CN117354714A - Low-power-consumption mixed positioning method and device based on double synchronization - Google Patents

Low-power-consumption mixed positioning method and device based on double synchronization Download PDF

Info

Publication number
CN117354714A
CN117354714A CN202311431204.6A CN202311431204A CN117354714A CN 117354714 A CN117354714 A CN 117354714A CN 202311431204 A CN202311431204 A CN 202311431204A CN 117354714 A CN117354714 A CN 117354714A
Authority
CN
China
Prior art keywords
uwb
base station
time
tag
positioning
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202311431204.6A
Other languages
Chinese (zh)
Inventor
段林甫
康永宁
胡信华
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Nantong Xingruipulian Technology Co ltd
Original Assignee
Nantong Xingruipulian Technology Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Nantong Xingruipulian Technology Co ltd filed Critical Nantong Xingruipulian Technology Co ltd
Priority to CN202311431204.6A priority Critical patent/CN117354714A/en
Publication of CN117354714A publication Critical patent/CN117354714A/en
Pending legal-status Critical Current

Links

Classifications

    • 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
    • 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
    • H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
    • 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
    • H04W52/0203—Power saving arrangements in the radio access network or backbone network of wireless communication networks
    • H04W52/0206—Power saving arrangements in the radio access network or backbone network of wireless communication networks in access points, e.g. base stations
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W56/00—Synchronisation arrangements
    • H04W56/001—Synchronization between nodes
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Mobile Radio Communication Systems (AREA)

Abstract

The invention provides a low-power consumption mixed positioning method and device based on double synchronization. The method comprises the following steps: the UWB base station periodically transmits a communication request frame to the UWB tag through the 2.4G transceiver, and after the transmission is completed, the 2.4G transceiver at the base station end is turned on for 150us and turned off at an interval of 150 us. When the pre-opening time t of the base station scanning window 01 After the time is reached, the UWB base station turns on the 2.4G transceiver of the base station again and turns off again after lasting 64 ms; searching an idle time slot from the current positioning time slot, calculating the starting time of the idle time slot, and replying a synchronous response frame to the UWB tag; after the starting time of each non-idle time slot is reached, starting the UWB transceiver at the base station end, and automatically closing the UWB transceiver at the base station end when the starting time is overtime; the base station receives the positioning request frame POLL from the tag during the time when the UWB transceiver is turned on, and the base station replies the UWB tag with a confirmationThe bit response frame RESP is used for the UWB tag to calculate the distance d between it and the UWB base station. The method provided by the invention can obviously reduce the power consumption of the UWB base station.

Description

Low-power-consumption mixed positioning method and device based on double synchronization
Technical Field
The invention relates to the technical field of indoor positioning, in particular to a low-power-consumption mixed positioning method and device based on double synchronization.
Background
With the development of information technology and internet of things, location services are also receiving more and more social attention. The core service in the location services is a positioning technology; in the outdoor, the positioning technology is mainly adopted as GNSS (Global Navigation Satellite System) technology. In the indoor environment, due to the shielding of buildings and the like and the complex structure of the indoor environment, the positioning label of the GNSS positioning system in the indoor environment is poor; the UWB positioning technology is widely applied to high-precision indoor positioning scenes, and the positioning application based on the UWB positioning technology has the advantages of being high in anti-interference capability, high in response speed and high in precision.
At present, indoor positioning application adopting UWB positioning technology mainly adopts two modes of TDOA and TOF, but a TDOA base station and a TOF base station are required to be in a monitoring state for a long time, so that a base station is required to start a UWB transceiver for monitoring data for a long time, and the relative power consumption is very high. In a production environment, therefore, to ensure power supply capability, a cable power supply must be constructed to supply power to the base station. In some special scenes, such as chemical plants, the construction must be stopped, and a lot of losses are brought to owners. Therefore, UWB base stations, which are powered by batteries, are being popularized in these scenes by several manufacturers, but the operation and maintenance workload of battery replacement is extremely high due to the power consumption problem. Therefore, it is imperative to optimally reduce the power consumption of UWB base stations.
Disclosure of Invention
The invention provides a double-synchronization-based low-power-consumption mixed positioning method and a double-synchronization-based low-power-consumption mixed positioning device, wherein a UWB base station and a UWB tag both have a synchronization function, so that the whole system is in a synchronous working state, and therefore the UWB base station and the UWB tag can both realize low-power-consumption work. And the system can replace partial UWB communication by a 2.4G communication technology with low energy consumption, so that the energy consumption of the system is reduced to the maximum extent, and the service time of UWB base station equipment is prolonged.
The invention provides a low-power consumption mixed positioning method based on double synchronization, which comprises the following steps:
step 1: the UWB base station periodically transmits a communication request frame F to the UWB tag through the 2.4G transceiver at a frequency of 8Hz 00 The method comprises the steps of carrying out a first treatment on the surface of the The communication request frame F 00 A transmission time stamp t including the frame 00 Pre-start time t of next base station scanning window 01 The method comprises the steps of carrying out a first treatment on the surface of the The base station scanning window is used for receiving a communication response frame F sent by the UWB tag 10 ；
Step 2: UWB base station in said communication request frame F 00 After the transmission is completed, the interval 150us is formed, the 2.4G transceiver at the base station end is immediately turned on for 150us and turned off, so that the UWB base station can receive the communication response frame F sent by the UWB tag within the 150us 10 ；
Step 3: when the UWB base station receives the communication response frame F sent by the UWB tag within the 150us 10 In the case of (a), at a pre-start time t of the base station scanning window 01 After the time is reached, the UWB base station starts the 2.4G transceiver at the base station end again and is closed again after the time lasts for 64ms, so that the UWB tag can communicate and synchronize with the UWB base station within the 64ms, and the communication time of UWB positioning is negotiated;
step 4: the UWB base station receives the synchronous request frame F sent by the UWB tag within the 64ms 11 After that, the UWB base station searches an idle time slot from the current positioning time slot and calculates the starting time t of the idle time slot 03 Then, the UWB tag is periodically replied with a synchronous response frame F 01 The method comprises the steps of carrying out a first treatment on the surface of the The synchronization response frame F 01 Comprising the following steps: the synchronization response frame F 01 Is transmitted at time t 02 Start time t of the idle time slot 03 ；
Step 5: in each period, when the idle time slot starts at time t 03 After the time is reached, the UWB base station starts the UWB transceiver at the base station end again to monitor the positioning request frame POLL sent by the UWB tag, and automatically closes the UWB transceiver at the base station end when the time is out;
step 6: after receiving the positioning request frame POLL sent by the UWB tag, the UWB base station records the receiving time t of the positioning request frame POLL u1 The method comprises the steps that a positioning response frame RESP is replied to a UWB tag, so that the UWB tag calculates the distance d between the UWB tag and a UWB base station according to information carried by the positioning response frame RESP; The information carried by the positioning response frame RESP includes: time t of receipt of positioning request frame POLL u1 Time t for transmitting positioning response frame RESP u2 ；t u3 The receiving time of the positioning response frame RESP recorded for the UWB tag; t is t u0 The transmission time of the positioning request frame POLL is sent to the UWB tag, C is the speed of light, and (1+p) is the carrier offset of the UWB tag transceiver relative to the UWB base transceiver station.
According to the low-power consumption mixed construction positioning method based on double synchronization provided by the invention, the step 3 further comprises the following steps: the UWB base station does not receive the communication response frame F sent by the UWB tag in the 150us 10 In the case of (2), the opening plan of the next base station scanning window will be ignored.
According to the low-power consumption mixed-structure positioning method based on double synchronization, in step 6, when the UWB base station receives the Eflag bit carried in the positioning request frame POLL sent by the UWB tag, the UWB base station recovers the idle time slot to save energy consumption.
According to the low-power consumption mixed positioning method based on double synchronization provided by the invention, after the step 5, if the UWB base station continuously receives 7 times of the positioning request POLL sent by the UWB tag, the UWB base station recovers the idle time slot so as to save energy consumption.
According to the low-power consumption mixed construction positioning method based on double synchronization provided by the invention, the information carried by the positioning response frame RESP further comprises: time offset t of POLL access time of positioning request frame relative to idle time slot soffset The method comprises the steps of carrying out a first treatment on the surface of the For the UWB tag to revise the transmission time the next time the positioning request frame POLL is transmitted.
According to the low-power consumption mixed positioning method based on double synchronization, after receiving a final frame sent by a UWB tag, a UWB base station marks the receiving time t of the final frame u5 And calculates the distance d between the final frame and the UWB tag according to the time information carried by the final frame,the time information carried by the final frame comprises: time t of final frame transmission u4 。
A low-power consumption mixed structure positioning method based on double synchronization comprises the following steps:
step 1: when the UWB tag needs to be positioned, a 2.4G transceiver at the tag end is started and a communication request frame F sent by a base station is scanned 00 ；
Step 2: when the UWB tag receives a communication request frame F sent by a UWB base station 00 After that, the communication request frame F is marked 00 Is the reception time t of (2) 10 And receives the communication request frame F 00 The post delay 150us replies a communication response frame F to UWB base station 10 The method comprises the steps of carrying out a first treatment on the surface of the And according to the received communication request frame F 00 The carried time mark information calculates the time t of the scanning window of the base station corresponding to the local scanning window of the label 11 ，t 11 ＝t 10 +(t 01 -t 00 ) The method comprises the steps of carrying out a first treatment on the surface of the The scanning window is used for negotiating time of UWB communication between the UWB tag and the UWB base station, so that the UWB positioning is carried out by the two parties at the same time and timing to the corresponding time point; the communication request frame F 00 The carried time mark information comprises: in each period, the UWB base station transmits a communication request frame F to the UWB tag 00 Is transmitted at time t 00 Pre-opening time t for UWB base station to open receiving window 01 ；
Step 3: time t of scanning window local to the tag 11 After arrival, the UWB tag transmits a synchronization request frame F to the UWB base station within a time period of random delay (0-64) ms 11 And turning on the 2.4G transceiver at the tag end;
step 4: when the UWB tag receives the synchronous response frame F sent by the UWB base station 01 After that, the synchronous response frame F is marked 01 Is the reception time t of (2) 12 And according to the synchronous response frame F 01 The carried information is synchronously calculated to determine the local ranging starting time t 13 ，t 13 ＝t 12 +(t 03 -t 02 ) The synchronous response frame F 01 The carried information comprises: start time t of idle time slot 03 Synchronous response frame F 01 Is transmitted at time t 02 ；
Step 5: at each period, at the local ranging start time t 13 After reaching, the UWB tag sends a ranging request frame POLL to the UWB base station, and records the sending time t of the ranging request frame POLL u0 Simultaneously starting a UWB transceiver at a tag end to receive a positioning response frame RESP replied by a UWB base station;
step 6: after the UWB tag receives a positioning response frame RESP replied by the UWB base station, recording the receiving time t of the positioning response frame RESP by a UWB receiver u3 Simultaneously, the carrier offset p of the UWB base station transceiver is obtained through the carrier integrator of the UWB transceiver, and the sending time t of the positioning request frame POLL is determined according to the carrier offset p u0 Time t of reception of positioning request frame POLL u1 Time t of receipt of positioning response frame RESP u3 Time t for transmitting positioning response frame RESP u2 Calculating the distance d between the UWB base station and the UWB base station;
according to the low-power consumption mixed positioning method based on double synchronization provided by the invention, after the step 6, the method further comprises the following steps: after the UWB tag receives a positioning response frame RESP replied by the UWB base station, a final frame is sent to the UWB base station, so that the UWB base station calculates the distance d between the UWB base station and the UWB tag according to time information carried by the final frame;
the final frame carries information including: time t for transmitting positioning request frame POLL u0 Time t of receipt of positioning response frame RESP u3 Time t of final frame transmission u4 。
The present invention also provides a UWB base station apparatus comprising:
a transmitting unit for the UWB base station to periodically transmit a communication request frame F to the UWB tag at a frequency of 8Hz through the 2.4G transceiver 00 The method comprises the steps of carrying out a first treatment on the surface of the The communication request frame F 00 A transmission time stamp t including the frame 00 Pre-start time t of next base station scanning window 01 The method comprises the steps of carrying out a first treatment on the surface of the The saidThe base station scanning window is used for receiving a communication response frame F sent by the UWB tag 10 ；
An opening unit, configured to, in the communication request frame F, perform UWB base station 00 After the transmission is completed, the interval 150us is formed, the 2.4G transceiver at the base station end is immediately turned on for 150us and turned off, so that the UWB base station can receive the communication response frame F sent by the UWB tag within the 150us 10 ；
The starting unit is further configured to, when the UWB base station receives the communication response frame F sent by the UWB tag within the 150us 10 In the case of (a), at a pre-start time t of the base station scanning window 01 After the time is reached, the UWB base station starts the 2.4G transceiver at the base station end again and is closed again after the time lasts for 64ms, so that the UWB tag can communicate and synchronize with the UWB base station within the 64ms, and the communication time of UWB positioning is negotiated;
a processing unit for the UWB base station to receive the synchronous request frame F sent by the UWB tag within the 64ms 11 After that, the UWB base station searches an idle time slot from the current positioning time slot and calculates the starting time t of the idle time slot 03 ；
A reply unit for timely replying the UWB tag with a synchronous response frame F 01 The method comprises the steps of carrying out a first treatment on the surface of the The synchronization response frame F 01 Comprising the following steps: the synchronization response frame F 01 Is transmitted at time t 02 Start time t of the idle time slot 03 ；
The starting unit is also used for starting the idle time slot at the starting time t of each period 03 After the time is reached, the UWB base station starts the UWB transceiver at the base station end again to monitor the positioning request frame POLL sent by the UWB tag, and automatically closes the UWB transceiver at the base station end when the time is out;
the reply unit is further configured to record a time t for receiving the positioning request frame POLL sent by the UWB tag after the UWB base station receives the positioning request frame POLL u1 The method comprises the steps that a positioning response frame RESP is replied to a UWB tag, so that the UWB tag calculates the distance d between the UWB tag and a UWB base station according to information carried by the positioning response frame RESP;the information carried by the positioning response frame RESP includes: time t of receipt of positioning request frame POLL u1 Time t for transmitting positioning response frame RESP u2 ；t u3 The receiving time of the positioning response frame RESP recorded for the UWB tag; t is t u0 The transmission time of the positioning request frame POLL is sent to the UWB tag, C is the speed of light, and (1+p) is the carrier offset of the UWB tag transceiver relative to the UWB base transceiver station.
The present invention also provides a UWB tag apparatus comprising:
the opening unit is used for opening the 2.4G transceiver at the tag end when the UWB tag needs to be positioned;
a scanning unit for scanning a communication request frame F sent by the base station 00 ；
A reply unit for receiving the communication request frame F sent by the UWB base station when the UWB tag receives the communication request frame F 00 After that, the communication request frame F is marked 00 Is the reception time t of (2) 10 And receives the communication request frame F 00 The post delay 150us replies a communication response frame F to UWB base station 10 ；
A processing unit for receiving a communication request frame F 00 The carried time mark information calculates the time t of the scanning window of the base station corresponding to the local scanning window of the label 11 ，t 11 ＝t 10 +(t 01 -t 00 ) The method comprises the steps of carrying out a first treatment on the surface of the The scanning window is used for negotiating time of UWB communication between the UWB tag and the UWB base station, so that the UWB positioning is carried out by the two parties at the same time and timing to the corresponding time point; the communication request frame F 00 The carried time mark information comprises: in each period, the UWB base station transmits a communication request frame F to the UWB tag 00 Is transmitted at time t 00 Pre-opening time t for UWB base station to open receiving window 01 ；
A transmitting unit for transmitting the scan window time t when the tag is local 11 After arrival, the UWB tag transmits a synchronization request frame F to the UWB base station within a time period of random delay (0-64) ms 11 And turning on the 2.4G transceiver at the tag end;
the said placeThe processing unit is also used for receiving the synchronous response frame F sent by the UWB base station when the UWB tag receives 01 After that, the synchronous response frame F is marked 01 Is the reception time t of (2) 12 And according to the synchronous response frame F 01 The carried information is synchronously calculated to determine the local ranging starting time t 13 ，t 13 ＝t 12 +(t 03 -t 02 ) The synchronous response frame F 01 The carried information comprises: start time t of idle time slot 03 Synchronous response frame F 01 Is transmitted at time t 02 ；
The sending unit is further configured to, in each period, at the local ranging start time t 13 After reaching, the UWB tag sends a ranging request frame POLL to the UWB base station, and records the sending time t of the ranging request frame POLL u0 ；
The starting unit is further used for starting the UWB transceiver at the tag end to receive a positioning response frame RESP replied by the UWB base station;
a processing unit for recording the receiving time t of the positioning response frame RESP by the UWB receiver after the UWB tag receives the positioning response frame RESP replied by the UWB base station u3 Simultaneously, the carrier offset p of the UWB base station transceiver is obtained through the carrier integrator of the UWB transceiver, and the sending time t of the positioning request frame POLL is determined according to the carrier offset p u0 Time t of reception of positioning request frame POLL u1 Time t of receipt of positioning response frame RESP u3 Time t for transmitting positioning response frame RESP u2 Calculating the distance d between the UWB base station and the UWB base station;
according to the low-power-consumption mixed positioning method based on double synchronization, time synchronization of the sub-millisecond level is achieved through the low-power-consumption 2.4G communication technology, so that equipment participating in positioning can be awakened or dormant at a scheduled time point, and a UWB base station starts a UWB transceiver to enter a positioning mode only when a tag requests positioning, and other time periods are all in a dormant state. The power consumption of the UWB base station can be reduced to a very low state and in a non-tag environment the UWB base station can reach a power consumption level that is not much different from that of the iBeacon beacon.
In addition, the UWB base station and the UWB tag are respectively provided with a UWB transceiver and a 2.4G transceiver, and the transceivers comprise a receiver and a transmitter; when the UWB base station and the UWB tag carry out communication request and synchronization request, the 2.4G transceiver is adopted, and only when the two parties carry out positioning request, the UWB transceiver is adopted, so that the energy consumption can be further reduced.
Drawings
In order to more clearly illustrate the invention or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 shows a dual-synchronization low-power-consumption hybrid positioning method based on UWB base station side;
FIG. 2 is a flow chart of a dual-synchronization low-power-consumption hybrid positioning method based on a UWB tag side;
FIG. 3 is a flow chart of the interaction method between the UWB tag side and the UWB base station according to the method provided by the invention;
FIG. 4 is a graph showing power consumption of a conventional UWB base station;
FIG. 5 is a graph showing power consumption after a double synchronization method is employed in a label-free environment;
FIG. 6 is a diagram of the current state after the double synchronization method is adopted when applying for a time slot in a tag environment;
fig. 7 is a diagram of the current state after the double synchronization method when the distance measurement is performed in a tag environment.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the UWB positioning technology, the devices mainly participated in are divided into UWB base stations and UWB labels, wherein the UWB base stations are fixed-point devices, namely reference anchor points; UWB tags are identification cards for mobile devices, i.e., personnel or mobile devices. In the conventional positioning system, the UWB base station always places the RF transceiver in an on state, and waits for a request of burst communication, ranging, positioning, etc. of the UWB tag. Thus, in this system, the UWB tag may be in a low power state, but the transceiver of the UWB base station is always in an on state and cannot enter the low power state.
The invention aims at providing a mixed positioning method based on 2.4G communication and UWB double synchronization technology, which mainly relies on two devices of a UWB base station and a UWB tag, and simultaneously the UWB base station and the UWB tag are provided with a low-power-consumption 2.4G transceiver and a UWB transceiver; besides, UWB tags also include motion detection devices such as accelerometers.
Before explaining the scheme of the invention, symbols designed by the scheme of the invention are explained, as shown in table 1:
TABLE 1
After hardware initialization is completed by powering up the UWB base station, the UWB positioning resource is first divided into n (n=32 when implemented) time slots S in a 1 second period form 0 、S 1 、....S n-1 Then periodically sending a Blink wireless communication request frame F 00 The wireless communication request frame F 00 The transmission time stamp t of the current frame is included in 00 Time t of last base station scanning window pre-opening 01 The method comprises the steps of carrying out a first treatment on the surface of the And in communication request frame F 00 After the transmission is completed, the 2.4G transceiver is turned on for 150us after a period of 150us, and the transceiver is turned off again. If the base station does not receive instructions for the UWB tag within this 150us base station scanning window, the UWB base station will ignore the last base station scanning window opening schedule. Otherwise UWB base station will be at t 01 The reception is turned on at the moment and is continued for 64ms for the UWB base station to communicate with the UWB tag and synchronize during this time period, negotiating the time for UWB communication. And then the UWB positioning function is carried out by timing to the corresponding time point at the same time.
After the UWB tag is powered on and hardware initialization is completed, when positioning is needed, a 2.4G transceiver of the tag is randomly started and a Blink communication request frame F of a base station is scanned 00 When receiving the communication request frame F 00 Then, the receiving time t of the frame is marked 10 And replies a communication response frame F after 150us 10 :0xAA 0xAA 0x550x55 to the base station. And calculating the scanning window time t of the base station scanning window time corresponding to the local label according to the time mark information in the received Blink information 11 ＝t 10 +(t 01 -t 00 ). And at t 11 To (t) 11 +64 ms) transmits a synchronization request frame F to the base station through a low power consumption 2.4G channel 11 。
When the base station receives the synchronization request frame F 11 Thereafter, one unallocated free time slot S is searched for among the time slots which are already divided into n x Then calculate the idle time slot S x Time stamp t of corresponding base station 03 (the start time of UWB ranging time slot applied by the base station end tag, namely the start time of idle time slot), and then replying to the synchronous response frame F 01 The synchronization response frame F 01 Comprising: start time t of idle time slot 03 Synchronous response frame F 01 Is transmitted at time t 02 。
The tag receives the synchronous response frame F 01 And marks the receiving time t of the frame 12 Then calculating the time slot Sx obtained this time and the time t corresponding to the local 13 ＝t 12 +(t 03 -t 02 ) After the synchronization is completed, the tag may be at t 13 For each time point (t 13 And (n is 1 s)) the base station performs ranging positioning. When the tag does not need to be positioned, the Eflag bit can be set in the positioning frame to end. Or the positioning and ranging relation with the current base station is directly terminated after 7 times of continuous positioning and ranging failure with the base station; and (4) entering a re-discovery base station, synchronization and time slot resource application process.
The base station at each S x Time slots, i.e. (t) 03 ++ (n 1 s)) at a time point, UWB reception is turned on, and UWB transceiver is automatically turned off upon timeout. And when receiving the Eflag identification from the tag or continuously receiving the positioning request of the tag for 7 times, the base station can recover the time slot Sx so as to achieve the purpose of saving energy consumption.
Fig. 1 is a diagram of a dual-synchronization low-power consumption hybrid positioning method based on a UWB base station side, the method includes the following steps:
step 1: the UWB base station periodically transmits a communication request frame F to the UWB tag through the 2.4G transceiver at a frequency of 8Hz 00 The method comprises the steps of carrying out a first treatment on the surface of the The communication request frame F 00 A transmission time stamp t including the frame 00 Pre-start time t of next base station scanning window 01 The method comprises the steps of carrying out a first treatment on the surface of the The base station scanning window is used for receiving a communication response frame F sent by the UWB tag 10 ；
Step 2: UWB base station in said communication request frame F 00 After the transmission is completed, the interval 150us is formed, the 2.4G transceiver at the base station end is immediately turned on for 150us and turned off, so that the UWB base station can receive the communication response frame F sent by the UWB tag within the 150us 10 ；
Step 3: when the UWB base station receives the communication response frame F sent by the UWB tag within the 150us 10 In the case of (a), at a pre-start time t of the base station scanning window 01 After the time of the arrival of the product,the UWB base station turns on the 2.4G transceiver of the base station end again and turns off again after lasting for 64ms, so that the UWB tag can communicate and synchronize with the base station end within the 64ms, and the communication time of UWB positioning is negotiated;
step 4: the UWB base station receives the synchronous request frame F sent by the UWB tag within the 64ms 11 After that, the UWB base station searches an idle time slot from the current positioning time slot and calculates the starting time t of the idle time slot 03 Then, the UWB tag is periodically replied with a synchronous response frame F 01 The method comprises the steps of carrying out a first treatment on the surface of the The synchronization response frame F 01 Comprising the following steps: the synchronization response frame F 01 Is transmitted at time t 02 Start time t of the idle time slot 03 ；
Step 5: in each period, when the idle time slot starts at time t 03 After the time is reached, the UWB base station starts a base station end UWB transceiver to monitor a positioning request frame POLL sent by the UWB tag, and automatically closes the base station end UWB transceiver when the time is overtime;
Step 6: after receiving the positioning request frame POLL sent by the UWB tag, the UWB base station records the receiving time t of the positioning request frame POLL u1 The method comprises the steps that a positioning response frame RESP is replied to a UWB tag, so that the UWB tag calculates the distance d between the UWB tag and a UWB base station according to information carried by the positioning response frame RESP;the information carried by the positioning response frame RESP includes: time t of receipt of positioning request frame POLL u1 Time t for transmitting positioning response frame RESP u2 ；t u3 The receiving time of the positioning response frame RESP recorded for the UWB tag; t is t u0 The transmission time of the positioning request frame POLL is sent to the UWB tag, C is the speed of light, and (1+p) is the carrier offset of the UWB tag transceiver relative to the UWB base transceiver station.
Fig. 2 is a flow chart of a dual-synchronization low-power consumption hybrid positioning method based on a UWB tag side, provided by the invention, the scheme includes the following steps:
step 1: when the UWB tag needs to be positioned, a 2.4G transceiver at the tag end is started and a base station is scanned to send outSent communication request frame F 00 ；
Step 2: when the UWB tag receives a communication request frame F sent by a UWB base station 00 After that, the communication request frame F is marked 00 Is the reception time t of (2) 10 And receives the communication request frame F 00 The post delay 150us replies a communication response frame F to UWB base station 10 The method comprises the steps of carrying out a first treatment on the surface of the And according to the received communication request frame F 00 The carried time mark information calculates the time t of the scanning window of the base station corresponding to the local scanning window of the label 11 ，t 11 ＝t 10 +(t 01 -t 00 ) The method comprises the steps of carrying out a first treatment on the surface of the The scanning window is used for negotiating time of UWB communication between the UWB tag and the UWB base station, so that the UWB positioning is carried out by the two parties at the same time and timing to the corresponding time point; the communication request frame F 00 The carried time mark information comprises: in each period, the UWB base station transmits a communication request frame F to the UWB tag 00 Is transmitted at time t 00 Pre-opening time t for UWB base station to open receiving window 01 ；
Step 3: time t of scanning window local to the tag 11 After arrival, the UWB tag transmits a synchronization request frame F to the UWB base station within a time period of random delay (0-64) ms 11 And turning on the 2.4G transceiver at the tag end;
step 4: when the UWB tag receives the synchronous response frame F sent by the UWB base station 01 After that, the synchronous response frame F is marked 01 Is the reception time t of (2) 12 And according to the synchronous response frame F 01 The carried information is synchronously calculated to determine the local ranging starting time t 13 ，t 13 ＝t 12 +(t 03 -t 02 ) The synchronous response frame F 01 The carried information comprises: start time t of idle time slot 03 Synchronous response frame F 01 Is transmitted at time t 02 ；
Step 5: at each period, at the local ranging start time t 13 After reaching, the UWB tag sends a ranging request frame POLL to the UWB base station, and records the sending time t of the ranging request frame POLL u0 Simultaneously turning on the tag-side UWB transceiver to receive UWB base station returnsA complex positioning response frame RESP;
step 6: after the UWB tag receives a positioning response frame RESP replied by the UWB base station, recording the receiving time t of the positioning response frame RESP by a UWB receiver u3 Simultaneously, the carrier offset p of the UWB base station transceiver is obtained through the carrier integrator of the UWB transceiver, and the sending time t of the positioning request frame POLL is determined according to the carrier offset p u0 Time t of reception of positioning request frame POLL u1 Time t of receipt of positioning response frame RESP u3 Time t for transmitting positioning response frame RESP u2 Calculating the distance d between the UWB base station and the UWB base station;
fig. 3 is a flowchart of an interaction method between a UWB tag side and a UWB base station according to the method provided by the present invention, as shown in fig. 3, the method includes the following steps:
step 1: after the base station is powered on and hardware initialization is completed, taking 1S as a period, dividing the time of 1 period into 32 time slots { S ] 0 、S 1 、....S 31 And marked as idle. The Blink communication request frame F is then periodically transmitted at a frequency of 8Hz by a 2.4G wireless transceiver 00 Communication request frame F 00 The transmission time stamp t of the current frame is included in 00 Pre-start time t of last base station scanning window 01 The method comprises the steps of carrying out a first treatment on the surface of the And in communication request frame F 00 After the transmission is completed, the interval is 150us, and a wireless receiver of 2.4G is immediately started to receive wireless signals, and the wireless signals last for 150us;
step 2: after the label is powered on and hardware initialization is completed, if the label is activated or the accelerometer triggers the activation of the label, a 2.4G wireless receiver is started to receive a Blink communication request frame F 00 If a communication request frame F is received 00 Marking receipt of the communication request frame F 00 Is t 10 And after a delay of 150us, starts to reply to the base station with a communication response frame F 10 The communication response frame F 10 The content of (1) is [0xAA ] 0x550x55]The method comprises the steps of carrying out a first treatment on the surface of the Then calculate the scan window time t of the base station scan window time corresponding to the local label 11 ＝t 10 +(t 01 -t 00 ) Thus, the synchronization of the first communication time of the base station and the tag is completed; then at t 11 To (t) 11 +64 ms) transmits a synchronization request frame F to the base station through the 2.4G receiver 11 。
Step 3: when the 2.4G receiver of the base station in "step 1" receives the communication response frame F replied to the tag in "step 2" in the reception period lasting 150us 10 Then, the current environment is considered to have the communication request requirement of the tag; the base station will pre-start time t in the last base station scanning window 01 The 2.4G receiver is turned on for 64ms. During which a synchronization request frame F of the tag is received 11 Thereafter, the base station will be at { S 0 、S 1 、....S 31 Finding an empty time slot S in the positioning time slots x Then S is carried out x Start time t corresponding to time slot 03 Reverting to the tag. Then timing at t 02 Time-stamp reply synchronization response frame F 01 The synchronization response frame F 01 Is transmitted at time t 02 Start time t of the idle time slot 03 ；
Step 4: the tag receives the synchronous response frame F 01 And annotate the synchronization response frame F 01 Is the reception time t of (2) 12 Then calculate the time slot S acquired this time x Time t corresponding to local 13 ＝t 12 +(t 03 -t 02 ) The method comprises the steps of carrying out a first treatment on the surface of the After the synchronization is completed, the tag may be at t 13 Each time point (t 13 And (n is an integer) and the base station.
Step 5: the base station is at the corresponding t 03 T 03 At the mapping time point with 1S as a period, the UWB receiver is turned on, and the positioning request frame POLL from the tag UWB transmitter is monitored.
Step 6: the tag is at t 13 Transmitting a positioning request frame POLL through a UWB transceiver at a time point, and recording a transmission time t u0 。
Step 7: after receiving the positioning request frame POLL, the base station replies a tag positioning response frame RESP through the UWB transceiver, wherein the frame comprises a time t for receiving the positioning request frame POLL u1 Time t for transmitting positioning response frame RESP u2 The optional information is the time offset t of the POLL access time of the tag sent positioning request frame relative to the Sx time slot soffset 。
Step 8: when the tag receives the positioning response frame RESP, the time t of the received frame is recorded by the UWB receiver u3 The method comprises the steps of carrying out a first treatment on the surface of the Simultaneously, the carrier offset p of the opposite-end transceiver is obtained through a carrier integrator of the UWB transceiver; then through a calculation formulaWhere C is the speed of light and (1+p) is the carrier offset of the tag UWB transceiver relative to the base station transceiver. The carrier frequency of the receiver is obtained by frequency doubling of the local crystal oscillator of the equipment. Therefore, p is a crystal oscillator frequency offset factor of the tag relative to the base station, and the result which is comparable to the bilateral ranging precision can be obtained through frequency offset correction by a unilateral ranging method in the formula. If the positioning response frame RESP contains t soffset Information, the POLL time of the next ranging position needs to be corrected, i.e. the new time is (t 14 +1s+t soffset ). So far, the one-time ranging process is completed.
Step 9: the step is an optional step, and if the base station end is required to acquire the distance information of the tag, the step is required to be added. After the tag receives the positioning response frame RESP, t is transmitted through the UWB transceiver u0 、t u3 、t u4 Information is returned to the base station by final frames (where t u4 Is the final transmit timestamp). After receiving the final frame, the base station obtains the corresponding receiving stamp time t through the UWB transmitter u5 . Then the distance can be calculated by a double-sided ranging formula, wherein the double-sided ranging formula is as follows:
from "step 1" to "step 9" is one complete logic cycle.
The invention mainly solves the problems of construction wiring and high operation and maintenance cost in the production environment caused by high power consumption of the base station in the indoor positioning application scene, and fig. 4-7 are system power consumption test comparison diagrams before and after the method is adopted. The UWB hardware of the starting base station is configured as DW1000+PA+LNA, and the current testing tool is an NRF-PPK2 current measuring instrument.
Wherein, FIG. 4 is a graph showing the power consumption of a conventional UWB base station, with an average power consumption current of 161.04mA@3.3V; fig. 5 is a graph showing power consumption after a double synchronization method is adopted in a label-free environment, average power consumption is about 80.90ua@3.3v, fig. 6 is a current state graph after a double synchronization method is adopted when a time slot is applied in a label-free environment, fig. 7 is a current state graph after a double synchronization method is adopted when a label-free environment is adopted and ranging is performed, and as can be seen from improvement, the standby power consumption of a UWB base station after the double synchronization technology is as low as 80.09ua@3.3v under the condition that the environment has no active label; while an active tag enters the area for ranging, the power consumption level of the base station is maintained at only 1.8 mA. Therefore, the method provided by the invention has very obvious effect of reducing energy consumption. Therefore, the low-power consumption UWB base station with the scheme of the invention is installed in the fields like chemical industry and the like, and the construction cost and the operation and maintenance cost can be reduced to the greatest extent.
The present invention also provides a UWB base station apparatus comprising:
a transmitting unit for the UWB base station to periodically transmit a communication request frame F to the UWB tag at a frequency of 8Hz through the 2.4G transceiver 00 The method comprises the steps of carrying out a first treatment on the surface of the The communication request frame F 00 A transmission time stamp t including the frame 00 Pre-start time t of next base station scanning window 01 The method comprises the steps of carrying out a first treatment on the surface of the The base station scanning window is used for receiving a communication response frame F sent by the UWB tag 10 ；
An opening unit, configured to, in the communication request frame F, perform UWB base station 00 After the transmission is completed, the interval 150us is formed, the 2.4G transceiver at the base station end is immediately turned on for 150us and turned off, so that the UWB base station can receive the communication response frame F sent by the UWB tag within the 150us 10 ；
The starting unit is further configured to, when the UWB base station receives the communication response frame F sent by the UWB tag within the 150us 10 In the case of (a), at a pre-start time t of the base station scanning window 01 After the time is reached, the UWB base station starts the 2.4G transceiver at the base station end again and is closed again after the time lasts for 64ms, so that the UWB tag can communicate and synchronize with the UWB base station within the 64ms, and the communication time of UWB positioning is negotiated;
a processing unit for the UWB base station to receive the synchronous request frame F sent by the UWB tag within the 64ms 11 After that, the UWB base station searches an idle time slot from the current positioning time slot and calculates the starting time t of the idle time slot 03 ；
A reply unit for timely replying the UWB tag with a synchronous response frame F 01 The method comprises the steps of carrying out a first treatment on the surface of the The synchronization response frame F 01 Comprising the following steps: the synchronization response frame F 01 Is transmitted at time t 02 Start time t of the idle time slot 03 ；
The starting unit is also used for starting the idle time slot at the starting time t of each period 03 After the time is reached, the UWB base station starts the UWB transceiver at the base station end again to monitor the positioning request frame POLL sent by the UWB tag, and automatically closes the UWB transceiver at the base station end when the time is out;
the reply unit is further configured to record a time t for receiving the positioning request frame POLL sent by the UWB tag after the UWB base station receives the positioning request frame POLL u1 The method comprises the steps that a positioning response frame RESP is replied to a UWB tag, so that the UWB tag calculates the distance d between the UWB tag and a UWB base station according to information carried by the positioning response frame RESP;the information carried by the positioning response frame RESP includes: time t of receipt of positioning request frame POLL u1 Time t for transmitting positioning response frame RESP u2 ；t u3 The receiving time of the positioning response frame RESP recorded for the UWB tag; t is t u0 The transmission time of the positioning request frame POLL is sent to the UWB tag, C is the light speed, (1+p) is the UWB tag receiving and transmittingCarrier offset of the receiver relative to the UWB base transceiver station.
The present invention also provides a UWB tag apparatus comprising:
the opening unit is used for opening the 2.4G transceiver at the tag end when the UWB tag needs to be positioned;
a scanning unit for scanning a communication request frame F sent by the base station 00 ；
A reply unit for receiving the communication request frame F sent by the UWB base station when the UWB tag receives the communication request frame F 00 After that, the communication request frame F is marked 00 Is the reception time t of (2) 10 And receives the communication request frame F 00 The post delay 150us replies a communication response frame F to UWB base station 10 ；
A processing unit for receiving a communication request frame F 00 The carried time mark information calculates the time t of the scanning window of the base station corresponding to the local scanning window of the label 11 ，t 11 ＝t 10 +(t 01 -t 00 ) The method comprises the steps of carrying out a first treatment on the surface of the The scanning window is used for negotiating time of UWB communication between the UWB tag and the UWB base station, so that the UWB positioning is carried out by the two parties at the same time and timing to the corresponding time point; the communication request frame F 00 The carried time mark information comprises: in each period, the UWB base station transmits a communication request frame F to the UWB tag 00 Is transmitted at time t 00 Pre-opening time t for UWB base station to open receiving window 01 ；
A transmitting unit for transmitting the scan window time t when the tag is local 11 After arrival, the UWB tag transmits a synchronization request frame F to the UWB base station within a time period of random delay (0-64) ms 11 And turning on the 2.4G transceiver at the tag end;
the processing unit is further configured to, when the UWB tag receives a synchronization response frame F sent by the UWB base station 01 After that, the synchronous response frame F is marked 01 Is the reception time t of (2) 12 And according to the synchronous response frame F 01 The carried information is synchronously calculated to determine the local ranging starting time t 13 ，t 13 ＝t 12 +(t 03 -t 02 ) The synchronous response frame F 01 The carried information comprises: start time t of idle time slot 03 Synchronous response frame F 01 Is transmitted at time t 02 ；
The sending unit is further configured to, in each period, at the local ranging start time t 13 After reaching, the UWB tag sends a ranging request frame POLL to the UWB base station, and records the sending time t of the ranging request frame POLL u0 ；
The starting unit is further used for starting the UWB transceiver at the tag end to receive a positioning response frame RESP replied by the UWB base station;
a processing unit for recording the receiving time t of the positioning response frame RESP by the UWB receiver after the UWB tag receives the positioning response frame RESP replied by the UWB base station u3 Simultaneously, the carrier offset p of the UWB base station transceiver is obtained through the carrier integrator of the UWB transceiver, and the sending time t of the positioning request frame POLL is determined according to the carrier offset p u0 Time t of reception of positioning request frame POLL u1 Time t of receipt of positioning response frame RESP u3 Time t for transmitting positioning response frame RESP u2 Calculating the distance d between the UWB base station and the UWB base station;
finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims (10)

1. The low-power consumption mixed positioning method based on double synchronization is characterized by comprising the following steps of:
step 1: the UWB base station periodically transmits a communication request frame F to the UWB tag through the 2.4G transceiver at a frequency of 8Hz 00 The method comprises the steps of carrying out a first treatment on the surface of the The communication request frame F 00 A transmission time stamp t including the frame 00 Pre-start time t of next base station scanning window 01 The method comprises the steps of carrying out a first treatment on the surface of the The base station scanning window is used for receiving a communication response frame F sent by the UWB tag 10 ；
Step 2: UWB base station in said communication request frame F 00 After the transmission is completed, the interval 150us is formed, the 2.4G transceiver at the base station end is immediately turned on for 150us and turned off, so that the UWB base station can receive the communication response frame F sent by the UWB tag within the 150us 10 ；
Step 3: when the UWB base station receives a communication response frame F from the UWB tag during the period when the 2.4G transceiver is turned on 10 In the case of (2), then at the pre-start time t of the base station scanning window 01 After the time is reached, the UWB base station opens the 2.4G transceiver at the base station end again and closes again after the time lasts for 64ms, so that the UWB tag can communicate and synchronize with the 2.4G transceiver within the 64ms, and the communication time of UWB positioning is negotiated;
step 4: if the UWB base station receives the synchronization request frame F from the tag within the continuous 64ms 11 After that, the UWB base station searches an idle time slot from the current positioning time slot and calculates the starting time t of the idle time slot 03 Then, the UWB tag is periodically replied with a synchronous response frame F 01 The method comprises the steps of carrying out a first treatment on the surface of the The synchronization response frame F 01 Comprising the following steps: the synchronization response frame F 01 Is transmitted at time t 02 Start time t of the idle time slot 03 ；
Step 5: in each period, when the idle time slot starts at time t 03 After the time is reached, the UWB base station starts a base station end UWB transceiver to monitor a positioning request frame POLL sent by the UWB tag, and automatically closes the base station end UWB transceiver when the time is overtime;
step 6: after receiving the positioning request frame POLL sent by the UWB tag, the UWB base station records the receiving time t of the positioning request frame POLL u1 The method comprises the steps that a positioning response frame RESP is replied to a UWB tag, so that the UWB tag calculates the distance d between the UWB tag and a UWB base station according to information carried by the positioning response frame RESP;the information carried by the positioning response frame RESP includes: time t of receipt of positioning request frame POLL u1 Time t for transmitting positioning response frame RESP u2 ；t u3 The receiving time of the positioning response frame RESP recorded for the UWB tag; t is t u0 The transmission time of the positioning request frame POLL is sent to the UWB tag, C is the speed of light, and (1+p) is the carrier offset of the UWB tag transceiver relative to the UWB base transceiver station.
2. The dual synchronization-based low power consumption hybrid positioning method according to claim 1, wherein the step 3 further comprises: the UWB base station does not receive the communication response frame F sent by the UWB tag in the 150us 10 In the case of (2), the opening plan of the next base station scanning window will be ignored.
3. The dual synchronization-based low power consumption hybrid positioning method according to claim 1, wherein in step 6, when the UWB base station carries an Eflag bit in the positioning request frame POLL sent by the UWB tag, the UWB base station recovers the idle time slot to save energy consumption.
4. The dual synchronization-based low power consumption hybrid positioning method according to claim 1, wherein after step 5, if the UWB base station continuously receives 7 times no positioning request POLL transmitted by the UWB tag, the UWB base station recovers the idle time slot to save energy consumption.
5. The dual synchronization-based low power consumption hybrid positioning method according to claim 1, wherein the information carried by the positioning response frame RESP further comprises: time offset t of POLL access time of positioning request frame relative to idle time slot soffset The method comprises the steps of carrying out a first treatment on the surface of the For the UWB tag to revise the transmission time the next time the positioning request frame POLL is transmitted.
6. The dual synchronization-based low power consumption hybrid positioning method according to claim 1, wherein after receiving a final frame transmitted by a UWB tag, a UWB base station marks a reception time t of the final frame u5 And calculates the distance d between the final frame and the UWB tag according to the time information carried by the final frame,the time information carried by the final frame comprises: time t of final frame transmission u4 。
7. The low-power consumption mixed positioning method based on double synchronization is characterized by comprising the following steps of:
step 1: when the UWB tag needs to be positioned, a 2.4G transceiver at the tag end is started and a communication request frame F sent by a base station is scanned 00 ；
Step 2: when the UWB tag receives a communication request frame F sent by a UWB base station 00 After that, the communication request frame F is marked 00 Is the reception time t of (2) 10 And receives the communication request frame F 00 The post delay 150us replies a communication response frame F to UWB base station 10 The method comprises the steps of carrying out a first treatment on the surface of the And according to the received communication request frame F 00 The carried time mark information calculates the time t of the scanning window of the base station corresponding to the local scanning window of the label 11 ，t 11 ＝t 10 +(t 01 -t 00 ) The method comprises the steps of carrying out a first treatment on the surface of the The scanning window is used for negotiating time of UWB communication between the UWB tag and the UWB base station, so that the UWB positioning is carried out by the two parties at the same time and timing to the corresponding time point; the communication request frame F 00 The carried time mark information comprises: in each period, the UWB base station transmits a communication request frame F to the UWB tag 00 Is transmitted at time t 00 Pre-opening time t for UWB base station to open receiving window 01 ；
Step 3: time t of scanning window local to the tag 11 After arrival, the UWB tag transmits a synchronization request frame F to the UWB base station within a time period of random delay (0-64) ms 11 And turning on the 2.4G transceiver at the tag end;
step (a)4: when the UWB tag receives the synchronous response frame F sent by the UWB base station 01 After that, the synchronous response frame F is marked 01 Is the reception time t of (2) 12 And according to the synchronous response frame F 01 The carried information is synchronously calculated to determine the local ranging starting time t 13 ，t 13 ＝t 12 +(t 03 -t 02 ) The synchronous response frame F 01 The carried information comprises: start time t of idle time slot 03 Synchronous response frame F 01 Is transmitted at time t 02 ；
Step 5: at each period, at the local ranging start time t 13 After reaching, the UWB tag sends a ranging request frame POLL to the UWB base station, and records the sending time t of the ranging request frame POLL u0 Simultaneously starting a UWB transceiver at a tag end to receive a positioning response frame RESP replied by a UWB base station;
step 6: after the UWB tag receives a positioning response frame RESP replied by the UWB base station, recording the receiving time t of the positioning response frame RESP by a UWB receiver u3 Simultaneously, the carrier offset p of the UWB base station transceiver is obtained through the carrier integrator of the UWB transceiver, and the sending time t of the positioning request frame POLL is determined according to the carrier offset p u0 Time t of reception of positioning request frame POLL u1 Time t of receipt of positioning response frame RESP u3 Time t for transmitting positioning response frame RESP u2 Calculating the distance d between the UWB base station and the UWB base station;
8. the dual synchronization-based low power consumption hybrid positioning method according to claim 7, further comprising, after step 6: after the UWB tag receives a positioning response frame RESP replied by the UWB base station, a final frame is sent to the UWB base station, so that the UWB base station calculates the distance d between the UWB base station and the UWB tag according to time information carried by the final frame;
information carried by the final frameComprising the following steps: time t for transmitting positioning request frame POLL u0 Time t of receipt of positioning response frame RESP u3 Time t of final frame transmission u4 。
9. A UWB base station apparatus comprising:
a transmitting unit for the UWB base station to periodically transmit a communication request frame F to the UWB tag at a frequency of 8Hz through the 2.4G transceiver 00 The method comprises the steps of carrying out a first treatment on the surface of the The communication request frame F 00 A transmission time stamp t including the frame 00 Pre-start time t of next base station scanning window 01 The method comprises the steps of carrying out a first treatment on the surface of the The base station scanning window is used for receiving a communication response frame F sent by the UWB tag 10 ；
An opening unit, configured to, in the communication request frame F, perform UWB base station 00 After the transmission is completed, the interval 150us is formed, the 2.4G transceiver at the base station end is immediately turned on for 150us and turned off, so that the UWB base station can receive the communication response frame F sent by the UWB tag within the 150us 10 ；
The starting unit is further configured to, when the UWB base station receives a communication response frame F from the UWB tag during the period of starting the 2.4G transceiver 10 In the case of (2), then at the pre-start time t of the base station scanning window 01 After the time is reached, the UWB base station opens the 2.4G transceiver at the base station end again and closes again after the time lasts for 64ms, so that the UWB tag can communicate and synchronize with the 2.4G transceiver within the 64ms, and the communication time of UWB positioning is negotiated;
Processing unit, if UWB base station receives synchronization request frame F from tag in continuous 64ms 11 After that, the UWB base station searches an idle time slot from the current positioning time slot and calculates the starting time t of the idle time slot 03 ；
A reply unit for timely replying the UWB tag with a synchronous response frame F 01 The method comprises the steps of carrying out a first treatment on the surface of the The synchronization response frame F 01 Comprising the following steps: the synchronization response frame F 01 Is transmitted at time t 02 Start time t of the idle time slot 03 ；
The opening unit is also used for, in each period, whenStart time t of the idle time slot 03 After the time is reached, the UWB base station starts the UWB transceiver at the base station end again to monitor the positioning request frame POLL sent by the UWB tag, and automatically closes the UWB transceiver at the base station end when the time is out;
the reply unit is further configured to record a time t for receiving the positioning request frame POLL sent by the UWB tag after the UWB base station receives the positioning request frame POLL u1 The method comprises the steps that a positioning response frame RESP is replied to a UWB tag, so that the UWB tag calculates the distance d between the UWB tag and a UWB base station according to information carried by the positioning response frame RESP;the information carried by the positioning response frame RESP includes: time t of receipt of positioning request frame POLL u1 Time t for transmitting positioning response frame RESP u2 ；t u3 The receiving time of the positioning response frame RESP recorded for the UWB tag; t is t u0 The transmission time of the positioning request frame POLL is sent to the UWB tag, C is the speed of light, and (1+p) is the carrier offset of the UWB tag transceiver relative to the UWB base transceiver station.
10. A UWB tag apparatus comprising:
the opening unit is used for opening the 2.4G transceiver at the tag end when the UWB tag needs to be positioned;
a scanning unit for scanning a communication request frame F sent by the base station 00 ；
A reply unit for receiving the communication request frame F sent by the UWB base station when the UWB tag receives the communication request frame F 00 After that, the communication request frame F is marked 00 Is the reception time t of (2) 10 And receives the communication request frame F 00 The post delay 150us replies a communication response frame F to UWB base station 10 ；
A processing unit for receiving a communication request frame F 00 The carried time mark information calculates the time t of the scanning window of the base station corresponding to the local scanning window of the label 11 ，t 11 ＝t 10 +(t 01 -t 00 ) The method comprises the steps of carrying out a first treatment on the surface of the The scanning window is used for negotiating time of UWB communication between the UWB tag and the UWB base station, so that the UWB positioning is carried out by the two parties at the same time and timing to the corresponding time point; the communication request frame F 00 The carried time mark information comprises: in each period, the UWB base station transmits a communication request frame F to the UWB tag 00 Is transmitted at time t 00 Pre-opening time t for UWB base station to open receiving window 01 ；
A transmitting unit for transmitting the scan window time t when the tag is local 11 After arrival, the UWB tag transmits a synchronization request frame F to the UWB base station within a time period of random delay (0-64) ms 11 And turning on the 2.4G transceiver at the tag end;
the processing unit is further configured to, when the UWB tag receives a synchronization response frame F sent by the UWB base station 01 After that, the synchronous response frame F is marked 01 Is the reception time t of (2) 12 And according to the synchronous response frame F 01 The carried information is synchronously calculated to determine the local ranging starting time t 13 ，t 13 ＝t 12 +(t 03 -t 02 ) The synchronous response frame F 01 The carried information comprises: start time t of idle time slot 03 Synchronous response frame F 01 Is transmitted at time t 02 ；
The sending unit is further configured to, in each period, at the local ranging start time t 13 After reaching, the UWB tag sends a ranging request frame POLL to the UWB base station, and records the sending time t of the ranging request frame POLL u0 ；
The starting unit is further used for starting the UWB transceiver at the tag end to receive a positioning response frame RESP replied by the UWB base station;
a processing unit for recording the receiving time t of the positioning response frame RESP by the UWB receiver after the UWB tag receives the positioning response frame RESP replied by the UWB base station u3 Simultaneously, the carrier offset p of the UWB base station transceiver is obtained through the carrier integrator of the UWB transceiver, and the sending time t of the positioning request frame POLL is determined according to the carrier offset p u0 Time t of reception of positioning request frame POLL u1 Splicing of positioning response frames RESPTime t of collection u3 Time t for transmitting positioning response frame RESP u2 Calculating the distance d between the UWB base station and the UWB base station;
CN202311431204.6A 2023-10-31 2023-10-31 Low-power-consumption mixed positioning method and device based on double synchronization Pending CN117354714A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202311431204.6A CN117354714A (en) 2023-10-31 2023-10-31 Low-power-consumption mixed positioning method and device based on double synchronization

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202311431204.6A CN117354714A (en) 2023-10-31 2023-10-31 Low-power-consumption mixed positioning method and device based on double synchronization

Publications (1)

Publication Number Publication Date
CN117354714A true CN117354714A (en) 2024-01-05

Family

ID=89364768

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202311431204.6A Pending CN117354714A (en) 2023-10-31 2023-10-31 Low-power-consumption mixed positioning method and device based on double synchronization

Country Status (1)

Country Link
CN (1) CN117354714A (en)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106211310A (en) * 2016-07-01 2016-12-07 北京永安信通科技有限公司 Indoor orientation method based on UWB technology
CN113965886A (en) * 2021-10-28 2022-01-21 威海晶合数字矿山技术有限公司 Underground high-precision personnel positioning method based on UWB
CN114845384A (en) * 2022-03-25 2022-08-02 西安电子科技大学广州研究院 System for wireless positioning of vehicle based on UWB technology
CN114845367A (en) * 2022-05-31 2022-08-02 成都四相致新科技有限公司 Positioning method, positioning system, positioning device and readable storage medium
CN115396818A (en) * 2022-08-29 2022-11-25 国家电网有限公司 Time-division multiplexing positioning method for low-power-consumption labels

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106211310A (en) * 2016-07-01 2016-12-07 北京永安信通科技有限公司 Indoor orientation method based on UWB technology
CN113965886A (en) * 2021-10-28 2022-01-21 威海晶合数字矿山技术有限公司 Underground high-precision personnel positioning method based on UWB
CN114845384A (en) * 2022-03-25 2022-08-02 西安电子科技大学广州研究院 System for wireless positioning of vehicle based on UWB technology
CN114845367A (en) * 2022-05-31 2022-08-02 成都四相致新科技有限公司 Positioning method, positioning system, positioning device and readable storage medium
CN115396818A (en) * 2022-08-29 2022-11-25 国家电网有限公司 Time-division multiplexing positioning method for low-power-consumption labels

Similar Documents

Publication Publication Date Title
CN106125115A (en) A kind of indoor and outdoor localization method of low-power consumption
CN103179648B (en) Low-power-consumption personnel zone location method based on multi-sensor coordination
US8867421B2 (en) Correction of clock errors in a wireless station to enable reduction of power consumption
CN110794364A (en) UWB indoor positioning method
CN104618996B (en) A kind of method and apparatus for the terminal for being used to wake up power save mode
US8526604B2 (en) Enabling wireless clients for low-power operation when clients require control messages from external sources for communication
CN204069360U (en) A kind of Precise Position System based on super-broadband tech
CN110231640A (en) A kind of indoor and outdoor mixed assets monitoring system
CN108366412B (en) WIFI positioning scanning method and device
CN108401281B (en) Wireless low-power meter reading method based on channel detection
TWI577211B (en) Systems and methods for optimizing power consumption associated with processing group addressed messages
WO2011163385A1 (en) Apparatus and method for management of power constrained wireless devices
US6614393B2 (en) Location data dissemination and reception for entities having short-range receivers
CN112929953B (en) Efficient Internet of things terminal task scheduling method
CN102129579A (en) System and method for improving reading-writing mode of ISO-18000-7 international standard label
CN102110223A (en) System and method for RFID (Radio Frequency Identification Devices) remote-distance card-reading
WO2021143956A3 (en) Serving cell rat acquisition and indication methods and apparatuses, and devices
CN108513354A (en) Localization method and system
CN117354714A (en) Low-power-consumption mixed positioning method and device based on double synchronization
CN204495987U (en) A kind of networking of many bases for indoor positioning UWB 3 D positioning system
CN115297547A (en) Multi-label access method for TOF positioning system
TWI441544B (en) Wireless communications devices and resynchronization methods
CN114449632B (en) Method, apparatus, chip and computer readable storage medium for receiving beacon frame
CN115015837A (en) Audio positioning epaulet, audio positioning system and method
CN201245129Y (en) Automobile anti-theft tracking and positioning system

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination