CN117347947A - Ranging method and device among multiple devices, terminal device and readable storage medium - Google Patents
Ranging method and device among multiple devices, terminal device and readable storage medium Download PDFInfo
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- CN117347947A CN117347947A CN202311160689.XA CN202311160689A CN117347947A CN 117347947 A CN117347947 A CN 117347947A CN 202311160689 A CN202311160689 A CN 202311160689A CN 117347947 A CN117347947 A CN 117347947A
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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
Abstract
The application is applicable to the technical field of data processing, and provides a ranging method, a ranging device, terminal equipment and a readable storage medium among multiple devices, wherein the method comprises the following steps: and performing time calibration processing on the second terminal equipment so as to enable the second terminal equipment to be aligned with the first terminal equipment in time, determining a time difference between the second terminal equipment and the second terminal equipment, and calculating to obtain the distance between the second terminal equipment and the second terminal equipment according to the time difference. According to the method and the device, the time calibration processing is carried out on the second terminal equipment, on the basis of time alignment of the second terminal equipment and the first terminal equipment, the distance between the first terminal equipment and the second terminal equipment is calculated according to the time difference between the first terminal equipment and the second terminal equipment, the distance measurement error caused by the time difference is reduced, and the accuracy and the stability of the ranging result are improved.
Description
Technical Field
The application belongs to the technical field of data processing, and particularly relates to a ranging method and device among multiple devices, terminal equipment and a readable storage medium.
Background
In the fields of aerospace, industry, etc., a multi-device communication system is generally used for performing operations.
Wherein the normal operation of the job often depends on the relative position and angle between the devices. Therefore, it is necessary to determine the relative position and angle of each device through ranging, angle measurement, and the like between multiple devices.
The related ranging method of the multi-equipment system generally has the problems of low ranging precision, poor stability of a measuring result and the like, so that the relative position and angle of equipment are unclear, and the operation of the equipment is influenced.
Disclosure of Invention
The embodiment of the application provides a ranging method and device among multiple devices, terminal equipment and a readable storage medium, which can solve the problems of low ranging precision and poor stability of a measurement result in the ranging method of a multiple device system.
In a first aspect, an embodiment of the present application provides a ranging method between multiple devices, which is applied to a first terminal device, where the first terminal device is connected to at least two second terminal devices in a communication manner; every two second terminal devices are in communication connection;
the ranging method among the multiple devices comprises the following steps:
performing time calibration processing on the second terminal equipment so as to enable the second terminal equipment to be aligned with the first terminal equipment in time;
Determining a time difference with the second terminal device;
and calculating the distance between the second terminal equipment and the second terminal equipment according to the time difference.
Compared with the prior art, the embodiment of the application has the beneficial effects that: by performing time calibration processing on the second terminal equipment, on the basis of time alignment of the second terminal equipment and the first terminal equipment, the distance between the first terminal equipment and the second terminal equipment is calculated according to the time difference between the first terminal equipment and the second terminal equipment, so that the distance measurement error caused by the time deviation is reduced, and the accuracy and the stability of the ranging result are improved.
In a possible implementation manner of the first aspect, the performing a time alignment process on the second terminal device to time align the second terminal device with the first terminal device includes:
when a distance measurement instruction is received, a time calibration signal is sent to the second terminal equipment, so that the second terminal equipment is controlled to perform primary synchronization processing according to the time calibration signal;
and carrying out calibration processing on the second terminal equipment according to a preset algorithm so as to enable the second terminal equipment to be aligned with the first terminal equipment in time.
In a possible implementation manner of the first aspect, when the distance measurement instruction is received, the sending a time calibration signal to the second terminal device, so as to control the second terminal device to perform primary synchronization processing according to the time calibration signal, includes:
when a distance measurement instruction is received, determining the information of the tested equipment carried by the distance measurement instruction; when the tested equipment information displays the second terminal equipment, sending the time calibration signal to the second terminal equipment; the time calibration signal is used for controlling the second terminal equipment to perform preliminary time calibration processing;
and when receiving a calibration completion signal returned by the second terminal equipment, judging that the primary synchronization processing is completed.
In a possible implementation manner of the first aspect, the preset algorithm includes a round trip timing algorithm;
the calibrating the second terminal device according to a preset algorithm to enable the second terminal device to be aligned with the first terminal device in time includes:
receiving an inquiry message sent by the second terminal equipment;
and generating a corresponding response message according to the inquiry message, and sending the response message to the second terminal equipment, wherein the response message is used for controlling the second terminal equipment to perform calibration processing so as to enable the second terminal equipment to be aligned with the first terminal equipment in time.
In a possible implementation manner of the first aspect, the determining a time difference between the second terminal device and the second terminal device includes:
transmitting a distance measurement signal to the second terminal device; the distance measurement signal is used for triggering the second terminal equipment to return a measurement confirmation signal;
and calculating the time difference between the second terminal equipment and the second terminal equipment according to the measurement confirmation signal and the distance measurement signal.
In a possible implementation manner of the first aspect, the measurement acknowledgement signal includes time information that the second terminal device receives the distance measurement signal;
correspondingly, the calculating, according to the measurement confirmation signal and the distance measurement signal, a time difference between the second terminal device and the second terminal device includes:
and calculating the time difference between the second terminal equipment and the second terminal equipment according to the time information, the length of the distance measurement signal and the sending time of the distance measurement signal.
In a possible implementation manner of the first aspect, the first terminal device includes a target processing board, and at least two second processing boards communicatively connected to the target processing board;
Correspondingly, before the time calibration processing is performed on the second terminal device, the method includes:
when receiving an inter-plate synchronization instruction, transmitting an inter-plate synchronization signal to the second processing plate through the target processing plate;
generating inter-plate synchronization confirmation information according to the inter-plate synchronization signal through the target processing plate and sending the inter-plate synchronization confirmation information to the second processing plate;
determining an inter-plate time difference by a second processing plate according to the inter-plate synchronization confirmation information and the inter-plate synchronization signal;
and performing time alignment processing through a second processing plate according to the inter-plate time difference so as to enable the second processing plate to be aligned with the target processing plate in time.
In a second aspect, an embodiment of the present application provides an apparatus, which is applied to a first terminal device, where the first terminal device is communicatively connected to at least two second terminal devices; every two second terminal devices are in communication connection;
the distance measuring device between the multiple devices comprises:
the calibration module is used for performing time calibration processing on the second terminal equipment so as to enable the second terminal equipment to be aligned with the first terminal equipment in time;
a time difference determining module, configured to determine a time difference between the second terminal device and the second terminal device;
And the distance determining module is used for calculating the distance between the second terminal equipment and the second terminal equipment according to the time difference.
In a possible implementation manner of the second aspect, the calibration module includes:
the first sending unit is used for sending a time calibration signal to the second terminal equipment when receiving the distance measurement instruction so as to control the second terminal equipment to perform primary synchronization processing according to the time calibration signal;
and the calibration processing unit is used for carrying out calibration processing on the second terminal equipment according to a preset algorithm so as to enable the second terminal equipment to be aligned with the first terminal equipment in time.
In a possible implementation manner of the second aspect, the first sending unit includes:
the information determining subunit is used for determining the information of the tested equipment carried by the distance measuring instruction when the distance measuring instruction is received; when the tested equipment information displays the second terminal equipment, sending the time calibration signal to the second terminal equipment; the time calibration signal is used for controlling the second terminal equipment to perform preliminary time calibration processing;
and the first signal receiving subunit is used for judging that the primary synchronization processing is finished when receiving the calibration finishing signal returned by the second terminal equipment.
In a possible implementation manner of the second aspect, the preset algorithm includes a round trip timing algorithm;
the calibration processing unit includes:
a second signal receiving subunit, configured to receive an inquiry message sent by the second terminal device;
and the information sending subunit is used for generating a corresponding response message according to the inquiry message and sending the response message to the second terminal equipment, and the response message is used for controlling the second terminal equipment to perform calibration processing so as to enable the second terminal equipment to be aligned with the first terminal equipment in time.
In a possible implementation manner of the second aspect, the time difference determining module includes:
a second transmitting unit configured to transmit a distance measurement signal to the second terminal device; the distance measurement signal is used for triggering the second terminal equipment to return a measurement confirmation signal;
and the calculating unit is used for calculating the time difference between the second terminal equipment and the second terminal equipment according to the measurement confirmation signal and the distance measurement signal.
In a possible implementation manner of the second aspect, the measurement acknowledgement signal includes time information that the second terminal device receives the distance measurement signal;
Correspondingly, the calculating unit is specifically configured to calculate, according to the time information, the length of the distance measurement signal, and the sending time of the distance measurement signal, a time difference between the second terminal device and the calculating unit.
In a possible implementation manner of the second aspect, the first terminal device includes a target processing board, and at least two second processing boards communicatively connected to the target processing board;
correspondingly, the device further comprises:
the inter-board sending module is used for sending an inter-board synchronous signal to the second processing board through the target processing board when receiving an inter-board synchronous instruction;
the generation module is used for generating inter-plate synchronization confirmation information according to the inter-plate synchronization signal through the target processing plate and sending the inter-plate synchronization confirmation information to the second processing plate;
the inter-plate information determining module is used for determining an inter-plate time difference according to the inter-plate synchronization confirmation information and the inter-plate synchronization signal through a second processing plate;
and the inter-plate synchronization module is used for performing time calibration processing through a second processing plate according to the inter-plate time difference so as to enable the second processing plate to be aligned with the target processing plate in time.
In a third aspect, an embodiment of the present application provides a terminal device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the ranging method between multiple devices according to any one of the first aspect when the processor executes the computer program.
In a fourth aspect, embodiments of the present application provide a computer readable storage medium storing a computer program which, when executed by a processor, implements a method of ranging between multiple devices as in any of the first aspects above.
In a fifth aspect, embodiments of the present application provide a computer program product, which when run on a terminal device, causes the terminal device to perform the inter-device ranging method of any one of the first aspects above.
It will be appreciated that the advantages of the second to fifth aspects may be found in the relevant description of the first aspect, and are not described here again.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following description will briefly introduce the drawings that are needed in the embodiments or the description of the prior art, it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic diagram of a ranging system between multiple devices provided in an embodiment of the present application;
fig. 2 is a flow chart of a ranging method between multiple devices according to an embodiment of the present application;
fig. 3a is a schematic flow chart of inter-machine time coarse synchronization of the first terminal device according to the embodiment of the present application;
fig. 3b is a schematic diagram of inter-machine time coarse synchronization of the second terminal device according to the embodiment of the present application;
FIG. 4a is a time slot diagram of time synchronization of the 1 st time in the process of time synchronization calibration between multiple devices according to the embodiment of the present application;
FIG. 4b is an nth time synchronization slot diagram in a process flow of time synchronization calibration between multiple devices according to an embodiment of the present application;
fig. 5a is a flowchart of inter-machine time fine synchronization of the first terminal device provided in the embodiment of the present application;
fig. 5b is a flowchart of inter-machine time fine synchronization of the second terminal device provided in the embodiment of the present application;
fig. 6 is another flow chart of a ranging method between multiple devices according to an embodiment of the present disclosure;
fig. 7a is a service slot flow chart of a first terminal device provided in an embodiment of the present application;
fig. 7b is a service time slot flowchart of a second terminal device provided in an embodiment of the present application;
fig. 8 is a schematic structural diagram of a ranging apparatus between multiple devices according to an embodiment of the present disclosure;
Fig. 9 is a schematic structural diagram of a terminal device provided in an embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system configurations, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It should be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It should also be understood that the term "and/or" as used in this specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.
As used in this specification and the appended claims, the term "if" may be interpreted as "when..once" or "in response to a determination" or "in response to detection" depending on the context. Similarly, the phrase "if a determination" or "if a [ described condition or event ] is detected" may be interpreted in the context of meaning "upon determination" or "in response to determination" or "upon detection of a [ described condition or event ]" or "in response to detection of a [ described condition or event ]".
In addition, in the description of the present application and the appended claims, the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and are not to be construed as indicating or implying relative importance.
Reference in the specification to "one embodiment" or "some embodiments" or the like means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," and the like in the specification are not necessarily all referring to the same embodiment, but mean "one or more but not all embodiments" unless expressly specified otherwise. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless expressly specified otherwise.
The ranging method between the multiple devices provided by the embodiment of the application can be applied to the first terminal device, wherein the first terminal device comprises but is not limited to terminal devices such as an airplane, a mobile phone, a tablet personal computer, vehicle-mounted equipment and a notebook computer, and the specific type of the terminal device is not limited.
The normal operation of a job often depends on the relative position and angle between the devices. Therefore, the relative position and angle of each device need to be determined through operations such as ranging and angle measurement among multiple devices, however, the ranging method of the related multi-device system generally has the problems of low ranging precision, poor stability of the measurement result and the like, so that the problems of unclear relative position and angle of the devices are caused to a certain extent, and the operation of the devices is affected. In order to solve the problem, the application provides a ranging method among multiple devices, a ranging device among multiple devices, a terminal device and a computer readable storage medium, wherein the second terminal device is subjected to time calibration processing, and on the basis of time alignment of the second terminal device and the first terminal device, the distance between the first terminal device and the second terminal device is calculated according to the time difference between the first terminal device and the second terminal device, so that the distance measurement error caused by the time difference is reduced, and the accuracy and the stability of a ranging result are improved.
In order to realize the technical scheme provided by the application, a ranging system among multiple devices can be constructed first. Referring to fig. 1, the ranging system between multiple devices is composed of a first terminal device (only 1 is shown in fig. 1), at least two second terminal devices (only 2 are shown in fig. 1, such as a second terminal device a and a second terminal device b), and the first terminal device is in communication connection with the second terminal devices, and every two second terminal devices are in communication connection.
The first terminal equipment is equipment for providing a time calibration standard and finishing ranging operation with the second terminal equipment, and the second terminal equipment is equipment for performing time calibration processing based on the first terminal equipment and realizing time alignment with the first terminal equipment. The first terminal equipment performs time calibration processing on the second terminal equipment based on the distance measurement instruction, and calculates and obtains the distance between the first terminal equipment and the second terminal equipment according to the time difference between the first terminal equipment and the second terminal equipment on the basis of time alignment of the second terminal equipment and the first terminal equipment.
In order to illustrate the technical solutions proposed in the present application, the following description is made by specific embodiments.
Fig. 2 shows a schematic flow chart of a ranging method between multiple devices provided in the present application, which may be applied to the first terminal device described above by way of example and not limitation.
S101, performing time calibration processing on the second terminal equipment so as to enable the second terminal equipment to be aligned with the first terminal equipment in time.
Specifically, since the hardware processing capacities of the plurality of terminal devices may be different, there may be a time deviation between the plurality of terminals, resulting in a problem of information error and data processing error in the communication process between the plurality of terminal devices. Therefore, when the distance measurement instruction is received, in order to improve the accuracy and stability of the distance measurement data, time calibration processing needs to be performed on the second terminal device based on the first terminal device, so that the time of the second terminal device is aligned with the time of the first terminal device (also called time synchronization of the first terminal device and the second terminal device), and the information transmission accuracy in the communication process is ensured.
In one embodiment, the TDMA networking communication mode selected between the terminal devices forms a multi-device communication system, and the first terminal device needs to be pre-designated, and the time information of the first terminal device is used as a time reference to adjust the time of other terminal devices (i.e. the second terminal device) so as to align the time of the first terminal device with the time of the second terminal device.
In one embodiment, the first terminal devices may be allocated in turn. Taking an example where the multi-device system includes 18 terminal devices (e.g., the multi-device system includes 18 aircraft, the node number of which includes 0,1, 2..17). In the first time frame, the aircraft of the No. 0 node is a first terminal device, and the aircraft of the No. 1-17 nodes are second terminal devices. In the second time frame, the aircraft of the node 1 is the first terminal equipment, and the like.
S102, determining a time difference between the second terminal equipment and the second terminal equipment.
Specifically, on the basis of time alignment between the first terminal device and the second terminal device, the time difference between the first terminal device and the second terminal device is calculated by sending a distance measurement signal to the second terminal device and receiving a measurement confirmation signal returned by the second terminal device.
And S103, calculating the distance between the second terminal equipment and the second terminal equipment according to the time difference.
Specifically, the communication speed between the multiple terminal devices is generally constant, so that the distance between the first terminal device and the second terminal device can be measured according to the time difference between the distance measurement signal and the returned measurement acknowledgement signal under the condition of time synchronization between the multiple terminal devices.
Specifically, after framing, encoding, scrambling, pulse shaping and other link layer frame processing are performed on the information sequence in the distance measurement signal by the first terminal device, the information is modulated in a carrier wave to obtain the distance measurement signal, and the distance measurement signal is sent out through a power amplifier, an antenna and the like. The second terminal equipment is used as a ranging passive section, after receiving the distance measurement signal, the second terminal equipment completes the processing procedures of signal capturing, (frequency compensation, phase compensation), demodulation, frame synchronization, descrambling, decoding and the like, generates a measurement confirmation signal and returns the measurement confirmation signal to the first terminal equipment. And the first terminal equipment calculates and obtains the distance between the first terminal equipment and the second terminal equipment according to the sending time of the measurement confirmation signal and the receiving time of the measurement confirmation signal.
In a possible implementation manner, the performing a time calibration process on the second terminal device to time align the second terminal device with the first terminal device includes:
when a distance measurement instruction is received, a time calibration signal is sent to the second terminal equipment, so that the second terminal equipment is controlled to perform primary synchronization processing according to the time calibration signal;
and carrying out calibration processing on the second terminal equipment according to a preset algorithm so as to enable the second terminal equipment to be aligned with the first terminal equipment in time.
Specifically, in general, the accuracy standard of the time alignment process is high, and it is difficult to complete the time alignment operation at one time. When a distance measurement instruction is received, a time calibration signal is sent to the second terminal equipment when the distance measurement instruction is received based on the distance measurement instruction, and the second terminal equipment is controlled to perform primary synchronization processing operation through the time calibration signal, so that coarse synchronization of the first terminal equipment and the second terminal equipment in time is completed. And then, on the basis of time coarse synchronization of the first terminal equipment and the second terminal equipment, performing calibration processing on the second terminal equipment through a preset algorithm so as to eliminate clock deviation between the first terminal equipment and the second terminal equipment, and enabling the first terminal equipment and the second terminal equipment to be aligned in time. The preset algorithm includes, but is not limited to, round-trip time (RTT).
In one possible implementation manner, when the distance measurement instruction is received, a time calibration signal is sent to the second terminal device, so as to control the second terminal device to perform primary synchronization processing according to the time calibration signal, including:
When a distance measurement instruction is received, determining the information of the tested equipment carried by the distance measurement instruction; when the tested equipment information displays the second terminal equipment, sending the time calibration signal to the second terminal equipment; the time calibration signal is used for controlling the second terminal equipment to perform preliminary time calibration processing;
and when receiving a calibration completion signal returned by the second terminal equipment, judging that the primary synchronization processing is completed.
Specifically, in practical applications, the first terminal device may communicate with other devices in addition to the second terminal device. Therefore, when the distance measurement instruction is received, the distance measurement instruction needs to be analyzed (the distance measurement instruction carries information of the measured device, specifically, the measured device ID), if the information of the measured device carried by the distance measurement instruction is the same as the information of any one or more second terminal devices, the measured device information is determined to be displayed as the second terminal devices, a time calibration signal is generated and sent to the corresponding second terminal devices, so as to control the second terminal devices to perform preliminary time calibration processing according to the time calibration signal, and when the preliminary time calibration processing is completed, a calibration completion signal is returned. And when receiving a calibration completion signal returned by the second terminal equipment, judging that the primary synchronization processing operation of the second terminal equipment is completed, namely, the time coarse synchronization processing between the first terminal equipment and the second terminal equipment is realized.
As shown in fig. 3 a-3 b, an inter-machine time coarse synchronization flow chart of a terminal device is provided;
wherein fig. 3a shows a coarse synchronization flow chart of inter-machine time of a first terminal device; fig. 3b shows a coarse synchronization flow chart of the inter-machine time of the second terminal device.
As shown in fig. 3a, the first terminal device first needs to complete the inter-board time synchronization operation, after the first terminal device completes the inter-board time synchronization coarse operation, the first terminal device sends an inter-machine synchronization network access signal, that is, the target processing board of the first terminal device simultaneously sends an inter-machine synchronization network access signal (for example, an inter-machine synchronization network access message sending instruction S1) to the second processing board (for example, 3) of the first terminal device, and after the second processing board of the first terminal device receives the inter-machine synchronization network access signal S1, sends an acknowledgement instruction MS1 to the inter-machine synchronization network access message to the target processing board of the first terminal, and wirelessly sends the inter-machine synchronization network access signal S1 to each second processing board (for example, 3) of the second terminal.
As shown in fig. 3b, if each second processing board of the second terminal receives the inter-machine synchronous network access signal S1 and the inter-board synchronous processing is completed, receiving and reporting an inter-machine synchronous network access message receiving and reporting instruction R1, including a receiving time and a receiving signal strength, to a target processing board transmitter of the second terminal; the second processing plates select the best second processing plate (namely an antenna module) according to the intensity of the received signal, and meanwhile, the synchronous time adjustment instruction T1 between the transmitters is transmitted to the second processing plates according to the signal sent by the best second processing plate, so that the rough synchronous processing (including the time adjustment processing in the terminal equipment) of the time is realized. If the second processing block does not receive the inter-machine network access signal or receives the network access signal but does not have inter-board time synchronization, the second processing block should wait for the next time slot.
Specifically, the first terminal device sends a time calibration signal at the beginning of each time frame, the second terminal device starts searching the time calibration signal after starting up until the time calibration signal is captured, and performs despreading, demodulation and frame synchronization processing, and adjusts the clock of the second terminal device according to the synchronization code time of the time calibration signal, so as to complete the time coarse synchronization processing with the first terminal device.
For example, the furthest communication distance between different terminal devices is set to be 50Km, and the duration of the time calibration signal transmission 50Km is about 170us, that is, after coarse synchronization processing, the synchronization time error between the second terminal device and the first terminal device is not more than 170us.
In one possible implementation, the preset algorithm includes a round trip timing algorithm;
the calibrating the second terminal device according to a preset algorithm to enable the second terminal device to be aligned with the first terminal device in time includes:
receiving an inquiry message sent by the second terminal equipment;
and generating a corresponding response message according to the inquiry message, and sending the response message to the second terminal equipment, wherein the response message is used for controlling the second terminal equipment to perform calibration processing so as to enable the second terminal equipment to be aligned with the first terminal equipment in time.
Specifically, the first terminal device sends an RTT query message to the second terminal device in the query time slot, so as to control the second terminal device to return a corresponding RTT response message in the response time slot based on the received query message after receiving the query message. In general, the propagation times of the query message and the response message are considered to be equal, and the processing duration of the message is negligible. Therefore, the initial clock bias epsilon (specifically, the clock bias between the sending time of the inquiry message and the receiving time of the response message) between the non-NTR user and the NTR user can be calculated first, and the initial clock bias epsilon is added on the basis of the receiving time of the response message, so that the time alignment process between the non-NTR user and the NTR user (also called the time fine synchronization process between the first terminal device and the second terminal device) can be completed.
As shown in fig. 4 a-4 b, a flow chart of a time synchronization calibration process between multiple devices is provided.
FIG. 4a shows the 1 st time slot in the process of time synchronization calibration between multiple devices; FIG. 4b shows the nth time synchronization slot (n > 1) in the process of time synchronization calibration between multiple devices.
As shown in fig. 4 a-4 b, T tr Representing the propagation time of an interrogation message, T re Representing the propagation time of the reply message, T 1 And T 2 Respectively representing the sending time and the arrival time of the inquiry message, T Fixing And T 3 Respectively representing the fixed transmission time and the arrival time of the reply message. T (T) tr And T re The calculation formula of (2) can be expressed by the following formula:
T tr ＝T 2 -T 1 -ε
T re ＝T 3 +ε-T fixing
Setting the propagation time of inquiry and reply messages to be the same, i.e. T tr ＝T re The initial clock bias ε may be calculated by:
as shown in fig. 5 a-5 b, an inter-machine time fine synchronization flow chart of a terminal device is provided;
wherein fig. 5a shows an inter-machine time fine synchronization flow chart of a first terminal device; fig. 5b shows a flow chart of the inter-machine time fine synchronization of the second terminal device.
As shown in fig. 5b, the second terminal device sends an acknowledgement command MS2 to the optimal second processing block transmitter-to-transmitter synchronization interrogation signal S2 of the first terminal device in the respective time slot, the optimal second processing block returning to the inter-machine synchronization network access interrogation message. As shown in fig. 5a, if the second processing board of the first terminal device receives the inter-machine synchronous network access signal, it will receive a report instruction R2 (including receiving time and receiving signal strength) from the inter-machine synchronous network access inquiry message of the target processing board; the target processing board of the first terminal device selects an optimal second processing board (i.e. an antenna module) according to the intensity of the received signals of the second processing boards (3 are shown in an exemplary manner), and sends a synchronous network access response signal S3 to the optimal second processing board in a scheduled time slot, and the optimal second processing board returns an inter-machine synchronous network access response message to send a confirmation instruction MS3. As shown in fig. 5b, if the second processing boards (3 are shown in an exemplary manner) of the second terminal device receive the inter-machine synchronous network access response signal S3, a receiving and reporting instruction R3 (including a receiving time and a receiving signal strength) of the inter-machine synchronous network access response message is sent to the target processing board of the second terminal device; the second terminal equipment selects corresponding receiving information according to the optimal second processing plate before, and sends an inter-machine synchronization time adjustment instruction T2 to each second processing plate, so as to finish the fine synchronization of the inter-machine time (including the target processing plate of the second terminal equipment and the time adjustment of the second processing plate). If the second terminal device does not receive the network access response message receiving reporting instruction within the specified time, the second terminal device considers that the network access is failed at the time, and waits for the next time slot.
In one possible implementation, the determining a time difference between the second terminal device and the second terminal device includes:
transmitting a distance measurement signal to the second terminal device; the distance measurement signal is used for triggering the second terminal equipment to return a measurement confirmation signal;
and calculating the time difference between the second terminal equipment and the second terminal equipment according to the measurement confirmation signal and the distance measurement signal.
Specifically, on the basis of time alignment of the first terminal device and the second terminal device, a distance measurement signal is generated according to a distance measurement instruction and sent to the second terminal device, so that the second terminal device starts to generate a measurement confirmation signal and returns to the first terminal device when receiving the distance measurement signal. And calculating to obtain the time difference between the first terminal equipment and the second terminal equipment according to the receiving time of the distance measurement confirming signal and the sending time of the distance measurement signal.
In a possible implementation, the measurement acknowledgement signal includes time information that the second terminal device received the distance measurement signal;
correspondingly, the calculating, according to the measurement confirmation signal and the distance measurement signal, a time difference between the second terminal device and the second terminal device includes:
And calculating the time difference between the second terminal equipment and the second terminal equipment according to the time information, the length of the distance measurement signal and the sending time of the distance measurement signal.
Specifically, since the distance measurement signal has a certain length, the second terminal device needs to consume a certain time (i.e. the time occupied by the frame length of the distance measurement signal) for receiving the distance measurement signal, and the time information of the second terminal device included in the measurement acknowledgement signal for receiving the distance measurement signal generally refers to the time information of the last 1 bit of the frame header of the second terminal device for receiving the distance measurement signal, therefore, the difference between the time information and the time occupied by the frame length of the distance measurement signal needs to be calculated first as the first time point when the second terminal device receives the distance measurement signal. And calculating to obtain the time difference between the first terminal equipment and the second terminal equipment according to the first time point and the sending time of the distance measurement signal.
It will be appreciated that, in general, the transmission time of the distance measurement signal is the time taken by the first terminal device to completely transmit the distance measurement signal, that is, the time taken by the frame length of the distance measurement signal is already included.
As shown in fig. 6, in one possible implementation, the first terminal device includes a target processing board and at least two second processing boards communicatively connected to the target processing board;
correspondingly, before the time calibration processing is performed on the second terminal device, the method includes:
s201, when an inter-plate synchronization instruction is received, transmitting an inter-plate synchronization signal to the second processing plate through the target processing plate;
s202, generating inter-plate synchronization confirmation information according to the inter-plate synchronization signal through the target processing plate and sending the inter-plate synchronization confirmation information to the second processing plate;
s203, determining an inter-plate time difference through a second processing plate according to the inter-plate synchronization confirmation information and the inter-plate synchronization signal;
s204, performing time calibration processing through a second processing plate according to the inter-plate time difference so as to enable the second processing plate to be aligned with the target processing plate in time.
In particular, the first terminal device comprises a target processing plate and at least two second processing plates in communicative connection with the target processing plate. Wherein the target processing plate is a pre-designated central processing plate. The processing block may comprise, but is not limited to, a processor, or a computer program in a processor, for implementing data processing functions internal to the terminal device or with a second terminal device. Because the data processing capabilities of different processing boards may be different, clock skew may occur between the processing boards, and thus time synchronization processing between boards is required for the multiprocessing boards. It will be appreciated that the second terminal device may or may not be identical to the first terminal device.
Specifically, when an inter-plate synchronization instruction is received, the first terminal equipment sends an inter-plate synchronization signal to the second processing plate through the target processing plate; so as to control the second processing plate to generate and return the inter-plate synchronization confirmation information according to the inter-plate synchronization signal. And calculating to obtain an inter-plate time difference through the target processing plate according to the inter-plate synchronous confirmation information and the inter-plate synchronous signal, and performing time calibration processing on the second processing plate according to the inter-plate time difference so as to enable the second processing plate to be aligned with the target processing plate in time.
As shown in fig. 7 a-7 b, a service time slot flow diagram of a terminal device is provided;
wherein fig. 7a shows a traffic slot flow diagram of a first terminal device; fig. 7b shows a traffic slot flow diagram of the second terminal device.
As shown in fig. 7a, the target processing board of the first terminal device sends an inter-machine service transmission instruction S4 (service content comes from the device processing unit) to the second processing board at the same time of its service time slot, and each second processing board (3 are shown in the example) sends an inter-machine service transmission instruction S4 to the second terminal device, and returns an inter-machine service message transmission acknowledgement instruction MS4 to the first terminal device. As shown in fig. 7b, the second processing board (3 are shown in the example) of the second terminal device receives the signals, if a service signal is received, the ranging and angle measurement calculation operation needs to be completed, and the service receiving instruction R4 (including but not limited to the receiving time, the receiving signal strength, the receiving data, and the node number of the data source) between the transmitters of the integrated processing board and the ranging result reporting instruction R5 are sent. And the target processing plate selects the optimal signal in the second processing plate according to the signal intensity and sends the optimal signal to the equipment processing unit. After the service time slot, the terminal equipment completes the update of the relative position information according to the ranging result.
Specifically, sources of synchronization time errors among multiple terminal devices include sampling errors, jitter errors, delay errors caused by different transmission distances and device inconsistencies. Wherein, 1, sampling error comes from: the first terminal equipment simultaneously sends instructions to the second terminal equipment, and the sampling clock phase deviation among the terminal equipment causes that at most two sampling period errors occur when each terminal equipment samples the received instructions. Since the processing block in the terminal device adopts double-edge sampling (the sampling clock is designed to be FsMHz), the maximum error deviation is 1/Fs s. 2. The jitter error is specifically determined according to the transmission distance, the data performance curve and the data rate. 3. Delay errors caused by unequal transmission distances: the transmission distance between each second processing plate and the target processing plate is unequal, and the calibration processing can be performed in an instruction synchronous mode. Determining the time offset according to the following formula:
specifically, the errors originate from T1, T2 and T3. Since the start command only needs to be sent in the first time frame, the error of the start command will be calibrated out during the subsequent time frame, T1 can be considered a fixed point in time. The errors of T2 and T3 are derived from sampling errors of data, and the maximum error unit is ns, wherein the sampling errors are at most half period sampling lag errors. In the time deviation calculation formula, since T2 and T3 are the subtracted relationship, the time delay caused by the unequal transmission distances is also ns as the unit of error after calibration. 4. Delay errors due to device inconsistencies: according to the previous hardware selection and description, the unit of maximum delay skew between individual process blocks due to device non-uniformity is ns. In summary, the time slot networking synchronization mode is adopted, and the unit of the instruction synchronization error is ns.
Specifically, the ranging accuracy is affected by both time synchronization accuracy and data measurement accuracy; because the terminal devices are devices working with non-homologous clocks, the task synchronization mode and the synchronization frequency can only reduce clock difference, but cannot eliminate clock difference, namely the clock difference is always existed, so that synchronization difference of +/-1 working clock period is always caused; meanwhile, when data is measured, a difference of +/-1 clock period can be introduced due to the problem of a heterogeneous clock; meanwhile, a hardware chip, particularly conversion devices such as an ADC (analog to digital converter), a DAC (digital to analog converter) and the like can introduce a certain propagation delay stability factor, and the propagation delay stability factor is usually +/-1 sampling clock; therefore, measurement difference of +/-3 clock cycles can be caused in total, for common narrow-band communication equipment, the working clock is always less than or equal to 50MHz, the clock cycle is more than or equal to 20ns, the ranging precision is more than or equal to 120ns, and the ranging precision is obtained after conversion by light speed: 36m (+ -18 m).
According to the method, the second terminal equipment is subjected to time calibration, and on the basis of time alignment of the second terminal equipment and the first terminal equipment, the distance between the first terminal equipment and the second terminal equipment is calculated according to the time difference between the first terminal equipment and the second terminal equipment, so that the distance measurement error caused by the time difference is reduced, and the accuracy and the stability of the ranging result are improved.
It should be understood that the sequence number of each step in the foregoing embodiment does not mean that the execution sequence of each process should be determined by the function and the internal logic of each process, and should not limit the implementation process of the embodiment of the present application in any way.
Fig. 8 shows a block diagram of a ranging apparatus between multiple devices according to an embodiment of the present application, where the ranging apparatus between multiple devices is applied to a first terminal device, and the first terminal device is communicatively connected to at least two second terminal devices; every two second terminal devices are in communication connection;
for convenience of explanation, only portions relevant to the embodiments of the present application are shown.
Referring to fig. 8, the inter-multi-device ranging apparatus 100 includes:
a calibration module 101, configured to perform a time calibration process on the second terminal device, so that the second terminal device is time aligned with the first terminal device;
a time difference determining module 102, configured to determine a time difference between the second terminal device and the second terminal device;
and the distance determining module 103 is used for calculating the distance between the second terminal equipment and the second terminal equipment according to the time difference.
In one possible implementation, the calibration module includes:
the first sending unit is used for sending a time calibration signal to the second terminal equipment when receiving the distance measurement instruction so as to control the second terminal equipment to perform primary synchronization processing according to the time calibration signal;
and the calibration processing unit is used for carrying out calibration processing on the second terminal equipment according to a preset algorithm so as to enable the second terminal equipment to be aligned with the first terminal equipment in time.
In one possible implementation manner, the first sending unit includes:
the information determining subunit is used for determining the information of the tested equipment carried by the distance measuring instruction when the distance measuring instruction is received; when the tested equipment information displays the second terminal equipment, sending the time calibration signal to the second terminal equipment; the time calibration signal is used for controlling the second terminal equipment to perform preliminary time calibration processing;
and the first signal receiving subunit is used for judging that the primary synchronization processing is finished when receiving the calibration finishing signal returned by the second terminal equipment.
In one possible implementation, the preset algorithm includes a round trip timing algorithm;
The calibration processing unit includes:
a second signal receiving subunit, configured to receive an inquiry message sent by the second terminal device;
and the information sending subunit is used for generating a corresponding response message according to the inquiry message and sending the response message to the second terminal equipment, and the response message is used for controlling the second terminal equipment to perform calibration processing so as to enable the second terminal equipment to be aligned with the first terminal equipment in time.
In one possible implementation manner, the time difference determining module includes:
a second transmitting unit configured to transmit a distance measurement signal to the second terminal device; the distance measurement signal is used for triggering the second terminal equipment to return a measurement confirmation signal;
and the calculating unit is used for calculating the time difference between the second terminal equipment and the second terminal equipment according to the measurement confirmation signal and the distance measurement signal.
In a possible implementation, the measurement acknowledgement signal includes time information that the second terminal device received the distance measurement signal;
correspondingly, the calculating unit is specifically configured to calculate, according to the time information, the length of the distance measurement signal, and the sending time of the distance measurement signal, a time difference between the second terminal device and the calculating unit.
In one possible implementation, the first terminal device includes a target processing board, and at least two second processing boards communicatively connected to the target processing board;
correspondingly, the device further comprises:
the inter-board sending module is used for sending an inter-board synchronous signal to the second processing board through the target processing board when receiving an inter-board synchronous instruction;
the generation module is used for generating inter-plate synchronization confirmation information according to the inter-plate synchronization signal through the target processing plate and sending the inter-plate synchronization confirmation information to the second processing plate;
the inter-plate information determining module is used for determining an inter-plate time difference according to the inter-plate synchronization confirmation information and the inter-plate synchronization signal through a second processing plate;
and the inter-plate synchronization module is used for performing time calibration processing through a second processing plate according to the inter-plate time difference so as to enable the second processing plate to be aligned with the target processing plate in time.
According to the method, the second terminal equipment is subjected to time calibration, and on the basis of time alignment of the second terminal equipment and the first terminal equipment, the distance between the first terminal equipment and the second terminal equipment is calculated according to the time difference between the first terminal equipment and the second terminal equipment, so that the distance measurement error caused by the time difference is reduced, and the accuracy and the stability of the ranging result are improved.
It should be noted that, because the content of information interaction and execution process between the above devices/units is based on the same concept as the method embodiment of the present application, specific functions and technical effects thereof may be referred to in the method embodiment section, and will not be described herein again.
Fig. 9 is a schematic structural diagram of a terminal device according to this embodiment. As shown in fig. 9, the terminal device 9 of this embodiment includes: at least one processor 90 (only one is shown in fig. 9), a memory 91 and a computer program 92 stored in the memory 91 and executable on the at least one processor 90, the processor 90 implementing the steps in any of the various inter-device ranging method embodiments described above when executing the computer program 92.
The terminal device 9 may be a computing device such as a desktop computer, a notebook computer, a palm computer, a cloud server, etc. The terminal device may include, but is not limited to, a processor 90, a memory 91. It will be appreciated by those skilled in the art that fig. 9 is merely an example of the terminal device 9 and is not meant to be limiting as to the terminal device 9, and may include more or fewer components than shown, or may combine certain components, or different components, such as may also include input-output devices, network access devices, etc.
The processor 90 may be a central processing unit (Central Processing Unit, CPU), the processor 90 may also be other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), off-the-shelf programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 91 may in some embodiments be an internal storage unit of the terminal device 9, such as a hard disk or a memory of the terminal device 9. The memory 91 may in other embodiments also be an external storage device of the terminal device 9, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital Card (SD), a Flash memory Card (Flash Card) or the like, which are provided on the terminal device 9. Further, the memory 91 may also include both an internal storage unit and an external storage device of the terminal device 9. The memory 91 is used for storing an operating system, application programs, boot loader (BootLoader), data, other programs, etc., such as program codes of the computer program. The memory 91 may also be used for temporarily storing data that has been output or is to be output.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions. The functional units and modules in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working process of the units and modules in the above system may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.
Embodiments of the present application also provide a computer readable storage medium storing a computer program which, when executed by a processor, implements steps that may implement the various method embodiments described above.
Embodiments of the present application provide a computer program product which, when run on a mobile terminal, causes the mobile terminal to perform steps that may be performed in the various method embodiments described above.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the present application implements all or part of the flow of the method of the above embodiments, and may be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, where the computer program, when executed by a processor, may implement the steps of each of the method embodiments described above. Wherein the computer program comprises computer program code which may be in source code form, object code form, executable file or some intermediate form etc. The computer readable medium may include at least: any entity or device capable of carrying computer program code to a photographing device/terminal apparatus, recording medium, computer Memory, read-Only Memory (ROM), random access Memory (RAM, random Access Memory), electrical carrier signals, telecommunications signals, and software distribution media. Such as a U-disk, removable hard disk, magnetic or optical disk, etc. In some jurisdictions, computer readable media may not be electrical carrier signals and telecommunications signals in accordance with legislation and patent practice.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus/network device and method may be implemented in other manners. For example, the apparatus/network device embodiments described above are merely illustrative, e.g., the division of the modules or units is merely a logical functional division, and there may be additional divisions in actual implementation, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection via interfaces, devices or units, which may be in electrical, mechanical or other forms.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
The above embodiments are only for illustrating the technical solution of the present application, and are not limiting; although the present application has been described in detail with reference to the foregoing embodiments, it should 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 application, and are intended to be included in the scope of the present application.
Claims (10)
1. The ranging method between multiple devices is characterized by being applied to first terminal devices, wherein the first terminal devices are in communication connection with at least two second terminal devices; every two second terminal devices are in communication connection;
The ranging method among the multiple devices comprises the following steps:
performing time calibration processing on the second terminal equipment so as to enable the second terminal equipment to be aligned with the first terminal equipment in time;
determining a time difference with the second terminal device;
and calculating the distance between the second terminal equipment and the second terminal equipment according to the time difference.
2. The method for ranging between devices according to claim 1, wherein said performing a time alignment process on said second terminal device to time-align said second terminal device with said first terminal device comprises:
when a distance measurement instruction is received, a time calibration signal is sent to the second terminal equipment, so that the second terminal equipment is controlled to perform primary synchronization processing according to the time calibration signal;
and carrying out calibration processing on the second terminal equipment according to a preset algorithm so as to enable the second terminal equipment to be aligned with the first terminal equipment in time.
3. The method for ranging between multiple devices according to claim 2, wherein when the distance measurement command is received, sending a time calibration signal to the second terminal device to control the second terminal device to perform primary synchronization according to the time calibration signal, comprising:
When a distance measurement instruction is received, determining the information of the tested equipment carried by the distance measurement instruction; when the tested equipment information displays the second terminal equipment, sending the time calibration signal to the second terminal equipment; the time calibration signal is used for controlling the second terminal equipment to perform preliminary time calibration processing;
and when receiving a calibration completion signal returned by the second terminal equipment, judging that the primary synchronization processing is completed.
4. The ranging method between devices according to claim 2, wherein the preset algorithm comprises a round trip timing algorithm;
the calibrating the second terminal device according to a preset algorithm to enable the second terminal device to be aligned with the first terminal device in time includes:
receiving an inquiry message sent by the second terminal equipment;
and generating a corresponding response message according to the inquiry message, and sending the response message to the second terminal equipment, wherein the response message is used for controlling the second terminal equipment to perform calibration processing so as to enable the second terminal equipment to be aligned with the first terminal equipment in time.
5. The method of ranging between multiple devices of claim 1, wherein the determining the time difference with the second terminal device comprises:
Transmitting a distance measurement signal to the second terminal device; the distance measurement signal is used for triggering the second terminal equipment to return a measurement confirmation signal;
and calculating the time difference between the second terminal equipment and the second terminal equipment according to the measurement confirmation signal and the distance measurement signal.
6. The multi-device ranging method of claim 5, wherein the measurement confirm signal includes time information that the second terminal device received the distance measurement signal;
correspondingly, the calculating, according to the measurement confirmation signal and the distance measurement signal, a time difference between the second terminal device and the second terminal device includes:
and calculating the time difference between the second terminal equipment and the second terminal equipment according to the time information, the length of the distance measurement signal and the sending time of the distance measurement signal.
7. The method of ranging between multiple devices according to any one of claims 1 to 6, wherein said first terminal device comprises a target processing block and at least two second processing blocks communicatively connected to said target processing block;
correspondingly, before the time calibration processing is performed on the second terminal device, the method includes:
When receiving an inter-plate synchronization instruction, transmitting an inter-plate synchronization signal to the second processing plate through the target processing plate;
generating inter-plate synchronization confirmation information according to the inter-plate synchronization signal through the target processing plate and sending the inter-plate synchronization confirmation information to the second processing plate;
determining an inter-plate time difference by a second processing plate according to the inter-plate synchronization confirmation information and the inter-plate synchronization signal;
and performing time alignment processing through a second processing plate according to the inter-plate time difference so as to enable the second processing plate to be aligned with the target processing plate in time.
8. The distance measuring device between multiple devices is characterized by being applied to first terminal equipment, wherein the first terminal equipment is in communication connection with at least two second terminal equipment; every two second terminal devices are in communication connection;
the distance measuring device between the multiple devices comprises:
the calibration module is used for performing time calibration processing on the second terminal equipment so as to enable the second terminal equipment to be aligned with the first terminal equipment in time;
a time difference determining module, configured to determine a time difference between the second terminal device and the second terminal device;
and the distance determining module is used for calculating the distance between the second terminal equipment and the second terminal equipment according to the time difference.
9. A terminal device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the method according to any of claims 1 to 7 when executing the computer program.
10. A computer readable storage medium storing a computer program, characterized in that the computer program when executed by a processor implements the method according to any one of claims 1 to 7.
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