CN113759180B - Antenna delay calibration method and system for improving ultra-wideband ranging precision - Google Patents
Antenna delay calibration method and system for improving ultra-wideband ranging precision Download PDFInfo
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Abstract
The invention relates to an antenna delay calibration method and an antenna delay calibration system for improving ultra-wideband ranging precision, in particular to the field of ultra-wideband wireless communication. According to the antenna delay correction method for improving the ultra-wideband ranging precision, the calculated distance between the signal transmitting base station and the signal receiving base station is obtained through calculation according to the timestamps of information sending and receiving of the signal transmitting base station and the signal receiving base station; the difference is made between the calculated distance between the signal transmitting base station and the signal receiving base station and the actual distance; if the absolute value of the obtained difference value is larger than a preset threshold value, calculating by using a preset delay calibration formula to obtain a delay value; the antenna delay parameters of the signal transmitting base station and the signal receiving base station are corrected according to the delay value, namely, a delay value is obtained through calculation of a preset delay calibration formula, and the antennas of the signal transmitting base station and the signal receiving base station are corrected according to the delay value, so that the signal accuracy of the signal transmitting base station and the signal receiving base station is improved.
Description
Technical Field
The invention relates to the field of ultra-wideband wireless communication, in particular to an antenna delay calibration method and an antenna delay calibration system for improving ultra-wideband ranging precision.
Background
Ultra wideband technology has many features as one of the technologies of wireless personal area networks. First, the utilization of the very high frequency band, the 3.1-10.6GHz band, is the most utilized band when not interfering with other wireless communications. Second, the data transmission rate is high, with the potential for high data transmission rates, depending on the particular ultra-wideband protocol. Thirdly, the ultra-wideband is very flexible to use, and has different parameters and functional requirements for different application fields, such as data rate, power consumption, transmission range and other parameters, and functions of communication, positioning and the like, and the ultra-wideband can provide various application requirements without additional hardware resources. Fourthly, the time resolution is high, the pulse transmitted by the UWB is extremely narrow, the time resolution is very high, the anti-multipath effect is excellent, and the high time resolution is utilized, so that the UWB positioning device has high positioning precision or ranging precision when being applied to the fields of positioning and ranging.
In the prior art, the distance between the signal transmitting base station and the signal receiving base station for transmitting and receiving signals is generally the actual distance between the signal transmitting base station and the signal receiving base station, due to the reasons of equipment or environment, but in practical application, the distance between the signal transmitting base station and the signal receiving base station for information transmission is far greater than the actual distance between the signal transmitting base station and the signal receiving base station, so that the time for signal transmission between the signal transmitting base station and the signal receiving base station is increased, and the accuracy of the accuracy for signal transmission between the signal transmitting base station and the signal receiving base station is not sufficient.
Therefore, there is an urgent need for a device that can improve the signal accuracy of the signal transmitting base station and the signal receiving base station, or reduce the distance for information transmission between the signal transmitting base station and the signal receiving base station.
Disclosure of Invention
The present invention is directed to provide an antenna delay calibration method and system for improving ultra-wideband ranging accuracy, which solves the problem of the prior art that a device capable of improving signal accuracy of a signal transmitting base station and a signal receiving base station or reducing a distance for information transmission between the signal transmitting base station and the signal receiving base station is urgently needed.
In order to achieve the above purpose, the embodiment of the present invention adopts the following technical solutions:
in a first aspect, the present application provides an antenna delay correction method for improving ultra-wideband ranging accuracy, the method comprising:
according to the time stamps of the information sent and received by the signal transmitting base station and the signal receiving base station, the calculation distance between the signal transmitting base station and the signal receiving base station is obtained through calculation;
the difference is made between the calculated distance between the signal transmitting base station and the signal receiving base station and the actual distance; if the absolute value of the obtained difference value is larger than a preset threshold value, calculating by using a preset delay calibration formula to obtain a delay value;
and correcting the antenna delay parameters of the signal transmitting base station and the signal receiving base station according to the delay values.
Optionally, the preset delay calibration formula is:
Y＝0.0016x4-0.0749x3+1.1542x2-6.3614x+32979；
where x represents the actual distance value between the signal transmitting base station and the signal receiving base station.
Optionally, the step of obtaining the calculated distance between the signal transmitting base station and the signal receiving base station by calculation according to the time stamps of the information transmitted and received by the signal transmitting base station and the signal receiving base station further includes:
respectively and sequentially acquiring a request signal sent by a signal transmitting base station, a request signal received by a signal receiving base station, a sending permission signal sent by the signal receiving base station, a sending permission signal received by the signal transmitting base station, a data packet sent by the signal transmitting base station and a data packet received by the signal receiving base station;
and marking the timestamp corresponding to the moment in the corresponding signal or data packet.
Optionally, the step of obtaining the calculated distance between the signal transmitting base station and the signal receiving base station by calculation according to the time stamps of the information transmitted and received by the signal transmitting base station and the signal receiving base station specifically includes:
calculating the flight time of the signal between the signal transmitting base station and the signal receiving base station according to a bilateral two-way ranging principle and the time stamp;
and calculating to obtain the calculated distance between the signal transmitting base station and the signal receiving base station according to a formula of the flight time and the preset calculated distance.
Optionally, the principle of the bilateral two-way ranging is as follows:
wherein TOF represents the time of flight of the signal in air; r isaA difference value representing a time when the signal transmitting base station receives the permission-to-send signal and a time when the signal transmitting base station sends the request signal; daA difference value representing a time when the signal transmitting base station transmits the data packet and a time when the signal transmitting base station receives the permission transmission signal; dbA difference value representing a time when the signal receiving base station transmits the permission transmission signal and a time when the signal receiving base station receives the request signal; rbA difference value representing the time when the signal receiving base station receives the data packet and the time when the signal receiving base station sends permission to send the signal; the dwt _ time _ units represents a time unit of the ultra-wideband chip and is a fixed value;
the formula of the flight time and the preset calculation distance is as follows: d ═ TOF ═ c; where c represents the electromagnetic wave propagation velocity and d represents the calculated distance between the signal transmitting base station and the signal receiving base station.
In a second aspect, the present application provides an antenna delay calibration system for improving ultra-wideband ranging accuracy, the system comprising: the first calculation module, the second calculation module and the correction module: the first calculation module is used for calculating the calculation distance between the signal transmitting base station and the signal receiving base station according to the time stamps of the information transmitted and received by the signal transmitting base station and the signal receiving base station; the second calculation module is used for making a difference between the calculated distance between the signal transmitting base station and the signal receiving base station and the actual distance; if the absolute value of the obtained difference value is larger than a preset threshold value, calculating by using a preset delay calibration formula to obtain a delay value; and the correction module is used for correcting the antenna delay parameters of the signal transmitting base station and the signal receiving base station according to the delay values.
Optionally, the preset delay calibration formula is:
Y＝0.0016x4-0.0749x3+1.1542x2-6.3614x+32979；
where x represents the actual distance value between the signal transmitting base station and the signal receiving base station.
Optionally, the system further comprises a marking module: the marking module is used for respectively and sequentially acquiring a request signal sent by the signal transmitting base station, a request signal received by the signal receiving base station, a sending permission signal sent by the signal receiving base station, a sending permission signal received by the signal transmitting base station, a data packet sent by the signal transmitting base station and a data packet received by the signal receiving base station; and marking the timestamp corresponding to the moment in the corresponding signal or data packet.
Optionally, the first calculating module is specifically configured to calculate a time of flight of the signal between the signal transmitting base station and the signal receiving base station according to a bilateral two-way ranging principle and the timestamp; and calculating to obtain the calculated distance between the signal transmitting base station and the signal receiving base station according to a formula of the flight time and the preset calculated distance.
Optionally, the principle of the bilateral two-way ranging is as follows:
where TOF denotes the time of flight of the signal in air: raA difference value representing a time when the signal transmitting base station receives the permission-to-send signal and a time when the signal transmitting base station sends the request signal; daA difference value representing a time when the signal transmitting base station transmits the data packet and a time when the signal transmitting base station receives the permission transmission signal; dbA difference value representing a time when the signal receiving base station transmits the permission transmission signal and a time when the signal receiving base station receives the request signal; rbA difference value representing the time when the signal receiving base station receives the data packet and the time when the signal receiving base station sends permission to send the signal; the dwt _ time _ units represents a time unit of the ultra-wideband chip and is a fixed value;
the formula of the flight time and the preset calculation distance is as follows: d ═ TOF ═ c; where c represents the electromagnetic wave propagation velocity and d represents the calculated distance between the signal transmitting base station and the signal receiving base station.
In a third aspect, the present application provides an electronic device, comprising: the antenna delay correction method for improving the ultra-wideband ranging precision comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor executes the antenna delay correction method for improving the ultra-wideband ranging precision.
In a fourth aspect, the present application provides a computer-readable storage medium, where the computer-readable storage medium includes a computer program, and when the computer program runs, the computer program controls an electronic device where the computer-readable storage medium is located to execute the above antenna delay correction method for improving ultra-wideband ranging accuracy.
The invention has the beneficial effects that:
the application provides an antenna delay correction method for improving ultra-wideband ranging precision, which comprises the following steps: according to the time stamps of the information sent and received by the signal transmitting base station and the signal receiving base station, the calculation distance between the signal transmitting base station and the signal receiving base station is obtained through calculation; the difference is made between the calculated distance between the signal transmitting base station and the signal receiving base station and the actual distance; if the absolute value of the obtained difference value is larger than a preset threshold value, calculating by using a preset delay calibration formula to obtain a delay value; the antenna delay parameters of the signal transmitting base station and the signal receiving base station are corrected according to the delay value, namely, a delay value is obtained through calculation of a preset delay calibration formula, and the antennas of the signal transmitting base station and the signal receiving base station are corrected according to the delay value, so that the condition that the information transmission distance between the signal transmitting base station and the signal receiving base station is far larger than the actual distance between the signal transmitting base station and the signal receiving base station is avoided, namely, the information transmission distance between the signal transmitting base station and the signal receiving base station is close to or equal to the actual distance between the signal transmitting base station and the signal receiving base station, and the signal accuracy of the signal transmitting base station and the signal receiving base station is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a schematic view of an application scenario provided in the present application;
fig. 2 is a schematic flowchart of an antenna delay correction method for improving ultra-wideband ranging accuracy according to an embodiment of the present disclosure;
fig. 3 is a schematic flowchart of another antenna delay correction method for improving ultra-wideband ranging accuracy according to an embodiment of the present disclosure;
fig. 4 is a schematic flowchart of another antenna delay correction method for improving ultra-wideband ranging accuracy according to an embodiment of the present disclosure;
fig. 5 is a schematic block diagram of an antenna delay calibration system for improving ultra-wideband ranging accuracy according to an embodiment of the present disclosure;
fig. 6 is a schematic block diagram of another antenna delay correction system for improving ultra-wideband ranging accuracy according to an embodiment of the present disclosure.
Detailed Description
The technical solutions in the present application will be described clearly and completely with reference to the drawings in the present application, and it should be understood that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. The components of the present application, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
Fig. 1 is a schematic view of an application scenario provided by the present application, and as shown in fig. 1, the method in the present application may be applied to the electronic device 10 shown in fig. 1. As shown in fig. 1, the electronic device 10 may include: signal transmitting base station 11, signal receiving base station 12, and processor 13.
The signal transmitting base station 11 and the signal receiving base station 12 are electrically connected to each other directly or indirectly to realize data transmission or interaction, and the processor 13 controls and processes signals transmitted between the signal transmitting base station 11 and the signal receiving base station 12.
The processor 13 may be an integrated circuit chip having data processing capabilities. The Processor 12 may be a general-purpose Processor including a Central Processing Unit (CPU), a Network Processor (NP), and the like. The methods, steps, and logic blocks of the present application may be implemented or performed. The general purpose processor may be a microprocessor or the processor may be any conventional processor or the like, and typically, the processor 12 may be a chip of PCB603C01 with a sensitivity of 100mV/g, a span of ± 50g, a frequency band of 5-10kHz, and a suitable temperature of-54 ℃ to +121 ℃.
It will be appreciated that the configuration shown in FIG. 1 is merely illustrative and that electronic device 10 may include more or fewer components than shown in FIG. 1 or may have a different configuration than shown in FIG. 1. The components shown in fig. 1 may be implemented in hardware, software, or a combination thereof.
On the basis of the above, the present application further provides a computer-readable storage medium, which includes a computer program, and the computer program controls the electronic device 10 to execute the following method when running.
In order to make the implementation of the present invention clearer, the following detailed description is made with reference to the accompanying drawings.
Fig. 2 is a schematic flowchart of an antenna delay correction method for improving ultra-wideband ranging accuracy according to an embodiment of the present disclosure; as shown in fig. 1, the present application provides an antenna delay calibration method for improving ultra-wideband ranging accuracy, the method includes:
s101, according to the time stamps of information sent and received by the signal transmitting base station and the signal receiving base station, the calculated distance between the signal transmitting base station and the signal receiving base station is obtained through calculation.
And calculating the time period required by the signal transmitting base station and the signal receiving base station for transmitting signals according to the time stamps on the request signal transmitted by the transmitting base station, the request signal received by the signal receiving base station, the transmission permission signal transmitted by the signal receiving base station, the transmission permission signal received by the signal transmitting base station, the data packet transmitted by the signal transmitting base station and the data packet received by the signal receiving base station, and calculating the calculation distance between the signal transmitting base station and the signal receiving base station according to the time period.
Fig. 3 is a schematic flowchart of another antenna delay correction method for improving ultra-wideband ranging accuracy according to an embodiment of the present disclosure; as shown in fig. 3, the step of obtaining the calculated distance between the signal transmitting base station and the signal receiving base station by calculating according to the time stamps of the information transmitted and received by the signal transmitting base station and the signal receiving base station specifically includes:
s201, calculating the flight time of the signal between the signal transmitting base station and the signal receiving base station according to the bilateral two-way ranging principle and the time stamp.
Optionally, the principle of the bilateral two-way ranging is as follows:
wherein TOF represents the time of flight of the signal in air; raA difference value representing a time when the signal transmitting base station receives the permission-to-send signal and a time when the signal transmitting base station sends the request signal; daA difference value representing a time when the signal transmitting base station transmits the data packet and a time when the signal transmitting base station receives the permission transmission signal; dbIndicating the time when the signal receiving base station sends the permission signal and the signal receiving base station receives the request signalThe difference in time of (a); rbA difference value representing the time when the signal receiving base station receives the data packet and the time when the signal receiving base station sends permission to send the signal; the dwt _ time _ units represents a time unit of the ultra-wideband chip and is a fixed value;
calculating by time stamps on a request signal sent by the signal transmitting base station, a request signal received by the signal receiving base station, a sending permission signal sent by the signal receiving base station, a sending permission signal received by the signal transmitting base station, a data packet sent by the signal transmitting base station and a data packet received by the signal receiving base station to respectively obtain R in the bilateral two-way ranging principlea、Da、DbAnd RbAnd reacting R witha、Da、DbAnd RbThe dwt _ time _ units is a known fixed value, and the TOF can be obtained through calculation, namely the time of flight between the signal transmitting base station and the signal receiving base station.
S202, calculating to obtain the calculated distance between the signal transmitting base station and the signal receiving base station according to a formula of the flight time and the preset calculated distance.
The formula of the flight time and the preset calculation distance is as follows: d ═ TOF ═ c; where c represents the electromagnetic wave propagation velocity and d represents the calculated distance between the signal transmitting base station and the signal receiving base station.
And bringing the calculated flight time into the preset calculation distance, and calculating to obtain the calculation distance between the signal transmitting base station and the signal receiving base station.
Fig. 4 is a schematic flowchart of another antenna delay correction method for improving ultra-wideband ranging accuracy according to an embodiment of the present disclosure; as shown in fig. 4, optionally, before the step of obtaining the calculated distance between the signal transmitting base station and the signal receiving base station by calculating according to the time stamps of the information transmitted and received by the signal transmitting base station and the signal receiving base station, the method further includes:
s301, respectively and sequentially acquiring a request signal sent by a signal transmitting base station, a request signal received by a signal receiving base station, a sending permission signal sent by the signal receiving base station, a sending permission signal received by the signal transmitting base station, a data packet sent by the signal transmitting base station and a data packet received by the signal receiving base station.
And S302, marking the timestamp corresponding to the moment in the corresponding signal or data packet.
The method comprises the steps of firstly acquiring a request signal sent by a signal transmitting base station, a request signal received by a signal receiving base station, a sending permission signal sent by the signal receiving base station, a sending permission signal received by the signal transmitting base station, a data packet sent by the signal transmitting base station and a data packet received by the signal receiving base station, and respectively adding a corresponding timestamp in the signal or the data packet sent at each moment, wherein the timestamp generally comprises the sending time and the sending main body of the signal or the data.
S102, making a difference between the calculated distance between the signal transmitting base station and the signal receiving base station and the actual distance; and if the absolute value of the obtained difference value is greater than a preset threshold value, calculating by using a preset delay calibration formula to obtain a delay value.
Calculating the difference between the calculated distance and the actual distance to obtain the difference between the calculated distance and the actual distance between the signal transmitting base station and the signal receiving base station, and comparing the difference with the preset threshold, the preset threshold is set according to actual needs and is used for comparing the difference between the calculated distance and the actual distance between the signal transmitting base station and the signal receiving base station, the specific data of the preset threshold is not specifically limited, and if the absolute value of the difference between the calculated distance and the actual distance is not greater than the preset threshold, it means that the difference between the calculated distance between the signal transmitting base station and the signal receiving base station and the actual distance is not greater than expected, optionally, the step of S103 is not performed, and the step of S101 is continuously performed, and the loop is repeated; if the absolute value of the difference between the calculated distance and the actual distance is greater than the preset threshold, it indicates that the difference between the calculated distance and the actual distance between the signal transmitting base station and the signal receiving base station is greater than the expected difference, and a preset delay calibration formula is needed to be used for calculating to obtain a delay value, where the preset delay calibration formula is:
Y＝0.0016x4-0.0749x3+1.1542x2-6.3614x+32979；
wherein x represents an actual distance value between the signal transmitting base station and the signal receiving base station, the correction value calculated by the preset delay calibration formula is used for correcting the signal transmitting base station and the signal receiving base station, the preset delay calibration formula is obtained according to multiple experiments, and no specific limitation is made herein.
S103, correcting the antenna delay parameters of the signal transmitting base station and the signal receiving base station according to the delay values.
And adjusting the configuration parameters of the antenna delay of the signal transmitting base station and the signal receiving base station according to the delay value, so that the difference between the calculated distance of the signal transmitted between the signal transmitting base station and the signal receiving base station and the actual distance between the signal transmitting base station and the signal receiving base station is smaller, and the accuracy of the signal transmission between the signal transmitting base station and the signal receiving base station is improved.
Optionally, before the method of the present application starts to be executed, the method may further include: starting a system and completing initialization parameter configuration, including ultra-wideband module transceiving data format, antenna delay parameter, initialization of a control module and the like, namely, 1, MCU module initialization including GPIO port, SPI communication protocol interface, communication rate, interrupt source and the like; 2. configuring a signal transceiving data format of an ultra-wideband module; 3. hardware initialization of the ultra-wideband module, resetting of the ultra-wideband chip, selection of SPI rate, configuration of short address, selection of communication channel, configuration of antenna delay and the like.
Optionally, after correcting the antenna delay parameters of the signal transmitting base station and the signal receiving base station according to the delay values, the method may further include displaying the calculated values after the delay calibration on a screen.
Optionally, the method further includes 1, interrupting the callback function by the signal transmitting base station, so that the timer periodically sends information; 2. the signal receiving base station is in a waiting receiving state, a frame filtering function is opened after the signal is received, and the signal enters the ultra-wideband receiver interrupt callback function after frame filtering to extract corresponding timestamp information; 3. the signal receiving base station calculates the flight time of the signal according to the timestamp information; 4. the signal receiving base station estimates the distance based on the time of flight.
The antenna delay correction method for improving the ultra-wideband ranging precision has the beneficial effects that for the ranging precision problem of the ultra-wideband ranging system, the method for calibrating the antenna delay in the actual environment is utilized to improve the precision of distance calculation according to the size of a measured value and an actual value, and the method can be applied to the ultra-wideband ranging and positioning system and provides a new method for the ultra-wideband ranging and positioning system; the method has the advantages of less calculation amount and low complexity, can quickly determine the design parameters of the ultra-wideband ranging, and has important engineering significance for improving the ultra-wideband ranging precision.
Fig. 5 is a schematic block diagram of an antenna delay calibration system for improving ultra-wideband ranging accuracy according to an embodiment of the present disclosure; as shown in fig. 5, the present application provides an antenna delay calibration system for improving ultra-wideband ranging accuracy, the system includes: the first calculation module 40, the second calculation module 50 and the correction module 60: the first calculating module 40 is configured to obtain a calculated distance between the signal transmitting base station and the signal receiving base station through calculation according to the time stamps of the information sent and received by the signal transmitting base station and the signal receiving base station; the second calculating module 50 is used for making a difference between the calculated distance between the signal transmitting base station and the signal receiving base station and the actual distance; if the absolute value of the obtained difference value is larger than a preset threshold value, calculating by using a preset delay calibration formula to obtain a delay value; the calibration module 60 is configured to calibrate the antenna delay parameters of the signal transmitting base station and the signal receiving base station according to the delay values.
Optionally, the preset delay calibration formula is:
Y＝0.0016x4-0.0749x3+1.1542x2-6.3614x+32979；
where x represents the actual distance value between the signal transmitting base station and the signal receiving base station.
Fig. 6 is a schematic block diagram of another antenna delay correction system for improving ultra-wideband ranging accuracy according to an embodiment of the present disclosure; as shown in fig. 6, optionally, the system further comprises a marking module 70: the marking module is used for respectively and sequentially acquiring a request signal sent by the signal transmitting base station, a request signal received by the signal receiving base station, a sending permission signal sent by the signal receiving base station, a sending permission signal received by the signal transmitting base station, a data packet sent by the signal transmitting base station and a data packet received by the signal receiving base station; and marking the timestamp corresponding to the moment in the corresponding signal or data packet.
Optionally, the first calculating module 40 is specifically configured to calculate a time of flight of the signal between the signal transmitting base station and the signal receiving base station according to a bilateral two-way ranging principle and the timestamp; and calculating to obtain the calculated distance between the signal transmitting base station and the signal receiving base station according to a formula of the flight time and the preset calculated distance.
Optionally, the principle of the bilateral two-way ranging is as follows:
wherein TOF represents the time of flight of the signal in air; raA difference value representing a time when the signal transmitting base station receives the permission-to-send signal and a time when the signal transmitting base station sends the request signal; daA difference value representing a time when the signal transmitting base station transmits the data packet and a time when the signal transmitting base station receives the permission transmission signal; dbA difference value representing a time when the signal receiving base station transmits the permission transmission signal and a time when the signal receiving base station receives the request signal; rbA difference value representing the time when the signal receiving base station receives the data packet and the time when the signal receiving base station sends permission to send the signal; the dwt _ time _ units represents a time unit of the ultra-wideband chip and is a fixed value;
the formula of the flight time and the preset calculation distance is as follows: d ═ TOF ═ c; where c represents the electromagnetic wave propagation velocity and d represents the calculated distance between the signal transmitting base station and the signal receiving base station. The application provides an electronic device, including: the antenna delay correction method for improving the ultra-wideband ranging precision comprises a memory, a processor and a computer program which is stored in the memory and can run on the processor, wherein when the processor executes the program, the antenna delay correction method for improving the ultra-wideband ranging precision is realized.
The application provides a computer-readable storage medium, which comprises a computer program, and the computer program controls an electronic device where the computer-readable storage medium is located to execute the antenna delay correction method for improving the ultra-wideband ranging precision when running.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. An antenna delay correction method for improving ultra-wideband ranging accuracy is characterized by comprising the following steps:
according to the time stamps of information sent and received by the signal transmitting base station and the signal receiving base station, calculating to obtain the calculated distance between the signal transmitting base station and the signal receiving base station;
differencing the calculated distance between the signal transmitting base station and the signal receiving base station with the actual distance; if the absolute value of the obtained difference value is larger than a preset threshold value, calculating by using a preset delay calibration formula to obtain a delay value;
correcting antenna delay parameters of the signal transmitting base station and the signal receiving base station according to the delay values;
the step of obtaining the calculated distance between the signal transmitting base station and the signal receiving base station through calculation according to the time stamps of the information sent and received by the signal transmitting base station and the signal receiving base station specifically includes:
calculating the flight time of the signal between the signal transmitting base station and the signal receiving base station according to a bilateral two-way ranging principle and the time stamp;
calculating to obtain a calculated distance between the signal transmitting base station and the signal receiving base station according to a formula of the flight time and a preset calculated distance;
the preset time delay calibration formula is as follows:
Y＝0.0016x^4-0.0749x^3+1.1542x^2-6.3614x+32979；
where x represents the actual distance value between the signal transmitting base station and the signal receiving base station.
2. The method of claim 1, wherein the step of obtaining the calculated distance between the signal transmitting base station and the signal receiving base station by calculating according to the timestamp of the information transmitted and received by the signal transmitting base station and the signal receiving base station further comprises:
respectively and sequentially acquiring a request signal sent by the signal transmitting base station, a request signal received by the signal receiving base station, a sending permission signal sent by the signal receiving base station, a sending permission signal received by the signal transmitting base station, a data packet sent by the signal transmitting base station and a data packet received by the signal receiving base station;
and marking the timestamp corresponding to the time in the corresponding signal or data packet.
3. The antenna delay correction method for improving ultra-wideband ranging accuracy according to claim 2, wherein the bilateral two-way ranging principle is as follows:
wherein TOF represents the time of flight of the signal in air; raA difference value representing a time when the signal transmitting base station receives the permission-to-send signal and a time when the signal transmitting base station sends the request signal; daA difference value representing a time when the signal transmitting base station transmits the data packet and a time when the signal transmitting base station receives the permission transmission signal; dbThe difference value between the time when the signal receiving base station sends the permission to send the signal and the time when the signal receiving base station receives the request signal is represented; rbIndicating reception of data packets by signal receiving stationsThe difference between the time and the time when the signal receiving base station sends permission to send the signal; the dwt _ time _ units represents a time unit of the ultra-wideband chip and is a fixed value;
the formula of the flight time and the preset calculation distance is as follows: d ═ TOF ═ c; wherein c represents the propagation velocity of electromagnetic waves, and d represents the calculated distance between the signal transmitting base station and the signal receiving base station.
4. An antenna delay correction system for improving ultra-wideband ranging accuracy, the system comprising: the first calculation module, the second calculation module and the correction module: the first calculation module is used for calculating the calculation distance between the signal transmitting base station and the signal receiving base station according to the time stamps of the information transmitted and received by the signal transmitting base station and the signal receiving base station; the second calculation module is used for making a difference between the calculated distance between the signal transmitting base station and the signal receiving base station and the actual distance; if the absolute value of the obtained difference value is larger than a preset threshold value, calculating by using a preset delay calibration formula to obtain a delay value; the correcting module is used for correcting the antennas of the signal transmitting base station and the signal receiving base station according to the delay value;
the first calculating module is specifically configured to calculate a time of flight of a signal between the signal transmitting base station and the signal receiving base station according to a bilateral two-way ranging principle and the timestamp; calculating to obtain a calculated distance between the signal transmitting base station and the signal receiving base station according to a formula of the flight time and a preset calculated distance;
the preset time delay calibration formula is as follows:
Y＝0.0016x^4-0.0749x^3+1.1542x^2-6.3614x+32979；
where x represents the actual distance value between the signal transmitting base station and the signal receiving base station.
5. The antenna delay correction system for improving ultra-wideband ranging accuracy of claim 4, further comprising a tagging module: the marking module is used for respectively and sequentially acquiring a request signal sent by the signal transmitting base station, a request signal received by the signal receiving base station, a sending permission signal sent by the signal receiving base station, a sending permission signal received by the signal transmitting base station, a data packet sent by the signal transmitting base station and a data packet received by the signal receiving base station; and marking the timestamp corresponding to the time in the corresponding signal or data packet.
6. The system of claim 5, wherein the bilateral two-way ranging principle is as follows:
wherein TOF represents the time of flight of the signal in air; raA difference value representing a time when the signal transmitting base station receives the permission-to-send signal and a time when the signal transmitting base station sends the request signal; daA difference value representing a time when the signal transmitting base station transmits the data packet and a time when the signal transmitting base station receives the permission transmission signal; dbA difference value representing a time when the signal receiving base station transmits the permission transmission signal and a time when the signal receiving base station receives the request signal; rbA difference value representing the time when the signal receiving base station receives the data packet and the time when the signal receiving base station sends permission to send the signal; the dwt _ time _ units represents a time unit of the ultra-wideband chip and is a fixed value;
the formula of the flight time and the preset calculation distance is as follows: d ═ TOF ═ c; wherein c represents the propagation velocity of electromagnetic waves, and d represents the calculated distance between the signal transmitting base station and the signal receiving base station.
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