CN113009461A - Improved single-side two-way distance measuring method, equipment, system and medium based on UWB - Google Patents
Improved single-side two-way distance measuring method, equipment, system and medium based on UWB Download PDFInfo
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- CN113009461A CN113009461A CN202110576603.6A CN202110576603A CN113009461A CN 113009461 A CN113009461 A CN 113009461A CN 202110576603 A CN202110576603 A CN 202110576603A CN 113009461 A CN113009461 A CN 113009461A
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- 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
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Abstract
The embodiment of the invention discloses an improved unilateral two-way distance measurement method, equipment, a system and a medium based on UWB; the method comprises the following steps: recording a first sending time stamp of sending the ranging message to the response terminal and a first receiving time stamp of receiving a first response message sent by the response terminal based on the ranging message; the first response message is sent to the initiating terminal by the responding terminal immediately after the ranging message is received; receiving a second response message which is sent again by the response end after the response end sends the first response message; acquiring a second receiving timestamp and a second sending timestamp by analyzing the second response message; the second receiving timestamp is a receiving timestamp of the ranging message received by the response end, and the second sending timestamp is a sending timestamp of the first response message sent by the response end; and calculating the flight time between the initiating terminal and the responding terminal according to the first receiving time stamp, the second receiving time stamp, the first sending time stamp and the second sending time stamp.
Description
Technical Field
The embodiment of the invention relates to the technical field of wireless communication, in particular to an improved single-side two-way ranging method, equipment, a system and a medium based on Ultra Wide Band (UWB).
Background
In current wireless communication systems, time-of-flight principles are typically employed to determine the distance between two devices or nodes within the system. For example, in an Ultra Wide Band (UWB) system, a conventional scheme measures a distance between nodes in the system by using a Single-ended Two-way Ranging (SS-TWR) method.
In the ranging process of the conventional SS-TWR scheme, the flight time is calculated based on the condition that the error is increased due to the antenna delay for sending the response information and the offset of the local clocks of the two communication parties, thereby causing a large ranging error.
Disclosure of Invention
In view of the above, embodiments of the present invention are to provide an improved method, device, system and medium for single-sided and two-way ranging based on UWB; the calculation error of the flight time can be reduced, the distance measurement error is reduced, and the distance measurement precision is improved.
The technical scheme of the embodiment of the invention is realized as follows:
in a first aspect, an embodiment of the present invention provides an improved single-sided two-way ranging method based on UWB, where the method is applied to an originating end, and the method includes:
recording a first sending time stamp of sending the ranging message to a response terminal and a first receiving time stamp of receiving a first response message sent by the response terminal based on the ranging message; the first response message is sent to the initiating terminal by the responding terminal immediately after the ranging message is received;
receiving a second response message which is sent again by the response end after the first response message is sent;
acquiring a second receiving timestamp and a second sending timestamp by analyzing the second response message; wherein the second receiving timestamp is a receiving timestamp of the ranging message received by the response end, and the second sending timestamp is a sending timestamp of the first response message sent by the response end;
and calculating the flight time between the initiating terminal and the responding terminal according to the first receiving time stamp, the second receiving time stamp, the first sending time stamp and the second sending time stamp.
In a second aspect, an embodiment of the present invention provides an improved single-sided two-way ranging method based on UWB, where the method is applied to a responding end, and the method includes:
immediately sending a first response message to an initiating terminal after receiving the ranging message;
acquiring a receiving timestamp of receiving the ranging message and a sending timestamp of sending the first response message;
encapsulating the receiving timestamp of receiving the ranging message and the sending timestamp of sending the first response message into a second response message;
and after the first response message is sent, sending the second response message to the initiator, so that the initiator calculates the flight time between the initiator and the responder according to the receiving timestamp of the ranging message received in the second response message and the sending timestamp of the first response message.
In a third aspect, an embodiment of the present invention provides an initiating end device, where the initiating end device includes: a recording part, a first receiving part, an analyzing part and a calculating part; wherein the content of the first and second substances,
the recording section configured to record a first transmission time stamp of a ranging message transmitted to a responding terminal and a first reception time stamp of a first response message transmitted by the responding terminal based on the ranging message; the first response message is sent to the initiating terminal by the responding terminal immediately after the ranging message is received;
the first receiving section configured to receive a second response message that is sent again by the response terminal after the first response message is sent;
the parsing part is configured to acquire a second receiving timestamp and a second sending timestamp by parsing the second response message; wherein the second receiving timestamp is a receiving timestamp of the ranging message received by the response end, and the second sending timestamp is a sending timestamp of the first response message sent by the response end;
the calculating part is configured to calculate the flight time between the initiating terminal and the responding terminal according to the first receiving time stamp, the second receiving time stamp, the first sending time stamp and the second sending time stamp.
In a fourth aspect, an embodiment of the present invention provides a responder device, where the responder device includes: a second receiving section, an acquiring section, an encapsulating section, and a transmitting section; wherein the content of the first and second substances,
the second receiving part configured to receive a ranging message;
the transmitting part is configured to transmit a first response message to an originating terminal immediately after receiving the ranging message;
the acquisition section configured to acquire a reception timestamp of receiving the ranging message and a transmission timestamp of transmitting the first response message;
the encapsulating part is configured to encapsulate a receiving time stamp of the receiving of the ranging message and a transmitting time stamp of the transmitting of the first response message as a second response message;
the sending part is further configured to send the second response message to the initiator after the first response message is completely sent, so that the initiator calculates the flight time between the initiator and the responder according to the receiving timestamp of the received ranging message and the sending timestamp of the first response message in the second response message.
In a fifth aspect, an embodiment of the present invention provides a computing device, where the computing device includes: a communication interface, a memory and a processor; wherein the content of the first and second substances,
the communication interface is used for receiving and sending signals in the process of receiving and sending information with other external network elements;
the memory for storing a computer program operable on the first processor;
the processor is configured to execute the steps of the improved one-sided two-way ranging method based on UWB according to the first aspect or the second aspect when running the computer program.
In a sixth aspect, an embodiment of the present invention provides a computer storage medium, where the computer storage medium stores an improved single-sided two-way ranging program based on UWB, and the improved single-sided two-way ranging program based on UWB is executed by at least one processor to implement the steps of the improved single-sided two-way ranging method based on UWB according to the first aspect or the second aspect.
In a seventh aspect, an embodiment of the present invention provides an improved single-sided two-way ranging system based on UWB, where the system includes an initiating end device and a responding end device; wherein the content of the first and second substances,
the initiating device configured to:
recording a first sending time stamp of sending the ranging message to a response terminal and a first receiving time stamp of receiving a first response message sent by the response terminal based on the ranging message; the first response message is sent to the initiating terminal by the responding terminal immediately after the ranging message is received;
receiving a second response message which is sent again by the response end after the first response message is sent;
and acquiring a second receiving timestamp and a second sending timestamp by analyzing the second response message; wherein the second receiving timestamp is a receiving timestamp of the ranging message received by the response end, and the second sending timestamp is a sending timestamp of the first response message sent by the response end;
calculating the flight time between the initiating terminal and the responding terminal according to the first receiving time stamp, the second receiving time stamp, the first sending time stamp and the second sending time stamp;
the responder device configured to:
immediately sending a first response message to an initiating terminal after receiving the ranging message;
acquiring a receiving time stamp of the received ranging message and a sending time stamp of the first response message;
and encapsulating the reception timestamp of receiving the ranging message and the transmission timestamp of transmitting the first response message into a second response message;
and after the first response message is sent, sending the second response message to the initiating terminal.
The embodiment of the invention provides an improved unilateral two-way distance measurement method, equipment, a system and a medium based on UWB; the response end does not delay after receiving the ranging message, but immediately sends a first response message to the initiating end; the first response message does not include timestamp information, so that the length of the first response message is reduced, the transceiving time difference of a response end is reduced to the maximum extent, and errors introduced in the flight time calculation process are reduced; and because the first response message is sent immediately, the antenna delay time does not need to be increased, the complexity of antenna delay calibration and calculation is reduced, the correlation between the flight time and the temperature is further reduced, and the robustness is improved.
Drawings
Fig. 1 is a schematic diagram of a network environment according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of a wireless communication system according to an embodiment of the present invention.
FIG. 3 is a schematic flow diagram of a conventional SS-TWR process.
Fig. 4 is a schematic flowchart of an improved single-sided two-way ranging method based on UWB according to an embodiment of the present invention.
Fig. 5 is a flowchart illustrating another improved single-sided two-way ranging method based on UWB according to an embodiment of the present invention.
Fig. 6 is a detailed flowchart of an improved single-sided two-way ranging method based on UWB according to an embodiment of the present invention.
Fig. 7 is a schematic diagram of an initiating device according to an embodiment of the present invention.
Fig. 8 is a schematic diagram of a specific hardware structure of a computing device according to an embodiment of the present invention.
Fig. 9 is a schematic composition diagram of a responder device according to an embodiment of the present invention.
Fig. 10 is a schematic diagram of a specific hardware structure of a responder device according to an embodiment of the present invention.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
Referring to fig. 1, which shows a schematic diagram of a network environment 100 that can be applied to the technical solutions set forth in the embodiments of the present invention, as an illustrative example and not by way of limitation, taking a wireless communication device 102 as an example, the wireless communication device 102 can wirelessly communicate with other wireless communication devices in a short range of the wireless communication device 102 in the network environment 100, such as a printer 104, a Personal Digital Assistant (PDA) 106, a camera 108, and an access point 110, and can also wirelessly communicate with a speaker system 112 communicatively coupled to the access point 110 and a wireless network 114 through the access point 110. All wireless communication devices in network environment 100 may communicate wirelessly using any suitable wireless standard, such as 802.11x or Ultra Wideband (UWB).
It should be noted that in the network environment 100 shown in fig. 1, the term "wireless communication device" may also be referred to by those skilled in the art as a Mobile Station (MS), a subscriber station, a mobile unit, a subscriber unit, a wireless unit, a remote unit, a mobile device, a wireless device, a remote device, a mobile subscriber station, an Access Terminal (AT), a mobile terminal, a wireless terminal, a remote terminal, a handset, a terminal, a user agent, a mobile client, a client, or some other suitable terminology; also, the wireless communication device need not necessarily have mobile capabilities in some examples, but may be stationary; further, a wireless communication device may include several hardware structural components sized, shaped, and arranged to facilitate wireless communication, such components may include antennas, antenna arrays, Radio Frequency (RF) chains, amplifiers, one or more processors, and so forth, electrically coupled to one another. Additionally, in some non-limiting examples, other non-limiting examples of wireless communication devices include mobile devices, cellular (cell) phones, smart phones, Session Initiation Protocol (SIP) phones, laptops, Personal Computers (PCs), notebooks, netbooks, smartbooks, tablets, and a wide variety of embedded systems, e.g., corresponding to the "internet of things" (IoT), in addition to the printers, PDAs, cameras, access points, speaker systems, and wireless networks described above. Additionally, the wireless communication device may be an automobile or other transportation vehicle, a remote sensor or actuator, a robot or robotic device, a satellite radio, a Global Positioning System (GPS) device, an object tracking device, a drone, a multi-axis aircraft, a quadcopter, a remote control device, a consumer and/or wearable device (such as glasses), a wearable camera, a virtual reality device, a smart watch, a health or fitness tracker, a digital audio player (e.g., MP3 player), a camera, a game console, and so forth. Additionally, the wireless communication device may also be a digital home or intelligent home device, such as a home audio, video, and/or multimedia device, an appliance, a vending machine, an intelligent lighting device, a home security system, a smart meter, and so forth. Additionally, the wireless communication device may also be a smart energy device, a security device, a solar panel or array, a municipal infrastructure device (e.g., a smart grid) that controls power, lighting, water, etc.; industrial automation and enterprise equipment; a logistics controller; agricultural equipment; military defense equipment, vehicles, airplanes, boats, weapons, and the like.
With respect to the wireless communication device 102 described above, which is a wireless communication system 200 capable of implementing bidirectional communication with any of other wireless communication devices in the network environment 100, as shown in the schematic diagram of the architecture of the communication system 200 shown in fig. 2, the communication system 200 may include a transmitter 202 (such as the wireless communication device 102 in the network environment 100 shown in fig. 1) and a receiver 206 (such as any of the other wireless communication devices in the network environment 100 shown in fig. 1), wherein the transmitter 202 may include one or more transmit antennas 204 (e.g., N1 transmit antennas), and the receiver 206 includes one or more receive antennas 208 (e.g., N2 receive antennas). The transmitter 202 transmits a data stream through the transmit antennas 204, the data stream passes through a wireless channel 210 to each receive antenna 208 of the receiver 206, and the receiver 206 may receive signals from each receive antenna 208 to reconstruct the data stream.
For the communication system 200, Time Of Flight (TOF) measurements can be obtained with sufficient accuracy for measuring the distance between the transmitter 202 and the receiver 206 through specific message interactions. For example, the SS-TWR method is an exemplary scheme for performing ranging by acquiring TOF. Taking the wireless communication device shown in the communication system 200 as an example, a conventional SS-TWR method flow is shown in fig. 3, it should be noted that the transmitter 202 may also be referred to as an initiating end, the receiver 206 may be referred to as a responding end accordingly, and the conventional SS-TWR method flow may include:
s301: the initiator sends a POLL message to the responder, and records a sending time stamp Tinit _ tx of the POLL message.
S302: after receiving the POLL message of the initiating end, the response end sends an RESP response message to the initiating end through set time delay;
wherein, the RESP response message includes a receiving timestamp Tresp _ rx when the response end receives the POLL message and a sending timestamp Tresp _ tx when the response end sends the RESP response message.
For S302, specifically, in the process of implementing the conventional SS-TWR method, the time duration of the delayed sending of the responding end is usually several hundred us or even ms, which is much longer than the information propagation time duration from the initiating end to the responding end; in addition, the transmission delay of the antenna needs to be added, and for the transmission delay of the antenna, the antenna delay is slightly different with the change of temperature, which also increases the complexity of antenna delay calibration and calculation.
S303: after receiving the RESP response message, the initiating terminal reads Tresp _ rx and Tresp _ tx in the RESP response message; and acquires the reception timestamp Tinit _ rx of the self-received RESP response message.
S304: the initiating terminal obtains the flight time according to Tinit _ tx, Tresp _ rx, Tresp _ tx and Tinit _ rx as follows: tprop = [ (Tinit _ rx-Tinit _ tx) - (Tresp _ tx-Tresp _ rx) ]/2= (round-Treply)/2.
Wherein, Tround = Tinit _ rx-Tinit _ tx, Treply = Tresp _ tx-Tresp _ rx; tround and Treply respectively represent the transceiving time difference of the initiating terminal and the responding terminal, and can be measured by using respective local clocks. Currently, both local clocks have some clock offset error from their nominal frequencies, such as eA and eB, so the time of flight resulting from the preceding estimate will also have a considerable error, expressed as
. In addition, since the ranging formula is:
therefore, an error in the time of flight Tprop may cause an increase in an error in the ranging calculation. In conjunction with the specific explanation in S302, it can be known that: the reply time of Treply not only includes the information propagation duration from the initiating terminal to the responding terminal, but also includes the information length of the RESP response message. Therefore, in order to reduce the error, the duration of Treply, including the length of the echo information, can be reduced.
Based on the above explanation and analysis of the conventional SS-TWR method, it can be known that the time length and information length of Treply involved in calculating the time of flight are reduced to the maximum extent, and the influence of the antenna delay time related to the temperature is avoided in the calculation, so that the correlation and error between the time of flight and the temperature can be reduced, and the robustness is increased.
Based on this, referring to fig. 4, it illustrates an improved single-sided two-way ranging method based on UWB according to an embodiment of the present invention, which may be applied to an initiating end in a ranging process, for example, the transmitter 202 in the communication system 200 shown in fig. 2, and the method may include:
s401: recording a first sending time stamp of sending the ranging message to a response terminal and a first receiving time stamp of receiving a first response message sent by the response terminal based on the ranging message;
the first response message is sent to the initiating terminal by the responding terminal immediately after the ranging message is received;
s402: receiving a second response message which is sent again by the response end after the first response message is sent;
s403: acquiring a second receiving timestamp and a second sending timestamp by analyzing the second response message; wherein the second receiving timestamp is a receiving timestamp of the ranging message received by the response end, and the second sending timestamp is a sending timestamp of the first response message sent by the response end;
s404: and calculating the flight time between the initiating terminal and the responding terminal according to the first receiving time stamp, the second receiving time stamp, the first sending time stamp and the second sending time stamp.
Through the technical scheme shown in fig. 4, the responding end does not delay after receiving the ranging message, but immediately sends the first response message to the initiating end; the first response message does not include timestamp information, so that the length of the first response message is reduced, the transceiving time difference of a response end is reduced to the maximum extent, and errors introduced in the flight time calculation process are reduced; and because the first response message is sent immediately, the antenna delay time does not need to be increased, the complexity of antenna delay calibration and calculation is reduced, the correlation between the flight time and the temperature is further reduced, and the robustness is improved.
For the solution shown in fig. 4, in some examples, the ranging message is preferably a POLL message.
For the technical solution shown in fig. 4, in some examples, the recording a first sending timestamp for sending the ranging message to the responding peer and a first receiving timestamp for receiving a first response message sent by the responding peer based on the ranging message includes:
sending the ranging message to the response terminal;
receiving the first response message sent by the response end in a feedback manner immediately after the response end receives the ranging message;
and after the first response message is received, acquiring and storing the first sending time stamp and the first receiving time stamp.
For the solution shown in fig. 4, in some examples, the calculating a flight time between the initiating peer and the responding peer according to the first receiving timestamp, the second receiving timestamp, the first sending timestamp, and the second sending timestamp includes:
calculating the flight time Tprop according to the first receiving timestamp Tinit _ rx, the second receiving timestamp Tresp _ rx, the first sending timestamp Tinit _ tx, and the second sending timestamp Tresp _ tx according to the following formula:
Tprop=[(Tinit_rx-Tinit_tx)-(Tresp_tx-Tresp_rx)]/2=(Tround-Treply)/2
wherein, Tround represents a first transceiving time difference between the sending of the ranging message and the receiving of the first response message by the initiating terminal; treply represents a second transceiving time difference between the response end receiving the ranging message and sending the first response message.
For the above example, in particular, Treply is reduced because the responding end sends the first response message immediately after receiving the ranging message; in addition, since the first response message does not contain any timestamp information, compared with the conventional scheme shown in fig. 3, the length of the first response message is also smaller than the information length of the RESP response message mentioned in the scheme shown in fig. 3, so that Treply can be further reduced, and thus, the increase of the estimation error of the flight time due to the overlarge Treply error is avoided.
Based on the same inventive concept of the foregoing technical solution, referring to fig. 5, which illustrates an improved single-sided two-way ranging method based on UWB provided in an embodiment of the present invention, where the method may be applied to a responding end in a ranging process, for example, the receiver 206 in the communication system 200 shown in fig. 2, and the method may include:
s501: immediately sending a first response message to an initiating terminal after receiving the ranging message;
s502: acquiring a receiving timestamp of receiving the ranging message and a sending timestamp of sending the first response message;
s503: encapsulating the receiving timestamp of receiving the ranging message and the sending timestamp of sending the first response message into a second response message;
s504: and after the first response message is sent, sending the second response message to the initiator, so that the initiator calculates the flight time between the initiator and the responder according to the receiving timestamp of the ranging message received in the second response message and the sending timestamp of the first response message.
For the technical scheme shown in fig. 5, since the responding end does not delay after receiving the ranging message, it immediately sends the first response message to the initiating end; the first response message does not include timestamp information, so that the length of the first response message is reduced, the transceiving time difference of the response end is reduced to the maximum extent, and the error introduced by the initiating end in the flight time calculation process is reduced; and because the first response message is sent immediately, the antenna delay time does not need to be increased, the complexity of antenna delay calibration and calculation is reduced, the correlation between the flight time and the temperature is further reduced, and the robustness is improved.
For the solution shown in fig. 5, in some examples, the ranging message is preferably a POLL message.
For the technical solution shown in fig. 5, in some examples, since the second response message includes the receiving timestamp of receiving the ranging message and the sending timestamp of sending the first response message, and the first response message does not include any timestamp information, the length of the first response message is shorter than that of the second response message.
For the technical solution shown in fig. 5, in some examples, acquiring a receiving timestamp of receiving the ranging message and a sending timestamp of sending the first response message may specifically include:
after the receiving of the ranging message is finished, recording a receiving time stamp of the received ranging message;
and after the first response message is sent, recording a sending time stamp of the first response message.
Referring to fig. 6, which shows a detailed flowchart of an improved single-sided two-way ranging method based on UWB according to an embodiment of the present invention, taking a wireless communication device shown in the communication system 200 as an example, the transmitter 202 may also be referred to as an initiating end, and the receiver 206 may be referred to as a responding end, based on which the flowchart may include:
s601: the initiator sends a POLL message to the responder;
s602: after receiving the POLL message, the response end immediately sends a first response message to the initiating end;
for S602, the first response message no longer includes the timestamp for the response end to transmit and receive, which reduces the length of the first response message, thereby reducing the transceiving time difference of the response end.
S603: after the response end sends the first response message, recording a receiving timestamp Tresp _ rx for receiving the POLL message and a sending timestamp Tresp _ tx for sending the first response message;
s604: after receiving the first response message, the initiating terminal acquires a sending timestamp Tinit _ tx for sending the POLL message and a receiving timestamp Tinit _ rx for receiving the first response message;
it is to be understood that, in the implementation process of S603 and S604, there is no specific sequence, and the execution sequence of the two is not specifically limited in the embodiment of the present invention.
S605: after the response end sends the first response message, the response end encapsulates Tresp _ rx and Tresp _ tx in the second response message;
s606: the response end sends a second response message to the initiating end;
s607: the initiating terminal calculates and acquires the flight time Tprop between the initiating terminal and the response terminal according to Tresp _ rx and Tresp _ tx, Tinit _ tx and Tinit _ rx in the second response message;
specifically, Tprop = [ (Tinit _ rx-Tinit _ tx) - (Tresp _ tx-Tresp _ rx) ]/2= (round-Treply)/2; wherein, Tround represents a first transceiving time difference between the sending of the ranging message and the receiving of the first response message by the initiating terminal; treply represents a second transceiving time difference between the response end receiving the ranging message and sending the first response message.
S608: the distance between the initiating terminal and the responding terminal is obtained by the product of the flight time and the light speed of the initiating terminal.
For the technical scheme shown in fig. 6, after receiving the POLL message of the initiating end, the responding end immediately replies a first response message to the initiating end for the first time, and the content of the first response message does not carry the timestamps of sending and receiving of the responding end; and after the first response message is sent, the response end sends a second response message to the initiating end, wherein the content of the second response message carries the timestamp for the response end to receive and send for the first time. Compared with the conventional SS-TWR scheme shown in fig. 3, the response end reduces the Treply duration and the transmission content length of the first response message, and the transmission timestamp of the response end does not need to be additionally added with the antenna delay, because the delay duration of the antenna is related to the temperature, the conventional SS-TWR scheme cannot achieve the accuracy and stability of the technical scheme provided by the embodiment of the invention when the transmission timestamp of the response end is calculated.
According to the same inventive concept of the foregoing technical solution, referring to fig. 7, an initiating terminal device 70 provided by an embodiment of the present invention is shown, where the initiating terminal device 70 includes: a recording section 701, a first receiving section 702, a parsing section 703, and a calculating section 704; wherein the content of the first and second substances,
the recording part 701 is configured to record a first transmission time stamp of a ranging message transmitted to a responding terminal and a first reception time stamp of a first response message transmitted by the responding terminal based on the ranging message; the first response message is sent to the initiating terminal by the responding terminal immediately after the ranging message is received;
the first receiving section 702 configured to receive a second response message that is sent again by the responding terminal after the first response message is sent;
the parsing part 703 is configured to obtain a second receiving timestamp and a second sending timestamp by parsing the second response message; wherein the second receiving timestamp is a receiving timestamp of the ranging message received by the response end, and the second sending timestamp is a sending timestamp of the first response message sent by the response end;
the calculating part 704 is configured to calculate a time of flight between the initiating terminal and the responding terminal according to the first receiving timestamp, the second receiving timestamp, the first transmitting timestamp and the second transmitting timestamp.
In the above scheme, the recording section 701 is configured to:
sending the ranging message to the response terminal;
receiving the first response message sent by the response end in a feedback manner immediately after the response end receives the ranging message;
and after the first response message is received, acquiring and storing the first sending time stamp and the first receiving time stamp.
In the above scheme, the calculating part 704 is configured to:
calculating the flight time Tprop according to the first receiving timestamp Tinit _ rx, the second receiving timestamp Tresp _ rx, the first sending timestamp Tinit _ tx, and the second sending timestamp Tresp _ tx according to the following formula:
Tprop=[(Tinit_rx-Tinit_tx)-(Tresp_tx-Tresp_rx)]/2=(Tround-Treply)/2
wherein, Tround represents a first transceiving time difference between the sending of the ranging message and the receiving of the first response message by the initiating terminal; treply represents a second transceiving time difference between the response end receiving the ranging message and sending the first response message.
In the above scheme, the ranging message comprises a POLL message.
It is understood that in this embodiment, "part" may be part of a circuit, part of a processor, part of a program or software, etc., and may also be a unit, and may also be a module or a non-modular.
In addition, each component in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit. The integrated unit can be realized in a form of hardware or a form of a software functional module.
Based on the understanding that the technical solution of the present embodiment essentially or a part contributing to the prior art, or all or part of the technical solution may be embodied in the form of a software product stored in a storage medium, and include several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor (processor) to execute all or part of the steps of the method of the present embodiment. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
Accordingly, the present embodiment provides a computer storage medium storing an improved one-sided two-way ranging procedure based on UWB that when executed by at least one processor implements the steps of the improved one-sided two-way ranging method based on UWB described above with respect to fig. 4.
Referring to fig. 8, a specific hardware structure of a computing device 80 capable of implementing the initiating device 70 according to the embodiment of the present invention is shown, wherein the computing device 80 can be a wireless device, a mobile or cellular phone (including a so-called smart phone), a Personal Digital Assistant (PDA), a video game console (including a video display, a mobile video game device, a mobile video conference unit), a laptop computer, a desktop computer, a television set-top box, a tablet computing device, an e-book reader, a fixed or mobile media player, etc. The computing device 80 includes: a first communication interface 801, a first memory 802 and a first processor 803; the various components are coupled together by a first bus system 804. It is understood that the first bus system 804 is used to enable connection communications between these components. The first bus system 804 includes a power bus, a control bus, and a status signal bus in addition to a data bus. For clarity of illustration, however, the various buses are labeled as the first bus system 804 in fig. 8. Wherein the content of the first and second substances,
the first communication interface 801 is configured to receive and transmit signals in a process of receiving and transmitting information with other external network elements;
the first memory 802 for storing a computer program operable on the first processor 803;
the first processor 803 is configured to, when running the computer program, execute the steps of the improved single-sided two-way ranging method based on UWB according to the technical solution shown in fig. 4 and the example thereof, which are not described herein again.
It is to be appreciated that the first memory 802 in embodiments of the present invention can be either volatile memory or nonvolatile memory, or can include both volatile and nonvolatile memory. The non-volatile Memory may be a Read-Only Memory (ROM), a Programmable ROM (PROM), an Erasable PROM (EPROM), an Electrically Erasable PROM (EEPROM), or a flash Memory. Volatile Memory can be Random Access Memory (RAM), which acts as external cache Memory. By way of illustration and not limitation, many forms of RAM are available, such as Static random access memory (Static RAM, SRAM), Dynamic Random Access Memory (DRAM), Synchronous Dynamic random access memory (Synchronous DRAM, SDRAM), Double Data Rate Synchronous Dynamic random access memory (ddr Data Rate SDRAM, ddr SDRAM), Enhanced Synchronous SDRAM (ESDRAM), Synchlink DRAM (SLDRAM), and Direct Rambus RAM (DRRAM). The first memory 802 of the systems and methods described herein is intended to comprise, without being limited to, these and any other suitable types of memory.
And the first processor 803 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware or instructions in the form of software in the first processor 803. The first Processor 803 may be a general-purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, or discrete hardware component. The various methods, steps and logic blocks disclosed in the embodiments of the present invention may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present invention may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The storage medium is located in the first memory 802, and the first processor 803 reads the information in the first memory 802, and completes the steps of the above method in combination with the hardware thereof.
It is to be understood that the embodiments described herein may be implemented in hardware, software, firmware, middleware, microcode, or any combination thereof. For a hardware implementation, the Processing units may be implemented within one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), general purpose processors, controllers, micro-controllers, microprocessors, other electronic units configured to perform the functions described herein, or a combination thereof.
For a software implementation, the techniques described herein may be implemented with modules (e.g., procedures, functions, and so on) that perform the functions described herein. The software codes may be stored in a memory and executed by a processor. The memory may be implemented within the processor or external to the processor.
It is understood that the above exemplary technical solutions of the initiating terminal device 70 and the computing device 80 belong to the same concept as the technical solution of the UWB-based improved single-sided two-way ranging method described in the foregoing fig. 4, and therefore, the above detailed contents, which are not described in detail, of the technical solutions of the initiating terminal device 70 and the computing device 80 can be referred to the description of the technical solution of the UWB-based improved single-sided two-way ranging method described in the foregoing fig. 4. The embodiments of the present invention will not be described in detail herein.
Based on the same inventive concept of the foregoing technical solution, referring to fig. 9, a responder device 90 according to an embodiment of the present invention is shown, where the responder device 90 includes: a second receiving section 901, an acquisition section 902, an encapsulation section 903, and a transmission section 904; wherein the content of the first and second substances,
the second receiving part 901 configured to receive a ranging message;
the transmitting part 904 configured to transmit a first response message to the originating terminal immediately after receiving the ranging message;
the acquiring portion 902 configured to acquire a receiving timestamp of receiving the ranging message and a transmitting timestamp of transmitting the first response message;
the encapsulating part 903 is configured to encapsulate a receiving timestamp of the receiving of the ranging message and a sending timestamp of the sending of the first response message as a second response message;
the sending part 904 is further configured to send the second response message to the initiator after the sending of the first response message is completed, so that the initiator calculates a flight time between the initiator and the responder according to the receiving timestamp of the receiving the ranging message and the sending timestamp of the sending the first response message in the second response message.
In the above scheme, the acquiring portion 902 is configured to:
after the receiving of the ranging message is finished, recording a receiving time stamp of the received ranging message;
and after the first response message is sent, recording a sending time stamp of the first response message.
In the above scheme, the length of the first response message is shorter than the length of the second response message.
In addition, the present embodiment provides a computer storage medium, which stores an improved single-sided two-way ranging program based on UWB, and when the improved single-sided two-way ranging program based on UWB is executed by at least one processor, the steps of the improved single-sided two-way ranging method based on UWB described in the technical solution and the example thereof shown in fig. 5 above are implemented. For a detailed description of the computer storage medium, reference is made to the description in the foregoing related contents, which are not repeated herein.
Based on the above-mentioned responder device 90 and computer storage medium, referring to fig. 10, it shows a specific hardware composition of the responder device 90 according to an embodiment of the present invention, including: a second communication interface 1001, a second memory 1002, and a second processor 1003; the various components are coupled together by a bus system 1004. It is understood that the bus system 1004 is used to enable communications among the components. The bus system 1004 includes a power bus, a control bus, and a status signal bus in addition to a data bus. But for the sake of clarity the various busses are labeled in fig. 10 as the bus system 1004. Wherein the content of the first and second substances,
the second communication interface 1001 is configured to receive and send signals in a process of receiving and sending information with other external network elements;
a second memory 1002 for storing a computer program capable of running on the second processor 803;
the second processor 1003 is configured to, when running the computer program, execute the steps of the method in the foregoing technical solution shown in fig. 5 and the example thereof, which are not described herein again.
It can be understood that, in this embodiment, components in the specific hardware structure of the responding end device 90 are similar to corresponding components in the foregoing technical solution, and are not described herein again.
It will be appreciated that the foregoing provides an illustrative version of the responder device 90 for embodiments of the present invention. It should be noted that the technical solution of the responder device 90 and the technical solution of the improved single-sided two-way ranging method based on UWB shown in fig. 5 belong to the same concept, and details of the technical solution of the responder device 90, which are not described in detail, can be referred to the description of the technical solution of the improved single-sided two-way ranging method based on UWB shown in fig. 5.
Based on the same inventive concept in the foregoing technical solutions, an embodiment of the present invention further provides an improved single-sided two-way ranging system based on UWB, which takes the communication system 200 shown in fig. 2 as an example, and may include the initiating device and the responding device set forth in the foregoing technical solutions.
It should be noted that: the technical schemes described in the embodiments of the present invention can be combined arbitrarily without conflict.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (12)
1. An improved single-side two-way ranging method based on UWB, characterized in that the method is applied to an initiating terminal, and the method comprises:
recording a first sending time stamp of sending the ranging message to a response terminal and a first receiving time stamp of receiving a first response message sent by the response terminal based on the ranging message; the first response message is sent to the initiating terminal by the responding terminal immediately after the ranging message is received;
receiving a second response message which is sent again by the response end after the first response message is sent;
acquiring a second receiving timestamp and a second sending timestamp by analyzing the second response message; wherein the second receiving timestamp is a receiving timestamp of the ranging message received by the response end, and the second sending timestamp is a sending timestamp of the first response message sent by the response end;
and calculating the flight time between the initiating terminal and the responding terminal according to the first receiving time stamp, the second receiving time stamp, the first sending time stamp and the second sending time stamp.
2. The method of claim 1, wherein the recording a first transmission time stamp for transmitting a ranging message to a responding peer and a first reception time stamp for receiving a first response message transmitted by the responding peer based on the ranging message comprises:
sending the ranging message to the response terminal;
receiving the first response message sent by the response end in a feedback manner immediately after the response end receives the ranging message;
and after the first response message is received, acquiring and storing the first sending time stamp and the first receiving time stamp.
3. The method of claim 1, wherein calculating the time of flight between the initiating peer and the responding peer according to the first receiving timestamp, the second receiving timestamp, the first sending timestamp, and the second sending timestamp comprises:
calculating the flight time Tprop according to the first receiving timestamp Tinit _ rx, the second receiving timestamp Tresp _ rx, the first sending timestamp Tinit _ tx, and the second sending timestamp Tresp _ tx according to the following formula:
Tprop=[(Tinit_rx-Tinit_tx)-(Tresp_tx-Tresp_rx)]/2=(Tround-Treply)/2
wherein, Tround represents a first transceiving time difference between the sending of the ranging message and the receiving of the first response message by the initiating terminal; treply represents a second transceiving time difference between the response end receiving the ranging message and sending the first response message.
4. The method of claim 1, wherein the ranging message comprises a POLL message.
5. An improved single-side two-way ranging method based on UWB, characterized in that the method is applied to a responding end, and the method comprises:
immediately sending a first response message to an initiating terminal after receiving the ranging message;
acquiring a receiving timestamp of receiving the ranging message and a sending timestamp of sending the first response message;
encapsulating the receiving timestamp of receiving the ranging message and the sending timestamp of sending the first response message into a second response message;
and after the first response message is sent, sending the second response message to the initiator, so that the initiator calculates the flight time between the initiator and the responder according to the receiving timestamp of the ranging message received in the second response message and the sending timestamp of the first response message.
6. The method according to claim 5, wherein the obtaining the receiving timestamp of the receiving of the ranging message and the sending timestamp of the sending of the first response message specifically comprises:
after the receiving of the ranging message is finished, recording a receiving time stamp of the received ranging message;
and after the first response message is sent, recording a sending time stamp of the first response message.
7. The method of claim 5, wherein the length of the first response message is shorter than the length of the second response message.
8. An originating device, comprising: a recording part, a first receiving part, an analyzing part and a calculating part; wherein the content of the first and second substances,
the recording section configured to record a first transmission time stamp of a ranging message transmitted to a responding terminal and a first reception time stamp of a first response message transmitted by the responding terminal based on the ranging message; the first response message is sent to the initiating terminal by the responding terminal immediately after the ranging message is received;
the first receiving section configured to receive a second response message that is sent again by the response terminal after the first response message is sent;
the parsing part is configured to acquire a second receiving timestamp and a second sending timestamp by parsing the second response message; wherein the second receiving timestamp is a receiving timestamp of the ranging message received by the response end, and the second sending timestamp is a sending timestamp of the first response message sent by the response end;
the calculating part is configured to calculate the flight time between the initiating terminal and the responding terminal according to the first receiving time stamp, the second receiving time stamp, the first sending time stamp and the second sending time stamp.
9. A responder device, comprising: a second receiving section, an acquiring section, an encapsulating section, and a transmitting section; wherein the content of the first and second substances,
the second receiving part configured to receive a ranging message;
the transmitting part is configured to transmit a first response message to an originating terminal immediately after receiving the ranging message;
the acquisition section configured to acquire a reception timestamp of receiving the ranging message and a transmission timestamp of transmitting the first response message;
the encapsulating part is configured to encapsulate a receiving time stamp of the receiving of the ranging message and a transmitting time stamp of the transmitting of the first response message as a second response message;
the sending part is further configured to send the second response message to the initiator after the first response message is completely sent, so that the initiator calculates the flight time between the initiator and the responder according to the receiving timestamp of the received ranging message and the sending timestamp of the first response message in the second response message.
10. A computing device, wherein the computing device comprises: a communication interface, a memory and a processor; wherein the content of the first and second substances,
the communication interface is used for receiving and sending signals in the process of receiving and sending information with other external network elements;
the memory for storing a computer program operable on the processor;
the processor, when executing the computer program, is configured to perform the steps of the UWB-based improved one-sided two-way ranging method according to any one of claims 1 to 4 or any one of claims 5 to 7.
11. A computer storage medium storing a modified UWB based one-sided two-way ranging program which when executed by at least one processor implements the method steps of the modified UWB based one-sided two-way ranging method of any one of claims 1 to 4 or any one of claims 5 to 7.
12. An improved single-side two-way ranging system based on UWB is characterized in that the system comprises an initiating end device and a responding end device; wherein the content of the first and second substances,
the initiating device configured to:
recording a first sending time stamp of sending the ranging message to a response terminal and a first receiving time stamp of receiving a first response message sent by the response terminal based on the ranging message; the first response message is sent to the initiating terminal by the responding terminal immediately after the ranging message is received;
receiving a second response message which is sent again by the response end after the first response message is sent;
and acquiring a second receiving timestamp and a second sending timestamp by analyzing the second response message; wherein the second receiving timestamp is a receiving timestamp of the ranging message received by the response end, and the second sending timestamp is a sending timestamp of the first response message sent by the response end;
calculating the flight time between the initiating terminal and the responding terminal according to the first receiving time stamp, the second receiving time stamp, the first sending time stamp and the second sending time stamp;
the responder device configured to:
immediately sending a first response message to an initiating terminal after receiving the ranging message;
acquiring a receiving time stamp of the received ranging message and a sending time stamp of the first response message;
and encapsulating the reception timestamp of receiving the ranging message and the transmission timestamp of transmitting the first response message into a second response message;
and after the first response message is sent, sending the second response message to the initiating terminal.
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