WO2019140638A1

WO2019140638A1 - Positioning system and time synchronization control and apparatus therefor

Info

Publication number: WO2019140638A1
Application number: PCT/CN2018/073429
Authority: WO
Inventors: 黄水长
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2018-01-19
Filing date: 2018-01-19
Publication date: 2019-07-25
Also published as: CN110291821A

Abstract

The present invention provides a positioning system and a time synchronization control and apparatus therefor. The positioning system comprises multiple base stations and a positioning server communicationally connected to all the multiple base stations; the multiple base stations are communicationally connected to each other; one of the multiple base stations is a master base station, and other base stations are slave base stations. The method comprises: receiving transmission time, at which a master base station transmits a time calibration message, transmitted by the master base station; receiving reception time, at which slave base stations receive the time calibration message, transmitted by the slave base stations; calculating time deviations of the slave base stations with respect to the master base station according to the distances from the slave base stations to the master base station, the transmission time, and the reception time; and transmitting the time deviations to the slave base stations. By transmitting a time calibration message by a master base station, correcting the time deviation between each slave base station and the master base station, and finally achieving time synchronization of the base stations in a positioning system, a moving object to be positioned can be positioned by transmitting a message only once, and therefore, the positioning time is reduced.

Description

Time synchronization control method and device for positioning system and positioning system

Technical field

The present invention relates to the field of positioning, and in particular, to a time synchronization control method and apparatus for a positioning system and a positioning system.

Background technique

In a positioning system, a base station is a reference device for positioning or ranging, and is usually fixed at a certain location. The tag is a device that is mounted on a moving object to be positioned. In a positioning system in which time synchronization is not currently performed, it is necessary to cancel the clock deviation (referred to as two-way ranging) by multiple communication to calculate the coordinates of the moving object to be positioned. The specific process is as follows: the tag sends a query message, and records the sending time of the sending query message. After receiving the query message, the base station records the receiving time of the received query message, and replies with a response message to the identifier, and the base station saves the sending time of the response message. After receiving the response message, the tag records the receiving time of receiving the response message, and sends an end message carrying the receiving time of the response message and the ending time of the sending message to the base station. The base station offsets the time offset between the tag and the base station by using all of the above time information, and calculates the distance between the tag and the base station. Obtaining a distance value between the tag at the same time and at least three base stations, and calculating a coordinate of the tag at the time according to a distance value between the tag and the at least three base stations at the same time. Tags need to send messages multiple times to accurately locate them, and the positioning efficiency is low.

Summary of the invention

The invention provides a time synchronization control method and device for a positioning system and a positioning system.

According to a first aspect of the present invention, a time synchronization control method for a positioning system is provided, wherein a positioning system includes a plurality of base stations and a positioning server communicatively coupled to the plurality of base stations, and the plurality of the base stations are in communication with each other. One of the plurality of base stations is a primary base station, and the other base stations are slave base stations; the method includes: receiving a transmission time of the primary base station transmitting a time calibration message sent by the primary base station; and receiving the secondary base station sent by the base station Receiving a receiving time of the time calibration message; calculating a time offset of the slave base station relative to the primary base station according to a distance between the slave base station and the primary base station, the sending time, and the receiving time; And transmitting the time offset to the slave base station.

According to a second aspect of the present invention, a time synchronization control apparatus for a positioning system is provided, comprising: a first processor, wherein the first processor is in communication connection with a plurality of base stations, and one of the plurality of base stations is a primary base station The other base station is a secondary base station; the first processor includes one or more, working separately or in common; the first processor is configured to: receive a sending time of the primary base station sending a time calibration message sent by the primary base station Receiving a reception time of the time alignment message received by the slave base station sent from the base station; calculating the slave according to a distance between the slave base station and the master base station, the sending time, and the receiving time a time offset of the base station relative to the primary base station; and transmitting the time offset to the secondary base station.

According to a third aspect of the present invention, there is provided a computer readable storage medium having stored thereon a computer program, the program being executed by a first processor to: receive a transmission of a time synchronization message sent by a primary base station by a primary base station Receiving a receiving time of receiving the time calibration message from the base station sent by the base station; calculating the distance according to a distance between the slave base station and the primary base station, the sending time, and the receiving time a time offset from the base station relative to the primary base station; and transmitting the time offset to the secondary base station.

According to a fourth aspect of the present invention, a time synchronization control method for a positioning system is provided, wherein a positioning system includes a plurality of base stations and a positioning server communicatively coupled to the plurality of base stations, and the plurality of the base stations are in communication with each other. One of the plurality of base stations is a primary base station, and the other base stations are slave base stations; the method includes: receiving a time calibration message sent by the primary base station; transmitting a receiving time of the current time alignment message to the positioning server; receiving a time deviation of the slave base station relative to the master base station returned by the positioning server for the time of receiving the time calibration message; correcting the real time time of the slave base station according to the time offset to make the slave The base station is synchronized with the time of the primary base station.

According to a fifth aspect of the present invention, a time synchronization control apparatus for a positioning system is provided, comprising: a second processor, wherein the second processor is in communication connection with a positioning server and is in communication connection with a primary base station; The device includes one or more, working separately or in common; the second processor is configured to: receive a time calibration message sent by the primary base station; send a receiving time that the current time alignment message is currently received to the positioning server; a time deviation of the second processor relative to the primary base station returned by the positioning server for the time of receiving the time calibration message; correcting the real time of the second processor according to the time deviation, so as to The time synchronization of the second processor with the primary base station.

According to a sixth aspect of the present invention, there is provided a computer readable storage medium having stored thereon a computer program, the program being executed by a second processor to: receive a time calibration message sent by a primary base station; and transmit the current received Receiving a time calibration message to a positioning server; receiving a time offset of the second processor relative to the primary base station returned by the positioning server for the time of receiving the time calibration message; according to the time deviation, The real time of the second processor is modified to synchronize the time of the second processor with the primary base station.

According to a seventh aspect of the present invention, a time synchronization control method for a positioning system is provided, wherein a positioning system includes a plurality of base stations and a positioning server communicably connected to the plurality of base stations, and the plurality of the base stations are in communication with each other. One of the plurality of base stations is a primary base station, and the other base stations are slave base stations; the method includes: the primary base station sends a time calibration message to the plurality of secondary base stations, and sends a sending time of the current time calibration message to the positioning server; After receiving the time calibration message, the slave base station separately sends the time of receiving the time calibration message to the positioning server; the positioning server according to the distance between each slave base station and the master base station, the primary base station Transmitting a transmission time of the time calibration message and receiving time of the time calibration message received by each base station, calculating a time deviation of each slave base station relative to the master base station; the positioning server transmitting the time offset to the corresponding slave base station; Correcting, by the base station, the real-time time of the slave base station according to the currently received time offset, so as to Synchronized with the main base station from the base station time.

According to an eighth aspect of the present invention, a positioning system includes a plurality of base stations and a positioning server communicatively coupled to a plurality of the base stations, wherein the plurality of base stations are in communication with each other, and among the plurality of base stations One of the primary base stations, the other base stations are slave base stations, wherein the primary base station sends time calibration messages to the plurality of secondary base stations, and sends the transmission time of the current time calibration message to the positioning server; the plurality of the secondary base stations receive the time calibration After the message, the receiving time of the time calibration message is separately sent to the positioning server; the positioning server sends the time of the time calibration message according to the distance between each slave base station and the primary base station, and each Receiving, by the base station, the time of receiving the time calibration message, calculating a time offset of each slave base station relative to the master base station; the positioning server sends the time offset to the corresponding slave base station; each slave base station according to the currently received time offset Correcting from the real-time time of the base station to time synchronize the slave base station with the master base station.

As can be seen from the technical solutions provided by the foregoing embodiments of the present invention, the present invention sends a time calibration message by the primary base station to correct the time offset between each secondary base station and the primary base station, and finally synchronizes the time of each base station in the positioning system. Aspects ensure time uniformity when positioning a moving object to be positioned. On the other hand, after time synchronization of each base station, the moving object to be located only needs to send a message once to realize positioning, and shortens the positioning time of positioning the moving object to be positioned.

DRAWINGS

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the present invention. Other drawings may also be obtained from those of ordinary skill in the art in view of the drawings.

1 is a block diagram showing the structure of a positioning system in an embodiment of the present invention;

2 is an application scenario diagram of time synchronization control to which an embodiment of the present invention is applied;

3 is a flow chart showing the operation of the positioning system in an embodiment of the present invention;

4 is a flow chart showing the operation of the time synchronization control method of the positioning system on the positioning server side according to an embodiment of the present invention;

FIG. 5 is a flow chart showing the operation of the time synchronization control method of the positioning system in the slave base station side according to an embodiment of the present invention; FIG.

6 is a structural block diagram of a time synchronization control device of a positioning system on a positioning server side according to an embodiment of the present invention;

Fig. 7 is a block diagram showing the structure of a time synchronization control apparatus of a positioning system in a slave station side according to an embodiment of the present invention.

Detailed ways

The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, but not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.

The time synchronization control method and apparatus of the positioning system and the positioning system of the present invention will be described below with reference to the accompanying drawings. Detailed instructions are given. The features of the embodiments and embodiments described below may be combined with each other without conflict.

Referring to FIG. 1, a positioning system according to an embodiment of the present invention is provided. The positioning system may include a plurality of base stations and a positioning server. In this embodiment, the positioning server is communicably connected to the plurality of base stations. Optionally, the plurality of the base stations and the positioning server are all connected according to a wired communication manner, for example, using a CAN bus, or Other wired communication connections. Optionally, a plurality of the base stations and the positioning server are both connected according to a wireless communication connection manner, for example, using wifi, Bluetooth, zigbee or other wireless communication connection manner. Optionally, a part of the plurality of base stations are communicably connected to the positioning server based on a wired communication manner, and another part is communicably connected to the positioning server based on a wireless communication manner. Preferably, a plurality of the base stations and the positioning server are both connected according to the same communication mode. For example, a plurality of the base stations and the positioning server are connected by using a wifi wireless communication.

Further, in this embodiment, a plurality of the base stations are in communication connection with each other. Optionally, a plurality of the base stations are communicatively connected according to a wired communication manner, for example, using a CAN bus, and other wired communication connections may also be adopted. Optionally, a plurality of the base stations are connected according to a wireless communication connection manner, for example, using wifi, Bluetooth, zigbee or other wireless communication connection manner. Optionally, some of the plurality of base stations are in communication connection according to a wired communication connection manner, and another part of the base stations are communicatively connected according to a wireless communication connection manner. Preferably, a plurality of the base stations are connected by the same communication mode, for example, a plurality of the base stations are connected by a wifi wireless communication.

In this embodiment, a plurality of the base stations, the positioning server, and the plurality of base stations are all connected by the same communication method.

The positioning system of this embodiment can be applied to a robot game system, and of course, can also be applied to other scenes that need to be positioned. This embodiment is further described by taking a positioning system applied to a robot game system as an example.

After the positioning system is built, each base station needs to be fixed at a specific location in the robot playing field. In this embodiment, referring to FIG. 2, one of the plurality of base stations is a primary base station, and the other base stations are slave base stations. The primary base station and the secondary base station can be set according to the communication connection sequence of each base station and the positioning server. For example, the first base station that implements the communication connection with the positioning server is set as the primary base station, and the other base stations are used as the secondary base stations. Of course, after each base station and the positioning server are in communication connection, the user designates one of the base stations as the primary base station, and the other base stations serve as the secondary base stations.

Referring to FIG. 3, the method for controlling time synchronization between base stations according to the present invention may include the following steps:

Step S301: The primary base station sends a time calibration message to the multiple secondary base stations, and sends the sending time of the current time calibration message to the positioning server.

In this embodiment, the sending time refers to a time corresponding to the primary base station when the primary base station sends a current time calibration message.

In step S301, the timing at which the primary base station transmits the time alignment message may be set according to actual requirements. Preferably, the primary base station periodically sends the time calibration message, so as to continuously correct the time of multiple base stations in the positioning system, and ensure time synchronization of each base station. The period in which the primary base station sends the time calibration message may be set as needed, for example, the period may be selected as 1 minute, 2 minutes, and the like.

Step S302: After receiving the time calibration message, the plurality of slave base stations respectively send the time of receiving the time calibration message to the positioning server;

In this embodiment, the receiving time refers to a time corresponding to the slave base station when each time base station receives the time calibration message.

Step S303: The positioning server calculates each slave base station according to the distance between each slave base station and the master base station, the sending time of the time base station to send the time calibration message, and the receiving time of each time base station receiving the time calibration message. Time deviation from the primary base station;

Step S304: The positioning server sends the time offset to the corresponding slave base station;

Step S305: Each slave base station corrects the real-time time of the slave base station according to the currently received time offset, so that the slave base station and the master base station are time-synchronized.

In this embodiment, the time synchronization message is sent by the primary base station to correct the time offset between each of the secondary base stations and the primary base station, and finally, the time synchronization of each base station in the positioning system is performed, and on the one hand, the moving object to be located is ensured. Time uniformity when positioning. On the other hand, after time synchronization of each base station, the moving object to be located only needs to send a message once to realize positioning, and shortens the positioning time of positioning the moving object to be positioned.

Referring to FIG. 4, it is a flowchart of an embodiment of a time synchronization control method of a positioning system according to the present invention. The embodiment is described from a positioning server. The time synchronization control method may include:

Step S401: Receive a sending time of the primary base station sending a time calibration message sent by the primary base station;

Before the step S401, the method may further include: receiving a user instruction, where the user instruction carries a primary base station identifier; and according to the primary base station identifier, sending a primary base station setting message to the corresponding base station, to receive the current received The base station in which the primary base station setting message is described is set as the primary base station. In this embodiment, the user specifies the primary base station and the secondary base station, and the flexibility is strong.

In this step, the primary base station periodically sends a time alignment message to each of the secondary base stations. For details, refer to the description of step S301 in the foregoing embodiment, and details are not described herein again.

Step S402: Receive a receiving time of receiving the time calibration message from the base station sent by the base station;

After the primary base station sends the time calibration message, each of the secondary base stations receives the time calibration message sent by the primary base station, and sends the time when each time calibration time is received to the positioning server.

Step S403: Calculate a time offset of the slave base station relative to the primary base station according to a distance between the slave base station and the primary base station, the sending time, and the receiving time.

The step S403 may specifically include: calculating, according to a distance between the slave base station and the primary base station, a signal transmission time between the slave base station and the master base station; according to the signal transmission time, the sending time, and The receiving time calculates a time offset of the slave base station relative to the primary base station. The signal transmission time between the base station and the primary base station is calculated according to the distance between the secondary base station and the primary base station and the current signal transmission speed. Optionally, the time deviation of the current slave base station and the primary base station is calculated as follows: time deviation = (reception time - transmission time) - distance between the current slave base station and the primary base station / current signal transmission speed. Of course, the calculation method of the current time deviation between the base station and the primary base station is not limited to the above calculation manner. For example, the time deviation can be corrected according to the empirical value.

The manner of obtaining the distance between the slave base station and the primary base station may include the following two types:

First, the distance between the slave base station and the master base station is preset. During the construction of the positioning system, the placement position of each base station is fixed, and the distance between the base stations can be pre-stored on the positioning server.

Second, the positioning server calculates the distance between the slave base station and the primary base station according to the sending time and the receiving time. Specifically, after obtaining the sending time of the current base station transmitting the current time calibration message and the receiving time of receiving the current time calibration message from the base station, the calculation formula of the distance between the current slave base station and the master base station is as follows: the current slave base station Distance to the primary base station = (reception time - transmission time) × current signal transmission speed. Of course, the calculation method of the current distance between the base station and the primary base station is not limited to the above calculation manner. For example, the distance between the current base station and the primary base station can be corrected according to the empirical value.

Step S404: Send the time offset to the slave base station.

The method triggers the slave base station to modify the real-time time of the slave base station according to the time offset in step S404, so that the slave base station and the master base station are time-synchronized. On the one hand, it ensures the time uniformity of the positioning of the moving object to be positioned. On the other hand, after the time synchronization of each base station, the moving object to be located (which can be set on the moving object to be positioned) can be positioned only by sending a message once, and the positioning of the moving object to be positioned is shortened. time.

Further, after the location server sends the time offset to all the slave base stations, the method may further include: receiving the to-be-targeted mobile object (which may be located on the mobile object to be located) based on the same identity as the at least three base stations a signal transmission time of the positioning message, wherein the positioning message is sent by the mobile object to at least three of the base stations; determining the moving object according to a signal transmission time of the mobile object and the at least three base stations based on the same positioning message Position information (ie coordinates) to achieve positioning of moving objects. Specifically, the distance between the mobile object and each of the at least three base stations may be calculated according to the signal transmission time and the current signal transmission speed of the same positioning message of the mobile object and each of the at least three base stations, according to the mobile The position information (x, y, z) of the moving object is calculated from the distance between the object and each of the at least three base stations. After the time synchronization is implemented in each base station in the positioning system, the ranging efficiency between the moving object and each base station is improved, thereby shortening the positioning time.

Referring to FIG. 5, it is a flowchart of another embodiment of a time synchronization control method of a positioning system according to the present invention, which is described from a base station. The time synchronization control method may include:

Step S501: Receive a time calibration message sent by the primary base station.

Step S502: Sending the receiving time of the time calibration message currently received to the positioning server;

Step S503: Receive a time offset of the slave base station relative to the primary base station returned by the positioning server for the time of receiving the time calibration message.

For the process of calculating the time deviation by the positioning server, refer to the description of step S403 in the foregoing embodiment, and details are not described herein again.

Step S504: Correct the real-time time of the slave base station according to the time offset to synchronize the time of the slave base station with the master base station.

After the step S504 is performed, the time synchronization between the current base station and the primary base station is implemented, and on the one hand, the time uniformity when positioning the moving object to be located is ensured. On the other hand, after time synchronization of each base station, the moving object to be located only needs to send a message once to realize positioning, and shortens the positioning time of positioning the moving object to be positioned.

Step S504 specifically includes: obtaining a correction time of the slave base station based on a difference between the real-time time of the slave base station and the time offset; and correcting the real-time time of the slave base station to the correction time. For example, the current time deviation received from the base station indicates that the real time from the base station is 1 s faster than the time of the primary base station, and the current slave base station will subtract the current real time from the base station by 1 s to obtain the correction time, and set the correction time. Determined as the current real time from the base station. The current time deviation received from the base station indicates that the real time from the base station is 1 s slower than the time of the primary base station, and the current slave base station adds the current real time from the base station to the real time for 1 s to obtain the correction time, and sets the correction time to Current real time from the base station.

In a specific implementation, the positioning system is applied to the robot game system, and base stations are respectively disposed at four corners of the square playing field, and are marked as base station 0, base station 1, base station 2, base station 3, and base station 4. Among them, the wifi communication connection is adopted between the four base stations, and the wifi communication connection is also adopted between the four base stations and the positioning server. At this point, the positioning system is set up. The distance between the base station 0 and the base station 1 is S ₀₁ , the distance between the base station 0 and the base station 2 is S ₀₂ , the distance between the base station 0 and the base station 3 is S ₀₃ , and the distance between the base station 0 and the base station 3 is S. ₀₃ , the user can pre-store S ₀₁ , S ₀₂ , S ₀₃ on the positioning server. Further, the user can set the base station 0 located in the lower left corner as the primary base station by the positioning server, and the other base stations (including the base station 1, the base station 2, and the base station 3) as the secondary base station. The primary base station sends a time alignment message to each of the secondary base stations every one minute, and the primary base station sends the time t _{0 at} which the current time alignment message is sent to the positioning server, and the base station 1 acquires the time when it receives the current time calibration message as t. ₁ . The base station 2 obtains the time when it receives the current time calibration message is t ₂ , and the time when the base station 3 acquires the current time calibration message is t ₃ , and the positioning server obtains t ₀ , t ₁ , t ₂ , After t ₃ , first, according to S ₀₁ , S ₀₂ , S ₀₃ and the current signal transmission speed v, the signal transmission time between the base station 1 and the base station 0, the base station 2 and the base station 0, and the base station 3 and the base station 0 in an ideal state is calculated. They are S ₀₁ /v, S ₀₂ /v, S ₀₃ /v. However, during actual transmission, the signal transmission times between the base station 1 and the base station 0, the base station 2 and the base station 0, and the base station 3 and the base station 0 are (t _{1 -} t ₀ ), (t _{2 -} t ₀ ), (t ₃ , respectively). -t ₀ ). Then, according to (t ₁ -t ₀ ) and S ₀₁ /v, (t ₂ -t ₀ ) and S ₀₂ /v, (t ₃ -t ₀ ) and S ₀₃ /v, the base station 1 can be respectively calculated relative to the base station 0. Time offset (t ₁ -t ₀ )-S ₀₁ /v, (t ₂ -t ₀ )-S ₀₂ /v, (t ₃ -t ₀ )-S of base station 2 relative to base station 0 and base station 3 relative to base station 0 ₀₃ / v, the base station 1 corrects its real time according to (t _{1 -} t ₀ ) - S ₀₁ /v, and the base station 2 corrects its real time according to (t _{2 -} t ₀ ) - S ₀₂ / v, the base station 3 The real-time time is corrected according to (t _{3 -} t ₀ ) - S ₀₃ /v, so that the time of the base station 1, the base station 2, and the base station 3 is synchronized with the base station 0.

In other embodiments, the time synchronization between the base stations in the positioning system may also be implemented in a hardware manner, for example, using the same clock generator, connecting to all base stations through equal length cables, thereby achieving Time synchronization. However, this implementation is more cumbersome to maintain and costly.

Corresponding to the time synchronization control method of the aforementioned positioning system, the present invention also provides an embodiment of a time synchronization control device of the positioning system.

The time synchronization control device of the positioning system of the present invention is applied to the positioning system server and the slave base station, respectively. The device embodiment may be implemented by software, or may be implemented by means of hardware or software and hardware. Taking software implementation as an example, as a logical device, the processor in the device corresponds to the non-volatile memory. The computer program instructions are read into memory to form a run. From the hardware level, the device where the device is located, in addition to the processor, the network interface, the memory, and the non-volatile memory, the device in which the device is located in the embodiment may also include other hardware, such as a forwarding chip responsible for processing signals. Etc.; The device may also be a distributed device in terms of hardware structure, and may include multiple interface cards for signal processing extension at the hardware level.

Referring to FIG. 6, which is a block diagram of an embodiment of a time synchronization control apparatus for a positioning system according to the present invention, the apparatus is applied to a positioning server, and the apparatus may include a first processor. The first processor is in communication connection with a plurality of base stations. One of the plurality of base stations is a primary base station, and the other base stations are secondary base stations.

The first processor may be a central processing unit (CPU). The first processor may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a general array logic (GAL), or any combination thereof.

The first processor includes one or more, working individually or collectively. The first processor is configured to receive a sending time of the primary base station sending a time calibration message sent by the primary base station, and receive a receiving time of the time calibration message received by the secondary base station sent by the base station; Calculating a time offset of the slave base station with respect to the master base station, and transmitting the time offset to the slave base station, a distance from the primary base station, the transmission time, and the receiving time.

Further, the time synchronization control device of the positioning system may further include a first storage device. The first storage device may include a volatile memory, such as a random-access memory (RAM); the first storage device may also include a non-volatile memory. For example, a flash memory, a hard disk drive (HDD), or a solid-state drive (SSD); the first storage device may further include a combination of the above types of memories. Optionally, the first storage device is configured to store program instructions. The first processor may invoke the program instructions to implement a time synchronization control method of the positioning system applied to the positioning server as in the above embodiment.

The specific principles and implementations of the time synchronization control device of the positioning system provided by the embodiment of the present invention are similar to the embodiment shown in FIG. 4, and details are not described herein again.

Referring to FIG. 7, a block diagram of an embodiment of a time synchronization control apparatus of a positioning system according to the present invention is applied to a slave base station, and the apparatus may include a second processor. The second processor is in communication with the positioning server and is in communication with a primary base station.

The second processor may be a central processing unit (CPU). The second processor may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a general array logic (GAL), or any combination thereof.

The second processor includes one or more, working individually or collectively. The second processor is configured to receive a time calibration message sent by the primary base station, send a receiving time that the current time alignment message is currently received to the positioning server, and receive the return that the positioning server returns for the receiving time of the time calibration message. a time offset of the second processor relative to the primary base station; correcting the real-time time of the second processor according to the time offset to synchronize the time of the second processor with the primary base station.

Further, the time synchronization control device of the positioning system may further include a second storage device. The second storage device may include a volatile memory, such as a random-access memory (RAM); the second storage device may also include a non-volatile memory. For example, a flash memory, a hard disk drive (HDD), or a solid-state drive (SSD); the second storage device may further include a combination of the above types of memories. Optionally, the second storage device is configured to store program instructions. The second processor may invoke the program instructions to implement a time synchronization control method applied to the positioning system on the slave base station as in the above embodiment.

The specific principles and implementation manners of the time synchronization control device of the positioning system provided by the embodiment of the present invention are similar to the embodiment shown in FIG. 5, and details are not described herein again.

The embodiment of the present invention further provides a computer readable storage medium having stored thereon a computer program, the program being executed by the first processor to perform the step of the time synchronization control method of the positioning system shown in FIG. The specific principles and implementation manners are similar to the embodiment shown in FIG. 4, and details are not described herein again.

The program is executed by the second processor as a step of the time synchronization control method of the positioning system shown in FIG. The specific principles and implementation manners are similar to the embodiment shown in FIG. 5, and details are not described herein again.

For the device embodiment, since it basically corresponds to the method embodiment, reference may be made to the partial description of the method embodiment. The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, ie may be located A place, or it can be distributed to multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the embodiment. Those of ordinary skill in the art can understand and implement without any creative effort.

The description of the "specific examples", or "some examples" and the like are intended to be included in the particular features, structures, materials or features described in connection with the embodiments or examples. In the present specification, the schematic representation of the above terms does not necessarily mean the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in a suitable manner in any one or more embodiments or examples.

Any process or method description in the flowcharts or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a particular logical function or process. And the scope of the preferred embodiments of the present invention includes additional implementations in which the functions may be performed in a substantially simultaneous manner or in the reverse order, depending on the order in which they are illustrated. It will be understood by those skilled in the art to which the embodiments of the present invention pertain.

The logic and/or steps represented in the flowchart or otherwise described herein, for example, may be considered as an ordered list of executable instructions for implementing logical functions, and may be embodied in any computer readable medium, Used in conjunction with, or in conjunction with, an instruction execution system, apparatus, or device (eg, a computer-based system, a system including a processor, or other system that can fetch instructions and execute instructions from an instruction execution system, apparatus, or device) Or use with equipment. For the purposes of this specification, a "computer-readable medium" can be any apparatus that can contain, store, communicate, propagate, or transport a program for use in an instruction execution system, apparatus, or device, or in conjunction with the instruction execution system, apparatus, or device. More specific examples (non-exhaustive list) of computer readable media include the following: electrical connections (electronic devices) having one or more wires, portable computer disk cartridges (magnetic devices), random access memory (RAM), Read only memory (ROM), erasable editable read only memory (EPROM or flash memory), fiber optic devices, and portable compact disk read only memory (CDROM). In addition, the computer readable medium may even be a paper or other suitable medium on which the program can be printed, as it may be optically scanned, for example by paper or other medium, followed by editing, interpretation or, if appropriate, other suitable The method is processed to obtain the program electronically and then stored in computer memory.

It should be understood that portions of the invention may be implemented in hardware, software, firmware or a combination thereof. In the above embodiments, multiple steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented with any one or combination of the following techniques well known in the art: having logic gates for implementing logic functions on data signals. Discrete logic circuits, application specific integrated circuits with suitable combinational logic gates, programmable gate arrays (PGAs), field programmable gate arrays (FPGAs), etc.

A person skilled in the art can understand that all or part of the steps carried in implementing the above implementation method can be completed by a program to instruct related hardware, and the program can be stored in a computer readable storage medium, and the program is executed. Including one or a combination of the steps of the method embodiments.

In addition, each functional unit in each embodiment of the present invention may be integrated into one processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above integrated modules can be implemented in the form of hardware or in the form of software functional modules. The integrated modules, if implemented in the form of software functional modules and sold or used as stand-alone products, may also be stored in a computer readable storage medium.

The above mentioned storage medium may be a read only memory, a magnetic disk or an optical disk or the like. Although the embodiments of the present invention have been shown and described, it is understood that the above-described embodiments are illustrative and are not to be construed as limiting the scope of the invention. The embodiments are subject to variations, modifications, substitutions and variations.

Claims

A time synchronization control method for a positioning system, wherein the positioning system comprises a plurality of base stations and a positioning server communicably connected to the plurality of base stations, wherein the plurality of base stations are in communication connection with each other, and one of the plurality of base stations The primary base station, the other base station is a secondary base station; and the method includes:

Receiving, by the primary base station, a sending time of the time synchronization message sent by the primary base station;

Receiving, by the base station, the receiving time of receiving the time calibration message from the base station;

Calculating a time offset of the slave base station relative to the master base station according to a distance between the slave base station and the primary base station, the sending time, and the receiving time;

Transmitting the time offset to the slave base station.
The method according to claim 1, wherein the calculating, according to the distance between the slave base station and the primary base station, the sending time, and the receiving time, the slave base station is opposite to the master base station Time deviations, including:

Calculating a signal transmission time between the slave base station and the master base station according to a distance between the slave base station and the master base station;

Calculating a time offset of the slave base station relative to the master base station according to the signal transmission time, the sending time, and the receiving time.
The method according to claim 1 or 2, wherein the distance between the slave base station and the master base station is preset;

Alternatively, the distance between the slave base station and the primary base station is calculated according to the sending time and the receiving time.
The method of claim 1 wherein said primary base station periodically transmits said time alignment message.
The method according to claim 1, wherein a plurality of the base stations are communicably connected to the positioning server based on a wired communication manner, or a plurality of the base stations are communicably connected to the positioning server based on a wireless communication connection manner.
The method according to claim 1, wherein a plurality of said base stations are communicably connected based on a wired communication method, or a plurality of said base stations are communicably connected based on a wireless communication connection.
The method according to claim 1, wherein the receiving, by the primary base station, before the sending time of the time synchronization message sent by the primary base station, further includes:

Receiving a user instruction, where the user instruction carries a primary base station identifier;

And transmitting, according to the primary base station identifier, a primary base station setup message to the corresponding base station, to set the base station that currently receives the primary base station setup message as the primary base station.
The method according to claim 1, wherein after transmitting the time offset to all slave base stations, the method further comprises:

Receiving a signal transmission time of the mobile object to be located and the at least three base stations based on the same positioning message, wherein the positioning message is sent by the mobile object to at least three of the base stations;

And determining location information of the mobile object according to a signal transmission time of the mobile object and the at least three base stations based on the same positioning message.
A time synchronization control device for a positioning system, comprising: a first processor, wherein the first processor is in communication connection with a plurality of base stations, one of the plurality of base stations is a primary base station, and the other base stations are slaves Base station

The first processor includes one or more, operating separately or collectively; the first processor is configured to:

Receiving, by the primary base station, a sending time of the time synchronization message sent by the primary base station;

Receiving, by the base station, the receiving time of receiving the time calibration message from the base station;

Calculating a time offset of the slave base station relative to the master base station according to a distance between the slave base station and the primary base station, the sending time, and the receiving time;

Transmitting the time offset to the slave base station.
The apparatus according to claim 9, wherein said first processor is configured to:

Calculating a signal transmission time between the slave base station and the master base station according to a distance between the slave base station and the master base station;

Calculating a time offset of the slave base station relative to the master base station according to the signal transmission time, the sending time, and the receiving time.
The apparatus according to claim 9 or 10, wherein a distance between the slave base station and the master base station is preset;

Alternatively, the distance between the slave base station and the primary base station is calculated by the first processor according to the sending time and the receiving time.
The apparatus according to claim 9, wherein said primary base station periodically transmits said time alignment message.
The apparatus according to claim 9, wherein a plurality of said base stations are communicably connected to said location server based on a wired communication mode, or a plurality of said base stations are communicably connected to said location server based on a wireless communication connection.
The apparatus according to claim 9, wherein a plurality of said base stations are communicably connected by means of a wired communication method, or a plurality of said base stations are communicably connected by a wireless communication connection.
The apparatus according to claim 9, wherein the first processor is further configured to: before receiving, by the primary base station, a sending time of the time synchronization message sent by the primary base station:

Receiving a user instruction, where the user instruction carries a primary base station identifier;

And transmitting, according to the primary base station identifier, a primary base station setup message to the corresponding base station, to set the base station that currently receives the primary base station setup message as the primary base station.
The apparatus according to claim 9, wherein the first processor, after transmitting the time offset to all the slave base stations, further comprises:

Receiving a signal transmission time of the mobile object to be located and the at least three base stations based on the same positioning message, wherein the positioning message is sent by the mobile object to at least three of the base stations;

And determining location information of the mobile object according to a signal transmission time of the mobile object and the at least three base stations based on the same positioning message.
A computer readable storage medium having stored thereon a computer program, the program being executed by a processor to perform the steps of the time synchronization control method of the positioning system according to any one of claims 1 to 8.
A time synchronization control method for a positioning system, wherein the positioning system comprises a plurality of base stations and a positioning server communicably connected to the plurality of base stations, wherein the plurality of base stations are in communication connection with each other, and one of the plurality of base stations The primary base station, the other base station is a secondary base station; and the method includes:

Receiving a time calibration message sent by the primary base station;

Sending the receiving time of the time calibration message currently received to the positioning server;

Receiving, by the positioning server, a time offset of the slave base station relative to the master base station returned for a receiving time of the time calibration message;

Correcting the real-time time of the slave base station according to the time offset to synchronize the time of the slave base station with the master base station.
The method according to claim 18, wherein the correcting the real-time time of the slave base station according to the time offset comprises:

Obtaining a correction time of the slave base station based on a difference between the real-time time of the slave base station and the time offset;

The real time of the slave base station is corrected to the correction time.
The method of claim 18 wherein said primary base station periodically transmits said time alignment message.
The method according to claim 18, wherein a plurality of said base stations are communicably connected to said location server based on a wired communication mode, or a plurality of said base stations are communicably connected to said location server based on a wireless communication connection.
The method according to claim 18, wherein a plurality of said base stations are communicably connected based on a wired communication method, or a plurality of said base stations are communicably connected based on a wireless communication connection.
A time synchronization control device for a positioning system, comprising: a second processor, wherein the second processor is in communication connection with a positioning server and is in communication connection with a primary base station;

The second processor includes one or more, operating separately or in common; the second processor is configured to:

Receiving a time calibration message sent by the primary base station;

Sending the receiving time of the time calibration message currently received to the positioning server;

Receiving, by the positioning server, a time offset of the second processor relative to the primary base station returned for a receiving time of the time calibration message;

Correcting the real-time time of the second processor according to the time deviation to synchronize the time of the second processor with the primary base station.
The apparatus according to claim 23, wherein said second processor is configured to:

Obtaining a correction time of the second processor based on a difference between the real-time time of the second processor and the time deviation;

Correcting the real time of the second processor to the correction time.
The apparatus according to claim 23, wherein said primary base station periodically transmits said time alignment message.
The apparatus according to claim 23, wherein a plurality of said base stations are communicably connected to said location server based on a wired communication method, or a plurality of said base stations are communicably connected to said location server based on a wireless communication connection.
The apparatus according to claim 23, wherein a plurality of said base stations are communicably connected by means of a wired communication method, or a plurality of said base stations are communicably connected by means of a wireless communication connection.
A computer readable storage medium having stored thereon a computer program, the program being executed by a processor to perform the steps of the time synchronization control method of the positioning system according to any one of claims 18 to 22.
A time synchronization control method for a positioning system, wherein the positioning system comprises a plurality of base stations and a positioning server communicably connected to the plurality of base stations, wherein the plurality of base stations are in communication connection with each other, and one of the plurality of base stations The primary base station, the other base station is a secondary base station; and the method includes:

The primary base station sends a time calibration message to the plurality of secondary base stations, and sends the sending time of the current time calibration message to the positioning server;

After receiving the time calibration message, the plurality of slave base stations respectively send the time of receiving the time calibration message to the positioning server;

The positioning server calculates, according to the distance between each slave base station and the primary base station, the sending time of the time base station that the time base station sends the time calibration message, and the receiving time of the time calibration message received by each base station, Time offset of the primary base station;

The positioning server sends the time offset to the corresponding slave base station;

Each slave base station corrects the real-time time of the slave base station according to the currently received time offset to time synchronize the slave base station with the master base station.
The method according to claim 29, wherein the positioning server receives, according to the distance between each slave base station and the master base station, the transmission time of the time base station, and the base station receives the time Calculating the time deviation of the time calibration message, and calculating the time deviation of each slave base station relative to the master base station, including:

Calculating a signal transmission time between each slave base station and the master base station according to a distance between each slave base station and the master base station;

Calculating, according to the signal transmission time between each slave base station and the primary base station, the transmission time of the time base station transmitting the time calibration message, and the receiving time of each time base station receiving the time calibration message, Time offset of the primary base station.
The method according to claim 29 or 30, wherein the distance between the slave base station and the master base station is preset;

Alternatively, the distance between the slave base station and the primary base station is calculated by the positioning server according to the sending time and the receiving time.
The method of claim 29 wherein said primary base station periodically transmits said time alignment message to a plurality of said secondary base stations.
The method according to claim 29, wherein a plurality of said base stations are communicably connected to said location server based on a wired communication mode, or a plurality of said base stations are communicably connected to said location server based on a wireless communication connection.
The method according to claim 29, wherein a plurality of said base stations are communicably connected by means of a wired communication method, or a plurality of said base stations are communicably connected based on a wireless communication connection.
The method according to claim 29, wherein each of the slave base stations corrects the real-time time of the slave base station according to the currently received time offset, including:

Obtaining a current correction time from the base station based on a difference between the current real time from the base station and the currently received time offset;

The real time from the base station is corrected to the correction time.
The method according to claim 29, wherein the sending, by the primary base station, the time calibration message to the plurality of secondary base stations further comprises:

The positioning server receives a user instruction, where the user instruction carries a primary base station identifier;

The positioning server sends a primary base station setting message to the corresponding base station according to the primary base station identifier, so that the base station that currently receives the primary base station setting message is configured as the primary base station.
The method according to claim 29, wherein after the location server sends the time offset to all the slave base stations, the method further includes:

Acquiring a signal transmission time of the to-be-located mobile object and the at least three base stations based on the same positioning message, wherein the positioning message is sent by the mobile object to at least three of the base stations;

And determining location information of the mobile object according to a signal transmission time of the mobile object and the at least three base stations based on the same positioning message.
A positioning system, comprising: a plurality of base stations and a positioning server communicably connected to the plurality of base stations, wherein the plurality of base stations are in communication connection with each other, and one of the plurality of base stations is a primary base station, Other base stations are slave base stations,

The primary base station sends a time calibration message to the multiple secondary base stations, and sends the sending time of the current time calibration message to the positioning server;

After receiving the time calibration message, the plurality of slave base stations respectively send the time of receiving the time calibration message to the positioning server;

The positioning server calculates, according to the distance between each slave base station and the primary base station, the sending time of the time base station that the time base station sends the time calibration message, and the receiving time of the time calibration message received by each base station, Time offset of the primary base station;

The positioning server sends the time offset to the corresponding slave base station;

Each slave base station corrects the real-time time of the slave base station according to the currently received time offset to time synchronize the slave base station with the master base station.
The system according to claim 38, wherein the positioning server calculates a signal transmission time between each slave base station and the master base station according to a distance between each slave base station and the master base station; Calculating, by a signal transmission time between the base station and the primary base station, a transmission time of the time synchronization message sent by the primary base station, and a receiving time of the time calibration message received by each base station, calculating, by each base station, the primary base station Time deviation.
The system according to claim 38 or 39, wherein the distance between the slave base station and the master base station is preset;

Alternatively, the distance between the slave base station and the primary base station is calculated by the positioning server according to the sending time and the receiving time.
The system according to claim 38, wherein said primary base station periodically transmits said time alignment message to a plurality of said secondary base stations.
The system according to claim 38, wherein a plurality of said base stations are communicably connected to said location server based on a wired communication mode, or a plurality of said base stations are communicably connected to said location server based on a wireless communication connection.
The system according to claim 38, wherein a plurality of said base stations are communicably connected by means of a wired communication method, or a plurality of said base stations are communicably connected based on a wireless communication connection.
The system according to claim 38, wherein each slave base station obtains a correction time of the current slave base station based on a difference between a real time time of the current base station and the current received time offset; and corrects the current real time time of the slave base station. For the correction time.
The system according to claim 38, wherein the primary base station sends a time alignment message to a plurality of secondary base stations, and if the positioning server receives a user instruction, the user instruction carries a primary base station identifier; the positioning server And transmitting, according to the primary base station identifier, a primary base station setup message to the corresponding base station, to set the base station that currently receives the primary base station setup message as the primary base station.
The system according to claim 38, wherein the positioning server sends the time offset to all slave base stations, if the positioning server receives a signal that the mobile object to be located is based on the same positioning message as the at least three base stations Transmitting time, determining location information of the mobile object according to a signal transmission time of the mobile object and the at least three base stations based on the same positioning message, wherein the positioning message is sent by the mobile object to at least three of the base stations.