CN116234008B - Low-power consumption UWB positioning system and implementation method thereof - Google Patents
Low-power consumption UWB positioning system and implementation method thereof Download PDFInfo
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- CN116234008B CN116234008B CN202310209124.XA CN202310209124A CN116234008B CN 116234008 B CN116234008 B CN 116234008B CN 202310209124 A CN202310209124 A CN 202310209124A CN 116234008 B CN116234008 B CN 116234008B
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- ble
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Classifications
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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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
-
- 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
- H04W4/025—Services making use of location information using location based information parameters
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W52/00—Power management, e.g. TPC [Transmission Power Control], power saving or power classes
- H04W52/02—Power saving arrangements
- H04W52/0209—Power saving arrangements in terminal devices
- H04W52/0225—Power saving arrangements in terminal devices using monitoring of external events, e.g. the presence of a signal
- H04W52/0248—Power saving arrangements in terminal devices using monitoring of external events, e.g. the presence of a signal dependent on the time of the day, e.g. according to expected transmission activity
-
- 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 discloses a low-power consumption UWB positioning system and an implementation method thereof, wherein the system comprises a hardware part and a software part; the hardware part comprises a TAG integrated with UWB and BLE chips, an Anchor integrated with UWB, BLE and WIFI chips and an RTLSserver; the software portion includes: a TAG-BLE module, a TAG-UWB module, an Anchor-BLE module, an Anchor-UWB module, an Anchor-WIFI module, and an RTLS module. By adopting the low-power-consumption UWB positioning system and the implementation method thereof, the system can be kept in a low-power-consumption mode as much as possible, the power consumption of the TAG is expected to be reduced by one order of magnitude, and the working time of the TAG is prolonged to 10 times.
Description
Technical Field
The invention relates to the technical field of navigation positioning, in particular to a low-power-consumption UWB positioning system and an implementation method thereof.
Background
The UWB device consumes a large amount of power when receiving and transmitting UWB signals, and the power consumption of the chip which is currently good is often on the order of tens of milliamperes.
Because UWB parameters need to be negotiated, and before UWB ranging is created, appropriate devices need to be allocated as the same session to perform ranging, BLE is generally used as a communication mode of parameter negotiation, status reporting, and instruction issuing. However, the power consumption of BLE is also not negligible, especially when it is required to keep the broadcasting, scanning or connection of BLE, after the UWB transceiving time is strictly controlled, the BLE is far higher than UWB in operation, so that BLE is a main factor of power consumption.
Because the TAG terminal is usually a small mobile embedded device, the mobile and portable requirements determine the characteristics of small size and low cost of the TAG terminal device, so that the battery capacity is limited, and the low power consumption of the TAG becomes a requirement, which is also an important bottleneck problem of the current UWB positioning system.
Disclosure of Invention
The invention aims to provide a low-power-consumption UWB positioning system and an implementation method thereof, which can keep the system in a low-power-consumption mode as much as possible, reduce the power consumption of TAG by one order of magnitude, and prolong the working time of TAG to 10 times.
In order to achieve the above object, the present invention provides a low power consumption UWB positioning system, comprising a hardware part and a software part; the hardware part comprises a TAG integrated with UWB and BLE chips, an Anchor and an RTLS server integrated with UWB, BLE and WIFI chips; the software portion includes: a TAG-BLE module, a TAG-UWB module, an Anchor-BLE module, an Anchor-UWB module, an Anchor-WIFI module, and an RTLS module.
The implementation method of the low-power-consumption UWB positioning system guides UWB to access the network through BLE, and comprises the following specific steps:
s1, powering up or restarting the TAG, and starting BLE broadcasting;
s2, RTLS judges whether TAG meets the network access condition;
s3, an RTLS session allocation scheme;
s4, RTLS issues a session distribution scheme to all Anchor in the session;
s5, RTLS transmits the allocation scheme to TAG through BLE through a specific Anchor;
s6, starting UWB ranging flow;
s7, reporting UWB ranging results;
s8, positioning by a positioning engine;
s9, notifying the TAG end to close BLE broadcasting.
Preferably, in step S2, the basis for determining whether the network access condition is satisfied is:
(1) Whether the number of the base stations meets the positioning requirement;
(2) Whether the signal strength meets the distance requirement.
Preferably, in step S3, the Schedule Center of the RTLS is responsible for assigning session members, roles, and UWB messaging slots for each member.
Preferably, in step S6, the BLE state control command is forwarded in UWB ranging, and the specific steps are as follows:
(1) RTLS issues instructions to Anchor;
(2) Anchor marks the goal state of BLE through the control message custom field of UWB ranging message;
(3) After the TAG receives the control message, analyzing the corresponding field, acquiring a BLE state operation instruction, making an action, entering a target state, and starting or closing BLE broadcasting or scanning;
(4) If the BLE is started, receiving a BLE instruction and finishing the target operation;
(5) And after the operation is finished, the BLE is closed, and the low-power consumption state is kept continuously.
Preferably, in step S7, the Anchor reports the ranging result to the RTLS server through WIFI.
Preferably, in step S8, the Positioning Engine of the RTLS is responsible for positioning according to the reported ranging result; and if the positioning is successful, the step S9 is carried out, and if the positioning is unsuccessful, the step S2 is carried out to re-access the network.
Therefore, by adopting the low-power-consumption UWB positioning system and the implementation method thereof, the system can be kept in a low-power-consumption mode as much as possible, the power consumption of the TAG is expected to be reduced by one order of magnitude, and the working time of the TAG is prolonged to 10 times.
The technical scheme of the invention is further described in detail through the drawings and the embodiments.
Drawings
Figure 1 is a block diagram of a BLE guided UWB networking module of the present invention;
figure 2 is a flow chart of BLE guided UWB network entry in accordance with the present invention.
Detailed Description
The technical scheme of the invention is further described below through the attached drawings and the embodiments.
Unless defined otherwise, technical or scientific terms used herein should be given the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs.
The English explanation related to the file is as follows:
UWB is ultra wide band; TAG is a TAG, mobile device in the ranging system; anchor is Anchor point, anchor point equipment in the ranging system; session is a Session; BLE is bluetooth low energy; RTLS is a real-time positioning system; positioning Engine is a positioning engine for positioning the position coordinates of the TAG according to the ranging result; schedule Center is a scheduling Center.
The invention provides a low-power consumption UWB positioning system and an implementation method, as shown in figure 1, the system comprises a hardware part and a software part; the hardware part comprises a TAG integrated with UWB and BLE chips, an Anchor and an RTLS server integrated with UWB, BLE and WIFI chips; the software portion includes: a TAG-BLE module, a TAG-UWB module, an Anchor-BLE module, an Anchor-UWB module, an Anchor-WIFI module, and an RTLS module.
As shown in FIG. 2, in the implementation method of the low-power-consumption UWB positioning system, when no UWB signal exists, the UWB chip is in a power-off or sleep mode, at this time, the TAG end enables the surrounding Anchor to find out the existence of the TAG in time through the timing broadcast of BLE, after the TAG is found out, the Anchor reports to the RTLS system, and the latter distributes proper equipment (TAG+Anchor) according to the reported information to enter the UWB ranging session, so that ranging and positioning are completed. This procedure is a BLE-guided UWB networking procedure. The scheme ensures that UWB chips are kept in a low-power mode as much as possible, so that the power consumption of the TAG terminal is reduced.
Meanwhile, after UWB finishes network access, after entering into normal ranging mode, BLE is closed, the system enters into intermittent dormancy and ranging mode, and under the premise of guaranteeing that ranging and positioning functions are finished, intermittent dormancy is performed to the maximum extent, and because BLE is also closed, the system is in the lowest power consumption mode except for short UWB working time slots, and low power consumption in the ranging mode is guaranteed.
How the TAG realizes the receiving instruction under the condition that the BLE is closed is a key of whether the system function is feasible or not, the invention transfers the control instruction to the state of the TAG BLE through the UWB message, thereby completing BLE communication when needed, ensuring the minimum time length for opening the BLE of the TAG end, and ensuring that the system function is not influenced under the premise of ensuring the minimum power consumption.
UWB is guided to enter the network through BLE, and the specific steps are as follows:
s1, powering up or restarting the TAG, and starting BLE broadcasting.
S2, RTLS judges whether TAG meets the network access condition.
The judgment basis of whether the network access condition is met is as follows:
(1) Whether the number of the base stations meets the positioning requirement: the number of base stations is at least 3.
(2) Whether the signal strength meets the distance requirement: the average signal strength is not lower than xdb, where x is an empirical value, such as-75.
S3, an RTLS session allocation scheme: the Schedule Center of the RTLS is responsible for assigning session members, roles, and UWB messaging slots for each member.
S4, RTLS issues the session distribution scheme to all Anchor in the session.
S5, RTLS transmits the allocation scheme to TAG through BLE through a specific Anchor;
s6, starting UWB ranging flow.
In the UWB ranging process, a BLE state control instruction is forwarded through UWB ranging, and the specific steps are as follows:
(1) RTLS issues instructions to Anchor.
(2) Anchor identifies the target state of BLE through the control message custom field of UWB ranging message.
In this embodiment, the custom fields are as follows:
00 is to turn off BLE broadcast, turn off BLE scan;
01 is to turn on BLE broadcast and turn off BLE scan;
10 is turn off BLE broadcast, turn on BLE scan;
11 is to turn on BLE broadcast and turn on BLE scan.
(3) After the TAG receives the control message, the corresponding field is analyzed, a BLE state operation instruction is obtained, the operation is performed, the target state is entered, and BLE broadcasting or scanning is started or closed.
(4) If BLE is on, a BLE instruction is received and the target operation is completed.
(5) And after the operation is finished, the BLE is closed, and the low-power consumption state is kept continuously.
S7, reporting UWB ranging results: anchor reports the ranging result to RTLS server through WIFI.
S8, positioning by a positioning engine: positioning Engine of RTLS is responsible for positioning according to the reported ranging result; and if the positioning is successful, the step S9 is carried out, and if the positioning is unsuccessful, the step S2 is carried out to re-access the network.
S9, notifying the TAG end to close BLE broadcasting.
Description of exception handling during system operation: after successful positioning, if the continuous n times of positioning are unsuccessful, the network is re-accessed to S2, and the BLE broadcast of the TAG end is started, wherein n is an empirical value. The TAG end and the RTLS end, which are unsuccessful in positioning, can determine that, for example, if the TAG end fails to receive the correct UWB positioning flag information n times in succession, the BLE is started.
According to the invention, through the operation flow, TAG low power consumption is realized from two key processes, firstly, a UWB module of the TAG in an area without UWB signal coverage is ensured to be in a low power consumption mode in a mode of leading UWB to enter a network through BLE; secondly, by means of forwarding BLE state control instructions in UWB ranging, a low-power mode that a control switch BLE is used for ensuring that BLE is in a silent state in the ranging process is achieved when the BLE is needed, and therefore low power consumption of a full life cycle is achieved.
Therefore, by adopting the low-power-consumption UWB positioning system and the implementation method thereof, the system can be kept in a low-power-consumption mode as much as possible, the power consumption of the TAG is expected to be reduced by one order of magnitude, and the working time of the TAG is prolonged to 10 times.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention and not for limiting it, and although the present invention has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that: the technical scheme of the invention can be modified or replaced by the same, and the modified technical scheme cannot deviate from the spirit and scope of the technical scheme of the invention.
Claims (5)
1. The implementation method of the low-power-consumption UWB positioning system is characterized by comprising the following steps of: the system comprises a hardware part and a software part; the hardware part comprises a TAG integrated with UWB and BLE chips, an Anchor and an RTLS server integrated with UWB, BLE and WIFI chips; the software portion includes: a TAG-BLE module, a TAG-UWB module, an Anchor-BLE module, an Anchor-UWB module, an Anchor-WIFI module and an RTLS module;
the implementation method comprises the following steps:
UWB is guided to enter the network through BLE, and the specific steps are as follows:
s1, powering up or restarting the TAG, and starting BLE broadcasting;
s2, RTLS judges whether TAG meets the network access condition;
s3, an RTLS session allocation scheme;
s4, RTLS issues a session distribution scheme to all Anchor in the session;
s5, RTLS transmits the allocation scheme to TAG through BLE through a specific Anchor;
s6, starting UWB ranging flow;
in step S6, the BLE state control command is forwarded in UWB ranging, and the specific steps are as follows:
(1) RTLS issues instructions to Anchor;
(2) Anchor marks the goal state of BLE through the control message custom field of UWB ranging message;
(3) After the TAG receives the control message, analyzing the corresponding field, acquiring a BLE state operation instruction, making an action, entering a target state, and starting or closing BLE broadcasting or scanning;
(4) If the BLE is started, receiving a BLE instruction and finishing the target operation;
(5) After the operation is finished, the BLE is closed, and the low-power consumption state is continuously maintained;
s7, reporting UWB ranging results;
s8, positioning by a positioning engine;
s9, notifying the TAG end to close BLE broadcasting.
2. The method for implementing a low power UWB positioning system of claim 1 wherein: in step S2, the basis for determining whether the network access condition is satisfied is:
(1) Whether the number of the base stations meets the positioning requirement;
(2) Whether the signal strength meets the distance requirement.
3. The method for implementing a low power UWB positioning system of claim 1 wherein: in step S3, the Schedule Center of the RTLS is responsible for assigning session members, roles, and UWB messaging time slots for each member.
4. The method for implementing a low power UWB positioning system of claim 1 wherein: in step S7, the Anchor reports the ranging result to the RTLS server through WIFI.
5. The method for implementing a low power UWB positioning system of claim 1 wherein: in step S8, positioning Engine of RTLS is responsible for positioning according to the reported ranging result; and if the positioning is successful, the step S9 is carried out, and if the positioning is unsuccessful, the step S2 is carried out to re-access the network.
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