CN114466446A - Time sequence synchronization method, device and medium based on UWB system - Google Patents
Time sequence synchronization method, device and medium based on UWB system Download PDFInfo
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- CN114466446A CN114466446A CN202210380477.1A CN202210380477A CN114466446A CN 114466446 A CN114466446 A CN 114466446A CN 202210380477 A CN202210380477 A CN 202210380477A CN 114466446 A CN114466446 A CN 114466446A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W56/00—Synchronisation arrangements
- H04W56/001—Synchronization between nodes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
- G01S11/02—Systems for determining distance or velocity not using reflection or reradiation using radio waves
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/08—Systems for measuring distance only
Abstract
The embodiment of the invention discloses a time sequence synchronization method, a device and a medium based on a UWB system; the method comprises the following steps: receiving a ranging message transmitted by a controller within a current ranging cycle; when the type of the ranging message is determined to be the target ranging message through analysis, recording the time length from the beginning of receiving the ranging message to the time when the type of the ranging message is known to be the target ranging message through analysis; and modifying a local timer value according to the time length and the air interface flight time length obtained by the historical distance measurement circulation so as to complete the time sequence synchronization with the controller.
Description
Technical Field
The embodiment of the invention relates to the technical field of UWB communication, in particular to a time sequence synchronization method, a time sequence synchronization device and a time sequence synchronization medium based on a UWB system.
Background
The scheduling model adopted in the ranging process of the UWB system is shown in fig. 1, and includes: ranging block (Ranging block), Ranging cycle (Ranging round), and Ranging slot (Ranging slot), which is a time period for Ranging. Each Ranging block includes an integer multiple of a Ranging cycle, where a Ranging cycle is a period of time to complete one complete Ranging cycle involving a set of Ranging Devices (RDEVs) participating in Ranging measurements. Each ranging cycle is further subdivided into an integer number of ranging slots, where a ranging slot is a time period of sufficient length for transmission of at least one ranging frame RFRAME. Fig. 1 shows a Ranging Block structure, as shown in fig. 1, one Ranging Block includes N Ranging cycles, one Ranging cycle includes M Ranging slots, and a period of one Ranging Slot is set to Tslot (Slot period, e.g., 2 ms); the time length of a single Ranging cycle Ranging Round is Tslot × M, and the time length of a single Ranging Block is Tslot × M × N. For the scheduling model shown in fig. 1, each RDEV needs to maintain its own timing locally, that is, timing synchronization between devices in the system is an important prerequisite for accurate ranging process of the UWB system.
Currently, the conventional scheme for performing timing synchronization between the ranging devices in the UWB system usually needs to be completed by means of an external transmission system (such as bluetooth), for example, after the UWB system starts the ranging procedure, a bluetooth connection is first established between the ranging devices, and a notification is simultaneously sent to the local UWB system through the bluetooth connection, and the ranging devices in the UWB system perform timing synchronization according to the received bluetooth notification, and set the timing to 0. However, the conventional scheme requires each RDEV in the UWB system to be configured with an additional transmission device of another transmission link type, which increases the overhead of the UWB system, and the synchronization error is related to the transmission system of the transmission link type configured outwards, and cannot be improved based on the change of the UWB transmission.
Disclosure of Invention
In view of this, embodiments of the present invention are to provide a timing synchronization method, apparatus and medium based on a UWB system; the system overhead can be saved, the synchronization precision is improved, and the synchronization error is reduced.
The technical scheme of the embodiment of the invention is realized as follows:
in a first aspect, an embodiment of the present invention provides a timing synchronization method based on a UWB system, where the method is applied to a controlled device in the UWB system, and the method includes:
receiving a ranging message transmitted by a controller within a current ranging cycle;
when the type of the ranging message is determined to be the target ranging message through analysis, recording the time length from the beginning of receiving the ranging message to the time when the type of the ranging message is known to be the target ranging message through analysis;
and modifying a local timer value according to the time length and the air interface flight time length obtained by the historical distance measurement circulation so as to complete the time sequence synchronization with the controller.
In a second aspect, an embodiment of the present invention provides a timing synchronization method based on a UWB system, where the method is applied to a controller in the UWB system, and the method includes:
transmitting a target Ranging message in the initial Ranging time slot of each Ranging round; the target Ranging message comprises a Ranging block and a Ranging round sequence number of the current Ranging cycle;
setting a local timer value to 0 when transmitting the target ranging message.
In a third aspect, an embodiment of the present invention provides a controlled device, where the controlled device includes: a receiving section, a parsing section, a recording section, a synchronizing section, and a first local timer; wherein the content of the first and second substances,
the receiving part is configured to receive a ranging message sent by a controller within a current ranging cycle;
the parsing part configured to parse the ranging message to determine a type of the ranging message;
the recording part is configured to record a time length from the beginning of receiving the ranging message to the time when the type of the ranging message is known to be the target ranging message through analysis when the type of the ranging message is determined to be the target ranging message through analysis;
and the synchronization part is configured to modify the first local timer value according to the time length and the air interface flight time length obtained by the historical ranging cycle so as to complete the time sequence synchronization with the controller.
In a fourth aspect, an embodiment of the present invention provides a controller apparatus including a transmission section and a second local timer, wherein,
the transmitting part is configured to transmit a target Ranging message at a starting Ranging slot of each Ranging round; the target Ranging message comprises a Ranging block and a Ranging round sequence number of the current Ranging cycle;
the second local timer configured to set the second local timer value to 0 when the target ranging message is transmitted.
In a fifth aspect, an embodiment of the present invention provides a wireless communication device, where the device includes: a communication interface, a memory and a processor; the various components are coupled together by a bus system; wherein the content of the first and second substances,
the communication interface is used for receiving and sending signals in the process of receiving and sending information with other external network elements;
the memory for storing a computer program operable on the processor;
the processor is configured to, when running the computer program, execute the steps of the UWB system based timing synchronization method according to the first aspect or the second aspect.
In a sixth aspect, an embodiment of the present invention provides a computer storage medium, where the computer storage medium stores a UWB system based timing synchronization program, and the UWB system based timing synchronization program is executed by at least one processor to implement the steps of the UWB system based timing synchronization method according to the first aspect or the second aspect in the foregoing technical solutions.
The embodiment of the invention provides a time sequence synchronization method, a device and a medium based on a UWB system; according to the time length of the set target ranging message from the received analysis and the air interface flight time length, the time sequence synchronization between the controlled person and the controller is realized, the time sequence synchronization of the controlled person and the controller can be completed only by using UWB related signal frames/beacon frames, the intervention of an additional auxiliary communication technology is not needed, and compared with the conventional scheme, the time sequence synchronization method has the advantages that the system overhead is saved, the synchronization precision is improved, and the synchronization error is reduced.
Drawings
Fig. 1 is a schematic structural diagram of a Ranging Block provided in a conventional scheme;
fig. 2 is a block diagram of a wireless communication system according to an embodiment of the present invention;
FIG. 3 is a block diagram of a wireless device according to an embodiment of the present invention;
fig. 4 is a schematic diagram of an exemplary Ranging process provided in an embodiment of the present invention;
FIG. 5 is a flowchart illustrating a timing synchronization method based on a UWB system according to an embodiment of the invention;
fig. 6 is a schematic diagram of phase division of a Ranging cycle Ranging round provided in the embodiment of the present invention;
fig. 7 is a specific exemplary time flow diagram of a timing synchronization method based on a UWB system according to an embodiment of the present invention;
FIG. 8 is a flowchart illustrating another UWB system based timing synchronization method according to an embodiment of the present invention;
fig. 9 is a schematic diagram illustrating a device composition of a controlled device according to an embodiment of the present invention;
fig. 10 is a schematic diagram of a controller device according to an embodiment of the present invention.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
Referring to fig. 2, an exemplary (and simplified) wireless communication system 200 is shown that is capable of adapting to the aspects set forth in the embodiments of the present invention. It is noted that the system shown in fig. 2 is only one example of a possible system, and embodiments of the present disclosure may be implemented in any of a variety of systems as desired.
As shown in fig. 2, an exemplary wireless communication system 200 includes: a first wireless device 202 and another ("second") wireless device 204 in communication with the first wireless device 202; it should be noted that the first wireless device 202 and the second wireless device 204 may specifically be any one of the wireless communication devices shown in fig. 2. The first wireless device 202 and the second wireless device 204 may communicate wirelessly using any of a variety of wireless communication techniques, possibly including ultra-wideband (UWB) communication techniques (e.g., IEEE 802.15.4z compliant), Wi-Fi (e.g., IEEE 802.11), and/or other techniques based on WPAN or WLAN wireless communication. Further, one or both of the first wireless device 202 and the second wireless device 204 can also be capable of communicating via one or more additional wireless communication protocols, such as any of Bluetooth (BT), Bluetooth Low Energy (BLE), Near Field Communication (NFC), GSM, UMTS (WCDMA, TDSCDMA), LTE-Advanced (LTE-a), NR, 3GPP2 CDMA2000 (e.g., 1xRTT, 1xEV-DO, HRPD, eHRPD), Wi-MAX, GPS, and so forth.
The first wireless device 202 and the second wireless device 204 may be any of various types of wireless devices. As one possibility, one or more of the first wireless device 202 and the second wireless device 204 may be substantially portable wireless User Equipment (UE) devices, such as smartphones, handheld devices, wearable devices, tablets, automobiles, or virtually any type of mobile wireless device. As another possibility, one or more of the first wireless device 202 and the second wireless device 204 may be a substantially stationary device, such as a set-top box, a media player (e.g., an audio or audiovisual device), a gaming console, a desktop computer, an appliance, an environmental controller, a door, or any of a variety of other types of devices.
Each of the first wireless device 202 and the second wireless device 204 may include wireless communication circuitry configured to facilitate performance of wireless communication, which may include various digital and/or analog Radio Frequency (RF) components, a processor configured to execute program instructions stored in a memory, programmable hardware elements, such as Field Programmable Gate Arrays (FPGAs), and/or any of various other components. The first wireless device 202 and/or the second wireless device 204 may use any or all of such components to perform any of the method embodiments described herein, or any portion of any of the method embodiments described herein.
Each of the first wireless device 202 and the second wireless device 204 may include one or more antennas for communicating using one or more wireless communication protocols. In some cases, one or more portions of the receive and/or transmit chains may be shared among multiple wireless communication standards. For example, the device may be configured to communicate using either bluetooth or UWB using partially or fully shared wireless communication circuitry (e.g., using a shared radio or at least shared radio components). The shared communication circuitry may include a single antenna, or may include multiple antennas for performing wireless communication (e.g., for MIMO). Alternatively, the device may include separate transmit and/or receive chains (e.g., including separate antennas and other radios) for each wireless communication protocol with which it is configured to communicate. As another possibility, a device may include one or more radios or radio components shared between multiple wireless communication protocols, and one or more radios or radio components exclusively used by a single wireless communication protocol. For example, a device may include a shared radio for communicating using either LTE or CDMA2000, 1xRTT, and a separate radio for communicating using each of UWB, Wi-Fi, and/or bluetooth. Other configurations are also possible.
Based on the wireless communication system 200 depicted in fig. 2, fig. 3 illustrates an exemplary wireless device 300 composition capable of implementing a first wireless device 202 and a second wireless device 204. as shown in fig. 3, the wireless device 300 may include a system on a chip (SOC) 301, which SOC 300 may include portions that are used for various purposes. For example, as shown, SOC 301 may include one or more processors 302 and display circuitry 304, with one or more processors 302 executing program instructions for wireless device 300, and display circuitry 304 executing graphics processing and providing display signals to display 360. The SOC 301 may also include a motion sensing circuit 370, which motion sensing circuit 370 may detect motion of the wireless device 300, for example, using a gyroscope, an accelerometer, and/or any of a variety of other motion sensing components. The one or more processors 302 may also be coupled to a Memory Management Unit (MMU) 340 that may be configured to receive addresses from the one or more processors 302 and translate the addresses to locations in memory (e.g., memory 306 and Read Only Memory (ROM) 350, flash memory 310. MMU 340 may be configured to perform memory protections and page table translations or settings.
As shown in fig. 3, SOC 301 may be coupled to various other circuits of wireless device 300. For example, the wireless device 300 may include various types of memory (e.g., including NAND flash memory 310), a connector interface 320 (e.g., for coupling to a computer system, docking station, charging station, etc.), a display 360, and wireless communication circuitry 330 (e.g., for UWB, LTE-A, CDMA2000, bluetooth, Wi-Fi, NFC, GPS, etc.).
The wireless communication circuit 330 may include UWB logic 332, a cellular modem 334, and additional WLAN/PAN logic 336. UWB logic 332 is configured to enable wireless device 300 to perform UWB communications and/or for ranging communications, for example, according to the 802.15.4 protocol. WLAN/PAN logic 336 is to enable wireless device 300 to perform other WLAN and/or PAN communications, such as Wi-Fi and/or Bluetooth communications. The cellular modem 334 may be capable of performing cellular communications in accordance with one or more cellular communication techniques.
As described herein, the wireless device 300 may include hardware components and software components for implementing embodiments of the present disclosure. For example, one or more components of the wireless communication circuitry 330 (e.g., UWB logic 332) of the wireless device 300 may be configured to implement a portion or all of the methods described herein, e.g., by a processor executing program instructions stored on a memory medium (e.g., a non-transitory computer-readable memory medium), as an FPGA (field programmable gate array), and/or using a processor that may include special-purpose hardware components of an ASIC (application specific integrated circuit).
As previously described, the wireless communication system illustrated in fig. 2 and the wireless device illustrated in fig. 3 described above are capable of implementing aspects of embodiments of the present invention when the first wireless device 202 and the second wireless device 204 use the UWB logic 332 included in the wireless communication circuitry 330 to perform UWB communication and/or for ranging communication in accordance with the 802.15.4 protocol.
For the Ranging procedure of UWB communication, taking a typical exemplary Ranging flowchart shown in fig. 4 and shown in IEEE 802.15.4z standard as an example, the terms appearing subsequently in the embodiments of the present invention are defined as follows: a Controller (Controller) generally denotes a Ranging DEVice (RDEV) that defines and controls Ranging parameters by transmitting a Ranging Control Message (RCM) in a Ranging Control period. The controlled person (Controller) generally indicates a ranging apparatus using a ranging parameter received from the Controller (Controller). An Initiator (Initiator), generally representing a Ranging device that initiates a Ranging exchange with the RCM by sending a first Message (which may be referred to as a Ranging Initiation Message) for exchange; it is to be understood that, as shown in fig. 4, either the controller or the controlled may be the initiator. A Responder (Responder) generally denotes a Ranging device that responds to the RIM received from the initiator with a Ranging Response Message (RRM). These terms are also shown in fig. 4, and may be implemented by first wireless device 202 and second wireless device 204 in fig. 2.
In the UWB ranging process, the conventional UWB timing synchronization scheme currently needs to be implemented by combining an auxiliary communication technology (such as BT and/or BLE) with the UWB communication, that is, after the UWB-based ranging procedure is started, a bluetooth connection is first established between the first wireless device 202 and the second wireless device 204, after the bluetooth connection is established, the two devices simultaneously send a notification to the local UWB logic component 332 through bluetooth, and after the UWB logic component 332 receives the notification sent by bluetooth, the timing is set to 0.
With the above conventional scheme, the overhead of UWB communication is increased due to the need for the intervention of the auxiliary communication technology, and the timing synchronization error is independent of the UWB communication technology and completely depends on the communication performance of the auxiliary communication technology.
In view of the above explanation, the embodiments of the present invention expect that in the UWB ranging communication process, both sides complete timing synchronization by using UWB-related signal frames/beacon frames, and do not need additional intervention of an auxiliary communication technology, thereby saving system overhead, improving synchronization accuracy, and reducing synchronization errors. In order to clearly illustrate the technical solution of the embodiment of the present invention, the embodiment of the present invention takes the first wireless device 202 as a Controller (Controller) and an Initiator (Initiator), and the second wireless device 204 as a controlled device (Controller) and a Responder (Responder) as examples, when timing synchronization is required between the first wireless device 202 and the second wireless device 204, the first wireless device 202 and the second wireless device 204 respectively set a timer physalotcounter for a Ranging Slot (2 ms) locally, the timer counts according to its own frequency, and each time the count of the local timer expires, the timer indicates that the number corresponding to the Ranging Slot (2 ms) is increased by one; in the process of counting the Ranging slots, when the Ranging Slot number overflows, the number corresponding to Ranging cycle Ranging round is added by one, and the Ranging Slot number is reset to zero; in the process of counting Ranging rounds, when the number of the Ranging rounds overflows, the counting of a complete Ranging block is completed, and the number of the Ranging rounds is set to zero; and when the Ranging block count overflows, counting the Ranging block again, which indicates that a new Ranging block can be started. Based on the above setting, referring to fig. 5, it shows a timing synchronization method based on UWB system, which is provided by an embodiment of the present invention, and is capable of implementing timing synchronization between the second wireless device 204 as a controlled person (Controller) and the first wireless device 202 as a Controller (Controller), and the method may include:
s501: receiving a ranging message transmitted by a controller within a current ranging cycle;
s502: when the type of the ranging message is determined to be the target ranging message through analysis, recording the time length from the beginning of receiving the ranging message to the time when the type of the ranging message is known to be the target ranging message through analysis;
s503: and modifying a local timer value according to the time length and the air interface flight time length obtained by the historical distance measurement circulation so as to complete the time sequence synchronization with the controller.
For the technical scheme shown in fig. 5, according to the combination of the time length of the target ranging message received and analyzed by the setting and the air interface flight time length, the time sequence synchronization between the controlled person and the controller is realized, the time sequence synchronization between the controlled person and the controller can be completed only by using the UWB-related signal frame/beacon frame, and the intervention of an additional auxiliary communication technology is not needed.
For the technical solution shown in fig. 5, in some possible implementations, before initiating a Ranging exchange, that is, before sending a first Ranging message (RIM), a controller usually sends a Ranging Control Message (RCM) to define and Control Ranging parameters, and in order to complete timing synchronization between the controller and a controlled device before starting the Ranging exchange, so that the controller and the controlled device can "align" in terms of timing, in an embodiment of the present invention, the target Ranging message includes: ranging control message RCM.
For the technical solution shown in fig. 5, in some possible implementations, the recording a time period from when the ranging message is received to when the ranging message is analyzed and obtained as the target ranging message in S502 includes:
recording the moment when the ranging message starts to be received as a first time stamp;
recording the time when the ranging message type is obtained through analysis as a second timestamp;
and recording the difference value between the second time stamp and the first time stamp as the time length.
For the technical solution shown in fig. 5, in some possible implementations, the method further includes:
when the ranging message begins to be received, setting the sequence number value of the ranging time slot in the local timer to 0;
and when the type of the Ranging message is determined to be the target Ranging message through analysis, updating the sequence number values of the Ranging block and the Ranging circulating round which are maintained locally according to the sequence number values of the Ranging block and the Ranging circulating round in the Ranging message.
For the technical solution shown in fig. 5, in some possible implementations, the method further includes: and when the type of the ranging message is determined not to be the target ranging message by analysis, ignoring the ranging message.
For the above implementation, specifically, each Ranging round may be sequentially divided into three stages as shown in fig. 6, that is, a Ranging control phase including one Ranging Slot, a Ranging phase including multiple Ranging slots, and a Measurement reporting phase including multiple Ranging slots. In the embodiment of the present invention, the controller may send a Ranging control message RCM at the starting Ranging Slot of each Ranging round, for example, the number of Ranging Slot # 0, the RCM carries the sequence number of the current Ranging round and the Ranging block sequence number where the current Ranging round is located, and sets the count of the timer physlotCounter local to the controller to zero and starts counting. For the controlled, since the timing of each controlled is different to join the ranging process, the received message is not the RCM sent by the controller, and based on this, in some examples, before the controlled reaches the timing synchronization with the controller, the controlled may record the time when the ranging message starts to be received and save the time as the first timestamp no matter any ranging message is received
And sets the count of the timer physalotcounter local to the controlled person to zero and starts counting, and at the same time starts parsing the content of the ranging message to know the type of the ranging message:
if the type of the ranging message is analyzed and known to be a target ranging message, such as RCM, the controlled person records the time when the type of the ranging message is analyzed and known and stores the time as a second timestamp
Updating sequence number values of a Ranging block and a Ranging round maintained locally by a controller by using a sequence number of a current Ranging cycle carried in the RCM and a Ranging block sequence number of the current Ranging cycle;
and if the type of the ranging message is not the target ranging message, ignoring the ranging message, and continuously receiving the ranging message sent by the controller until the ranging message is analyzed and found to be the target ranging message, such as the RCM position.
The time course of the above specific example is shown in figure 7,
indicating the time when the controller starts to transmit the ranging message,
indicating the time when the controlled starts to receive the ranging message,
indicating the time when the slave has finished receiving the ranging message and starts parsing the ranging message,
indicating the time at which the master parsed the ranging message type,
indicating the time when the distance measuring information is processed by the controlled person; the various types of time lengths formed based on these moments are:
representing the propagation duration of the ranging message at the air interface, namely the flight duration of the air interface;
indicating the time length from the time when the distance measuring message is received to the time when the distance measuring message type is analyzed by the controlled person;
the time length which represents that the controller starts to send the ranging message to the controlled person and resolves the type of the ranging message;
indicating the duration of time for which the ranging message is parsed by the controller. According to the time and duration, for the specific example, if the ranging message is RCM, the current time is
The count of the local timer physalotcounter on the side of the controller
Setting zero, and setting the local Ranging Slot label to zero; at the current moment
The count of the local timer physalotcounter on the side of the controlled person
Setting zero, and setting the local Ranging Slot label zero; at the current moment
The count of the local timer physalotcounter on the side of the controller
Is composed of
Count of local timer physaltcounter on the side of the controller
Is composed of
And is received byThe sequence number values of the Ranging block and the Ranging loop maintained locally on the side of the controller are updated according to the sequence number of the current Ranging loop carried in the RCM and the Ranging block sequence number of the current Ranging loop, and at this time, the synchronous error between the two ends of the controlled and the controller is as follows:
i.e. the air-interface flight duration of the ranging message.
It should be noted that, since the synchronization error between the two is the air interface flight time of the ranging message, the timing synchronization between the controller and the controlled person can be realized by only supplementing the synchronization error. Based on this, in the embodiments of the present invention, the synchronization error is supplemented by using the air interface flight duration obtained in the historical ranging cycle, and for the previous historical ranging cycle, the previous ranging cycle is closest to the current ranging cycle in terms of time, so that the resulting deviation is minimal, and therefore, in some possible implementation manners, modifying the local timer value according to the duration and the air interface flight duration obtained in the historical ranging cycle includes:
and modifying the local timer value based on the sum of the time length and the air interface flight time length obtained in the previous ranging cycle.
For the above implementation, specifically, the distance information finally obtained in the ranging process is obtained by multiplying the time of the UWB signal propagating in the air by the speed of light, and the air interface flight duration obtained in the previous ranging cycle is set to be
Adding the timer count2 local to the controlled to
Timing synchronization with the controller, resulting error
(ii) a Wherein, the first and the second end of the pipe are connected with each other,lindicating that the controlled is in the current range cycle and the previous rangeThe distance moved between the cycles is such that,cthe moving speed of the controlled person is mechanical speed, so the final error value is small enough to be ignored, thereby meeting the precision requirement of the UWB system.
Based on the same inventive concept of the foregoing technical solution, referring to fig. 8, it shows a timing synchronization method based on a UWB system, where the timing synchronization method is applied to a controller in the UWB system, and the method includes:
s801: transmitting a target Ranging message in the initial Ranging time slot of each Ranging round; the target Ranging message comprises a Ranging block and a Ranging round sequence number of the current Ranging cycle;
s802: setting a local timer value to 0 when the target ranging message is transmitted.
It should be noted that details not described in detail in the technical solution shown in fig. 8 can be referred to the description of the technical solution shown in fig. 5. The embodiments of the present invention will not be described in detail herein.
Based on the same inventive concept of the foregoing technical solution, referring to fig. 9, it shows a controlled device 90 provided in an embodiment of the present invention, the device includes: a receiving section 901, a parsing section 902, a recording section 903, a synchronizing section 904, and a first local timer 905; wherein the content of the first and second substances,
the receiving part 901 is configured to receive a ranging message sent by a controller in a current ranging cycle;
the parsing portion 902 configured to parse the ranging message to determine a type of the ranging message;
the recording part 903 is configured to record a time length from the beginning of receiving the ranging message to the time when the type of the ranging message is known as the target ranging message through analysis when the type of the ranging message is determined as the target ranging message through analysis;
the synchronization part 904 is configured to modify the value of the first local timer 905 according to the time length and the air interface flight time length obtained by the historical ranging cycle, so as to complete timing synchronization with the controller.
In some examples, the target ranging message includes: a ranging control message RCM.
In some examples, the recording portion 903 is configured to
Recording the moment when the ranging message starts to be received as a first time stamp;
recording the time when the ranging message type is obtained through analysis as a second timestamp;
and recording the difference value between the second time stamp and the first time stamp as the time length.
In some examples, the method further comprises:
a first local timer 905 further configured to set a sequence number value of a ranging slot in the first local timer 905 to 0 when starting to receive the ranging message;
and when the type of the Ranging message is determined to be the target Ranging message through analysis, updating the sequence number values of the Ranging block and the Ranging circulating round which are maintained locally according to the sequence number values of the Ranging block and the Ranging circulating round in the Ranging message.
In some examples, the parsing portion 902 is further configured to ignore the ranging message when parsing determines that the type of the ranging message is not a target ranging message.
In some examples, the synchronization portion 904 is configured to:
and modifying the value of the first local timer 905 based on the sum of the time length and the air interface flight time length obtained in the previous ranging cycle.
Based on the same inventive concept of the foregoing technical solution, referring to fig. 10, it shows a controller device 100 provided in an embodiment of the present invention, which includes a transmitting part 1001 and a second local timer 1002, wherein,
the transmitting part 1001 configured to transmit a target Ranging message at a start Ranging slot of each Ranging round; the target Ranging message comprises a Ranging block and a Ranging round sequence number of the current Ranging cycle;
the second local timer 1002 is configured to set the second local timer value to 0 when transmitting the target ranging message.
It is understood that in this embodiment, "part" may be part of a circuit, part of a processor, part of a program or software, etc., and may also be a unit, and may also be a module or a non-modular.
In addition, each component in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit. The integrated unit can be realized in a form of hardware or a form of a software functional module.
Based on the understanding that the technical solution of the present embodiment essentially or a part contributing to the prior art, or all or part of the technical solution may be embodied in the form of a software product stored in a storage medium, and include several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor (processor) to execute all or part of the steps of the method of the present embodiment. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
Therefore, the present embodiment provides a computer storage medium, which stores a UWB system based timing synchronization program, and when the UWB system based timing synchronization program is executed by at least one processor, the computer storage medium implements the steps of the UWB system based timing synchronization method according to the foregoing technical solution, as shown in fig. 5 or fig. 8.
It should be understood that the exemplary technical solutions of the controlled device 90 and the controller device 100 belong to the same concept as the technical solution of the UWB system based timing synchronization method shown in the foregoing fig. 5 or fig. 8, and therefore, for the details of the technical solutions of the controlled device 90 and the controller device 100 that are not described in detail, reference may be made to the description of the technical solution of the UWB system based timing synchronization method shown in the foregoing fig. 5 or fig. 8. The embodiments of the present invention will not be described in detail herein.
It should be noted that: the technical schemes described in the embodiments of the present invention can be combined arbitrarily without conflict.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (10)
1. A timing synchronization method based on UWB system, characterized in that the method is applied to the controlled in UWB system, the method includes:
receiving a ranging message transmitted by a controller within a current ranging cycle;
when the type of the ranging message is determined to be the target ranging message through analysis, recording the time length from the beginning of receiving the ranging message to the time when the type of the ranging message is known to be the target ranging message through analysis;
and modifying a local timer value according to the time length and the air interface flight time length obtained by the historical distance measurement circulation so as to complete the time sequence synchronization with the controller.
2. The method of claim 1, wherein the target ranging message comprises: a ranging control message RCM.
3. The method of claim 1, wherein the recording a duration from the beginning of receiving the ranging message to the time of resolving the ranging message as a target ranging message comprises:
recording the moment when the ranging message starts to be received as a first timestamp;
recording the time when the ranging message type is obtained through analysis as a second timestamp;
and recording the difference value between the second time stamp and the first time stamp as the time length.
4. The method of claim 1, further comprising:
when the ranging message begins to be received, setting the sequence number value of the ranging time slot in the local timer to 0;
and when the type of the Ranging message is determined to be the target Ranging message through analysis, updating the sequence number values of the Ranging block and the Ranging circulating round which are maintained locally according to the sequence number values of the Ranging block and the Ranging circulating round in the Ranging message.
5. The method of claim 1, further comprising: and when the type of the ranging message is determined not to be the target ranging message by analysis, ignoring the ranging message.
6. The method of claim 1, wherein the modifying the local timer value according to the duration and the duration of air interface flight known from historical ranging cycles comprises:
and modifying the local timer value based on the sum of the time length and the air interface flight time length obtained in the previous ranging cycle.
7. A timing synchronization method based on UWB system, characterized in that, the method is applied to controller in UWB system, the method includes:
transmitting a target Ranging message in an initial Ranging time slot of each Ranging cycle Ranging round; the target Ranging message comprises a Ranging block of a current Ranging cycle and a sequence number value of a Ranging cycle;
setting a local timer value to 0 when transmitting the target ranging message.
8. An apparatus for a controlled person, the apparatus comprising: a receiving section, a parsing section, a recording section, a synchronizing section, and a first local timer; wherein the content of the first and second substances,
the receiving part is configured to receive a ranging message sent by a controller within a current ranging cycle;
the parsing part configured to parse the ranging message to determine a type of the ranging message;
the recording part is configured to record a time length from the beginning of receiving the ranging message to the time when the type of the ranging message is known to be the target ranging message through analysis when the type of the ranging message is determined to be the target ranging message through analysis;
and the synchronization part is configured to modify the first local timer value according to the time length and the air interface flight time length obtained by the historical ranging cycle so as to complete the time sequence synchronization with the controller.
9. A controller apparatus, comprising a transmission section and a second local timer, wherein,
the transmitting part is configured to transmit a target Ranging message at a starting Ranging slot of each Ranging cycle Ranging round; the target Ranging message comprises a Ranging block of a current Ranging cycle and a sequence number value of a Ranging cycle;
the second local timer configured to set the second local timer value to 0 when the target ranging message is transmitted.
10. A wireless communication device, the device comprising: a communication interface, a memory and a processor; the various components are coupled together by a bus system; wherein the content of the first and second substances,
the communication interface is used for receiving and sending signals in the process of receiving and sending information with other external network elements;
the memory for storing a computer program operable on the processor;
the processor, when executing the computer program, is configured to perform the steps of the UWB system based timing synchronization method of any of claims 1 to 6 or claim 7.
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