CN112543501B - Time calibration method and device, storage medium and electronic device - Google Patents
Time calibration method and device, storage medium and electronic device Download PDFInfo
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Abstract
The application discloses a time calibration method and device, a storage medium and an electronic device. Wherein, the method comprises the following steps: acquiring the communication times between the positioning tag and a positioning base station; and under the condition that the communication times between the positioning tag and the positioning base station reach a first threshold value, calibrating the time of the positioning tag by using the time of the positioning base station. The method and the device solve the technical problem that time deviation exists between the positioning label and the positioning base station in the related technology.
Description
Technical Field
The present application relates to the field of positioning, and in particular, to a method and an apparatus for calibrating time, a storage medium, and an electronic apparatus.
Background
In large-scale warehouse, the warehouse administrator needs to know the specific position of fork truck and the specific position of personnel in the warehouse, so that the work can be more efficient, and the management is also convenient. UWB (Ultra Wide Band-Ultra Wide Band) technology is widely used for indoor positioning due to its high precision positioning advantage.
However, in the prior art, due to the fact that the clock of the base station is arranged in the base station, the clock of the base station is asynchronous, when the positioning tag is in communication positioning with the base station, the time deviation is accumulated to a certain degree, the communication data of the time is inaccurate, and in addition, when the positioning tag fails to communicate with the positioning base station, the communication data needed by the positioning is insufficient, and the positioning accuracy is further affected.
For example: in patent CN210075590U, in order to solve the problems of error and low accuracy of the ultra-wideband positioning module itself, the label is located on the motion plane of the label, and when the label needs error compensation, the precise coordinates of the label are obtained through the laser transceiver unit between the calibration node and the label, so as to calculate the positioning error between the label and multiple base stations. The error is used as compensation quantity for subsequent ultra-wideband positioning, so that the error caused by the ultra-wideband module can be effectively compensated, and the positioning precision scheme is improved.
However, this solution requires a laser transceiver unit to obtain the accuracy of the label, which results in high cost and complex process.
In view of the above problems, no effective solution has been proposed.
Disclosure of Invention
The embodiment of the application provides a time calibration method and device, a storage medium and an electronic device, so as to at least solve the technical problem that time deviation exists between a positioning tag and a positioning base station in the related art.
According to an aspect of an embodiment of the present application, there is provided a method for calibrating time, including: acquiring the communication times between the positioning tag and a positioning base station; and under the condition that the communication times between the positioning tag and the positioning base station reach a first threshold value, calibrating the time of the positioning tag by using the time of the positioning base station.
Optionally, before obtaining the number of times of communication between the positioning tag and the positioning base station, dividing the plurality of positioning base stations into N groups of base stations, where each group of base stations includes at least three positioning base stations, and N is an integer greater than 0; selecting a main positioning base station and a slave positioning base station from each group of base stations, taking the main positioning base station of a first group of base stations in the N groups of base stations as a main positioning base station, and taking the main positioning base stations of other groups as group main positioning base stations; broadcast messages are propagated among the sets of base stations.
Optionally, when broadcasting messages are propagated among the groups of base stations, a first master positioning base station in a first group of base stations sends a broadcasting message to a second master positioning base station in a second group of base stations, where the first master positioning base station is a master positioning base station and the second master positioning base station is a group master positioning base station; the second main positioning base station judges whether the broadcast message of the first main positioning base station is received within the set time; under the condition that the broadcast message of the first main positioning base station is received within the set time, the second main positioning base station forwards the broadcast message to a third main positioning base station in a third group of base stations; and forwarding the broadcast message according to the mode until the group main positioning base station in the Nth group of base stations receives the broadcast message.
Optionally, when broadcasting messages are propagated among the groups of base stations, in a case that the second master positioning base station does not receive the broadcasting message of the first master positioning base station within a set time, the second master positioning base station sends a notification message to the slave positioning base stations of the first group of base stations to notify that the slave positioning base stations in the first group of base stations are enabled; the slave positioning base station in the first group of base stations forwards the broadcast message to a second master positioning base station in a second group of base stations; the second main positioning base station forwards the broadcast message to a slave positioning base station in the second group of base stations, and the slave positioning base station in the second group of base stations forwards the broadcast message to a group main positioning base station in the third group of base stations; and forwarding the broadcast message according to the mode until all the group main positioning base stations and the slave positioning base stations of all the groups receive the broadcast message.
Optionally, before obtaining the number of times of communication between the positioning tag and the positioning base station, after the positioning tag is powered on, receiving a broadcast message sent by the positioning base station; reading the required delay time t milliseconds from the broadcast message; and executing the operation with the delay time of t milliseconds.
Optionally, when the time of the positioning tag is calibrated by using the time of the positioning base station, the positioning tag and the positioning base station execute an operation specified by a positioning protocol, and record the executed times of the positioning protocol, where the times of the positioning protocol is the times of the communication protocol; after the positioning label finishes the positioning protocol, entering a dormant stage; after the positioning tag is automatically awakened, judging whether the executed times are greater than a first threshold value; if the executed times are larger than a first threshold value, the positioning label receives the broadcast message sent by the positioning base station again; if the executed times are not larger than the first threshold value, the positioning tag continues to execute the operation specified by the positioning protocol and updates the executed times of the positioning protocol.
Optionally, the operation method of the positioning tag and the positioning base station executing the positioning protocol is as follows: the positioning label reads the group number of the positioning base station sending the broadcast message and the label of the positioning base station in the group from the broadcast message and sends the positioning message to the positioning base station; the positioning label receives a message that the positioning base station feeds back successful positioning within a preset time, records the times of successful current positioning, and otherwise, sends a positioning message to the positioning base stations with opposite group numbers and the same label; and the positioning label records the number of times of successful positioning at present until the number of times of successful positioning meets a preset second threshold value, and the positioning protocol is ended.
According to another aspect of the embodiments of the present application, there is also provided a time calibration apparatus, including: the acquisition unit is used for acquiring the communication times between the positioning label and the positioning base station; and the calibration unit is used for calibrating the time of the positioning tag by using the time of the positioning base station under the condition that the communication frequency between the positioning tag and the positioning base station reaches a first threshold value.
Optionally, the apparatus may further include a communication unit, configured to divide the plurality of positioning base stations into N groups of base stations before obtaining the number of times of communication between the positioning tag and the positioning base station, where each group of base stations includes at least three positioning base stations, and N is an integer greater than 0; selecting a main positioning base station and a slave positioning base station from each group of base stations, taking the main positioning base station of a first group of base stations in the N groups of base stations as a main positioning base station, and taking the main positioning base stations of other groups as group main positioning base stations; broadcast messages are propagated among the sets of base stations.
Optionally, the communication unit is further configured to instruct, when a broadcast message is propagated among the groups of base stations, a first master positioning base station in the first group of base stations to send the broadcast message to a second master positioning base station in the second group of base stations, where the first master positioning base station is a master positioning base station, and the second master positioning base station is a group master positioning base station; the second main positioning base station judges whether the broadcast message of the first main positioning base station is received within the set time; under the condition that the broadcast message of the first main positioning base station is received within the set time, the second main positioning base station forwards the broadcast message to a third main positioning base station in a third group of base stations; and forwarding the broadcast message according to the mode until the group main positioning base station in the Nth group of base stations receives the broadcast message.
Optionally, the communication unit is further configured to instruct, when a broadcast message is propagated among the base stations in each group, the second master positioning base station to send a notification message to a slave positioning base station in the first group of base stations to notify that the slave positioning base station in the first group of base stations is enabled, in a case that the second master positioning base station does not receive the broadcast message of the first master positioning base station within a set time; the slave positioning base station in the first group of base stations forwards the broadcast message to a second master positioning base station in a second group of base stations; the second main positioning base station forwards the broadcast message to a slave positioning base station in the second group of base stations, and the slave positioning base station in the second group of base stations forwards the broadcast message to a group main positioning base station in the third group of base stations; and forwarding the broadcast message according to the mode until all the group main positioning base stations and the slave positioning base stations of all the groups receive the broadcast message.
Optionally, the communication unit is further configured to receive a broadcast message sent by the positioning base station after the positioning tag is powered on before the number of times of communication between the positioning tag and the positioning base station is obtained; reading the required delay time t milliseconds from the broadcast message; and executing the operation with the delay time of t milliseconds.
Optionally, the calibration unit is further configured to, when calibrating the time of the positioning tag by using the time of the positioning base station, execute an operation specified by a positioning protocol with the positioning base station, and record the number of times that the positioning protocol has been executed, where the number of times of the positioning protocol is the number of times of the communication protocol; after the positioning label finishes the positioning protocol, entering a dormant stage; after the positioning tag is automatically awakened, judging whether the executed times are greater than a first threshold value; if the executed times are larger than a first threshold value, the positioning label receives the broadcast message sent by the positioning base station again; if the executed times are not larger than the first threshold value, the positioning tag continues to execute the operation specified by the positioning protocol and updates the executed times of the positioning protocol.
Optionally, the operation method of the positioning tag and the positioning base station executing the positioning protocol is as follows: the positioning label reads the group number of the positioning base station sending the broadcast message and the label of the positioning base station in the group from the broadcast message and sends the positioning message to the positioning base station; the positioning label receives a message that the positioning base station feeds back successful positioning within a preset time, records the times of successful current positioning, and otherwise, sends a positioning message to the positioning base stations with opposite group numbers and the same label; and the positioning label records the number of times of successful positioning at present until the number of times of successful positioning meets a preset second threshold value, and the positioning protocol is ended.
According to another aspect of the embodiments of the present application, there is also provided a storage medium including a stored program which, when executed, performs the above-described method.
According to another aspect of the embodiments of the present application, there is also provided an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor executes the above method through the computer program.
In the embodiment of the application, after the positioning tag communicates with the positioning base station for a certain number of times, the positioning tag performs positioning time calibration, so that the technical problem of time deviation between the positioning tag and the positioning base station in the related art can be solved, and the positioning accuracy can be improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
FIG. 1 is a flow chart of an alternative time calibration method according to an embodiment of the present application;
FIG. 2 is a flow chart of an alternative time calibration method according to an embodiment of the present application;
FIG. 3 is a schematic diagram of an alternative base station grouping scheme according to an embodiment of the present application;
FIG. 4 is a flow diagram of an alternative transmission broadcast message according to an embodiment of the present application;
FIG. 5 is a flow diagram of an alternative transmission broadcast message according to an embodiment of the present application;
FIG. 6 is a flow diagram of an alternative communication protocol according to an embodiment of the present application;
FIG. 7 is a schematic diagram of an alternative time alignment apparatus according to an embodiment of the present application;
and
fig. 8 is a block diagram of a terminal according to an embodiment of the present application.
Detailed Description
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The problem that the positioning time of a positioning label is deviated to cause inaccurate positioning exists in the related technology; the failure of communication between the positioning tag and the positioning base station can cause positioning failure, and further cause the problem of reduction of positioning accuracy. The existing technical scheme for solving the problems has the problems of high cost and complex scheme.
To overcome the above problems, according to an aspect of embodiments of the present application, there is provided a method embodiment of a method of calibrating time. Fig. 1 is a flowchart of an alternative time calibration method according to an embodiment of the present application, and as shown in fig. 1, the method may include the following steps:
step S1, obtaining the number of times of communication between the positioning tag and the positioning base station.
Optionally, before obtaining the number of times of communication between the positioning tag and the positioning base station, dividing the plurality of positioning base stations into N groups of base stations, where each group of base stations includes at least three positioning base stations, and N is an integer greater than 0; selecting a main positioning base station and a slave positioning base station from each group of base stations, taking the main positioning base station of a first group of base stations in the N groups of base stations as a main positioning base station, and taking the main positioning base stations of other groups as group main positioning base stations; broadcast messages are propagated among the sets of base stations.
Optionally, when broadcasting messages are propagated among the groups of base stations, a first master positioning base station in a first group of base stations sends a broadcasting message to a second master positioning base station in a second group of base stations, where the first master positioning base station is a master positioning base station and the second master positioning base station is a group master positioning base station; the second main positioning base station judges whether the broadcast message of the first main positioning base station is received within the set time; under the condition that the broadcast message of the first main positioning base station is received within the set time, the second main positioning base station forwards the broadcast message to a third main positioning base station in a third group of base stations; and forwarding the broadcast message according to the mode until the group main positioning base station in the Nth group of base stations receives the broadcast message.
Optionally, when broadcasting messages are propagated among the groups of base stations, in a case that the second master positioning base station does not receive the broadcasting message of the first master positioning base station within a set time, the second master positioning base station sends a notification message to the slave positioning base stations of the first group of base stations to notify that the slave positioning base stations in the first group of base stations are enabled; the slave positioning base station in the first group of base stations forwards the broadcast message to a second master positioning base station in a second group of base stations; the second main positioning base station forwards the broadcast message to a slave positioning base station in the second group of base stations, and the slave positioning base station in the second group of base stations forwards the broadcast message to a group main positioning base station in the third group of base stations; and forwarding the broadcast message according to the mode until all the group main positioning base stations and the slave positioning base stations of all the groups receive the broadcast message.
Optionally, before obtaining the number of times of communication between the positioning tag and the positioning base station, after the positioning tag is powered on, receiving a broadcast message sent by the positioning base station; reading the required delay time t milliseconds from the broadcast message; and executing the operation with the delay time of t milliseconds.
In step S2, when the number of communications between the positioning tag and the positioning base station reaches the first threshold, the time of the positioning tag is calibrated by using the time of the positioning base station.
Optionally, when the time of the positioning tag is calibrated by using the time of the positioning base station, the positioning tag and the positioning base station execute an operation specified by a positioning protocol, and record the executed times of the positioning protocol, where the times of the positioning protocol is the times of the communication protocol; after the positioning label finishes the positioning protocol, entering a dormant stage; after the positioning tag is automatically awakened, judging whether the executed times are greater than a first threshold value; if the executed times are larger than a first threshold value, the positioning label receives the broadcast message sent by the positioning base station again; if the executed times are not larger than the first threshold value, the positioning tag continues to execute the operation specified by the positioning protocol and updates the executed times of the positioning protocol.
Optionally, the operation method of the positioning tag and the positioning base station executing the positioning protocol is as follows: the positioning label reads the group number of the positioning base station sending the broadcast message and the label of the positioning base station in the group from the broadcast message and sends the positioning message to the positioning base station; the positioning label receives a message that the positioning base station feeds back successful positioning within a preset time, records the times of successful current positioning, and otherwise, sends a positioning message to the positioning base stations with opposite group numbers and the same label; and the positioning label records the number of times of successful positioning at present until the number of times of successful positioning meets a preset second threshold value, and the positioning protocol is ended.
Through the steps, after the positioning tag is communicated with the positioning base station for a certain number of times, the positioning tag carries out positioning time calibration, so that the technical problem that time deviation exists between the positioning tag and the positioning base station in the related technology can be solved, and the positioning accuracy can be improved.
As an alternative example, as shown in fig. 2 to 6, the following further details the technical solution of the present application with reference to specific embodiments.
The scheme provides a wireless networking method based on UWB positioning base stations and tags, which comprises M UWB positioning base stations and N UWB positioning tags, wherein M is more than or equal to 3, and N is more than 0. The specific implementation method is shown in figure 2.
Step S21, grouping the M UWB positioning base stations into groups of four (as shown in fig. 3), where the group number of each group is denoted by 0 or 1, the label of each group is opposite to that of the adjacent group, the labels of the four UWB positioning base stations in each group are 1, 2, 3, and 4, respectively, and the distances between the UWB positioning base stations are equal.
Step S22, selecting one from the first group as the UWB primary positioning base station (i.e. the total primary positioning base station), where the group number of the first group is 0, the number of the UWB primary positioning base station is 1, and the function is: sending a broadcast message, and starting positioning; one of the other groups is selected as a base station as other UWB main positioning base stations (namely a group main positioning base station) according to the principle that every interval is 1 base station, and the functions of the base station are as follows: receiving a broadcast message of a UWB master positioning base station and forwarding the received broadcast message to other groups; selecting one UWB positioning base station from the rest UWB positioning base stations in each group as a UWB slave positioning base station, and the functions of the UWB slave positioning base station are as follows: and forwarding the broadcast message in the middle.
Step S23, UWB positioning base station broadcasts message, the process is as shown in fig. 4:
step S401, a UWB main positioning base station (namely a main positioning base station) is powered on, and a broadcast message is sent to the UWB group main positioning base station with the group number of 1 and the label of 1;
step S402, the UWB group main positioning base station with group number 1 and label 1 judges whether the broadcast message sent by the UWB main positioning base station (namely the total main positioning base station) is received in the set time, if yes, step S403 is executed, otherwise, step S407 is executed;
step S403, the UWB group main positioning base station with the group number of 1 and the label of 1 sends a broadcast message to the UWB main positioning base station with the group number of 0 and the label of 1;
step S404, when the UWB group main positioning base station with group number 0 and label 1 receives the broadcast message, the broadcast message is sent to the UWB group main positioning base station with group number 1 and label 1;
step S405, by analogy, the UWB main positioning base station sends a message to the UWB main positioning base station with the same label and different group number;
step S406, until all UWB main positioning base stations with the label 1 receive the broadcast message, the broadcast message is ended;
step S407, sending a rebroadcast message to the UWB slave positioning base station in the group where the UWB master positioning base station is located, and starting the UWB slave positioning base station;
step S408, after receiving the broadcast message from the positioning base station, the UWB transmits the broadcast message, and sends the broadcast message to the UWB group main positioning base station with the group number of 1 and the label of 1;
step S409, the UWB group main positioning base station with the group number of 1 and the label of 1 sends a broadcast message to the UWB slave positioning base stations in the same group;
and step S410, and so on, until all UWB main positioning base stations and slave positioning base stations receive the broadcast message, and the broadcast message is ended.
And step S24, the UWB positioning label is electrified and communicates with the UWB positioning base station. Positioning tag B with the ith UWBiFor example, the communication process with the UWB positioning base station is illustrated in FIG. 5, wherein i ≦ N, where N is the number of UWB positioning tags.
Step S501, UWB locates label BiReceiving a broadcast message sent by a UWB positioning base station;
step S502, UWB positions the label BiReading the required delay time t milliseconds from the broadcast message, wherein t is 5 (i-1);
step S503, UWB locates tag BiExecuting delay time t milliseconds;
step S504, UWB locates label BiThe positioning protocol executed with the UWB positioning base station is shown in fig. 6, and the number of times the positioning protocol is executed in the current step is recorded as m;
step S505, UWB locates tag BiAfter the positioning protocol is finished, entering a sleep stage, wherein the sleep time is T milliseconds;
step S506, UWB positioning label BiAutomatically awakening, judging whether M is larger than M, if so, executing step S507, otherwise, executing step S504, step S505 and step S506, wherein M is the preset number of times of executing the positioning protocol;
step S507, UWB locates label BiThe broadcast message transmitted by the UWB positioning base station is received again, and step S502, step S503, step S504, step S505, and step S506 are executed.
The positioning protocol is as shown in fig. 6:
step S601, UWB locates label BiReading a group number where the UWB positioning base station is located and a self label j from the broadcast message, wherein the group number is 0 or 1, and j is more than or equal to 1 and less than or equal to 4;
step S602, the UWB positioning label Bi sends positioning information to the UWB positioning base station with the label j;
step S603, after the UWB positioning base station finishes positioning, the UWB positioning label B is positioned to the UWBiSending a feedback message with a mark symbol to indicate that the positioning is successful;
step S604, the UWB positioning tag Bi judges whether to receive the feedback message within the preset time according to the parameters, if so, the step S605 is executed, otherwise, the step S608 is executed;
step S605, recording the current successful positioning times n by the UWB positioning label Bi;
step S606, judging whether n is less than 4, if so, executing step S607, otherwise, ending the positioning protocol;
step S607, determining whether the reference number j is less than 4, and if less than 4, j equals j + 1; otherwise j is 1; then, step S602, step S603, and step S604 are executed;
step S608, the UWB positioning label Bi sends positioning information to the UWB positioning base station with the opposite group number and the label j; then, step S603 and step S604 are executed.
By dividing the UWB positioning base stations into 0 and 1 groups, the problem of asynchronism between the UWB positioning base stations under the condition of not using a synchronous controller is solved, and the problem caused by the communication failure of the positioning label and the UWB positioning base station is also solved, the positioning label can communicate with the base stations with the same label in another group, so that the positioning accuracy is improved; after the positioning tag is communicated with the UWB positioning base station for a certain number of times, the broadcast message of the UWB positioning base station is received again to calibrate the time deviation, and the positioning accuracy is further improved. The positioning time calibration is carried out by the positioning labels after the positioning labels are communicated with the positioning base station for a certain number of times under the condition of a plurality of positioning labels, and the positioning accuracy is improved.
It should be noted that, for simplicity of description, the above-mentioned method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present application is not limited by the order of acts described, as some steps may occur in other orders or concurrently depending on the application. Further, those skilled in the art should also appreciate that the embodiments described in the specification are preferred embodiments and that the acts and modules referred to are not necessarily required in this application.
Through the above description of the embodiments, those skilled in the art can clearly understand that the method according to the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but the former is a better implementation mode in many cases. Based on such understanding, the technical solutions of the present application may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present application.
According to another aspect of the embodiments of the present application, there is also provided a time calibration apparatus for implementing the above time calibration method. Fig. 7 is a schematic diagram of an alternative time calibration apparatus according to an embodiment of the present application, which may include, as shown in fig. 7:
an obtaining unit 71, configured to obtain the number of communications between the positioning tag and the positioning base station; and a calibration unit 73, configured to calibrate the time of the positioning tag by using the time of the positioning base station when the number of communications between the positioning tag and the positioning base station reaches a first threshold.
It should be noted that the obtaining unit 71 in this embodiment may be configured to execute step S1 in this embodiment, and the calibrating unit 73 in this embodiment may be configured to execute step S2 in this embodiment.
Optionally, the apparatus may further include a communication unit, configured to divide the plurality of positioning base stations into N groups of base stations before obtaining the number of times of communication between the positioning tag and the positioning base station, where each group of base stations includes at least three positioning base stations, and N is an integer greater than 0; selecting a main positioning base station and a slave positioning base station from each group of base stations, taking the main positioning base station of a first group of base stations in the N groups of base stations as a main positioning base station, and taking the main positioning base stations of other groups as group main positioning base stations; broadcast messages are propagated among the sets of base stations.
Optionally, the communication unit is further configured to instruct, when a broadcast message is propagated among the groups of base stations, a first master positioning base station in the first group of base stations to send the broadcast message to a second master positioning base station in the second group of base stations, where the first master positioning base station is a master positioning base station, and the second master positioning base station is a group master positioning base station; the second main positioning base station judges whether the broadcast message of the first main positioning base station is received within the set time; under the condition that the broadcast message of the first main positioning base station is received within the set time, the second main positioning base station forwards the broadcast message to a third main positioning base station in a third group of base stations; and forwarding the broadcast message according to the mode until the group main positioning base station in the Nth group of base stations receives the broadcast message.
Optionally, the communication unit is further configured to instruct, when a broadcast message is propagated among the base stations in each group, the second master positioning base station to send a notification message to a slave positioning base station in the first group of base stations to notify that the slave positioning base station in the first group of base stations is enabled, in a case that the second master positioning base station does not receive the broadcast message of the first master positioning base station within a set time; the slave positioning base station in the first group of base stations forwards the broadcast message to a second master positioning base station in a second group of base stations; the second main positioning base station forwards the broadcast message to a slave positioning base station in the second group of base stations, and the slave positioning base station in the second group of base stations forwards the broadcast message to a group main positioning base station in the third group of base stations; and forwarding the broadcast message according to the mode until all the group main positioning base stations and the slave positioning base stations of all the groups receive the broadcast message.
Optionally, the communication unit is further configured to receive a broadcast message sent by the positioning base station after the positioning tag is powered on before the number of times of communication between the positioning tag and the positioning base station is obtained; reading the required delay time t milliseconds from the broadcast message; and executing the operation with the delay time of t milliseconds.
Optionally, the calibration unit is further configured to, when calibrating the time of the positioning tag by using the time of the positioning base station, execute an operation specified by a positioning protocol with the positioning base station, and record the number of times that the positioning protocol has been executed, where the number of times of the positioning protocol is the number of times of the communication protocol; after the positioning label finishes the positioning protocol, entering a dormant stage; after the positioning tag is automatically awakened, judging whether the executed times are greater than a first threshold value; if the executed times are larger than a first threshold value, the positioning label receives the broadcast message sent by the positioning base station again; if the executed times are not larger than the first threshold value, the positioning tag continues to execute the operation specified by the positioning protocol and updates the executed times of the positioning protocol.
Optionally, the operation method of the positioning tag and the positioning base station executing the positioning protocol is as follows: the positioning label reads the group number of the positioning base station sending the broadcast message and the label of the positioning base station in the group from the broadcast message and sends the positioning message to the positioning base station; the positioning label receives a message that the positioning base station feeds back successful positioning within a preset time, records the times of successful current positioning, and otherwise, sends a positioning message to the positioning base stations with opposite group numbers and the same label; and the positioning label records the number of times of successful positioning at present until the number of times of successful positioning meets a preset second threshold value, and the positioning protocol is ended.
It should be noted here that the modules described above are the same as the examples and application scenarios implemented by the corresponding steps, but are not limited to the disclosure of the above embodiments. It should be noted that the modules as a part of the apparatus may run in a corresponding hardware environment, and may be implemented by software, or may be implemented by hardware, where the hardware environment includes a network environment.
According to another aspect of the embodiments of the present application, there is also provided a server or a terminal for implementing the above time calibration method.
Fig. 8 is a block diagram of a terminal according to an embodiment of the present application, and as shown in fig. 8, the terminal may include: one or more processors 201 (only one shown), memory 203, and transmission means 205, as shown in fig. 8, the terminal may further comprise an input-output device 207.
The memory 203 may be configured to store software programs and modules, such as program instructions/modules corresponding to the time calibration method and apparatus in the embodiments of the present application, and the processor 201 executes various functional applications and data processing by running the software programs and modules stored in the memory 203, that is, implements the time calibration method described above. The memory 203 may include high speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 203 may further include memory located remotely from the processor 201, which may be connected to the terminal over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The transmission device 205 is used for receiving or sending data via a network, and can also be used for data transmission between a processor and a memory. Examples of the network may include a wired network and a wireless network. In one example, the transmission device 205 includes a Network adapter (NIC) that can be connected to a router via a Network cable and other Network devices to communicate with the internet or a local area Network. In one example, the transmission device 205 is a Radio Frequency (RF) module, which is used for communicating with the internet in a wireless manner.
Wherein the memory 203 is specifically used for storing application programs.
The processor 201 may call the application stored in the memory 203 via the transmission means 205 to perform the following steps:
acquiring the communication times between the positioning tag and a positioning base station;
and under the condition that the communication times between the positioning tag and the positioning base station reach a first threshold value, calibrating the time of the positioning tag by using the time of the positioning base station.
Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments, and this embodiment is not described herein again.
It can be understood by those skilled in the art that the structure shown in fig. 8 is only an illustration, and the terminal may be a terminal device such as a smart phone (e.g., an Android phone, an iOS phone, etc.), a tablet computer, a palm computer, and a Mobile Internet Device (MID), a PAD, etc. Fig. 8 is a diagram illustrating a structure of the electronic device. For example, the terminal may also include more or fewer components (e.g., network interfaces, display devices, etc.) than shown in FIG. 8, or have a different configuration than shown in FIG. 8.
Those skilled in the art will appreciate that all or part of the steps in the methods of the above embodiments may be implemented by a program instructing hardware associated with the terminal device, where the program may be stored in a computer-readable storage medium, and the storage medium may include: flash disks, Read-Only memories (ROMs), Random Access Memories (RAMs), magnetic or optical disks, and the like.
Embodiments of the present application also provide a storage medium. Alternatively, in this embodiment, the storage medium may be a program code for executing the calibration method of time.
Optionally, in this embodiment, the storage medium may be located on at least one of a plurality of network devices in a network shown in the above embodiment.
Optionally, in this embodiment, the storage medium is configured to store program code for performing the following steps:
acquiring the communication times between the positioning tag and a positioning base station;
and under the condition that the communication times between the positioning tag and the positioning base station reach a first threshold value, calibrating the time of the positioning tag by using the time of the positioning base station.
Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments, and this embodiment is not described herein again.
Optionally, in this embodiment, the storage medium may include, but is not limited to: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The above-mentioned serial numbers of the embodiments of the present application are merely for description and do not represent the merits of the embodiments.
The integrated unit in the above embodiments, if implemented in the form of a software functional unit and sold or used as a separate product, may be stored in the above computer-readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or a part of or all or part of the technical solution contributing to the prior art may be embodied in the form of a software product stored in a storage medium, and including instructions for causing one or more computer devices (which may be personal computers, servers, network devices, or the like) to execute all or part of the steps of the method described in the embodiments of the present application.
In the above embodiments of the present application, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the several embodiments provided in the present application, it should be understood that the disclosed client may be implemented in other manners. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one type of division of logical functions, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The foregoing is only a preferred embodiment of the present application and it should be noted that those skilled in the art can make several improvements and modifications without departing from the principle of the present application, and these improvements and modifications should also be considered as the protection scope of the present application.
Claims (8)
1. A method for time calibration, comprising:
dividing a plurality of positioning base stations into N groups of base stations, wherein each group of base stations comprises at least three positioning base stations, and N is an integer greater than 0;
selecting a main positioning base station and a slave positioning base station from each group of base stations, taking the main positioning base station of a first group of base stations in the N groups of base stations as a main positioning base station, and taking the main positioning base stations of other groups as group main positioning base stations;
broadcasting messages among the groups of base stations;
acquiring the communication times between the positioning tag and a positioning base station;
under the condition that the communication frequency between the positioning tag and the positioning base station reaches a first threshold value, calibrating the time of the positioning tag by using the time of the positioning base station;
wherein propagating broadcast messages among the groups of base stations comprises:
a first main positioning base station in a first group of base stations sends a broadcast message to a second main positioning base station in a second group of base stations, wherein the first main positioning base station is a total main positioning base station, and the second main positioning base station is a group main positioning base station;
the second main positioning base station judges whether the broadcast message of the first main positioning base station is received within the set time;
under the condition that the broadcast message of the first main positioning base station is received within the set time, the second main positioning base station forwards the broadcast message to a third main positioning base station in a third group of base stations;
and forwarding the broadcast message according to the mode until the group main positioning base station in the Nth group of base stations receives the broadcast message.
2. The method of claim 1, wherein propagating broadcast messages among groups of base stations further comprises:
under the condition that the second main positioning base station does not receive the broadcast message of the first main positioning base station within the set time, the second main positioning base station sends a notification message to the slave positioning base stations of the first group of base stations to notify that the slave positioning base stations in the first group of base stations are enabled;
the slave positioning base station in the first group of base stations forwards the broadcast message to a second master positioning base station in a second group of base stations;
the second main positioning base station forwards the broadcast message to a slave positioning base station in the second group of base stations, and the slave positioning base station in the second group of base stations forwards the broadcast message to a group main positioning base station in the third group of base stations;
and forwarding the broadcast message according to the mode until all the group main positioning base stations and the slave positioning base stations of all the groups receive the broadcast message.
3. The method of claim 1, wherein before obtaining the number of communications between the positioning tag and the positioning base station, the method further comprises:
after the positioning label is electrified, receiving a broadcast message sent by a positioning base station;
reading the required delay time t milliseconds from the broadcast message;
and executing the operation with the delay time of t milliseconds.
4. The method of claim 3, wherein calibrating the time of the positioning tag with the time of the positioning base station comprises:
the positioning label and the positioning base station execute the operation specified by the positioning protocol and record the executed times of the positioning protocol, wherein the times of the positioning protocol is the times of the communication protocol;
after the positioning label finishes the positioning protocol, entering a dormant stage;
after the positioning tag is automatically awakened, judging whether the executed times are greater than a first threshold value;
if the executed times are larger than a first threshold value, the positioning label receives the broadcast message sent by the positioning base station again;
if the executed times are not larger than the first threshold value, the positioning tag continues to execute the operation specified by the positioning protocol and updates the executed times of the positioning protocol.
5. The method of claim 4, wherein the positioning tag and the positioning base station execute the positioning protocol according to the following operation method:
the positioning label reads the group number of the positioning base station sending the broadcast message and the label of the positioning base station in the group from the broadcast message and sends the positioning message to the positioning base station;
the positioning label receives a message that the positioning base station feeds back successful positioning within a preset time, records the times of successful current positioning, and otherwise, sends a positioning message to the positioning base stations with different group numbers and the same label, wherein the group numbers comprise 0 and 1;
and the positioning label records the number of times of successful positioning at present until the number of times of successful positioning meets a preset second threshold value, and the positioning protocol is ended.
6. An apparatus based on the calibration method of any one of claims 1 to 5, comprising:
the acquisition unit is used for acquiring the communication times between the positioning label and the positioning base station;
and the calibration unit is used for calibrating the time of the positioning tag by using the time of the positioning base station under the condition that the communication frequency between the positioning tag and the positioning base station reaches a first threshold value.
7. A storage medium, characterized in that the storage medium comprises a stored program, wherein the program when executed performs the method of any of the preceding claims 1 to 5.
8. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor executes the method of any of the preceding claims 1 to 5 by means of the computer program.
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| US6236365B1 (en) * | 1996-09-09 | 2001-05-22 | Tracbeam, Llc | Location of a mobile station using a plurality of commercial wireless infrastructures |
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| CN107231614B (en) * | 2017-06-23 | 2020-09-25 | 北京星网锐捷网络技术有限公司 | Method for positioning label in wireless network and main base station |
| CN108712720A (en) * | 2018-05-25 | 2018-10-26 | 京东方科技集团股份有限公司 | A kind of indoor orientation method and system based on Bluetooth beacon grouping |
| CN110505685B (en) * | 2019-08-29 | 2021-01-15 | 成都精位科技有限公司 | Base station calibration method and device based on satellite positioning system |
| CN111954194B (en) * | 2020-08-12 | 2023-12-05 | 深圳市蓝信物联科技有限公司 | Wireless intelligent tag refreshing control method and device based on Internet of things |
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| CN102892080A (en) * | 2011-07-22 | 2013-01-23 | 北京天一众合科技股份有限公司 | Positioning method and system |
| CN106199511A (en) * | 2016-06-23 | 2016-12-07 | 郑州联睿电子科技有限公司 | VR location tracking system based on ultra broadband location and location tracking method thereof |
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