CN116170875B - UWB positioning method based on dynamic time slot allocation - Google Patents
UWB positioning method based on dynamic time slot allocation Download PDFInfo
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- CN116170875B CN116170875B CN202310434728.4A CN202310434728A CN116170875B CN 116170875 B CN116170875 B CN 116170875B CN 202310434728 A CN202310434728 A CN 202310434728A CN 116170875 B CN116170875 B CN 116170875B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- H04W64/003—Locating users or terminals or network equipment for network management purposes, e.g. mobility management locating network equipment
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
- H04W4/022—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences with dynamic range variability
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W56/00—Synchronisation arrangements
- H04W56/001—Synchronization between nodes
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W72/00—Local resource management
- H04W72/04—Wireless resource allocation
- H04W72/044—Wireless resource allocation based on the type of the allocated resource
- H04W72/0446—Resources in time domain, e.g. slots or frames
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
Abstract
The invention relates to UWB positioning, in particular to a UWB positioning method based on dynamic time slot allocation, wherein a base station polls tags in sequence and registers new tags; the base station divides time slots and sequentially returns time slot information according to the sequence, and each tag determines a corresponding time slot according to the time slot information; the label carries out ranging to the corresponding base station according to the allocated time slot, and the base station sends ranging information to the label in the next polling process; each tag performs positioning according to the ranging information of the tag; the technical scheme provided by the invention can effectively overcome the defect that the time slot cannot be dynamically allocated according to the real-time condition of the label in the prior art.
Description
Technical Field
The invention relates to UWB positioning, in particular to a UWB positioning method based on dynamic time slot allocation.
Background
The Ultra Wide Band (UWB) technology is a wireless carrier communication technology, and has the characteristics of high data transmission rate, strong multipath interference resistance, strong penetration capability, low power consumption and the like, so that the UWB technology is widely used for indoor high-precision positioning systems. UWB-based positioning techniques can be divided into two main categories, synchronous positioning and asynchronous positioning, and their corresponding ranging methods are respectively Time difference of arrival (Time Difference of Arrival, TDOA) and Time of Flight (TOF) methods.
The TDOA method is simple in ranging mode, the tags can achieve ranging only by sending a message once, and the method has the characteristics of being large in positioning capacity, good in positioning flexibility and the like. However, the TDOA method requires accurate time synchronization between base stations, so network connection needs to be deployed in advance between base stations, and finally time synchronization and centralized computation are realized through a server.
The TOF method can realize one-time ranging by carrying out multiple times of communication between the tag and the base station, and does not need time synchronization between the base stations, so that network connection between the base stations is not needed, and meanwhile, centralized calculation by a server is not needed. Compared with the TDOA method, the TOF method is easier to deploy on site, and particularly has obvious deployment advantages and cost advantages when the timeliness requirement is low and the site environment is complex.
Under the condition that multiple base stations and multiple tags exist simultaneously, if the communication time is not controlled, the TOF method can easily generate signal collision, so that the ranging accuracy is reduced or fails; if the communication timing is strictly controlled, the ranging efficiency is reduced and the expansibility is poor. In response to the above drawbacks, many optimized TOF methods are continually being proposed.
The invention patent application with the publication number of CN 111077531A discloses a UWB communication method based on time division multiple access, which mainly uses a superframe and a time slot mode to multiplex positioning information so as to improve positioning efficiency. However, this method has a disadvantage in that sequential communication must be performed in time slots determined in advance, and even if the distance between the tag a and the base station B exceeds the communication range, the time slot corresponding to the tag a still exists.
An indoor positioning method of a UWB positioning system is disclosed in the patent of the invention with the publication number of CN 110225461B, which describes a reference positioning base station, and the time slot between the positioning base station and a label is cooperated, and the time slot is allocated by the reference positioning base station.
The invention patent application with the publication number of CN 115297547A discloses a multi-tag access method of a TOF positioning system, which is used for solving the problem that the prior ranging communication is not interfered when a new tag is accessed. However, the nature of this approach is still a static time slot approach, and the number of time slots does not change dynamically.
The invention patent application with the publication number of CN 114845379A discloses a distributed time slot dividing method of a UWB positioning system, which does not need a central positioning node to carry out clock synchronization and time slot division, uses a preset node priority to carry out node clock synchronization, and a label determines the time slot through one-time preemption.
The above-mentioned prior art has a common problem that the time slot of each tag is statically allocated, and the time slot cannot be dynamically allocated according to the real-time situation of the tag.
Disclosure of Invention
Aiming at the defects existing in the prior art, the invention provides a UWB positioning method based on dynamic time slot allocation, which can effectively overcome the defect that the dynamic time slot allocation cannot be carried out according to the real-time condition of a label in the prior art.
In order to achieve the above purpose, the invention is realized by the following technical scheme:
a UWB positioning method based on dynamic time slot allocation, comprising the steps of:
s1, sequentially polling the tags by a base station and registering new tags;
s2, dividing time slots by the base station, sequentially returning time slot information according to the sequence, and determining corresponding time slots by each tag according to the time slot information;
s3, the tag measures the distance of the corresponding base station according to the allocated time slot, and the base station sends the distance measurement information to the tag in the next polling process;
s4, positioning each tag according to the ranging information of the tag.
Preferably, in S1, the base station polls the tags sequentially and registers new tags sequentially, including:
the base station sequentially transmits polling information according to the forward sequence of the base station networking when polling, and attaches registered tag information;
after receiving the polling information, the tag compares the self ID with the tag ID in the tag information, if the tag ID in the tag information contains the self ID, the tag does not reply, otherwise, the reply information with the self ID is replied to the base station;
the base station extracts the ID of the new tag from the reply information and adds the ID to the registered tag information;
the base station continues to issue the polling information until no reply information is received.
Preferably, the base station continues to issue the polling information until no reply information is received, including:
if the base station does not receive the reply information within the set time, the base station considers that a new label does not exist and issues polling ending information;
triggering response after receiving polling end information by a next base station corresponding to the base station networking forward sequence, extracting an ID of a new tag from the polling end information, and adding the ID to registered tag information;
the next base station transmits polling information and attaches registered tag information until all base stations in the base station networking complete polling work;
wherein, the polling end information is attached with registered tag information including a new tag ID.
Preferably, in S2, the base station divides the time slots and sequentially returns time slot information, including:
and dividing time slots for all registered tags by the corresponding last base station in the forward sequence of the base station networking, and returning time slot information to the corresponding last base station in the reverse sequence of the base station networking until all the base stations in the base station networking complete the time slot dividing work.
Preferably, the time slot information is:
TimeN,TimeK,[T1,S1],[T2,S2],…,[TM,SM]
wherein T1, T2, …, TM is the tag ID of M registered tags, timeN is the time when the last base station AN returns the slot information, timeK is the time when the kth base station returns the slot information, each base station only updates TimeK in the slot information, [ Ti, si ] indicates that the ith tag Ti starts ranging at time Si.
Preferably, each tag in S2 determines a corresponding time slot according to the time slot information, including:
the ith tag Ti starts to count from the current moment after receiving time slot information returned by the Kth base station, and reaches a corresponding time slot after passing a timer time Pi, wherein the timer time Pi is calculated by adopting the following formula:
Pi=Si-(TimeK-TimeN)
the moment Si at which the ith tag Ti starts ranging is calculated by the following equation:
Si=TimeN+(N-1)*t2+(i-1)*t1
wherein N is the number of base stations in the base station network, t2 is the communication time between adjacent base stations, and t1 is the ranging time of each tag.
Preferably, in S3, the tag measures the distance to the corresponding base station according to the allocated time slot, and the base station sends the distance measurement information to the tag in the next polling process, including:
the label distributes a reply time slot to the appointed reply base station in advance through the Poll information, and the appointed reply base station replies a Resp in the distributed reply time slot after receiving the Poll information;
after the tag sequentially receives the reply Resp of the base station appointed to reply, the tag transmits a Final instruction;
and the base station designated to reply completes the ranging calculation after receiving the Final instruction, stores the ranging information into the system and sends the ranging information to the tag in the next polling process.
Preferably, the Poll information is:
[Ak1,Sk1],[Ak2,Sk2],[Ak3,Sk3],[Ak4,Sk4]
wherein Aki is the ID of the base station with the assigned reply, ski is the time slot of the reply allocated to the base station with the assigned reply, and the number of the base stations with the assigned reply is 4.
Preferably, the sending ranging information to the tag in the next polling process includes:
the base station transmits ranging information to the tag in the polling process through the additional information of the polling, wherein the additional information of the polling is as follows:
Aid,[T1,D1,P1],[T2,D2,P2][T3,D3,P3],……,[TN,DN,PN]
wherein Aid is the current base station ID, tm and Dm are the tag ID and ranging result of the current base station in the ranging process, and Pm is the accumulated number of times that the current base station receives the tag to send Poll information.
Preferably, in the additional information of the last base station corresponding to the forward sequence of the base station networking, which issues a Poll in the polling process, if Pm is 0, the corresponding tag is considered to not send Poll information in the ranging process, the tag is judged to have been exited, and the tag is deleted from the registered tag in S2, so as to complete the exiting mechanism of the tag.
Compared with the prior art, the UWB positioning method based on dynamic time slot allocation has the following beneficial effects:
1) The base stations are synchronized by utilizing communication among the base stations, the access and the exit of the tags are realized by adding information in the communication frames, the network access and the network exit of the tags are high, and the network access/network exit of the tags can be realized by one-time polling;
2) When a new tag enters a base station networking, a networking request is not actively sent, and request information is only sent in each polling process, so that no interference is generated to the existing ranging communication;
3) The base station only allocates time slots to the network-accessed tags, and obtains the recovery time slots between the reverse allocation of the tags of the time slots and the base station connected with the reverse allocation, so that invalid time slots can be effectively reduced, and the ranging efficiency is improved; meanwhile, each time slot is divided in real time, dynamic allocation can be carried out along with the real-time condition of the tag, and the dynamic time slot allocation under the condition of multi-tag access is truly realized.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It is evident that the drawings in the following description are only some embodiments of the present invention and that other drawings may be obtained from these drawings without inventive effort for a person of ordinary skill in the art.
FIG. 1 is a schematic flow chart of the present invention;
FIG. 2 is a schematic diagram of a forward sequence of a base station networking in the present invention;
FIG. 3 is a schematic diagram of reverse order of base station networking in the present invention;
fig. 4 is a schematic diagram of a time slot for a tag to allocate a reply to a base station designated for reply in advance according to Poll information in the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more clear, the technical solutions of 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. It will be apparent that the described embodiments are some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1, (1) a base station polls tags sequentially and registers new tags, which specifically includes:
the base station A1 sequentially transmits polling information according to the forward sequence of the base station networking during polling, and attaches registered tag information;
after receiving the polling information, the tag compares the self ID with the tag ID in the tag information, if the tag ID in the tag information contains the self ID, the tag does not reply, otherwise, the reply information with the self ID is replied to the base station A1;
the base station A1 extracts the ID of the new tag from the reply information and adds the ID to the registered tag information;
the base station A1 continues to issue polling information until no reply message is received.
Specifically, the base station A1 continues to issue the polling information until no reply information is received, including:
the base station A1 does not receive the reply information within a specified time, considers that a new label does not exist, and issues polling ending information;
triggering response after the next base station A2 corresponding to the forward sequence of the base station networking receives the polling ending information (only the polling ending information issued by the base station A1 is received by the base station A2 to trigger response, and other base stations do not respond) extracting the ID of the new tag from the polling ending information and adding the ID to the registered tag information;
the next base station A2 transmits polling information and attaches registered tag information until all base stations in the base station networking complete polling work (the corresponding last base station A16 in the forward sequence of the base station networking gathers all registered tag information in the current base station networking);
wherein, the polling end information is attached with registered tag information including a new tag ID.
(2) The base station divides the time slots and sequentially returns the time slot information, and each tag determines the corresponding time slot according to the time slot information.
1) Because the tags are randomly distributed in the base station network, the base station A16 cannot inform all the registered tags in the current base station network, so that the time slot information needs to be returned to the base station A1 according to the reverse order of the base station network.
The base station divides time slots and sequentially returns time slot information, comprising:
the last base station A16 corresponding to the forward sequence of the base station networking divides time slots for all registered tags, and returns time slot information to the last base station A15 corresponding to the reverse sequence of the base station networking until all base stations in the base station networking complete the time slot division work.
Specifically, the slot information is:
TimeN,TimeK,[T1,S1],[T2,S2],…,[TM,SM]
wherein T1, T2, …, TM is the tag ID of M registered tags, timeN is the time when the last base station AN returns the slot information, timeK is the time when the kth base station returns the slot information, each base station only updates TimeK in the slot information, [ Ti, si ] indicates that the ith tag Ti starts ranging at time Si.
2) Each tag determines a corresponding time slot according to the time slot information, and the method comprises the following steps:
the ith tag Ti starts to count from the current moment after receiving time slot information returned by the Kth base station, and reaches a corresponding time slot after passing a timer time Pi, wherein the timer time Pi is calculated by adopting the following formula:
Pi=Si-(TimeK-TimeN)
the moment Si at which the ith tag Ti starts ranging is calculated by the following equation:
Si=TimeN+(N-1)*t2+(i-1)*t1
wherein N is the number of base stations in the base station network, t2 is the communication time between adjacent base stations, and t1 is the ranging time of each tag.
According to the technical scheme, in the process of returning the time slot information, because the labels are distributed differently in the base station network, the time slot information returned by different numbers of base stations can be received, the corresponding time slot is updated once each time the label receives the time slot information, and meanwhile, the base station ID which is correspondingly issued by the time slot information is recorded.
In the technical scheme, the TOF method is adopted for ranging, network connection is not needed between the base stations, but the base stations are required to communicate with each other because the access of the new tag is required to be perceived dynamically, and each base station is informed of the access of the new tag to the base station for networking. In order to achieve mutual communication between base stations, a communication path exists between base stations, so that any two base stations can achieve mutual communication through limited signal transmission.
In the present invention, a communication path may be determined in advance, and as shown in fig. 2, information may be sequentially transmitted from the base station A1 to the base station a16 according to the path in the arrow direction; conversely, as shown in fig. 3, the path in the arrow direction from the base station a16 may also transmit information back to the base station A1 sequentially. The base stations communicate with each other, so that the base stations can communicate information, and can notify tags in a receiving range in the process of communicating information, and the mode of communicating the base stations is called networking of the base stations.
(3) The tag carries out ranging to the corresponding base station according to the allocated time slot, and the base station sends ranging information to the tag in the next polling process, which comprises the following steps:
the label distributes a reply time slot (shown in figure 4) to the appointed replied base station in advance through the Poll information, and the appointed replied base station replies a Resp in the distributed reply time slot after receiving the Poll information (the non-appointed replied base station does not respond after receiving the Poll information);
after the tag sequentially receives the reply Resp of the base station appointed to reply, the tag transmits a Final instruction;
and the base station designated to reply completes the ranging calculation after receiving the Final instruction, stores the ranging information into the system and sends the ranging information to the tag in the next polling process.
1) The Poll information is:
[Ak1,Sk1],[Ak2,Sk2],[Ak3,Sk3],[Ak4,Sk4]
wherein Aki is the ID of the base station with the assigned reply, ski is the time slot of the reply allocated to the base station with the assigned reply, and the number of the base stations with the assigned reply is 4.
In the above technical solution, in the process of determining the corresponding time slot by each tag according to the time slot information, it is assumed in advance that the ranging time t1 of each tag is fixed and identical, so the number of base stations requiring the designated reply of each tag needs to be fixed and consistent in this step. In addition, in the ranging process, whether the reply is designated or not, the base station records the tag ID corresponding to the received Poll information, and prepares for judging whether the tag exits.
2) Transmitting ranging information to the tag in a next polling process, including:
the base station transmits ranging information to the tag in the polling process through the additional information of the polling, wherein the additional information of the polling is as follows:
Aid,[T1,D1,P1],[T2,D2,P2][T3,D3,P3],……,[TN,DN,PN]
wherein Aid is the current base station ID, tm and Dm are the tag ID and ranging result of the current base station in the ranging process, and Pm is the accumulated number of times that the current base station receives the tag to send Poll information.
In the technical scheme of the application, in the additional information of the polling issued by the corresponding last base station in the forward sequence of the base station networking, if Pm is 0, the corresponding tag is considered to not send Poll information in the ranging process, the tag is judged to be withdrawn, the tag is deleted from the registered tag in the step (2), and a withdrawal mechanism of the tag is completed.
(4) Each tag performs positioning according to its own ranging information.
After receiving the additional information of the polling, the tag records the ranging results related to the tag, and when the recorded ranging results exceed 3, the tag can realize positioning.
The above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (9)
1. A UWB positioning method based on dynamic time slot allocation, characterized in that: the method comprises the following steps:
s1, sequentially polling the tags by a base station and registering new tags;
s2, dividing time slots by the base station, sequentially returning time slot information according to the sequence, and determining corresponding time slots by each tag according to the time slot information;
s3, the tag measures the distance of the corresponding base station according to the allocated time slot, and the base station sends the distance measurement information to the tag in the next polling process;
s4, positioning each tag according to the ranging information of the tag;
in S1, the base station polls the labels in sequence and registers new labels, which comprises the following steps:
the base station sequentially transmits polling information according to the forward sequence of the base station networking when polling, and attaches registered tag information;
after receiving the polling information, the tag compares the self ID with the tag ID in the tag information, if the tag ID in the tag information contains the self ID, the tag does not reply, otherwise, the reply information with the self ID is replied to the base station;
the base station extracts the ID of the new tag from the reply information and adds the ID to the registered tag information;
the base station continues to issue the polling information until no reply information is received.
2. The dynamic time slot allocation based UWB positioning method of claim 1 wherein: the base station continues to issue polling information until no reply information is received, including:
if the base station does not receive the reply information within the set time, the base station considers that a new label does not exist and issues polling ending information;
triggering response after receiving polling end information by a next base station corresponding to the base station networking forward sequence, extracting an ID of a new tag from the polling end information, and adding the ID to registered tag information;
the next base station transmits polling information and attaches registered tag information until all base stations in the base station networking complete polling work;
wherein, the polling end information is attached with registered tag information including a new tag ID.
3. The UWB positioning method based on dynamic time slot allocation of claim 2 wherein: and S2, the base station divides time slots and sequentially returns time slot information, wherein the method comprises the following steps:
and dividing time slots for all registered tags by the corresponding last base station in the forward sequence of the base station networking, and returning time slot information to the corresponding last base station in the reverse sequence of the base station networking until all the base stations in the base station networking complete the time slot dividing work.
4. The UWB positioning method of claim 3 wherein the dynamic time slot allocation based UWB positioning method is characterized by: the time slot information is:
TimeN,TimeK,[T1,S1],[T2,S2],…,[TM,SM]
wherein T1, T2, …, TM is the tag ID of M registered tags, timeN is the time when the last base station AN returns the slot information, timeK is the time when the kth base station returns the slot information, each base station only updates TimeK in the slot information, [ Ti, si ] indicates that the ith tag Ti starts ranging at time Si.
5. The dynamic time slot allocation based UWB positioning method of claim 4 wherein: and S2, each tag determines a corresponding time slot according to the time slot information, wherein the method comprises the following steps:
the ith tag Ti starts to count from the current moment after receiving time slot information returned by the Kth base station, and reaches a corresponding time slot after passing a timer time Pi, wherein the timer time Pi is calculated by adopting the following formula:
Pi=Si-(TimeK-TimeN)
the moment Si at which the ith tag Ti starts ranging is calculated by the following equation:
Si=TimeN+(N-1)*t2+(i-1)*t1
wherein N is the number of base stations in the base station network, t2 is the communication time between adjacent base stations, and t1 is the ranging time of each tag.
6. The dynamic time slot allocation based UWB positioning method of claim 4 wherein: s3, the label measures the distance of the corresponding base station according to the allocated time slot, and the base station sends the distance measurement information to the label in the next polling process, which comprises the following steps:
the label distributes a reply time slot to the appointed reply base station in advance through the Poll information, and the appointed reply base station replies a Resp in the distributed reply time slot after receiving the Poll information;
after the tag sequentially receives the reply Resp of the base station appointed to reply, the tag transmits a Final instruction;
and the base station designated to reply completes the ranging calculation after receiving the Final instruction, stores the ranging information into the system and sends the ranging information to the tag in the next polling process.
7. The dynamic time slot allocation based UWB positioning method of claim 6 wherein: the Poll information is:
[Ak1,Sk1],[Ak2,Sk2],[Ak3,Sk3],[Ak4,Sk4]
wherein Aki is the ID of the base station with the assigned reply, ski is the time slot of the reply allocated to the base station with the assigned reply, and the number of the base stations with the assigned reply is 4.
8. The dynamic time slot allocation based UWB positioning method of claim 6 wherein: the sending ranging information to the tag in the next polling process includes:
the base station transmits ranging information to the tag in the polling process through the additional information of the polling, wherein the additional information of the polling is as follows:
Aid,[T1,D1,P1],[T2,D2,P2][T3,D3,P3],……,[TN,DN,PN]
wherein Aid is the current base station ID, tm and Dm are the tag ID and ranging result of the current base station in the ranging process, and Pm is the accumulated number of times that the current base station receives the tag to send Poll information.
9. The dynamic time slot allocation based UWB positioning method of claim 8 wherein: and in the additional information of the polling issued by the corresponding last base station in the forward sequence of the base station networking, if Pm is 0, the corresponding label is considered to not transmit Poll information in the ranging process, the label is judged to be withdrawn, and the label is deleted from the registered label in S2, so that a label withdrawal mechanism is completed.
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| KR20020064565A (en) * | 2001-02-02 | 2002-08-09 | (주)텔레시스테크놀로지 | Medium Access Control Method and Device in Point to Multipoint Wireless Communication Network |
| CN107484136A (en) * | 2017-07-24 | 2017-12-15 | 浙江理工大学 | A kind of UWB multi-tag localization methods based on polling dispatching |
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