CN114296063A - CSMA/CA-based cooperative positioning ranging method - Google Patents
CSMA/CA-based cooperative positioning ranging method Download PDFInfo
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- CN114296063A CN114296063A CN202111457458.6A CN202111457458A CN114296063A CN 114296063 A CN114296063 A CN 114296063A CN 202111457458 A CN202111457458 A CN 202111457458A CN 114296063 A CN114296063 A CN 114296063A
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Abstract
The invention discloses a CSMA/CA-based cooperative positioning and ranging method, which comprises the following steps: s1: the sending station detects the state of the wireless channel and selects whether to send the whole data frame by using a back-off algorithm; s2: when the sending station uses the back-off timer to repeat, and sends a data frame to wait for confirmation; s3: when the back-off timer of a sending station counts down to 0, detecting whether a receiving station receives a data frame by using an RTS/CTS data frame; s4: the transmitting station repeats step S1 and continues to execute the next frame. In the invention, the CSMA/CA algorithm is improved on the basis, the stations are grouped to a certain extent, so that the competition among the stations is reduced, the efficiency is improved, and each station which has transmitted data is limited to a certain extent, so that the station does not participate in the next competition until all the stations finish transmitting the data, and the station has stronger flexibility to realize the conversion of each station, thereby improving the fairness and improving the accuracy of the cooperative positioning ranging.
Description
Technical Field
The invention relates to the technical field of wireless ranging, in particular to a CSMA/CA-based cooperative positioning ranging method.
Background
In the process of recognizing and modifying the objective world by human, the information acquisition, distribution and processing are always consistent with the whole process of practical activities. The position information is an important component, and in the information age, the demand of each field for the position information does not satisfy the representation of the outline description any more, but the position service with high precision, full dimension and networking is required. Specifically, a user needs to acquire own position information and also needs to sense the states of other users in real time, even the whole network topology and the dynamic changes thereof, and the navigation positioning technology is taken as a main means for acquiring the position information, and the front-end results of the navigation positioning technology are gradually merged into the prospect of interconnection of everything. Satellite navigation, inertial navigation, combined navigation, cooperative positioning and other methods all belong to the research category of navigation positioning technology.
The method for controlling multiple access based on a channel interaction mechanism optimization strategy is adopted at present, the total amount of measurement frames which need to be transmitted when nodes in a whole network complete one-time positioning is reduced, when the number of the nodes in the network exceeds the maximum number of the nodes specified by a channel division mode, a new node cannot be normally added into a cooperative positioning network, and meanwhile when some nodes cannot receive GNSS signals due to factors such as signal shielding, the nodes can access channels but cannot perform measurement, and time slot waste is caused.
Disclosure of Invention
The invention aims to provide a CSMA/CA-based cooperative positioning ranging method which carries out certain grouping on stations so as to reduce competition among nodes and improve efficiency and fairness.
In order to achieve the above purpose, the invention provides the following technical scheme: a CSMA/CA-based cooperative positioning ranging method comprises the following steps:
s1: the sending station detects the state of the wireless channel and selects whether to send the whole data frame by using a back-off algorithm;
s2: when the sending station uses the back-off timer to repeat, and sends a data frame to wait for confirmation;
s3: when the back-off timer of a sending station counts down to 0, detecting whether a receiving station receives a data frame by using an RTS/CTS data frame;
s4: the transmitting station repeats step S1 and continues to execute the next frame.
As a further description of the above technical solution:
in step S1, if the sending station initially has data to send and detects that the channel is idle, after waiting for a DIFS, the sending station sends the entire data frame;
and if the transmitting station initially has data to transmit but does not detect that the channel is idle, executing a back-off algorithm of the CSMA/CA protocol.
As a further description of the above technical solution:
when executing a back-off algorithm of a CSMA/CA protocol, freezing a back-off timer once a busy channel is detected; the backoff timer counts down whenever the channel is idle.
As a further description of the above technical solution:
the use range of the back-off algorithm comprises the following three types:
(1): the channel is detected to be busy before the first frame is sent.
(2): each retransmission.
(3): after each successful transmission, the next frame is transmitted;
the unused range of the back-off algorithm is: it is detected that the channel is free and this data frame is the first data frame that the transmitting station wants to transmit.
As a further description of the above technical solution:
in step S3, when the transmission ranges of the transmitting station and the receiving station cannot be covered with each other and both stations transmit data, it is impossible to detect whether there is data to be transmitted by the other station by using a physical monitoring method, so that both stations will mistakenly assume that the channel is idle, and therefore the number of the stations is continuously counted down.
As a further description of the above technical solution:
in step S3, the RTS/CTS data detection method is as follows:
s3.1: when the backoff counter of a transmitting station has counted down to 0, it first sends an RTS data frame to the receiving station;
s3.2: if there is no conflict at the receiving station, the receiving station successfully demodulates the RTS of the station, and the receiving station sends a CTS frame to the station after waiting for SIFS;
s3.3: if there is a collision at the receiving station, that is, the receiving station does not demodulate the RTS of the station, the receiving station does not send a CTS frame to the station.
As a further description of the above technical solution:
in step S3.2, since the wireless channel is a broadcast channel, and if the frame is not encrypted, all transmitting stations can analyze the information, the receiving station sends a CTS to the transmitting station, but other transmitting stations can also analyze the CTS information.
As a further description of the above technical solution:
in step S4, if the transmitting station does not receive the acknowledgement frame within the predetermined time, the transmitting station must retransmit the acknowledgement frame until the acknowledgement frame is received, or abandon the transmission after several retransmission failures.
As a further description of the above technical solution:
the prescribed time of the acknowledgment frame is controlled by the retransmission timer, and when this frame is retransmitted, step S1 needs to be repeated again.
In the above technical solution, the CSMA/CA-based cooperative positioning and ranging method provided by the present invention has the following beneficial effects:
on the basis, the CSMA/CA algorithm is improved, the stations are grouped to a certain extent, so that competition among the stations is reduced, efficiency is improved, each station which has transmitted data is limited to a certain extent, the stations do not participate in the following competition until all the stations transmit the data, the stations have high flexibility and the conversion of the stations is realized, fairness is improved, and the accuracy of the cooperative positioning and ranging is improved.
Drawings
In order to more clearly illustrate the embodiments of the present application or technical solutions in the prior art, the drawings needed to be used in the embodiments are briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings;
fig. 1 is a schematic diagram of bilateral two-way ranging of a CSMA/CA-based cooperative positioning ranging method according to the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, those skilled in the art will now describe the present invention in further detail with reference to the accompanying drawings.
A CSMA/CA-based cooperative positioning ranging method comprises the following steps:
s1: the sending station detects the state of the wireless channel and selects whether to send the whole data frame by using a back-off algorithm;
s2: when the sending station uses the back-off timer to repeat, and sends a data frame to wait for confirmation;
s3: when the back-off timer of a sending station counts down to 0, detecting whether a receiving station receives a data frame by using an RTS/CTS data frame;
s4: the transmitting station repeats step S1 and continues to execute the next frame.
On the basis, the CSMA/CA algorithm is improved, the stations are grouped to a certain extent, so that competition among the stations is reduced, efficiency is improved, each station which has transmitted data is limited to a certain extent, the stations do not participate in the following competition until all the stations transmit the data, the stations have high flexibility and the conversion of the stations is realized, fairness is improved, and the accuracy of the cooperative positioning and ranging is improved.
In step S1, if the sending station initially has data to send and detects that the channel is idle, after waiting for a DIFS, the whole data frame is sent;
SIFS, short interframe space, 28us in length, which is the shortest interframe space used to separate frames belonging to a session, during which a station should be able to switch from transmit to receive mode, and the types of frames using SIFS are ACK frame, CTS frame, data frame fragmented by an excessively long MAC frame, and frames polled by all the answering APs and any frame sent by an access point AP in PCF mode;
DIFS, i.e., the distribution coordination function interframe space, which is much longer than the interframe space of SIFS, is 128us in length, and in the DCF mode, DIFS is used to transmit data frames and management frames.
And if the transmitting station initially has data to transmit but does not detect that the channel is idle, executing a back-off algorithm of the CSMA/CA protocol.
Freezing a backoff timer upon detecting that a channel is busy when executing a backoff algorithm of a CSMA/CA protocol; the backoff timer counts down whenever the channel is idle.
The range of use of the back-off algorithm includes the following three types:
(1): the channel is detected to be busy before the first frame is sent.
(2): each retransmission.
(3): after each successful transmission, the next frame is transmitted;
the unused range of the back-off algorithm is: it is detected that the channel is free and this data frame is the first data frame that the transmitting station wants to transmit.
In step S3, when the transmission ranges of the transmitting station and the receiving station cannot be covered with each other and both stations are transmitting data, it is impossible to detect whether the other station has transmitted data by using a physical monitoring method, so that both stations will mistakenly think that the channel is idle, and therefore count down continuously.
In step S3, the RTS/CTS data detection method is as follows:
s3.1: when the backoff counter of a transmitting station has counted down to 0, it first sends an RTS data frame to the receiving station;
s3.2: if there is no conflict at the receiving station, the receiving station successfully demodulates the RTS of the station, and the receiving station sends a CTS frame to the station after waiting for SIFS;
s3.3: if there is a collision at the receiving station, that is, the receiving station does not demodulate the RTS of the station, the receiving station does not send a CTS frame to the station.
In step S3.2, since the wireless channel is a broadcast channel, if the frame is not encrypted, all transmitting stations can analyze the information, and thus, although the receiving station sends a CTS to the transmitting station, other transmitting stations can also analyze the CTS information.
In step S4, if the transmitting station does not receive the acknowledgement frame within the predetermined time, the transmitting station must retransmit the acknowledgement frame until the frame is received, or after several retransmission failures, the transmitting station abandons the transmission.
The prescribed time of the acknowledgment frame is controlled by the retransmission timer, and when this frame is retransmitted, step S1 needs to be repeated again.
As shown in fig. 1, a distance measurement method of the method adopts a bilateral two-way distance measurement method, where the bilateral two-way distance measurement is implemented by recording the sending time and the receiving time of messages of two devices and then obtaining the time difference to obtain the time for information transmission, where round1 refers to the time from the sending of information by device a to the receiving of information sent by device B, and Treply1 refers to the time from the receiving of information sent by device a by device B to the sending of information by device B to device a; tround2 refers to the time from when device B sends information to when receiving device a sends information, Treply2 refers to the time from when device a receives information sent by device B to when it sends information to device B, Tprop is the time of information transmission, i.e. the required time difference, and Tprop can be calculated by the following formula:
while certain exemplary embodiments of the present invention have been described above by way of illustration only, it will be apparent to those of ordinary skill in the art that the described embodiments may be modified in various different ways without departing from the spirit and scope of the invention. Accordingly, the drawings and description are illustrative in nature and should not be construed as limiting the scope of the invention.
Claims (9)
1. A CSMA/CA-based cooperative positioning and ranging method is characterized by comprising the following steps:
s1: the sending station detects the state of the wireless channel and selects whether to send the whole data frame by using a back-off algorithm;
s2: when the sending station uses the back-off timer to repeat, and sends a data frame to wait for confirmation;
s3: when the back-off timer of a sending station counts down to 0, detecting whether a receiving station receives a data frame by using an RTS/CTS data frame;
s4: the transmitting station repeats step S1 and continues to execute the next frame.
2. The CSMA/CA-based co-location ranging method of claim 1, wherein: in step S1, if the sending station initially has data to send and detects that the channel is idle, after waiting for a DIFS, the sending station sends the entire data frame;
and if the transmitting station initially has data to transmit but does not detect that the channel is idle, executing a back-off algorithm of the CSMA/CA protocol.
3. The CSMA/CA-based co-location ranging method of claim 2, wherein: when executing a back-off algorithm of a CSMA/CA protocol, freezing a back-off timer once a busy channel is detected; the backoff timer counts down whenever the channel is idle.
4. The CSMA/CA-based co-location ranging method of claim 3, wherein: the use range of the back-off algorithm comprises the following three types:
(1): the channel is detected to be busy before the first frame is sent.
(2): each retransmission.
(3): after each successful transmission, the next frame is transmitted;
the unused range of the back-off algorithm is: it is detected that the channel is free and this data frame is the first data frame that the transmitting station wants to transmit.
5. The CSMA/CA-based co-location ranging method of claim 1, wherein: in step S3, when the transmission ranges of the transmitting station and the receiving station cannot be covered with each other and both stations transmit data, it is impossible to detect whether there is data to be transmitted by the other station by using a physical monitoring method, so that both stations will mistakenly assume that the channel is idle, and therefore the number of the stations is continuously counted down.
6. The CSMA/CA-based co-location ranging method of claim 1, wherein: in step S3, the RTS/CTS data detection method is as follows:
s3.1: when the backoff counter of a transmitting station has counted down to 0, it first sends an RTS data frame to the receiving station;
s3.2: if there is no conflict at the receiving station, the receiving station successfully demodulates the RTS of the station, and the receiving station sends a CTS frame to the station after waiting for SIFS;
s3.3: if there is a collision at the receiving station, that is, the receiving station does not demodulate the RTS of the station, the receiving station does not send a CTS frame to the station.
7. The CSMA/CA-based co-location ranging method of claim 1, wherein: in step S3.2, since the wireless channel is a broadcast channel, and if the frame is not encrypted, all transmitting stations can analyze the information, the receiving station sends a CTS to the transmitting station, but other transmitting stations can also analyze the CTS information.
8. The CSMA/CA-based co-location ranging method of claim 1, wherein: in step S4, if the transmitting station does not receive the acknowledgement frame within the predetermined time, the transmitting station must retransmit the acknowledgement frame until the acknowledgement frame is received, or abandon the transmission after several retransmission failures.
9. The CSMA/CA-based co-location ranging method of claim 8, wherein: the prescribed time of the acknowledgment frame is controlled by the retransmission timer, and when this frame is retransmitted, step S1 needs to be repeated again.
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