CN115174023B

CN115174023B - Multi-antenna base station ranging system, method and device

Info

Publication number: CN115174023B
Application number: CN202210742622.6A
Authority: CN
Inventors: 张汉良
Original assignee: Hangzhou Hikvision Digital Technology Co Ltd
Current assignee: Hangzhou Hikvision Digital Technology Co Ltd
Priority date: 2022-06-27
Filing date: 2022-06-27
Publication date: 2024-01-05
Anticipated expiration: 2042-06-27
Also published as: CN115174023A

Abstract

The multi-antenna base station ranging system, the multi-antenna base station ranging method and the multi-antenna base station ranging device are applied to the technical field of information, and a base station receives a ranging request; distributing the lead code information to each base station antenna, so that each base station antenna receives the ranging request information sent by the tag with the same corresponding lead code information according to the lead code information distributed by itself, and generates and feeds back ranging response information; recording a receiving time stamp of each ranging request information and a transmitting time stamp of each ranging response information; identifying and receiving ranging end information sent by the same tag of the preamble information by each base station antenna by utilizing the preamble information distributed by each base station antenna, and recording a receiving time stamp of each ranging end information; thereby calculating the distance between each base station antenna and the label corresponding to the preamble information allocated to each base station antenna. By the method, simultaneous ranging of multiple base station antennas can be achieved, and ranging efficiency in the multi-antenna base station ranging process is improved.

Description

Multi-antenna base station ranging system, method and device

Technical Field

The present disclosure relates to the field of information technologies, and in particular, to a system, a method, and an apparatus for ranging from a multi-antenna base station.

Background

At present, when calculating the distance between a base station and a certain tag, a common method with higher ranging precision is a bilateral two-way ranging method, ranging request information can be sent to the base station through the tag, ranging response information is fed back to the tag after the base station receives the ranging request information, and ranging end information is sent to the base station after the tag receives the ranging response information. And calculating to obtain the flight time according to the receiving time stamp of the ranging request information, the transmitting time stamp of the ranging response information and the receiving time stamp of the ranging ending information recorded by the base station, and the transmitting time stamp of the ranging request information, the receiving time stamp of the ranging response information and the transmitting time stamp of the ranging ending information recorded by the tag. The distance from the base station to the tag is calculated from the time of flight and the speed of propagation of the pre-acquired information.

In the prior art, a base station often carries out ranging through a time division multiplexing mode and a plurality of tags, and is limited by the transmission time of ranging information, and the ranging efficiency is often lower.

Disclosure of Invention

An object of the embodiments of the present application is to provide a multi-antenna base station ranging system, method and device, so as to solve the problem of low ranging efficiency in the existing ranging process. The specific technical scheme is as follows:

In a first aspect of embodiments of the present application, there is provided a multi-antenna base station ranging system, the system including: a base station and a plurality of tags, the base station comprising a plurality of base station antennas;

each tag is used for sending ranging request information according to preset preamble information corresponding to the tag and recording a sending time stamp of the ranging request information;

the base station is configured to receive the ranging request; distributing the lead code information to each base station antenna so that each base station antenna can simultaneously receive the ranging request information sent by the tag with the same corresponding lead code information according to the lead code information distributed by the base station antenna; generating and feeding back ranging response information through each base station antenna according to the self-allocated preamble information, wherein the preamble information allocated by each base station antenna is different; recording a reception time stamp of each ranging request information and a transmission time stamp of each ranging response information;

each tag is further configured to receive, according to preset preamble information corresponding to the tag, ranging response information fed back by a base station antenna with the same preamble information, and record a reception timestamp of the ranging response information; generating and feeding back ranging end information; recording a transmission time stamp of the ranging end information;

The base station is further configured to identify and receive, through each base station antenna, ranging end information sent by a tag with the same preamble information by using the preamble information allocated to the base station antenna, and record a reception timestamp of each ranging end information; and calculating the distance between each base station antenna and the corresponding label of the preamble information allocated to the base station antenna according to the sending time stamp of the ranging request information, the receiving time stamp of the ranging response information and the sending time stamp of the ranging ending information of each label, and the receiving time stamp of the ranging request information, the sending time stamp of the ranging response information and the receiving time stamp of the ranging ending information of each base station antenna.

Optionally, the base station is specifically configured to calculate the flight time according to a reception timestamp of the ranging request information, a transmission timestamp of the ranging response information, a reception timestamp of the ranging end information of each base station antenna, and a transmission timestamp of the ranging request information, a reception timestamp of the ranging response information, and a transmission timestamp of the ranging end information of each tag; and calculating the distance between each base station antenna and the label corresponding to the preamble information allocated to the base station antenna according to the flight time of each base station antenna and the transmission speed acquired in advance.

Optionally, the preamble information is a communication preamble sequence,

each tag is specifically configured to send ranging request information according to a preset communication preamble sequence corresponding to the tag;

the base station is specifically configured to allocate a communication preamble sequence to each base station antenna, so that each base station antenna receives, according to the communication preamble sequence allocated by itself, ranging request information sent by a tag corresponding to the same communication preamble sequence; generating ranging response information including a self-allocated communication preamble sequence and feeding back the ranging response information;

each tag is further configured to receive ranging response information fed back by a base station antenna with the same communication preamble sequence according to a preset communication preamble sequence corresponding to the tag; generating ranging end information including a communication preamble sequence corresponding to the ranging end information and feeding back the ranging end information;

the base station is further configured to receive, through each base station antenna, ranging end information fed back by a tag corresponding to the communication preamble sequence allocated to the base station antenna.

Optionally, the base station is further configured to allocate the same guide code information to each base station antenna, so that each base station antenna receives an angle measurement request sent by a tag corresponding to the same guide code information, where the same guide code information corresponds to a target tag in a plurality of tags;

The target tag is used for generating and feeding back angle measurement information;

the base station is further configured to receive angle measurement information through each base station antenna, and record an arrival phase of each base station antenna for receiving the angle measurement information; according to the arrival phases of the angle measurement information received by each base station antenna, calculating azimuth information of the target tag and the base station; updating the same guide code information, and acquiring azimuth information corresponding to the updated same guide code information through the target tag until the azimuth information of each tag and the base station is obtained.

In a second aspect of the embodiments of the present application, a multi-antenna base station ranging method is provided, which is applied to a base station in a multi-antenna base station ranging system, where the system includes: a base station and a plurality of tags, the base station comprising a plurality of base station antennas;

the method comprises the following steps:

receiving a ranging request, wherein the ranging request is ranging request information sent by each tag according to preset lead code information corresponding to the tag, and each tag is further used for recording a sending time stamp of the ranging request information;

distributing the lead code information to each base station antenna so that each base station antenna can simultaneously receive the ranging request information sent by the tag with the same corresponding lead code information according to the lead code information distributed by the base station antenna;

Generating and feeding back ranging response information through each base station antenna according to the self-allocated preamble information;

recording a receiving time stamp of the ranging response information, and generating and feeding back ranging end information, wherein the preamble information distributed by each base station antenna is different, and the ranging response information is fed back by each tag according to the base station antenna with the same receiving preamble information of the corresponding preset preamble information;

recording a transmission time stamp of the ranging end information, a reception time stamp of each ranging request information, and a transmission time stamp of each ranging response information;

identifying and receiving ranging end information sent by the same tag as the preamble information by each base station antenna by utilizing the preamble information distributed by the base station antenna;

recording a reception time stamp of each ranging end information;

and calculating the distance between each base station antenna and the corresponding label of the preamble information allocated to the base station antenna according to the sending time stamp of the ranging request information, the receiving time stamp of the ranging response information and the sending time stamp of the ranging ending information of each label, and the receiving time stamp of the ranging request information, the sending time stamp of the ranging response information and the receiving time stamp of the ranging ending information of each base station antenna.

Optionally, the calculating the distance between each base station antenna and the tag corresponding to the preamble information allocated to the base station antenna according to the obtained and obtained sending time stamp of the ranging request information, the receiving time stamp of the ranging response information, the sending time stamp of the ranging end information, and the receiving time stamp of the ranging request information, the sending time stamp of the ranging response information, and the receiving time stamp of the ranging end information of each base station antenna, includes:

acquiring and calculating flight time according to the receiving time stamp of the ranging request information, the sending time stamp of the ranging response information and the receiving time stamp of the ranging ending information of each base station antenna, and the sending time stamp of the ranging request information, the receiving time stamp of the ranging response information and the sending time stamp of the ranging ending information of each tag; and calculating the distance between each base station antenna and the label corresponding to the preamble information allocated to the base station antenna according to the flight time of each base station antenna and the transmission speed acquired in advance.

Optionally, the preamble information is a communication preamble sequence,

the step of allocating the preamble information to each base station antenna so that each base station antenna receives the ranging request information sent by the tag with the same corresponding preamble information according to the preamble information allocated by itself, includes:

Allocating a communication preamble sequence to each base station antenna, so that each base station antenna receives ranging request information sent by a tag corresponding to the same communication preamble sequence according to the communication preamble sequence allocated by the base station antenna;

the ranging end information transmitted by the tag, which is identified and received by each base station antenna by using the preamble information allocated to the base station antenna, includes:

and receiving the ranging end information fed back by the tag corresponding to the communication preamble sequence allocated to each base station antenna.

Optionally, the method further comprises:

distributing the same guide code information to each base station antenna so that each base station antenna receives an angle measurement request sent by a label corresponding to the same guide code information, wherein the same guide code information corresponds to a target label in a plurality of labels;

receiving angle measurement information through each base station antenna, and recording the arrival phase of each base station antenna for receiving the angle measurement information, wherein the angle measurement information is generated and fed back by the target tag;

according to the arrival phases of the angle measurement information received by each base station antenna, calculating azimuth information of the target tag and the base station;

Updating the same guide code information, and acquiring azimuth information corresponding to the updated same guide code information through the target tag until the azimuth information of each tag and the base station is obtained.

In a third aspect of the embodiments of the present application, there is provided a multi-antenna base station ranging apparatus, applied to a base station in a multi-antenna base station ranging system, the system including: a base station and a plurality of tags, the base station comprising a plurality of base station antennas;

the device comprises:

the request receiving module is used for receiving a ranging request, wherein the ranging request is ranging request information sent by each tag according to preset lead code information corresponding to the tag, and each tag is also used for recording a sending time stamp of the ranging request information;

an information sending module, configured to allocate preamble information to each base station antenna, so that each base station antenna receives, according to the preamble information allocated by itself, ranging request information sent by a tag corresponding to the same preamble information;

the response information generation module is used for generating and feeding back ranging response information through each base station antenna according to the self-allocated preamble information;

the time recording module is used for recording a receiving time stamp of the ranging response information, generating and feeding back ranging end information, wherein the preamble information allocated by each base station antenna is different, and the ranging response information is fed back by each tag according to the base station antenna with the same preamble information received by the corresponding preset preamble information;

A response information transmitting module, configured to record a transmission time stamp of the ranging end information, a reception time stamp of each ranging request information, and a transmission time stamp of each ranging response information;

the end information sending module is used for identifying and receiving ranging end information sent by the same tag of the preamble information by utilizing the preamble information distributed by each base station antenna;

a receiving time stamp recording module, configured to record a receiving time stamp of each ranging end information;

the distance calculating module is used for obtaining and calculating the distance between each base station antenna and the label corresponding to the preamble information allocated to the base station antenna according to the sending time stamp of the ranging request information, the receiving time stamp of the ranging response information and the sending time stamp of the ranging ending information of each label, and the receiving time stamp of the ranging request information, the sending time stamp of the ranging response information and the receiving time stamp of the ranging ending information of each base station antenna.

Optionally, the distance calculating module is specifically configured to obtain and calculate the flight time according to a reception timestamp of the ranging request information, a transmission timestamp of the ranging response information, a reception timestamp of the ranging end information of each base station antenna, and a transmission timestamp of the ranging request information, a reception timestamp of the ranging response information, and a transmission timestamp of the ranging end information of each tag; and calculating the distance between each base station antenna and the label corresponding to the preamble information allocated to the base station antenna according to the flight time of each base station antenna and the transmission speed acquired in advance.

Optionally, the preamble information is a communication preamble sequence,

the information sending module is specifically configured to allocate a communication preamble sequence to each base station antenna, so that each base station antenna receives, according to the communication preamble sequence allocated by itself, ranging request information sent by a tag corresponding to the same communication preamble sequence;

the receiving time stamp recording module is specifically configured to receive, through each base station antenna, ranging end information fed back by a tag corresponding to the communication preamble sequence allocated to the base station antenna.

Optionally, the apparatus further includes:

the angle measurement request sending module is used for distributing the same guide code information to each base station antenna so that each base station antenna receives an angle measurement request sent by a label corresponding to the same guide code information, wherein the same guide code information corresponds to a target label in a plurality of labels;

the arrival phase recording module is used for receiving angle measurement information through each base station antenna and recording the arrival phase of each base station antenna for receiving the angle measurement information, wherein the angle measurement information is generated and fed back by the target tag;

the azimuth calculation module is used for calculating azimuth information of the target tag and the base station according to the arrival phases of the angle measurement information received by the base station antennas;

And the guide code updating module is used for updating the same guide code information and acquiring the azimuth information corresponding to the updated same guide code information through the target tag until the azimuth information of each tag and the base station is obtained.

In another aspect of the embodiments of the present application, an electronic device is provided, including a processor, a communication interface, a memory, and a communication bus, where the processor, the communication interface, and the memory complete communication with each other through the communication bus;

a memory for storing a computer program;

and the processor is used for realizing any multi-antenna base station ranging method when executing the program stored in the memory.

In another aspect of the embodiments of the present application, there is provided a computer readable storage medium having a computer program stored therein, which when executed by a processor, implements any of the above multi-antenna base station ranging methods.

Embodiments of the present application also provide a computer program product comprising instructions which, when run on a computer, cause the computer to perform implementing any of the multi-antenna base station ranging methods described above.

The beneficial effects of the embodiment of the application are that:

the embodiment of the application provides a multi-antenna base station ranging system, a method and a device, wherein the system comprises: a base station and a plurality of tags, the base station comprising a plurality of base station antennas; receiving a ranging request, wherein the ranging request is that each tag sends ranging request information according to preset lead code information corresponding to the tag, and each tag is also used for recording a sending time stamp of the ranging request information; distributing the lead code information to each base station antenna, enabling each base station antenna to simultaneously receive the ranging request information sent by the corresponding tag with the same lead code information according to the lead code information distributed by the base station antenna, generating and feeding back ranging response information, enabling each tag to receive the ranging response information fed back by the base station antenna with the same lead code information according to the preset lead code information corresponding to the base station antenna, recording the receiving time stamp of the ranging response information, generating and feeding back ranging end information, and recording the sending time stamp of the ranging end information; the preamble information allocated by each base station antenna is different; recording a receiving time stamp of each ranging request information and a transmitting time stamp of each ranging response information; identifying and receiving ranging end information sent by the same tag of the preamble information by each base station antenna by utilizing the preamble information distributed by each base station antenna, and recording a receiving time stamp of each ranging end information; and acquiring and calculating the distance between each base station antenna and the corresponding label of the preamble information allocated to the base station antenna according to the sending time stamp of the ranging request information, the receiving time stamp of the ranging response information and the sending time stamp of the ranging ending information of each label, and the receiving time stamp of the ranging request information, the sending time stamp of the ranging response information and the receiving time stamp of the ranging ending information of each base station antenna. According to the method, different preamble information can be distributed to the base station antennas through the base station, so that each base station antenna can simultaneously receive the ranging request information of the tag corresponding to the distributed preamble information, and each base station antenna can simultaneously send ranging response information to the tag corresponding to the distributed preamble information, so that the distance between each base station antenna and the tag corresponding to the preamble information distributed by the base station antenna is calculated, simultaneous ranging of a plurality of base station antennas is achieved, ranging efficiency in the multi-antenna base station ranging process is improved, and the problem of low ranging efficiency in the ranging process in the prior art is solved.

Of course, not all of the above-described advantages need be achieved simultaneously in practicing any one of the products or methods of the present application.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following description will briefly introduce the drawings that are required to be used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are only some embodiments of the present application, and other embodiments may also be obtained according to these drawings to those skilled in the art.

Fig. 1 is a schematic structural diagram of a multi-antenna base station ranging system according to an embodiment of the present application;

fig. 2 is a schematic diagram of transmission or reception of information in the prior art according to an embodiment of the present application;

fig. 3 is a schematic diagram of transmitting or receiving information of a multi-antenna base station ranging system according to an embodiment of the present application;

fig. 4 is another schematic structural diagram of a multi-antenna base station ranging system according to an embodiment of the present application;

fig. 5 is a flowchart of a multi-antenna base station ranging method according to an embodiment of the present application;

fig. 6 is another flowchart of a multi-antenna base station ranging method according to an embodiment of the present application;

fig. 7 is a schematic structural diagram of a multi-antenna base station ranging apparatus according to an embodiment of the present application;

Fig. 8 is a schematic structural diagram of an electronic device according to an embodiment of the present application.

Detailed Description

The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all, of the embodiments of the present application. Based on the embodiments herein, a person of ordinary skill in the art would be able to obtain all other embodiments based on the disclosure herein, which are within the scope of the disclosure herein.

First, terms of art that may be used in the embodiments of the present application will be explained:

the Ultra Wideband (UWB) technology is a wireless carrier communication technology, which does not adopt a sine carrier, but utilizes non-sine wave narrow pulses of nanosecond level to transmit data, so that the occupied frequency spectrum range is Wide.

In a first aspect of the embodiments of the present application, there is provided a multi-antenna base station ranging system, referring to fig. 1, the system includes: a base station 101 and a plurality of tags 102, the base station comprising a plurality of base station antennas;

each tag 102 is configured to send ranging request information according to preset preamble information corresponding to the tag, and record a sending timestamp of the ranging request information;

A base station 101 for receiving a ranging request; distributing the lead code information to each base station antenna so that each base station antenna can simultaneously receive the ranging request information sent by the tag with the same corresponding lead code information according to the lead code information distributed by the base station antenna; generating and feeding back ranging response information through each base station antenna according to the self-allocated preamble information, wherein the preamble information allocated by each base station antenna is different; recording a receiving time stamp of each ranging request information and a transmitting time stamp of each ranging response information;

each tag 102 is further configured to receive, according to preset preamble information corresponding to itself, ranging response information fed back by a base station antenna with the same preamble information, and record a reception timestamp of the ranging response information; generating and feeding back ranging end information; recording a transmission time stamp of the ranging end information;

the base station 101 is further configured to identify and receive, by using the preamble information allocated to each base station antenna, ranging end information sent by a tag having the same preamble information, and record a reception timestamp of each ranging end information; and acquiring and calculating the distance between each base station antenna and the corresponding label of the preamble information allocated to the base station antenna according to the sending time stamp of the ranging request information, the receiving time stamp of the ranging response information and the sending time stamp of the ranging ending information of each label, and the receiving time stamp of the ranging request information, the sending time stamp of the ranging response information and the receiving time stamp of the ranging ending information of each base station antenna.

The base station in the embodiment of the application may be a UWB ranging, angle measuring and positioning base station, and the base station may include one or more base station antennas, where the orientations of the base station antennas may be different. The base station allocates the preamble information to each base station antenna, and can allocate different preamble information to different base station antennas at the software level. Specifically, the preamble information may be UWB information. In this embodiment of the present application, the preamble information allocated by different base station antennas is different, each preamble information corresponds to one tag in one ranging period, and each tag can only receive the same information as the preamble information corresponding to the tag.

The ranging request information may be preset preamble information including a tag itself that transmits the ranging request, specifically, the ranging request information may be a ranging request packet, the ranging response information may include preamble information allocated to a base station antenna itself that transmits the ranging response information, specifically, the ranging response information may be a ranging response packet, and the ranging end information may be preset preamble information including a tag itself that transmits the ranging end information, specifically, may be a ranging end packet. The tag can identify and receive ranging response information comprising preset lead code information according to the preset lead code information corresponding to the tag, and the base station antenna can identify and receive ranging request information and ranging end information comprising the lead code information according to the lead code information allocated to the tag. In the actual use process, in order to prevent the mutual interference of the ranging request information and the ranging response information, effective data in the ranging process can be sent in a subsequent period. For example, referring to fig. 2, there may be mutual interference between the data segments of the ranging request packet and the ranging response packet, which cannot be received normally, and the valid data information may be transmitted after the ranging end packet data segment of the time division multiplexing transmission.

In this embodiment of the present application, the time taken for the base station and the tag to complete one ranging is one time slot. In contrast to the prior art, the UWB ranging and angular positioning system has only one antenna for transmitting or receiving information in a single slot, as shown in fig. 2. In this embodiment of the present application, the base station allocates different preamble information to the base station antenna, and through code division multiplexing, the base station antenna can perform two-way ranging in the original idle time slot and the corresponding tag, specifically, as shown in fig. 3.

According to the system, different preamble information can be distributed to the base station antennas through the base station, so that each base station antenna can simultaneously receive the ranging request information of the tag corresponding to the distributed preamble information, and each base station antenna can simultaneously send ranging response information to the tag corresponding to the distributed preamble information, so that the distance between each base station antenna and the tag corresponding to the preamble information distributed by the base station antenna is calculated, simultaneous ranging of a plurality of base station antennas is achieved, ranging efficiency in the multi-antenna base station ranging process is improved, and the problem of ranging efficiency in the ranging process in the prior art is solved.

The valid data (such as tag ID, a sending timestamp of the ranging request information recorded by the tag, a receiving timestamp of the ranging response information, and a sending timestamp of the ranging end information) in the ranging process is sent to the base station through the ranging end packet, and specifically, the tag sending ranging end information may include the receiving timestamp of the ranging response information, the sending timestamp of the ranging end information, or be obtained by identifying the ranging end information. In the actual use process, optionally, the sending time stamp of the ranging request information, the receiving time stamp of the ranging response information and the sending time stamp of the ranging end information of each tag may also be obtained through the received information by each base station antenna, and specifically, the tag sending ranging request information may include the sending time stamp of the ranging request information of the tag, or be obtained by identifying the ranging request information; the tag may transmit the ranging completion information, and then transmit the transmission time stamp of the own ranging request information, the reception time stamp of the ranging response information, and the transmission time stamp of the ranging completion information to the base station antenna. Therefore, each base station antenna calculates the distance according to the receiving time stamp of the ranging request information, the sending time stamp of the ranging response information and the receiving time stamp of the ranging ending information, and the sending time stamp of the ranging request information, the receiving time stamp of the ranging response information and the sending time stamp of the ranging ending information of the tag corresponding to the same preamble information, so that the simultaneous ranging of a plurality of base station antennas is realized, and the ranging efficiency in the ranging process of the multi-antenna base station is improved.

According to the method and the device, different preamble sequences are allocated to different antennas, and two-way ranging can be performed with a plurality of tags at the same time slot base station by utilizing a code division multiplexing technology, so that the maximum capacity of the tags is improved. Assuming that the time consumption of setting the reception of the ranging request packet, the transmission of the ranging response packet and the reception of the ranging end packet is the same, the set time consumption unit is taken as a time consumption unit; the traditional UWB ranging and angle measuring positioning system needs 3 time-consuming units for finishing the ranging and angle measuring of a single tag, the patent needs 2+n time-consuming units for finishing the ranging and angle measuring of n tags through a multi-antenna preamble code division multiplexing technology, and n is the number of antennas of a base station; the maximum capacity of the label is 3 n/(n+2) times of the prior traditional non-code division multiplexing scheme.

Optionally, the base station 101 is specifically configured to calculate the flight time according to a reception timestamp of the ranging request information, a transmission timestamp of the ranging response information, a reception timestamp of the ranging end information of each base station antenna, and a transmission timestamp of the ranging request information, a reception timestamp of the ranging response information, and a transmission timestamp of the ranging end information of each tag; and calculating the distance between each base station antenna and the label corresponding to the preamble information allocated to each base station antenna according to the flight time of each base station antenna and the transmission speed acquired in advance.

For example, for a certain baseline antenna and a certain tag, the base station may record a receive timestamp of the ranging request informationTransmission time stamp of ranging response information +.>Reception time stamp of ranging end information +.>The tag transmits a time stamp +_for the ranging request information to be recorded by the ranging end information>Reception time stamp of ranging response information +.>Transmission time stamp of ranging end information +.>And transmitting the data to a base station, wherein the base station can perform the following steps:

and calculating to obtain the flight time, multiplying the flight time by the transmission speed of the pre-acquired information, and calculating to obtain the distance from the base station to the tag.

Optionally, the preamble information is a communication preamble sequence,

each tag 102 is specifically configured to send ranging request information according to a preset communication preamble sequence corresponding to the tag;

the base station 101 is specifically configured to allocate a communication preamble sequence to each base station antenna, so that each base station antenna receives, according to the communication preamble sequence allocated by itself, ranging request information sent by a tag corresponding to the same communication preamble sequence; generating ranging response information including a self-allocated communication preamble sequence and feeding back the ranging response information;

each tag 102 is further configured to receive ranging response information fed back by a base station antenna with the same communication preamble sequence according to a preset communication preamble sequence corresponding to the tag; generating ranging end information including a communication preamble sequence corresponding to the ranging end information and feeding back the ranging end information;

The base station 101 is further configured to receive, via each base station antenna, ranging end information fed back by a tag corresponding to the communication preamble sequence allocated to the base station.

Specifically, the communication preamble sequence may be a UWB communication preamble sequence. Referring to fig. 3, n base station antennas of the same time slot base station perform two-way ranging on n tags by using a code division multiplexing principle, and receive ranging request packets and transmit ranging response packets, and n antennas can normally receive corresponding preamble information by using low cross-correlation factor characteristics of different preambles, so that preamble accumulation is completed, and a ranging timestamp is obtained.

Optionally, referring to fig. 4, the base station 101 is further configured to allocate the same guide code information to each base station antenna, so that each base station antenna receives an angle measurement request sent by a tag corresponding to the same guide code information, where the same guide code information corresponds to a target tag in the multiple tags;

a target tag 103, configured to generate and feed back angle measurement information;

the base station 101 is further configured to receive angle measurement information through each base station antenna, and record an arrival phase of the angle measurement information received by each base station antenna; calculating azimuth information of the target tag and the base station according to the arrival phase of the angle measurement information received by each base station antenna; updating the same guide code information, and acquiring azimuth information corresponding to the updated same guide code information through the target tag until the azimuth information of each tag and the base station is obtained.

The method comprises the steps of calculating the phase difference of arrival phases of angle measurement information fed back by each base station antenna according to the arrival phases of angle measurement information received by each base station antenna, calculating the phase difference of the arrival phases of the angle measurement information fed back by each base station antenna, calculating the phase difference to perform azimuth calculation, determining the azimuth of the target tag, reselecting one tag, updating the same guide code information according to guide code information corresponding to the tag, and determining the azimuth until the azimuth information of each tag and the base station is obtained. For example, the arrival phase of the same signal is acquired by different antennas, which are set to the same preamble sequence, and the ranging end packet in the two-way ranging is received, and the angle measurement is performed using the phase difference.

In one possible embodiment, the above process of calculating the azimuth information of the target tag and the base station may be performed simultaneously in the process of recalculating the distance between each base station antenna and the tag corresponding to the preamble information allocated to each base station antenna. That is, when ranging is performed, a part of antennas are in an idle state in the ranging end information receiving process, and the part of antennas can be also allocated to be used for receiving the same preamble information as the tag, so that the ranging end information can be used as angle measurement information, and the phase difference is obtained to finish angle measurement without a special angle measurement process.

In order to illustrate the method of the embodiments of the present application, the following description is provided with reference to fig. 5, including:

1. allocating different UWB communication preamble sequences to different antennas of a base station;

2. managing time slots of the tags, and enabling the tags allocated with the same preamble sequence to perform ranging and angle measurement processes in different time slots and base stations;

3. n antennas of the same time slot base station perform two-way ranging request packet receiving and ranging response packet sending on n tags by utilizing a code division multiplexing principle, n antennas can normally receive the corresponding preambles respectively by utilizing the low cross-correlation factor characteristics of different preambles, and the accumulation of the preambles is completed to obtain a ranging time stamp;

4. the data segments of the ranging request packet and the ranging response packet can interfere with each other and cannot be normally received, and the effective data information is required to be transmitted by the ranging end packet data segment of the rear time division multiplexing transmission;

5. the n antennas of the base station switch the preamble sequence n times, become the same preamble sequence and receive the ranging end packet in the two-way ranging, and carry out multi-antenna angle measurement (the angle measurement process is that different antennas need to acquire the arrival phase of the same signal and carry out angle measurement by using the phase difference, so that different antennas need to be set as the same preamble sequence to receive the ranging end packet in the two-way ranging).

In a second aspect of the embodiments of the present application, a method for ranging a multi-antenna base station is provided, referring to fig. 6, applied to a base station in a multi-antenna base station ranging system, where the system includes: a base station and a plurality of tags, the base station comprising a plurality of base station antennas;

the method comprises the following steps:

step S61, receiving a ranging request, wherein the ranging request is ranging request information sent by each tag according to preset lead code information corresponding to the tag, and each tag is further used for recording a sending time stamp of the ranging request information;

step S62, distributing the lead code information to each base station antenna, so that each base station antenna can simultaneously receive the ranging request information sent by the tag with the same corresponding lead code information according to the lead code information distributed by itself;

step S63, generating and feeding back ranging response information through each base station antenna according to the self-allocated preamble information;

step S64, recording a receiving time stamp of the ranging response information, generating and feeding back ranging ending information, wherein the preamble information allocated by each base station antenna is different, and the ranging response information is fed back by each tag according to the base station antenna with the same preamble information received by the corresponding preset preamble information;

step S65, recording the sending time stamp of the ranging ending information, the receiving time stamp of each ranging request information and the sending time stamp of each ranging response information;

Step S66, identifying and receiving ranging end information sent by the same label of the preamble information by each base station antenna by utilizing the preamble information distributed by each base station antenna;

step S67, recording the receiving time stamp of each ranging end information;

step S68, the distance between each base station antenna and the corresponding label of the preamble information allocated by itself is calculated according to the sending time stamp of the ranging request information, the receiving time stamp of the ranging response information and the sending time stamp of the ranging end information of each label, and the receiving time stamp of the ranging request information, the sending time stamp of the ranging response information and the receiving time stamp of the ranging end information of each base station antenna.

Optionally, the calculating the distance between each base station antenna and the tag corresponding to the preamble information allocated to itself according to the sending time stamp of the ranging request information, the receiving time stamp of the ranging response information, the sending time stamp of the ranging end information, the receiving time stamp of the ranging request information, the sending time stamp of the ranging response information, and the receiving time stamp of the ranging end information of each base station antenna, includes:

acquiring and calculating the flight time according to the receiving time stamp of the ranging request information, the sending time stamp of the ranging response information and the receiving time stamp of the ranging ending information of each base station antenna, and the sending time stamp of the ranging request information, the receiving time stamp of the ranging response information and the sending time stamp of the ranging ending information of each tag; and calculating the distance between each base station antenna and the label corresponding to the preamble information allocated to each base station antenna according to the flight time of each base station antenna and the transmission speed acquired in advance.

Optionally, the preamble information is a communication preamble sequence,

the method for allocating the preamble information to each base station antenna so that each base station antenna can simultaneously receive the ranging request information sent by the tag with the same corresponding preamble information according to the preamble information allocated by the base station antenna comprises the following steps:

allocating a communication preamble sequence to each base station antenna so that each base station antenna receives ranging request information transmitted by a tag corresponding to the same communication preamble sequence according to the communication preamble sequence allocated by itself;

the ranging end information transmitted by the tag having the same preamble information is identified and received by each base station antenna using the preamble information allocated to the base station antenna, and the ranging end information comprises:

Optionally, the method further comprises:

receiving angle measurement information through each base station antenna, and recording the arrival phase of the angle measurement information received by each base station antenna, wherein the angle measurement information is generated and fed back by a target tag;

Calculating azimuth information of the target tag and the base station according to the arrival phase of the angle measurement information received by each base station antenna;

According to the method, different preamble information can be distributed to the base station antennas through the base station, so that each base station antenna can simultaneously receive the ranging request information of the tag corresponding to the distributed preamble information, and each base station antenna can simultaneously send ranging response information to the tag corresponding to the distributed preamble information, so that the distance between each base station antenna and the tag corresponding to the preamble information distributed by the base station antenna is calculated, simultaneous ranging of a plurality of base station antennas is achieved, ranging efficiency in the multi-antenna base station ranging process is improved, and the problem of ranging efficiency in the ranging process in the prior art is solved.

In a third aspect of the embodiments of the present application, a multi-antenna base station ranging apparatus is provided, which is applied to a base station in a multi-antenna base station ranging system, where the system includes: a base station and a plurality of tags, the base station comprising a plurality of base station antennas;

Referring to fig. 7, the apparatus includes:

a request receiving module 701, configured to receive a ranging request, where the ranging request is ranging request information sent by each tag according to preset preamble information corresponding to the tag, and each tag is further configured to record a sending timestamp of the ranging request information;

an information sending module 702, configured to allocate preamble information to each base station antenna, so that each base station antenna receives, according to the preamble information allocated by itself, ranging request information sent by a tag corresponding to the same preamble information;

a response information generating module 703, configured to generate and feed back ranging response information according to the preamble information allocated by each base station antenna;

the time recording module 704 is configured to record a reception time stamp of the ranging response information, generate and feed back ranging end information, where the preamble information allocated by each base station antenna is different, and the ranging response information is fed back by each tag according to the base station antenna that receives the same preamble information as the preset preamble information corresponding to the tag;

a response information transmitting module 705, configured to record a transmission time stamp of the ranging end information, a reception time stamp of each ranging request information, and a transmission time stamp of each ranging response information;

An end information transmitting module 706, configured to identify and receive, by each base station antenna, ranging end information transmitted by a tag having the same preamble information by using the preamble information allocated to each base station antenna;

a receiving time stamp recording module 707 for recording a receiving time stamp of each ranging end information;

the distance calculating module 708 is configured to obtain and calculate, according to the transmission time stamp of the ranging request information, the reception time stamp of the ranging response information, the transmission time stamp of the ranging end information, and the reception time stamp of the ranging request information, the transmission time stamp of the ranging response information, and the reception time stamp of the ranging end information of each base station antenna, a distance between each base station antenna and a tag corresponding to the preamble information allocated to itself.

Optionally, the distance calculating module 708 is specifically configured to obtain and calculate the flight time according to a reception timestamp of the ranging request information, a transmission timestamp of the ranging response information, a reception timestamp of the ranging end information of each base station antenna, and a transmission timestamp of the ranging request information, a reception timestamp of the ranging response information, and a transmission timestamp of the ranging end information of each tag; and calculating the distance between each base station antenna and the label corresponding to the preamble information allocated to each base station antenna according to the flight time of each base station antenna and the transmission speed acquired in advance.

Optionally, the preamble information is a communication preamble sequence,

the information sending module 702 is specifically configured to allocate a communication preamble sequence to each base station antenna, so that each base station antenna receives, according to the communication preamble sequence allocated by itself, ranging request information sent by a tag corresponding to the same communication preamble sequence;

the receiving timestamp recording module 706 is specifically configured to receive, through each base station antenna, ranging end information fed back by a tag corresponding to the communication preamble sequence allocated to the base station antenna.

Optionally, the apparatus further includes:

the arrival phase recording module is used for receiving angle measurement information through each base station antenna and recording the arrival phase of the angle measurement information received by each base station antenna, wherein the angle measurement information is generated and fed back by a target tag;

the azimuth calculation module is used for calculating azimuth information of the target tag and the base station according to the arrival phases of the angle measurement information received by the antennas of each base station;

According to the device, different preamble information can be distributed to the base station antennas through the base station, so that each base station antenna can simultaneously receive the ranging request information of the tag corresponding to the distributed preamble information, and each base station antenna can simultaneously send the ranging response information to the tag corresponding to the distributed preamble information, so that the distance between each base station antenna and the tag corresponding to the preamble information distributed by the base station antenna is calculated, simultaneous ranging of a plurality of base station antennas is achieved, ranging efficiency in the multi-antenna base station ranging process is improved, and the problem of ranging efficiency in the ranging process in the prior art is solved.

The embodiment of the present application further provides an electronic device, as shown in fig. 8, including a processor 801, a communication interface 802, a memory 803, and a communication bus 804, where the processor 801, the communication interface 802, and the memory 803 complete communication with each other through the communication bus 804,

a memory 803 for storing a computer program;

The processor 801, when executing the program stored in the memory 803, implements the following steps:

receiving a ranging request, wherein the ranging request is ranging request information sent by each tag according to preset lead code information corresponding to the tag, and each tag is also used for recording a sending time stamp of the ranging request information;

generating and feeding back ranging response information according to the self-allocated preamble information through each base station antenna;

recording a receiving time stamp of the ranging response information, and generating and feeding back ranging ending information, wherein the preamble information distributed by each base station antenna is different, and the ranging response information is fed back by each tag according to the base station antenna with the same receiving preamble information of the corresponding preset preamble information;

identifying and receiving ranging end information sent by the same tag as the preamble information by each base station antenna by utilizing the preamble information distributed by each base station antenna;

Recording a receiving time stamp of each ranging end information;

and acquiring and calculating the distance between each base station antenna and the corresponding label of the preamble information allocated to the base station antenna according to the sending time stamp of the ranging request information, the receiving time stamp of the ranging response information and the sending time stamp of the ranging ending information of each label, and the receiving time stamp of the ranging request information, the sending time stamp of the ranging response information and the receiving time stamp of the ranging ending information of each base station antenna.

The communication bus mentioned above for the electronic devices may be a peripheral component interconnect standard (Peripheral Component Interconnect, PCI) bus or an extended industry standard architecture (Extended Industry Standard Architecture, EISA) bus, etc. The communication bus may be classified as an address bus, a data bus, a control bus, or the like. For ease of illustration, the figures are shown with only one bold line, but not with only one bus or one type of bus.

The communication interface is used for communication between the electronic device and other devices.

The Memory may include random access Memory (Random Access Memory, RAM) or may include Non-Volatile Memory (NVM), such as at least one disk Memory. Optionally, the memory may also be at least one memory device located remotely from the aforementioned processor.

The processor may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU), a network processor (Network Processor, NP), etc.; but also digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), field programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

In yet another embodiment provided herein, there is also provided a computer readable storage medium having stored therein a computer program which when executed by a processor implements the steps of any of the multi-antenna base station ranging methods described above.

In yet another embodiment provided herein, there is also provided a computer program product containing instructions that, when run on a computer, cause the computer to perform any of the multi-antenna base station ranging methods of the above embodiments.

In the above embodiments, it may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, produces a flow or function in accordance with embodiments of the present application, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable apparatus. The computer instructions may be stored in or transmitted from one computer-readable storage medium to another, for example, by wired (e.g., coaxial cable, optical fiber, digital Subscriber Line (DSL)), or wireless (e.g., infrared, wireless, microwave, etc.). The computer readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. that contains an integration of one or more available media. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid State Disk (SSD)), etc.

It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

In this specification, each embodiment is described in a related manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for the method, apparatus, electronic device, computer readable storage medium and computer program product embodiments, the description is relatively simple as it is substantially similar to the system embodiments, as relevant points are found in the partial description of the system embodiments.

The foregoing description is only of the preferred embodiments of the present application and is not intended to limit the scope of the present application. Any modifications, equivalent substitutions, improvements, etc. that are within the spirit and principles of the present application are intended to be included within the scope of the present application.

Claims

1. A multi-antenna base station ranging system, the system comprising: a base station and a plurality of tags, the base station comprising a plurality of base station antennas;

the base station is configured to receive the ranging request; distributing the lead code information to each base station antenna so that each base station antenna can simultaneously receive the ranging request information sent by the tag with the same corresponding lead code information according to the lead code information distributed by the base station antenna; generating and feeding back ranging response information through each base station antenna according to the self-allocated preamble information, wherein the preamble information allocated by each base station antenna is different, and each preamble information corresponds to one tag in one ranging period; recording a reception time stamp of each ranging request information and a transmission time stamp of each ranging response information;

2. The system of claim 1, wherein the system further comprises a controller configured to control the controller,

the base station is specifically configured to calculate a flight time according to a reception timestamp of the ranging request information, a transmission timestamp of the ranging response information, a reception timestamp of the ranging end information of each base station antenna, and a transmission timestamp of the ranging request information, a reception timestamp of the ranging response information, and a transmission timestamp of the ranging end information of each tag; and calculating the distance between each base station antenna and the label corresponding to the preamble information allocated to the base station antenna according to the flight time of each base station antenna and the transmission speed acquired in advance.

3. The system of claim 1, wherein the preamble information is a communication preamble sequence,

4. The system of claim 1, wherein the system further comprises a controller configured to control the controller,

the base station is further configured to allocate the same guide code information to each base station antenna, so that each base station antenna receives an angle measurement request sent by a tag corresponding to the same guide code information, where the same guide code information corresponds to a target tag in a plurality of tags;

5. A multi-antenna base station ranging method, applied to a base station in a multi-antenna base station ranging system, the system comprising: a base station and a plurality of tags, the base station comprising a plurality of base station antennas;

the method comprises the following steps:

recording a receiving time stamp of ranging response information, generating and feeding back ranging end information, wherein the preamble information distributed by each base station antenna is different, each preamble information corresponds to one tag in one ranging period, and each tag receives the feedback of the same base station antenna of the preamble information according to the preset preamble information corresponding to the tag;

recording a reception time stamp of each ranging end information;

6. The method according to claim 5, wherein the obtaining and calculating the distance between each base station antenna and the tag corresponding to the preamble information allocated to itself according to the transmission time stamp of the ranging request information, the reception time stamp of the ranging response information, the transmission time stamp of the ranging end information, and the reception time stamp of the ranging request information, the transmission time stamp of the ranging response information, and the reception time stamp of the ranging end information of each base station antenna of each tag includes:

7. The method of claim 5, wherein the preamble information is a communication preamble sequence,

8. The method of claim 5, wherein the method further comprises:

9. A multi-antenna base station ranging apparatus for a base station in a multi-antenna base station ranging system, the system comprising: a base station and a plurality of tags, the base station comprising a plurality of base station antennas;

the device comprises:

10. The electronic equipment is characterized by comprising a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory are communicated with each other through the communication bus;

a memory for storing a computer program;

a processor for carrying out the method steps of any one of claims 5-8 when executing a program stored on a memory.

11. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored therein a computer program which, when executed by a processor, implements the method steps of any of claims 5-8.