CN113973378A - Wireless communication method and device, base station and label equipment - Google Patents

Wireless communication method and device, base station and label equipment Download PDF

Info

Publication number
CN113973378A
CN113973378A CN202010728839.2A CN202010728839A CN113973378A CN 113973378 A CN113973378 A CN 113973378A CN 202010728839 A CN202010728839 A CN 202010728839A CN 113973378 A CN113973378 A CN 113973378A
Authority
CN
China
Prior art keywords
base station
time
time slot
service system
uwb
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202010728839.2A
Other languages
Chinese (zh)
Inventor
张烨
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Guangdong Oppo Mobile Telecommunications Corp Ltd
Original Assignee
Guangdong Oppo Mobile Telecommunications Corp Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Guangdong Oppo Mobile Telecommunications Corp Ltd filed Critical Guangdong Oppo Mobile Telecommunications Corp Ltd
Priority to CN202010728839.2A priority Critical patent/CN113973378A/en
Priority to PCT/CN2021/094628 priority patent/WO2022016971A1/en
Publication of CN113973378A publication Critical patent/CN113973378A/en
Pending legal-status Critical Current

Links

Images

Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W72/00—Local resource management
    • H04W72/04—Wireless resource allocation
    • H04W72/044—Wireless resource allocation based on the type of the allocated resource
    • H04W72/0446—Resources in time domain, e.g. slots or frames
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/33—Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W56/00—Synchronisation arrangements
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W56/00—Synchronisation arrangements
    • H04W56/001—Synchronization between nodes
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W72/00—Local resource management
    • H04W72/04—Wireless resource allocation
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W88/00—Devices specially adapted for wireless communication networks, e.g. terminals, base stations or access point devices
    • H04W88/08—Access point devices

Abstract

The embodiment of the application discloses a wireless communication method and device, a base station and label equipment, wherein the method comprises the following steps: a base station X acquires a first time frame for UWB wireless communication between communication devices in a positioning service system; the communication equipment in the positioning service system comprises at least three base stations and label equipment, wherein the first time frame comprises a time slot for providing synchronous operation of the base stations and at least one time slot for providing positioning service for the label equipment through a preset positioning algorithm; and the base station X interacts UWB signals with the communication equipment in the positioning service system in the current time slot on the first time frame to realize UWB wireless communication. Therefore, the first time frame is divided into different time slots, and the UWB signals are interacted among the communication devices in the corresponding time slots, so that the mutual collision and interference of the UWB signals in a UWB channel are avoided, and the base station synchronous operation and positioning service is provided among the communication devices through time slot allocation.

Description

Wireless communication method and device, base station and label equipment
Technical Field
The present application relates to the field of wireless communication technologies, and in particular, to a wireless communication method and apparatus, a base station, and a tag device.
Background
Ultra Wide Band (UWB) technology is a wireless carrier communication technology characterized by transmitting UWB signals encoded by pulse modulation over a short distance with low power and a Wide frequency Band.
In an indoor positioning scenario based on UWB technology, whether the base station operates synchronously with the base station or provides a positioning service for the tag device, UWB signals need to be frequently interacted in a UWB channel. However, how to avoid the mutual collision and interference of UWB signals in the UWB channel caused by frequent interaction of UWB signals between the base station and the tag device becomes a problem that needs to be solved urgently.
Disclosure of Invention
The embodiment of the application provides a wireless communication method and device, a base station and a tag device, which are used for hopefully avoiding mutual collision and interference of UWB signals in a UWB channel and realizing base station synchronous operation and positioning service provided for communication devices by time slot allocation.
In a first aspect, an embodiment of the present application provides a wireless communication method, including:
a base station X acquires a first time frame for ultra-wideband UWB wireless communication between communication devices in a positioning service system; the communication equipment in the positioning service system comprises at least three base stations and label equipment, wherein the first time frame comprises a time slot for providing synchronous operation of the base stations and at least one time slot for providing positioning service for the label equipment through a preset positioning algorithm;
and the base station X interacts UWB signals with communication equipment in the positioning service system in the current time slot on the first time frame to realize UWB wireless communication.
In a second aspect, an embodiment of the present application provides a wireless communication method, including:
the method comprises the steps that a tag device acquires a first time frame for ultra-wideband UWB wireless communication between communication devices in a positioning service system; the communication equipment in the positioning service system comprises the tag equipment and at least three base stations, wherein the first time frame comprises a time slot for providing synchronous operation of the base stations and at least one time slot for providing positioning service for the tag equipment through a preset positioning algorithm;
and the tag device interacts with a communication device in the positioning service system in a current time slot on the first time frame to realize UWB wireless communication.
In a third aspect, an embodiment of the present application provides a wireless communication apparatus, which is applied to a base station X, and the apparatus includes a processing unit and a communication unit, where the processing unit is configured to:
acquiring, by the communication unit, a first time frame for ultra-wideband UWB wireless communication between communication devices in a location based service system; the communication equipment in the positioning service system comprises at least three base stations and label equipment, wherein the first time frame comprises a time slot for providing synchronous operation of the base stations and at least one time slot for providing positioning service for the label equipment through a preset positioning algorithm;
and interacting UWB signals with communication equipment in the positioning service system in the current time slot on the first time frame through the communication unit to realize UWB wireless communication.
In a fourth aspect, an embodiment of the present application provides a wireless communication apparatus, which is applied to a tag device, and the apparatus includes a processing unit and a communication unit, where the processing unit is configured to:
acquiring, by the communication unit, a first time frame for ultra-wideband UWB wireless communication between communication devices in a location based service system; the communication equipment in the positioning service system comprises the tag equipment and at least three base stations, wherein the first time frame comprises a time slot for providing synchronous operation of the base stations and at least one time slot for providing positioning service for the tag equipment through a preset positioning algorithm;
and interacting UWB signals with communication equipment in the positioning service system in the current time slot on the first time frame through the communication unit to realize UWB wireless communication.
In a fifth aspect, an embodiment of the present application provides a base station, which is a base station X and includes a processor, a memory and a communication interface, where the memory stores one or more programs, and the one or more programs are executed by the processor, and the one or more programs are used for executing the instructions of the steps in the first aspect of the embodiment of the present application.
In a sixth aspect, embodiments of the present application provide a tag device, comprising a processor, a memory and a communication interface, the memory storing one or more programs, and the one or more programs being executable by the processor, the one or more programs being for executing the instructions of the steps in the second aspect of the embodiments of the present application.
In a seventh aspect, an embodiment of the present application provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program for electronic data exchange, and the computer program is operable to cause a computer to perform some or all of the steps described in the first and second aspects of the embodiment of the present application.
In an eighth aspect, the present application provides a computer program product, where the computer program product includes a computer program operable to cause a computer to perform some or all of the steps described in the first and second aspects of the present application. The computer program product may be a software installation package.
It can be seen that in the embodiment of the present application, the base station X interacts UWB signals with at least three base stations and tag devices in the location based service system in the current time slot on the first time frame to implement UWB wireless communication. Because UWB signals need to be interacted between the base station and the base station to execute base station synchronous operation and provide positioning service for the tag device through a preset positioning algorithm, the first time frame is divided into different time slots, namely different UWB channels, through the difference of the base station synchronous operation and the positioning service executed between the communication devices in the positioning service system, UWB signals are interacted in the corresponding time slots between the base station and the base station, between the base station and the tag device and between the tag device and the tag device, so that mutual conflict and interference of the UWB signals in the UWB channels are avoided, and the base station synchronous operation and the positioning service are provided between the communication devices in the positioning service system through time slot allocation.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It is obvious that the drawings described below are only some embodiments of the application, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
Fig. 1A is a schematic diagram of an application scenario of positioning based on UWB technology according to an embodiment of the present application;
fig. 1B is a schematic signal interaction diagram of an SS-TWR positioning method according to an embodiment of the present disclosure;
fig. 1C is a schematic signal interaction diagram of a DS TWR positioning method according to an embodiment of the present application;
FIG. 1D is a schematic diagram of signal interaction of a TDOA locating method provided in an embodiment of the present application;
FIG. 1E is a schematic diagram of an AOA/PDOA positioning method provided in an embodiment of the present application;
fig. 1F is a schematic structural diagram of a superframe according to an embodiment of the present application;
fig. 1G is a schematic structural diagram of another superframe provided in the embodiment of the present application;
fig. 1H is a schematic structural diagram of a location service system according to an embodiment of the present application;
fig. 1I is a schematic structural diagram of a base station according to an embodiment of the present application;
fig. 1J is a schematic structural diagram of a labeling apparatus provided in an embodiment of the present application;
fig. 2A is a flowchart illustrating a wireless communication method according to an embodiment of the present application;
fig. 2B is a schematic structural diagram of a first time frame according to an embodiment of the present application;
fig. 2C is a schematic structural diagram of a UWB signal provided in an embodiment of the present application;
fig. 2D is a schematic diagram of signal interaction in a first time slot of a first time frame according to an embodiment of the present application;
fig. 2E is a schematic diagram of signal interaction in a first time slot of another first time frame provided in the embodiment of the present application;
fig. 2F is a schematic diagram of determining location information of a base station through a hyperbola according to an embodiment of the present application;
fig. 2G is a schematic structural diagram of another location service system provided in the embodiment of the present application;
fig. 2H is a schematic diagram of signal interaction in a second time slot of a first time frame according to another embodiment of the present application;
fig. 2I is a schematic diagram of signal interaction in a third time slot of the first time frame according to an embodiment of the present application;
fig. 3 is a flowchart illustrating another wireless communication method according to an embodiment of the present application;
fig. 4 is a block diagram illustrating functional units of a wireless communication apparatus according to an embodiment of the present disclosure;
fig. 5 is a block diagram of functional units of another wireless communication apparatus provided in the embodiments of the present application;
fig. 6 is a schematic structural diagram of another base station provided in the embodiment of the present application;
fig. 7 is a schematic structural diagram of another labeling apparatus provided in the embodiment of the present application.
Detailed Description
The embodiments of the present application will be described in detail below with reference to the accompanying drawings.
In order to better understand the scheme of the embodiments of the present application, the following first introduces the related terms and concepts that may be involved in the embodiments of the present application.
1. Ultra Wide Band (Ultra Wide Band, UWB)
UWB technology is a wireless carrier communication technology characterized by transmitting UWB signals encoded by pulse modulation over short distances with low power and a wide frequency band. According to the Federal communications commission (Federal communications commission of the United States) standard, the operating frequency band of UWB occupies a bandwidth of 500MHz or more in the 3.1 to 10.6GHz frequency spectrum, and data is transmitted using nanosecond to microsecond-level narrow non-sinusoidal pulses. The traditional UWB technology is used for industrial places such as mines, warehouses and the like, and the main application scene is to monitor the real-time positions of employees and goods indoors. The base stations are well calibrated in indoor places and are connected with one another in a wired or Wi-Fi mode for synchronization. In an exemplary application scenario as shown in fig. 1A, a denotes a base station supporting UWB technology, a central location engine personal computer (CLE PC) may uniformly manage the base stations, and Ehternet LAN-TCP/IP denotes a transmission control protocol/internet protocol supporting ethernet local area network between the base stations, and location monitoring for a user wearing a tag device is implemented by providing at least one base station in each area.
2. Tag positioning method based on UWB technology
Tag location methods based on UWB technology may include time of flight (TOF), time difference of arrival (TDOA), angle of arrival (AOA)/phase difference of arrival (PDOA).
(1) TOF positioning mode
TOF is a two-way ranging technique that calculates distance by measuring the time of flight of the UWB signal back and forth between a base station and a tag. According to different transmission modes of UWB signals, TOF positioning modes can be divided into one-way ranging and two-way ranging. The UWB signal in the one-way ranging is only transmitted in one way, and in order to obtain the flight time between the base station and the tag, the base station and the tag equipment are required to keep accurate clock synchronization, so that the system is high in complexity and cost; the two-way ranging has no strict requirement on the clock synchronization between the base station and the tag, the system implementation complexity and cost are low, and the two-way ranging can include single-sided two-way ranging (SS-TWR) and double-sided two-way ranging (DS-TWR).
In the SS-TWR positioning mode, the SS-TWR is a simple measurement of the time of a single outgoing signal, with device a actively sending a signal to device B and device B returning a signal in response to device a. As shown in fig. 1B, device a (device a) actively Transmits (TX) signal a and records a transmission timestamp; device B (device B) Receives (RX) the signal A and then records itReceiving a time stamp, wherein RMARKER represents a time node when a signal completes transmission (receiving or sending); at time delay TreplyThen, the device B sends a signal B and records a sending time stamp; device a records the receive timestamp after receiving signal B. Due to TroundRepresenting the time difference, T, between the reception of signal B and the transmission of signal A by device AreplyRepresents the delay time between the reception of the signal a and the transmission of the signal B by the device B, so the time of flight T of the wireless signal between the device a and the device B can be calculated by the following formulaprop：
Figure BDA0002599452440000031
TroundAnd TreplyAre calculated based on local synchronous clock, and local synchronous clock error can be counteracted, but there will be slight clock skew between different devices, and it is assumed that clock skew of devices a and B are e respectivelyAAnd eBThus TpropWill follow TreplyIncreases, the equation for the range error is as follows:
Figure BDA0002599452440000041
in the DS-TWR positioning mode, DS-TWR is an extended ranging method of single-side two-way ranging, and records the time stamps of two round-trip signals. Wherein, the DS TWR obtains two round-trip delays based on 3 signal transmissions between the initiating node and the responding node, and measures the distance at the responding end. As shown in fig. 1C, during the interaction of the signal between the device a and the device, the following four time differences can be obtained: time difference T between device A sending signal A and receiving signal Bround1Delay time T between the reception of signal A and the transmission of signal B by device Breply1Delay time T between the reception of signal B and the transmission of signal C by device Areply2Time difference T between the transmission of signal B to the reception of signal C by device Bround2. Finally, the calculation of the device A and the device B is performed by the following formulaTime of flight of inter-radio signal:
Figure BDA0002599452440000042
in addition, the error formula in the DS-TWR positioning mode is as follows:
Figure BDA0002599452440000043
wherein k isaAnd kbIs the ratio of the actual frequency of the crystal oscillator to the nominal frequency, thus kaAnd kbVery close to 1.
(2) TDOA positioning method
TDOA is an improvement over TOA in that instead of directly utilizing the time of arrival of a UWB signal, the location of a tag is calculated by detecting the difference in time of arrival between the UWB signal arriving at a plurality of tightly clocked base stations without the need for the tag and base stations to remain clock synchronized. Clock synchronization can be divided into wired clock synchronization and wireless clock synchronization. The wired clock synchronization is performed through a special wired clock synchronizer for clock distribution, but the deployment and maintenance costs and the cost of a clock network are high; the wireless time synchronization does not need special synchronization equipment, the accuracy is lower than that of wired clock synchronization, and the deployment, maintenance and cost of the system are relatively low. As shown in fig. 1D, in the case where base stations a, B, C and D are completely clock-synchronized, the tag device broadcasts UWB signals to base stations a, B, C and D, the time of flight of the UWB signals to base station a being t1, the time of flight of the UWB signals to base station B being t2, the time of flight of the UWB signals to base station C being t3 and the time of flight of the UWB signals to base station D being t 4. Then, the distance difference between the base stations is calculated by the following formula:
Figure BDA0002599452440000044
wherein d is12Expressed as the distance from the tag device to the base station AA distance difference between distances of the tag device to the base station B; d23Expressed as the difference in distance of the tag device to base station B and base station C; d34D34 is expressed as the difference in distance between the tag device to base station C and base station D; d14Represented as the difference in distance of the tag device to base stations a and D.
Finally, the coordinates (x, y, z) of the tag device are solved by calculating the following system of hyperbolic equations:
Figure BDA0002599452440000045
(3) AOA/PDOA positioning method
The AOA/PDOA determines the angle and distance of the recognition object from itself based on the phase difference between the same signal received by a plurality of antennas at different positions. As shown in fig. 1E, according to the phase difference of the same signal sent by the identification object received by the antenna a and the antenna B and the distance d between the antenna a and the antenna B, the antenna a knows the angle α and the distance r between itself and the identification object; the antenna B knows the angle beta and the distance r-p between itself and the identified object.
3. Superframe (superframe)
In an indoor scene, there are a plurality of tags, and it is necessary to set one superframe for periodic repetition over the entire time axis. Each tag needs to be allocated with a slot (slot), and interaction between signals is performed in the respective slots. Fig. 1F shows a superframe structure diagram, wherein a time slot is allocated to N tags in superframe k, and tag i can exchange signals with surrounding base stations X, Y and X in the time slot of tag i.
If the clock synchronization between the base stations is also realized by the ultra-wideband UWB technology, it is necessary to add Beacon frame (BCN) time slots before the time slots where the tags interact with the base stations, and to interact signals between the tags in the Beacon time slots to determine the respective order. As shown in fig. 1G, superframe (n) indicates superframe n, Idle Time indicates Idle Time, BCN indicates a Time Slot for carrying a beacon frame, SVC indicates a reserved Time Slot, TWR Slot indicates a Time Slot for carrying a bidirectional ranging signal, wake up indicates an awake Time Slot, and RX indicates a receiving status.
The following describes a location service system that may be involved in the embodiments of the present application. Referring to fig. 1H, fig. 1H is a diagram illustrating a location service system 100 according to an embodiment of the present disclosure. The communication devices in the location services system 100 may include at least three base stations 110 and tag devices 120, and the tag devices 120 may include electronic devices 130 and at least one internet of things tag device 140. UWB signals can be interacted between at least three base stations 110, UWB signals can be interacted between at least three base stations 110 and the tag device 120, UWB signals can be interacted between the electronic device 130 and at least one internet of things tag device 140, and UWB signals can be interacted between at least one internet of things tag device 140. Meanwhile, at least three base stations 110 may provide a location service for the tag device 120, and the electronic device 130 may search for its own internet of things tag device from at least one internet of things tag device 140. Further, the at least three base stations 110 may include a base station 111, a base station 112, a base station 113, and a base station 114, and UWB signals are interacted between each of the at least three base stations 110 to achieve clock synchronization; the at least one internet of things tag device 140 may include an internet of things tag device 141, an internet of things tag device 142, and the like. It should be noted that fig. 1H is only an example of the location service system in the embodiment of the present application, and the location service system may further include other base stations, tag devices, electronic devices, and internet of things tag devices, which is not limited in particular.
Specifically, the base station 110 in the embodiment of the present application may be a service-side device supporting the UWB technology, such as a UWB base station, a UWB anchor device, and the like; the tag device 120 may be a user end device or an internet of things device supporting UWB technology; the electronic device 130 may be a User Equipment (UE) supporting UWB technology, such as a User Equipment (UE), a terminal device (terminal device), a Mobile Terminal (MT), an Intelligent Terminal (IT), a Personal Digital Assistant (PDA), or a Personal Computer (PC); the internet of things tag device 140 may be an internet of things device that supports UWB technology, such as a key, a wallet, a camera, a home device, an office device, and the like.
The following describes the base station 110 in the embodiment of the present application in detail, please refer to fig. 1I. Fig. 1I is a diagram illustrating a structure of a base station 110 according to an embodiment of the present disclosure. The base station 110 may include a processing unit 1101, a communication unit 1102, a power management unit 1103, and a general purpose interface unit 1104.
In particular, the processing unit 1101 may include a processor and a memory, and the processor may include one or more processing cores. The processor, which is coupled to various components throughout the base station 110 using various interfaces and lines, performs various functions of the base station 110 and processes data by executing or executing instructions, programs, code sets, or instruction sets stored in memory, and invoking data stored in memory. The processor may include a Central Processing Unit (CPU), a modem processor, a Graphics Processing Unit (GPU), an Image Signal Processor (ISP), a video codec, a Digital Signal Processor (DSP), a baseband processor, and/or a neural Network Processor (NPU), etc. The memory may include Random Access Memory (RAM), read-only memory (read-only memory), non-transitory computer-readable medium (non-transitory computer-readable storage medium). The memory may be used to store an instruction, a program, code, a set of codes, or a set of instructions. The memory may include a stored program area and a stored data area, wherein the stored program area may store instructions for implementing an operating system and instructions for implementing at least one function (e.g., a touch function, a sound playing function, an image playing function, etc.). The stored data area may store data created by the base station 110 in use (e.g., nominal location data), and the like.
Specifically, the communication unit 1102 may implement functions of UWB communication, a second generation 2G mobile communication technology network, a third generation 3G mobile communication technology network, a fourth generation 4G mobile communication technology network, and a fifth generation 5G mobile communication technology network to perform receiving and transmitting of wireless mobile network data, and may provide channel spectrum resources of 2.4GHz and 5GHz to perform receiving and transmitting of network data, that is, the communication unit 1102 may specifically include a UWB module, and may further include one or more of bluetooth, Wi-Fi, Zigbee, and 2G/3G/4G/5G communication modules; the power management unit 1103 may include, but is not limited to, a battery, a DC-to-DC module, a filter circuit, an under-voltage detection circuit, and the like; the universal interface unit 1104 may be used to access various types of sensors including, but not limited to, indicator lights, vibration sensors, and other sensors. It should be noted that the structural diagram of the base station 110 is merely an example, and more or fewer components may be specifically included, which is not limited herein.
The following describes the labeling device 120 in the embodiment of the present application in detail, please refer to fig. 1J. Fig. 1J is a schematic structural diagram of a labeling apparatus according to an embodiment of the present application. The tag device 120 may include a processor 1201, a communication module 1202, a location module 1203, a storage module 1204, and a power management module 1205. The processor 1201 connects and controls the communication module 1202, the positioning module 1203, the storage module 1204, and the power management module 1205 in the form of corresponding buses. The processor 1201 is a control center of the tag device 120, and is connected to various parts of the tag device 120 through various interfaces and lines.
Specifically, the processor 1201 invokes the stored data in the memory by running or executing software programs and/or modules in the memory module 1204 to perform various functions of the tag device 120 and process data, and monitor the overall operation of the tag device 120. Optionally, the processor 1201 may include a CPU, ISP, GPU, DSP, ASIC, NPU, FPGA, and/or the like.
Specifically, the communication unit 1102 may implement functions of UWB communication, a second generation 2G mobile communication technology network, a third generation 3G mobile communication technology network, a fourth generation 4G mobile communication technology network, and a fifth generation 5G mobile communication technology network to perform reception and transmission of wireless mobile network data, and may provide channel spectrum resources of 2.4GHz and 5GHz to perform reception and transmission of network data.
In particular, the positioning module 1203 may be configured to perform UWB positioning.
In particular, the memory module 1204 may be used for storing software programs and/or modules, and may include a program storage area and a data storage area. The storage program area may be used to store an operating system or a software program required by at least one function, and the software program required by the at least one function may be used to execute the UWB positioning function and the like in the embodiment of the present application.
Specifically, the power management module 1205 may include a power management chip and may provide management functions such as power conversion, distribution, detection, and the like for the label device 120.
The steps of performing UWB wireless communication by the base station 110 in the location service system 100 will be described in the following from the perspective of a method example, please refer to fig. 2A. Fig. 2A is a flowchart of a wireless communication method according to an embodiment of the present application, where the method includes:
s210, the base station X acquires a first time frame for ultra-wideband UWB wireless communication among communication devices in the positioning service system.
The communication equipment in the positioning service system can comprise at least three base station label equipment; the first time frame may include a time slot for providing a base station synchronous operation and at least one time slot for providing a location service to the tag device through a predetermined location algorithm.
It should be noted that the location service system in this example may be the aforementioned location service system 100, the at least three base stations may be the aforementioned at least three base stations 110, and the tag device may be the aforementioned tag device 120. In addition, the base station X may obtain the first time frame from configuration information sent by a Central Location Engine (CLE) device (also referred to as a location server, for example, a location computing device), or may obtain the first time frame from configuration information sent by a main base station or a reference base station in the location service system.
Specifically, the base station X may be a base station to be accessed to the location service system, or a base station in the location service system, that is, one base station in at least three base stations.
Specifically, the first time frame may represent a time interval periodically divided at an application layer (application layer), and the first time frame may be divided into a plurality of time slots, and each of the time slots may be a UWB channel of an interactive UWB signal for the communication devices in the location service system. Meanwhile, the time interval periodically divided at the application layer and the time interval periodically divided at the media access control layer (MAC) (e.g., a superframe) satisfy a certain mapping relationship.
Specifically, the base station synchronization operation may include at least one of: a position location operation between every two of the at least three base stations, a position update operation between every two of the at least three base stations, an access operation of the base station X to the location service system, or a removal operation of the base station X from the location service system. It is understood that, in the first time frame, the base station in the positioning service system and the base station may perform position location or position update operation with each other, and the new base station accesses the positioning service system or removes the base station from the positioning service system.
Specifically, the predetermined positioning algorithm may include an SS-TWR algorithm, a DS-TWR algorithm, a TDOA algorithm, an AOA/PDOA algorithm, a TDOA improvement algorithm combining the second time slot and the TDOA algorithm, which are mentioned later in this application, and a DS-TWR improvement algorithm combining the third time slot and the DS-TWR algorithm, which are mentioned later in this application.
In one possible example, one time slot for providing the base station synchronous operation is a first time slot, the at least one time slot for providing the tag device with the positioning service through the preset positioning algorithm includes a second time slot, a third time slot and a fourth time slot, the preset positioning algorithm includes a first positioning algorithm, a second positioning algorithm and a third positioning algorithm, and the tag device may include an electronic device and at least one internet of things tag device.
The second time slot may be used for providing a positioning service for the electronic device through the first positioning algorithm, the third time slot may be used for providing a positioning service for the at least one internet of things tag device through the second positioning algorithm, and the fourth time slot may be used for positioning the target internet of things tag device from the at least one internet of things tag device for the electronic device through the third positioning algorithm.
It should be noted that, in the embodiment of the present application, the first time frame may include a first time slot, a second time slot, a third time slot, and a fourth time slot. Since the fourth time slot may be mainly used to locate the target internet of things tag device from the at least one internet of things tag device for the electronic device through the third location algorithm, when the base station X interacts with the communication device in the location service system within the current time slot on the first time frame to implement UWB wireless communication, the current time slot at this time may only be one time slot of the first time slot, the second time slot, or the third time slot.
For example, please refer to fig. 2B, and fig. 2B is a schematic structural diagram of a first time frame according to an embodiment of the present application. The first time frame is a periodic time interval, and is divided into a first time slot, a second time slot, a third time slot and a fourth time slot in each first time frame, and the first time slot can be divided into a plurality of sub-time slots. Specifically, the first positioning algorithm may be one of an SS-TWR algorithm, a DS-TWR algorithm, a TDOA algorithm, and a TDOA improvement algorithm; the second positioning algorithm may be one of an SS-TWR algorithm, a DS-TWR algorithm, a TDOA algorithm, a DS-TWR improvement algorithm; the third positioning algorithm may be an AOA/PDOA algorithm.
Further, the embodiment of the present application also considers that different positioning authorities and positioning accuracies are provided for the positioning service level of the electronic device 130 in the second time slot of the first time frame, that is, the corresponding first positioning algorithm is selected according to the positioning service level of the electronic device 130. Similarly, in the third time slot of the first time frame, different positioning authorities and positioning accuracy are provided for the positioning service level of at least one internet of things tag device 140. For example, referring to table 1, the location service level of the electronic device 130 includes three levels, i.e., low, medium and high, and the location service level can be determined according to whether to pay for the VIP or the like. Meanwhile, the number of location services that the location service system 100 can provide to the electronic device 130 is limited, i.e., the number of devices to accommodate is limited. In addition, the location service system 100 may select from the SS-TWR algorithm, the TDOA improved algorithm, and the DS-TWR algorithm to provide different location authority and location accuracy according to the location service level of the electronic device 130.
TABLE 1
Figure BDA0002599452440000071
S220, the base station X interacts UWB signals with communication equipment in the positioning service system in the current time slot of the first time frame to realize UWB wireless communication.
Specifically, the current time slot may be a first time slot, a second time slot, or a third time slot.
Specifically, the UWB signal may include a media access control protocol data unit (MPDU), and may also include a beacon (beacon) frame or a data frame. The frame control field in the MAC frame header of the UWB signal (e.g., the frame control field in the MAC frame header of the beacon frame or the frame control field in the MAC frame header of the data frame) carries effective information of the base station or effective information of the tag device, such as an identifier of the base station itself, a sub-slot number occupied by the base station to transmit the UWB signal, location information of the base station, a start timestamp of the base station to transmit the UWB signal, an identifier of the tag device itself, location information of the tag device, or a start timestamp of the tag device to transmit the UWB signal.
For example, please refer to fig. 2C, fig. 2C is a schematic structural diagram of a UWB signal according to an embodiment of the present application. The UWB signal may include a media access control layer Header (MAC Header, MHR), a media access control layer Service Data Unit (MSDU), a media access control layer tail (MAC Footer, MFR), and the MHR may include a frame control field, a sequence code field, and an addressing information field.
In the following, the embodiments of the present application will respectively describe specific steps of, when a current time slot is a first time slot, a second time slot, or a third time slot, a base station X interacting with a UWB signal with a communication device in a location based service system in the current time slot to implement UWB wireless communication.
In one possible example, if the current time slot is a first time slot, the first time slot includes at least three sub-time slots, and the base station X is a base station to be accessed to the location service system, then the base station X interacts with a UWB signal to implement UWB wireless communication with a communication device in the location service system in the current time slot on the first time frame, which may include the following operations: the base station X listens to UWB signals broadcast by each of at least three base stations in at least three sub-time slots; the base station X determines the sub-time slot number occupied by the self-broadcast UWB signal according to the sub-time slot occupation condition of the UWB signal broadcasted by each base station in at least three sub-time slots; the base station X determines the position information of the base station X in the positioning service system according to the time difference of the UWB signals broadcasted by each of the at least three base stations which is listened to by the base station X and the time interval between the sub-time slots of the at least three sub-time slots; and the base station X broadcasts the UWB signal X to the communication equipment in the positioning service system according to the sub-time slot number occupied by the self broadcast UWB signal and the position information of the self in the positioning service system so as to access the positioning service system.
It should be noted that, in this example, first, since the base station X is a new base station that needs to access the location service system, before the base station X accesses the location service system, it needs to configure the sub-slot occupancy within the first time slot of the first time frame to the base station X, and needs to determine the location information where the base station X is located, so as to ensure that the communication device in the location service system knows the slot occupancy of the base station X in the first time frame and the location information of the base station X in the location service system after the base station X accesses the location service system.
Second, the first time slot may include at least three sub-time slots, and one of the at least three base stations of the location service system may broadcast the UWB signal in one of the at least three sub-time slots. Interference between UWB signals is avoided due to the different numbering of the subslots occupied by each base station. For example, referring to fig. 2D, first, n sub-slots are configured in the first time slot of the first time frame, and each sub-slot of the n sub-slots is numbered sequentially, that is, sub-slot 1, sub-slot 2, sub-slot 3, sub-slot 4, … …, and sub-slot n; secondly, the communication equipment in the positioning service system comprises a base station 1, a base station 2 and a base station 3, and the base station X is used as a base station to be accessed into the positioning service system; then, base station 1 broadcasts (Tx) UWB signals in sub-slot 1, base station 2 broadcasts UWB signals in sub-slot 3, and base station 3 broadcasts UWB signals in sub-slot 4; finally, base station X listens (Rx) to the UWB signal broadcast by base station 1 during sub-slot 1, base station X listens to the UWB signal broadcast by base station 2 during sub-slot 3, and base station X listens to the UWB signal broadcast by base station 3 during sub-slot 4.
Then, the purpose of base station X listening is to obtain the occupation of each base station in the location based service system on the sub-slots of the at least three sub-slots in the first time slot as accurately as possible. For example, in fig. 2D, if the base station X listens to the UWB signal broadcast by the base station 1 in the sub-slot 1, the base station X knows that the base station 1 occupies the sub-slot 1; alternatively, the base station X may determine the sub-slot occupation of the base station by listening to the valid information of the base station carried in the frame control field in the MAC frame header of the UWB signal, for example, in fig. 2D, the base station X listens to the UWB signal broadcast by the base station 1, and the frame control field in the MAC frame header of the UWB signal carries the information that the base station 1 occupies the sub-slot 1.
Finally, for the UWB signal X broadcast by the base station X to the communication device in the positioning service system, when the communication device in the positioning service system senses the UWB signal X in a certain sub-slot, the communication device in the positioning service system may know that the base station X has occupied the sub-slot, and the communication device in the positioning service system may determine the location information of the base station X in the positioning service system through the flight time of the UWB signal X; or, when the MAC frame header of the UWB signal X carries the sub-slot number occupied by the base station X for transmitting the UWB signal and the location information of the base station X in the positioning service system, the communication device in the positioning service system successfully listens to the UWB signal X, so that the base station X successfully accesses the positioning service system.
Specifically, the base station X determines the sub-slot number occupied by the self broadcast UWB signal according to the sub-slot occupancy of the UWB signal broadcast by each of the at least three base stations in the at least three sub-slots, and may include the following operations: the base station X selects one sub-time slot from unoccupied sub-time slots in the at least three sub-time slots according to the sub-time slot occupation condition of the UWB signals broadcasted by each base station in the at least three base stations in the at least three sub-time slots by a preset rule; the preset rule may include selecting unoccupied sub-slots in sequence from a starting number in the numbering order or randomly selecting sub-slots from the unoccupied sub-slots.
It should be noted that, base station X may select one sub-slot from the unoccupied sub-slots, so as to avoid collision and interference between the UWB signal broadcast by base station X and the UWB signals broadcast by other base stations.
For example, in fig. 2D, the location service system includes base station 1, base station 2, and base station 3, and base station X is a base station to be accessed to the location service system. Since base station 1 occupies sub-slot 1, base station 2 occupies sub-slot 3, and base station 3 occupies sub-slot 4, base station X can select one sub-slot from sub-slot 2 and sub-slot 5 to sub-slot n. When sequentially selecting unoccupied sub-slots from the starting number according to the numbering sequence, the base station X may select sub-slot 2; when randomly selecting a sub-slot from among the unoccupied sub-slots, base station X may choose to randomly select one sub-slot from sub-slot 2 or sub-slot 5 through sub-slot n.
Specifically, if the at least three base stations include the base station Y, the base station Z and the base station H, the at least three sub-time slots include a first sub-time slot, a second sub-time slot and a third sub-time slot, the second sub-time slot is a sub-time slot after the first sub-time slot, and the third sub-time slot is a sub-time slot after the second sub-time slot, the base station X determines the location information of the base station in the location service system according to the time difference of the base station itself sensing the UWB signal broadcasted by each base station of the at least three base stations and the time interval between the sub-time slots of the at least three sub-time slots, and may include the following operations: the base station X monitors the UWB signal Y broadcasted by the base station Y at the starting time of the first sub-time slot at the time stamp X of the first sub-time slot; the base station X monitors the UWB signal Z broadcast by the base station Z at the starting time of the second sub-time slot at the time stamp Y of the second sub-time slot, and calculates the time interval from the starting time of the first sub-time slot to the starting time of the second sub-time slot to obtain a first time interval; the base station X monitors the UWB signal H broadcast by the base station H at the starting time of the third sub-time slot at the time stamp Z of the third sub-time slot, and calculates the time interval from the starting time of the second sub-time slot to the starting time of the third sub-time slot to obtain a second time interval; the base station X calculates the time difference between the self-listening UWB signal Y and the self-listening UWB signal Z according to the time stamp X and the time stamp Y to obtain a first time difference; the base station X calculates the time difference between the UWB signal Y sensed by the base station X and the UWB signal H sensed by the base station X according to the time stamp X and the time stamp Z to obtain a second time difference; and the base station X determines the position information of the base station X in the positioning service system according to the first time difference, the second time difference, the first time interval and the second time interval.
It should be noted that, since the base station X listens to the UWB signal broadcast by each base station in the location service system in the first time slot of the first time frame and the time interval between the sub-time slots in the first time slot, the location of the base station X is achieved in the first time slot of the first time frame.
For example, referring to fig. 2E and fig. 2F, first, n sub-slots are configured in the first time slot of the first time frame, and each of the n sub-slots is numbered sequentially, that is, sub-slot 1, sub-slot 2, sub-slot 3, … …, and sub-slot n, and meanwhile, the time length of each of the n sub-slots is T. Secondly, the communication device in the location service system includes a base station Y, a base station Z and a base station H, and the base station X is a base station to be accessed to the location service system. Again, base station Y broadcasts UWB signal Y at the start time T0 of sub-slot 1, base station Z broadcasts UWB signal Z at the start time (T0+2T) of sub-slot 3, and base station H broadcasts UWB signal H at the start time (T0+3T) of sub-slot 4. Then, base station X listens to UWB signal Y at time stamp X of sub-slot 1, base station X listens to UWB signal Z at time stamp Y of sub-slot 3, and base station X listens to UWB signal H at time stamp Z of sub-slot 4. Then, the time when the base station X listens to the UWB signal Y is equal to the time when the base station Y broadcasts the UWB signal Y plus the distance (d1) from the base station X to the base station Y divided by the speed of light (c), i.e., the timestamp X is t0+ d 1/c; similarly, the time when the base station X listens to the UWB signal Z is equal to the time when the base station Z broadcasts the UWB signal Z plus the distance (d2) from the base station X to the base station Z divided by the speed of light (c), i.e., the timestamp Y is T0+2T + d 2/c; and the time when the base station X listens to the UWB signal H is equal to the time when the base station H broadcasts the UWB signal H plus the distance (d3) from the base station X to the base station H divided by the speed of light (c), i.e., the timestamp Z is T0+3T + d 3/c. Finally, the distance difference between the distance from the base station X to the base station Y and the distance from the base station X to the base station Z is equal to the time difference between the base station X listening to the UWB signal Y and listening to the UWB signal Z multiplied by the speed of light minus the time difference between the broadcast time of the UWB signal Z and the broadcast time of the UWB signal Y multiplied by the speed of light, i.e., | d1-d2| (timestamp X-T0) c- (timestamp Y-T0-2T) c |; the distance difference between the distance from base station X to base station Y and the distance from base station X to base station H is equal to the time difference between base station X listening to UWB signal Y and listening to UWB signal H multiplied by the speed of light minus the time difference between the time of broadcast of UWB signal H and the time of broadcast of UWB signal Y multiplied by the speed of light, i.e., | d1-d3| (timestamp X-T0) c- (timestamp Z-T0-3T) c |. Since | d1-d2| and | d1-d3| can construct 2 hyperbolas, the location information of the base station X can be obtained by the intersection point of the 2 hyperbolas.
In one possible example, if the current time slot is a first time slot and the base station X is one of at least three base stations, then the base station X interacts with a communication device in the positioning service system to implement UWB wireless communication within the current time slot on the first time frame, and may include the following operations: broadcasting indication information X to communication equipment in the positioning service system in a fourth sub-time slot of the base station X on the first time slot, wherein the indication information X is used for indicating the position information of the base station X in the positioning service system; and the base station X monitors indication information Y sent by the base station J in a fifth sub-time slot on the first time slot, wherein the indication information Y is used for indicating the position information of the base station J in the positioning service system, and the base station J is one of at least three base stations except the base station X.
It should be noted that, since the base station X is one base station in the positioning service system, the base station X may directly broadcast its own location information in the sub-time slot of the first time slot, and listen to the location information broadcast by other base stations in the positioning service system, so as to implement location update between the base stations in the positioning service system in the first time slot of the first time frame.
Specifically, the indication information X may be carried in a frame control field in a MAC frame header of the UWB signal; the indication information Y may carry a frame control field in a MAC frame header of the UWB signal.
In one possible example, if the current time slot is the second time slot and the base station X is one of at least three base stations, then the base station X interacts with a communication device in the location based service system for UWB wireless communication within the current time slot on the first time frame, and may include the following operations: and the base station X interacts UWB signals with the communication equipment in the positioning service system according to the first positioning algorithm in the second time slot so as to determine the position information of the electronic equipment in the positioning service system.
It should be noted that, since the communication devices in the location service system may broadcast the UWB signal in the second time slot of the first time frame at any time, unlike the situation that each base station needs to be configured with the sub-slot number for broadcasting the UWB signal in the first time slot of the first time frame, in order to Avoid Collision caused by the communication devices in the location service system broadcasting the UWB signal simultaneously in the second time slot, the UWB wireless communication in the second time slot may employ a carrier sense Multiple Access with Collision avoidance (CSMA/CA) mechanism. In addition, the base station X can be regarded as a master base station (a reference base station or an initiating base station) for providing the positioning service for the electronic device, and other base stations for providing the positioning service for the electronic device are regarded as slave base stations. Meanwhile, in the embodiment of the application, a base station which receives a positioning service request sent by the electronic device is taken as a main base station in the second time slot, and the positioning service request is used for requesting the base station which provides positioning service for the electronic device from a positioning service system. When a plurality of base stations in the positioning service system receive positioning service requests sent by electronic equipment or at least one piece of label equipment of the Internet of things, the base stations receiving the positioning service requests forward the positioning service requests to a positioning server, and the positioning server selects a main base station.
For example, referring to fig. 2G, the electronic device broadcasts a location service request in the second time slot; then, the base station A, the base station B, the base station C and the base station D all receive the positioning service request; finally, base station a, base station B, base station C and base station D forward the location service request to the location server, and base station a is selected by the location server as the master base station, and base station B, base station C and base station D are selected as the slave base stations.
Specifically, if the at least three base stations include a base station X, a base station K, and a base station L, a first distance exists between the base station X and the base station K, a second distance exists between the base station X and the base station L, and a third distance exists between the base station K and the base station L, the base station X interacts UWB signals with the communication device in the positioning service system according to the first positioning algorithm in the second time slot to determine the location information of the electronic device in the positioning service system, which may include the following operations: the base station X broadcasts a UWB signal J to the communication equipment in the positioning service system on a time stamp H of a second time slot, wherein the UWB signal J is used for detecting the position information of the electronic equipment in the positioning service system; the base station X monitors a UWB signal K on a time stamp J of a second time slot, the time stamp J is behind a time stamp H, and the UWB signal K is broadcasted by the communication equipment in the positioning service system after the base station K monitors the UWB signal J; the base station X listens to a UWB signal L on a time stamp K of a second time slot, the time stamp K is behind a time stamp J, and the UWB signal L is broadcasted by the base station L to communication equipment in the positioning service system after the UWB signal K is listened to; the base station X determines a first sending time difference according to the time stamp H, the time stamp J and a first distance, wherein the first sending time difference is the sending time difference between the base station X broadcast UWB signal J and the base station K broadcast UWB signal K; the base station X determines a second sending time difference according to the time stamp H, the time stamp K and a second distance, wherein the second sending time difference is the sending time difference between the base station X broadcast UWB signal J and the base station L broadcast UWB signal L; and the base station X transmits indication information Z to the electronic equipment at a time stamp L of the second time slot, wherein the time stamp L is after the time stamp K, and the indication information Z is used for indicating the first transmission time difference and the second transmission time difference.
It should be noted that, first, the base station X, the base station K, and the base station L may interact with the UWB signal in the first time slot of the first time frame to determine the distance between them, which is described in the above example and is not described herein again. Second, base station X serves as a master base station providing location services to the electronic device, and base stations K and L serve as slave base stations providing location services to the electronic device. Then, because the base station K needs to listen to the UWB signal J broadcasted by the base station X and then broadcasts the UWB signal K, and the base station L needs to listen to the UWB signal K broadcasted by the base station K and then broadcasts the UWB signal L, it is advantageous to avoid the interference between the signals caused by the base station simultaneously broadcasting the UWB signal in the second time slot. Finally, the indication information Z sent by the base station X to the electronic device may carry a frame control field in the MAC header of the UWB signal. Since the electronic device cannot know the time when the base station broadcasts the UWB signal and the distance between the base stations, in this example, the base station X calculates the time difference between the base stations transmitting the UWB signal, and then the base station X notifies the electronic device, so that the electronic device finally calculates the position information of the electronic device according to the time difference between the base stations transmitting the UWB signal and the time when the electronic device senses the UWB signal.
For example, referring to fig. 2H, first, the communication device in the positioning service system includes a base station X, a base station K, a base station L and an electronic device, and the base station X, the base station K and the base station L mutually acquire a distance d1 between the base station X and the base station K, a distance d2 between the base station X and the base station L, and a distance d3 between the base station K and the base station L by exchanging UWB signals in a first time slot, and the base station X, the base station K and the base station L provide positioning service to the electronic device in a second time slot. Second, base station X broadcasts UWB signal J at time stamp t4 of the second time slot, base station K broadcasts UWB signal K after listening to UWB signal J, and base station L broadcasts UWB signal L after listening to UWB signal K. Again, base station X listens to UWB signal K at time stamp t5 of the second time slot, and base station X listens to UWB signal L at time stamp t6 of the second time slot. Then, since the base station X knows the distance d1 from itself to the base station K, the base station X can calculate the time of flight T1 from the UWB signal K to itself, so as to calculate the transmission time difference T2 between the base station X broadcast UWB signal 1 and the base station K broadcast UWB signal K according to T4, T5 and T1; similarly, the base station X can calculate the transmission time difference T3 between the base station X broadcasting the UWB signal 1 and the base station L broadcasting the UWB signal L. Then, the base station X transmits indication information indicating T2 and T3 to the electronic device at the time stamp T7 of the second slot. Finally, the electronic device receives the indication to learn T2 and T3. Since the electronic device knows the time stamps of the UWB signal J, UWB K and the UWB signal L received by itself, the electronic device can calculate the distance difference D1 between the distance from itself to the base station X and the distance from itself to the base station 2, and the distance difference D2 between the distance from itself to the base station X and the distance from itself to the base station 3, thereby constructing 2 hyperbolas according to the constructions D1 and D2, and knowing the location information of itself according to the intersection point of the 2 hyperbolas.
In one possible example, if the current time slot is the third time slot and the base station X is one of at least three base stations, then the base station X interacts with the communication device in the location service system to implement UWB wireless communication within the current time slot on the first time frame, which may include the following operations: and the base station X interacts UWB signals with communication equipment in the positioning service system according to a second positioning algorithm in a third time slot to determine the position information of the target Internet of things label equipment in at least one Internet of things label equipment in the positioning service system.
It should be noted that, since the UWB signals may be broadcast in the third time slot of the first time frame at any time between the communication devices in the location based service system, unlike the sub-slot number of the broadcast UWB signal that needs to be configured for each base station in the first time slot of the first time frame, in order to avoid collision caused by the communication devices in the location based service system simultaneously broadcasting the UWB signals in the third time slot, the UWB wireless communication in the third time slot may employ the CSMA/CA mechanism. In addition, the base station X may be regarded as a main base station (reference base station or initiating base station) that provides a positioning service to the target internet of things tag device, and how to select the main base station is consistent with the above example, the base station that receives the positioning service request sent by the target internet of things device is used as the main base station in the third time slot, and the positioning service request is used as the base station that requests to provide the positioning service to the target internet of things device from the positioning service system, which is not described in detail again.
Specifically, if the at least three base stations include the base station X, the base station M, the base station N, and the base station P, the base station X interacts UWB signals with the communication device in the location service system according to the second location algorithm in the third time slot to determine the location information of the target tag device in the location service system in the internet of things, which may include the following operations: the base station X monitors a UWB signal M broadcasted by the target Internet of things equipment on a timestamp M of a third time slot, wherein the UWB signal M is used for requesting to detect the position information of the target Internet of things label equipment in the positioning service system; the base station X broadcasts a UWB signal N to communication equipment in the positioning service system at a time stamp N of a third time slot, wherein the time stamp N is behind the time stamp M; the base station X listens to indication information H on a timestamp P of a third time slot, the timestamp P is after a timestamp N, the indication information H is broadcasted to the communication equipment in the positioning service system after a target Internet of things label equipment listens to a UWB signal N, UWB signal P, UWB signal Q, the UWB signal P is broadcasted to the communication equipment in the positioning service system after the base station M listens to the UWB signal N, the UWB signal Q is broadcasted to the communication equipment in the positioning service system after the base station N listens to the UWB signal P, and the indication information H carries a timestamp of broadcasting the UWB signal M on the third time slot, a timestamp of listening to the UWB signal N on the third time slot, a timestamp of listening to the UWB signal P on the third time slot and a timestamp of listening to the UWB signal Q on the third time slot; and the base station X determines the distance between the base station X and the target Internet of things label equipment according to the indication information H, the timestamp M, the timestamp N and the timestamp P.
It should be noted that, first, base station X, base station M, and base station N may exchange UWB signals in the first time slot of the first time frame to perform a synchronization operation. Secondly, the base station X serves as a master base station for providing a positioning service to the target internet of things tag device, and the base stations M and N serve as slave base stations for providing a positioning service to the target internet of things tag device. Then, because the base station M needs to listen to the UWB signal N broadcast by the base station X and then broadcasts the UWB signal P, and the base station N needs to listen to the UWB signal P broadcast by the base station M and then broadcasts the UWB signal Q, it is beneficial to avoid the interference between the signals caused by the base station simultaneously broadcasting the UWB signals in the third time slot. Finally, the indication information H broadcasted by the target internet of things device may be carried in a frame control field in the MAC frame header of the UWB signal. Compared with electronic equipment, because the internet of things tag equipment has lower electric quantity storage capacity and data calculation processing capacity, the example considers that the internet of things tag equipment sends the time stamp of broadcasting and intercepting the UWB signal to the base station, the base station calculates the position information of the internet of things tag equipment according to the time stamp of broadcasting and intercepting the UWB signal of the internet of things tag equipment and the time stamp of broadcasting and intercepting the UWB signal of the base station, and finally the base station informs the internet of things tag equipment.
For example, referring to fig. 2I, first, the communication device in the location service system includes a base station X, a base station M, a base station N, and an internet of things tag device 1, and the base station X, the base station M, and the base station N provide a location service to the internet of things tag device 1 in a third time slot. Secondly, the tag device 1 of the internet of things broadcasts the UWB signal M at the timestamp U of the third time slot, and the base station XX senses the UWB signal M at the timestamp M of the third time slot and broadcasts the UWB signal N at the timestamp N of the third time slot. Again, base station M broadcasts UWB signal P after it has heard UWB signal N, and base station N broadcasts UWB signal Q after it has heard UWB signal P. Next, the tag device 1 of the internet of things senses the UWB signal N, UWB signal P and the UWB signal Q at the time stamp V, the time stamp W, and the time stamp F of the third time slot, respectively, and broadcasts indication information indicating the time stamp U, the time stamp V, the time stamp W, the time stamp F, and the time stamp G at the time stamp G of the third time slot. Finally, the base station XX monitors the indication information to obtain the timestamp U, the timestamp V and the timestamp G, and calculates a distance r1 between the base station XX and the internet of things tag device 1 according to the timestamp U, the timestamp V, the timestamp G, the timestamp M, the timestamp N and the timestamp P. Similarly, the base station M may calculate a distance r2 between the base station M and the tag device 1 of the internet of things, and the base station N may calculate a distance r3 between the base station N and the tag device 1 of the internet of things, so that, according to the position information of the base station XX, the base station M, and the base station N as an origin, r1, r2, and r3 construct intersection points of 3 circles as the position information of the tag device 1 of the internet of things for the radius.
It can be seen that, in the embodiment of the present application, the base station X interacts with at least three base stations, electronic devices, or at least one tag device of the internet of things in the positioning service system in a current time slot on the first time frame to implement UWB wireless communication. Because UWB signals need to be interacted between the base station and the base station to execute synchronous operation of the base station, and the position information of the electronic equipment and the position information of at least one piece of label equipment of the internet of things are determined through a preset positioning algorithm, a first time frame is divided into different time slots, namely different UWB channels, through the difference of the synchronous operation and the positioning service executed between the communication equipment in the positioning service system, and UWB signals are interacted between the communication equipment in the corresponding time slots, so that mutual collision and interference of the UWB signals in the UWB channels are avoided, and different synchronous operation and positioning service are provided for the communication equipment through time slot allocation.
In accordance with the above-described embodiments, the steps of performing UWB wireless communication by the tag device 120 in the location service system 100 will be described in the following with reference to fig. 3 in the perspective of a method example. Fig. 3 is a flowchart of another wireless communication method provided in this application, where the method includes:
s310, the tag device obtains a first time frame for ultra-wideband UWB wireless communication between communication devices in the positioning service system.
The communication equipment in the positioning service system can comprise at least three base station label equipment; the first time frame may include a time slot for providing a base station synchronous operation and at least one time slot for providing a location service to the tag device through a predetermined location algorithm.
It should be noted that the location service system in this example may be the aforementioned location service system 100, the at least three base stations may be the aforementioned at least three base stations 110, and the tag device may be the aforementioned tag device 120. In addition, the tag device may obtain the first time frame from configuration information sent by a Central Location Engine (CLE) device (also referred to as a location server, for example, a location computing device), or may obtain the first time frame from configuration information sent by a master base station or a reference base station in the location service system.
Specifically, the tag device may be an electronic device, or may be at least one internet of things tag device.
Specifically, the first time frame may represent a time interval periodically divided at an application layer (application layer), and the first time frame may be divided into a plurality of time slots, and each of the time slots may be a UWB channel of an interactive UWB signal for the communication devices in the location service system. Meanwhile, the time interval periodically divided at the application layer and the time interval periodically divided at the media access control layer (MAC) (e.g., a superframe) satisfy a certain mapping relationship.
Specifically, the predetermined positioning algorithm may include an SS-TWR algorithm, a DS-TWR algorithm, a TDOA algorithm, an AOA/PDOA algorithm, a TDOA improvement algorithm combining the second time slot and the TDOA algorithm, which are mentioned later in this application, and a DS-TWR improvement algorithm combining the third time slot and the DS-TWR algorithm, which are mentioned later in this application.
Specifically, the predetermined positioning algorithm may include an SS-TWR algorithm, a DS-TWR algorithm, a TDOA algorithm, an AOA/PDOA algorithm, a TDOA improvement algorithm combining the second time slot and the TDOA algorithm, which are mentioned later in this application, and a DS-TWR improvement algorithm combining the third time slot and the DS-TWR algorithm, which are mentioned later in this application.
In one possible example, one time slot for providing the base station synchronous operation is a first time slot, the at least one time slot for providing the tag device with the positioning service through the preset positioning algorithm includes a second time slot, a third time slot and a fourth time slot, the preset positioning algorithm includes a first positioning algorithm, a second positioning algorithm and a third positioning algorithm, and the tag device may include an electronic device and at least one internet of things tag device.
The second time slot may be used for providing a positioning service for the electronic device through the first positioning algorithm, the third time slot may be used for providing a positioning service for the at least one internet of things tag device through the second positioning algorithm, and the fourth time slot may be used for positioning the target internet of things tag device from the at least one internet of things tag device for the electronic device through the third positioning algorithm.
It should be noted that, in the embodiment of the present application, the first time frame may include a first time slot, a second time slot, a third time slot, and a fourth time slot. Since the first time slot can be mainly used for providing base station synchronous operation, when the tag device interacts with the communication device in the positioning service system in the current time slot on the first time frame to realize UWB wireless communication, the current time slot at this time can only be one time slot of the second time slot, the third time slot or the fourth time slot.
And S320, the tag device interacts with the communication device in the positioning service system in the current time slot on the first time frame to realize UWB wireless communication.
Specifically, the current time slot may be the second time slot, the third time slot, or the fourth time slot.
Specifically, the UWB signal may include a media access control protocol data unit (MPDU), and may also include a beacon (beacon) frame or a data frame. The frame control field in the MAC frame header of the UWB signal (e.g., the frame control field in the MAC frame header of the beacon frame or the frame control field in the MAC frame header of the data frame) carries effective information of the base station or effective information of the tag device, such as an identifier of the base station itself, a sub-slot number occupied by the base station to transmit the UWB signal, location information of the base station, a start timestamp of the base station to transmit the UWB signal, an identifier of the tag device itself, location information of the tag device, or a start timestamp of the tag device to transmit the UWB signal.
In the following, the specific steps of the tag device interacting with a communication device in a location based service system in the current time slot to implement UWB wireless communication will be described in the embodiments of the present application, where the current time slot is the second time slot, the third time slot, or the fourth time slot.
In one possible example, if the current time slot is the second time slot and the tag device is an electronic device, the tag device interacts UWB signals with a communication device in the location based service system to implement UWB wireless communication within the current time slot on the first time frame, which may include the following operations: and the tag device interacts UWB signals with the communication device in the positioning service system according to the first positioning algorithm in the second time slot to determine the position information of the tag device in the positioning service system.
It should be noted that, since the UWB signals can be broadcast in the second time slot of the first time frame at any time between the communication devices in the location service system, unlike the sub-slot number of the broadcast UWB signal that needs to be configured for each base station in the first time slot of the first time frame, in order to Avoid Collision caused by the communication devices in the location service system simultaneously broadcasting the UWB signals in the second time slot, the UWB wireless communication in the second time slot may adopt a Carrier Sense Multiple Access with Collision avoidance (CSMA/CA) mechanism.
Specifically, if the at least three base stations include the base station X, the base station K, and the base station L, a first distance is provided between the base station X and the base station K, a second distance is provided between the base station X and the base station L, and a third distance is provided between the base station K and the base station L, the tag device interacts UWB signals with the communication device in the positioning service system to determine the location information of the tag device in the positioning service system according to the first positioning algorithm in the second time slot, which may include the following operations: the tag device listens to a UWB signal J on a time stamp Q of a second time slot, the UWB signal J is broadcasted by the base station X to the communication device in the positioning service system on a time stamp H of the second time slot, and the UWB signal J is used for detecting the position information of the tag device in the positioning service system; the tag device listens to a UWB signal K on a time stamp R of a second time slot, wherein the time stamp R is behind a time stamp Q, and the UWB signal K is broadcasted by a communication device in the positioning service system after the base station K listens to a UWB signal J; the tag device listens to a UWB signal L at a time stamp S of a second time slot, the time stamp S is after a time stamp R, and the UWB signal L is broadcasted by the base station L to the communication device in the positioning service system after the UWB signal K is listened to; the tag device receives the indication information Z at the time stamp T of the second time slot; wherein, the timestamp T is after the timestamp S, the indication information Z is used for indicating a first transmission time difference and a second transmission time difference, the first transmission time difference is a transmission time difference between the base station X broadcast UWB signal J and the base station K broadcast UWB signal K, and the second transmission time difference is a transmission time difference between the base station X broadcast UWB signal J and the base station L broadcast UWB signal L; and the tag equipment determines the position information of the tag equipment in the positioning service system according to the time stamp Q, the time stamp R, the time stamp S, the first sending time difference and the second sending time difference.
For example, see fig. 2H for details, which are not described herein.
In one possible example, if the current time slot is the third time slot and the tag device is one of the at least one internet-of-things tag device, then the tag device interacts with a communication device in the location service system for UWB wireless communication within the current time slot on the first time frame, which may include the following operations: and the tag device interacts UWB signals with the communication device in the positioning service system according to a second positioning algorithm in a third time slot to determine the position information of the tag device in the positioning service system.
It should be noted that, since the UWB signals may be broadcast in the third time slot of the first time frame at any time between the communication devices in the location based service system, unlike the sub-slot number of the broadcast UWB signal that needs to be configured for each base station in the first time slot of the first time frame, in order to avoid collision caused by the communication devices in the location based service system simultaneously broadcasting the UWB signals in the third time slot, the UWB wireless communication in the third time slot may employ the CSMA/CA mechanism.
Specifically, if the at least three base stations include the base station X, the base station M, and the base station N, the tag device interacts UWB signals with the communication device in the location service system according to a second location algorithm in the second time slot to determine the location information of the tag device in the location service system, which may include the following operations: the tag device broadcasts a UWB signal M to the communication device in the positioning service system at a timestamp U of a third time slot, wherein the UWB signal M is used for requesting to detect the position information of the tag device in the positioning service system; the tag device listens to a UWB signal N at a timestamp V of a third time slot, the timestamp V being subsequent to a timestamp U, the UWB signal N being broadcast by the base station X to the communication devices in the location services system after listening to the UWB signal M; the tag device listens to a UWB signal P at a timestamp W of a third time slot, the timestamp W is after the timestamp V, and the UWB signal P is broadcasted by the base station M to the communication device in the positioning service system after the base station M listens to the UWB signal N; the tag device listens to a UWB signal Q at a timestamp F of a third time slot, wherein the UWB signal Q is broadcasted by the communication device in the positioning service system after the base station N listens to the UWB signal P; the tag device broadcasts indication information H to the communication devices in the location service system at a timestamp G of the third time slot, wherein the timestamp G is after the timestamp F, and the indication information H is used for indicating the timestamp U, the timestamp V, the timestamp W, the timestamp F and the timestamp G.
For example, see fig. 2I in detail, which is not described herein again.
In one possible example, if the current time slot is the fourth time slot and the tag device is an electronic device, the tag device interacts UWB signals with a communication device in the location based service system to implement UWB wireless communication within the current time slot on the first time frame, which may include the following operations: and the tag device interacts UWB signals with the communication device in the positioning service system according to a third positioning algorithm in the fourth time slot to determine the position information of the tag device in the positioning service system.
Specifically, the third positioning algorithm is AOA/PDOA algorithm.
It should be noted that, the related technical solutions and the advantageous effects related to this example are the same as those related to the above-mentioned fig. 2A, and are not described again here.
It can be seen that in the embodiment of the present application, the tag device interacts UWB signals with at least three base stations or other tag devices in the location service system in the current time slot on the first time frame to implement UWB wireless communication. Because the tag devices need the base station to provide the positioning service for the tag devices or the tag devices provide the positioning service for each other, the first time frame is divided into different time slots, namely different UWB channels, by executing the positioning service between the communication devices in the positioning service system, and UWB signals are interacted between the base station and the tag devices and between the tag devices in the corresponding time slots, thereby being beneficial to avoiding the mutual collision and interference of the UWB signals in the UWB channels and realizing the positioning service provided between the communication devices in the positioning service system by time slot allocation.
The above description has introduced the solution of the embodiment of the present application mainly from the perspective of the method-side implementation process. It is understood that the base station X includes hardware structures and/or software modules for performing the respective functions in order to realize the above functions. Those of skill in the art will readily appreciate that the present application is capable of hardware or a combination of hardware and computer software implementing the various illustrative elements and algorithm steps described in connection with the embodiments provided herein. Whether a function is performed as hardware or computer software drives hardware depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiment of the present application, the base station X may be divided into functional units according to the above method example, for example, each functional unit may be divided corresponding to each function, or two or more functions may be integrated into one processing unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit. It should be noted that the division of the units in the embodiment of the present application is illustrative, and is only one division of the logic functions, and there may be another division in actual implementation.
In the case of an integrated unit, fig. 4 shows a block diagram of functional units of a wireless communication device. The wireless communication apparatus 400 is applied to the base station X, and specifically includes: a processing unit 420 and a communication unit 430. Processing unit 420 is used to control and manage the actions of base station X, e.g., processing unit 420 is used to support base station X in performing some or all of the steps in fig. 2A, as well as other processes for the techniques described herein. The communication unit 430 is used to support UWB wireless communication between the base station X and the communication devices in the location service system. The wireless communication apparatus 400 may also include a memory unit 410 for storing program codes and data of the terminal.
In particular, the processing unit 420 may be a processor or a controller, such as a CPU, general purpose processor, DSP, ASIC, FPGA or other programmable logic device, transistor logic device, hardware component, or any combination thereof. Which may implement or perform the various illustrative logical blocks, modules, and circuits described in connection with the disclosure. Processing unit 420 may also be a combination that performs computing functions, including for example, one or more microprocessors, a combination of DSPs and microprocessors, and the like. The communication unit 430 may be a communication interface, a transceiver, a transceiving circuit, etc., and the storage unit 410 may be a memory. When the processing unit 420 is a processor, the communication unit 430 is a communication interface, and the storage unit 410 is a memory, the wireless communication apparatus 400 according to the embodiment of the present application may be the base station 600 shown in fig. 6.
In a specific implementation, the processing unit 420 is configured to perform any one of the steps performed by the base station X in the above-described method embodiment, and when performing UWB signal transmission such as transmission, the communication unit 430 is optionally invoked to perform the corresponding operation. The details will be described below.
The processing unit 420 is configured to: acquiring a first time frame for ultra-wideband UWB wireless communication between communication devices in a location services system; the communication equipment in the positioning service system comprises at least three base stations and label equipment; the first time frame comprises a time slot for providing synchronous operation of the base station and at least one time slot for providing positioning service for the label equipment through a preset positioning algorithm; and interacting UWB signals with the communication equipment in the positioning service system in the current time slot on the first time frame to realize UWB wireless communication.
As can be seen, the wireless communication apparatus 400 interacts UWB signals with at least three base stations and tag devices in the location based service system within a current time slot on a first time frame to implement UWB wireless communication. Because UWB signals need to be interacted between the base station and the base station to execute synchronous operation of the base station and a positioning service is provided for the tag device through a preset positioning algorithm, the first time frame is divided into different time slots, namely different UWB channels, through the difference of the base station synchronous operation and the positioning service executed between the communication devices in the positioning service system, UWB signals are interacted in the corresponding time slots between the base station and the base station, between the base station and the tag device and between the tag device and the tag device, so that mutual conflict and interference of the UWB signals in the UWB channels are avoided, and the base station synchronous operation and the positioning service are provided between the communication devices in the positioning service system through time slot allocation.
It should be noted that, since the method embodiment and the apparatus embodiment are different presentation forms of the same technical concept, the contents of the method embodiment portion in the present application should be synchronously adapted to the apparatus embodiment portion, and are not described herein again.
Consistent with the above-described embodiments, the tag device 120 includes a hardware structure and/or a software module for performing the above-described functions. The embodiment of the present application may perform the division of the functional units on the label device 120 according to the above method example.
In the case of an integrated unit, fig. 5 presents a block diagram of functional units of yet another wireless communication device. The wireless communication device 500 is applied to the vehicle-mounted terminal tag device 120, and specifically includes: a processing unit 520 and a communication unit 530. Processing unit 520 is used to control and manage the actions of tag device 120, e.g., processing unit 520 is used to support tag device 120 to perform some or all of the steps in fig. 3, as well as other processes for the techniques described herein. The communication unit 530 is used to support wireless communication between the tag device 120 and other devices. The wireless communication apparatus 500 may also include a memory unit 510 for storing program codes and data of the tag device 120.
The processing unit 520 may be a processor or a controller, and may be, for example, a CPU, a general purpose processor, a DSP, an ASIC, an FPGA, or other programmable logic device, a transistor logic device, a hardware component, or any combination thereof. Which may implement or perform the various illustrative logical blocks, modules, and circuits described in connection with the disclosure. Processing unit 520 may also be a combination that performs computing functions, e.g., comprising one or more microprocessors, a combination of DSPs and microprocessors, and the like. The communication unit 530 may be a communication interface, a transceiver, a transceiving circuit, etc., and the storage unit 510 may be a memory. When the processing unit 520 is a processor, the communication unit 530 is a communication interface, and the storage unit 510 is a memory, the wireless communication apparatus 500 according to the embodiment of the present application may be the tag device 700 shown in fig. 7.
In a specific implementation, the processing unit 520 is configured to perform any one of the steps performed by the in-vehicle terminal 120 in the above-described method embodiment, and when performing data transmission such as sending, the communication unit 1030 may be optionally invoked to complete the corresponding operation. The details will be described below.
The processing unit 520 is configured to obtain a first time frame for ultra-wideband UWB wireless communication between communication devices in the location based service system; the communication equipment in the positioning service system comprises at least three base stations and label equipment; the first time frame comprises a time slot for providing synchronous operation of the base station and at least one time slot for providing positioning service for the label equipment through a preset positioning algorithm; and interacting UWB signals with the communication equipment in the positioning service system in the current time slot on the first time frame to realize UWB wireless communication.
As can be seen, the wireless communication apparatus 500 interacts UWB signals with at least three base stations or other tag devices in the location based service system within the current time slot on the first time frame to implement UWB wireless communication. Because the tag devices need the base station to provide the positioning service for the tag devices or the tag devices provide the positioning service for each other, the first time frame is divided into different time slots, namely different UWB channels, by executing the positioning service between the communication devices in the positioning service system, and UWB signals are interacted between the base station and the tag devices and between the tag devices in the corresponding time slots, thereby being beneficial to avoiding the mutual collision and interference of the UWB signals in the UWB channels and realizing the positioning service provided between the communication devices in the positioning service system by time slot allocation.
It should be noted that, since the method embodiment and the apparatus embodiment are different presentation forms of the same technical concept, the contents of the method embodiment portion in the present application should be synchronously adapted to the apparatus embodiment portion, and are not described herein again.
A schematic structural diagram of another base station provided in the embodiment of the present application is described below, as shown in fig. 6. Wherein the base station 600 comprises a processor 610, a memory 620, a communication interface 630 and at least one communication bus for connecting the processor 610, the memory 620 and the communication interface 630.
The processor 610 may be one or more central processing units CPU. In the case where the processor 610 is a CPU, the CPU may be a single core CPU or a multi-core CPU. The Memory 620 includes, but is not limited to, a Random Access Memory (RAM), a Read-Only Memory (ROM), an Erasable Programmable Read-Only Memory (EPROM), or a portable Read-Only Memory (CD-ROM), and the Memory 620 is used for related instructions and data. Communication interface 630 is used for receiving and transmitting data.
The processor 610 in the base station 600 is configured to read one or more program codes 621 stored in the memory 620 for performing the following operations: acquiring a first time frame for ultra-wideband UWB wireless communication between communication devices in a location services system; the communication equipment in the positioning service system comprises at least three base stations and label equipment; the first time frame comprises a time slot for providing synchronous operation of a base station and at least one time slot for providing positioning service for the label equipment through a preset positioning algorithm; and interacting UWB signals with the communication equipment in the positioning service system in the current time slot on the first time frame to realize UWB wireless communication.
It can be seen that the base station interacts UWB signals with at least three base stations and tag devices in the location based service system in a current time slot on the first time frame to implement UWB wireless communication. Because UWB signals need to be interacted between the base station and the base station to execute synchronous operation of the base station and a positioning service is provided for the tag device through a preset positioning algorithm, the first time frame is divided into different time slots, namely different UWB channels, through the difference of the base station synchronous operation and the positioning service executed between the communication devices in the positioning service system, UWB signals are interacted in the corresponding time slots between the base station and the base station, between the base station and the tag device and between the tag device and the tag device, so that mutual conflict and interference of the UWB signals in the UWB channels are avoided, and the base station synchronous operation and the positioning service are provided between the communication devices in the positioning service system through time slot allocation.
A schematic structural diagram of another labeling apparatus provided in the embodiment of the present application is described below, as shown in fig. 7. Wherein, the tag device 700 includes a processor 710, a memory 720, a communication interface 730, and at least one communication bus for connecting the processor 710, the memory 720, the communication interface 730.
The processor 710 may be one or more central processing units CPU. In the case where the processor 710 is a CPU, the CPU may be a single core CPU or a multi-core CPU. Memory 720 includes, but is not limited to, RAM, ROM, EPROM or CD-ROM, and memory 720 is used for associated instructions and data. Communication interface 730 is used to receive and transmit data.
The processor 710 in the tag device 700 is operable to read one or more program codes 721 stored in the memory 720 for performing the following operations: acquiring a first time frame for ultra-wideband UWB wireless communication between communication devices in a location services system; the communication equipment in the positioning service system comprises at least three base stations and label equipment; the first time frame comprises a time slot for providing synchronous operation of a base station and at least one time slot for providing positioning service for the label equipment through a preset positioning algorithm; and interacting UWB signals with the communication equipment in the positioning service system in the current time slot on the first time frame to realize UWB wireless communication.
It can be seen that the tag device interacts UWB signals with at least three base stations or other tag devices in the location based service system in the current time slot on the first time frame to implement UWB wireless communication. Because the tag devices need the base station to provide the positioning service for the tag devices or the tag devices provide the positioning service for each other, the first time frame is divided into different time slots, namely different UWB channels, by executing the positioning service between the communication devices in the positioning service system, and UWB signals are interacted between the base station and the tag devices and between the tag devices in the corresponding time slots, thereby being beneficial to avoiding the mutual collision and interference of the UWB signals in the UWB channels and realizing the positioning service provided between the communication devices in the positioning service system by time slot allocation.
Embodiments of the present application also provide a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program for electronic data exchange, the computer program being operable to cause a computer to perform part or all of the steps of any of the methods as set forth in the above method embodiments.
Embodiments of the present application also provide a computer program product, where the computer program product includes a computer program operable to cause a computer to perform part or all of the steps of any one of the methods as described in the above method embodiments. The computer program product may be a software installation package.
For simplicity of description, each of the above method embodiments is described as a series of combinations of operations. Those skilled in the art should appreciate that the present application is not limited by the order of acts described, as some steps in the embodiments of the present application may occur in other orders or concurrently. Moreover, those skilled in the art should also appreciate that the embodiments described in the specification are preferred embodiments and that acts and modules referred to are not necessarily required to implement the embodiments of the application.
In the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the several embodiments provided in the present application, it should be understood by those skilled in the art that the described apparatus can be implemented in other ways. It will be appreciated that the above described apparatus embodiments are merely illustrative. For example, the division of the unit is only one logic function division, and actually, other division modes can be provided. That is, multiple units or components may be combined or integrated into another software, and some features may be omitted or not implemented. In addition, the shown or discussed mutual coupling, direct coupling or communication connection and the like can be an indirect coupling or communication connection through some interfaces, devices or units, and can also be an electric or other form.
The units described above as separate parts may or may not be physically separate. The above-mentioned components displayed as units may be physical units, may not be, may be located on one network unit, or may be distributed to a plurality of network units. Therefore, the above embodiments can be implemented by selecting some or all of the units according to actual needs.
In addition, each functional unit in the above embodiments may be integrated into one processing unit, may exist in different physical units, and may be integrated into one physical unit by two or more functional units. The above units can be realized in the form of hardware, and also can be realized in the form of software functional units.
The above-mentioned units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable memory. It will be appreciated that the solution of the present application (which form a part of or all or part of the prior art) may be embodied in the form of a computer software product. The computer software product is stored in a memory and includes several instructions for causing a computer device (personal computer, server, network device, etc.) to perform all or part of the steps of the embodiments of the present application. The memory includes various media that can store program codes, such as a usb disk, a ROM, a RAM, a removable hard disk, a magnetic disk, or an optical disk.
It will be understood by those skilled in the art that all or part of the steps of the embodiments of the present application may be performed by associated hardware instructed by a program, and the program may be stored in a memory, which may include a flash memory disk, a ROM, a RAM, a magnetic or optical disk, and the like.
The embodiments of the present application are described in detail above, and the description in the embodiments of the present application is only for assisting understanding of the method and the core idea of the present application. One skilled in the art will appreciate that the embodiments of the present application can be varied in both the detailed description and the application, and thus the present description should not be construed as limiting the application.

Claims (21)

1. A method of wireless communication, comprising:
a base station X acquires a first time frame for ultra-wideband UWB wireless communication between communication devices in a positioning service system; the communication equipment in the positioning service system comprises at least three base stations and label equipment, wherein the first time frame comprises a time slot for providing synchronous operation of the base stations and at least one time slot for providing positioning service for the label equipment through a preset positioning algorithm;
and the base station X interacts UWB signals with communication equipment in the positioning service system in the current time slot on the first time frame to realize UWB wireless communication.
2. The method of claim 1, wherein the one time slot for providing base station synchronous operation is a first time slot, the at least one time slot for providing location services to the tag device through a preset location algorithm comprises a second time slot, a third time slot and a fourth time slot, the preset location algorithm comprises a first location algorithm, a second location algorithm and a third location algorithm, and the tag device comprises an electronic device and at least one internet of things tag device;
the second time slot is used for providing positioning service for the electronic device through the first positioning algorithm, the third time slot is used for providing positioning service for the at least one internet of things label device through the second positioning algorithm, and the fourth time slot is used for positioning a target internet of things label device from the at least one internet of things label device for the electronic device through the third positioning algorithm.
3. The method of claim 2, wherein the current time slot is the first time slot, the first time slot comprises at least three sub-time slots, and the base station X is a base station to be accessed to the location based service system;
the base station X interacts UWB signals with communication equipment in the positioning service system in the current time slot on the first time frame to realize UWB wireless communication, and the UWB wireless communication method comprises the following steps:
the base station X listens to UWB signals broadcast by each of the at least three base stations in the at least three sub-time slots;
the base station X determines the sub-time slot number occupied by the self-broadcast UWB signal according to the sub-time slot occupation condition of the UWB signal broadcast by each base station in the at least three sub-time slots;
the base station X determines the position information of the base station X in the positioning service system according to the time difference of the UWB signals broadcasted by each base station in the at least three base stations which is listened to by the base station X and the time interval between the sub-time slots in the at least three sub-time slots;
and the base station X broadcasts the UWB signal X to the communication equipment in the positioning service system according to the sub-time slot number occupied by the self broadcast UWB signal and the position information of the self in the positioning service system so as to access the positioning service system.
4. The method of claim 3, wherein the base station X determines the sub-slot number occupied by the self-broadcast UWB signal according to the sub-slot occupancy of the UWB signal broadcast by each of the at least three base stations in the at least three sub-slots, and the method comprises:
and the base station X selects one sub-time slot from the unoccupied sub-time slots in the at least three sub-time slots according to the sub-time slot occupation condition of the UWB signals broadcasted by each base station in the at least three base stations in the at least three sub-time slots by a preset rule.
5. The method of claim 3, wherein the at least three base stations comprise base station Y, base station Z, and base station H, wherein the at least three sub-slots comprise a first sub-slot, a second sub-slot, and a third sub-slot, wherein the second sub-slot is one sub-slot after the first sub-slot, and wherein the third sub-slot is one sub-slot after the second sub-slot;
the base station X determines the location information of itself in the location service system according to the time difference of the UWB signal broadcast by each of the at least three base stations sensed by itself and the time interval between the sub-slots of the at least three sub-slots, including:
the base station X listens to a UWB signal Y broadcasted by the base station Y at the starting time of the first sub-time slot at the time stamp X of the first sub-time slot;
the base station X monitors the UWB signal Z broadcast by the base station Z at the starting time of the second sub-time slot at the time stamp Y of the second sub-time slot, and calculates the time interval from the starting time of the first sub-time slot to the starting time of the second sub-time slot to obtain a first time interval;
the base station X monitors a UWB signal H broadcasted by the base station H at the starting time of the third sub-time slot at the time stamp Z of the third sub-time slot, and calculates the time interval from the starting time of the second sub-time slot to the starting time of the third sub-time slot to obtain a second time interval;
the base station X calculates the time difference between the detection of the UWB signal Y by the base station X and the detection of the UWB signal Z by the base station X according to the time stamp X and the time stamp Y to obtain a first time difference;
the base station X calculates the time difference between the detection of the UWB signal Y by the base station X and the detection of the UWB signal H by the base station X according to the time stamp X and the time stamp Z so as to obtain a second time difference;
and the base station X determines the position information of the base station X in the positioning service system according to the first time difference, the second time difference, the first time interval and the second time interval.
6. The method of claim 2, wherein the current time slot is the first time slot, and wherein the base station X is one of the at least three base stations;
the base station X interacts UWB signals with a communication device in the location based service system in a current time slot on the first time frame to implement UWB wireless communication, including:
the base station X broadcasts indication information X to communication equipment in the positioning service system in a fourth sub-time slot on the first time slot, wherein the indication information X is used for indicating the position information of the base station X in the positioning service system;
and the base station X monitors indication information Y sent by a base station J in a fifth sub-time slot on the first time slot, wherein the indication information Y is used for indicating the position information of the base station J in the positioning service system, and the base station J is one of the at least three base stations except the base station X.
7. The method of claim 2, wherein the current time slot is the second time slot, and wherein the base station X is one of the at least three base stations;
the base station X interacts UWB signals with a communication device in the location based service system in a current time slot on the first time frame to implement UWB wireless communication, including:
and the base station X interacts UWB signals with communication equipment in the positioning service system according to the first positioning algorithm in the second time slot so as to determine the position information of the electronic equipment in the positioning service system.
8. The method of claim 7, wherein the at least three base stations comprise the base station X, the base station K, and the base station L, wherein the base station X has a first distance from the base station K, wherein the base station X has a second distance from the base station L, and wherein the base station K has a third distance from the base station L;
the step of the base station X interacting UWB signals with communication devices in the location service system according to the first location algorithm in the second time slot to determine the location information of the electronic device in the location service system includes:
the base station X broadcasts a UWB signal J to the communication equipment in the positioning service system at the time stamp H of the second time slot, wherein the UWB signal J is used for detecting the position information of the electronic equipment in the positioning service system;
the base station X listens to a UWB signal K at a time stamp J of the second time slot, the time stamp J is after the time stamp H, and the UWB signal K is broadcasted by the base station K to communication equipment in the positioning service system after the UWB signal J is listened to;
the base station X listens to a UWB signal L at a time stamp K of the second time slot, the time stamp K being after the time stamp J, the UWB signal L being broadcast by the base station L to communication devices in the location service system after listening to the UWB signal K;
the base station X determines a first sending time difference according to the time stamp H, the time stamp J and the first distance, wherein the first sending time difference is a sending time difference between the base station X broadcasting the UWB signal J and the base station K broadcasting the UWB signal K;
the base station X determines a second sending time difference according to the time stamp H, the time stamp K and the second distance, wherein the second sending time difference is a sending time difference between the base station X broadcasting the UWB signal J and the base station L broadcasting the UWB signal L;
the base station X sends indication information Z to the electronic device or the at least one Internet of things tag device at a timestamp L of the second time slot, wherein the timestamp L is after the timestamp K, and the indication information Z is used for indicating the first sending time difference and the second sending time difference.
9. The method of claim 2, wherein the current time slot is the third time slot, and wherein the base station X is one of the at least three base stations;
the base station X interacts UWB signals with a communication device in the location based service system in a current time slot on the first time frame to implement UWB wireless communication, including:
and the base station X interacts with communication equipment in the positioning service system with UWB signals according to the second positioning algorithm in the third time slot so as to determine the position information of target IOT (Internet of things) label equipment in the at least one IOT label equipment in the positioning service system.
10. The method of claim 9, wherein the at least three base stations comprise the base station X, the base station M, and the base station N;
the base station X interacts with a communication device in the positioning service system according to the second positioning algorithm in the third time slot to determine location information of a target internet of things tag device in the at least one internet of things tag device in the positioning service system, including:
the base station X monitors a UWB signal M broadcast by the target Internet of things device on a timestamp M of the third time slot, wherein the UWB signal M is used for requesting to detect the position information of the target Internet of things tag device in the positioning service system;
said base station X broadcasting a UWB signal N to communication devices in said location services system at a timestamp N of said third time slot, said timestamp N being subsequent to said timestamp M;
the base station X listens to an indication information H at a time stamp P of the third time slot, the time stamp P is after the time stamp N, the indication information H is broadcasted by the target internet of things tag device to the communication device in the location service system after listening to the UWB signal N, UWB signal P, UWB signal Q, the UWB signal P is broadcasted by the base station M to the communication device in the location service system after listening to the UWB signal N, the UWB signal Q is broadcasted by the base station N to the communication device in the location service system after listening to the UWB signal P, the indication information H is used for indicating a time stamp of broadcasting the UWB signal M at the third time slot, a time stamp of listening to the UWB signal N at the third time slot, a time stamp of listening to the signal P at the third time slot, The time stamp of the UWB signal Q is sensed on the third time slot by itself and the time stamp of the indication information H is broadcasted on the third time slot by itself;
and the base station X determines the distance between the base station X and the target Internet of things label equipment according to the indication information H, the timestamp M, the timestamp N and the timestamp P.
11. A method of wireless communication, comprising:
the method comprises the steps that a tag device acquires a first time frame for ultra-wideband UWB wireless communication between communication devices in a positioning service system; the communication equipment in the positioning service system comprises the tag equipment and at least three base stations, wherein the first time frame comprises a time slot for providing synchronous operation of the base stations and at least one time slot for providing positioning service for the tag equipment through a preset positioning algorithm;
and the tag device interacts with a communication device in the positioning service system in a current time slot on the first time frame to realize UWB wireless communication.
12. The method of claim 11, wherein the one time slot for providing base station synchronization operation is a first time slot, the at least one time slot for providing location services to the tag device through a predetermined location algorithm comprises a second time slot, a third time slot, and a fourth time slot, the predetermined location algorithm comprises a first location algorithm, a second location algorithm, and a third location algorithm, and the tag device comprises an electronic device and at least one internet of things tag device;
the second time slot is used for providing positioning service for the electronic device through the first positioning algorithm, the third time slot is used for providing positioning service for the at least one internet of things label device through the second positioning algorithm, and the fourth time slot is used for positioning a target internet of things label device from the at least one internet of things label device for the electronic device through the third positioning algorithm.
13. The method of claim 12, wherein the current time slot is the second time slot, and wherein the tag device is the electronic device;
the tag device interacts with a communication device in the location service system in a current time slot on the first time frame to realize UWB wireless communication, and the method comprises the following steps:
and the tag device interacts UWB signals with communication equipment in the positioning service system according to the first positioning algorithm in the second time slot so as to determine the position information of the tag device in the positioning service system.
14. The method of claim 13, wherein the at least three base stations comprise base station X, base station K, and base station L, wherein the base station X has a first distance from the base station K, wherein the base station X has a second distance from the base station L, and wherein the base station K has a third distance from the base station L;
the tag device interacts with a communication device in the location service system according to the first location algorithm in the second time slot to determine the location information of the tag device in the location service system, including:
the tag device listens to a UWB signal J at a timestamp Q of the second time slot, the UWB signal J being broadcast by the base station X to the communication devices in the location service system at a timestamp H of the second time slot, the UWB signal J being used for detecting location information of the tag device in the location service system;
the tag device listens for a UWB signal K at a time stamp R of the second time slot, the time stamp R being subsequent to the time stamp Q, the UWB signal K being broadcast by the base station K to communication devices in the location service system after listening for the UWB signal J;
the tag device listens to a UWB signal L at a time stamp S of the second time slot, the time stamp S being subsequent to the time stamp R, the UWB signal L being broadcast by the base station L to communication devices in the location service system after listening to the UWB signal K;
the tag device receives indication information Z at the timestamp T of the second time slot; wherein the timestamp T is subsequent to the timestamp S, the indication information Z is used to indicate a first transmission time difference and a second transmission time difference, the first transmission time difference is a transmission time difference between the base station X broadcasting the UWB signal J and the base station K broadcasting the UWB signal K, and the second transmission time difference is a transmission time difference between the base station X broadcasting the UWB signal J and the base station L broadcasting the UWB signal L;
and the tag equipment determines the position information of the tag equipment in the positioning service system according to the time stamp Q, the time stamp R, the time stamp S, the first sending time difference and the second sending time difference.
15. The method of claim 12, wherein the current time slot is the third time slot, and wherein the tag device is one of the at least one internet of things tag device;
the tag device interacts with a communication device in the location service system in a current time slot on the first time frame to realize UWB wireless communication, and the method comprises the following steps:
and the tag device interacts UWB signals with communication equipment in the positioning service system according to the second positioning algorithm in the third time slot so as to determine the position information of the tag device in the positioning service system.
16. The method of claim 15, wherein the at least three base stations comprise the base station X, the base station M, and the base station N;
the tag device interacts with a communication device in the location service system according to the second location algorithm in the third time slot to determine the location information of itself in the location service system, including:
the tag device broadcasts a UWB signal M to the communication device in the location service system at the timestamp U of the third time slot, wherein the UWB signal M is used for requesting to detect the position information of the tag device in the location service system;
said tag device listens for a UWB signal N at a time stamp V of said third time slot, said time stamp V being subsequent to said time stamp U, said UWB signal N being broadcast by said base station X to communication devices in said location services system subsequent to listening for said UWB signal M;
the tag device listens for a UWB signal P at a time stamp W of the third time slot, the time stamp W being subsequent to the time stamp V, the UWB signal P being broadcast by the base station M to communication devices in the location services system after listening for the UWB signal N;
the tag device listens to a UWB signal Q at a time stamp F of the third time slot, the UWB signal Q being broadcast by the base station N to communication devices in the location service system after listening to the UWB signal P;
the tag device broadcasts the indication information H to the communication devices in the location service system at the timestamp G of the third time slot, the timestamp G is after the timestamp F, and the indication information H is used for indicating the timestamp U, the timestamp V, the timestamp W, the timestamp F and the timestamp G.
17. A wireless communication apparatus, applied to a base station X; the apparatus comprises a processing unit and a communication unit, the processing unit being configured to:
acquiring, by the communication unit, a first time frame for ultra-wideband UWB wireless communication between communication devices in a location based service system; the communication equipment in the positioning service system comprises at least three base stations and label equipment; the first time frame comprises a time slot for providing synchronous operation of a base station and at least one time slot for providing positioning service for the label equipment through a preset positioning algorithm;
and interacting UWB signals with communication equipment in the positioning service system in the current time slot on the first time frame through the communication unit to realize UWB wireless communication.
18. A wireless communication apparatus, characterized by being applied to a tag device; the apparatus comprises a processing unit and a communication unit, the processing unit being configured to:
acquiring, by the communication unit, a first time frame for ultra-wideband UWB wireless communication between communication devices in a location based service system; the communication equipment in the positioning service system comprises the tag equipment and at least three base stations, wherein the first time frame comprises a time slot for providing synchronous operation of the base stations and at least one time slot for providing positioning service for the tag equipment through a preset positioning algorithm;
and interacting UWB signals with communication equipment in the positioning service system in the current time slot on the first time frame through the communication unit to realize UWB wireless communication.
19. A base station, which is a base station X, comprising a processor, a memory, and a communication interface, the memory storing one or more programs, and the one or more programs being executed by the processor, the one or more programs comprising instructions for performing the steps in the method of any of claims 1-10.
20. A tag device, comprising a processor, a memory and a communication interface, the memory storing one or more programs, and the one or more programs being executable by the processor, the one or more programs including instructions for performing the steps in the method of any of claims 11-16.
21. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program for electronic data exchange, wherein the computer program is operable to cause a computer to perform the method according to any one of claims 1-16.
CN202010728839.2A 2020-07-23 2020-07-23 Wireless communication method and device, base station and label equipment Pending CN113973378A (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN202010728839.2A CN113973378A (en) 2020-07-23 2020-07-23 Wireless communication method and device, base station and label equipment
PCT/CN2021/094628 WO2022016971A1 (en) 2020-07-23 2021-05-19 Wireless communication method and apparatus, base station, and tag device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202010728839.2A CN113973378A (en) 2020-07-23 2020-07-23 Wireless communication method and device, base station and label equipment

Publications (1)

Publication Number Publication Date
CN113973378A true CN113973378A (en) 2022-01-25

Family

ID=79584593

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202010728839.2A Pending CN113973378A (en) 2020-07-23 2020-07-23 Wireless communication method and device, base station and label equipment

Country Status (2)

Country Link
CN (1) CN113973378A (en)
WO (1) WO2022016971A1 (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114466438A (en) * 2022-02-15 2022-05-10 河北高达智能装备股份有限公司 Base station positioning system
CN114827897A (en) * 2022-06-22 2022-07-29 杭州优智联科技有限公司 UWB-based positioning scheduling method, device, system and medium for multiple base stations and multiple labels
WO2023169247A1 (en) * 2022-03-09 2023-09-14 华为技术有限公司 Ranging or sensing method and apparatus

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114125770B (en) * 2022-01-28 2022-05-17 华南理工大学 Unmanned aerial vehicle cluster network communication method and device
CN114966527A (en) * 2022-05-19 2022-08-30 润芯微科技(江苏)有限公司 UWB communication system positioning device and method for obtaining rough azimuth angle through ranging

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102970745A (en) * 2012-10-29 2013-03-13 云南电网公司西双版纳供电局 Multi-target real-time positioning system and implementation method based on ultra wide band (UWB)
US10111044B2 (en) * 2015-05-29 2018-10-23 Verity Studios Ag Methods and systems for scheduling the transmission of localization signals and operating self-localizing apparatus
CN106211310A (en) * 2016-07-01 2016-12-07 北京永安信通科技有限公司 Indoor orientation method based on UWB technology
CN110113816B (en) * 2019-05-18 2020-11-10 四川中电昆辰科技有限公司 Multi-time sequence compatible positioning system and time sequence distribution method
CN110807341B (en) * 2019-10-31 2022-09-16 江苏湛德医疗用品有限公司 Self-adaptive signal collision prevention tag, tag positioning method and system
CN110839203B (en) * 2019-12-03 2021-04-20 锐捷网络股份有限公司 Ultra-wideband-based label positioning method and device

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114466438A (en) * 2022-02-15 2022-05-10 河北高达智能装备股份有限公司 Base station positioning system
WO2023169247A1 (en) * 2022-03-09 2023-09-14 华为技术有限公司 Ranging or sensing method and apparatus
CN114827897A (en) * 2022-06-22 2022-07-29 杭州优智联科技有限公司 UWB-based positioning scheduling method, device, system and medium for multiple base stations and multiple labels

Also Published As

Publication number Publication date
WO2022016971A1 (en) 2022-01-27

Similar Documents

Publication Publication Date Title
WO2022016971A1 (en) Wireless communication method and apparatus, base station, and tag device
KR100752947B1 (en) MAC protocol for accurately computing the position of wireless devices inside buildings
US8194624B2 (en) Resource allocating method among mobile-stations in distribution communication network
US8687560B2 (en) Unsynchronized time-of-flight-based wireless positioning system using network broadcasts
US11191058B2 (en) UWB locating method with auxiliary channel synchronisation
US7299063B2 (en) Wireless communication system, wireless communication device and wireless communication method, and computer program
CN108353003B (en) Method and apparatus for bulk propagation timing measurement messaging
EP3044999B1 (en) Time of flight window limit synchronization
CN112235710B (en) Indoor positioning method, base station, positioning tag and indoor positioning system
CN112771397B (en) Location information determination based on timing measurements in wireless networks
WO2021244331A1 (en) Positioning service method, and related apparatus
EP3855202A1 (en) Time-of-flight based unified positioning system and methods
CN111432467A (en) Bluetooth positioning method and system based on TOF
CN108351397B (en) Batch fine timing measurement message scheduling
WO2022057472A1 (en) Clock synchronization method and related device
US20170126273A1 (en) Location measuring method and system for acceptable a plurality of uwb tags
US20240015687A1 (en) Cooperative positioning method and apparatus
CN114125697B (en) Cooperative positioning method and device
CN112050803B (en) Indoor escape method and related device
CN113038365B (en) Label wireless positioning method and system
KR20160135497A (en) A location method and a location system for acceptable a plurality of uwb tags

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination