TWI768679B - Tracking system with low power consumption and anti-interference and method thereof - Google Patents

Abstract

The present disclosure provides a tracking system with low power consumption and anti-interference. A transmitter includes a first radio transmission unit and a first processing unit. The first processing unit generates a tracking signal for multicasting and establishes a personal area network corresponding to the first radio transmission unit. The first processing unit controls the first radio transmission unit to broadcast a plurality of frames on a channel of the personal area network according to a rule table and index data. Each of receivers consists of a second radio transmission unit and a second processing unit. The second processing unit controls the second radio transmission unit to receive the frames on the channel of the personal area network. The second processing unit confirms whether the tracking signal is from the first processing unit according to a media access control address and a multicast address. The second processing unit tracks a position of the transmitter. Therefore, the effects of the low power consumption and the anti-interference are achieved.

Description

Tracking system and method with low power consumption and anti-interference

The present invention relates to a wireless transmission technology, and more particularly, to a tracking system with low power consumption and anti-interference and a method thereof.

In recent years, automatic following devices have gradually appeared on the market, which can track and follow people or objects. The auto-following device uses two positioning techniques to calculate the target's position. One uses radio signals, such as golf carts and smart luggage; the other uses computer vision, such as delivery robots and home service robots. When computer vision is in crowded places or objects with similar characteristics around the target, the automatic following device is prone to fail or track the wrong target. Radio signals can penetrate various obstacles and carry identification values, such as Media Access Control Address (MAC Address), so there is no computer vision problem mentioned above.

However, the conventional wireless transmission technology applied to the automatic follower device only focuses on improving the accuracy of positioning the target, but does not consider the timing of transmitting the radio signal, so that the receiver needs to always turn on the radio module in order to receive the signal. In addition, the conventional wireless transmission technology does not consider whether the channel for transmitting the radio signal should be changed. A radio module using a fixed channel is prone to encountering interfering signal sources on the fixed channel, making it difficult for the receiver to successfully receive the tracking signal from the transmitter.

In view of this, there is currently a lack of a tracking system and method on the market that can effectively reduce the power consumption of radio modules and prevent interference from external signals. and direction.

Therefore, the purpose of the present invention is to provide a tracking system with low power consumption and anti-interference and a method thereof for planning the transmission timing and transmission channel of the wireless signal of the tracked target, so as to achieve the effect of low power consumption and anti-jamming. In addition, the present invention simultaneously uses the IPv6 multicast technology to send the tracking signal to the automatic follower device, so that other devices using the IEEE 802.15.4 protocol will not malfunction after receiving the frame broadcast by the first radio transmission unit of the present invention, The aforementioned frame includes the tracking signal for group broadcasting.

According to one embodiment of the structural aspect of the present invention, a tracking system with low power consumption and anti-jamming is provided, which includes a transmitter and a plurality of receivers. The transmitter includes a first radio transmission unit and a first processing unit. The first radio transmission unit is used for broadcasting a plurality of frames in a plurality of channels. The first processing unit is coupled to the first radio transmission unit and generates a tracking signal and a multicast address for multicast. The first processing unit converts the tracking signal into these frames and establishes the personal area network and MAC address corresponding to the first radio transmission unit, and the first processing unit controls the first radio transmission unit according to the rule table and the index data These frames are broadcast on one of the channels of the personal area network. Each receiver is signal-connected to the transmitter and includes a second radio transmission unit and a second processing unit. The second radio transmission unit is in a personal area network. The second processing unit is coupled to the second radio transmission unit and controls the second radio transmission unit to receive the frames on one of the channels of the personal area network according to the rule table and the index data. The second processing unit converts the frames into tracking signals, and confirms whether the tracking signals come from the first processing unit according to the MAC address and the multicast address. Wherein, when the second processing unit confirms that the tracking signal comes from the first processing unit, the second processing unit processes the tracking signal to track the position of the transmitter.

Thereby, the transmitter of the present invention broadcasts these frames to the receivers at the specific time and dynamic channel of the personal area network through the rule table and index data, so that the receivers can track the position of the transmitter, wherein the transmitter generates Tracking signals used for multicast will not trigger other radios to malfunction.

Other examples of the aforementioned embodiments are as follows: the aforementioned rule table is cut into multiple time slots according to the multiple time slot numbers, and each time slot is cut into multiple time frequency slots according to the multiple channel variation parameters. When at least one of the time-frequency slots in one of the time slots is a broadcast time-frequency slot, the first processing unit and the second processing unit of each receiver respectively turn on the first radio transmission unit and the second radio in the one time slot. transfer unit. When the time slots of the other time slot are all off-air time slots, the first processing unit and the second processing unit of each receiver respectively turn off the first radio transmission unit and the second radio in the other time slot. transfer unit.

Other examples of the aforementioned embodiments are as follows: the aforementioned first processing unit calculates an index value according to a channel variation parameter and an absolute time slot number, and substitutes the index value into the index data to select one of the channels, so that each receiver The second radio transmission unit receives the frames on one of the channels.

Other examples of the aforementioned embodiments are as follows: the aforementioned transmitter further includes a transmit protocol stack, and the transmit protocol stack includes an application layer, a network layer, an adaptation layer, and a media access control layer. The application layer includes a message generation module, and the message generation module generates a tracking signal and a multicast address for multicast. The network layer is connected to the application layer and includes a multicast module, and the multicast module receives the tracking signal and converts the tracking signal into a multicast packet. The adaptation layer is connected to the network layer and includes an adaptation module, and the adaptation module receives the multicast packets and compresses or divides the multicast packets into these frames. The media access control layer is connected to the adaptation layer and includes a time division frequency hopping module, and the time division frequency hopping module transmits the frames to the first radio transmission unit according to the broadcast time frequency slot.

Other examples of the aforementioned embodiments are as follows: each of the aforementioned receivers further includes a receiving protocol stack, and the receiving protocol stack includes a media access control layer, an adaptation layer, a network layer, and an application layer. The media access control layer includes a time division frequency hopping module, and the time division frequency hopping module receives the frames from the second radio transmission unit according to the broadcast time frequency slot. The adaptation layer is connected to the media access control layer and includes an adaptation module, and the adaptation module receives the frames and decompresses or reassembles the frames into multicast packets. The network layer is connected to the adaptation layer and includes a multicast module, and the multicast module receives the multicast packet according to the multicast address and converts the multicast packet into a tracking message. The application layer is connected to the network layer and includes a message processing module, and the message processing module receives the tracking message and processes the tracking signal to generate a processing result.

Other examples of the aforementioned embodiments are as follows: the aforementioned tracking system with low power consumption and anti-interference further includes a tracking information calculator. The tracking information calculator is coupled to the receivers and includes a wired communication unit and a processing unit. The wired communication unit is used for receiving the processing results generated by the message processing modules of the receivers. The processing unit is coupled to the wired communication unit and calculates the processing result according to the positioning software module to generate the distance between each receiver and the transmitter, so that the processing unit tracks the position of the transmitter according to the distance.

Other examples of the aforementioned implementation manner are as follows: the aforementioned processing result includes a medium access control address, a received signal strength indicator (RSSI), a time of arrival (ToA) or a time difference of arrival (TDoA).

According to an embodiment of the method aspect of the present invention, a tracking method with low power consumption and anti-interference is provided, which includes a network establishment step, a frame generating step, a frame broadcasting step, a frame receiving step, and a confirmation and tracking step . The network establishment step drives the first processing unit of the transmitter to establish the PAN and MAC address corresponding to the first radio transmission unit of the transmitter, and then the plurality of receivers are in the PAN. The frame generating step drives the first processing unit to generate a tracking signal and a multicast address for multicast and convert the tracking signal into a plurality of frames, and the first radio transmission unit is used for broadcasting the frames in a plurality of channels. The frame broadcasting step drives the first processing unit to control the first radio transmission unit to broadcast the frames on one of the channels of the personal area network according to the rule table and the index data. The frame receiving step drives the second processing unit of each receiver to control the second radio transmission unit of each receiver to receive the frames on one of the channels of the personal area network according to the rule table and the index data. The confirming and tracking step drives the second processing unit of each receiver to convert the frames into tracking signals, and confirms whether the tracking signal comes from the first processing unit according to the MAC address and the multicast address. Wherein, when the second processing unit of each receiver confirms that the tracking signal comes from the first processing unit, the second processing unit of each receiver processes the tracking signal to track the position of the transmitter.

Thereby, the tracking method with low power consumption and anti-interference of the present invention broadcasts these frames to each receiver at a specific time and channel of the personal area network through the rule table and index data, so that each receiver can track the transmitter A location where the transmitter generates a tracking signal for multicasting without triggering malfunction of other radios.

Other examples of the aforementioned embodiments are as follows: the aforementioned rule table is cut into multiple time slots according to the multiple time slot numbers, and each time slot is cut into multiple time frequency slots according to the multiple channel variation parameters. When at least one of the time-frequency slots in one of the time slots is a broadcast time-frequency slot, the first processing unit and the second processing unit of each receiver respectively turn on the first radio transmission unit and the second radio in the one time slot. transfer unit. When the time slots of the other time slot are all off-air time slots, the first processing unit and the second processing unit of each receiver respectively turn off the first radio transmission unit and the second radio in the other time slot. transfer unit.

Other examples of the aforementioned embodiments are as follows: the aforementioned frame broadcasting step includes a calculation sub-step and a selection sub-step. The calculation sub-step drives the first processing unit to calculate the index value according to a channel variation parameter and an absolute time slot number. The selecting sub-step drives the first processing unit to substitute the index value into the index data to select one of the channels, so that the second radio transmission unit of each receiver receives the frames on one of the channels.

Several embodiments of the present invention will be described below with reference to the drawings. For the sake of clarity, many practical details are set forth in the following description. It should be understood, however, that these practical details should not be used to limit the invention. That is, in some embodiments of the present invention, these practical details are unnecessary. In addition, for the purpose of simplifying the drawings, some well-known and conventional structures and elements will be shown in a simplified and schematic manner in the drawings; and repeated elements may be denoted by the same reference numerals.

In addition, when a certain element (or unit or module, etc.) is "connected/connected" to another element herein, it may mean that the element is directly connected/connected to another element, or that a certain element is indirectly connected /Connected to another element means that there is another element between the element and the other element. When it is expressly stated that an element is "directly connected/connected" to another element, it means that no other element is interposed between the element and the other element. The terms first, second, third, etc. are only used to describe different elements, and do not limit the elements themselves. Therefore, the first element can also be renamed as the second element. And the combination of elements/units/circuits in this article is not a commonly known, conventional or well-known combination in this field, and it cannot be determined whether the combination relationship of the elements/units/circuits is well-known or not easily understood by those in the technical field. Usually the knowledgeable can do it easily.

FIG. 1 is a block diagram illustrating a tracking system 100 with low power consumption and anti-interference according to an embodiment of the present invention. As shown in FIG. 1 , the tracking system 100 with low power consumption and anti-jamming includes a transmitter 10 and a plurality of receivers 20 , 30 and 40 . The transmitter 10 includes a first radio transmission unit 11 and a first processing unit 12 . The first radio transmission unit 11 is used for broadcasting a plurality of frames in a plurality of channels. The first processing unit 12 is coupled to the first radio transmission unit 11 and generates a tracking signal and a multicast address for multicast. The first processing unit 12 converts the tracking signal into these frames and establishes a Personal Area Network (PAN) and a Media Access Control Address (MAC Address) corresponding to the first radio transmission unit 11 , and the first processing unit 12 controls the first radio transmission unit 11 to broadcast these frames on one of the channels of the personal area network according to a rule table and an index data. Specifically, the transmitter 10 can be a portable electronic device, such as an electronic watch, an electronic wristband, a smart phone, a tablet computer, or other portable positioning devices installed with electronic components, but this is not the case in the present invention limit.

Each of the receivers 20 , 30 and 40 is connected to the transmitter 10 with a signal, wherein the receiver 20 includes a second radio transmission unit 21 , a second processing unit 22 and a wired communication unit 23 . The receiver 30 includes a second radio transmission unit 31 , a second processing unit 32 and a wired communication unit 33 . The receiver 40 includes a second radio transmission unit 41 , a second processing unit 42 and a wired communication unit 43 . The second radio transmission units 21 , 31 , 41 of the receivers 20 , 30 , 40 are all in the personal area network. The second processing units 22, 32, and 42 are respectively coupled to the second radio transmission units 21, 31, and 41 and respectively control the second radio transmission units 21, 31, and 41 in one of the personal area networks according to the rule table and the index data. The channel receives these frames. Each of the second processing units 22 , 32 and 42 converts these frames into tracking signals, and confirms whether the tracking signals come from the first processing unit 12 according to the MAC address and the multicast address. Wherein, when the second processing units 22 , 32 and 42 confirm that the tracking signal comes from the first processing unit 12 , each of the second processing units 22 , 32 and 42 processes the tracking signal to track the position of the transmitter 10 . Specifically, each receiver 20 , 30 , and 40 can be a fixed electronic device and installed on a mobile device, such as a bicycle or a suitcase, but the invention is not limited thereto.

In addition, the first processing unit 12 and the second processing units 22, 32, 42 can be a central processing unit (CPU), a microcontroller unit (MCU), a digital signal processor (DSP), a programmable Controllers, chips, application specific integrated circuits (ASICs) or other similar components. The first radio transmission unit 11 and the second radio transmission units 21, 31, and 41 can be IEEE 802.15.4 modules, combined with or built-in antennas, for transmitting or receiving wireless signals or information, but the present invention does not This is the limit.

FIG. 2A is a schematic diagram showing the rule table T1 of the present invention. As shown in Figure 2A, the rule table T1 is cut into complex time slots s0, s1, s2, s3, s4, s5, and s6 according to the complex time slot numbers 0, 1, 2, 3, 4, 5, and 6, and each time slot The slots s0, s1, s2, s3, s4, s5, and s6 are cut into complex time-frequency slots (cells) according to the complex channel variation parameters 0', 1', 2', and 3'. The rule table T1 can be a slot frame, and can be created by the first processing unit 12 or directly written into the first processing unit 12 .

It is worth noting that, when at least one of the time-frequency slots in the time-slot s0 is the broadcast time-frequency slot TxRx, the first processing unit 12 and the second processing units 22, 32, 42 respectively turn on the first radio in the time slot s0 The transmission unit 11 and the second radio transmission units 21, 31, and 41; similarly, the time slot s2 and the time slot s4 are analogous. In addition, when the time-frequency slots in the time-slot s1 are all off-air time-frequency slots (ie, blank time-frequency slots in the rule table T1 ), the first processing unit 12 and the second processing units 22 , 32 , and 42 will The slot s1 turns off the first radio transmission unit 11 and the second radio transmission units 21, 31, and 41 respectively; similarly, the time slot s3, the time slot s5, and the time slot s6 and so on. In this way, the first radio transmission unit 11 and the second radio transmission units 21 , 31 , and 41 are prevented from being turned on for a long time, thereby effectively reducing unnecessary power consumption.

In detail, the time length of each broadcasting time-frequency slot TxRx and each off-airing time-frequency slot may be 10 milliseconds. The horizontal axis of the rule table T1 is the time slot numbers 0, 1, 2, 3, 4, 5, and 6, that is, the rule table T1 has 7 time slots s0, s1, s2, s3, s4, s5, and s6. The vertical axis of the rule table T1 is the channel variation parameters 0', 1', 2', 3', that is, the first radio transmission unit 11 and the second radio transmission unit 21, 31, 41 in the personal area network according to the rule table T1 There are 4 channels that can be selected and used, and the 7 time slots s0, s1, s2, s3, s4, s5, and s6 are cut into 28 time-frequency slots by 4 channel variation parameters.

More specifically, in the rule table T1, there are 3 broadcast time-frequency slots TxRx, and 25 off-air time-frequency slots. The time-frequency slot with the time slot number 0 and the channel variation parameter 0' is planned as the broadcast time-frequency slot TxRx. The time-frequency slot of the time slot number 2 and the channel variation parameter 1' is planned as the broadcast time-frequency slot TxRx. The time-frequency slot of the time slot number 4 and the channel variation parameter 2' is planned as the broadcast time-frequency slot TxRx. Both the transmitter 10 and the receivers 20, 30, 40 in the personal area network can use the broadcast time-frequency slot TxRx for frame transmission. In other embodiments, the number of channel variation parameters may be the number of channels allowed by the local country and region for IEEE 802.15.4 operation, but the invention is not limited thereto.

Specifically, the first processing unit 12 calculates an index value according to one of the channel variation parameters 0', 1', 2', 3' and an Absolute Slot Number (ASN), and assigns the index value to the Substitute the index data to select one of the channels, so that the second radio transmission unit 21 of the receiver 20, the second radio transmission unit 31 of the receiver 30, and the second radio transmission unit 41 of the receiver 40 can receive them in one of the channels frame.

In detail, assuming that the above four channels can be the 15th, 25th, 26th and 20th channels, and are recorded in the index data (ie tsch_hopping_sequence) in sequence, then tsch_hopping_sequence[0]=15, tsch_hopping_sequence[1]=25, tsch_hopping_sequence[ 2]=26, tsch_hopping_sequence[3]=20. When the transmitter 10 wants to transmit these frames, it first divides the system time of the personal area network by a time slot width (for example: 10 milliseconds), and takes the quotient to obtain the absolute time slot number of the system, and then divides the absolute time slot number into the absolute time slot number of the system. The value of the slot number plus the channel variation parameters 0', 1', 2', 3' of the broadcast time-frequency slot TxRx on one of the corresponding time slots s0, s1, s2, s3, s4, s5, and s6. , and finally, modulo the summed value by the number of available channels to obtain an index value, and substitute the index value into the index data to select one of the 15th, 25th, 26th and 20th channels.

In more detail, when the system time is 230ms, the absolute time slot number is 230ms divided by 10ms to get 23. At this time, the corresponding time slot number is the number of time slots s0, s1, s2, s3, s4, s5, and s6 in the time slot frame divided by the absolute time slot number modulo, that is, 23 modulo 7 divided by 2 is equal to 2. The value of the channel variation parameter 1' of the broadcast time-frequency slot TxRx on the second time slot s2 is 1, then (23+1)%4=0, tsch_hopping_sequence[0]=15, then select the 15th channel for frame transmission, and so on. Therefore, the present invention uses the channel variation parameters 0', 1', 2', 3' and the absolute time slot number to select the dynamic channel of the transmission frame, so that the receivers 20, 30 and 40 can receive the tracking without interference. signal and process the tracking signal to track the position of the transmitter 10 .

FIG. 2B is a schematic diagram illustrating another rule table T2 of the present invention. As shown in Figure 2B, two unicast time-frequency slots are newly added to the rule table T2. One of the time-frequency slots is the time slot number 1 and the channel variation parameter 3'. At this time, the frequency slot (ie, 10→20) is used by the transmitter 10 for unicast transmission to the receiver 20. The other time-frequency slot is the time slot number 3 and the channel variation parameter 2'. At this time, the frequency slot (ie, 20→10) is used for unicast transmission from the receiver 20 to the transmitter 10. In other embodiments, the rule table T1 may include at least one unicast time-frequency slot, which is similar to the broadcast time-frequency slot TxRx. The first processing unit 12 will turn on the first radio transmission unit 11 in the aforementioned unicast time-frequency slot, and will be used for frame transmission in the personal area network.

Please refer to FIG. 1 to FIG. 3 together, wherein FIG. 3 is a schematic diagram of the transmission protocol stack 60 of the transmitter 10 according to the embodiment of FIG. 1 . As shown in FIG. 3 , the transmitter 10 may further include a transmit protocol stack 60 . The transmit protocol stack 60 includes an application layer 64 , a network layer 63 , an adaptation layer 62 and a medium access control layer 61 . The application layer 64 includes a message generating module 641, and the message generating module 641 generates a tracking signal and a multicast address for multicasting. The network layer 63 is connected to the application layer 64 and includes a multicast module 632 and a routing module 631 , and the multicast module 632 receives the tracking signal and converts the tracking signal into a multicast packet. The adaptation layer 62 is connected to the network layer 63 and includes an adaptation module 621 . The multicast packet is sent to the adaptation module 621 via the routing module 631 . The adaptation module 621 receives the multicast packet and compresses or divides the multicast packet into these frames. The media access control layer 61 is connected to the adaptation layer 62 and includes a time division frequency hopping module 611 and a scheduling module 612 . The time division frequency hopping module 611 transmits these frames to the first radio transmission unit 11 according to the broadcast time frequency slot TxRx of the rule table T1.

Please refer to FIGS. 1 to 4 together, wherein FIG. 4 is a schematic diagram of the receiving protocol stack 70 of the receivers 20 , 30 , and 40 according to the embodiment of FIG. 1 . As shown in FIG. 4 , each receiver 20 , 30 , 40 may further include a receiving protocol stack 70 . The receiving protocol stack 70 includes a media access control layer 71 , an adaptation layer 72 , a network layer 73 and an application layer 74 . The MAC layer 71 includes a time-sharing frequency hopping module 711 and a scheduling module 712 . The scheduling module 612 of the transmitter 10 and the scheduling modules 712 of the receivers 20, 30, and 40 communicate with each other to configure the shared broadcast time-frequency slot TxRx, or the aforementioned unicast time-frequency slot. The time-sharing frequency hopping module 711 of the receiver 20 receives these frames from the second radio transmission unit 21 according to the broadcast time-frequency slot TxRx of the rule table T1. The adaptation layer 72 is connected to the media access control layer 71 and includes an adaptation module 721, and the adaptation module 721 receives the frames and decompresses or reassembles the frames into multicast packets. The network layer 73 is connected to the adaptation layer 72 and includes a multicast module 732 and a routing module 731 . The multicast module 732 receives the multicast packet through the routing module 731 according to the multicast address and converts the multicast packet into a tracking message. The application layer 74 is connected to the network layer 73 and includes a message processing module 741 . The message processing module 741 receives the tracking information and processes the tracking signal to generate a processing result.

Specifically, the multicast address can be randomly generated by the message generating module 641 or directly burned into the transmitter 10 at the factory. The receivers 20 , 30 , and 40 filter out multicast packets not sent by the transmitter 10 in their respective multicast modules 732 according to the multicast address. Wherein, if the multicast address is randomly generated by the message generation module 641, the multicast address needs to be notified to the message processing module 741 of each receiver 20, 30, 40 through unicast, so that the message processing module Group 741 sets this multicast address to multicast module 732 . In other embodiments, the transmit protocol stack 60 and the receive protocol stack 70 may further include a transport layer (not shown). When the transmitter 10 performs unicast, the transmitter 10 needs to know a network address of each receiver 20, 30, 40. The message generating module 641 of the transmitter 10 obtains the network addresses of the respective receivers 20 , 30 and 40 by querying the routing module 631 . In addition, when the transmitter 10 performs unicast, the transmitter 10 needs to know a port number (Port) of the transport layer of each receiver 20, 30, 40, and these port numbers can be written in the receivers 20, 30, 40 respectively . Therefore, the transmitter 10 uses the IPv6 multicast technology to send the tracking signal to the receivers 20, 30, and 40, so that other devices using the IEEE 802.15.4 protocol will not malfunction after receiving the broadcasted frames.

In addition, the message generating module 641 will first check the content of the routing module 631 to confirm the routing relationship between the receivers 20 , 30 , and 40 and the transmitter 10 . If the transmitter 10 is the parent node of the receivers 20, 30, and 40, and the transmitter 10 can directly transmit messages to the receivers 20, 30, and 40, this state indicates that the message generating module 641 can generate tracking messages.

In some cases, the transmitter 10 cannot directly transmit the message to the receivers 20 , 30 and 40 . One possible reason is that receiver 20, receiver 30 or receiver 40 has not joined the personal area network. Another possible reason is that the routing module 731 of the receiver 20 , the receiver 30 or the receiver 40 has not yet fully established a relationship with the routing module 631 of the transmitter 10 . Yet another possible reason is that the receiver 20 , the receiver 30 or the receiver 40 is not within the direct communication range of the transmitter 10 . For example, the direct communication range of the transmitter 10 is 80 meters. The distance between the receiver 20 and the receiver 30 and the transmitter 10 is 79.7 meters. The distance between the receiver 40 and the transmitter 10 is 80.3 meters. Therefore, the transmitter 10 cannot directly transmit the message to the receiver 40 , and the message must be transferred through the receiver 20 or the receiver 30 . At this time, the message generating module 641 can inform the user of the current situation through a light signal, a sound, or a text.

Furthermore, the tracking system 100 with low power consumption and anti-interference can further include a tracking information calculator 50 . The tracking information calculator 50 is coupled to the receivers 20 , 30 and 40 and includes a wired communication unit 51 and a processing unit 52 . The wired communication unit 51 of the tracking information calculator 50 is electrically connected to the wired communication units 23, 33, and 43 of the receivers 20, 30, and 40, and is used for receiving the processing generated by the information processing module 741 of the receivers 20, 30, and 40. result. The processing unit 52 is coupled to the wired communication unit 51 and calculates the processing result according to a positioning software module to generate the distance between each receiver 20, 30, 40 and the transmitter 10, so that the processing unit 52 tracks the transmitter according to the corresponding distance position 10. The processing result may include a Media Access Control Address, Received Signal Strength Indicator (RSSI), Time of Arrival (ToA) or Time Difference of Arrival (TDoA).

It is worth noting that the probability that other wireless nodes (ie, other radios) not using the present invention will happen to receive such frames broadcast by transmitter 10 at a particular time, at a particular channel, is very low. Even if the frames happen to be received by other wireless nodes, the frames may be filtered by the MAC address. Therefore, the tracking signal generated by the transmitter 10 of the present invention will not trigger malfunction of other radio devices. When other radio devices do not have the mechanism of MAC address filtering, the tracking signal of the present invention will be converted into multicast packets by other radio devices. If the network addresses of other wireless nodes are different from the multicast address set by the transmitter 10 , the other wireless nodes will discard the multicast packets, so as to prevent other wireless nodes from malfunctioning.

Please refer to FIGS. 1 to 6 together, wherein FIG. 5 is a schematic flowchart of a tracking method 200 with low power consumption and anti-interference according to another embodiment of the present invention. FIG. 6 is a schematic flowchart of the frame broadcasting step S3 of the embodiment of FIG. 5 . As shown in FIG. 5 and FIG. 6, the tracking method 200 with low power consumption and anti-interference includes a network establishment step S1, a frame generation step S2, a frame broadcasting step S3, a frame receiving step S4, and confirmation and tracking Step S5.

The network establishment step S1 drives the first processing unit 12 of the transmitter 10 to establish a personal area network and a MAC address corresponding to the first radio transmission unit 11 of the transmitter 10, and then the plurality of receivers 20, 30, 40 are in personal area network.

The frame generating step S2 drives the first processing unit 12 to generate the tracking signal for multicast and convert the tracking signal into a plurality of frames, and the first radio transmission unit 11 is used for broadcasting the frames in a plurality of channels.

The frame broadcasting step S3 drives the first processing unit 12 to control the first radio transmission unit 11 to broadcast the frames on one of the channels of the personal area network according to the rule table T1 and the index data.

The frame receiving step S4 drives the second processing unit 22 of the receiver 20, the second processing unit 32 of the receiver 30, and the second processing unit 42 of the receiver 40 to control the second processing unit 20 of the receiver 20 according to the rule table T1 and the index data respectively. The radio transmission unit 21 , the second radio transmission unit 31 of the receiver 30 and the second radio transmission unit 41 of the receiver 40 receive these frames on one of the channels of the personal area network.

The confirmation and tracking step S5 drives the second processing unit 22 of the receiver 20, the second processing unit 32 of the receiver 30, and the second processing unit 42 of the receiver 40 to convert these frames into tracking signals, and access them according to the media The control address and the multicast address confirm whether the tracking signal comes from the first processing unit 12 . Wherein, when the second processing unit 22 of the receiver 20 confirms that the tracking signal comes from the first processing unit 12, the second processing unit 22 of the receiver 20 processes the tracking signal to track the position of the transmitter 10; similarly, the receivers 30 and 40 So on and so forth.

In addition, the frame broadcasting step S3 may include a calculation sub-step S31 and a selection sub-step S32. The calculation sub-step S31 drives the first processing unit 12 to calculate the index value according to one of the channel variation parameters 0', 1', 2', 3' and an absolute time slot number. The selection sub-step S32 drives the first processing unit 12 to substitute the index value into the index data to select one of the channels, so as to enable the second radio transmission unit 21 of the receiver 20, the second radio transmission unit 31 of the receiver 30, and the receiver 40 to communicate with each other. The second radio transmission unit 41 receives these frames on one of the channels.

Thereby, the tracking method 200 with low power consumption and anti-interference of the present invention broadcasts these frames to the receivers 20, 30, 40 at specific times and dynamic channels of the personal area network through the rule table T1 and the index data, so as to The receivers 20 , 30 , and 40 can each track the position of the transmitter 10 , and the transmitter 10 generates a tracking signal for multicasting without triggering malfunction of other radio devices.

Although the present invention has been disclosed in the above embodiments, it is not intended to limit the present invention. Anyone skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the protection of the present invention The scope shall be determined by the scope of the appended patent application.

100: Tracking system with low power consumption and anti-interference 10: Launcher 11: The first radio transmission unit 12: The first processing unit 20, 30, 40: Receiver 21, 31, 41: Second radio transmission unit 22, 32, 42: Second processing unit 23, 33, 43, 51: Wired communication unit 50: Tracking Information Calculator 52: Processing unit 60: transmit protocol stack 70: Receive protocol stack 61,71: Media Access Control Layer 611,711: Time-sharing frequency hopping module 612,712: Scheduling Module 62,72: Adaptation Layer 621,721: Adaptation modules 63,73: Network layer 631,731: Routing Module 632,732: Multicast module 64,74: Application layer 641: Message generation module 741: Message Processing Module T1, T2: Rule table TxRx: broadcast time-frequency slot 0,1,2,3,4,5,6: slot number s0, s1, s2, s3, s4, s5, s6: time slots 0', 1', 2', 3': channel variation parameters 200: Tracking method with low power consumption and anti-interference S1: Network establishment steps S2: frame generation step S3: Frame Broadcasting Steps S31: Calculation sub-step S32: select sub-step S4: Frame receiving step S5: Confirmation and Tracking Steps

In order to make the above and other objects, features, advantages and embodiments of the present invention more clearly understood, the accompanying drawings are described as follows: FIG. 1 is a block diagram illustrating a tracking system with low power consumption and anti-interference according to an embodiment of the present invention; Fig. 2A is a schematic diagram showing the rule table of the present invention; 2B is a schematic diagram showing another rule table of the present invention; FIG. 3 is a schematic diagram illustrating a stack of transmission protocols of the transmitter according to the embodiment of FIG. 1; FIG. 4 is a schematic diagram illustrating a stack of receiving protocols of the receiver according to the embodiment of FIG. 1; FIG. 5 is a schematic flowchart illustrating a tracking method with low power consumption and anti-interference according to another embodiment of the present invention; and FIG. 6 is a schematic flowchart of the frame broadcasting step of the embodiment of FIG. 5 .

100: Tracking system with low power consumption and anti-interference

10: Launcher

11: The first radio transmission unit

12: The first processing unit

20, 30, 40: Receiver

21, 31, 41: Second radio transmission unit

22, 32, 42: Second processing unit

23, 33, 43, 51: Wired communication unit

50: Tracking Information Calculator

52: Processing unit

Claims (10)

A tracking system with low power consumption and anti-interference, including: A launcher, containing: a first radio transmission unit for broadcasting a plurality of frames in a plurality of channels; and a first processing unit, coupled to the first radio transmission unit and generating a tracking signal and a multicast address for multicast, the first processing unit converts the tracking signal into the frames and establishes a corresponding first processing unit A personal area network of a radio transmission unit and a media access control address, and the first processing unit controls the first radio transmission unit in one of the channels of the personal area network according to a rule table and an index data broadcast the frames; and a plurality of receivers, the signal is connected to the transmitter, and each of the receivers includes: a second radio transmission unit in the personal area network; and a second processing unit coupled to the second radio transmission unit and controlling the second radio transmission unit to receive the frames on one of the channels of the personal area network according to the rule table and the index data, the first two processing units convert the frames into the tracking signal, and confirm whether the tracking signal comes from the first processing unit according to the MAC address and the multicast address; Wherein, when the second processing unit confirms that the tracking signal comes from the first processing unit, the second processing unit processes the tracking signal to track a position of the transmitter. The tracking system with low power consumption and anti-interference as claimed in claim 1, wherein the rule table is cut into a plurality of time slots according to a plurality of time slot numbers, and each of the time slots is cut into a plurality of time-frequency slots according to a plurality of channel variation parameters, wherein , When at least one of the time-frequency slots of one of the time-slots is a broadcast time-frequency slot, the first processing unit and the second processing unit of each of the receivers respectively turn on the first time slot in the one time slot. a radio transmission unit and the second radio transmission unit; and When the time-frequency slots of the other of the time-slots are all an off-air time-frequency slot, the first processing unit and the second processing unit of each of the receivers respectively turn off the first radio in the other time slot transmission unit and the second radio transmission unit. The tracking system with low power consumption and anti-interference as claimed in claim 2, wherein the first processing unit calculates an index value according to one of the channel variation parameters and an absolute time slot number, and substitutes the index value into the index data to select one of the channels, so that the second radio transmission unit of each receiver receives the frames on one of the channels. The tracking system with low power consumption and anti-interference as claimed in claim 2, wherein the transmitter further includes a transmission protocol stack, and the transmission protocol stack includes: an application layer, including a message generating module, the message generating module generating the tracking signal and the multicast address for multicast; a network layer, connected to the application layer and including a multicast module, the multicast module receives the tracking signal and converts the tracking signal into a multicast packet; an adaptation layer, connected to the network layer and comprising an adaptation module, the adaptation module receives the multicast packet and compresses or divides the multicast packet into the frames; and A medium access control layer is connected to the adaptation layer and includes a time division frequency hopping module, and the time division frequency hopping module transmits the frames to the first radio transmission unit according to the broadcast time frequency slot. The tracking system with low power consumption and anti-interference as claimed in claim 2, wherein each of the receivers further includes a receiving protocol stack, and the receiving protocol stack includes: a media access control layer, including a time-sharing frequency hopping module, the time-sharing frequency hopping module receives the frames from the second radio transmission unit according to the broadcast time-frequency slot; an adaptation layer, connected to the media access control layer and comprising an adaptation module, the adaptation module receives the frames and decompresses or reassembles the frames into a multicast packet; a network layer, connected to the adaptation layer and comprising a multicast module, the multicast module receives the multicast packet according to the multicast address and converts the multicast packet into the tracking message; and An application layer is connected to the network layer and includes a message processing module. The message processing module receives the tracking message and processes the tracking signal to generate a processing result. The tracking system with low power consumption and anti-interference as described in claim 5, further comprising: a tracking information calculator, coupled to the receivers, and comprising: a wired communication unit for receiving the processing result generated by the message processing module of each of the receivers; and A processing unit, coupled to the wired communication unit, calculates the processing result according to a positioning software module to generate a distance between the receiver and the transmitter, so that the processing unit tracks the distance of the transmitter according to the distance Location. The tracking system with low power consumption and anti-interference as claimed in claim 5, wherein the processing result comprises the media access control address, a received signal strength indicator (RSSI), a time of arrival (ToA) or a time difference of arrival (TDoA). A tracking method with low power consumption and anti-interference, comprising the following steps: A network establishment step, driving a first processing unit of a transmitter to establish a personal area network and a media access control address corresponding to a first radio transmission unit of the transmitter, and then a plurality of receivers are located in the personal area network; a frame generating step, driving the first processing unit to generate a tracking signal and a multicast address for multicast and converting the tracking signal into a plurality of frames, and the first radio transmission unit is used for broadcasting in a plurality of channels the frames; a frame broadcasting step, driving the first processing unit to control the first radio transmission unit to broadcast the frames on one of the channels of the personal area network according to a rule table and an index data; a frame receiving step, driving a second processing unit of each receiver to control a second radio transmission unit of each receiver to receive the channel on one of the channels of the personal area network according to the rule table and the index data some frames; and a confirming and tracking step, driving the second processing unit of each receiver to convert the frames into the tracking signal, and confirming whether the tracking signal comes from the tracking signal according to the MAC address and the multicast address a first processing unit, wherein when the second processing unit of each of the receivers confirms that the tracking signal is from the first processing unit, the second processing unit of each of the receivers processes the tracking signal to track a position of the transmitter . The tracking method with low power consumption and anti-interference as claimed in claim 8, wherein the rule table is cut into a plurality of time slots according to a plurality of time slot numbers, and each of the time slots is cut into a plurality of time-frequency slots according to a plurality of channel variation parameters, wherein , When at least one of the time-frequency slots of one of the time-slots is a broadcast time-frequency slot, the first processing unit and the second processing unit of each of the receivers respectively turn on the first time slot in the one time slot. a radio transmission unit and the second radio transmission unit; and When the time-frequency slots of the other of the time-slots are all an off-air time-frequency slot, the first processing unit and the second processing unit of each of the receivers respectively turn off the first radio in the other time slot transmission unit and the second radio transmission unit. The tracking method with low power consumption and anti-interference as claimed in claim 9, wherein the frame broadcasting step comprises: a calculation sub-step, driving the first processing unit to calculate an index value according to one of the channel variation parameters and an absolute time slot number; and In a selecting sub-step, the first processing unit is driven to substitute the index value into the index data to select one of the channels, so that the second radio transmission unit of each receiver receives the frames on one of the channels.

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