CN111800164B - UWB decoding method, device, receiver and UWB positioning system - Google Patents
UWB decoding method, device, receiver and UWB positioning system Download PDFInfo
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- CN111800164B CN111800164B CN202010634313.8A CN202010634313A CN111800164B CN 111800164 B CN111800164 B CN 111800164B CN 202010634313 A CN202010634313 A CN 202010634313A CN 111800164 B CN111800164 B CN 111800164B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B1/00—Details of transmission systems, not covered by a single one of groups H04B3/00 - H04B13/00; Details of transmission systems not characterised by the medium used for transmission
- H04B1/69—Spread spectrum techniques
- H04B1/7163—Spread spectrum techniques using impulse radio
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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
- G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
- G01S1/02—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith using radio waves
- G01S1/04—Details
- G01S1/042—Transmitters
- G01S1/0428—Signal details
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B1/00—Details of transmission systems, not covered by a single one of groups H04B3/00 - H04B13/00; Details of transmission systems not characterised by the medium used for transmission
- H04B1/69—Spread spectrum techniques
- H04B1/7163—Spread spectrum techniques using impulse radio
- H04B1/7183—Synchronisation
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L1/00—Arrangements for detecting or preventing errors in the information received
- H04L1/0078—Avoidance of errors by organising the transmitted data in a format specifically designed to deal with errors, e.g. location
- H04L1/0083—Formatting with frames or packets; Protocol or part of protocol for error control
Abstract
According to the UWB decoding method, the UWB decoding device, the UWB positioning system and the receiver, the receiver of the UWB positioning system automatically adjusts the clock parameter of the receiver according to the time interval of pulse signal transmission extracted from the target frame header, so that the clock parameter of the receiver is synchronous with the clock parameter of the transmitting device, and data can be automatically decoded. Even if the time interval of pulse signal transmission is changed, the clock parameters of the receiver and the transmitting device do not need to be manually adjusted, and the use convenience and the decoding efficiency of the equipment are improved.
Description
Technical Field
The invention relates to the technical field of positioning, in particular to a UWB decoding method, a UWB decoding device, a UWB receiver and a UWB positioning system.
Background
The Ultra Wide Band (UWB) technology is a new communication technology that is completely new and greatly different from the conventional communication technology, and it does not need to use a carrier in the conventional communication system, but transmits data by sending and receiving an extremely narrow pulse having a nanosecond level or less, thereby having a bandwidth of GHz level, and having advantages of strong penetration, low power consumption, good anti-multipath effect, high security, low system complexity, and being capable of providing accurate positioning accuracy. Therefore, the ultra-wideband technology can be applied to positioning, tracking and navigation of indoor stationary or moving objects and people, and can provide very accurate positioning precision.
Currently, UWB pulse position modulation generally requires a fixed data rate to be agreed when transmitting and receiving signals, and a receiver receives pulses and decodes data according to the fixed data rate. This method requires modification at both the receiver and the transmitter when the data rate of the burst transmission needs to be changed, and the implementation is complicated.
Disclosure of Invention
In view of the above, the present invention provides a UWB decoding method, apparatus, receiver and UWB positioning system, so as to implement receiver automatic decoding.
In a first aspect, an embodiment of the present invention provides a UWB decoding method, which is applied to a receiver in a UWB positioning system, where the UWB positioning system further includes a transmitting device, and the method includes:
extracting the time interval of pulse signal transmission in a target frame header, wherein the target frame header is a qualified frame header in a plurality of frame headers formed by pulse signal combination;
adjusting the clock parameter of the receiver according to the time interval of pulse signal transmission so as to synchronize the clock parameter of the receiver with the clock parameter of the transmitting device;
and receiving the data frame sent by the transmitting device according to the adjusted clock parameter and carrying out automatic decoding.
In an optional embodiment, before extracting the time interval of the pulse signal transmission in the target frame header, the method further includes:
storing timestamps of all pulse signals received in a preset time period, wherein all pulse signals comprise UWB pulse signals and interference pulse signals;
respectively taking each pulse signal as an initial pulse signal, and extracting the pulse signals from all the pulse signals according to a preset time interval;
and aiming at each initial pulse signal, respectively combining the extracted pulse signals into a frame header corresponding to the initial pulse signal.
In an optional embodiment, after respectively combining the extracted pulse signals into a frame header corresponding to each start pulse signal, the method further includes:
and checking each frame header formed by combination according to a preset checking mode to obtain a target frame header meeting the conditions, wherein the target frame header meeting the conditions does not comprise an interference pulse signal.
In an alternative embodiment, the extracting the time interval of the pulse signal transmission in the target frame header includes:
and extracting the difference value between the time stamps of the pulse signals in the target frame header, and taking the difference value as the time interval of pulse signal transmission in the target frame header.
In a second aspect, an embodiment of the present invention provides a UWB decoding apparatus, which is applied to a receiver in a UWB positioning system, where the UWB positioning system further includes a transmitting apparatus, and the apparatus includes:
the time interval acquisition module is used for extracting the time interval of pulse signal transmission in the target frame header, wherein the target frame header is a frame header meeting the conditions in a plurality of frame headers formed by pulse signal combination;
the parameter adjusting module is used for adjusting the clock parameter of the receiver according to the time interval of pulse signal transmission so as to synchronize the clock parameter of the receiver with the clock parameter of the transmitting device;
and the decoding module is used for receiving the data frame sent by the transmitting device according to the adjusted clock parameter and carrying out automatic decoding.
In an alternative embodiment, the apparatus further comprises:
the device comprises a storage module, a processing module and a processing module, wherein the storage module is used for storing timestamps of all pulse signals received in a preset time period, and all the pulse signals comprise UWB pulse signals and interference pulse signals;
the pulse extraction module is used for respectively taking each pulse signal as a starting pulse signal and extracting the pulse signals from all the pulse signals according to a preset time interval;
and the frame header combination module is used for respectively combining the extracted pulse signals into the frame header corresponding to the initial pulse signal aiming at each initial pulse signal.
In an alternative embodiment, the apparatus further comprises:
and the checking module is used for checking each frame header formed by combination according to a preset checking mode to obtain a target frame header meeting the conditions, wherein the target frame header meeting the conditions does not comprise an interference pulse signal.
In an optional embodiment, the time interval obtaining module is specifically configured to:
and extracting the difference value between the time stamps of the pulse signals in the target frame header, and taking the difference value as the time interval of pulse signal transmission in the target frame header.
In a third aspect, embodiments of the present invention provide a receiver, which includes signal processing circuitry, which is operative, when the receiver is in operation, to perform the steps of any of the methods as in the preceding embodiments.
In a fourth aspect, an embodiment of the present invention provides a UWB positioning system, where the UWB positioning system includes a receiver and a transmitting device, the transmitting device is configured to transmit a pulse signal, and the receiver is configured to receive the pulse signal transmitted by the transmitting device and perform the steps of any one of the methods according to the foregoing embodiments to process the pulse signal.
According to the UWB decoding method, the UWB decoding device, the UWB positioning system and the receiver, the receiver of the UWB positioning system automatically adjusts the clock parameter of the receiver according to the time interval of pulse signal transmission extracted from the target frame header, so that the clock parameter of the receiver is synchronous with the clock parameter of the transmitting device, and data can be automatically decoded. Even if the time interval of pulse signal transmission is changed, the clock parameters of the receiver and the transmitting device do not need to be manually adjusted, and the use convenience and the decoding efficiency of the equipment are improved.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed 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 invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a system block diagram of a UWB positioning system provided in an embodiment of the present application;
FIG. 2 is a flowchart of a UWB decoding method according to an embodiment of the present application;
fig. 3 is a second flowchart of a UWB decoding method according to an embodiment of the present application;
fig. 4 is a schematic functional block diagram of a UWB decoding apparatus according to an embodiment of the present application.
Description of the main element symbols: 10-UWB positioning system; 11-a receiver; 12-a transmitting device; 110-a UWB decoding device; 1101-a storage module; 1102-a pulse extraction module; 1103 — frame header assembling module; 1104-a check module; 1105-a time interval acquisition module; 1106-parameter adjustment module; 1107-decoding module.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, fig. 1 is a system block diagram of a UWB positioning system 10 according to an embodiment of the present application. In the present embodiment, the UWB positioning system 10 includes a receiver 11 and a transmitting device 12. The transmitting device 12 is configured to transmit a pulse signal, and the receiver 11 is configured to receive the pulse signal transmitted by the transmitting device 12 and perform decoding processing on the received pulse signal to obtain corresponding data information.
The embodiment of the present application provides a UWB decoding method, which is applied in the receiver 11, so that the receiver 11 can implement automatic decoding without manually adjusting clock parameters of the receiver 11 and the transmitting device 12. The UWB decoding method is explained in detail below.
Referring to fig. 2, fig. 2 is a flowchart of a UWB decoding method according to an embodiment of the present application. The method is applied to the receiver 11 in fig. 1, and in the present embodiment, the UWB decoding method includes:
step S110, extracting the time interval of pulse signal transmission in a target frame header, wherein the target frame header is a frame header meeting the conditions in a plurality of frame headers formed by pulse signal combination;
step S111, adjusting the clock parameter of the receiver 11 according to the time interval of the pulse signal transmission so as to synchronize the clock parameter of the receiver 11 with the clock parameter of the transmitting device 12;
step S112, receiving the data frame sent by the transmitting device 12 according to the adjusted clock parameter and performing automatic decoding.
In the above steps, the data frame includes a frame header part and a data part, and the frame header part is formed by combining the pulse signals transmitted by the plurality of transmitting devices 12, and when the receiver 11 decodes the data frame, it first extracts the time interval of the pulse signal transmission in the frame header part (i.e. the target frame header) of the data frame. For example, the target frame header may include 10 pulse signals, the time interval between each pulse signal is 1ms, and the time interval of the pulse signal transmission of the target frame header is 1 ms.
Subsequently, the receiver 11 adjusts the clock parameter according to the time interval of the pulse signal transmission so that the clock parameter of the receiver 11 is synchronized with the clock parameter of the transmitting device 12. Finally, the receiver 11 receives the data frame sent by the transmitting device 12 according to the adjusted clock parameter, and performs automatic decoding.
Therefore, the target frame header contains the time interval information of the pulse signal transmitted by the transmitting device 12, and the receiver 11 can complete the automatic adjustment of the clock parameters according to the time interval information, so as to realize the clock synchronization of the receiver 11 and the transmitting device 12. Even if the time interval information of the pulse signal changes in the subsequent signal transmission process, the automatic adjustment and synchronization of the clock parameters can be realized through the method, the clock parameters of the transmitting device 12 and the receiver 11 do not need to be adjusted manually, and the use convenience and the decoding efficiency of the equipment are improved.
Referring to fig. 3, fig. 3 is a second flowchart of a UWB decoding method according to an embodiment of the present application. Before step S110, the UWB decoding method further includes:
step S101, storing time stamps of all pulse signals received in a preset time period, wherein all the pulse signals comprise UWB pulse signals and interference pulse signals;
step S102, each pulse signal is respectively used as a starting pulse signal, and the pulse signals are extracted from all the pulse signals according to a preset time interval;
step S103, aiming at each initial pulse signal, respectively combining the extracted pulse signals into a frame header corresponding to the initial pulse signal.
In the above step, the receiver 11 is configured to receive the pulse signals sent by the sending device 12, and in a period of time, the receiver 11 stores timestamps of all the received pulse signals, and extracts the pulse signals from all the pulse signals according to a preset time interval by using each pulse signal of all the received pulse signals as a starting pulse, so as to form a plurality of frame headers by combination.
For example, if the receiver 11 receives 10 pulse signals, which are respectively the signal a to the signal F, first, the signal a is used as a start pulse, and pulse signals satisfying the time interval between the pulse signals are extracted from the signal a to the signal F according to a preset time interval (e.g., 1ms), so as to form a frame header.
Then, with the signal B as a start pulse, pulse signals satisfying the time interval between pulse signals are extracted from the signal a to the signal F at a preset time interval (e.g., 1ms), and another frame header is formed. Based on the same mode, a plurality of frame headers can be formed, and the starting pulse of each frame header is different.
The pulse signal includes an interference pulse in addition to the effective pulse signal, and after the receiver 11 receives an interference pulse, the pulse signal received later may be affected, so that the receiver 11 cannot normally receive the effective pulse signal. Meanwhile, the signal transmission time interval of the interference pulse is usually disordered and has no fixed time interval, and formally, in consideration of this point, the method is adopted in the application, the pulse signal is extracted according to the fixed time interval, and the receiver 11 can be initially prevented from receiving the interference signal, so that the influence on the subsequent pulse reception is reduced.
In order to further avoid the receiver 11 receiving the interference signal and causing the frame header to be formed in error, please continue to refer to fig. 3, in this embodiment, after step S103, the UWB decoding method further includes:
and step S104, checking each frame header formed by combination according to a preset checking mode to obtain a target frame header meeting the conditions. And the target frame head meeting the conditions does not comprise the interference pulse signal.
In the above steps, after the multiple frame headers are formed by combination, the multiple frame headers are further checked and compared according to a preset checking method (e.g., a mathematical checking method) from the multiple frame headers, so as to screen out a target frame header meeting the conditions, and the pulse signal constituting the target frame header does not include an interference pulse.
Further, in this embodiment, in step S110, the extracting the time interval of the pulse signal transmission in the target frame header specifically includes:
and extracting the difference value between the time stamps of the pulse signals in the target frame header, and taking the difference value as the time interval of pulse signal transmission in the target frame header.
In the above steps, each pulse signal included in the target frame header has a time stamp, and the time interval for transmitting the pulse signal in the target frame header can be obtained by calculating the difference between the time stamps, so that the subsequent receiver 11 can automatically adjust the clock parameter according to the time interval.
Referring to fig. 4, an embodiment of the present application further provides a UWB decoding apparatus 110, the apparatus is applied to a receiver 11 in a UWB positioning system 10, the UWB positioning system 10 further includes a transmitting apparatus 12, and the UWB decoding apparatus 110 includes:
a time interval obtaining module 1105, configured to extract a time interval of pulse signal transmission in a target frame header, where the target frame header is a qualified frame header in a plurality of frame headers formed by combining pulse signals;
a parameter adjusting module 1106, configured to adjust a clock parameter of the receiver 11 according to a time interval of pulse signal transmission, so that the clock parameter of the receiver 11 is synchronized with the clock parameter of the transmitting device 12;
and a decoding module 1107, configured to receive the data frame sent by the transmitting apparatus 12 according to the adjusted clock parameter and perform automatic decoding.
Further, in the present embodiment, the UWB decoding apparatus 110 further includes:
the storage module 1101 is configured to store time stamps of all pulse signals received in a preset time period, where all pulse signals include UWB pulse signals and interference pulse signals.
And a pulse extracting module 1102, configured to respectively use each pulse signal as a start pulse signal, and extract pulse signals from all pulse signals according to a preset time interval.
And a frame header combining module 1103, configured to combine the extracted pulse signals into frame headers corresponding to the start pulse signals, respectively, for each start pulse signal.
Further, in the present embodiment, the UWB decoding apparatus 110 further includes:
a checking module 1104, configured to check each frame header formed by the combination according to a preset checking manner, and obtain a qualified target frame header, where the qualified target frame header does not include an interference pulse signal.
Further, in this embodiment, the time interval obtaining module 1105 is specifically configured to: and extracting the difference value between the time stamps of the pulse signals in the target frame header, and taking the difference value as the time interval of pulse signal transmission in the target frame header.
The UWB decoding apparatus 110 provided by the embodiment of the present invention may be specific hardware on the receiver 11 or software or firmware installed on the device, etc. The device provided by the embodiment of the present invention has the same implementation principle and technical effect as the method embodiments, and for the sake of brief description, reference may be made to the corresponding contents in the method embodiments without reference to the device embodiments. It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the foregoing systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
The embodiment of the present application further provides a receiver 11, where the receiver 11 includes a signal processing circuit, and when the receiver 11 runs, the signal processing circuit runs to execute the UWB decoding method in any of the above embodiments, and a specific implementation method may refer to a corresponding process in the above method embodiment, which is not described herein again.
An embodiment of the present application further provides a UWB positioning system 10, where the UWB positioning system 10 includes a receiver 11 and an emitting device 12, the emitting device 12 is configured to emit a pulse signal, the receiver 11 is configured to receive the pulse signal emitted by the emitting device 12, and execute the UWB decoding method provided in any of the foregoing embodiments to process the pulse signal, and a specific implementation method may refer to a corresponding process in the foregoing method embodiment, and is not described herein again.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the modules is only one logical division, and there may be other divisions when the actual implementation is performed.
In addition, each functional module in the embodiments provided by the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art will understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the present invention in its spirit and scope. Are intended to be covered by the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (8)
1. A UWB decoding method applied to a receiver in a UWB positioning system, the UWB positioning system further including a transmitting device, the method comprising:
extracting the time interval of pulse signal transmission in a target frame header, wherein the target frame header is a qualified frame header in a plurality of frame headers formed by pulse signal combination;
adjusting the clock parameter of the receiver according to the time interval of the pulse signal transmission so as to synchronize the clock parameter of the receiver with the clock parameter of the transmitting device;
receiving a data frame sent by a transmitting device according to the adjusted clock parameters and carrying out automatic decoding; before extracting the time interval of the pulse signal transmission in the target frame header, the method further comprises:
storing timestamps of all pulse signals received in a preset time period, wherein all pulse signals comprise UWB pulse signals and interference pulse signals;
respectively taking each pulse signal as an initial pulse signal, and extracting the pulse signals from all the pulse signals according to a preset time interval;
and aiming at each initial pulse signal, respectively combining the extracted pulse signals into a frame header corresponding to the initial pulse signal.
2. The method according to claim 1, wherein after the extracted pulse signals are respectively combined into the frame header corresponding to the start pulse signal for each start pulse signal, the method further comprises:
and checking each frame header formed by combination according to a preset checking mode to obtain the target frame header meeting the conditions, wherein the target frame header meeting the conditions does not comprise interference pulse signals.
3. The method of claim 2, wherein the extracting the time interval of the pulse signal transmission in the target frame header comprises:
and extracting the difference value between the time stamps of the pulse signals in the target frame header, and taking the difference value as the time interval of pulse signal transmission in the target frame header.
4. An UWB decoding apparatus, applied to a receiver in a UWB positioning system, the UWB positioning system further comprising a transmitting apparatus, the apparatus comprising:
the time interval acquisition module is used for extracting the time interval of pulse signal transmission in a target frame header, wherein the target frame header is a frame header meeting the conditions in a plurality of frame headers formed by pulse signal combination;
the parameter adjusting module is used for adjusting the clock parameter of the receiver according to the time interval of the pulse signal transmission so as to enable the clock parameter of the receiver to be synchronous with the clock parameter of the transmitting device;
the decoding module is used for receiving the data frame sent by the transmitting device according to the adjusted clock parameter and carrying out automatic decoding; the device further comprises:
the device comprises a storage module, a processing module and a processing module, wherein the storage module is used for storing timestamps of all pulse signals received in a preset time period, and all the pulse signals comprise UWB pulse signals and interference pulse signals;
the pulse extraction module is used for respectively taking each pulse signal as a starting pulse signal and extracting the pulse signals from all the pulse signals according to a preset time interval;
and the frame header combination module is used for respectively combining the extracted pulse signals into the frame header corresponding to the initial pulse signal aiming at each initial pulse signal.
5. The apparatus of claim 4, further comprising:
and the checking module is used for checking each frame header formed by combination according to a preset checking mode to obtain the target frame header meeting the conditions, wherein the target frame header meeting the conditions does not comprise an interference pulse signal.
6. The apparatus of claim 5, wherein the time interval acquisition module is specifically configured to:
and extracting the difference value between the time stamps of the pulse signals in the target frame header, and taking the difference value as the time interval of pulse signal transmission in the target frame header.
7. A receiver, characterized in that the receiver comprises signal processing circuitry which is operative, when the receiver is operative, to perform the steps of the method according to any one of claims 1 to 3.
8. A UWB positioning system comprising a receiver and a transmitting device, said transmitting device being configured to transmit a pulse signal, said receiver being configured to receive the pulse signal transmitted by said transmitting device and to perform the steps of the method according to any one of claims 1 to 3 for processing said pulse signal.
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