CN111142094B - Multi-tag ranging method and system based on UWB ranging technology - Google Patents

Multi-tag ranging method and system based on UWB ranging technology Download PDF

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Publication number
CN111142094B
CN111142094B CN202010006889.XA CN202010006889A CN111142094B CN 111142094 B CN111142094 B CN 111142094B CN 202010006889 A CN202010006889 A CN 202010006889A CN 111142094 B CN111142094 B CN 111142094B
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tag
ranging
base station
label
uwb
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CN111142094A (en
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邹国源
潘钟声
温煦
江勇
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Yamei Holdings Group Co ltd
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Guangzhou Yameizhi Technology Co ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
    • G01S11/02—Systems for determining distance or velocity not using reflection or reradiation using radio waves
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • 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

Abstract

The invention provides a multi-tag ranging method based on a UWB ranging technology, wherein the ranging method comprises the following steps: setting initial semaphore information of a plurality of labels in a local area network respectively; the first tag and the base station perform ranging and upload a result to a server; the first label transmits a release semaphore signal, and other labels return initial semaphore information after receiving the release semaphore signal; the first tag sends a ranging signal to the tag with the maximum signal intensity; the label with the maximum signal intensity and the base station carry out distance measurement and upload the result to the server, and then the label initializes the semaphore information; all the tags update the initial semaphore information of the tags, and the first tag transmits a release semaphore signal again; and the first tag judges according to the updated initial signal quantity information of the first tag and other tags, and selects the tag with the maximum signal intensity to repeatedly perform ranging. The invention also provides a multi-label ranging system based on the UWB ranging technology, which applies the method.

Description

Multi-tag ranging method and system based on UWB ranging technology
Technical Field
The invention relates to the technical field of parking space positioning, in particular to a multi-tag distance measurement method and a multi-tag distance measurement system based on a UWB (ultra Wide band) distance measurement technology.
Background
The current modes for identifying the parking spaces comprise an image identification technology, an RFID (radio frequency identification) technology, a WIFI triangulation technology, a Bluetooth RSSI (received signal strength indicator) ranging technology and an UWB (ultra wide band) ranging technology. The UWB ranging technology is characterized in that a UWB base station is installed in a parking lot through a parking space, a UWB tag is installed on a vehicle, when the vehicle enters the parking space, the UWB tag on the vehicle sends a very narrow pulse, the UWB base station in the parking space receives the pulse sent by the UWB base station, then the distance between the tag and the base station is calculated, the parking space is identified, and meanwhile, the UWB tag sends vehicle information and data to a background server, so that the parking space is identified and positioned.
When using UWB ranging technique to carry out the parking stall and discerning, UWB basic station on the parking stall constantly receives the pulse that UWB label sent out on the vehicle, based on the principle of arrival time difference, calculates and reachs distance between them to obtain the parking stall location result. However, when the multi-tag multi-base station simultaneously measures the distance, the multi-tag multi-base station is influenced by the mutual influence of each tag and each base station, so that the dislocation identification is easily caused, and the parking space identification result is influenced.
Disclosure of Invention
In order to overcome the defect that the multi-tag and multi-base station is easy to perform dislocation identification during ranging in the prior art, the invention provides a multi-tag ranging method based on a UWB ranging technology and a multi-tag ranging system based on the UWB ranging technology.
In order to solve the technical problems, the technical scheme of the invention is as follows:
a multi-tag ranging method based on a UWB ranging technology comprises the following steps:
s1: setting initial semaphore information by a plurality of tags in the same local area network respectively, wherein the initial semaphore information comprises but is not limited to tag identification information and signal strength of the tags and a base station;
s2: the method comprises the steps that a first tag carries out ranging to a plurality of base stations in the same local area network, and the ranging result is uploaded to a server, and the base stations obtain and store tag identification information of the first tag;
s3: the first label transmits a release semaphore signal, and other labels in the same local area network send respective initial semaphore information to the first label after receiving the release semaphore signal;
s4: the first tag judges the tag with the maximum signal intensity with the base station in the other tags according to the received initial signal quantity information of the other tags, and sends a ranging signal to the tag with the maximum signal intensity;
s5: the tag which receives the ranging signal and has the maximum signal strength carries out ranging to a plurality of base stations in the same local area network, the ranging result is uploaded to a server, the ranging signal quantity information is returned to the first tag after ranging, and the tag which has the maximum signal strength initializes the ranging signal quantity information;
s6: updating the initial semaphore information of all tags in the same local area network, transmitting a release semaphore signal again by the first tag, and respectively sending the updated initial semaphore information to the first tags after receiving the release semaphore signal by other tags in the same local area network;
s7: the first tag judges according to the received updated initial semaphore information of the other tags and the updated initial semaphore information of the first tag: if the updated signal intensity of the first tag is the maximum, the first tag measures the distance to a plurality of base stations in the same local area network, uploads the distance measurement result to a server, and then skips to execute the step S6; if the updated signal strength of the other tags is the maximum and is greater than the updated signal strength of the first tag, the first tag sends a ranging signal to the tag, and then the step S5 is executed.
In the technical scheme, in order to overcome the defect that other labels and other base stations cause dislocation identification in the process of exchanging information between the first label and the base station, semaphore information, label identification information with the current label and the signal strength of the current label and the base station are introduced. Wherein, the first label defaults to be preferred to carry out the range finding with the basic station in the same LAN, and the back basic station obtains and stores the label identification information of the first label as allowing the range finding sign after the range finding is accomplished, and other labels in the same LAN need receive behind the range finding signal that first label sent, just can carry out the range finding with the basic station to avoid many labels to lead to dislocation identification with the basic station range finding simultaneously. The first label sends a release semaphore signal to other labels in the same local area network, the release semaphore information is used for informing other labels to return initial semaphore information of the other labels, and therefore signal strength information of each label and a base station is obtained, the first label judges according to the returned signal strength of each label and the base station and selects the label with the maximum signal strength with the base station to carry out ranging; and the first tag sends a ranging signal to the tag with the maximum signal strength, and the tag with the maximum signal strength acquires identification information allowing ranging with the base station through the ranging signal. The label that accomplishes the range finding uploads the range finding result and stores in the server, and the label that should accomplish the range finding initializes its semaphore information, and the label that should accomplish the range finding this moment loses the mark information that allows to carry out the range finding with the base station, consequently can't carry out the range finding once more to further avoid many labels to lead to dislocation identification with the base station range finding simultaneously.
Preferably, the ranging signal includes, but is not limited to, tag identification information of the first tag.
Preferably, the tag and the base station perform bilateral ranging by using SS-TWR or DS-TWR.
Preferably, the specific step of the tag performing ranging with the base station includes:
step A: the label sends the POLL packet data, records the sending time T1, and then turns on the communication receiving unit;
and B: the base station opens a communication receiving unit thereof, then receives the POLL packet data sent by the label and records the receiving time T2;
and C: the base station sends response packet data at the time T3;
step D: the label receives the response packet data sent by the base station and records the receiving time T4;
step E: the tag sends Final packet data at the time of T5, the base station records the receiving time T6 after receiving the Final packet data, and the distance measurement result between the tag and the base station is obtained through calculation according to the recorded time.
Preferably, in step E, a calculation formula of the ranging result S between the tag and the base station is as follows:
Figure BDA0002355581800000031
S＝Tprop×c
wherein, Tround1＝T4-T1，Tround2＝T6-T3，Treply1＝T3-T2，Treply2＝T5-T4；TpropRepresents the flight time of the electromagnetic wave, and c is the speed of light.
Preferably, in the process of ranging between the tag and the base station, the POLL packet data sent by the tag includes tag identification information of the first tag; in the process of ranging between the tag and the base station, when the base station receives the POLL packet data with the tag identification information of the first tag or ranging signals, the base station selects the tag corresponding to the POLL packet data for ranging; when the POLL packet data received by the base station does not include the tag identification information or the ranging signal of the first tag, the base station discards the POLL packet data and does not perform any processing.
In the preferred scheme, the first tag preferentially performs bilateral ranging with all base stations in the same local area network, the base station receives and stores tag identification information in initial semaphore information of the first tag, the tag identification information stored in the base station is used as identification information for starting ranging, other tags performing ranging with the base station need to obtain ranging signals from the first tag first and then can perform ranging with the base station, and when the POLL packet data received by the base station does not include the tag identification information of the first tag, the base station discards the POLL packet data and does not perform any processing, so that misrecognition caused by interaction between multiple tags and multiple base stations is avoided.
Preferably, when the base station receives more than 1 POLL packet data with the tag identification information or the ranging signal of the first tag, the base station receives the last POLL packet data to be sent, and performs ranging with the tag corresponding to the POLL packet data, while discarding the other POLL packet data.
Preferably, the specific step of the step S5 includes:
s51: the label with the maximum signal intensity receiving the ranging signal carries out ranging to a plurality of base stations in the same local area network to obtain a ranging result;
s52: the tag with the maximum signal intensity communicates with a server and uploads the ranging result;
s53: the label with the maximum signal intensity returns the signal quantity information after the distance measurement to the first label;
s54: after receiving the signal quantity information after ranging, the first tag returns a ranging completion signal to the tag with the maximum signal strength;
s55: and initializing the semaphore information of the tag with the maximum signal intensity after receiving the ranging completion signal.
The invention also provides a multi-tag distance measuring system based on the UWB distance measuring technology, which applies the multi-tag distance measuring method based on the UWB distance measuring technology and comprises a UWB tag, a UWB base station and a parking space positioning server, wherein the UWB tag is arranged on a vehicle, the UWB base stations are respectively arranged on a parking area, and the UWB tag, the UWB base station and the parking space positioning server mutually perform data interaction; the UWB tag comprises a communication module and a judgment module, wherein the communication module is used for transmitting or receiving information, acquiring signal intensity information of the tag and a base station, and uploading a ranging result to the parking space positioning server; the judging module is used for carrying out logic judgment according to the signal strength information received by the communication module; the UWB base station comprises a receiver, a short pulse detector and a positioning engine, wherein the receiver is arranged on the UWB base station, and the output end of the receiver is connected with the input end of the positioning engine; the output of the receiver is connected to the input of the short pulse detector, and the output of the short pulse detector is connected to the input of the positioning engine.
In the technical scheme, the receiver is used for receiving the data frame transmitted by the UWB tag, the short pulse detector is used for measuring the time when the data frame transmitted by the UWB tag reaches the receiver, and the positioning engine is used for calculating the distance between the UWB base station and the UWB tag according to the data frame transmitted by the UWB tag.
Compared with the prior art, the technical scheme of the invention has the beneficial effects that: by introducing the semaphore information, other tags in the same local area network can measure the distance with the base station after receiving the distance measuring signal sent by the first tag, otherwise, the base station does not process the distance measuring signal, so that the dislocation identification caused by data interaction between multiple tags and multiple base stations is avoided, and the accuracy of parking space positioning can be effectively improved; based on UWB ranging technology carries out the parking stall location, makes it have the characteristics that the system complexity is low, positioning accuracy is high.
Drawings
Fig. 1 is a flowchart of a multi-tag ranging method based on UWB ranging technology in embodiment 1.
Fig. 2 is a schematic diagram of a bilateral ranging process performed between a tag and a base station in embodiment 1.
Fig. 3 is a schematic structural diagram of a multi-tag ranging system based on UWB ranging technology in embodiment 2.
Detailed Description
The drawings are for illustrative purposes only and are not to be construed as limiting the patent;
for the purpose of better illustrating the embodiments, certain features of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product;
it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
The technical solution of the present invention is further described below with reference to the accompanying drawings and examples.
Example 1
Fig. 1 is a flowchart of a multi-tag ranging method based on UWB ranging technology according to this embodiment.
The embodiment provides a multi-tag ranging method based on a UWB ranging technology, which comprises the following steps:
s1: the method comprises the steps that a plurality of tags in the same local area network respectively set initial semaphore information, wherein the initial semaphore information comprises but is not limited to tag identification information and signal strength of the tags and a base station.
S2: the first label carries out distance measurement to a plurality of base stations in the same local area network, and a distance measurement result is uploaded to a server, and the plurality of base stations store label identification information of the first label.
S3: the first tag transmits a release semaphore signal, and other tags in the same local area network receive the release semaphore signal and then send respective initial semaphore information to the first tag.
In this embodiment, the release semaphore signal is used to notify other tags in the same lan to send their own initial semaphore information.
S4: and the first tag judges the tag with the maximum signal intensity with the base station in the other tags according to the received initial signal quantity information of the other tags, and sends a ranging signal to the tag with the maximum signal intensity.
In this embodiment, the ranging signal includes tag identification information of the first tag.
S5: the label with the maximum signal strength of the received ranging signals carries out ranging to a plurality of base stations in the same local area network, the ranging result is uploaded to a server, the signal quantity information after ranging is returned to the first label, and the signal quantity information after ranging is initialized by the label with the maximum signal strength of the received ranging signals. The method comprises the following specific steps:
s51: the label with the maximum signal intensity of the received ranging signal carries out ranging to a plurality of base stations in the same local area network to obtain a ranging result;
s52: the tag with the maximum signal intensity communicates with a server and uploads the ranging result;
s53: the label with the maximum signal intensity returns the signal quantity information after the distance measurement to the first label;
s54: after receiving the signal quantity information after ranging, the first tag returns a ranging completion signal to the tag with the maximum signal strength;
s55: and initializing the semaphore information of the tag with the maximum signal intensity after receiving the ranging completion signal.
In this embodiment, after the tag with the largest signal amount completes the test, the signal amount after the ranging needs to be released, and other tags need to perform the test and must wait for the tag being tested to release the signal amount, so as to avoid the misalignment identification caused by the data interaction between the multiple tags and the multiple base stations.
S6: and updating the initial semaphore information of all tags in the same local area network, transmitting the release semaphore signal again by the first tag, and transmitting the updated initial semaphore information of the other tags after receiving the release semaphore signal by other tags in the same local area network to the first tag.
S7: the first tag judges according to the received updated initial semaphore information of other tags and the updated initial semaphore information of the first tag: if the updated signal intensity of the first tag is the maximum, the first tag measures the distance to a plurality of base stations in the same local area network, uploads the distance measurement result to a server, and then skips to execute the step S6; if there is a tag with the maximum updated signal strength among the other tags, and the updated signal strength is greater than the updated signal strength of the first tag, the first tag sends a ranging signal to the tag, and then the step S5 is executed.
In this embodiment, in step S1, the multiple base stations in the same lan obtain and store the tag identification information of the first tag, and after all tags in the same lan update their initial amount of signal information in step S6, the multiple base stations in the same lan still store the tag identification information of the first tag; in step S7, the tag having the greatest signal strength with the base station and greater than the signal strength of the first tag is determined and selected, the first tag sends a ranging signal to the tag, and the tag obtains tag identification information including the first tag by receiving the ranging signal, that is, obtains flag information allowing the tag to perform ranging with the base station, thereby allowing the tag to perform ranging with the base station.
In this embodiment, the tag and the base station perform the Two-way Ranging by using SS-TWR (Single-sided Two-way Ranging) or DS-TWR (Double-sided Two-way Ranging). Fig. 2 is a schematic diagram illustrating a bilateral ranging process performed between a tag and a base station in this embodiment. Specifically, the specific steps of the tag and the base station for ranging include:
step A: the label sends the POLL packet data, records the sending time T1, and then turns on the communication receiving unit;
and B: the base station opens a communication receiving unit, then receives the POLL packet data sent by the label and records the receiving time T2;
and C: the base station sends response packet data at T3;
step D: the label receives response packet data sent by the base station and records the receiving time T4;
step E: the tag sends Final packet data at the time of T5, the base station records the receiving time T6 after receiving the Final packet data, and the distance measurement result between the tag and the base station is obtained through calculation according to the recorded time.
In step E, the calculation formula of the ranging result S between the tag and the base station is as follows:
Figure BDA0002355581800000071
S＝Tprop×c
wherein, Tround1＝T4-T1，Tround2＝T6-T3，Treply1＝T3-T2，Treply2＝T5-T4；TpropRepresents the flight time of the electromagnetic wave, and c is the speed of light.
In this embodiment, in the process of ranging between the tag and the base station, the POLL packet data sent by the tag includes tag identification information of the first tag; when the base station receives the POLL packet data with the label identification information of the first label, the base station selects the label corresponding to the POLL packet data to carry out ranging; when the POLL packet data received by the base station does not include the tag identification information of the first tag, the base station discards the POLL packet data and does not perform any processing.
In this embodiment, when the base station receives more than 1 POLL packet data with the tag identification information of the first tag, the base station receives the last POLL packet data to be sent, and performs ranging with the tag corresponding to the POLL packet data, and discards other POLL packet data.
Specifically, the first tag defaults to preferentially perform ranging with a base station in the same local area network, the first tag sends POLL packet data with tag identification information of the first tag to the base station, the base station performs ranging with the first tag once after receiving the POLL packet data sent by the first tag, and stores the tag identification information of the first tag as target tag information. When the base station receives the POLL packet data which is sent by other labels and has the same information with the stored target label, the base station carries out ranging with the other labels; when the base station receives the POLL packet data with the target tag information different from that stored in the base station, the POLL packet data is discarded and nothing is done. When a plurality of POLL packet data which are sent by other labels and have the same target label information stored by the base station appear, the base station selects the last label for ranging and discards other POLL packet data.
In the specific implementation process, it is assumed that a first tag, a second tag, and a third tag are set in the current local area network, and respectively represent a tag serving as a ranging permission flag and other tags in the same local area network, and a first base station, a second base station, and a third base station respectively represent a plurality of base stations in the same local area network.
Firstly, initializing a first tag, a second tag and a third tag, setting initial semaphore information of the first tag, then taking the first tag as a tag of a ranging-allowed mark to perform ranging with a first base station, a second base station and a third base station in a default and prior mode, and then uploading a ranging result to a server; and the first base station, the second base station and the third base station store the label identification information of the first label as target label information.
In the process of ranging between the tag and the base station, specifically, taking the first tag and the first base station for ranging as an example, the first tag sends the POLL packet data to the first base station, records the current sending time T1, and opens the communication receiving unit of the first tag within 3 seconds; the first base station starts and opens the communication receiving unit, the first base station receives the POLL packet data sent from the first label, records the receiving time T2, and simultaneously the first base station stores the label identification information of the first label contained in the POLL packet data of the first label; the first base station passes through Treply1Transmitting Response packet data after the delay of T3-T2; the first tag records the receiving time T4 after receiving the Response packet data, and the T is passedreply2Sending Final packet data after the delay of T5-T4; after the first base station receives the Final packet data, the receiving time T6 is recorded, and then the calculation is carried out according to the recorded time and the flying time T of the electromagnetic wavepropAnd calculating to obtain a ranging result S of the first tag and the first base station. Similarly, the first tag repeats the above steps with the second base station and the third base station respectively to obtain the ranging result between the first tag and the second base station and the third base station, and the second base station and the third base station store the tag identification information of the first tag.
The first label sends a signal for transmitting and releasing the semaphore, and after a second label and a third label in the same local area network receive the semaphore signal, initial semaphore information of the second label and the third label is respectively returned to the first label; after the first tag obtains the initial semaphore information of the second tag and the third tag, the first tag judges the tag with the maximum signal intensity in the second tag and the third tag according to the signal intensity in the initial semaphore information of each tag.
In this embodiment, an implementation process for determining the signal strength of a multi-tag multi-base station is provided as follows: the first tag performs logic judgment according to the tag and base station signal strength information in the initial semaphore information returned by the second tag and the third tag respectively, wherein the signal strength information returned by the second tag comprises the signal strength a of the second tag and the first base station, the signal strength b of the second tag and the second base station, and the signal strength c of the second tag and the third base station; the signal strength information returned by the third tag comprises the signal strength d of the third tag and the first base station, the signal strength e of the third tag and the second base station, and the signal strength f of the third tag and the third base station, and if a > b > c > d > e > f, namely the value of the signal strength a of the second tag and the first base station is the maximum, the first tag selects the second tag as a tag to be measured and sends a distance measurement signal to the second tag; and the second label receives the ranging signal, namely after the label identification information of the first label is acquired, the ranging is respectively carried out on the first base station, the second base station and the third base station, at the moment, because the second label has the label identification information of the first label, the first base station, the second base station and the third base station receive the POLL packet data sent by the second label, so that the ranging of the second label and the first base station, the second base station and the third base station is realized, and the signal quantity information of the second label after the ranging is finished is obtained.
In another assumed case, assuming that a > b > c and d > e > f > a, that is, the value of the signal strength d of the third tag and the first base station is the maximum, which indicates that the signal strength d of the third tag and the base station is the maximum currently, the first tag selects the third tag as the tag to be measured and sends the measurement signal to the third tag; in another assumed case, a > b > c, and a > d > e > f, that is, the value of the signal strength a of the second tag and the first base station and the value of the signal strength d of the third tag and the first base station are the maximum, at this time, the first tag simultaneously selects the second tag and the third tag as the tags to be measured and sends the ranging signals to the tags, the second tag and the third tag simultaneously or front-back send POLL packet data with the ranging signals to the base station, the base station selects the last tag sending POLL packet data with the ranging signals to perform ranging, and discards other POLL packet data.
In the process of ranging between the second tag and the base station, it is assumed that the third tag sends the POLL packet data to the first base station, the second base station, and the third base station, and at this time, because the third tag does not have the tag identification information of the first tag, the first base station, the second base station, and the third base station discard the POLL packet data and do no processing.
After the second tag finishes ranging, the obtained ranging result is uploaded to the server, and then the semaphore information after ranging is returned to the first tag. After receiving the signal quantity information after completing the ranging returned by the second tag, the first tag sends a ranging completion signal to the tag completing the ranging, the second tag initializes the signal quantity information after receiving the ranging completion signal, and at the moment, the second tag loses the tag identification information of the first tag, so that the second tag cannot perform the ranging with the base station again.
All tags in the same local area network update initial semaphore information, namely, update signal strength of each tag and a base station at the current moment, specifically, in one embodiment, the tags can be arranged in a vehicle, the base station can be arranged on a parking space, and as the tags are arranged on the vehicle in a carrying manner, the vehicle is always in a moving state. And the first label transmits the release semaphore signal again, and the second label and the third label in the same local area network respectively send initial semaphore information to the first label after receiving the release semaphore signal. The first label compares the received signal intensity which is updated completely with the first label and judges that: if the signal intensity of the first label is larger, the first label is transmitted to a base station in the same local area network, and the ranging result is uploaded to a server; if the signal strength of the second tag or the third tag is larger, the first tag sends a ranging signal to the larger signal strength, and the ranging step is repeated.
In the multi-tag ranging method based on the UWB ranging technology in this embodiment, a first tag is used to cyclically select a tag in the same local area network with the largest signal intensity with a base station for ranging and upload a ranging result to a server, so that the ranging result of the tag is continuously updated, and after each tag completes a ranging process, the ranging result is uploaded to the server for updating. In practical application, the distance measurement result between the current tag and each base station can be directly obtained through the server, so that the distance between the vehicle carrying the tag and each base station can be obtained, and the method can be applied to parking space identification and positioning.
In the embodiment, the tag ranging is realized by adopting the UWB ranging technology, and compared with other existing technical schemes, the UWB ranging technology has the advantages of low system complexity and low power spectral density of transmitted signals, is insensitive to channel fading, and has the characteristics of low interception capability and high positioning accuracy. In the multi-tag ranging process, the existing UWB ranging technology is easy to cause that the tags cannot complete ranging due to mutual information transmission of two UWB tags of the same local area network, and the base station always carries out ranging with the tags with tag identification information of the first tags by citing semaphore information in the embodiment, otherwise, information collision is considered and is not processed, so that the problem of dislocation identification caused by the information collision is effectively avoided. The multi-tag ranging method based on the UWB ranging technology can be applied to parking space management systems in urban roadside parking spaces and parking spaces in parking lots, and parking space positioning and intelligent parking space management can be achieved.
Example 2
The present embodiment provides a multi-tag ranging system based on the UWB ranging technology based on the multi-tag ranging method based on the UWB ranging technology provided in embodiment 1. Fig. 3 is a schematic structural diagram of a multi-tag ranging system based on UWB ranging technology in this embodiment.
The multi-tag ranging system based on the UWB ranging technology provided by the embodiment includes:
the system comprises a plurality of UWB tags 1, wherein the UWB tags 1 are arranged on a vehicle, each UWB tag 1 comprises a communication module 11 and a judgment module 12, and each communication module 11 is used for transmitting or receiving signals, acquiring signal intensity information of the UWB tag 1 and a UWB base station 2, and uploading a distance measurement result to a parking space positioning server 3; the judging module 12 is configured to perform logic judgment according to the signal strength information received by the communication module 11;
a plurality of UWB base stations 2, UWB base station 2 sets up on parking area, wherein, UWB base station 2 includes:
a receiver 21 for receiving a data frame transmitted from the UWB tag 1;
a short pulse detector 22 for measuring the time when the data frame transmitted from the UWB tag 1 arrives at the receiver 21;
a positioning engine 23 for calculating a distance between the UWB base station 2 and the UWB tag 1 based on the data frame transmitted from the UWB tag 1;
and the parking space positioning server 3 is used for receiving the parking space positioning result sent by the UWB base station 2 and sending the parking space positioning result to the user terminal.
In this embodiment, the receiver 21 is disposed on the UWB base station 2, and an output end of the receiver 21 is connected to an input end of the positioning engine 23; the output of the receiver 21 is connected to the input of the short pulse detector 22 and the output of the short pulse detector 22 is connected to the input of the positioning engine 23.
In a specific implementation process, the UWB tag 1 initializes and sets initial semaphore information thereof, wherein the initial semaphore information includes tag identification information, and signal strengths of the tag and the base station. Then, a first tag serving as a ranging-allowed mark in the plurality of UWB tags 1 is preferentially subjected to primary ranging with the UWB base station 2 of the same local area network through the communication module 11, and a ranging result is uploaded to the parking space positioning server 3 through the communication module 11 to be stored; the plurality of UWB base stations 2 obtain and store tag identification information in the initial semaphore information of the first tag, respectively.
Specifically, the first tag transmits the POLL packet data to the UWB base station 2 and records the transmission time T1, and then the first tag opens the communication receiving unit in its communication module 11 within 3 seconds; the UWB base station 2 starts and turns on its receiver 21, the receiver 21 receives the POLL packet data transmitted from the first tag, and the short pulse detector 22 records its reception time T2; positioning engine 23 in UWB base station 2 via Treply1Returning Response packet data to the first label after the delay of T3-T2; the first tag records the receiving time T4 after receiving the Response packet data, and the T is passedreply2Transmitting Final packet data to the UWB base station 2 after the delay of T5-T4; the receiver 21 in the UWB base station 2 receives Final packet data, the short pulse detector 22 records the current receiving time T6, and the positioning engine 23 calculates the electromagnetic wave flying time T according to the recorded timepropAccording to the electromagnetic wave flight time TpropAnd calculating to obtain a ranging result S between the first label and the first base station.
When the UWB base station 2 receives the POLL packet data transmitted from the first tag, the UWB base station 2 obtains the initial semaphore information of the first tag from the POLL packet data, that is, obtains the tag identification information of the first tag as the target tag information to store.
The first tag transmits a release semaphore signal to other UWB tags 1 in the same local area network through the communication module 11, after receiving the release semaphore signal, other UWB tags 1 in the same local area network return initial semaphore information to the first tag, after receiving initial semaphore information of other UWB tags 1, the first tag judges and decides the UWB tag 1 with the maximum signal intensity with the UWB base station 2 in other UWB tags 1 according to signal intensity data of the tag and the base station in the received initial semaphore information through the judgment module 12, and transmits a ranging signal to the UWB tag 1 with the maximum signal intensity. The UWB tag 1 which receives the ranging signal respectively carries out ranging to the UWB base station 2 in the same local area network, uploads the ranging result to the parking space positioning server 3, and then returns the signal quantity information obtained after the ranging is finished to the first tag. After receiving the ranging signal quantity information, the first tag returns a ranging completion signal to the first tag, and after receiving the ranging completion signal, the ranging completion tag initializes the signal quantity information, i.e., discards the tag identification information of the first tag and loses the flag information allowing ranging with the UWB base station 2.
All UWB tags 1 in the same local area network update their initial semaphore information respectively, the first tag launches the release semaphore signal again, other UWB tags 1 in the same local area network send their initial semaphore information of finishing updating to the first tag after receiving the release semaphore signal respectively. The first tag judges, by its judging module 12, the received updated initial semaphore information and the updated initial semaphore information of the first tag: if the updated signal intensity of the first tag is the maximum, the first tag measures the distance to the UWB base station 2 in the same local area network, uploads the distance measurement result to the parking space positioning server 3, and then skips to execute the step of updating the initial signal quantity information of all the UWB tags 1; if the updated signal strength of the UWB tag 1 with the maximum signal strength among the other UWB tags 1 is greater than the updated signal strength of the first tag, the first tag transmits a ranging signal to the UWB tag 1, and the UWB tag 1 with the maximum signal strength performs ranging with the UWB base station 2.
In this embodiment, the UWB base station 2 measures the time when the data frame sent from each UWB tag 1 reaches the receiver 21 by using the high-sensitivity short pulse detector 22, and the positioning engine 23 calculates the distance between the UWB tag 1 and the UWB base station 2 according to the data frame sent from the UWB tag 1 and the receiving time difference of the data frame.
The same or similar reference numerals correspond to the same or similar parts;
the terms describing positional relationships in the drawings are for illustrative purposes only and are not to be construed as limiting the patent;
it should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.

Claims (9)

1. A multi-label ranging method based on a UWB ranging technology is characterized by comprising the following steps:
s1: setting initial semaphore information by a plurality of tags in the same local area network respectively, wherein the initial semaphore information comprises but is not limited to tag identification information and signal strength of the tags and a base station;
s2: the method comprises the steps that a first tag carries out ranging to a plurality of base stations in the same local area network, and a ranging result is uploaded to a server, wherein the base stations store tag identification information of the first tag;
s3: the first label transmits a release semaphore signal, and other labels in the same local area network send respective initial semaphore information to the first label after receiving the release semaphore signal;
s4: the first tag judges the tag with the maximum signal intensity with the base station in the other tags according to the received initial signal quantity information of the other tags, and sends a ranging signal to the tag with the maximum signal intensity;
s5: the label with the maximum signal strength which receives the ranging signal carries out ranging to a plurality of base stations in the same local area network, the ranging result is uploaded to a server, the signal quantity information after ranging is returned to the first label, and the label with the maximum signal strength initializes the signal quantity information after ranging to lose the label identification information of the first label;
s6: updating the initial semaphore information of all tags in the same local area network, transmitting a release semaphore signal again by the first tag, and transmitting the updated initial semaphore information of the other tags after receiving the release semaphore signal by other tags in the same local area network;
s7: the first tag judges according to the received updated initial semaphore information of the other tags and the updated initial semaphore information of the first tag: if the updated signal intensity of the first tag is the maximum, the first tag measures the distance to a plurality of base stations in the same local area network, uploads the distance measurement result to a server, and then skips to execute the step S6; if the updated signal strength of the other tags is the maximum and is greater than the updated signal strength of the first tag, the first tag sends a ranging signal to the tag, and then the step S5 is executed.
2. The multi-tag ranging method of claim 1, wherein: the ranging signal includes, but is not limited to, tag identification information of the first tag.
3. The multi-tag ranging method of claim 2, wherein: and the tag and the base station adopt SS-TWR or DS-TWR to carry out bilateral ranging.
4. The multi-tag ranging method of claim 3, wherein: the specific steps of the tag and the base station for ranging include:
step A: the label sends the POLL packet data, records the sending time T1, and then turns on the communication receiving unit;
and B: the base station opens a communication receiving unit thereof, then receives the POLL packet data sent by the label and records the receiving time T2;
and C: the base station sends response packet data at the time T3;
step D: the label receives the response packet data sent by the base station and records the receiving time T4;
step E: the tag sends Final packet data at the time of T5, the base station records the receiving time T6 after receiving the Final packet data, and the distance measurement result between the tag and the base station is obtained through calculation according to the recorded time.
5. The multi-tag ranging method of claim 4, wherein: in step E, a calculation formula of a ranging result S between the tag and the base station is as follows:
Figure FDA0003302522660000021
S＝Tprop×c
wherein, Tround1＝T4-T1，Tround2＝T6-T3，Treply1＝T3-T2，Treply2＝T5-T4；TpropRepresents the flight time of the electromagnetic wave, and c is the speed of light.
6. The multi-tag ranging method of claim 4, wherein: in the process of ranging between the label and the base station, the POLL packet data sent by the label comprises label identification information of the first label; when the base station receives the POLL packet data with the label identification information of the first label, the base station selects the label corresponding to the POLL packet data for ranging; when the POLL packet data received by the base station does not include the tag identification information of the first tag, the base station discards the POLL packet data and does not perform any processing.
7. The multi-tag ranging method of claim 6, wherein: and when the base station receives more than 1 POLL packet data with the label identification information of the first label, the base station receives the POLL packet data sent last, performs ranging with a label corresponding to the POLL packet data, and discards other POLL packet data.
8. A multi-tag ranging method according to any one of claims 1 to 7, characterized in that: the specific steps of the step S5 include:
s51: the label with the maximum signal intensity receiving the ranging signal carries out ranging to a plurality of base stations in the same local area network to obtain a ranging result;
s52: the tag with the maximum signal intensity communicates with a server and uploads the ranging result;
s53: the label with the maximum signal intensity returns the signal quantity information after the distance measurement to the first label;
s54: after receiving the signal quantity information after ranging, the first tag returns a ranging completion signal to the tag with the maximum signal strength;
s55: and initializing the semaphore information of the tag with the maximum signal intensity after receiving the ranging completion signal.
9. A multi-tag ranging system based on UWB ranging technology, apply a multi-tag ranging method based on UWB ranging technology of any claim 1-8, characterized by that, including UWB label, UWB base transceiver station, parking stall position the server, the said UWB label is set up on the vehicle, the said UWB base transceiver station is set up on the parking area, carry on the data interaction each other between said UWB label, UWB base transceiver station, parking stall position the server; wherein:
the UWB tag comprises a communication module and a judgment module, wherein the communication module is used for transmitting or receiving signals, acquiring signal intensity information of the UWB tag and the UWB base station, and uploading a distance measurement result to the parking space positioning server; the judging module is used for carrying out logic judgment according to the signal strength information received by the communication module;
the UWB base station includes:
a receiver for receiving a data frame transmitted by the UWB tag;
a short pulse detector for measuring the time of arrival of the data frame transmitted by the UWB tag at the receiver;
the positioning engine is used for calculating the distance between the UWB base station and the UWB tag according to the data frame transmitted by the UWB tag;
the receiver is arranged on the UWB base station, and the output end of the receiver is connected with the input end of the positioning engine; the output of the receiver is connected to the input of the short pulse detector, and the output of the short pulse detector is connected to the input of the positioning engine.
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