CN114650596B - Distance measurement positioning system, networking method, equipment and medium based on BLE-UWB - Google Patents
Distance measurement positioning system, networking method, equipment and medium based on BLE-UWB Download PDFInfo
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Abstract
The embodiment of the invention discloses a distance measurement positioning system, a networking method, equipment and a medium based on BLE-UWB; the method comprises the following steps: establishing a first BLE connection link with each of the slave base stations by scanning for first BLE broadcast messages transmitted by one or more slave base stations within a short range of the master base station; receiving a list of UWB tag devices correspondingly transmitted by each slave base station through the first BLE connection link; wherein each UWB tag device list includes UWB tag device information for which a second BLE connection link is established with a corresponding slave base station; transmitting a ranging parameter to the each slave base station through the first BLE connection link such that the each slave base station transmits the ranging parameter to a corresponding UWB tag device through the second BLE connection link.
Description
Technical Field
The embodiment of the invention relates to the technical field of Ultra Wide Band (UWB) communication, in particular to a distance measuring and positioning system based on BLE (Bluetooth Low Energy) -UWB and a networking method thereof.
Background
In the conventional UWB ranging and positioning system, access technologies with relatively low power consumption, such as Bluetooth (BT) and BLE, are generally used to replace UWB to perform some preparation works before the start of a ranging procedure, such as networking and ranging parameter interaction, and the UWB only needs to perform the work such as ranging message interaction after the start of the ranging procedure, so that the power consumption in the UWB ranging and positioning process can be reduced.
In the UWB ranging and positioning system as well, the time of flight can be obtained between the base station and the tag device through the timestamp information in the ranging message interaction process, and the distance between the tag device and the base station is calculated according to the time of flight, which can be referred to as a ranging process; however, if the absolute position of the tag device needs to be located, the tag device and at least three base stations are required to complete the ranging process, and taking three base stations as an example, after the relative distances between the tag device and the three base stations are obtained through the ranging process, the relative positions of the tag device and the three base stations are also obtained; since the absolute positions of the base stations are usually fixed, the relative positions of the tag device and the three base stations and the fixed absolute positions of the base stations can be calculated. Usually, one of the three base stations is connected to a background server in the system, and receives the relative distances transmitted by the other two base stations; and then, the base station sends the two received relative distances and the relative distance obtained by the base station to a connected background server, and the background server calculates the absolute position of the label equipment by using the three received relative distances and the fixed absolute positions of the three base stations. The base station for data connection with the background server in the system is generally called a master base station, and the base stations except the master base station in the system are all called slave base stations.
In a conventional UWB ranging and positioning system at present, before a ranging process starts, a master base station generally needs to establish BLE connections with both a slave base station and a tag device in the system to perform interworking of ranging parameters, but in an existing BLE access scheme, the number of BLE accesses that a single device can support is fixed; therefore, as more and more tag devices are added in the system, when the number of the tag devices exceeds the maximum BLE access number that the master base station can support, a large number of tag devices cannot perform ranging and positioning at the same time. Moreover, when the number of tag devices is large, the amount of BLE interaction data required by the main base station is also large, so that the workload of the main base station is increased.
Disclosure of Invention
In view of this, embodiments of the present invention are intended to provide a ranging and positioning system, a networking method, a device and a medium based on BLE-UWB; the requirement that a large amount of label equipment carry out range finding location simultaneously in the system can be satisfied to the work load of main base station 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 networking method for a ranging and positioning system based on BLE-UWB, where the method is applied to a master base station, and the method includes:
establishing a first BLE connection link with each of the slave base stations by scanning for first BLE broadcast messages transmitted by one or more slave base stations within a short range of the master base station;
receiving a list of UWB tag devices correspondingly transmitted by each slave base station through the first BLE connection link; wherein each UWB tag device list comprises UWB tag device information with which a second BLE connection link is established with a corresponding slave base station;
transmitting a ranging parameter to the each slave base station through the first BLE connection link such that the each slave base station transmits the ranging parameter to a corresponding UWB tag device through the second BLE connection link.
In a second aspect, an embodiment of the present invention provides a networking method for a ranging and positioning system based on BLE-UWB, where the method is applied to a slave base station, and the method includes:
transmitting a first BLE broadcast message so that the master base station establishes a first BLE connection link according to the BLE broadcast message;
establishing a second BLE connection link with each of the one or more UWB tag devices within a short range of the base station by scanning for second BLE broadcast messages transmitted from the UWB tag devices;
transmitting a corresponding list of UWB tag devices to the master base station over the first BLE connection link; wherein the list of UWB tag devices includes: UWB tag device information having a second BLE connection link established with the slave base station;
receiving ranging parameters transmitted by the master base station over the first BLE connection link;
transmitting the ranging parameter to a UWB tag device, which has established a second BLE connection link, through the second BLE connection link.
In a third aspect, an embodiment of the present invention provides a main base station apparatus, including: a first scanning section, a first receiving section, and a first transmitting section; wherein,
the first scanning section is configured to establish a first BLE connection link with each of the slave base stations by scanning for a first BLE broadcast message transmitted by one or more slave base stations within a short range of the master base station;
the first receiving section is configured to receive a list of UWB tag devices correspondingly transmitted by each slave base station through the first BLE connection link; wherein each UWB tag device list includes UWB tag device information for which a second BLE connection link is established with a corresponding slave base station;
the first transmitting portion is configured to transmit a ranging parameter to the each slave base station through the first BLE connection link, so that the each slave base station transmits the ranging parameter to a corresponding UWB tag device through the second BLE connection link.
In a fourth aspect, an embodiment of the present invention provides a slave base station apparatus, where the apparatus may include: a second transmitting section, a second scanning section, and a second receiving section; wherein,
the second transmitting portion is configured to transmit a first BLE broadcast message so that the master base station establishes a first BLE connection link according to the BLE broadcast message;
the second scanning section is configured to establish a second BLE connection link with each of the one or more UWB tag devices by scanning a second BLE broadcast message transmitted from the UWB tag device within a short range of the base station;
the second transmitting portion is further configured to transmit a corresponding list of UWB tag devices to the master base station over the first BLE connection link; wherein the list of UWB tag devices includes: UWB tag device information having a second BLE connection link established with the slave base station;
the second receiving portion configured to receive the ranging parameters transmitted by the master base station through the first BLE connection link;
the second transmitting section is further configured to transmit the ranging parameter to a UWB tag device having established a second BLE connection link through the second BLE connection link.
In a fifth aspect, an embodiment of the present invention provides a network node device, where the network node device includes: wireless communication circuitry, memory and a processor; the various components are coupled together by a bus system; wherein,
the wireless communication circuit includes: UWB communication means for enabling the network node device to perform UWB communication and/or for ranging communication and BLE communication means for enabling the network node device to perform BLE communication;
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 networking method of the BLE-UWB-based ranging and positioning system according to the first aspect or the second aspect.
In a sixth aspect, an embodiment of the present invention provides a ranging and positioning system based on BLE-UWB, where the system includes: a master base station, one or more slave base stations and one or more UWB tag devices; the short range of the master base station covers the range of the union of the short range of all the slave base stations; the master base station establishes a first BLE connection link with each slave base station only; each slave base station establishes a second BLE connection link with UWB tag devices within respective short range; wherein,
the master base station configured to perform the steps of the networking method of the BLE-UWB based ranging and positioning system of the first aspect;
the slave base station is configured to perform the steps of the networking method of the BLE-UWB based ranging and positioning system according to the second aspect.
In a seventh aspect, an embodiment of the present invention provides a computer storage medium, where a networking program of a BLE-UWB based ranging and positioning system is stored, and the networking program of the BLE-UWB based ranging and positioning system is executed by at least one processor to implement the steps of the networking method of the BLE-UWB based ranging and positioning system according to the first aspect or the second aspect.
The embodiment of the invention provides a distance measuring and positioning system, a networking method, equipment and a medium based on BLE-UWB; the main base station only needs to establish BLE connection with the slave base station, does not need to establish BLE connection with all UWB tag devices in the wireless communication system, and all UWB tag devices are all connected to the corresponding slave base station, so that the workload of data transmission of the main base station for distance measurement parameter interaction is reduced. In addition, the main base station does not need to establish BLE connection with all UWB Tag devices in the wireless communication system, so that the whole wireless communication system can bear more UWB Tag devices under the limitation of the maximum connection number which can be supported by the BLE connection, and the requirement of a large number of UWB Tag devices (tags) on ranging scenes is met.
Drawings
Fig. 1 is a schematic diagram of a wireless communication system according to an embodiment of the present invention.
Fig. 2 is a schematic diagram illustrating a network node device according to an embodiment of the present invention.
Fig. 3 is a schematic flow chart of a networking method of a ranging and positioning system based on BLE-UWB according to an embodiment of the present invention.
Fig. 4 is a schematic diagram illustrating a wireless communication system according to an embodiment of the present invention.
Fig. 5 is a schematic diagram illustrating a processing cycle according to an embodiment of the present invention.
Fig. 6 is an exemplary diagram of another wireless communication system according to an embodiment of the present invention.
Fig. 7 is a schematic flow chart of a networking method of a distance measuring and positioning system based on BLE-UWB according to an embodiment of the present invention.
Fig. 8 is an exemplary diagram of another wireless communication system according to an embodiment of the present invention.
Fig. 9 is a schematic diagram illustrating a main base station apparatus according to an embodiment of the present invention.
Fig. 10 is a schematic diagram illustrating a main base station apparatus according to another embodiment of the present invention.
Fig. 11 is a schematic diagram illustrating a slave base station apparatus according to an embodiment of the present invention.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
Referring to fig. 1, an exemplary (and simplified) ranging and location-enabled wireless communication system 100 is shown that is capable of adapting to the teachings set forth in the embodiments of the present invention. It is noted that the system shown in fig. 1 is only one example of a possible system, and that embodiments of the present disclosure may be implemented in any of a variety of systems as desired.
As shown in fig. 1, the wireless communication system 100 includes: background server 10 for data processing and calculation, main base station 11 stationary with said background server 10 for data transmission, one or more (M are examples) slave base stations 12-1, 12-2, … …, 12-M stationary in the proximity range of main base station 11 (as shown by the solid oval circle in fig. 1), one or more (n are examples) UWB Tag devices (Tag) 13-1, 13-2, … …, 13-n movable in the proximity range of main base station 11. In some non-limiting examples, UWB Tag devices (tags) 13-1, 13-2, … …, 13-n are each within a respective range of proximity from the base station 12-1, 12-2, … …, 12-M (as indicated by the dashed oval circle in FIG. 1) depending on where they are located. It will be appreciated that the proximity range of the master base station 11, as illustrated by the solid elliptical circles in figure 1, covers the range of the union of the proximity ranges of the slave base stations 12-1, 12-2, … …, 12-M, as illustrated by all dashed elliptical circles, such that in some examples, wireless communication may be performed between the master base station 11 and the slave base stations 12-1, 12-2, … …, 12-M, between the master base station 11 and the UWB tag devices 13-1, 13-2, … …, 13-n, between each slave base station 12-1, 12-2, … …, 12-M and the UWB tag devices 13-1, 13-2, … …, 13-n within the respective proximity ranges 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 technologies that communicate over WPAN or WLAN wireless. Further, communication between the master base station 11 and the slave base stations 12-1, 12-2, … …, 12-M, between the master base station 11 and the UWB tag devices 13-1, 13-2, … …, 13-n, and between each slave base station 12-1, 12-2, … …, 12-M and the UWB tag devices 13-1, 13-2, … …, 13-n within the respective short range can also be via one or more additional wireless communication protocols, such as Bluetooth (BT), Bluetooth Low Energy (BLE), Near Field Communication (NFC), GSM, UMTS (WCDMA, TDSCDMA), LTE-Advanced (LTE-A), NR, 3GPP2 CDMA1000 (e.g., 1xRTT, 1xEV-DO, HRPD, eHRPD), -MAX, GPS, and the like.
By way of illustrative example and not limitation, the UWB Tag devices (Tag) 13-1, 13-2, … …, 13-n shown in fig. 1 may be specifically a printer, a Personal Digital Assistant (PDA), a camera, a speaker system, or a wireless network, among others, other non-limiting examples of UWB Tag devices (Tag) 13-1, 13-2, … …, 13-n include mobile devices, cellular (cell) phones, smart phones, Session Initiation Protocol (SIP) phones, laptops, Personal Computers (PCs), notebooks, netbooks, smartbooks, tablets, and a wide variety of embedded IoT systems, e.g., corresponding to the "internet of things" (IoT). Additionally, the UWB tag device may be an automobile or other transportation vehicle, a remote sensor or actuator, a robot or robotic device, a satellite radio, a Global Positioning System (GPS) device, an object tracking device, a drone, a multi-axis aircraft, a quadcopter, a remote control device, a consumer and/or wearable device (such as glasses), a wearable camera, a virtual reality device, a smart watch, a health or fitness tracker, a digital audio player (e.g., MP3 player), a camera, a game console, and so forth. Additionally, the UWB tag device may also be a digital home or intelligent home device, such as a home audio, video, and/or multimedia device, an appliance, a vending machine, an intelligent lighting device, a home security system, a smart meter, and the like. Additionally, UWB tag devices may also be smart energy devices, security devices, solar panels or arrays, municipal infrastructure devices that control power, lighting, water, etc. (e.g., smart grids); industrial automation and enterprise equipment; a logistics controller; agricultural equipment; military defense equipment, vehicles, aircraft, boats, weapons, and the like.
With respect to the wireless communication system 100 shown in fig. 1, in some examples, the master base station 11, the slave base stations 12-1, 12-2, … …, 12-M, and the UWB tag devices 13-1, 13-2, … …, 13-n may also be collectively referred to as network node devices within the wireless communication system 100. For any of these network node devices, fig. 2 shows an example of a composition that can implement a network node device 200, which network node device 200 may include at least: a processor 210, a memory 220, a wireless communication circuit 230, and a power supply 240; the components may be connected by various suitable types of buses, such as a power bus, a control bus, and a status signal bus. Power supply 240 provides power to the various components within network node device 200.
In some examples, the Processor 210 may be a general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components. The various methods, steps and logic blocks disclosed in the embodiments of the present invention may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The content disclosed in connection with the embodiments of the present invention may be directly embodied as the execution of the hardware decoding processor, or may be implemented by the combination of hardware and software modules in the decoding processor. Software modules may be located in memory 220.
In some examples, memory 220 may be volatile memory or nonvolatile memory, or may include both volatile and nonvolatile memory. The non-volatile Memory may be a Read-Only Memory (ROM), a Programmable ROM (PROM), an Erasable PROM (EPROM), an Electrically Erasable PROM (EEPROM), or a flash Memory. The volatile Memory may be a Random Access Memory (RAM) which serves as an external cache. By way of illustration and not limitation, many forms of RAM are available, such as Static random access memory (Static RAM, SRAM), Dynamic Random Access Memory (DRAM), Synchronous Dynamic random access memory (Synchronous DRAM, SDRAM), Double Data Rate Synchronous Dynamic random access memory (ddr Data Rate SDRAM, ddr SDRAM), Enhanced Synchronous SDRAM (ESDRAM), Synchlink DRAM (SLDRAM), and Direct Rambus RAM (DRRAM). The memory 220 of the systems and methods described herein is intended to comprise, without being limited to, these and any other suitable types of memory.
In some examples, wireless communication circuitry 230 may include communication components capable of wireless communication using multiple wireless communication standards or Radio Access Technologies (RATs), such as UWB communication component 231 and BLE communication component 232 shown in fig. 2; wherein the UWB communication component 231 is configured to enable the network node device 200 to perform UWB communication and/or for ranging communication, e.g. according to the 802.15.4 protocol. BLE communication component 232 is for enabling network node device 200 to perform BLE communications. Of course, in other examples, wireless communication circuit 230 may further include a communication component capable of performing wireless communication according to other communication protocols besides UWB and BLE, and the details of the embodiments of the present invention are not repeated.
With reference to fig. 1 and fig. 2, before performing ranging positioning on the UWB tag device in the wireless communication system 100, the BLE communication component 232 is generally used for networking and exchanging ranging parameter information; the ranging location procedure is then initiated and the network node devices within the wireless communication system 100 conduct ranging message interactions via the UWB communications component 231 according to the 802.15.4 protocol standard.
In the conventional scheme, in order to complete the interaction of the ranging parameter information before ranging, the master base station 11 needs to establish a BLE connection with all network node devices within the wireless communication system 100 and to interact the ranging parameters after the BLE connection establishment is completed. Since BLE connection has a limit of the maximum number of connections that can be supported, and the maximum number of connections is usually 10, the number of UWB Tag devices that can be connected by the master base station 11 is very small except for the BLE connection fixed with the slave base station, and the requirement of a large number of UWB Tag devices (tags) for ranging cannot be met.
In view of this, the embodiments of the present invention are expected to provide a networking scheme for a ranging and positioning system based on BLE-UWB, so that the ranging and positioning system formed by networking can meet the requirement that a large number of UWB tag devices perform ranging and positioning at the same time, and can also reduce the workload of the master base station 11. Based on this, referring to fig. 3, a networking method of a BLE-UWB-based ranging and positioning system provided by an embodiment of the present invention is shown, where the method may be applied to a master base station 11 in the system, and the method may include:
s301: establishing a first BLE connection link with each of the slave base stations by scanning for first BLE broadcast messages transmitted by one or more slave base stations within a short range of the master base station;
s302: receiving a list of UWB tag devices correspondingly transmitted by each slave base station through the first BLE connection link; wherein each UWB tag device list includes UWB tag device information for which a second BLE connection link is established with a corresponding slave base station;
s303: transmitting a ranging parameter to the each slave base station through the first BLE connection link such that the each slave base station transmits the ranging parameter to a corresponding UWB tag device through the second BLE connection link.
Through the technical scheme, the main base station only needs to establish BLE connection with the slave base station, the BLE connection with all UWB tag equipment in the wireless communication system 100 is not needed, all the UWB tag equipment is connected to the corresponding slave base station, and the workload of data transmission of the main base station for distance measurement parameter interaction is reduced. In addition, as the master base station does not need to establish BLE connection with all UWB Tag devices in the wireless communication system 100, the whole wireless communication system 100 can bear more UWB Tag devices under the limitation of the maximum connection number that the BLE connection can support, and thus the requirement of a large number of UWB Tag devices (tags) for ranging is met.
It should be noted that, for the slave base station, since the current BLE scheme supports master-slave integration, the slave base station may serve as both a master device and a slave device; in detail, the slave base station may be regarded as a slave device with respect to the master base station, and the slave base station may be regarded as a master device with respect to the UWB tag device with which the second BLE connection link is established. In addition, since the short range of the master base station covers the range of the union of the short range of all the slave base stations, in the embodiment of the present invention, although the master base station does not establish BLE connection with any UWB tag device, communication can be performed through UWB.
For the technical solution shown in fig. 3, in some examples, since the master base station is connected to the background server, when the entire wireless communication system 100 is powered on, other base stations except the master base station are configured as slave base stations by default, and these slave base stations will periodically send broadcast messages through BLE for the master base station to scan, and after the master base station scans the BLE broadcast messages of the slave base stations, a first BLE connection link is sequentially established with each slave base station.
For example, based on the wireless communication system 100 shown in fig. 1, the number of slave base stations is set to 2, as shown in fig. 4, the slave base stations 12-1 and 12-2 periodically transmit BLE broadcast messages for the master base station 11 to scan after being powered on, and the master base station directionally establishes a BLE connection link with the slave base stations 12-1 and 12-2 based on the scanned BLE broadcast messages.
With respect to fig. 4, further, since the UWB tag devices 13-1 and 13-2 are in the short range of the slave base station 12-1, BLE connection is made between the slave base station 12-1 and the UWB tag devices 13-1 and 13-2, information of the UWB tag devices 13-1 and 13-2 is included in the UWB tag device list of the slave base station 12-1, and the UWB tag device list is transmitted to the master base station 11 through the slave base station 12-1 via the BLE connection link; accordingly, when the slave base station 12-2 and the UWB tag device 13-3 are connected to each other by BLE, the information of the UWB tag device 13-3 is included in the UWB tag device list of the slave base station 12-2, and the UWB tag device list is transmitted to the master base station 11 through the slave base station 12-2 via the BLE connection link.
With respect to fig. 4, further, the master base station 11 may transmit the ranging parameters to the slave base stations 12-1 and 12-2 through the BLE connection link after completing setting the ranging parameters for each UWB tag device, and the slave base stations 12-1 and 12-2 may then transmit the ranging parameters to the UWB tag devices in their corresponding UWB tag device list through the BLE connection link.
For the technical solution shown in fig. 3, in some possible implementations, after the sending the ranging parameter to each slave base station through the first BLE connection link, the method further includes:
transmitting a synchronization message to the each slave base station over the first BLE connection link to synchronize the each slave base station with the master base station timing.
For the technical solution shown in fig. 3, in some possible implementations, after receiving, through the first BLE connection link, the list of UWB tag devices correspondingly transmitted by each slave base station, the method further includes:
determining a target base station for each UWB tag device to perform ranging message interaction in the UWB ranging positioning process; wherein the target base station at least comprises the master base station, a slave base station corresponding to the UWB tag device, and an adjacent slave base station adjacent to the slave base station corresponding to the UWB tag device;
and correspondingly setting a scheduling time sequence in the UWB ranging positioning process for each UWB tag device.
For the above implementation manner, it should be noted that according to a conventional trilateration ranging algorithm, the UWB tag device needs to interact with at least 3 base stations with known fixed positions to obtain three pieces of distance information, and the absolute position of the UWB tag device is obtained through calculation according to the distance information and the fixed positions of the base stations. In the process of determining the target base station for each UWB tag device, since all UWB tag devices are also in the short range of the master base station at the same time and the master base station and the background server can perform direct data connection, the master base station can serve as one target base station; secondly, each UWB tag device corresponds to a slave base station connected to the link through the second BLE, and therefore the slave base station corresponding to the UWB tag device can serve as a second target base station; again, in the wireless communication system 100, there is usually an adjacent slave base station near the slave base station corresponding to the UWB tag device, and therefore, the embodiment of the present invention regards the adjacent slave base station as a third target base station. In some examples, when there are a plurality of adjacent slave base stations, the adjacent slave base station closest to the UWB tag device may be taken as the third target base station. In addition, after the master base station learns all the UWB tag devices, the scheduling timing sequence in the subsequent UWB ranging positioning process can be correspondingly set for each UWB tag device. Referring to fig. 4, taking the UWB tag device 13-1 as an example, in the process of performing UWB ranging and positioning on the UWB tag device 13-1, the UWB tag device 13-1 needs to complete a ranging procedure with the master base station 11 and the slave base station 12-1 to obtain distances between the UWB tag device 13-1 and the master base station 11 and the slave base station 12-1, respectively; in addition, since the slave base station 12-2 is a neighboring slave base station of the slave base station 12-1, the UWB tag device 13-1 also needs to complete a ranging procedure with the slave base station 12-2 to obtain a distance between the UWB tag device 13-1 and the slave base station 12-2, and finally three distance information obtained through the above measurement is transmitted to the background server 10 via the master base station 11, and the background server calculates an absolute position of the UWB tag device 13-1 according to the three distance information and the fixed positions of the master base station 11 and the slave base stations 12-1 and 12-2.
It should be further noted that, in the Ranging and positioning system based on BLE-UWB, as shown in fig. 5, one complete processing cycle sequentially includes a BLE interaction cycle and a UWB scheduling cycle, where the BLE interaction cycle includes one Ranging block (Ranging block); the UWB scheduling period can comprise M ranging blocks, and each ranging block corresponds to a slave base station; each Ranging block corresponding to each slave base station includes n Ranging cycles (Ranging rounds), each Ranging cycle corresponds to each UWB tag device that is connected to the slave base station in BLE, so that each Ranging cycle completes the Ranging process of the corresponding UWB tag device. In a Ranging block of a BLE interaction period, the master base station may set a Ranging cycle corresponding to Ranging parameter interaction for each slave base station, so that Ranging parameter interaction is performed through a first BLE connection link between the master base station and the slave base stations according to a set scheduling timing.
For the solution shown in fig. 3, in some examples, when a new slave base station is added to the wireless communication system 100, the method further includes:
and establishing a first BLE connection link with the newly-added slave base station by scanning a BLE broadcast message sent by the newly-added slave base station.
In conjunction with the scenario shown in fig. 4, for example, when a slave base station 12-3 is newly added in the proximity range of the master base station 11, as shown in fig. 6, the slave base station 12-3 will also periodically send BLE broadcast messages for the master base station 11 to scan, and the master base station directionally establishes a BLE connection link with the slave base station 12-3 based on the scanned BLE broadcast messages; thus, the BLE connection between the master base station 11 and the newly added slave base station 12-3 is completed, and it can be understood that after the connection is established, the master base station 11 will receive the UWB tag device list uploaded by the slave base station 12-3 as with the slave base stations 12-1 and 12-2 to be treated, and send the ranging parameters and the synchronization message to the slave base station 12-3; the embodiment of the present invention will not be described in detail.
For the solution shown in fig. 3, in some examples, when a new UWB tag device is added to the wireless communication system 100, the method further comprises:
receiving an updated UWB tag device list sent by a base station and established with a second BLE connection link with a newly added UWB tag device through the first BLE connection link; wherein the updated UWB tag device list includes the newly added UWB tag device information.
For the above two examples, it should be noted that if the maximum connection number of BLE connections that can be supported by the master base station is set to N, N slave base stations can be newly added to the wireless communication system 100 by the above examples. Then, setting a maximum connection number N of BLE connections that can be supported by the slave base station, so that the entire wireless communication system 100 can support N × N UWB tag devices; compared with the conventional scheme at present, the method can meet the requirement that a large number of UWB (ultra-wideband) tag devices simultaneously measure the distance and position.
Based on the same inventive concept of the foregoing technical solution, referring to fig. 7, it illustrates a networking method of a BLE-UWB-based ranging and positioning system, where the method may be applied to any slave base station 12-1, 12-2, … …, 12-M in the system, and the method may include:
s701: transmitting a first BLE broadcast message so that the master base station establishes a first BLE connection link according to the BLE broadcast message;
s702: establishing a second BLE connection link with each of the one or more UWB tag devices within a short range of the base station by scanning for second BLE broadcast messages transmitted from the UWB tag devices;
s703: transmitting a corresponding list of UWB tag devices to the master base station over the first BLE connection link; wherein the list of UWB tag devices includes: UWB tag device information having a second BLE connection link established with the slave base station;
s704: receiving ranging parameters transmitted by the master base station over the first BLE connection link;
s705: transmitting the ranging parameter to a UWB tag device, which has established a second BLE connection link, through the second BLE connection link.
For the technical aspect shown in fig. 7, in some examples, after receiving the ranging parameters transmitted by the master base station over the first BLE connection link, the method further comprises:
and receiving a synchronization message sent by the main base station through the first BLE connection link, and completing timing synchronization with the main base station according to the synchronization message.
For the solution shown in fig. 7, in some examples, when a new UWB tag device is added from a short range of a base station, the method further comprises:
establishing a second BLE connection link between the newly-added UWB tag equipment and the newly-added UWB tag equipment by scanning a second BLE broadcast message sent by the newly-added UWB tag equipment;
updating the UWB tag device list corresponding to the slave base station according to the newly added UWB tag device; wherein the updated UWB tag device list comprises the newly added UWB tag device information;
transmitting the updated list of UWB tag devices to the master base station over the first BLE connection link.
With reference to the foregoing scenario shown in fig. 4, for example, as shown in fig. 8, when a UWB tag device 13-4 is added in the short-range of the master base station 11, and the UWB tag device 13-4 is set to be in the short-range of the slave base station 12-1, the UWB tag device 13-4 will send a BLE broadcast message, and the slave base station 12-1 establishes a BLE connection link with the UWB tag device 13-4 after scanning the BLE broadcast message; after the BLE connection link is established, the slave base station 12-1 updates its own UWB tag device list, that is, the slave base station 12-1 adds the information of the UWB tag device 13-4 to the existing UWB tag device list and transmits the added information to the master base station 11 through the BLE connection link with the master base station 11, thereby completing the process of adding the added UWB tag device to the wireless communication system 100.
For the above example, it should be noted that if the maximum number of BLE connections that can be supported by the master base station is set to N, and the maximum number of BLE connections that can be supported by one slave base station is set to N, then the entire wireless communication system 100 can support N × N UWB tag devices; compared with the conventional scheme at present, the method can meet the requirement that a large number of UWB (ultra-wideband) tag devices simultaneously measure the distance and position.
Based on the same inventive concept of the foregoing technical solution, referring to fig. 9, it shows a composition of a main base station apparatus 90 provided by an embodiment of the present invention, where the main base station apparatus 90 includes: a first scanning section 901, a first receiving section 902, and a first transmitting section 903; wherein,
the first scanning section 901 is configured to establish a first BLE connection link with each of the slave base stations by scanning a first BLE broadcast message transmitted by one or more slave base stations within a short range of the master base station;
said first receiving section 902 is configured to receive a list of UWB tag devices correspondingly transmitted by said each slave base station through said first BLE connection link; wherein each UWB tag device list comprises UWB tag device information with which a second BLE connection link is established with a corresponding slave base station;
the first transmitting portion 903 is configured to transmit the ranging parameter to each slave base station through the first BLE connection link, so that each slave base station transmits the ranging parameter to the corresponding UWB tag device through the second BLE connection link.
In some examples, the first transmission portion 903 is further configured to:
transmitting a synchronization message to the each slave base station over the first BLE connection link to synchronize the each slave base station with the master base station timing.
In some examples, as shown in fig. 10, the master base station apparatus 90 further includes: a determination section 904 and a scheduling section 905; wherein the determining section 904 is configured to:
determining a target base station for each UWB tag device to perform ranging message interaction in the UWB ranging positioning process; wherein the target base station includes at least the master base station, a slave base station corresponding to the UWB tag device, and an adjacent slave base station adjacent to the slave base station corresponding to the UWB tag device;
the scheduling portion 905 is configured to set a scheduling timing in the UWB ranging and positioning process for each UWB tag device.
In some examples, each processing cycle of the ranging and positioning system of BLE-UWB comprises a BLE interaction cycle and a UWB scheduling cycle in turn, wherein the BLE interaction cycle comprises one ranging block; the UWB scheduling period can comprise M ranging blocks, and each ranging block corresponds to a slave base station; each Ranging block corresponding to each slave base station includes n Ranging cycles (Ranging rounds), each Ranging cycle corresponds to each UWB tag device that is connected to the slave base station in BLE, so that each Ranging cycle completes the Ranging process of the corresponding UWB tag device.
In some examples, the first scanning section 901 is further configured to:
and establishing a first BLE connection link with the newly-added slave base station by scanning a BLE broadcast message sent by the newly-added slave base station.
In some examples, the first receiving portion 902 is further configured to receive, through the first BLE connection link, an updated UWB tag device list transmitted from a base station, the updated UWB tag device list having a second BLE connection link established with a newly added UWB tag device; wherein the updated UWB tag device list includes the newly added UWB tag device information.
Based on the same inventive concept of the foregoing technical solution, referring to fig. 11, a slave base station apparatus 110 according to an embodiment of the present invention is shown, where the apparatus 110 may include: a second sending part 1101, a second scanning part 1102, and a second receiving part 1103; wherein,
the second transmitting section 1101 is configured to transmit a first BLE broadcast message so that the master base station establishes a first BLE connection link according to the BLE broadcast message;
the second scanning section 1102 is configured to establish a second BLE connection link with each of the one or more UWB tag devices by scanning a second BLE broadcast message transmitted from the UWB tag device in a short range of the base station;
the second transmitting portion 1101, further configured to transmit a corresponding list of UWB tag devices to the master base station over the first BLE connection link; wherein the list of UWB tag devices includes: UWB tag device information having a second BLE connection link established with the slave base station;
the second receiving portion 1103 is configured to receive the ranging parameters transmitted by the master base station through the first BLE connection link;
the second transmitting section 1101 is further configured to transmit the ranging parameter to a UWB tag device that has established a second BLE connection link through the second BLE connection link.
In some examples, the second receiving portion 1103 is further configured to:
and receiving a synchronization message sent by the main base station through the first BLE connection link, and completing timing synchronization with the main base station according to the synchronization message.
In some examples, the second scanning portion 1102 is further configured to establish a second BLE connection link with the newly added UWB tag device by scanning for a second BLE broadcast message transmitted by the newly added UWB tag device; and the number of the first and second groups,
updating the UWB tag device list corresponding to the slave base station according to the newly added UWB tag device; wherein the updated UWB tag device list comprises the newly added UWB tag device information;
the second transmitting section 1101 is further configured to transmit the updated UWB tag device list to the master base station through the first BLE connection link.
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 this embodiment may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a hardware mode, and can also be realized in a software functional module mode.
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, where a networking program of a BLE-UWB-based ranging and positioning system is stored, and when executed by at least one processor, the networking program of the BLE-UWB-based ranging and positioning system implements the networking method steps of the BLE-UWB-based ranging and positioning system in the above technical solution.
It should be understood that the exemplary technical solutions of the master base station device 90 and the slave base station device 110 are the same as the technical solution of the networking method of the BLE-UWB based ranging and positioning system, and therefore, the details of the technical solutions of the master base station device 90 and the slave base station device 110 that are not described in detail above can be referred to the description of the technical solution of the networking method of the BLE-UWB based ranging and positioning system. 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 (12)
1. A networking method of a distance measurement and positioning system based on BLE-UWB is characterized in that the method is applied to a master base station and comprises the following steps:
establishing a first BLE connection link with each of the slave base stations by scanning for first BLE broadcast messages transmitted by one or more slave base stations within a short range of the master base station; so that the master base station only needs to establish a BLE connection with a slave base station and does not need to establish a BLE connection with a UWB tag device;
receiving a list of UWB tag devices correspondingly transmitted by each slave base station through the first BLE connection link; wherein each UWB tag device list includes UWB tag device information for which a second BLE connection link is established with a corresponding slave base station;
transmitting a ranging parameter to the each slave base station through the first BLE connection link such that the each slave base station transmits the ranging parameter to the corresponding UWB tag device through the second BLE connection link and all UWB tag devices are connected to the corresponding slave base station.
2. The method according to claim 1, wherein after the transmitting of the ranging parameters to the each slave base station over the first BLE connection link, the method further comprises:
transmitting a synchronization message to the each slave base station over the first BLE connection link to cause the each slave base station to be timing synchronized with the master base station.
3. The method according to claim 1, wherein after receiving the list of UWB tag devices correspondingly transmitted by each slave base station through the first BLE connection link, the method further comprises:
determining a target base station for each UWB tag device to perform ranging message interaction in the UWB ranging positioning process; wherein the target base station at least comprises the master base station, a slave base station corresponding to the UWB tag device, and an adjacent slave base station adjacent to the slave base station corresponding to the UWB tag device;
and correspondingly setting a scheduling time sequence in the UWB ranging positioning process for each UWB tag device.
4. The method according to claim 1, wherein each processing cycle of the ranging and positioning system for BLE-UWB comprises a BLE interaction cycle and a UWB scheduling cycle in turn, wherein the BLE interaction cycle comprises one ranging block; the UWB scheduling period comprises M ranging blocks, and each ranging block corresponds to a slave base station; each Ranging block corresponding to each slave base station includes n Ranging cycles (Ranging rounds), each Ranging cycle corresponds to each UWB tag device that is connected to the slave base station in BLE, so that each Ranging cycle completes the Ranging process of the corresponding UWB tag device.
5. The method of claim 1, further comprising:
and establishing a first BLE connection link with the newly-added slave base station by scanning a BLE broadcast message sent by the newly-added slave base station.
6. The method of claim 1, further comprising:
receiving an updated UWB tag device list sent by a base station and established with a second BLE connection link with a newly added UWB tag device through the first BLE connection link; wherein the updated UWB tag device list includes the newly added UWB tag device information.
7. A networking method of a BLE-UWB-based ranging and positioning system is characterized in that the method is applied to a slave base station, and comprises the following steps:
transmitting a first BLE broadcast message so that the master base station establishes a first BLE connection link according to the BLE broadcast message; and enabling the master base station to establish a BLE connection only with the slave base station and not with the UWB tag device;
establishing a second BLE connection link with each of the one or more UWB tag devices within a short range of the base station by scanning for second BLE broadcast messages transmitted from the UWB tag devices; such that all UWB tag devices are connected to corresponding slave base stations;
transmitting a corresponding list of UWB tag devices to the master base station over the first BLE connection link; wherein the list of UWB tag devices includes: UWB tag device information having a second BLE connection link established with the slave base station;
receiving ranging parameters transmitted by the master base station over the first BLE connection link;
transmitting the ranging parameter to a UWB tag device, which has established a second BLE connection link, through the second BLE connection link.
8. The method according to claim 7, wherein after receiving the ranging parameters transmitted by the master base station over the first BLE connection link, the method further comprises:
and receiving a synchronization message sent by the main base station through the first BLE connection link, and completing timing synchronization with the main base station according to the synchronization message.
9. The method of claim 7, further comprising:
establishing a second BLE connection link between the newly-added UWB tag equipment and the newly-added UWB tag equipment by scanning a second BLE broadcast message sent by the newly-added UWB tag equipment;
updating the UWB tag device list corresponding to the slave base station according to the newly added UWB tag device; wherein the updated UWB tag device list comprises the newly added UWB tag device information;
transmitting the updated list of UWB tag devices to the master base station over the first BLE connection link.
10. A network node device, characterized in that the network node device comprises: wireless communication circuitry, memory and a processor; the various components are coupled together by a bus system; wherein,
the wireless communication circuit includes: UWB communication means for enabling the network node device to perform UWB communication and/or for ranging communication and BLE communication means for enabling the network node device to perform BLE communication;
the memory for storing a computer program operable on the processor;
the processor, when running the computer program, is configured to perform the steps of the networking method of the BLE-UWB-based ranging and positioning system according to any one of claims 1 to 6 or claims 7 to 9.
11. A BLE-UWB-based ranging positioning system, characterized in that the system comprises: a master base station, one or more slave base stations and one or more UWB tag devices; the short range of the master base station covers the range of the union of the short range of all the slave base stations; the master base station establishes a first BLE connection link with each slave base station only; each slave base station establishes a second BLE connection link with UWB tag devices within respective short range; wherein,
the master base station configured to perform the steps of the networking method of the BLE-UWB-based ranging and positioning system of any of claims 1 to 6;
the slave base station configured to perform the steps of the networking method of the BLE-UWB-based ranging and positioning system of any of claims 7 to 9.
12. A computer storage medium, characterized in that the computer storage medium stores a networking program of a BLE-UWB-based ranging and positioning system, and the networking program of the BLE-UWB-based ranging and positioning system is executed by at least one processor to implement the steps of the networking method of the BLE-UWB-based ranging and positioning system according to any one of claims 1 to 6 or any one of claims 7 to 9.
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| CN114866953A (en) * | 2022-07-04 | 2022-08-05 | 杭州优智联科技有限公司 | Positioning scheduling method, device and system based on BLE-UWB and storage medium |
| CN116321268B (en) * | 2023-03-06 | 2023-11-03 | 乾位智通(深圳)技术有限公司 | Detection data recording system, method and device and UWB module detection device |
| CN116234008B (en) * | 2023-03-07 | 2023-09-29 | 青岛柯锐思德电子科技有限公司 | Low-power consumption UWB positioning system and implementation method thereof |
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