CN110740506B - Control method and device based on dual-network embedded UWB network - Google Patents

Control method and device based on dual-network embedded UWB network Download PDF

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Publication number
CN110740506B
CN110740506B CN201911021095.4A CN201911021095A CN110740506B CN 110740506 B CN110740506 B CN 110740506B CN 201911021095 A CN201911021095 A CN 201911021095A CN 110740506 B CN110740506 B CN 110740506B
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uwb
base station
network
positioning base
base stations
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CN110740506A (en
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邓聚财
袁刚
徐飞
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Chengdu Jingwei Technology Co ltd
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Chengdu Jingwei Technology Co ltd
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W16/00—Network planning, e.g. coverage or traffic planning tools; Network deployment, e.g. resource partitioning or cells structures
    • H04W16/18—Network planning tools

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Abstract

The application provides a control method and device based on a dual-network embedded UWB network, and relates to the technical field of positioning. By establishing the positioning system comprising two mutually independent base station networks, when the positioning tag is subjected to position calculation, if interference exists in a UWB pulse signal received by a positioning base station in one positioning system, the positioning base station network can be timely switched to another base station network, the two base station networks form a mutually master-slave configuration mode, the two base station networks are mutually independent and do not interfere with each other during positioning, the positioning performance of the UWB positioning system for the positioning tag can be improved, the interference existing in the positioning process is avoided, and the positioning accuracy of the positioning tag is improved.

Description

Control method and device based on dual-network embedded UWB network
Technical Field
The application relates to the technical field of positioning, in particular to a control method and device based on a dual-network embedded UWB network.
Background
UWB (Ultra wide band) is a carrier-free communication technology that uses non-sinusoidal narrow pulses on the nanosecond to microsecond level to transmit data. The positioning of a signal sending end can be carried out based on the UWB pulse, but a link in a UWB positioning network is easily interfered by various factors in the environment (such as radio signal interference in the environment), and when the positioning network is interfered, the positioning is difficult to carry out; or due to the presence of disturbances, the calculated position deviates significantly from the actual position of the object.
Disclosure of Invention
In order to overcome at least the above disadvantages of the prior art, an object of the present invention is to provide a method and an apparatus for controlling a dual-network embedded UWB network.
The technical scheme provided by the application is as follows:
a control method based on dual-network embedded UWB network is applied to a control terminal in the dual-network embedded UWB network, the dual-network embedded UWB network further comprises a first base station network and a second base station network, the first base station network comprises a plurality of first UWB positioning base stations, the second base station network comprises a plurality of second UWB positioning base stations, the control terminal is respectively in communication connection with the first UWB positioning base stations and the second UWB positioning base stations, the first UWB positioning base stations and the second UWB positioning base stations are arranged at intervals, each first UWB positioning base station is adjacent to the second UWB positioning base stations, and the first UWB positioning base stations and the second UWB positioning base stations are used for receiving UWB pulse signals sent by positioning labels, the control method comprises the following steps:
identifying a first UWB positioning base station capable of receiving the UWB pulse signal in the first base station network;
detecting whether UWB pulse signals received by each first UWB positioning base station are interfered by radio interference or multipath signals;
if the UWB pulse signal received by the first UWB positioning base station is interfered by radio interference or multipath signals, controlling a second UWB positioning base station in the second base station network to receive the UWB pulse signal sent by the positioning label;
and calculating the position information of the positioning label according to the UWB pulse signal received by the second UWB positioning base station.
Further, if the UWB pulse signal received by the first UWB positioning base station is not interfered by radio interference or multipath signals, the method further includes:
confirming whether the number of first UWB positioning base stations capable of receiving UWB pulse signals is less than a first preset number;
if the number of the UWB pulse signals is less than a first preset number, controlling a second UWB positioning base station in the second base station network to receive the UWB pulse signals;
and calculating the position information of the positioning tag according to the UWB pulse signal received by the positioning base station in the second base station network.
Further, the method further comprises:
when the number of the first UWB positioning base stations capable of receiving the UWB pulse signals is larger than or equal to the first preset number, calculating the position information of the positioning label according to the UWB pulse signals received by the first UWB positioning base stations.
Further, the step of calculating the position information of the positioning tag according to the UWB pulse signal received by the positioning base station in the second base station network includes:
determining a second UWB positioning base station in said second base station network that received said UWB pulse signal;
confirming whether radio interference or multi-path signal interference exists in the UWB pulse signal received by the second UWB positioning base station;
and calculating the position information of the positioning label according to the UWB pulse signals without radio interference or multi-path signal interference in the UWB pulse signals received by the second UWB positioning base station.
Further, before the step of detecting whether the UWB pulse signal received by each of the first UWB positioning base stations is interfered by radio interference or multipath signals, the method further comprises:
identifying a number of first UWB positioning base stations capable of receiving the UWB pulse signals;
if the number of the first UWB positioning base stations capable of receiving the UWB pulse signals is larger than a second preset number, determining whether radio interference or multi-path signal interference exists in the UWB pulse signals received by the first UWB positioning base stations;
and if the number of the first UWB positioning base stations capable of receiving the UWB pulse signals is less than or equal to the second preset number, controlling a second UWB positioning base station in the second base station network to receive the UWB pulse signals.
The application still provides a controlling means based on dual network gomphosis UWB network, is applied to the control terminal in the dual network gomphosis UWB network, and this dual network gomphosis UWB network still includes first base station network and second base station network, first base station network includes a plurality of first UWB location basic stations, second base station network includes a plurality of second UWB location basic stations, control terminal respectively with first UWB location basic station and second UWB location basic station communication connection, first UWB location basic station and second UWB location basic station are arranged at interval each other, and every first UWB location basic station is adjacent with a plurality of second UWB location UWB base stations, first UWB location basic station and second UWB location basic station are used for receiving the pulse signal that the location label sent, and this controlling means includes:
a base station determining module, configured to determine a first UWB positioning base station in the first base station network that can receive the UWB pulse signal;
the interference determining module is used for detecting whether the UWB pulse signals received by the first UWB positioning base stations are interfered by radio interference or multipath signals;
the control module is used for controlling a second UWB positioning base station in the second base station network to receive a UWB pulse signal sent by a positioning label if the UWB pulse signal received by the first UWB positioning base station is interfered by radio interference or multipath signals;
and the position calculating module is used for calculating the position information of the positioning label according to the UWB pulse signal received by the second UWB positioning base station.
Further, if the UWB pulse signal received by the first UWB positioning base station is not interfered by radio interference or multipath signals, the control module is further configured to:
confirming whether the number of first UWB positioning base stations capable of receiving UWB pulse signals is less than a first preset number;
if the number of the UWB pulse signals is less than a first preset number, controlling a second UWB positioning base station in the second base station network to receive the UWB pulse signals;
and calculating the position information of the positioning tag according to the UWB pulse signal received by the positioning base station in the second base station network.
Further, the control module is further configured to:
when the number of the first UWB positioning base stations capable of receiving the UWB pulse signals is larger than or equal to the first preset number, calculating the position information of the positioning label according to the UWB pulse signals received by the first UWB positioning base stations.
Further, the position calculating module is configured to:
determining a second UWB positioning base station in said second base station network that received said UWB pulse signal;
confirming whether radio interference or multi-path signal interference exists in the UWB pulse signal received by the second UWB positioning base station;
and calculating the position information of the positioning label according to the UWB pulse signals without radio interference or multi-path signal interference in the UWB pulse signals received by the second UWB positioning base station.
Further, the control module is further configured to:
identifying a number of first UWB positioning base stations capable of receiving the UWB pulse signals;
if the number of the first UWB positioning base stations capable of receiving the UWB pulse signals is larger than a second preset number, determining whether radio interference or multi-path signal interference exists in the UWB pulse signals received by the first UWB positioning base stations;
and if the number of the first UWB positioning base stations capable of receiving the UWB pulse signals is less than or equal to the second preset number, controlling a second UWB positioning base station in the second base station network to receive the UWB pulse signals.
Compared with the prior art, the method has the following beneficial effects: in the control method based on the dual-network embedded UWB network provided by this embodiment, by establishing a positioning system including two mutually independent base station networks, when performing position calculation on a positioning tag, if a UWB pulse signal received by a positioning base station in one positioning system has interference, the positioning base station network can be timely switched to another base station network, the two base station networks form a mutually master-slave configuration mode, the two base station networks are mutually independent and do not interfere with each other when performing positioning work, the positioning performance of the UWB positioning system for the positioning tag can be improved, the interference existing in the positioning process is avoided, and thus the positioning accuracy of the positioning tag is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required 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 application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
Fig. 1 is a schematic structural diagram of a dual-network UWB network according to an embodiment of the present disclosure.
Fig. 2 is a schematic layout diagram of different base station networks in a dual-network UWB network according to an embodiment of the present application.
Fig. 3 is a schematic flowchart of a control method based on a dual-network chimeric UWB network according to an embodiment of the present application.
Fig. 4 is a schematic block diagram of a control device based on a dual-network chimeric UWB network according to an embodiment of the present application.
Icon: 100-a control terminal; 200-a first base station network; 300-a second base station network; 201-a first UWB positioning base station; 301-a second UWB positioning base station; 10-a control device; 11-a base station determination module; 12-an interference determination module; 13-a control module; 14-position resolution Module.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
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.
In the description of the present application, it is further noted that, unless expressly stated or limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
The embodiment of the application provides a control method based on a dual-network embedded UWB network, which is applied to a control terminal 100 in the dual-network embedded UWB network shown in fig. 1, the dual-network embedded UWB network further comprises a first base station network 200 and a second base station network 300, the first base station network 200 comprises a plurality of first UWB positioning base stations 201, the second base station network 300 comprises a plurality of second UWB positioning base stations 301, the control terminal 100 is respectively in communication connection with the first UWB positioning base stations 201 and the second UWB positioning base stations 301, the first UWB positioning base stations 201 and the second UWB positioning base stations 301 are arranged at intervals, and each first UWB positioning base station 201 is adjacent to the second UWB positioning base stations 301.
The first UWB positioning base station 201 and the second UWB positioning base station 301 may use the same hardware in terms of hardware specification, but the control strategy and connection relationship of all the first UWB positioning base stations 201 are different from the control strategy and connection relationship of all the second UWB positioning base stations 301. For example, all the first UWB positioning base stations 201 may be connected to the control terminal 100 after being connected in series with each other, and the control terminal 100 may control all the first UWB positioning base stations 201 to receive the UWB pulse signal with the same time information. All the second UWB positioning base stations 301 may be connected to the control terminal 100 after being connected in series with each other, and the control terminal 100 may control all the second UWB positioning base stations 301 to receive the UWB pulse signal with the same time information, while the time information of all the base stations in the first base station network 200 is different from the time information of all the base stations in the second base station network 300. In addition, parameters such as channels and frequencies of received signals of base stations in different base station networks are different, but related parameters of base stations in the same base station network are the same, and the control terminal 100 may control the base stations in different base station networks to perform clock synchronization in different clock control manners.
The positioning base stations in the first base station network 200 and the second base station network 300 are not arranged randomly, as shown in fig. 2, where a circle represents the first UWB positioning base station 201 and a square represents the second UWB positioning base station 301, the first base station network 200 and the second base station network 300 may be arranged in a chessboard-like manner, a connection line of the positions of four adjacent first UWB positioning base stations 201 may form a diamond, and a second UWB positioning base station 301 may be arranged in the center of the diamond. It is to be understood that the arrangement shown in fig. 2 is not limited to the present application, and the first base station network 200 and the second base station network 300 may also adopt other arrangements, but it is required to ensure that the second UWB positioning base station 301 is not arranged on a connection line between the position of one first UWB positioning base station 201 and the position of the other first UWB positioning base station 201 closest to the first UWB positioning base station 201.
In the dual-network-embedded UWB network in the embodiment of the present application, in the mechanism for positioning the positioning tag, the positioning tag is used as a transmitting end of a UWB pulse signal, and each base station in the first base station network 200 and the second base station network 300 is used as a receiving end of the UWB pulse signal, that is, the mechanism for positioning the positioning tag actively is implemented. The positioning tag uses a pulse signal conforming to the UWB standard, the positioning base station can record time information of the received UWB pulse signal based on a clock signal of the base station after receiving the UWB pulse signal, and the control terminal 100 can calculate coordinates of the positioning tag in a pre-established coordinate system based on the time information recorded by all base stations in the same base station network by using algorithms such as a TDOA algorithm and a TOA algorithm, thereby completing position calculation of the positioning tag. In the actual use structure, the UWB pulse signal emitted by the positioning tag is easily interfered by other radio signals, and meanwhile, multi-path signal interference is also easily caused.
In view of the above, the present application provides a control method, which can be applied to the control terminal 100 described above, as shown in fig. 3, and includes the following steps.
Step S101, determining a positioning base station capable of receiving the UWB pulse signal sent by the positioning tag in the first base station network 200.
In the actual positioning process, the positioning base stations in the first base station network 200 and the second base station network 300 may be arranged at a position having a certain height from the ground, but in the actual environment, there may be a wall or other objects that may shield the positioning tag, so that UWB pulse signals emitted by the positioning tag cannot be received by all the positioning base stations. In the embodiment of the present application, the control terminal 100 may first confirm which first UWB positioning base stations 201 in the first base station network 200 have received the UWB pulse signal, and only the positioning base stations that can receive the UWB pulse signal can continue to determine whether there is interference.
Step S102, detecting whether the UWB pulse signal received by each of the first UWB positioning base stations 201 is interfered by radio interference or multipath signals.
After confirming the first UWB positioning base station 201 capable of receiving the UWB pulse signal, the control terminal 100 may perform a determination of whether the received UWB pulse signal is interfered based on a predetermined signal determination criterion. In the embodiment of the present application, the determination as to whether the UWB positioning pulse signal is interfered is performed separately for each first UWB positioning base station 201, that is, the determination is performed separately for the signals received by all the first UWB positioning base stations 201 that can receive the UWB pulse signal in the first base station network 200.
Step S103, if the UWB pulse signal received by the first UWB positioning base station 201 is interfered by radio interference or multipath signals, controlling the positioning base station in the second base station network 300 to receive the UWB pulse signal sent by the positioning tag.
Since the configurations of all the base stations in the first base station network 200 are the same, if it is determined through signal discrimination that interference occurs in the UWB pulse signal received by the first UWB positioning base station 201, it indicates that all the first UWB positioning base stations 201 in the first base station network 200 may be interfered. At this time, the control terminal 100 may switch the positioning network to the second base station network 300, and the UWB pulse signal is received by the second UWB positioning base station 301 in the second base station network 300. It is understood that, before the network handover, all the second UWB positioning base stations 301 in the second base station network 300 may be in an inactive state or an active state, but the control terminal 100 does not determine the UWB pulse signal it receives. After the control terminal 100 performs network switching, the second UWB positioning base station 301 may start receiving the UWB pulse signal by switching from the non-operating state to the operating state, or may directly transmit the received UWB pulse signal to the control terminal 100 for determination. It is understood that, before the control terminal 100 performs network handover, in order to reduce the energy consumption of the second UWB positioning base station 301, the second UWB positioning base station 301 may be in a non-operating state, i.e. a standby state, but such an arrangement may take a certain time period for the second UWB positioning base station 301 to be in a standby state to be converted into an operating state when performing network handover, so that there is a certain delay when the first base station network 200 is handed over to the second base station network 300. If the efficiency of network switching is improved without considering the energy consumption of the second UWB positioning base station 301, the second UWB positioning base station 301 may be in a real-time operating state while the first UWB positioning base station 201 is in an operating state, and receive the UWB pulse signal, and after the control terminal 100 performs network switching, immediately transmit the received UWB pulse signal to the control terminal 100, thereby improving the efficiency of network switching of the dual-network embedded UWB network.
Step S104, calculating the position information of the positioning tag according to the UWB pulse signal received by the second UWB positioning base station 301 in the second base station network 300.
After switching to the second base station network 300, the control terminal 100 may not first perform interference determination on the UWB pulse signal received by the second UWB positioning base station 301, but first default that the second base station network 300 does not have radio interference or multipath signal interference, because in system configuration, all the second UWB positioning base stations 301 in the second base station network 300 adopt a configuration mode different from that of the first UWB positioning base station 201, if an interference signal causes interference to the first UWB positioning base station 201, the probability that the second UWB positioning base stations 301 have interference at the same time is smaller, and in order to improve the positioning efficiency of the dual-network embedded UWB network, the control terminal 100 directly uses the UWB pulse signal received by the second UWB positioning base stations 301 to perform position information calculation after network switching. As described above, the control terminal 100 may use TOA, TDOA, or other algorithms to calculate the location information of the location tag according to the time information of the UWB pulse signal received by each second UWB location base station 301.
Of course, in order to improve the accuracy of position information calculation, after network switching is performed, the second UWB positioning base station 301 that receives the UWB pulse signal in the second base station network 300 may be determined; then, whether radio interference or multi-path signal interference exists in the UWB pulse signal received by the second UWB positioning base station 301 is confirmed; and calculating the position information of the positioning tag according to the UWB pulse signals without radio interference or multi-path signal interference in the UWB pulse signals received by the second UWB positioning base station 301.
As described above, after the network handover is performed, the resolution of the location information may be performed directly based on the relevant event information of the second base station network 300. However, if there is an interfered situation also in the second UWB positioning base station 301, the control terminal 100 may remove the UWB pulse signal in which there is radio interference or multi-path signal interference, and use the UWB pulse signal in which there is no radio interference or multi-path signal interference to resolve the position information of the positioning tag.
In this embodiment of the present application, a plurality of positioning tags may exist in the dual-network chimeric UWB network at the same time, the plurality of positioning tags may send out respective UWB pulse signals including respective identity identifiers, and the control terminal 100 may only select a UWB pulse signal sent out by one of the positioning tags to perform the determination when the UWB pulse signals are interfered, or may select different UWB pulse signals sent out by a plurality of the positioning tags to perform the determination for multiple times, which is not limited in this embodiment of the present application. When a plurality of positioning tags exist in the dual-network UWB network, after the control terminal 100 performs network switching, the second base station network 300 may receive UWB pulse signals of all the positioning tags, so that the position information of all the positioning tags is calculated based on the time information measured by the second UWB positioning base station 301.
In another embodiment, if the UWB pulse signal received by the first UWB positioning base station 201 is not interfered by radio interference or multipath signals, the method further comprises the following steps: it is first confirmed whether the number of first UWB positioning base stations 201 capable of receiving UWB pulse signals transmitted by the positioning tag is less than a first preset number. If the number of the UWB pulse signals is less than the first preset number, controlling a second UWB positioning base station 301 in the second base station network 300 to receive the UWB pulse signals; and calculating the position information of the positioning tag according to the UWB pulse signal received by the positioning base station in the second base station network 300.
In the actual use process, the UWB pulse signal sent by the positioning tag is not only interfered by other signals, but also may be blocked by other objects, so that some positioning base stations are close to the positioning tag in a straight line, but cannot receive the UWB pulse signal due to the blocking, and when the position information is resolved, a sufficient number of positioning base stations are necessarily required to receive the UWB pulse signal. Therefore, if the control terminal 100 determines that there is no radio interference or multipath signal interference in the first UWB positioning base stations 201 that can receive the UWB pulse signal, the position information of the positioning tag is not immediately resolved, but the number of the first UWB positioning base stations 201 that can receive the UWB pulse signal is confirmed first, and the resolution of the position information is continued only when the number of the first UWB positioning base stations 201 that can receive the UWB pulse signal exceeds a first preset number. On the other hand, if the number of the first UWB positioning base stations 201 capable of receiving the UWB pulse signal is lower than the first preset number, which indicates that the position information cannot be calculated based on the time information measured by the first UWB positioning base stations 201 capable of receiving the UWB pulse signal, at this time, the control terminal 100 still performs network switching, and the second base station network 300 performs reception of the UWB pulse signal. When network switching is performed because the number of the first UWB positioning base stations 201 capable of receiving the UWB pulse signals is lower than the first preset number, the interference situation and the number of the base stations of the UWB pulse signals received by the second base station network 300 are not determined again, because when system hardware is arranged, the arrangement positions of the base stations in the first base station network 200 and the second base station network 300 are completely different, and if the positioning base station in the first base station network 200 cannot normally receive the UWB pulse signal sent by the positioning tag due to the shielding of an object, the positioning base station in the second base station network 300 may not normally receive the UWB pulse signal, but the probability of such situation is small, in order to improve the positioning efficiency, the control terminal 100 still performs network switching, and after network switching, performs calculation of the position information by using the relevant time information of the second base station network 300. Furthermore, when the network is switched because the number of the first UWB positioning base stations 201 capable of receiving the UWB pulse signal is lower than the first preset number, the control terminal 100 indicates that no interference source exists in the dual-network chimeric UWB network because no radio interference or multipath signal interference exists in the first UWB positioning base stations 201 capable of receiving the UWB pulse signal, and thus the control terminal 100 directly performs the calculation of the position information based on the second base station network 300 after the network is switched. In this embodiment of the present application, the first preset number may be set according to a dual-network chimeric UWB network, and the first preset number may be a minimum number requirement for the number of positioning base stations when position calculation can be performed.
It is understood that when the number of the first UWB positioning base stations 201 capable of receiving the UWB pulse signals is greater than or equal to the first preset number, the position information of the positioning tag may be directly calculated according to the UWB pulse signals received by the positioning base stations in the first base station network 200. In this case, it is indicated that there is no interference source in the dual-network embedded UWB network, and the number of the first UWB positioning base stations 201 capable of receiving the UWB pulse signal also meets the requirement, and the accurate position information of the positioning tag can be obtained by calculation based on the first base station network 200.
In another embodiment, after the step of identifying all the first UWB positioning base stations 201 in the first base station network 200 that have received the UWB pulse signal, the method further comprises the steps of identifying the number of first UWB positioning base stations 201 that can receive the UWB pulse signal; if the number of the first UWB positioning base stations 201 capable of receiving the UWB pulse signal is greater than a second preset number, it is determined whether radio interference or multi-path signal interference exists in the UWB pulse signal received by the first UWB positioning base station 201. If the number of the first UWB positioning base stations 201 capable of receiving the UWB pulse signal is less than or equal to a second preset number, directly controlling the second UWB positioning base station 301 in the second base station network 300 to receive the UWB pulse signal.
As described above, after confirming that the UWB pulse signal received by the first UWB positioning base station 201 is not interfered by radio interference or multipath signals, the number of the first UWB positioning base stations 201 capable of receiving the UWB pulse signal may be compared with a first preset number. In addition, before determining whether the UWB pulse signal received by the first UWB positioning base station 201 is interfered by radio interference or multipath signals, the number of the first UWB positioning base stations 201 capable of receiving the UWB pulse signal may be compared with a second preset number, and when the number of the first UWB positioning base stations 201 capable of receiving the UWB pulse signal is greater than the second preset number, the determination whether the UWB pulse signal received by the first UWB positioning base station 201 is interfered by radio interference or multipath signals may be performed. And if the number of the first UWB positioning base stations 201 capable of receiving the UWB pulse signal is less than or equal to a second preset number, the control terminal 100 directly performs network switching and controls the second UWB positioning base station 301 to receive the UWB pulse signal.
In summary, in the control method based on the dual-network embedded UWB network provided in this embodiment, by establishing the positioning system including two mutually independent base station networks, when performing position calculation on the positioning tag, if interference exists in the UWB pulse signal received by the positioning base station in one positioning system, the positioning base station network can be timely switched to another base station network, the two base station networks form a mutually master-slave configuration mode, the two base station networks are mutually independent and do not interfere with each other when performing positioning, the positioning performance of the UWB positioning system for the positioning tag can be improved, the interference existing in the positioning process is avoided, and thus the positioning accuracy of the positioning tag is improved.
As shown in fig. 4, the present application further provides a control device 10 based on a dual-network embedded UWB network, applied to a control terminal in the dual-network embedded UWB network, where the dual-network embedded UWB network further includes a first base station network 200 and a second base station network 300, the first base station network 200 includes a plurality of first UWB positioning base stations 201, the second base station network 300 includes a plurality of second UWB positioning base stations 301, the control terminal is respectively connected to the first UWB positioning base stations 201 and the second UWB positioning base stations 301 in a communication manner, the first UWB positioning base stations 201 and the second UWB positioning base stations 301 are arranged at intervals, each first UWB positioning base station 201 is adjacent to a plurality of second UWB positioning base stations 301, and the first positioning base stations 201 and the second UWB positioning base stations 301 are configured to receive pulse signals sent by positioning tags, and the control device 10 includes:
a base station determining module 11, configured to determine a first UWB positioning base station 201 capable of receiving the UWB pulse signal in the first base station network 200;
an interference determining module 12, configured to detect whether a UWB pulse signal received by each of the first UWB positioning base stations 201 is interfered by radio interference or a multipath signal;
a control module 13, configured to control a second UWB positioning base station 301 in the second base station network 300 to receive a UWB pulse signal sent by a positioning tag if the UWB pulse signal received by the first UWB positioning base station 201 is interfered by radio interference or a multi-path signal;
and a position calculating module 14, configured to calculate position information of the positioning tag according to the UWB pulse signal received by the second UWB positioning base station 301.
Further, if the UWB pulse signal received by the first UWB positioning base station 201 is not interfered by radio interference or multipath signals, the control module 13 is further configured to:
confirming whether the number of the first UWB positioning base stations 201 which can receive the UWB pulse signals is less than a first preset number;
if the number of the UWB pulse signals is less than the first preset number, controlling a second UWB positioning base station 301 in the second base station network 300 to receive the UWB pulse signals;
and calculating the position information of the positioning tag according to the UWB pulse signal received by the positioning base station in the second base station network 300.
Further, the control module 13 is further configured to:
when the number of the first UWB positioning base stations 201 capable of receiving the UWB pulse signals is greater than or equal to the first preset number, calculating the position information of the positioning tag according to the UWB pulse signals received by the first UWB positioning base stations 201.
Further, the position calculating module 14 is configured to:
determining a second UWB positioning base station 301 in said second base station network 300 that received said UWB pulse signal;
confirming whether radio interference or multi-path signal interference exists in the UWB pulse signal received by the second UWB positioning base station 301;
and calculating the position information of the positioning tag according to the UWB pulse signals without radio interference or multi-path signal interference in the UWB pulse signals received by the second UWB positioning base station 301.
Further, the control module 13 is further configured to:
confirming the number of first UWB positioning base stations 201 capable of receiving the UWB pulse signal;
if the number of the first UWB positioning base stations 201 capable of receiving the UWB pulse signal is greater than a second preset number, determining whether radio interference or multi-path signal interference exists in the UWB pulse signal received by the first UWB positioning base station 201;
if the number of the first UWB positioning base stations 201 capable of receiving the UWB pulse signal is less than or equal to the second preset number, controlling the second UWB positioning base station 301 in the second base station network 300 to receive the UWB pulse signal.
The above description is only for various embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of changes or substitutions within the technical scope of the present application, and all such changes or substitutions are included in the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims (10)

1. A control method based on a dual-network embedded UWB network is characterized in that the control method is applied to a control terminal in the dual-network embedded UWB network, the dual-network embedded UWB network further comprises a first base station network and a second base station network, the first base station network comprises a plurality of first UWB positioning base stations, the second base station network comprises a plurality of second UWB positioning base stations, the control terminal is respectively in communication connection with the first UWB positioning base stations and the second UWB positioning base stations, the first UWB positioning base stations and the second UWB positioning base stations are arranged at intervals, each first UWB positioning base station is adjacent to the second UWB positioning base stations, the second positioning base stations are not arranged on connecting lines of any one first UWB positioning base station and other first UWB positioning base stations closest to the first UWB positioning base station, and the first UWB positioning base stations and the second UWB positioning base stations are used for receiving UWB pulse signals sent by positioning labels, the control method comprises the following steps:
identifying a first UWB positioning base station capable of receiving the UWB pulse signal in the first base station network;
detecting whether UWB pulse signals received by each first UWB positioning base station are interfered by radio interference or multipath signals;
if the UWB pulse signal received by the first UWB positioning base station is interfered by radio interference or multipath signals, controlling a second UWB positioning base station in the second base station network to receive the UWB pulse signal sent by the positioning label;
and calculating the position information of the positioning label according to the UWB pulse signal received by the second UWB positioning base station.
2. The dual-network-embedded UWB network-based control method according to claim 1, wherein if the UWB pulse signal received by the first UWB positioning base station is not interfered by radio interference or multipath signals, the method further comprises:
confirming whether the number of first UWB positioning base stations capable of receiving UWB pulse signals is less than a first preset number;
if the number of the UWB pulse signals is less than a first preset number, controlling a second UWB positioning base station in the second base station network to receive the UWB pulse signals;
and calculating the position information of the positioning tag according to the UWB pulse signal received by the positioning base station in the second base station network.
3. The dual-network-based chimeric UWB network control method according to claim 2, further comprising:
when the number of the first UWB positioning base stations capable of receiving the UWB pulse signals is larger than or equal to the first preset number, calculating the position information of the positioning label according to the UWB pulse signals received by the first UWB positioning base stations.
4. The dual-network-chimeric-UWB-network-based control method according to claim 2, wherein the step of calculating the position information of the positioning tag from the UWB pulse signal received by the positioning base station in the second base station network comprises:
determining a second UWB positioning base station in said second base station network that received said UWB pulse signal;
confirming whether radio interference or multi-path signal interference exists in the UWB pulse signal received by the second UWB positioning base station;
and calculating the position information of the positioning label according to the UWB pulse signals without radio interference or multi-path signal interference in the UWB pulse signals received by the second UWB positioning base station.
5. The dual-network-based chimeric UWB network controlling method according to claim 1, wherein before the step of detecting whether the UWB pulse signal received by each of the first UWB positioning base stations is interfered by radio interference or multipath signals, the method further comprises:
identifying a number of first UWB positioning base stations capable of receiving the UWB pulse signals;
if the number of the first UWB positioning base stations capable of receiving the UWB pulse signals is larger than a second preset number, determining whether radio interference or multi-path signal interference exists in the UWB pulse signals received by the first UWB positioning base stations;
and if the number of the first UWB positioning base stations capable of receiving the UWB pulse signals is less than or equal to the second preset number, controlling a second UWB positioning base station in the second base station network to receive the UWB pulse signals.
6. A control device based on a dual-network embedded UWB network is characterized in that the control device is applied to a control terminal in the dual-network embedded UWB network, the dual-network embedded UWB network further comprises a first base station network and a second base station network, the first base station network comprises a plurality of first UWB positioning base stations, the second base station network comprises a plurality of second UWB positioning base stations, the control terminal is respectively in communication connection with the first UWB positioning base stations and the second UWB positioning base stations, the first UWB positioning base stations and the second UWB positioning base stations are arranged at intervals, each first UWB positioning base station is adjacent to the second UWB positioning base stations, the second positioning base stations are not arranged on connecting lines of any one first UWB positioning base station and other first UWB positioning base stations closest to the first UWB positioning base station, and the first UWB positioning base stations and the second UWB positioning base stations are used for receiving UWB pulse signals sent by positioning labels, the control device includes:
a base station determining module, configured to determine a first UWB positioning base station in the first base station network that can receive the UWB pulse signal;
the interference determining module is used for detecting whether the UWB pulse signals received by the first UWB positioning base stations are interfered by radio interference or multipath signals;
the control module is used for controlling a second UWB positioning base station in the second base station network to receive a UWB pulse signal sent by a positioning label if the UWB pulse signal received by the first UWB positioning base station is interfered by radio interference or multipath signals;
and the position calculating module is used for calculating the position information of the positioning label according to the UWB pulse signal received by the second UWB positioning base station.
7. The dual-network-embedded UWB network-based control device according to claim 6, wherein if the UWB pulse signal received by the first UWB positioning base station is not interfered by radio interference or multipath signals, the control module is further configured to:
confirming whether the number of first UWB positioning base stations capable of receiving UWB pulse signals is less than a first preset number;
if the number of the UWB pulse signals is less than a first preset number, controlling a second UWB positioning base station in the second base station network to receive the UWB pulse signals;
and calculating the position information of the positioning tag according to the UWB pulse signal received by the positioning base station in the second base station network.
8. The dual-network-chimeric-UWB-network-based control device according to claim 7, wherein the control module is further configured to:
when the number of the first UWB positioning base stations capable of receiving the UWB pulse signals is larger than or equal to the first preset number, calculating the position information of the positioning label according to the UWB pulse signals received by the first UWB positioning base stations.
9. The dual-network-chimeric-UWB-network-based control device according to claim 7, wherein the position calculating module is configured to:
determining a second UWB positioning base station in said second base station network that received said UWB pulse signal;
confirming whether radio interference or multi-path signal interference exists in the UWB pulse signal received by the second UWB positioning base station;
and calculating the position information of the positioning label according to the UWB pulse signals without radio interference or multi-path signal interference in the UWB pulse signals received by the second UWB positioning base station.
10. The dual-network-chimeric-UWB-network-based control device according to any one of claims 6 to 9, wherein the control module is further configured to:
identifying a number of first UWB positioning base stations capable of receiving the UWB pulse signals;
if the number of the first UWB positioning base stations capable of receiving the UWB pulse signals is larger than a second preset number, determining whether radio interference or multi-path signal interference exists in the UWB pulse signals received by the first UWB positioning base stations;
and if the number of the first UWB positioning base stations capable of receiving the UWB pulse signals is less than or equal to the second preset number, controlling a second UWB positioning base station in the second base station network to receive the UWB pulse signals.
CN201911021095.4A 2019-10-25 2019-10-25 Control method and device based on dual-network embedded UWB network Active CN110740506B (en)

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