CN111510854A - Ultra-wideband concurrent identification method and system for mine environment - Google Patents
Ultra-wideband concurrent identification method and system for mine environment Download PDFInfo
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- CN111510854A CN111510854A CN202010301066.XA CN202010301066A CN111510854A CN 111510854 A CN111510854 A CN 111510854A CN 202010301066 A CN202010301066 A CN 202010301066A CN 111510854 A CN111510854 A CN 111510854A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
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- 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
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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
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W72/00—Local resource management
- H04W72/04—Wireless resource allocation
- H04W72/044—Wireless resource allocation based on the type of the allocated resource
- H04W72/0446—Resources in time domain, e.g. slots or frames
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Abstract
The invention discloses an ultra wide band concurrent identification method and system for a mine environment. The ultra-wideband concurrent identification method for the mine environment comprises the following steps: sending a data packet to a base station through a tag, judging whether the data packet is a pre-registration packet or not by the base station so as to send a pre-registration response packet to the tag by utilizing an idle time slot, judging whether the data packet is a registration packet or not by the base station so as to send time to the tag through a distribution time slot packet, judging whether the data packet is a broadcast ranging packet or not by the base station so as to mark a time slot number occupied by the tag in the base station in a registry, judging whether the data packet is a point-to-point ranging packet or not by the base station so as to update the registry, and enabling the tag to enter a ranging mode. The invention does not need to carry out strict time synchronization on the base station and the label, and the system positioning capacity is higher.
Description
Technical Field
The invention relates to the technical field of wireless communication and positioning systems, in particular to an ultra wide band concurrent identification method and system for a mine environment.
Background
UWB (ultra wide band) is a carrier-free communication technology, utilizes nanosecond to picosecond-level non-sine wave narrow pulse to transmit data, has very high time resolution, and can realize centimeter-level accurate positioning. However, if too many tags are in the same area, communication collision may be caused, which may affect the ranging accuracy and even result in failure of ranging, and therefore, the tag transmission time needs to be managed.
Strict time synchronization of the base station and the tag is typically employed. In the application scene of the mine tunnel, the tunnel is long and narrow, wireless signals cannot penetrate through the tunnel wall, and the base station are in linear distribution. This progressive transfer of synchronization packets results in a significant reduction in system location capacity if wireless synchronization between adjacent base stations is utilized. If the time synchronization is performed between the base stations through a wire, the design cost and the system complexity of the base stations are additionally increased. And time synchronization is needed between the base station and the tag, which increases the design complexity, and also has the risk of possible error of time synchronization when the tag enters and exits from different positions in the system coverage area, so that improvement is urgently needed.
Disclosure of Invention
In view of the above drawbacks of the prior art, an object of the present invention is to provide an ultra-wideband concurrent identification method and system for a mine environment, which are used to solve the problems in the prior art that strict time synchronization is performed on a base station and a tag, the system positioning capacity is reduced, and the design cost, the system complexity, and the design complexity of the base station are increased.
In order to achieve the above objects and other related objects, the present invention provides an ultra-wideband concurrency identification method for a mine environment, including:
sending a data packet to a base station through a tag;
the base station judges whether the data packet is a pre-registration packet or not so as to send a pre-registration response packet to the tag by using an idle time slot;
the base station judges whether the data packet is a registration packet or not so as to send time to the tag through a distribution time slot packet;
the base station judges whether the data packet is a broadcast ranging packet or not so as to mark a time slot number occupied by the tag in the base station in a registry;
the base station judges whether the data packet is a point-to-point ranging packet or not so as to update the registry;
the tag enters a ranging mode.
In an embodiment of the present invention, the step of the base station determining whether the data packet is a pre-registration packet, and sending a pre-registration response packet to the tag using an idle timeslot includes:
and the base station judges whether the data packet is a pre-registration packet, if so, the base station judges whether the message information in the pre-registration packet comprises an operation of requesting automatic response information, and if not, the base station judges whether the data packet is a registration packet.
In an embodiment of the present invention, the step of determining whether the message information in the pre-registration packet includes an operation of requesting automatic response information includes:
and judging whether the message information in the pre-registration packet includes the automatic response request information, if so, automatically sending the pre-registration response packet to the tag, and if not, sending the pre-registration response packet to the tag by using an idle time slot.
In an embodiment of the present invention, the step of the base station determining whether the data packet is a registration packet, so as to send time to the tag through a time slot allocation packet includes:
and the base station judges whether the data packet is a registration packet, if so, the base station performs operation of judging whether the registration information of the tag exists in a registration table, and if not, the base station performs operation of judging whether the data packet is a broadcast ranging packet.
In an embodiment of the present invention, the step of determining whether there is registration information of the tag in the registry includes:
judging whether registration information of the label exists in a registry or not, if so, calculating a time slot number occupied by the label according to the position in the registry, if not, searching an idle time slot if the registry is in a full state, and calculating a working time slot of the label according to the time slot number so as to send time to the label through a distribution time slot packet.
In an embodiment of the present invention, the step of the base station determining whether the data packet is a broadcast ranging packet, so as to mark the timeslot number occupied by the tag in the base station in a registry includes:
and the base station judges whether the data packet is a broadcast ranging packet, if so, the time slot number occupied by the tag in the base station is marked in a registry, and if not, the base station judges whether the data packet is a point-to-point ranging packet.
In an embodiment of the present invention, the step of the tag entering the ranging mode includes:
the tag sends a ranging packet to a base station to receive a ranging response packet fed back by the base station;
and the tag sends a ranging end packet to the base station for ranging according to the ranging response packet.
In an embodiment of the present invention, the message information of the pre-registration packet and the ranging packet includes a transmission period of the tag and ranging information.
In an embodiment of the present invention, the beacon sends a ranging packet according to the transmission period.
The invention also provides an ultra-wideband concurrency identification system for a mine environment, comprising:
a tag for transmitting a data packet to a base station and for entering a ranging mode;
at least one base station, configured to determine whether the data packet is a pre-registration packet, to send a pre-registration response packet to the tag using an idle time slot, and to determine whether the data packet is a registration packet, to send time to the tag through a time slot allocation packet, and to determine whether the data packet is a broadcast ranging packet, to mark a time slot number occupied by the tag in the base station in a registration table, and to determine whether the data packet is a point-to-point ranging packet, to update the registration table;
the base station is according to formula Tdelayn＝(2000-tn+5 x (n-1))% T, calculating the time slot allocated by the label and the minimum time difference with the current time; wherein, tnIndicating the time when the information of the tag is received, n indicating the position of the tag registration information in a registry, and T indicating the ranging period of the tag;
and the base station is used for calculating the number of the time slots required by the label according to the transmission period of the label and searching the idle time slot with the interval time of the label period T.
As described above, the ultra-wideband concurrent identification method and system for the mine environment of the present invention have the following beneficial effects:
the ultra-wideband concurrent identification method for the mine environment adopts a time division multiplexing technology, a base station can allocate time slots to the tags and also can carry out distance measurement with the tags, the base stations around the tags calculate the time slots occupied by the tags in the base station according to the time when the tag information is received, and collision avoidance can be realized without carrying out time synchronization.
The ultra-wideband concurrent identification method for the mine environment is distributed to the tags for positioning in the whole system period, so that the maximization of the system load is ensured, and the concurrent identification of a large number of UWB tags is realized.
The base station of the ultra-wideband concurrent identification method for the mine environment calculates the number of time slots required by the tags in the working period of the base station according to the sending period of the tags, so that the tags in different periods coexist in the system.
The ultra-wideband concurrent identification method for the mine environment reduces the waiting time of the label and improves the working time of the battery of the label through the automatic response function.
Drawings
Fig. 1 is a flowchart illustrating a tag in a registration mode according to an ultra-wideband concurrent identification method for a mine environment according to an embodiment of the present application.
Fig. 2 is a base station and tag registration data flow diagram of an ultra-wideband concurrent identification system for a mine environment according to an embodiment of the present application.
Fig. 3 is a base station and tag ranging data flow diagram of an ultra-wideband concurrent identification system for a mine environment according to an embodiment of the present application.
Fig. 4 is a schematic diagram of a tag in a single base station wireless coverage area in an ultra-wideband concurrent identification method for a mine environment according to an embodiment of the present application.
Fig. 5 is a schematic diagram of a tag in a wireless coverage area of multiple base stations in an ultra-wideband concurrent identification method for a mine environment according to an embodiment of the present application.
Description of the element reference numerals
1 Label
2 base station
3 Pre-registration packet
4 Pre-registration reply packet
5 registration packet
6 allocating time slot packets
7 distance measuring bag
8 ranging response packet
9 distance measuring end bag
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict.
It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention, and the drawings only show the components related to the present invention rather than the number, shape and size of the components in actual implementation, and the type, quantity and proportion of the components in actual implementation may be changed freely, and the layout of the components may be more complicated.
Referring to fig. 1, fig. 2, and fig. 3, fig. 1 is a flowchart illustrating a working procedure when a tag of an ultra-wideband concurrent identification method for a mine environment according to an embodiment of the present application is in a registration mode. Fig. 2 is a base station and tag registration data flow diagram of an ultra-wideband concurrent identification system for a mine environment according to an embodiment of the present application. Fig. 3 is a base station and tag ranging data flow diagram of an ultra-wideband concurrent identification system for a mine environment according to an embodiment of the present application. The invention provides an ultra wide band concurrent identification method for a mine environment, wherein a label of the ultra wide band concurrent identification method for the mine environment works in a registration mode, and the ultra wide band concurrent identification method for the mine environment comprises the following steps: s1, transmitting the data packet to the base station 2 through the tag 1. Specifically, the data packets include, but are not limited to, a pre-registration packet 3, a registration packet 5, a broadcast ranging packet, and a point-to-point ranging packet. S2, the base station 2 determines whether the data packet is the pre-registered packet 3, if the data packet is the pre-registered packet 3, the operation of step S3 is performed, and if the data packet is not the pre-registered packet 3, the operation of step S6 is performed. S3, determining whether the message information in the pre-registration packet 3 includes automatic response request information, if the message information in the pre-registration packet 3 includes automatic response request information, executing step S4, and if the message information in the pre-registration packet 3 does not include automatic response request information, executing step S5. S4, the system hardware automatically sends pre-registration reply packet 4 to the tag 1. And S5, sending the pre-registration response packet 4 to the tag1 by using the idle time slot. S6, the base station 2 determines whether the data packet is the registration packet 5, if the data packet is the registration packet 5, the operation of step S7 is executed, and if the data packet is not the registration packet 5, the operation of step S12 is executed. S7, determining whether the registry has the registration information of tag1, if so, executing step S9, and if not, executing step S8. And S9, calculating the time slot number occupied by the label 1 according to the position of the label 1 in the registry. And S8, judging whether the registry is in a not full state, if the registry is in the not full state, executing the operation of the step S10, and if the registry is in the full state, ending the task. S10, searching for an idle time slot, and calculating the working time slot of the label 1 according to the time slot number. After the execution of step S9 or step S10 is completed, step S11 is performed, and S11 transmits time to the tag1 by allocating a time slot packet. And S12, judging whether the data packet is a broadcast ranging packet, if so, performing the operation of S13, and if not, performing the operation of S14. S13, marking the slot number occupied by the tag1 in the base station 2 in the registry. And S14, judging whether the data packet is a point-to-point ranging packet, if so, executing the operation of the step S15, and if not, ending the task. After the registration mode of the tag1 is finished, the tag1 enters a ranging mode. The ultra-wideband concurrent identification method for the mine environment can be applied to the mine environment but is not limited to the mine environment.
Referring to fig. 1, fig. 2, and fig. 3, after the tag1 enters the ranging mode, the tag1 first sends a ranging packet 7 to the base station 2 to receive a ranging response packet 8 fed back by the base station 2. Specifically, after receiving the ranging packet 7 from the tag1, the base station 2 outputs a ranging response packet 8, and sends the ranging response packet 8 to the tag 1. And the tag1 sends a ranging end packet 9 to the base station 2 for ranging according to the ranging response packet 8. Specifically, the base station 2 uses the maximum transmission period of the tag1 as a work period, and cuts the work period into time slices. And when the label 1 is not registered successfully for a long time, enabling the request to automatically respond, and if the automatic response information of the base station 2 is not received, entering a sleep mode. When the tag1 is in a registration mode, the tag1 sends a pre-registration packet 3 to apply for a time slot, and when the tag1 is in a ranging mode, the tag sends a ranging packet 7, waits for a ranging response packet 8 of the base station 2 and sends a ranging end packet 9 to perform ranging in sequence. The time slot needs to be allocated before ranging with said base station 2, i.e. the registration is completed on a certain one of said base stations 2. When any tag1 enters the wireless coverage range of the base station 2, the tag1 sends a pre-registration packet 3 or a ranging packet 7 according to whether the tag is registered, and the message information of the pre-registration packet 3 and the ranging packet 7 comprises the transmission period and the ranging information of the tag 1. The transmission period of the tag1 refers to how often the tag1 transmits, the pre-registration packet 3 is periodically transmitted only when the tag1 is not registered, and if the tag1 is registered, the tag1 periodically transmits the ranging packet 7. And the base station 2 receives the pre-registration packet 3 sent by the tag1, calculates the number of required time slots according to the transmission period of the tag1, searches for unused idle time slots, sets the idle time slots to be occupied by the tag1, calculates the time difference between the time slot allocated by the tag1 and the current moment, and sends the time difference and the time slot number to the tag1 through the allocated time slot packet 6 in the idle time slots. And after the label 1 receives the distribution time slot message and sleeps for the time difference, sending a ranging packet 7 according to the working period of the label. When the base station 2 around the tag1 receives the broadcast ranging packet of the tag1, the time slot occupied by the tag1 in the base station 2 is calculated according to the time of the received broadcast ranging packet and the transmission period information in the tag information packet, and the time slot is set to be occupied by the tag1 and is not distributed to a newly registered tag. And the base station 2 periodically updates the time slot occupation information in the registry and clears the occupied time slot of the label 1 which is not communicated for a long time. When the base station 2 receives the pre-registration packet 3 to apply for the time slot or the broadcast ranging packet to respond, the collision is avoided by random time delay, and when the tag1 is restarted and the time slot is failed to apply for the data in the next period, the collision caused by long-term collision is avoided.
Referring to fig. 2 and 3, similar to the principle of the ultra-wideband concurrent identification method for a mine environment of the present invention, the present invention further provides an ultra-wideband concurrent identification system for a mine environment, which includes: a tag1 and at least one base station 2. Specifically, asymmetric bilateral two-way ranging (ADS-TWR) is used between the base station 2 and the tag1, and the tag1 is used for sending a data packet to the base station 2 and entering a ranging mode. The base station 2 is configured to determine whether the data packet is a pre-registration packet 3, to send a pre-registration response packet 4 to the tag1 using an idle time slot, determine whether the data packet is a registration packet 5, to send time to the tag1 through an allocation time slot packet 6, determine whether the data packet is a broadcast ranging packet, to mark a time slot number occupied by the tag1 in the base station 2 in a registration table, and determine whether the data packet is a point-to-point ranging packet to update the registration table.
Referring to fig. 4 and 5, fig. 4 is a schematic diagram illustrating a tag of an ultra-wideband concurrent identification method for a mine environment in a wireless coverage area of a single base station according to an embodiment of the present application. Fig. 5 is a schematic diagram of a tag in a wireless coverage area of multiple base stations in an ultra-wideband concurrent identification method for a mine environment according to an embodiment of the present application. The base station 2 receives the pre-registration packet 3 sent by the tag1Then, the number of the required time slots is calculated according to the transmitting period of the tag1, corresponding unused idle time slots are searched, and the idle time slots are set to be occupied by the tag 1. For example, in the ultra-wideband concurrent identification system for a mine environment, the maximum transmission period allowed for the tag1 is 2s, the ranging time of the tag1 and each base station 2 is within 2ms, then each time slice of the base station 2 is 5ms, and there are 400 time slices in total, that is, the number of the tags 1 concurrently identified within the wireless coverage area of each base station 2 is 400. Said base station 2 according to formula Tdelayn＝(2000-tn+5*(n-1))％T，tnThe time when the information of the tag1 is received is shown, n shows the position of the registration information of the tag1 in a registry, T shows the ranging period of the tag1, the time slot allocated by the tag1 and the minimum time difference with the current time are calculated, the number of the time slots required by the tag1 is calculated according to the transmitting period of the tag1, and the searching interval time is the idle time slot of the tag period T. And sending the time difference to the label 1 through a distribution time slot message in the idle time slot. If the tag1 operating frequency is 1Hz, it may be allocated 2 time slots: sx and Sx + 400. After receiving the distribution time slot message, the tag1 sleeps for the time difference and then sends a ranging packet 7 according to the working period of the tag, and the tag1 at least ranges with two base stations 2 in each transmission period. If the Tag1 is only in the coverage area of bs a, Tag1 first performs point-to-point ranging with bs a in its allocated timeslot, and then finishes the ranging in this period by sending broadcast ranging packet if there are no other bss 2 around. When the tag1 moves to the coverage of the base station B, the tag applies for allocating time slots on the base station B, and the point-to-point distance is measured between the allocated time slots and the base station B. If Tag1 is in the wireless coverage of multiple base stations 2, as shown in fig. 5, Tag2 is in the wireless coverage of base station A, B, C, and if the time slot of Tag2 is allocated to base station B, Tag2 first measures the distance from base station B in the allocated time slot, and then sends a broadcast ranging packet. The base station A, C calculates the time slot number occupied by the Tag2 in itself according to the received time of the information packet and the transmission period information in the Tag2 information packet, and will calculate the time slot number occupied by the Tag2 in itselfThis time slot is set to be occupied by Tag2 and is no longer assigned to a newly registered Tag until Tag2 discontinues communication with it or changes the time slot. When the base station A, C receives the broadcast ranging packet, the base station randomly delays for a period of time and then responds to the Tag2, and the Tag2 selects one base station to complete ranging. And the base station 2 periodically updates the time slot occupation information in the registry and clears the occupied time slot of the label 1 which is not communicated for a long time. When the base station 2 receives the pre-registration packet 3 to apply for the time slot or the broadcast ranging packet to respond, the collision is avoided by random time delay, and when the tag1 fails to restart and apply for the time slot, the collision of long-term collision is avoided by random when the data is sent in the next period.
In summary, the ultra-wideband concurrency identification method for the mine environment of the present invention adopts the time division multiplexing technology, the base station 2 can allocate a time slot to the tag1, and also can perform ranging with the tag1, the base station 2 around the tag1 calculates the time slot occupied by the tag1 at the base station 2 according to the time when the tag1 information is received, and collision avoidance can be achieved without performing time synchronization, and the present invention does not need to perform strict time synchronization on the base station 2 and the tag1, has high system positioning capacity, and greatly reduces the design cost, the system complexity and the design complexity of the base station 2.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (10)
1. An ultra-wideband concurrency identification method for a mine environment, the ultra-wideband concurrency identification method for the mine environment comprising:
sending a data packet to a base station through a tag;
the base station judges whether the data packet is a pre-registration packet or not so as to send a pre-registration response packet to the tag by using an idle time slot;
the base station judges whether the data packet is a registration packet or not so as to send time to the tag through a distribution time slot packet;
the base station judges whether the data packet is a broadcast ranging packet or not so as to mark a time slot number occupied by the tag in the base station in a registry;
the base station judges whether the data packet is a point-to-point ranging packet or not so as to update the registry;
the tag enters a ranging mode.
2. The ultra-wideband concurrency identification method for the mine environment according to claim 1, wherein the step of the base station judging whether the data packet is a pre-registration packet or not so as to send a pre-registration response packet to the tag by using an idle time slot comprises the following steps:
and the base station judges whether the data packet is a pre-registration packet, if so, the base station judges whether the message information in the pre-registration packet comprises an operation of requesting automatic response information, and if not, the base station judges whether the data packet is a registration packet.
3. The ultra-wideband concurrency identification method for the mine environment according to claim 2, wherein the step of judging whether the message information in the pre-registration packet includes an operation of requesting automatic response information comprises the steps of:
and judging whether the message information in the pre-registration packet includes the automatic response request information, if so, automatically sending the pre-registration response packet to the tag, and if not, sending the pre-registration response packet to the tag by using an idle time slot.
4. The ultra-wideband concurrency identification method for mine environments as recited in claim 1, wherein the step of the base station determining whether the data packet is a registration packet, so as to send time to the tag by allocating a time slot packet comprises:
and the base station judges whether the data packet is a registration packet, if so, the base station performs operation of judging whether the registration information of the tag exists in a registration table, and if not, the base station performs operation of judging whether the data packet is a broadcast ranging packet.
5. The ultra-wideband concurrent identification method for the mine environment according to claim 4, wherein the operation of determining whether the registration information of the tag exists in the registry comprises:
judging whether registration information of the label exists in a registry or not, if so, calculating a time slot number occupied by the label according to the position in the registry, if not, searching an idle time slot if the registry is in a full state, and calculating a working time slot of the label according to the time slot number so as to send time to the label through a distribution time slot packet.
6. The ultra-wideband concurrency identification method for mine environments as recited in claim 1, wherein: the step that the base station judges whether the data packet is a broadcast ranging packet or not so as to mark the time slot number occupied by the label in the base station in a registry comprises the following steps:
and the base station judges whether the data packet is a broadcast ranging packet, if so, the time slot number occupied by the tag in the base station is marked in a registry, and if not, the base station judges whether the data packet is a point-to-point ranging packet.
7. The ultra-wideband concurrency identification method for mine environments as recited in claim 1, wherein: the step of the tag entering the ranging mode comprises:
the tag sends a ranging packet to a base station to receive a ranging response packet fed back by the base station;
and the tag sends a ranging end packet to the base station for ranging according to the ranging response packet.
8. The ultra-wideband concurrency identification method for mine environments as recited in claim 6, wherein: the message information of the pre-registration packet and the ranging packet comprises the transmission period of the label and the ranging information.
9. The ultra-wideband concurrency identification method for mine environments as recited in claim 7, wherein: and the beacon sends a ranging packet according to the transmission period.
10. An ultra-wideband concurrency identification system for a mine environment, comprising:
a tag for transmitting a data packet to a base station and for entering a ranging mode;
at least one base station, configured to determine whether the data packet is a pre-registration packet, to send a pre-registration response packet to the tag using an idle time slot, and to determine whether the data packet is a registration packet, to send time to the tag through a time slot allocation packet, and to determine whether the data packet is a broadcast ranging packet, to mark a time slot number occupied by the tag in the base station in a registration table, and to determine whether the data packet is a point-to-point ranging packet, to update the registration table;
the base station is according to formula Tdelayn＝(2000-tn+5 x (n-1))% T, calculating the time slot allocated by the label and the minimum time difference with the current time; wherein, tnIndicating the time when the information of the tag is received, n indicating the position of the tag registration information in a registry, and T indicating the ranging period of the tag;
and the base station is used for calculating the number of the time slots required by the label according to the transmission period of the label and searching the idle time slot with the interval time of the label period T.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113099529A (en) * | 2021-03-29 | 2021-07-09 | 千寻位置网络（浙江）有限公司 | Indoor vehicle navigation method, vehicle-mounted terminal, field terminal server and system |
| CN115278878A (en) * | 2022-09-28 | 2022-11-01 | 长沙迪迈数码科技股份有限公司 | Underground UWB positioning method, device and storage medium for time sequence management |
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