stab by the initial time of the clock drift coefficient comprising satellite and main satellite, satellite and main satellite, the information of adjacent area satellite number is broadcasted to whole satellites or the associated satellite of Local Phase by poor, calibration satellite launch time for satellite, the synchronous method of satellite of the invention in this way, it is the previous step for solving to eliminate frequent switching issue-resolution between cell in UWB positioning, no matter position or carry out positioning using the calculating of UWB centralization requiring first to synchronize satellite using UWB distributed computing.
Description
Technical field
The present invention relates to a kind of UWB location technologies, the especially synchronous method of UWB position fixing process Satellite.
Background technique
The cell switching of present indoor positioning is realized by two individual cells of switching, that is, enters another cell
Afterwards, former cell no longer provides service.This will lead to switching frequently, and cell intersection alignment quality decline, required number of satellite increases
The problems such as more.
Summary of the invention
The main object of the present invention is to provide a kind of synchronous method of UWB position fixing process Satellite, it is in a positioning area
The boundary that cell is eliminated in domain realizes the Fast synchronization of inter-satellite essential information by simple step；
To achieve the above object, the synchronous method proposed by the present invention by UWB position fixing process Satellite, which is characterized in that packet
It includes
Calculate the clock drift coefficient of satellite and main satellite；
The initial time for calculating satellite and main satellite is poor；
The launch time stamp being calibrated on main satellite clock domain；
Satellite is poor, calibration satellite by the initial time of the clock drift coefficient comprising satellite and main satellite, satellite and main satellite
Launch time stabs, the information of adjacent area satellite number is broadcasted to whole satellites or the associated satellite of Local Phase；
Preferably, when calculating the clock drift coefficient of satellite and main satellite, conventional satellite is stabbed according to the launch time of his father's satellite
The clock drift coefficient for calculating itself and father's satellite is stabbed with the receiving time for receiving father's satellite-signal, it is wide further according to father's satellite
The clock drift coefficient of the father's satellite and main satellite broadcast, calculates the clock drift coefficient of the satellite Yu main satellite；
Further, it when calculating the initial time difference of satellite and main satellite, by the coordinate of father's satellite of father's satellite broadcasting, can must be somebody's turn to do
For satellite at a distance from father's satellite, distance, which is converted to count value i.e., may participate in calculating, further according to father's satellite broadcasting father's satellite with
The initial time difference of main satellite and the clock drift coefficient with main satellite, calculate the initial time of the satellite Yu main satellite
Difference；
Further, when the launch time stamp being calibrated on main satellite clock domain, according to the clock drift system of satellite and main satellite
The launch time for the main satellite that the initial time difference and father's satellite of number, satellite and main satellite carry stabs, which can be by itself
Launch time stamp be synchronized on the clock domain of main satellite；
Preferably, satellite to the content frame of the information of satellite broadcasting successively include round number, anchor number, satellite transmitting when
Between, the clock drift coefficient of launch time for being calibrated on main satellite clock domain stamp, satellite and main satellite, satellite and main satellite
Launch time of poor, the main satellite of initial time, adjacent area satellite number, the x coordinate of satellite, the y-coordinate of satellite, satellite z coordinate
With the state of satellite；
Preferably, when the Satellite Networking of two neighboring cell, at least one satellite of one of cell is with another cell
One satellite is father's satellite；Different timing is used between in cell or across cell satellite and father's satellite；
Preferably, in synchronizing process, since main satellite, it is synchronous that level-one level-one hands on completion the whole network；
In conclusion the synchronous method of satellite of the invention, is to solve the problems, such as to eliminate frequent switching between cell in UWB positioning
No matter the previous step of solution position using UWB distributed computing or be positioned using the calculating of UWB centralization
It requires first to synchronize satellite.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
The structure shown according to these attached drawings obtains other attached drawings；
Fig. 1 is same cell inter-satellite networking and one of the mode that signal transmits；
Fig. 2 is the two of the mode of same cell inter-satellite networking and signal transmitting；
Fig. 3 is the three of the mode of same cell inter-satellite networking and signal transmitting；
The mode of Fig. 4 inter-satellite networking and signal transmitting between neighboring community；
Schematic diagram of the Fig. 5 between satellite and with terminal broadcast information；
The content frame and frame format of Fig. 6 broadcast message between satellite；
Between Fig. 7 application implementation example Satellite networking and with terminal room signal transmit schematic diagram；
The embodiments will be further described with reference to the accompanying drawings for the realization, the function and the advantages of the object of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiment is only a part of the embodiments of the present invention, instead of all the embodiments.Base
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts it is all its
His embodiment, shall fall within the protection scope of the present invention；
Referring to figs. 1 to 3, there are three types of the modes of Satellite Networking and the signal transmitting of same cell.In one cell, it is assumed that shared n
A timing (m+2 < n-3 in Fig. 3), the first is that a cell is on synchronous chain (in addition to the last one satellite), according to
Timing, the satellite of a upper timing are father's satellites of next timing satellite；Second is only one father's satellite of a cell, other
Satellite is all conventional satellite；The third is first, and second of hybrid mode, a part of satellite is father with the satellite of the first timing
Satellite, a part of satellite with m-th timing for father's satellite, and so on, the timing that satellite at most increases to a cell is whole
It is finished.In Fig. 1, positioning in network includes a main satellite A1, remaining satellite is conventional satellite.In Fig. 2, each satellite has
Father's satellite (except main satellite), father's satellite can be main satellite and be also possible to conventional satellite.The Satellite Networking and letter of same cell
Number transmitting when, each network has a synchronous chain, is made of father's satellite of all satellites.The alpha code of satellite is for determining
Cell id, digital number is for determining timing.In each cell, the transmitting of satellite is the time-division.Timing in each cell
When arranging net, setting completed；
With reference to Fig. 4, the transfer mode between cell and cell is as shown in the figure, wherein m+3 < n, and the m timing of B cell is small with A
The a certain satellite in area is father's satellite.The principle of the timing setting of B cell is to avoid hitting frame phenomenon at positioning terminal (i.e. eventually
End receives the satellite-signal of two same timing) occur；When designing the timing of multiple cell, the satellite in cell (removes main satellite
His father's satellite is avoided to hit frame phenomenon (receiving the signal of timing identical as itself father's satellite) outside).Positioning satellite network
Premised on meeting timing Design and require, the timing of each cell, which not asked, to be exhausted；
With reference to Fig. 6, the content frame and frame format of broadcast message between satellite.In it is preferred that, content frame and frame format in order according to
It is secondary including round number, anchor number, satellite launch time, be calibrated on main satellite clock domain launch time stamp, satellite
Launch time, adjacent area satellite volume with poor, the main satellite of initial time of the clock drift coefficient of main satellite, satellite and main satellite
Number, the fields such as the state of the z coordinate of the y-coordinate of the x coordinate of satellite, satellite, satellite and satellite constitute；
Before positioning, the clock drift coefficient of satellite and main satellite is first calculated；The initial time for calculating satellite and main satellite is poor；Calibration
Launch time stamp on to main satellite clock domain；Satellite defends the clock drift coefficient comprising satellite and main satellite, satellite and master
The initial time of star is poor, the information of calibration satellite launch time stamp, adjacent area satellite number is broadcasted to whole satellites or part
Associated satellite (with reference to shown in Fig. 5)；Terminal is stabbed according to the information and the receiving time of itself of satellite broadcasting, uses location algorithm
Calculate anchor point.Wherein, when calculating the clock drift coefficient of satellite and main satellite, conventional satellite is according to the transmitting of his father's satellite
Timestamp and the receiving time stamp for receiving father's satellite-signal calculate the clock drift coefficient of itself and father's satellite, further according to father
Father's satellite of satellite broadcasting and the clock drift coefficient of main satellite, calculate the clock drift coefficient of the satellite Yu main satellite；Meter
When calculating the initial time difference of satellite and main satellite, by the coordinate of father's satellite of father's satellite broadcasting, the satellite and father's satellite can be obtained
Distance, distance, which is converted to count value i.e., may participate in calculating, further according to father's satellite broadcasting father's satellite and main satellite starting
Time difference and clock drift coefficient with main satellite, the initial time for calculating the satellite and main satellite are poor；Master is calibrated to defend
When launch time on star clock domain stabs, when according to the starting of the clock drift coefficient of satellite and main satellite, satellite and main satellite
Between difference and father's satellite carry main satellite launch time stamp, the satellite can by the launch time of itself stab be synchronized to main satellite
Clock domain on；
In it is preferred that, adjacent area satellite number refers to the link relation between the satellite received.If it is two-dimensional, default is believed without adjacent area
Breath；If it is one-dimensional, it is desirable to which anchor point is on the straight line that connection satellite is formed.In synchronizing process since main satellite, one
It is synchronous that grade level-one hands on completion the whole network
Below with reference to certain application scenarios, the method for the present invention is described further:
Refering to what is shown in Fig. 7, network design is that each cell has 9 timing.Wherein, A1 is main satellite, A2, A3, A4, A6, A8, A9
Father's satellite be A1, A5, A7, father's satellite of B9 is A6, and B2 father's satellite is A5, and B3, B8 father's satellite is B9, and B6 father's satellite is B8,
B5 father's satellite B6.A1, A6, A5/A1, A6, B9, B8, B6 are synchronous chain, remaining is conventional satellite；
In B cell, father's satellite timing of B9 is 6, and in the entire network, only the timing of A6 is 6, is defended so father will not occur
Star hits frame phenomenon.Similarly, father's satellite timing of B2 is 5, is 5 there are also the timing of B5, therefore, to assure that not will receive at B2 in network
The signal of B5.And so on, B3, B8 can not receive the signal of A9, and B6 can not receive the signal of A8, and B5 can not receive the signal of A6, and B2 is received
Signal less than B5；
Under the above conditions, A1 is to A2, A3, A4, and A6, A8, the frame of 6 content of A9 BROADCASTING GRAPH, A2, A3, A4, A6, A8, A9 receive A1
Broadcast frame, it is synchronous with A1 according to being completed the step of localization method according to the information of father's satellite and the information of itself；
In the synchronous chain second level, similarly, B2, B9, A7 receive the information of respective father's satellite, complete synchronous with A1.It is every in synchronous chain
Level-one is all completed after synchronizing, and satellite is achieved that the whole network is synchronous；
Wherein, B8 has neighboring BS information (B8, B6), and B6 has neighboring BS information (B8, B6), (B6, B5), and B5 has neighboring BS information
(B6, B5), the neighboring BS information of remaining satellite are sky；
In conclusion completing satellite synchronization process, satellite can send the frame of Fig. 6 content to terminal, start to position；
The everywhere of terminal in a network, will not all hit frame phenomenon, at Tag1, A1, A4, and the broadcast message of A5, A6, no
It will receive B5, the B6 of identical timing, that is, arrange net correct；
Assuming that terminal (Tag1) is being located as shown in the figure, A1, A4, A5, the broadcast message of A6 can be received.All satellites are believed without adjacent area
Breath, i.e. two-dimensional localization, can calculate anchor point with location algorithms such as least square methods；
Assuming that terminal (Tag2) is being located as shown in the figure, B8 is received, the broadcast message of B6 all contains neighboring BS information, i.e. one-dimensional positioning,
Final result is positioned at B8, on the connected straight line of B6.It is calculated according to the information of broadcast relative to B8, the position of B6, it can be complete
At one-dimensional positioning；
The above is only a preferred embodiment of the present invention, is not intended to limit the scope of the invention, all in hair of the invention
Under bright design, using equivalent structure transformation made by description of the invention and accompanying drawing content, or directly/it is used in other phases indirectly
The technical field of pass is included in scope of patent protection of the invention.
Claims (7)
1. a kind of synchronous method by UWB position fixing process Satellite, which is characterized in that including
Calculate the clock drift coefficient of satellite and main satellite；
The initial time for calculating satellite and main satellite is poor；
The launch time stamp being calibrated on main satellite clock domain；
Satellite is poor, calibration satellite by the initial time of the clock drift coefficient comprising satellite and main satellite, satellite and main satellite
Launch time stabs, the information of adjacent area satellite number is broadcasted to whole satellites or the associated satellite of Local Phase.
2. passing through the synchronous method of UWB position fixing process Satellite as described in claim 1, which is characterized in that
When calculating the clock drift coefficient of satellite and main satellite, conventional satellite was stabbed and is received according to the launch time of his father's satellite
The receiving time stamp of father's satellite-signal calculates the clock drift coefficient of itself and father's satellite, defends further according to the father of father's satellite broadcasting
The clock drift coefficient of star and main satellite calculates the clock drift coefficient of the satellite Yu main satellite.
3. as claimed in claim 2 by the synchronous method of UWB position fixing process Satellite, which is characterized in that calculate satellite with
When the initial time difference of main satellite, by the coordinate of father's satellite of father's satellite broadcasting, the satellite can be obtained at a distance from father's satellite, it will
Distance is converted to count value i.e. and may participate in calculating, further according to father's satellite broadcasting father's satellite and main satellite initial time difference and
With the clock drift coefficient of main satellite, the initial time for calculating the satellite and main satellite is poor.
4. passing through the synchronous method of UWB position fixing process Satellite as claimed in claim 3, which is characterized in that
When the launch time stamp being calibrated on main satellite clock domain, according to the clock drift coefficient of satellite and main satellite, satellite with
The launch time stamp for the main satellite that the initial time difference and father's satellite of main satellite carry, which can be by the launch time of itself
Stamp is synchronized on the clock domain of main satellite.
5. the synchronous method by UWB position fixing process Satellite as described in Claims 1-4 is any, which is characterized in that satellite
Content frame to the information of satellite broadcasting successively include round number, anchor number, satellite launch time, be calibrated to main satellite
The initial time of launch time stamp, the clock drift coefficient of satellite and main satellite, satellite on clock domain and main satellite is poor, leads and defends
Launch time of star, adjacent area satellite number, the x coordinate of satellite, the y-coordinate of satellite, the z coordinate of satellite and satellite state.
6. passing through the synchronous method of UWB position fixing process Satellite as claimed in claim 5, which is characterized in that two neighboring small
When the Satellite Networking in area, at least one satellite of one of cell is with a satellite of another cell for father's satellite；Cell
Different timing is used between interior or across cell satellite and father's satellite.
7. the synchronous method by UWB position fixing process Satellite as described in Claims 1-4 is any, which is characterized in that from master
Satellite starts, and it is synchronous that level-one level-one hands on completion the whole network.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111381251A (en) * | 2020-03-18 | 2020-07-07 | 杭州微萤科技有限公司 | Positioning system and synchronization chain self-optimization method thereof |
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Application publication date: 20191112 |