WO2022016971A1

WO2022016971A1 - Wireless communication method and apparatus, base station, and tag device

Info

Publication number: WO2022016971A1
Application number: PCT/CN2021/094628
Authority: WO
Inventors: 张烨
Original assignee: Oppo广东移动通信有限公司
Priority date: 2020-07-23
Filing date: 2021-05-19
Publication date: 2022-01-27
Also published as: CN113973378A

Abstract

Disclosed in embodiments of the present application are a wireless communication method and apparatus, a base station, and a tag device. The method comprises: a base station X obtains a first time frame for UWB wireless communication between communication devices in a positioning service system, the communication devices in the positioning service system comprising at least three base stations and tag devices, the first time frame comprising a time slot for providing synchronization operations for the base stations and at least one time slot for providing positioning services for the tag devices by means of a preset positioning algorithm; and the base station X exchanges UWB signals with the communication devices in the positioning service system in a current time slot on the first time frame to implement UWB wireless communication. It can be seen that the first time frame is divided into different time slots, and UWB signals are exchanged between communication devices in corresponding time slots, such that conflicts and interference between UWB signals in UWB channels are avoided, and base station synchronization operations and positioning services between communication devices are provided by means of allocation of time slots.

Description

Wireless communication method and device, base station and label device

technical field

The present application relates to the field of wireless communication technologies, and in particular, to a wireless communication method and apparatus, a base station, and a tag device.

Background technique

Ultra Wide Band (UWB) technology is a wireless carrier communication technology, which is characterized by transmitting UWB signals encoded by pulse modulation with lower power and wider frequency range within a short distance.

In the indoor positioning scenario based on UWB technology, whether it is the synchronization operation between the base station and the base station, or the base station provides positioning services for the tag device, it is necessary to frequently exchange UWB signals in the UWB channel.

SUMMARY OF THE INVENTION

Embodiments of the present application provide a wireless communication method and apparatus, a base station and a tag device, in order to avoid collision and interference of UWB signals in UWB channels, and to provide base station synchronization operation and positioning services between communication devices by time slot allocation.

In a first aspect, an embodiment of the present application provides a wireless communication method, including:

The base station X obtains a first time frame for ultra-bandwidth UWB wireless communication between communication devices in the positioning service system; wherein, the communication devices in the positioning service system include at least three base stations and tag devices, and the first time frame The time frame includes a time slot for providing base station synchronization operation and at least one time slot for providing positioning service to the tag device through a preset positioning algorithm;

The base station X exchanges UWB signals with the communication equipment in the positioning service system in the current time slot on the first time frame to realize UWB wireless communication.

In a second aspect, an embodiment of the present application provides a wireless communication method, including:

The tag device acquires the first time frame used for ultra-bandwidth UWB wireless communication between communication devices in the positioning service system; wherein the communication device in the positioning service system includes the tag device and at least three base stations, the The first time frame includes a time slot for providing a base station synchronization operation and at least one time slot for providing a positioning service to the tag device through a preset positioning algorithm;

The tag device exchanges UWB signals with the communication device in the positioning service system in the current time slot on the first time frame to realize UWB wireless communication.

In a third aspect, an embodiment of the present application provides a wireless communication apparatus, which is applied to a base station X. The apparatus includes a processing unit and a communication unit, and the processing unit is configured to:

The first time frame used for ultra-bandwidth UWB wireless communication between communication devices in the positioning service system is acquired by the communication unit; wherein, the communication devices in the positioning service system include at least three base stations and tag devices, and the The first time frame includes a time slot for providing a base station synchronization operation and at least one time slot for providing a positioning service to the tag device through a preset positioning algorithm;

UWB wireless communication is realized by exchanging UWB signals with the communication device in the positioning service system by the communication unit in the current time slot on the first time frame.

In a fourth aspect, an embodiment of the present application provides a wireless communication apparatus, which is applied to a tag device. The apparatus includes a processing unit and a communication unit, and the processing unit is configured to:

The first time frame for ultra-bandwidth UWB wireless communication between communication devices in the positioning service system is acquired by the communication unit; wherein, the communication devices in the positioning service system include the tag device and at least three base stations , the first time frame includes a time slot for providing a base station synchronization operation and at least one time slot for providing a positioning service to the tag device through a preset positioning algorithm;

In a fifth aspect, an embodiment of the present application provides a base station, where the base station is a base station X, including a processor, a memory, and a communication interface, the memory stores one or more programs, and the one or more programs are The processor is executed, and the one or more programs are used to execute the instructions of the steps in the first aspect of the embodiments of the present application.

In a sixth aspect, an embodiment of the present application provides a tag device, including a processor, a memory, and a communication interface, the memory stores one or more programs, and the one or more programs are executed by the processor, so The one or more programs are used to execute the instructions of the steps in the second aspect of the embodiments of the present application.

In a seventh aspect, the embodiments of the present application provide a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program for electronic data exchange, and the computer program is operable to cause a computer to execute the embodiments of the present application some or all of the steps described in the first and second aspects.

In an eighth aspect, an embodiment of the present application provides a computer program product, wherein the computer program product includes a computer program, and the computer program is operable to cause a computer to execute the first and second aspects of the embodiments of the present application. some or all of the steps. The computer program product may be a software installation package.

Description of drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the accompanying drawings that are required to be used in the description of the embodiments or the prior art. Obviously, the drawings described below are only some embodiments of the present application, and for those of ordinary skill in the art, other drawings can also be obtained from these drawings without any creative effort.

1A is a schematic diagram of an application scenario based on UWB technology positioning provided by an embodiment of the present application;

1B is a schematic diagram of signal interaction of an SS-TWR positioning method provided by an embodiment of the present application;

1C is a schematic diagram of signal interaction of a DS TWR positioning method provided by an embodiment of the present application;

1D is a schematic diagram of signal interaction of a TDOA positioning method provided by an embodiment of the present application;

1E is a schematic diagram of an AOA/PDOA positioning method provided by an embodiment of the present application;

1F is a schematic structural diagram of a superframe provided by an embodiment of the present application;

1G is a schematic structural diagram of another superframe provided by an embodiment of the present application;

1H is a schematic diagram of the architecture of a positioning service system provided by an embodiment of the present application;

FIG. 1I is a schematic structural diagram of a base station provided by an embodiment of the present application;

1J is a schematic structural diagram of a labeling device provided by an embodiment of the present application;

2A is a schematic flowchart of a wireless communication method provided by an embodiment of the present application;

2B is a schematic structural diagram of a first time frame provided by an embodiment of the present application;

2C is a schematic structural diagram of a UWB signal provided by an embodiment of the present application;

2D is a schematic diagram of signal interaction in a first time slot of a first time frame provided by an embodiment of the present application;

2E is a schematic diagram of signal interaction in a first time slot of another first time frame provided by an embodiment of the present application;

2F is a schematic diagram of determining location information of a base station through a hyperbola provided by an embodiment of the present application;

FIG. 2G is a schematic diagram of the architecture of another positioning service system provided by an embodiment of the present application;

2H is a schematic diagram of signal interaction in a second time slot of another first time frame provided by an embodiment of the present application;

2I is a schematic diagram of signal interaction in a third time slot of a first time frame provided by an embodiment of the present application;

3 is a schematic flowchart of another wireless communication method provided by an embodiment of the present application;

4 is a block diagram of functional units of a wireless communication device provided by an embodiment of the present application;

FIG. 5 is a block diagram of functional units of another wireless communication device provided by an embodiment of the present application;

FIG. 6 is a schematic structural diagram of another base station provided by an embodiment of the present application;

FIG. 7 is a schematic structural diagram of another label device provided by an embodiment of the present application.

detailed description

The embodiments of the present application will be described in detail below with reference to the accompanying drawings.

In order to better understand the solutions of the embodiments of the present application, related terms and concepts that may be involved in the embodiments of the present application are first introduced below.

1. Ultra Wide Band (UWB)

UWB technology is a wireless carrier communication technology, which is characterized by transmitting UWB signals encoded by pulse modulation with lower power and wider frequency range within a short distance. According to the standards of the Federal Communications Commission of the United States, the operating frequency band of UWB occupies a bandwidth of more than 500MHz in the spectrum range of 3.1 to 10.6GHz, and utilizes nanosecond to microsecond non-sinusoidal narrow pulses transfer data. Traditional UWB technology positioning is used in industrial places such as mines and warehouses. Its main application scenario is to monitor the real-time position of employees and goods indoors. Among them, the base stations have been calibrated in indoor places, and are connected to each other through wired or Wi-Fi for synchronization. In the example application scenario shown in Figure 1A, A represents a base station supporting UWB technology, the central location engine personal computer (CLE PC) can manage the base station uniformly, and Ethernet LAN-TCP/IP represents The transmission control protocol/Internet protocol of the Ethernet local area network is supported between the base stations, and the position monitoring for the user wearing the tag device is realized by setting at least one base station in each area.

2. Tag positioning method based on UWB technology

Tag positioning methods based on UWB technology can include time of flight (TOF), time difference of arrival (TDOA), angle of arrival (AOA)/phase difference of arrival (phase difference of arrival) arrival, PDOA).

(1) TOF positioning method

TOF is a two-way ranging technology that calculates the distance by measuring the flight time of the UWB signal to and from the base station and the tag. According to the different transmission methods of UWB signals, TOF positioning methods can be divided into one-way ranging and two-way ranging. Among them, the UWB signal in the one-way ranging only propagates in one direction, and in order to obtain the flight time between the base station and the tag, the base station and the tag device need to maintain accurate clock synchronization, and the system implementation complexity and cost are high; two-way ranging; There is no strict requirement for the clock synchronization between the base station and the tag, and the complexity and cost of the system are low, while the two-way ranging can include single-sided two-way ranging (SS-TWR) and bilateral two-way ranging. Distance (double-sided two-way ranging, DS-TWR).

In the SS-TWR positioning method, SS-TWR is a simple measurement of the time of a single to-signal. Device A actively sends a signal to device B, and device B returns a signal to respond to device A. As shown in Figure 1B, Device A (Device A) actively sends (TX) signal A, and records the sending timestamp; Device B (Device B) records the receiving timestamp after receiving (RX) to signal A, and RMARKER indicates that the signal is completed Time node of transmission (reception or sending); after delay T _reply , device B sends signal B and records the sending timestamp; device A records the receiving timestamp after receiving signal B. Since T _round represents the time difference between device A receiving signal B and sending signal A, and T _reply represents the delay time between device B receiving signal A and sending signal B, the following formula can be used to calculate device A and device B The time-of-flight T _{prop of the} wireless signal between:

Both T _round and T _reply are calculated based on the local synchronous clock, and the local synchronous clock error can be offset, but there will be a slight clock offset between different devices, assuming that the clock offsets of devices A and B are e respectively _A and e _B , so T _prop will increase with increasing T _reply , the equation of ranging error is as follows:

In the DS-TWR positioning method, DS-TWR is an extended ranging method of unilateral bidirectional ranging, recording the time stamps of two round-trip signals. Among them, DS TWR obtains two round-trip delays based on three signal transmissions between the initiating node and the responding node, and measures the distance at the responding end. As shown in FIG. 1C , in the process of signal interaction between device A and the device, the following four time differences can be obtained: the time difference T _round1 between the signal A sent by device A and the signal B received by device B , the time difference between the signal A received by device B and the the signal delay time between the _B T reply1, device a receives the signal delay time between the transmission signal B and C T _reply2, apparatus B transmits a signal B to the time difference between the received signal C _T round2. Finally, the flight time of the wireless signal between device A and device B is calculated by the following formula:

In addition, the error formula in the DS-TWR positioning method is as follows:

Among them, k _a and k _b are the ratios of the actual frequency of the crystal oscillator to the nominal frequency, so k _a and k _b are very close to 1.

(2) TDOA positioning method

TDOA is an improvement to TOA, it does not directly use the arrival time of UWB signals, but calculates the location of tags by detecting the arrival time difference between UWB signals arriving at multiple strictly clock-synchronized base stations, without the need for tags and base stations to maintain clock synchronization . Clock synchronization can be divided into wired clock synchronization and wireless clock synchronization. Among them, wired clock synchronization uses a dedicated wired clock synchronizer for clock distribution, but the deployment and maintenance cost and cost of the clock network are high; wireless time synchronization does not require special synchronization equipment, and its accuracy is lower than that of wired clock synchronization, but the deployment of the system , maintenance and costs are relatively low. As shown in Figure 1D, when base station A, base station B, base station C, and base station D are fully clocked, the tag device broadcasts a UWB signal to base station A, base station B, base station C, and base station D, and the UWB signal to base station A's The flight time is t1, the flight time of the UWB signal to base station B is t2, the flight time of the UWB signal to base station C is t3, and the flight time of the UWB signal to base station D is t4. Then, the distance difference between base stations is calculated by the following formula:

Among them, d ₁₂ represents the distance difference between the distance between the tag device and base station A and the distance between the tag device and base station B; d ₂₃ represents the distance difference between the tag device and base station B and base station C; d ₃₄ d34 is expressed as The distance difference between the tag device and base station C and base station D; d _{14 is} represented as the distance difference between the tag device and base station A and base station D.

Finally, the coordinates (x, y, z) of the tag device are obtained by calculating the following hyperbolic equations to solve:

(3) AOA/PDOA positioning method

AOA/PDOA is based on the phase difference of the same signal received by multiple antennas at different positions to determine the angle and distance of the identified object from itself. As shown in Figure 1E, according to the phase difference of the same signal sent by the antenna A and the antenna B to receive the identification object and the distance d between the antenna A and the antenna B, the antenna A knows the angle α and the distance r between itself and the identification object; Know the angle β and the distance rp between itself and the recognized object.

3. Superframe

In an indoor scene with multiple labels, a superframe needs to be set up to repeat periodically across the entire timeline. Among them, each tag needs to be allocated a time slot (slot), and the interaction between signals is performed in the respective time slot. As shown in Figure 1F, a schematic diagram of the superframe structure is shown, in which a time slot is allocated to N tags on the superframe k, and the tag i can be in the time slot of the tag i and its surrounding base station X, base station Y and base station X. interaction signal.

If the clock synchronization between base stations is also realized by the ultra-wideband UWB technology, it is necessary to add a beacon frame (Beacon, BCN) time slot before the time slot for the interaction between the tag and the base station, and exchange signals between the tags in the beacon time slot. to determine their respective order. As shown in Figure 1G, Superframe(n) represents superframe n, Idle Time is idle time, BCN is the time slot that carries the beacon frame, SVC represents the reserved time slot, and TWR Slot represents the time slot that carries the bidirectional ranging signal. wake up is the wake-up time slot, and RX represents the receiving state.

The positioning service system that may be involved in the embodiments of the present application will be specifically introduced below. Please refer to FIG. 1H. FIG. 1H is a positioning service system 100 provided by an embodiment of the present application. The communication device in the location service system 100 may include at least three base stations 110 and a tag device 120 , and the tag device 120 may include an electronic device 130 and at least one IoT tag device 140 . Wherein, UWB signals may be exchanged between at least three base stations 110, UWB signals may be exchanged between at least three base stations 110 and the tag device 120, UWB signals may be exchanged between the electronic device 130 and at least one IoT tag device 140, and at least UWB signals can also be exchanged between an IoT tag device 140 . At the same time, at least three base stations 110 may provide positioning services for the tag device 120 , and the electronic device 130 may search for its own IoT tag device from at least one IoT tag device 140 . In addition, the at least three base stations 110 may include a base station 111, a base station 112, a base station 113 and a base station 114, and UWB signals are exchanged between each of the at least three base stations 110 to achieve clock synchronization; at least one IoT tag device 140 may Including IoT label device 141 and IoT label device 142 and so on. It should be noted that FIG. 1H is only an example of the location service system in the embodiment of the present application, and the location service system may also include other base stations, label devices, electronic devices, and IoT label devices, which are not specifically limited.

Specifically, the base station 110 in this embodiment of the present application may be a server device supporting UWB technology, such as a UWB base station, a UWB anchor device, etc.; the tag device 120 may be a client device supporting UWB technology or an Internet of Things device, etc.; wherein , the electronic device 130 may be a user terminal device supporting UWB technology, such as user equipment (user equipment, UE), terminal device (terminal device), mobile terminal (mobile terminal, MT), intelligent terminal (intelligent terminal, IT), personal A digital assistant (personal digital assistant, PDA) or a personal computer (personal computer, PC), etc.; the IoT tag device 140 can be an IoT device that supports UWB technology, such as keys, wallets, cameras, home equipment, office equipment, and the like.

The base station 110 in the embodiment of the present application will be specifically described below, and please refer to FIG. 1I . FIG. 1I is a structural example diagram of a base station 110 provided by an embodiment of the present application. The base station 110 may include a processing unit 1101 , a communication unit 1102 , a power management unit 1103 and a general interface unit 1104 .

Specifically, the processing unit 1101 may include a processor and a memory, and the processor may include one or more processing cores. The processor uses various interfaces and lines to connect various parts of the entire base station 110, and executes various functions of the base station 110 by running or executing the instructions, programs, code sets or instruction sets stored in the memory, and calling the data stored in the memory. functions and processing data. The processor may include a central processing unit (CPU), a modem processor, a graphics processing unit (GPU), an image signal processor (ISP), a video codec, a digital Signal processor (digital signal processor, DSP), baseband processor and/or neural-network processing unit (neural-network processing unit, NPU), etc. The memory may include random access memory (RAM), read-only memory (read-only memory), and non-transitory computer-readable storage medium. Memory may be used to store instructions, programs, codes, sets of codes, or sets of instructions. The memory may include a stored program area and a stored data area, wherein the stored program area may store instructions for implementing an operating system and instructions for implementing at least one function (such as a touch function, a sound playback function, an image playback function, etc.). The storage data area may store data created by the base station 110 in use (eg, calibrated location data) and the like.

Specifically, the communication unit 1102 can implement functions such as UWB communication, the second generation 2G mobile communication technology network, the third generation 3G mobile communication technology network, the fourth generation 4G mobile communication technology network, and the fifth generation 5G mobile communication technology network to perform Reception and transmission of wireless mobile network data, and can provide 2.4GHz and 5GHz channel spectrum resources to perform network data reception and transmission, that is, the communication unit 1102 may specifically include a UWB module, and may also include Bluetooth, Wi-Fi , Zigbee, one or more of 2G/3G/4G/5G communication modules; the power management unit 1103 may include, but is not limited to, batteries, DC-to-DC DC-DC modules, filter circuits, and undervoltage detection circuits, for example; general The interface unit 1104 may be used to access various types of sensors, including but not limited to indicator lights, vibration sensors, and other sensors. It should be noted that the above-mentioned schematic structural diagram of the base station 110 is only an example, and the specific components may be more or less, which is not limited here.

The label device 120 in the embodiment of the present application will be specifically described below, please refer to FIG. 1J . FIG. 1J is a schematic structural diagram of a label device provided by an embodiment of the present application. The tag device 120 may include a processor 1201 , a communication module 1202 , a positioning module 1203 , a storage module 1204 and a power management module 1205 . The processor 1201 connects and controls the communication module 1202, the positioning module 1203, the storage module 1204, and the power management module 1205 in the form of a corresponding bus. The processor 1201 is the control center of the label device 120, and connects various parts of the label device 120 through various interfaces and lines.

Specifically, the processor 1201 invokes the stored data in the memory by running or executing the software programs and/or modules in the storage module 1204 to execute various functions of the tag device 120 and process data, and monitor the overall operation of the tag device 120 . Optionally, the processor 1201 may include CPU, ISP, GPU, DSP, ASIC, NPU, and/or FPGA, and the like.

Specifically, the communication unit 1102 can implement functions such as UWB communication, the second generation 2G mobile communication technology network, the third generation 3G mobile communication technology network, the fourth generation 4G mobile communication technology network, and the fifth generation 5G mobile communication technology network to perform Reception and transmission of wireless mobile network data, and can provide 2.4GHz and 5GHz channel spectrum resources to perform network data reception and transmission.

Specifically, the positioning module 1203 can be used to perform UWB positioning.

Specifically, the storage module 1204 may be used to store software programs and/or modules, and may include a storage program area and a storage data area. The storage program area may be used to store an operating system or a software program required by at least one function, and the software program required by the at least one function may be used to execute the UWB positioning function in the embodiments of the present application.

Specifically, the power management module 1205 may include a power management chip, and may provide management functions such as power conversion, distribution, and detection for the tag device 120 .

Combined with the above description, in indoor positioning scenarios based on UWB technology, whether it is the synchronization operation between the base station and the base station, or the base station provides positioning services for tag devices, it is necessary to frequently exchange UWB signals in the UWB channel. However, how to avoid the mutual conflict and interference of UWB signals in the UWB channel due to frequent interaction of UWB signals between base stations and tag devices has become an urgent problem to be solved.

The steps of performing UWB wireless communication by the base station 110 in the positioning service system 100 will be described below from the perspective of a method example, please refer to FIG. 2A . 2A is a schematic flowchart of a wireless communication method provided by an embodiment of the present application, and the method includes:

S210: The base station X acquires a first time frame for performing ultra-bandwidth UWB wireless communication between communication devices in the positioning service system.

Wherein, the communication devices in the positioning service system may include at least three base station tag devices; the first time frame may include a time slot for providing base station synchronization operations and at least one time slot for providing positioning services to tag devices through a preset positioning algorithm time slot.

It should be noted that the positioning service system in this example may be the above-mentioned positioning service system 100, the at least three base stations may be the above-mentioned at least three base stations 110, and the label device may be the above-mentioned label device 120 . In addition, the base station X can obtain the first time frame from the configuration information sent by a central location engine (central location engine, CLE) device (also known as a location server, such as a location computing device), or it can be obtained from the main base station in the location service system. Or obtain the first time frame by referring to the configuration information sent by the base station.

Specifically, the base station X may be a base station to be accessed in the positioning service system, or a base station in the positioning service system, that is, a base station among at least three base stations.

Specifically, the first time frame may represent a time interval periodically divided on the application layer, and the first time frame may be divided into multiple time slots, and each time slot may be a communication in the positioning service system The device interacts with the UWB channel of the UWB signal. At the same time, the time interval periodically divided on the application layer and the time interval (for example, superframe) periodically divided on the media access control layer (MAC) satisfy a certain mapping relationship.

Specifically, the base station synchronization operation may include at least one of the following: a position positioning operation between every two base stations of the at least three base stations, a position update operation between every two base stations of the at least three base stations, a base station X connection An access operation into the positioning service system or a removal operation of removing the base station X from the positioning service system. It can be understood that, within the first time frame, the base stations in the positioning service system can perform position positioning or position update operations with each other, and the new base station can access the positioning service system or remove the base station from the positioning service system, etc. operate.

Specifically, the preset positioning algorithm may include an SS-TWR algorithm, a DS-TWR algorithm, a TDOA algorithm, and an AOA/PDOA algorithm, and may also include an improved TDOA algorithm combining the second time slot and the TDOA algorithm mentioned later in the embodiments of the present application , and the improved DS-TWR algorithm combining the third time slot and the DS-TWR algorithm mentioned later in the embodiments of this application.

In a possible example, a time slot for providing the base station synchronization operation is a first time slot, and at least one time slot for providing a positioning service to a tag device through a preset positioning algorithm includes a second time slot, a third time slot slot and the fourth time slot, the preset positioning algorithm includes a first positioning algorithm, a second positioning algorithm and a third positioning algorithm, and the tag device may include an electronic device and at least one IoT tag device.

Wherein, the second time slot can be used to provide positioning services to electronic devices through the first positioning algorithm, the third time slot can be used to provide positioning services to at least one IoT tag device through the second positioning algorithm, and the fourth time slot can be used The third positioning algorithm is used to locate the target IoT tag device from the at least one IoT tag device for the electronic device.

It should be noted that, in this embodiment of the present application, the first time frame may include a first time slot, a second time slot, a third time slot, and a fourth time slot. Since the fourth time slot can be mainly used to locate the target IoT tag device from at least one IoT tag device for the electronic device through the third positioning algorithm, when the base station X is in the current time slot on the first time frame with the positioning service When the communication devices in the system exchange UWB signals to implement UWB wireless communication, the current time slot at this time can only be one of the first time slot, the second time slot or the third time slot.

For example, please refer to FIG. 2B , which is a schematic structural diagram of a first time frame provided by an embodiment of the present application. The first time frame is a periodic time interval, and each first time frame is divided into a first time slot, a second time slot, a third time slot and a fourth time slot, and the first time slot is again Can be divided into multiple sub-slots. Specifically, the first positioning algorithm may be one of SS-TWR algorithm, DS-TWR algorithm, TDOA algorithm, and TDOA improved algorithm; the second positioning algorithm may be SS-TWR algorithm, DS-TWR algorithm, TDOA algorithm, DS One of the improved TWR algorithms; the third positioning algorithm may be an AOA/PDOA algorithm.

Further, the embodiment of the present application also considers providing different positioning authority and positioning accuracy for the positioning service level of the electronic device 130 on the second time slot of the first time frame, that is, according to the positioning service level of the electronic device 130 to select the corresponding first positioning algorithm. Similarly, in the third time slot of the first time frame, different positioning authority and positioning accuracy are provided for the positioning service level of at least one IoT tag device 140 . For example, please refer to Table 1, the location service level of the electronic device 130 includes three levels: low, medium and high, and the location service level can be determined according to whether or not to pay to become a VIP. Meanwhile, the number of positioning services that the positioning service system 100 can provide for the electronic device 130 is limited, that is, the number of devices accommodated is limited. In addition, the location service system 100 may select from the SS-TWR algorithm, the TDOA improvement algorithm and the DS-TWR algorithm to provide different location authority and location accuracy according to the location service level of the electronic device 130 .

Table 1

S220. The base station X exchanges UWB signals with the communication device in the positioning service system in the current time slot on the first time frame to implement UWB wireless communication.

Specifically, the current time slot may be the first time slot, the second time slot or the third time slot.

Specifically, the UWB signal may include a media access control protocol data unit (media access control protocol data unit, MPDU), and may also include a beacon (beacon) frame or a data frame. The frame control field in the MAC frame header of the UWB signal (for example, the frame control field in the MAC frame header of the beacon frame or the frame control field in the MAC frame header of the data frame) carries the valid information or label of the base station Valid information of the device, such as the identifier of the base station itself, the sub-slot number occupied by the base station to send the UWB signal, the location information of the base station, the starting time stamp of the base station to send the UWB signal, the identifier of the tag device itself, the location of the tag device Information or the starting timestamp of the UWB signal sent by the tag device, etc.

In an example, please refer to FIG. 2C , which is a schematic structural diagram of a UWB signal provided by an embodiment of the present application. The UWB signal may include a Media Access Control Layer Frame Header (MAC Header, MHR), a Media Access Control Layer Service Data Unit (MAC Service Data Unit, MSDU), and a Media Access Control Layer Frame Footer (MAC Footer, MFR) , and the MHR may include a frame control field, a sequence code field, and an addressing information field.

The following embodiments of the present application will respectively introduce the case where the current time slot is the first time slot, the second time slot or the third time slot, the base station X exchanges UWB signals with the communication device in the positioning service system in the current time slot to The specific steps to realize UWB wireless communication.

In a possible example, if the current time slot is the first time slot, the first time slot includes at least three sub-slots, and the base station X is a base station to be accessed to the positioning service system, then the base station X is on the first time frame. In the current time slot, the UWB signal is exchanged with the communication device in the positioning service system to realize UWB wireless communication. UWB signal; base station X determines the sub-slot number occupied by its own broadcast UWB signal according to the sub-slot occupancy of the UWB signal broadcast by each of the at least three base stations in at least three sub-slots; The time difference between hearing the UWB signal broadcast by each of the at least three base stations and the time interval between the sub-slots in the at least three sub-slots determines the location information of itself in the positioning service system; the base station X determines its location information according to its own The sub-slot number occupied by the broadcast UWB signal and its own position information in the positioning service system broadcast the UWB signal X to the communication equipment in the positioning service system to access the positioning service system.

It should be noted that, in this example, first, since base station X is a new base station that needs to access the positioning service system, it is necessary to configure the first time frame for base station X before base station X accesses the positioning service system. The occupancy of sub-slots in a time slot, and the location information of base station X needs to be determined, so that after base station X accesses the positioning service system, it is ensured that the communication equipment in the positioning service system knows the information of base station X in the first time frame and the location information of base station X in the positioning service system.

Second, the first time slot may contain at least three sub-slots, and one of the at least three base stations of the location service system may broadcast the UWB signal in one of the at least three sub-slots. Since the numbers of the sub-slots occupied by each base station are different, interference between UWB signals is avoided. For example, please refer to FIG. 2D. First, n sub-slots are configured in the first time slot of the first time frame, and each sub-slot in the n sub-slots is numbered sequentially, that is, sub-slot 1, sub-slot 2. Sub-slot 3, sub-slot 4, ..., sub-slot n; secondly, the communication equipment in the positioning service system includes base station 1, base station 2 and base station 3, and base station X is used as the positioning service system to be accessed Then, base station 1 broadcasts (Tx) UWB signals in subslot 1, base station 2 broadcasts UWB signals in subslot 3, and base station 3 broadcasts UWB signals in subslot 4; finally, base station X broadcasts UWB signals in subslot 4 1 to listen (Rx) to the UWB signal broadcast by base station 1, base station X listens to the UWB signal broadcast by base station 2 in subslot 3, and base station X hears the UWB signal broadcast by base station 3 in subslot 4 Signal.

Then, the purpose of the base station X's listening is to obtain as accurately as possible the occupancy status of the sub-slots in the at least three sub-slots in the first time slot by each base station in the positioning service system. The base station X can determine that the base station occupies the sub-slot by hearing the UWB signal of the base station in a certain sub-slot. For example, in FIG. 2D, the base station X hears the UWB broadcast by the base station 1 in the sub-slot 1. signal, then base station X learns that base station 1 occupies subslot 1; alternatively, base station X can determine the subslot occupancy of the base station by listening to the effective information of the base station carried in the frame control field in the MAC frame header of the UWB signal, for example In FIG. 2D , base station X senses the UWB signal broadcast by base station 1 , and the frame control field in the MAC frame header of the UWB signal carries the information that base station 1 occupies subslot 1 .

Finally, for the UWB signal X broadcast by the base station X to the communication device in the positioning service system, when the communication device in the positioning service system hears the UWB signal X in a certain sub-slot, the communication device in the positioning service system can know the base station X has occupied the sub-slot, and the communication device in the positioning service system can determine the location information of the base station X in the positioning service system through the flight time of the UWB signal X; or, when the MAC frame header of the UWB signal X carries the base station When X sends the subslot number occupied by the UWB signal and the location information of the base station X in the positioning service system, the communication device in the positioning service system successfully detects the UWB signal X, and the base station X successfully accesses the positioning service system.

Specifically, the base station X determines the sub-slot number occupied by the UWB signal broadcast by itself according to the occupancy of the sub-slots in the at least three sub-slots of the UWB signal broadcast by each of the at least three base stations, which may include the following operations: The base station X selects one of the sub-slots that are not occupied in the at least three sub-slots with a preset rule according to the occupancy of the sub-slots in the at least three sub-slots of the UWB signal broadcast by each of the at least three base stations sub-slots; wherein, the preset rule may include selecting unoccupied sub-slots in sequence from the starting number according to the number sequence, or randomly selecting sub-slots from the unoccupied sub-slots.

It should be noted that since base station X can select a sub-slot from the unoccupied sub-slots, conflict and interference between UWB signals broadcast by base station X and UWB signals broadcast by other base stations can be avoided.

For example, in FIG. 2D, the positioning service system includes base station 1, base station 2, and base station 3, and base station X is a base station to be accessed in the positioning service system. Since base station 1 occupies subslot 1, base station 2 occupies subslot 3, and base station 3 occupies subslot 4, base station X can select a subslot from subslot 2 and subslot 5 to subslot n. When selecting unoccupied sub-slots from the starting number in sequence, base station X can select sub-slot 2; when randomly selecting sub-slots from the unoccupied sub-slots, base station X can Choose to randomly select a subslot from subslot 2 or subslot 5 to subslot n.

Specifically, if the at least three base stations include base station Y, base station Z, and base station H, the at least three sub-slots include a first sub-slot, a second sub-slot, and a third sub-slot, and the second sub-slot is the first sub-slot A sub-slot after the sub-slot, and the third sub-slot is a sub-slot after the second sub-slot, then the base station X hears the UWB signal broadcast by each of the at least three base stations according to itself. The time difference and the time interval between sub-slots in the at least three sub-slots determine the location information of itself in the positioning service system, which may include the following operations: base station X hears base station Y at time stamp X of the first sub-slot The UWB signal Y broadcast at the start time of the first subslot; the base station X hears the UWB signal Z broadcast by the base station Z at the start time of the second subslot at the timestamp Y of the second subslot, and Calculate the time interval between the start time of the first sub-slot and the start time of the second sub-slot to obtain the first time interval; base station X hears that base station H is at the time stamp Z of the third sub-slot. The UWB signal H broadcasts at the start time of the third sub-slot, and calculates the time interval between the start time of the second sub-slot and the start time of the third sub-slot to obtain the second time interval; base station X Calculate the time difference between the UWB signal Y detected by itself and the UWB signal Z detected by itself according to the timestamp X and the timestamp Y to obtain the first time difference; The time difference between the signal Y and the UWB signal H detected by itself to obtain the second time difference; the base station X determines its own position information in the positioning service system according to the first time difference, the second time difference, the first time interval and the second time interval .

It should be noted that, since the base station X listens to the UWB signal broadcast by each base station in the positioning service system in the first time slot of the first time frame, and the time interval between the sub-slots in the first time slot , so that the location of the base station X is realized in the first time slot of the first time frame.

For example, please refer to FIG. 2E and FIG. 2F. First, n sub-slots are configured in the first time slot of the first time frame, and each sub-slot in the n sub-slots is sequentially numbered, that is, sub-slot 1, Sub-slot 2, sub-slot 3, ..., sub-slot n, and at the same time, the time length of each of the n sub-slots is T. Secondly, the communication equipment in the positioning service system includes base station Y, base station Z and base station H, and base station X is used as a base station to be accessed to the positioning service system. Again, base station Y broadcasts UWB signal Y at the start time t0 of subslot 1, base station Z broadcasts UWB signal Z at the start time (t0+2T) of subslot 3, and base station H at the start of subslot 4 The UWB signal H is broadcast at time (t0+3T). Then, base station X hears UWB signal Y at timestamp X of subslot 1, base station X hears UWB signal Z at timestamp Y of subslot 3, and base station X hears time stamp Z of subslot 4 UWB signal H is detected. Then, the time when base station X hears UWB signal Y is equal to the time when base station Y broadcasts UWB signal Y plus the distance (d1) from base station X to base station Y divided by the speed of light (c), that is, timestamp X=t0+d1/c ; Similarly, the time that the base station X hears the UWB signal Z is equal to the time that the base station Z broadcasts the UWB signal Z plus the distance (d2) from the base station X to the base station Z divided by the speed of light (c), that is, the timestamp Y=t0+2T +d2/c; and the time that the base station X listens to the UWB signal H is equal to the time that the base station H broadcasts the UWB signal H plus the distance (d3) from the base station X to the base station H divided by the speed of light (c), that is, the timestamp Z=t0 +3T+d3/c. Finally, the distance difference between the distance from base station X to base station Y and the distance from base station X to base station Z is equal to the time difference between base station X hearing UWB signal Y and hearing UWB signal Z multiplied by the speed of light minus UWB signal Z The time difference between the broadcast time of the UWB signal Y and the broadcast time of the UWB signal Y is multiplied by the speed of light, that is, |d1-d2|=|(timestamp X-t0)c-(timestamp Y-t0-2T)c|; The distance difference between the distance of base station Y and the distance from base station X to base station H is equal to the time difference between base station X hearing UWB signal Y and hearing UWB signal H multiplied by the speed of light minus the broadcast time of UWB signal H and UWB The time difference between the broadcast times of the signal Y is multiplied by the speed of light, ie |d1-d3|=|(timestamp X-t0)c-(timestamp Z-t0-3T)c|. Since |d1-d2| and |d1-d3| can construct two hyperbolas, the position information of the base station X can be obtained through the intersection of the two hyperbolas.

In a possible example, if the current time slot is the first time slot and the base station X is one of at least three base stations, then the base station X communicates with the positioning service system in the current time slot on the first time frame The device exchanges UWB signals to realize UWB wireless communication, which may include the following operations: the base station X broadcasts indication information X to the communication equipment in the positioning service system in the fourth sub-slot on the first time slot, and the indication information X is used to indicate the base station X Location information in the positioning service system; base station X hears the indication information Y sent by base station J in the fifth sub-slot on the first time slot, and the indication information Y is used to indicate the position of base station J in the positioning service system information, base station J is one base station except base station X among the at least three base stations.

It should be noted that, since base station X is a base station in the positioning service system, base station X can directly broadcast its own location information in the sub-slot of the first time slot, and listen to the information broadcast by other base stations in the positioning service system. location information, so as to implement location update between base stations in the location service system within the first time slot of the first time frame.

Specifically, the indication information X may be carried in the frame control field in the MAC frame header of the UWB signal; the indication information Y may be carried in the frame control field in the MAC frame header of the UWB signal.

In a possible example, if the current time slot is the second time slot and the base station X is one of at least three base stations, then the base station X communicates with the positioning service system in the current time slot on the first time frame The device interacts with the UWB signal to realize UWB wireless communication, which may include the following operations: the base station X exchanges the UWB signal with the communication device in the positioning service system according to the first positioning algorithm in the second time slot to determine the position of the electronic device in the positioning service system information.

It should be noted that, because the communication devices in the positioning service system can broadcast UWB signals in the second time slot of the first time frame at any time, unlike the need for each The base station is configured to broadcast the sub-slot number of the UWB signal. Therefore, in order to avoid conflicts caused by the communication equipment in the positioning service system broadcasting the UWB signal at the same time in the second time slot, the UWB wireless communication in the second time slot can use the carrier sense multiplexing method. Road access/collision avoidance (Carrier Sense Multiple Access with Collision Avoid, CSMA/CA) mechanism. In addition, base station X can be regarded as a master base station (reference base station or initiating base station) that provides positioning services for electronic devices, and other base stations that provide positioning services for electronic devices are slave base stations. Meanwhile, the embodiment of the present application considers the base station that receives the location service request sent by the electronic device as the primary base station in the second time slot, and the location service request is used to request the base station to provide the electronic device with the location service from the location service system. When multiple base stations in the positioning service system receive the positioning service request sent by the electronic device or at least one IoT tag device, the base station that receives the positioning service request forwards the positioning service request to the positioning server, and the positioning server selects the request. main base station.

2G, the electronic device broadcasts the location service request in the second time slot; then, base station A, base station B, base station C and base station D all receive the location service request; finally, base station A, base station B, Base station C and base station D forward the positioning service request to the positioning server, and the positioning server selects base station A as the master base station, and base station B, base station C, and base station D as slave base stations.

Specifically, if the at least three base stations include base station X, base station K, and base station L, there is a first distance between base station X and base station K, a second distance between base station X and base station L, and a distance between base station K and base station L. At the third distance, the base station X exchanges UWB signals with the communication device in the positioning service system according to the first positioning algorithm in the second time slot to determine the position information of the electronic device in the positioning service system, which may include the following operations: The time stamp H of the second time slot broadcasts the UWB signal J to the communication equipment in the positioning service system, and the UWB signal J is used to detect the position information of the electronic device in the positioning service system; the time stamp J of the base station X in the second time slot When the UWB signal K is detected on the Internet, the time stamp J is after the time stamp H, and the UWB signal K is broadcast by the base station K to the communication equipment in the positioning service system after the UWB signal J is detected; the base station X is in the second time slot. The UWB signal L is detected on the time stamp K of the time stamp K, and the time stamp K is after the time stamp J, and the UWB signal L is broadcast by the base station L to the communication equipment in the positioning service system after the UWB signal K is detected; The time stamp H, the time stamp J and the first distance determine the first transmission time difference, and the first transmission time difference is the transmission time difference between the base station X broadcasting the UWB signal J and the base station K broadcasting the UWB signal K; the base station X is based on the time stamp H, the time stamp K and the second distance determine the second transmission time difference, and the second transmission time difference is the transmission time difference between base station X broadcasting UWB signal J and base station L broadcasting UWB signal L; The indication information Z is sent, the time stamp L is after the time stamp K, and the indication information Z is used to indicate the first sending time difference and the second sending time difference.

It should be noted that, first, base station X, base station K, and base station L may exchange UWB signals in the first time slot of the first time frame to determine the distance between each other, as described in the above example, and will not be repeated here. . Secondly, base station X acts as a master base station that provides positioning services to electronic equipment, and base station K and base station L act as slave base stations that provide positioning services to electronic equipment. Then, since the base station K needs to listen to the UWB signal J broadcast by the base station X and then broadcast the UWB signal K, and the base station L needs to listen to the UWB signal K broadcast by the base station K and then broadcast the UWB signal L, it is beneficial to avoid the base station in the second Interference between signals is caused by broadcasting UWB signals at the same time in the time slot. Finally, the indication information Z sent by the base station X to the electronic device may carry the frame control field in the MAC frame header of the UWB signal. Since the electronic device cannot know the time when the base station broadcasts the UWB signal and the distance between the base stations, this example considers that the base station X calculates the time difference between the base stations for sending the UWB signal, and then the base station X informs the electronic device, and finally the electronic device is based on the base station. The time difference between sending the UWB signal and the time when the UWB signal is detected by itself is used to calculate its own position information.

For example, please refer to FIG. 2H. First, the communication equipment in the positioning service system includes base station X, base station K, base station L and electronic equipment, and base station X, base station K and base station L exchange UWB signals in the first time slot by exchanging UWB signals. To know from each other that the distance between base station X and base station K is d1, the distance between base station X and base station L is d2, the distance between base station K and base station L is d3, and base station X, base station K and base station L are in the first The positioning service is provided to the electronic device within two time slots. Second, base station X broadcasts UWB signal J at timestamp t4 of the second time slot, base station K broadcasts UWB signal K after hearing UWB signal J, and base station L broadcasts UWB signal L after hearing UWB signal K. Again, the base station X senses the UWB signal K at the time stamp t5 of the second time slot, and the base station X senses the UWB signal L at the time stamp t6 of the second time slot. Next, since the base station X knows the distance d1 from itself to the base station K, the base station X can calculate the flight time T1 from the UWB signal K to itself, so that the base station X broadcasts the UWB signal 1 and the base station K broadcasts the UWB signal according to t4, t5 and T1. The transmission time difference T2 between the signals K; similarly, the base station X can calculate the transmission time difference T3 between the base station X broadcasts the UWB signal 1 and the base station L broadcasts the UWB signal L. Then, the base station X sends indication information to the electronic device at the time stamp t7 of the second time slot, where the indication information is used to indicate T2 and T3. Finally, the electronic device receives the indication information to know T2 and T3. Since the electronic device has known the time stamps when it received the UWB signal J, UWB signal K and UWB signal L, the electronic device can calculate the distance difference D1 between the distance between itself and the base station X and the distance between itself and the base station 2, and The distance difference D2 between the distance from the self to the base station X and the distance from the self to the base station 3, so that two hyperbolas are constructed according to the structures D1 and D2, and the position information of the self can be obtained according to the intersection of the two hyperbolas.

In a possible example, if the current time slot is the third time slot and the base station X is one of at least three base stations, then the base station X communicates with the positioning service system in the current time slot on the first time frame The device interacts with the UWB signal to realize UWB wireless communication, which may include the following operations: the base station X exchanges the UWB signal with the communication device in the positioning service system according to the second positioning algorithm in the third time slot to determine the target in the at least one IoT tag device The location information of the IoT tag device in the location service system.

It should be noted that, because the communication devices in the positioning service system can broadcast the UWB signal in the third time slot of the first time frame at any time, unlike in the first time slot of the first time frame, each The base station is configured to broadcast the sub-slot number of the UWB signal. Therefore, in order to avoid conflicts caused by the communication equipment in the positioning service system broadcasting the UWB signal at the same time in the third time slot, the UWB wireless communication in the third time slot can use the CSMA/CA mechanism . In addition, base station X can be regarded as the main base station (reference base station or initiating base station) that provides positioning services to the target IoT tag device, and how to select the main base station is consistent with the above example, by receiving the target IoT in the third time slot. The base station of the location service request sent by the device is used as the primary base station, and the location service request is used to request the base station that provides the target IoT device with the location service from the location service system, and details are not repeated here.

Specifically, if the at least three base stations include base station X, base station M, base station N, and base station P, base station X exchanges UWB signals with the communication device in the positioning service system according to the second positioning algorithm in the third time slot to determine the target object The location information of the networked tag device in the positioning service system may include the following operations: the base station X listens to the UWB signal M broadcast by the target IoT device on the timestamp M of the third time slot, and the UWB signal M is used to request to detect the target The location information of the IoT tag device in the positioning service system; the base station X broadcasts the UWB signal N to the communication devices in the positioning service system at the time stamp N of the third time slot, and the time stamp N is after the time stamp M; The indication information H is detected on the timestamp P of the third time slot. The timestamp P is after the timestamp N, and the indication information H is detected by the target IoT tag device when the UWB signal N, UWB signal P and UWB signal Q are detected. After that, it is broadcast to the communication equipment in the positioning service system. The UWB signal P is broadcast to the communication equipment in the positioning service system by the base station M after hearing the UWB signal N, and the UWB signal Q is broadcast by the base station N when the UWB signal is detected. The signal P is broadcasted to the communication equipment in the positioning service system, and the indication information H carries the time stamp of broadcasting the UWB signal M on the third time slot and the time stamp of the UWB signal N being detected on the third time slot. , the time stamp of the UWB signal P that itself senses on the third time slot and the time stamp of the UWB signal Q that it senses on the third time slot; the base station X according to the indication information H, time stamp M, time stamp N and The timestamp P determines the distance between itself and the target IoT tag device.

It should be noted that, first, the base station X, the base station M and the base station N may exchange UWB signals in the first time slot of the first time frame to perform a synchronization operation. Secondly, base station X acts as the master base station that provides positioning services to the target IoT tag device, and base station M and base station N act as slave base stations that provide positioning services to the target IoT tag device. Then, since the base station M needs to listen to the UWB signal N broadcast by the base station X and then broadcast the UWB signal P, and the base station N needs to listen to the UWB signal P broadcast by the base station M and then broadcast the UWB signal Q, it is beneficial to avoid the base station in the third Interference between signals is caused by broadcasting UWB signals at the same time in the time slot. Finally, the indication information H broadcast by the target IoT device may be carried in the frame control field in the MAC frame header of the UWB signal. Compared with electronic devices, because the IoT tag device itself has lower power storage capacity and data computing processing capacity, this example considers that the IoT tag device sends its own broadcast to the base station and the time stamp of the UWB signal detected, and then The base station calculates the location information of the IoT label device according to the time stamp of the IoT label device broadcasting and listening to the UWB signal and the time stamp of the base station itself broadcasting and listening to the UWB signal, and finally the base station informs the IoT label device.

For example, please refer to FIG. 2I. First, the communication devices in the positioning service system include base station X, base station M, base station N, and IoT tag device 1, and base station X, base station M, and base station N are directed to the object in the third time slot. The networked tag device 1 provides location services. Secondly, the IoT tag device 1 broadcasts the UWB signal M on the timestamp U of the third time slot, while the base station XX listens to the UWB signal M at the timestamp M of the third time slot, and broadcasts the UWB signal M at the timestamp of the third time slot. N broadcasts UWB signal N. Again, the base station M broadcasts the UWB signal P after hearing the UWB signal N, and the base station N broadcasts the UWB signal Q after hearing the UWB signal P. Next, the IoT tag device 1 senses the UWB signal N, the UWB signal P and the UWB signal Q at the timestamp V, the timestamp W and the timestamp F of the third time slot, respectively, and at the time stamp G of the third time slot Broadcast indication information, the indication information is used to indicate timestamp U, timestamp V, timestamp W, timestamp F and timestamp G. Finally, base station XX listens to the indication information to learn timestamp U, timestamp V and timestamp G, and calculates the timestamp according to timestamp U, timestamp V, timestamp G, timestamp M, timestamp N and timestamp P Obtain the distance r1 between the base station XX and the IoT tag device 1. In the same way, the base station M can calculate the distance r2 between the base station M and the IoT tag device 1, and the base station N can calculate the distance r3 between the base station N and the IoT tag device 1, so that according to the base station XX, base station M and base station The location information where N is located is the origin, and r1, r2, and r3 are the radii to construct the intersection of three circles as the location information of the IoT tag device 1.

It can be seen that, in this embodiment of the present application, the base station X exchanges UWB signals with at least three base stations, electronic devices, or at least one IoT tag device in the positioning service system in the current time slot on the first time frame to implement UWB wireless communication. Since the base station and the base station need to exchange UWB signals to perform the synchronization operation of the base station, and determine the position information of the electronic device and the position information of at least one IoT tag device through a preset positioning algorithm, the communication equipment in the positioning service system is used. The first time frame is divided into different time slots, that is, different UWB channels, and the UWB signals are exchanged between the communication devices in the corresponding time slots, thus helping to avoid UWB signals. Mutual collision and interference in the UWB channel, as well as providing different synchronization operations and positioning services for communication devices through time slot allocation.

Consistent with the above-mentioned embodiments, the steps for the tag device 120 in the location service system 100 to perform UWB wireless communication will be described below from the perspective of a method example, please refer to FIG. 3 . FIG. 3 is a schematic flowchart of another wireless communication method provided by the implementation of the present application, and the method includes:

S310. The tag device acquires a first time frame used for ultra-bandwidth UWB wireless communication between communication devices in the positioning service system.

It should be noted that the fixed service system in this example may be the above-mentioned positioning service system 100, the at least three base stations may be the above-mentioned at least three base stations 110, and the label device may be the above-mentioned label device 120 . In addition, the tag device can obtain the first time frame from the configuration information sent by a central location engine (central location engine, CLE) device (also known as a location server, such as a location computing device), or it can be obtained from the main base station in the location service system. Or obtain the first time frame by referring to the configuration information sent by the base station.

Specifically, the labeling device may be an electronic device, or may be at least one IoT labeling device.

It should be noted that, in this embodiment of the present application, the first time frame may include a first time slot, a second time slot, a third time slot, and a fourth time slot. Since the first time slot can be mainly used to provide the base station synchronization operation, when the tag device exchanges UWB signals with the communication device in the positioning service system in the current time slot on the first time frame to realize UWB wireless communication, the The current time slot can only be one of the second time slot, the third time slot or the fourth time slot.

S320. The tag device exchanges UWB signals with the communication device in the positioning service system in the current time slot on the first time frame to implement UWB wireless communication.

Specifically, the current time slot may be the second time slot, the third time slot or the fourth time slot.

The following embodiments of the present application will respectively introduce that in the case where the current time slot is the second time slot, the third time slot or the fourth time slot, the tag device exchanges UWB signals with the communication device in the positioning service system in the current time slot to The specific steps to realize UWB wireless communication.

In a possible example, if the current time slot is the second time slot and the tag device is an electronic device, the tag device exchanges UWB signals with the communication device in the positioning service system in the current time slot on the first time frame to achieve UWB wireless communication may include the following operations: the tag device exchanges UWB signals with the communication device in the positioning service system according to the first positioning algorithm in the second time slot to determine its own position information in the positioning service system.

It should be noted that, because the communication devices in the positioning service system can broadcast UWB signals in the second time slot of the first time frame at any time, unlike the need for each The base station is configured to broadcast the sub-slot number of the UWB signal. Therefore, in order to avoid conflicts caused by the communication equipment in the positioning service system broadcasting the UWB signal at the same time in the second time slot, the UWB wireless communication in the second time slot can use the carrier sense multiplexing method. Road access/collision avoidance (Carrier Sense Multiple Access with Collision Avoid, CSMA/CA) mechanism.

Specifically, if the at least three base stations include base station X, base station K, and base station L, there is a first distance between base station X and base station K, a second distance between base station X and base station L, and a distance between base station K and base station L. At the third distance, the tag device exchanges UWB signals with the communication device in the positioning service system according to the first positioning algorithm in the second time slot to determine its own position information in the positioning service system, which may include the following operations: The UWB signal J is detected at the time stamp Q of the second time slot. The UWB signal J is broadcast by the base station X to the communication equipment in the positioning service system at the time stamp H of the second time slot. The UWB signal J is used to detect the tag. The location information of the device in the positioning service system; the tag device hears the UWB signal K on the timestamp R of the second time slot, the timestamp R is after the timestamp Q, and the UWB signal K is detected by the base station K when the UWB signal K is detected. The signal J is broadcast to the communication equipment in the positioning service system; the tag device senses the UWB signal L at the time stamp S of the second time slot, the time stamp S is after the time stamp R, and the UWB signal L is detected by the base station L. After hearing the UWB signal K, it is broadcast to the communication device in the positioning service system; the tag device receives the indication information Z at the time stamp T of the second time slot; wherein the time stamp T is after the time stamp S, and the indication information Z is used for Indicates the first sending time difference and the second sending time difference, the first sending time difference is the sending time difference between base station X broadcasting UWB signal J and base station K broadcasting UWB signal K, and the second sending time difference is base station X broadcasting UWB signal J and base station L broadcasting The transmission time difference between the UWB signals L; the tag device determines its position information in the positioning service system according to the timestamp Q, the timestamp R, the timestamp S, the first transmission time difference and the second transmission time difference.

For example, see FIG. 2H for details, and details are not repeated here.

In a possible example, if the current time slot is the third time slot, and the tag device is an IoT tag device among at least one IoT tag device, the tag device is connected to the location within the current time slot on the first time frame. The communication device in the service system exchanges UWB signals to realize UWB wireless communication, which may include the following operations: the tag device exchanges UWB signals with the communication device in the positioning service system according to the second positioning algorithm in the third time slot to determine that it is in the positioning service system. Location information in the system.

It should be noted that, because the communication devices in the positioning service system can broadcast the UWB signal in the third time slot of the first time frame at any time, unlike in the first time slot of the first time frame, each The base station is configured to broadcast the sub-slot number of the UWB signal. Therefore, in order to avoid conflicts caused by the communication equipment in the positioning service system broadcasting the UWB signal at the same time in the third time slot, the UWB wireless communication in the third time slot can use the CSMA/CA mechanism .

Specifically, if the at least three base stations include base station X, base station M and base station N, the tag device exchanges UWB signals with the communication device in the positioning service system according to the second positioning algorithm in the second time slot to determine that it is in the positioning service system The location information in the location information may include the following operations: the tag device broadcasts the UWB signal M to the communication device in the location service system on the timestamp U of the third time slot, and the UWB signal M is used to request to detect the location of the tag device in the location service system. Location information; the tag device senses the UWB signal N at the time stamp V of the third time slot, the time stamp V is after the time stamp U, and the UWB signal N is sent to the positioning service system by the base station X after it senses the UWB signal M. broadcast by the communication equipment; the tag device senses the UWB signal P at the time stamp W of the third time slot, the time stamp W is after the time stamp V, and the UWB signal P is located by the base station M after it senses the UWB signal N. The communication device in the service system broadcasts; the tag device senses the UWB signal Q at the timestamp F of the third time slot, and the UWB signal Q is located by the base station N to the communication device in the service system after it senses the UWB signal P. Broadcast; the tag device broadcasts indication information H to the communication equipment in the positioning service system at the time stamp G of the third time slot, the time stamp G is after the time stamp F, and the indication information H is used to indicate the time stamp U, time stamp V, Timestamp W, Timestamp F, and Timestamp G.

For example, see FIG. 2I for details, and details are not repeated here.

In a possible example, if the current time slot is the fourth time slot and the tag device is an electronic device, the tag device exchanges UWB signals with the communication device in the positioning service system in the current time slot on the first time frame to achieve UWB wireless communication may include the following operations: the tag device exchanges UWB signals with the communication device in the positioning service system according to the third positioning algorithm in the fourth time slot to determine its own position information in the positioning service system.

Specifically, the third positioning algorithm is an AOA/PDOA algorithm.

It should be noted that the related technical solutions and beneficial effects involved in this example and the related technical solutions and beneficial effects involved in the foregoing FIG. 2A will not be repeated here.

It can be seen that, in this embodiment of the present application, the tag device exchanges UWB signals with at least three base stations or other tag devices in the positioning service system in the current time slot on the first time frame to implement UWB wireless communication. Since the tag device needs the base station to provide positioning services for it, or the tag devices provide positioning services to each other, the first time frame is divided into different time slots according to the difference in the positioning services performed between the communication devices in the positioning service system. That is, different UWB channels, and the UWB signals are exchanged between the base station and the tag device, and between the tag device and the tag device in the corresponding time slot, so as to help avoid the conflict and interference of the UWB signals in the UWB channel, and realize the The time slot allocation provides positioning services between communication devices in the positioning service system.

The foregoing mainly introduces the solutions of the embodiments of the present application from the perspective of the method-side execution process. It can be understood that, in order to implement the above-mentioned functions, the base station X includes corresponding hardware structures and/or software modules for performing each function. Those skilled in the art should easily realize that the present application can be implemented in hardware or in the form of a combination of hardware and computer software, in combination with the units and algorithm steps of each example described in the embodiments provided herein. Whether a function is performed by hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Skilled artisans may implement the described functionality using different methods for each particular application, but such implementations should not be considered beyond the scope of this application.

In this embodiment of the present application, the base station X may be divided into functional units according to the foregoing method examples. For example, each functional unit may be divided corresponding to each function, or two or more functions may be integrated into one processing unit. The above-mentioned integrated units may be implemented in the form of hardware, or may be implemented in the form of software functional units. It should be noted that, the division of units in the embodiments of the present application is illustrative, and is only a logical function division, and there may be other division manners in actual implementation.

In the case of using integrated units, FIG. 4 shows a block diagram of functional units of a wireless communication device. The wireless communication apparatus 400 is applied to the base station X, and specifically includes: a processing unit 420 and a communication unit 430 . The processing unit 420 is used to control and manage the actions of the base station X, for example, the processing unit 420 is used to support the base station X to perform some or all of the steps in FIG. 2A, as well as other processes for the techniques described herein. The communication unit 430 is used for supporting UWB wireless communication between the base station X and the communication device in the positioning service system. The wireless communication apparatus 400 may further include a storage unit 410 for storing program codes and data of the terminal.

Specifically, the processing unit 420 may be a processor or a controller, such as a CPU, a general-purpose processor, a DSP, an ASIC, an FPGA, or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It may implement or execute the various exemplary logical blocks, modules and circuits described in connection with this disclosure. The processing unit 420 may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, and the like. The communication unit 430 may be a communication interface, a transceiver, a transceiver circuit, etc., and the storage unit 410 may be a memory. When the processing unit 420 is a processor, the communication unit 430 is a communication interface, and the storage unit 410 is a memory, the wireless communication apparatus 400 involved in this embodiment of the present application may be the base station 600 shown in FIG. 6 .

During specific implementation, the processing unit 420 is configured to perform any step performed by the base station X in the above method embodiments, and when performing UWB signal transmission such as sending, the communication unit 430 can be selectively invoked to complete corresponding operations. A detailed description will be given below.

The processing unit 420 is configured to: obtain a first time frame for ultra-bandwidth UWB wireless communication between communication devices in the positioning service system; wherein, the communication devices in the positioning service system include at least three base stations and tag devices; the first time frame The time frame includes a time slot for providing the synchronization operation of the base station and at least one time slot for providing positioning services to the tag device through a preset positioning algorithm; the current time slot on the first time frame is the same as the time slot in the positioning service system. Communication devices interact with UWB signals to implement UWB wireless communication.

It can be seen that the wireless communication apparatus 400 exchanges UWB signals with at least three base stations and tag devices in the positioning service system in the current time slot on the first time frame to implement UWB wireless communication. Since the base station and the base station need to exchange UWB signals to perform the synchronization operation of the base station, and provide positioning services to the tag device through a preset positioning algorithm, the synchronization operation of the base station and the positioning service are performed between the communication devices in the positioning service system. , divide the first time frame into different time slots, that is, different UWB channels, and exchange UWB signals between the base station and the base station, between the base station and the tag device, and between the tag device and the tag device in the corresponding time slots , so as to avoid the collision and interference of UWB signals in the UWB channel, and realize the synchronization operation and positioning service of the base station between the communication devices in the positioning service system by time slot allocation.

It should be noted that, since the method embodiment and the device embodiment are different presentation forms of the same technical concept, the content of the method embodiment part in this application should be synchronously adapted to the device embodiment part, and will not be repeated here.

Consistent with the above-mentioned embodiments, in order to realize the above-mentioned functions, the label device 120 includes corresponding hardware structures and/or software modules for executing each function. In this embodiment of the present application, the label device 120 may be divided into functional units according to the foregoing method examples.

In the case of using integrated units, FIG. 5 presents a block diagram of functional units of another wireless communication device. The wireless communication apparatus 500 is applied to the vehicle terminal tag device 120 , and specifically includes: a processing unit 520 and a communication unit 530 . The processing unit 520 is used to control and manage the actions of the label device 120, eg, the processing unit 520 is used to support the label device 120 to perform some or all of the steps in FIG. 3, as well as other processes for the techniques described herein. The communication unit 530 is used to support wireless communication between the tag device 120 and other devices. The wireless communication apparatus 500 may further include a storage unit 510 for storing program codes and data of the tag device 120 .

The processing unit 520 may be a processor or a controller, such as a CPU, a general-purpose processor, a DSP, an ASIC, an FPGA, or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It may implement or execute the various exemplary logical blocks, modules and circuits described in connection with this disclosure. The processing unit 520 may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, and the like. The communication unit 530 may be a communication interface, a transceiver, a transceiver circuit, etc., and the storage unit 510 may be a memory. When the processing unit 520 is a processor, the communication unit 530 is a communication interface, and the storage unit 510 is a memory, the wireless communication apparatus 500 involved in this embodiment of the present application may be the tag device 700 shown in FIG. 7 .

During specific implementation, the processing unit 520 is configured to perform any step performed by the vehicle terminal 120 in the above method embodiments, and when performing data transmission such as sending, the communication unit 1030 can be selectively invoked to complete corresponding operations. A detailed description will be given below.

The processing unit 520 is configured to obtain a first time frame for ultra-bandwidth UWB wireless communication between communication devices in the positioning service system; wherein, the communication devices in the positioning service system include at least three base stations and tag devices; the first time frame The time frame includes a time slot for providing the synchronization operation of the base station and at least one time slot for providing positioning services to the tag device through a preset positioning algorithm; the current time slot on the first time frame is the same as the time slot in the positioning service system. Communication devices interact with UWB signals to implement UWB wireless communication.

It can be seen that the wireless communication apparatus 500 exchanges UWB signals with at least three base stations or other tag devices in the positioning service system in the current time slot on the first time frame to implement UWB wireless communication. Since the tag device needs the base station to provide positioning services for it, or the tag devices provide positioning services to each other, the first time frame is divided into different time slots according to the difference in the positioning services performed between the communication devices in the positioning service system. That is, different UWB channels, and the UWB signals are exchanged between the base station and the tag device, and between the tag device and the tag device in the corresponding time slot, so as to help avoid the conflict and interference of the UWB signals in the UWB channel, and realize the The time slot allocation provides positioning services between communication devices in the positioning service system.

The following introduces a schematic structural diagram of another base station provided by an embodiment of the present application, as shown in FIG. 6 . The base station 600 includes a processor 610 , a memory 620 , a communication interface 630 and at least one communication bus for connecting the processor 610 , the memory 620 , and the communication interface 630 .

Processor 610 may be one or more central processing units (CPUs). In the case where the processor 610 is a CPU, the CPU may be a single-core CPU or a multi-core CPU. The memory 620 includes but is not limited to a random access memory (Random Access Memory, RAM), a read-only memory (Read-Only Memory, ROM), an erasable programmable read-only memory (Erasable Programmable Read Only Memory, EPROM) or a portable Read-only memory (Compact Disc Read-Only Memory, CD-ROM), and the memory 620 is used for related instructions and data. Communication interface 630 is used to receive and transmit data.

The processor 610 in the base station 600 is configured to read one or more program codes 621 stored in the memory 620 to perform the following operations: obtain the first data for ultra-bandwidth UWB wireless communication between communication devices in the location service system time frame; wherein, the communication equipment in the positioning service system includes at least three base stations and tag equipment; wherein, the first time frame includes a time slot for providing base station synchronous operation and at least one time slot for providing a preset positioning algorithm to the tag The device provides the time slot of the positioning service; exchanges UWB signals with the communication device in the positioning service system in the current time slot on the first time frame to realize UWB wireless communication.

It can be seen that the base station exchanges UWB signals with at least three base stations and tag devices in the positioning service system in the current time slot on the first time frame to implement UWB wireless communication. Since the base station and the base station need to exchange UWB signals to perform the synchronization operation of the base station, and provide positioning services to the tag device through a preset positioning algorithm, the synchronization operation of the base station and the positioning service are performed between the communication devices in the positioning service system. , divide the first time frame into different time slots, that is, different UWB channels, and exchange UWB signals between the base station and the base station, between the base station and the tag device, and between the tag device and the tag device in the corresponding time slots , so as to avoid the collision and interference of UWB signals in the UWB channel, and realize the synchronization operation and positioning service of the base station between the communication devices in the positioning service system by time slot allocation.

The following introduces a schematic structural diagram of another label device provided by an embodiment of the present application, as shown in FIG. 7 . The tag device 700 includes a processor 710, a memory 720, a communication interface 730, and at least one communication bus for connecting the processor 710, the memory 720, and the communication interface 730.

Processor 710 may be one or more central processing units (CPUs). In the case where the processor 710 is a CPU, the CPU may be a single-core CPU or a multi-core CPU. Memory 720 includes, but is not limited to, RAM, ROM, EPROM, or CD-ROM, and is used for related instructions and data. Communication interface 730 is used to receive and transmit data.

The processor 710 in the tag device 700 is configured to read one or more program codes 721 stored in the memory 720 to perform the following operations: obtain the first data for ultra-bandwidth UWB wireless communication between communication devices in the location service system A time frame; wherein, the communication device in the positioning service system includes at least three base stations and tag devices; wherein, the first time frame includes a time slot for providing synchronization operation of base stations and at least one time slot for providing a preset positioning algorithm to The tag device provides the time slot of the positioning service; exchanges UWB signals with the communication device in the positioning service system in the current time slot on the first time frame to realize UWB wireless communication.

It can be seen that the tag device exchanges UWB signals with at least three base stations or other tag devices in the positioning service system in the current time slot on the first time frame to implement UWB wireless communication. Since the tag device needs the base station to provide positioning services for it, or the tag devices provide positioning services to each other, the first time frame is divided into different time slots according to the difference in the positioning services performed between the communication devices in the positioning service system. That is, different UWB channels, and the UWB signals are exchanged between the base station and the tag device, and between the tag device and the tag device in the corresponding time slot, so as to help avoid the conflict and interference of the UWB signals in the UWB channel, and realize the The time slot allocation provides positioning services between communication devices in the positioning service system.

Embodiments of the present application further provide a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program for electronic data exchange, and the computer program is operable to cause a computer to execute any of the methods described in the foregoing method embodiments. some or all of the steps of a method.

Embodiments of the present application further provide a computer program product, wherein the computer program product includes a computer program, and the computer program is operable to cause a computer to execute part or all of the steps of any method described in the above method embodiments. The computer program product may be a software installation package.

It should be noted that, for the above-mentioned method embodiments, for the sake of simple description, they are all expressed as a series of action combinations. Those skilled in the art should know that the present application is not limited by the described sequence of actions, because some steps in the embodiments of the present application may be performed in other sequences or simultaneously. In addition, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the embodiments of the present application.

In the above-mentioned embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference may be made to the relevant descriptions of other embodiments.

In the several embodiments provided in this application, those skilled in the art should know that the described apparatus may be implemented in other manners. It should be understood that the device embodiments described above are merely illustrative. For example, the division of the above-mentioned units is only a logical function division, and there may be other division methods in practice. That is, multiple units or components may be combined or integrated into another software, and some features may be omitted or not implemented. In addition, the mutual coupling, direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices or units, or may be electrical or other forms.

The units described above as separate components may or may not be physically separate. In addition, the above-mentioned components shown as units may or may not be physical units, that is, they may be located on one network unit, or may be distributed to multiple network units. Therefore, the above embodiments may be implemented by selecting some or all of the units according to actual needs.

In addition, each functional unit in each of the above embodiments may be integrated in one processing unit, or may exist in different physical units, or two or more functional units may be integrated in one physical unit. The above-mentioned units may be implemented in the form of hardware, or may be implemented in the form of software functional units.

If the above-mentioned units are implemented in the form of software functional units and sold or used as independent products, they may be stored in a computer-readable memory. It can be understood that the technical solution of the present application (the part of the technical solution that contributes to the prior art or the whole or part of the technical solution) can be embodied in the form of a computer software product. The computer software product is stored in a memory, and includes several instructions for causing a computer device (personal computer, server, or network device, etc.) to execute all or part of the steps of the embodiments of the present application. In addition, the above-mentioned memory includes various media that can store program codes, such as U disk, ROM, RAM, mobile hard disk, magnetic disk or optical disk.

Those skilled in the art should know that all or part of the steps in the embodiments of the present application may be completed by instructing relevant hardware through a program, and the program may be stored in a memory, and the memory may include a flash disk, ROM, RAM, magnetic disk or optical disk, etc. .

The embodiments of the present application are described in detail above, and the descriptions in the embodiments of the present application are only used to help understand the method and the core idea of the present application. Those skilled in the art should know that there will be changes in the specific implementation and application scope of the embodiments of the present application, so far, the contents of this specification should not be construed as limitations on the present application.

Claims

A wireless communication method, comprising:

The base station X obtains a first time frame for ultra-bandwidth UWB wireless communication between communication devices in the positioning service system; wherein, the communication devices in the positioning service system include at least three base stations and tag devices, and the first time frame The time frame includes a time slot for providing base station synchronization operation and at least one time slot for providing positioning service to the tag device through a preset positioning algorithm;

The base station X exchanges UWB signals with the communication equipment in the positioning service system in the current time slot on the first time frame to realize UWB wireless communication.
The method according to claim 1, wherein the one time slot for providing base station synchronization operation is a first time slot, and the at least one time slot is used for providing a positioning service to the tag device through a preset positioning algorithm The time slot includes a second time slot, a third time slot and a fourth time slot, the preset positioning algorithm includes a first positioning algorithm, a second positioning algorithm and a third positioning algorithm, and the tag device includes an electronic device and at least An IoT tag device;

Wherein, the second time slot is used to provide positioning service to the electronic device through the first positioning algorithm, and the third time slot is used to provide the at least one IoT tag device through the second positioning algorithm A positioning service is provided, and the fourth time slot is used for locating a target IoT tag device from the at least one IoT tag device to the electronic device through the third positioning algorithm.
The method according to claim 2, wherein the current time slot is the first time slot, the first time slot includes at least three sub-slots, and the base station X is the location to be accessed. a base station serving the system;

The base station X exchanges UWB signals with the communication device in the positioning service system in the current time slot on the first time frame to implement UWB wireless communication, including:

The base station X listens to the UWB signal broadcast by each of the at least three base stations in the at least three sub-slots;

The base station X determines the sub-slot number occupied by the UWB signal broadcast by itself according to the sub-slot occupancy status of the UWB signal broadcast by each of the at least three base stations in the at least three sub-slots;

The base station X determines that it is in the location according to the time difference between which it senses the UWB signal broadcast by each of the at least three base stations and the time interval between the sub-slots in the at least three sub-slots. location information in the service system;

The base station X broadcasts the UWB signal X to the communication devices in the positioning service system according to the sub-slot number occupied by the self-broadcasted UWB signal and the position information of the self in the positioning service system to access all communication devices in the positioning service system. Describe the location services system.
The method according to claim 3, wherein the base station X determines itself according to the sub-slot occupancy of the UWB signal broadcasted by each of the at least three base stations in the at least three sub-slots Subslot numbers occupied by broadcast UWB signals, including:

The base station X is free from the at least three sub-slots from the at least three sub-slots with preset rules according to the sub-slot occupancy of the UWB signals broadcast by each of the at least three base stations in the at least three sub-slots. One subslot is selected from the occupied subslots.
The method according to claim 3, wherein the at least three base stations include base station Y, base station Z and base station H, and the at least three sub-slots include a first sub-slot, a second sub-slot and a first sub-slot Three sub-slots, the second sub-slot is a sub-slot after the first sub-slot, and the third sub-slot is a sub-slot after the second sub-slot;

The base station X determines that it is in the location according to the time difference between which it senses the UWB signal broadcast by each of the at least three base stations and the time interval between the sub-slots in the at least three sub-slots. Location information in the service system, including:

The base station X senses the UWB signal Y broadcast by the base station Y at the start time of the first sub-slot at the time stamp X of the first sub-slot;

The base station X listens to the UWB signal Z broadcast by the base station Z at the start time of the second subslot at the timestamp Y of the second subslot, and calculates the first subslot The time interval between the start time of the second sub-slot and the start time of the second sub-slot to obtain the first time interval;

The base station X listens to the UWB signal H broadcast by the base station H at the start time of the third sub-slot at the timestamp Z of the third sub-slot, and calculates the second sub-slot The time interval between the start time of the third sub-slot and the start time of the third sub-slot to obtain the second time interval;

The base station X calculates, according to the time stamp X and the time stamp Y, the time difference between when it senses the UWB signal Y and when it senses the UWB signal Z to obtain a first time difference;

The base station X calculates, according to the time stamp X and the time stamp Z, the time difference between when it senses the UWB signal Y and when it senses the UWB signal H to obtain a second time difference;

The base station X determines the position information of itself in the positioning service system according to the first time difference, the second time difference, the first time interval and the second time interval.
The method according to claim 2, wherein the current time slot is the first time slot, and the base station X is one of the at least three base stations;

The base station X exchanges UWB signals with the communication device in the positioning service system in the current time slot on the first time frame to implement UWB wireless communication, including:

The base station X broadcasts indication information X to the communication devices in the positioning service system in the fourth sub-slot on the first time slot, where the indication information X is used to indicate that the base station X is in the positioning service system. location information in the system;

The base station X hears the indication information Y sent by the base station J in the fifth sub-slot on the first time slot, and the indication information Y is used to indicate that the base station J is in the positioning service system. Location information, the base station J is one base station other than the base station X among the at least three base stations.
The method according to claim 2, wherein the current time slot is the second time slot, and the base station X is one of the at least three base stations;

The base station X exchanges UWB signals with the communication device in the positioning service system in the current time slot on the first time frame to implement UWB wireless communication, including:

The base station X exchanges UWB signals with the communication device in the positioning service system according to the first positioning algorithm in the second time slot to determine the position information of the electronic device in the positioning service system.
The method according to claim 7, wherein the at least three base stations include the base station X, the base station K, and the base station L, and there is a first distance between the base station X and the base station K, and the base station There is a second distance between X and the base station L, and a third distance between the base station K and the base station L;

The base station X exchanges UWB signals with the communication device in the positioning service system according to the first positioning algorithm in the second time slot to determine the position information of the electronic device in the positioning service system, including :

The base station X broadcasts a UWB signal J to the communication equipment in the positioning service system at the time stamp H of the second time slot, and the UWB signal J is used to detect that the electronic equipment is in the positioning service system location information;

The base station X senses the UWB signal K at the time stamp J of the second time slot, the time stamp J is after the time stamp H, and the UWB signal K is sensed by the base station K After reaching the UWB signal J, it is broadcast to the communication equipment in the positioning service system;

The base station X senses the UWB signal L at the time stamp K of the second time slot, the time stamp K is after the time stamp J, and the UWB signal L is sensed by the base station L. After reaching the UWB signal K, it is broadcast to the communication equipment in the positioning service system;

The base station X determines a first transmission time difference according to the time stamp H, the time stamp J and the first distance, and the first transmission time difference is the base station X broadcasting the UWB signal J and the base station K. broadcasting the transmission time difference between the UWB signals K;

The base station X determines a second transmission time difference according to the time stamp H, the time stamp K and the second distance, and the second transmission time difference is the base station X broadcasting the UWB signal J and the base station L. broadcasting the transmission time difference between the UWB signals L;

The base station X sends indication information Z to the electronic device or the at least one IoT tag device at the time stamp L of the second time slot, where the time stamp L is after the time stamp K, and the The indication information Z is used to indicate the first sending time difference and the second sending time difference.
The method according to claim 2, wherein the current time slot is the third time slot, and the base station X is one of the at least three base stations;

The base station X exchanges UWB signals with the communication device in the positioning service system in the current time slot on the first time frame to implement UWB wireless communication, including:

The base station X exchanges UWB signals with the communication device in the positioning service system according to the second positioning algorithm in the third time slot to determine that the target IoT label device in the at least one IoT label device is in the Location information in the location services system.
The method according to claim 9, wherein the at least three base stations comprise the base station X, the base station M and the base station N;

The base station X exchanges UWB signals with the communication device in the positioning service system according to the second positioning algorithm in the third time slot to determine the target IoT tag in the at least one IoT tag device The location information of the device in the location service system, including:

The base station X listens to the UWB signal M broadcast by the target IoT device on the timestamp M of the third time slot, and the UWB signal M is used to request to detect that the target IoT tag device is in the Location information in a location services system;

The base station X broadcasts the UWB signal N to the communication device in the positioning service system at the time stamp N of the third time slot, and the time stamp N is after the time stamp M;

The base station X hears indication information H on the time stamp P of the third time slot, the time stamp P is after the time stamp N, and the indication information H is sent by the target IoT tag device. After the UWB signal N, UWB signal P, and UWB signal Q are detected, it is broadcast to the communication device in the positioning service system, and the UWB signal P is the base station M when the UWB signal is detected by the base station M. The UWB signal Q is broadcast to the communication equipment in the positioning service system after N, and the UWB signal Q is broadcast to the communication equipment in the positioning service system by the base station N after hearing the UWB signal P. The indication information H is used to indicate the time stamp of broadcasting the UWB signal M on the third time slot, the time stamp of the UWB signal N being heard on the third time slot, and the time stamp of the UWB signal N being heard on the third time slot. The time stamp when the UWB signal P is detected on the third time slot, the time stamp when the UWB signal Q is detected by itself on the third time slot, and the time stamp when it broadcasts the UWB signal on the third time slot the timestamp of the indication information H;

The base station X determines the distance between itself and the target IoT tag device according to the indication information H, the time stamp M, the time stamp N and the time stamp P.
A wireless communication method, comprising:

The tag device acquires the first time frame used for ultra-bandwidth UWB wireless communication between communication devices in the positioning service system; wherein the communication device in the positioning service system includes the tag device and at least three base stations, the The first time frame includes a time slot for providing a base station synchronization operation and at least one time slot for providing a positioning service to the tag device through a preset positioning algorithm;

The tag device exchanges UWB signals with the communication device in the positioning service system in the current time slot on the first time frame to realize UWB wireless communication.
The method according to claim 11, wherein the one time slot for providing base station synchronization operation is a first time slot, and the at least one time slot is used for providing a positioning service to the tag device through a preset positioning algorithm The time slot includes a second time slot, a third time slot and a fourth time slot, the preset positioning algorithm includes a first positioning algorithm, a second positioning algorithm and a third positioning algorithm, and the tag device includes an electronic device and at least An IoT tag device;

Wherein, the second time slot is used to provide positioning service to the electronic device through the first positioning algorithm, and the third time slot is used to provide the at least one IoT tag device through the second positioning algorithm A positioning service is provided, and the fourth time slot is used for locating a target IoT tag device from the at least one IoT tag device to the electronic device through the third positioning algorithm.
The method according to claim 12, wherein the current time slot is the second time slot, and the tag device is the electronic device;

The tag device exchanges UWB signals with the communication device in the positioning service system in the current time slot on the first time frame to implement UWB wireless communication, including:

The tag device exchanges UWB signals with the communication device in the positioning service system according to the first positioning algorithm in the second time slot to determine its own position information in the positioning service system.
The method according to claim 13, wherein the at least three base stations include a base station X, a base station K, and a base station L, the base station X and the base station K have a first distance, and the base station X and the base station K have a first distance. There is a second distance between the base stations L, and a third distance between the base station K and the base station L;

The tag device exchanges UWB signals with the communication device in the positioning service system according to the first positioning algorithm in the second time slot to determine its own position information in the positioning service system, including:

The tag device senses the UWB signal J at the time stamp Q of the second time slot, and the UWB signal J is sent to the location by the base station X at the time stamp H of the second time slot Broadcast by a communication device in the service system, the UWB signal J is used to detect the location information of the tag device in the positioning service system;

The tag device senses the UWB signal K at the time stamp R of the second time slot, the time stamp R is after the time stamp Q, and the UWB signal K is sensed by the base station K. After reaching the UWB signal J, it is broadcast to the communication equipment in the positioning service system;

The tag device senses the UWB signal L at the time stamp S of the second time slot, the time stamp S is after the time stamp R, and the UWB signal L is sensed by the base station L at The UWB signal K is then broadcast to the communication equipment in the positioning service system;

The tag device receives indication information Z at the time stamp T of the second time slot; wherein the time stamp T is after the time stamp S, and the indication information Z is used to indicate the first transmission time difference and the first transmission time difference. 2. Sending time difference, the first sending time difference is the sending time difference between the base station X broadcasting the UWB signal J and the base station K broadcasting the UWB signal K, the second sending time difference is the base station X broadcasting the transmission time difference between the UWB signal J and the base station L broadcasting the UWB signal L;

The tag device determines its own location information in the positioning service system according to the time stamp Q, the time stamp R, the time stamp S, the first transmission time difference and the second transmission time difference.
The method according to claim 12, wherein the current time slot is the third time slot, and the label device is an IoT label device in the at least one IoT label device;

The tag device exchanges UWB signals with the communication device in the positioning service system in the current time slot on the first time frame to implement UWB wireless communication, including:

The tag device exchanges UWB signals with the communication device in the positioning service system according to the second positioning algorithm in the third time slot to determine its own position information in the positioning service system.
The method according to claim 15, wherein the at least three base stations comprise the base station X, the base station M and the base station N;

The tag device exchanges UWB signals with the communication device in the positioning service system according to the second positioning algorithm in the third time slot to determine its own position information in the positioning service system, including:

The tag device broadcasts a UWB signal M to the communication device in the positioning service system on the timestamp U of the third time slot, and the UWB signal M is used to request to detect that the tag device is in the positioning service system. location information in ;

The tag device senses the UWB signal N at the time stamp V of the third time slot, the time stamp V is after the time stamp U, and the UWB signal N is sensed by the base station X. The UWB signal M is then broadcast to the communication equipment in the positioning service system;

The tag device senses the UWB signal P at the time stamp W of the third time slot, the time stamp W is after the time stamp V, and the UWB signal P is sensed by the base station M. The UWB signal N is then broadcast to the communication equipment in the positioning service system;

The tag device senses the UWB signal Q at the time stamp F of the third time slot, and the UWB signal Q is sent to the positioning service system by the base station N after the UWB signal P is sensed. broadcast by a communication device;

The tag device broadcasts the indication information H to the communication device in the positioning service system at the time stamp G of the third time slot, where the time stamp G is after the time stamp F, the indication information H It is used to indicate the timestamp U, the timestamp V, the timestamp W, the timestamp F and the timestamp G.
A wireless communication device, characterized in that it is applied to a base station X; the device includes a processing unit and a communication unit, and the processing unit is used for:

The first time frame for ultra-bandwidth UWB wireless communication between communication devices in the positioning service system is acquired by the communication unit; wherein, the communication devices in the positioning service system include at least three base stations and tag devices; The first time frame includes a time slot for providing a base station synchronization operation and at least one time slot for providing a positioning service to the tag device through a preset positioning algorithm;

UWB wireless communication is realized by exchanging UWB signals with the communication device in the positioning service system by the communication unit in the current time slot on the first time frame.
The apparatus according to claim 17, wherein the one time slot used for providing the base station synchronization operation is a first time slot, and the at least one time slot is used to provide a positioning service to the tag device through a preset positioning algorithm The time slot includes a second time slot, a third time slot and a fourth time slot, the preset positioning algorithm includes a first positioning algorithm, a second positioning algorithm and a third positioning algorithm, and the tag device includes an electronic device and at least An IoT tag device;

Wherein, the second time slot is used to provide positioning service to the electronic device through the first positioning algorithm, and the third time slot is used to provide the at least one IoT tag device through the second positioning algorithm A positioning service is provided, and the fourth time slot is used for locating a target IoT tag device from the at least one IoT tag device to the electronic device through the third positioning algorithm.
The apparatus according to claim 18, wherein the current time slot is the first time slot, the first time slot includes at least three sub-slots, and the base station X is the location to be accessed. a base station serving the system;

In terms of exchanging UWB signals with the communication device in the positioning service system in the current time slot on the first time frame to realize UWB wireless communication, the processing unit is specifically configured to:

The UWB signal broadcast by each of the at least three base stations is sensed in the at least three sub-slots;

Determine the sub-slot number occupied by the self-broadcasted UWB signal according to the sub-slot occupancy status of the UWB signal broadcast by each of the at least three base stations in the at least three sub-slots;

Determine the position of the user in the positioning service system according to the time difference between the time when the user hears the UWB signal broadcast by each of the at least three base stations and the time interval between the sub-slots in the at least three sub-slots. location information;

Broadcast UWB signal X to communication devices in the positioning service system to access the positioning service system according to the subslot number occupied by the self-broadcasted UWB signal and the position information of the self in the positioning service system .
The device according to claim 19, characterized in that, according to the sub-slot occupancy of the UWB signal broadcast by each of the at least three base stations in the at least three sub-slots, it is determined to broadcast the UWB signal by itself. In terms of the number of occupied subslots, the processing unit is specifically used for:

According to the sub-slot occupancy of the UWB signal broadcasted by each of the at least three base stations in the at least three sub-slots, the sub-slots that are not occupied in the at least three sub-slots are selected from the at least three sub-slots according to a preset rule Select a subslot from the slot.
The apparatus according to claim 19, wherein the at least three base stations include base station Y, base station Z, and base station H, and the at least three sub-slots include a first sub-slot, a second sub-slot, and a second sub-slot Three sub-slots, the second sub-slot is a sub-slot after the first sub-slot, and the third sub-slot is a sub-slot after the second sub-slot;

Determining that oneself is in the positioning service system according to the time difference between which oneself senses the UWB signal broadcast by each of the at least three base stations and the time interval between the subslots of the at least three subslots In terms of the location information of , the processing unit is specifically used for:

The UWB signal Y broadcast by the base station Y at the start time of the first subslot is heard at the timestamp X of the first subslot;

The UWB signal Z broadcast by the base station Z at the start time of the second subslot is heard at the timestamp Y of the second subslot, and the start time of the first subslot is calculated the time interval to the start time of the second subslot to obtain the first time interval;

The UWB signal H broadcast by the base station H at the start time of the third subslot is heard at the time stamp Z of the third subslot, and the start time of the second subslot is calculated the time interval to the start time of the third subslot to obtain the second time interval;

Calculate, according to the time stamp X and the time stamp Y, the time difference between when the UWB signal Y is detected by the self and the UWB signal Z is detected by the self to obtain the first time difference;

Calculate the time difference between the UWB signal Y detected by itself and the UWB signal H detected by itself to obtain a second time difference according to the timestamp X and the timestamp Z;

The location information of the self in the positioning service system is determined according to the first time difference, the second time difference, the first time interval and the second time interval.
The apparatus according to claim 18, wherein the current time slot is the first time slot, and the base station X is one of the at least three base stations;

In terms of exchanging UWB signals with the communication device in the positioning service system in the current time slot on the first time frame to realize UWB wireless communication, the processing unit is specifically configured to:

Broadcasting indication information X to communication devices in the positioning service system in the fourth sub-slot on the first time slot, where the indication information X is used to indicate the position of the base station X in the positioning service system information;

In the fifth sub-slot on the first time slot, the indication information Y sent by the base station J is heard, and the indication information Y is used to indicate the location information of the base station J in the positioning service system. The base station J is one base station except the base station X among the at least three base stations.
The apparatus according to claim 18, wherein the current time slot is the second time slot, and the base station X is one of the at least three base stations;

In terms of exchanging UWB signals with the communication device in the positioning service system in the current time slot on the first time frame to realize UWB wireless communication, the processing unit is specifically configured to:

In the second time slot, the UWB signal is exchanged with the communication device in the positioning service system according to the first positioning algorithm to determine the position information of the electronic device in the positioning service system.
The apparatus according to claim 23, wherein the at least three base stations include the base station X, the base station K, and the base station L, and there is a first distance between the base station X and the base station K, and the base station There is a second distance between X and the base station L, and a third distance between the base station K and the base station L;

In the second time slot, according to the first positioning algorithm, the processing unit exchanges UWB signals with the communication device in the positioning service system to determine the position information of the electronic device in the positioning service system, the processing unit Specifically for:

Broadcasting a UWB signal J to the communication device in the positioning service system at the time stamp H of the second time slot, where the UWB signal J is used to detect the position information of the electronic device in the positioning service system;

The UWB signal K is detected at the timestamp J of the second time slot, the timestamp J is after the timestamp H, and the UWB signal K is detected by the base station K when the UWB signal K is detected. The signal J is then broadcast to the communication equipment in the positioning service system;

The UWB signal L is detected on the timestamp K of the second time slot, the timestamp K is after the timestamp J, and the UWB signal L is detected by the base station L when the UWB signal L is detected by the base station L. The signal K is then broadcast to the communication equipment in the positioning service system;

A first transmission time difference is determined according to the time stamp H, the time stamp J and the first distance, where the first transmission time difference is when the base station X broadcasts the UWB signal J and the base station K broadcasts the UWB signal the transmission time difference between the signals K;

A second transmission time difference is determined according to the time stamp H, the time stamp K and the second distance, where the second transmission time difference is when the base station X broadcasts the UWB signal J and the base station L broadcasts the UWB signal the transmission time difference between the signals L;

Send indication information Z to the electronic device or the at least one IoT tag device at the time stamp L of the second time slot, where the time stamp L is after the time stamp K, and the indication information Z uses for indicating the first transmission time difference and the second transmission time difference.
The apparatus according to claim 18, wherein the current time slot is the third time slot, and the base station X is one of the at least three base stations;

In terms of exchanging UWB signals with the communication device in the positioning service system in the current time slot on the first time frame to realize UWB wireless communication, the processing unit is specifically configured to:

In the third time slot, according to the second positioning algorithm, a UWB signal is exchanged with a communication device in the positioning service system to determine that a target IoT tag device in the at least one IoT tag device is in the positioning service Location information in the system.
The apparatus according to claim 25, wherein the at least three base stations include the base station X, the base station M, and the base station N;

In the third time slot, according to the second positioning algorithm, the UWB signal is exchanged with the communication device in the positioning service system to determine that the target IoT tag device in the at least one IoT tag device is in the In the aspect of location information in the location service system, the processing unit is specifically used for:

The UWB signal M broadcast by the target IoT device is detected at the timestamp M of the third time slot, and the UWB signal M is used to request to detect that the target IoT tag device is in the location service system location information;

broadcasting a UWB signal N to communication devices in the location services system at a time stamp N of the third time slot, the time stamp N being after the time stamp M;

The indication information H is detected on the timestamp P of the third time slot, the timestamp P is after the timestamp N, and the indication information H is detected by the target IoT tag device The UWB signal N, UWB signal P, and UWB signal Q are broadcast to communication devices in the positioning service system, and the UWB signal P is broadcast to all communication devices by the base station M after hearing the UWB signal N. broadcast by the communication equipment in the positioning service system, the UWB signal Q is broadcast by the base station N to the communication equipment in the positioning service system after listening to the UWB signal P, the indication information H The time stamp used to indicate that it broadcasts the UWB signal M on the third time slot, the time stamp that it senses the UWB signal N on the third time slot, and the time stamp that itself is in the third time slot. The time stamp at which the UWB signal P is sensed on the slot, the time stamp at which the UWB signal Q is sensed on the third time slot, and the indication information H is broadcast on the third time slot by itself the timestamp;

Determine the distance between itself and the target IoT tag device according to the indication information H, the time stamp M, the time stamp N and the time stamp P.
A wireless communication device, characterized in that it is applied to a tag device; the device includes a processing unit and a communication unit, and the processing unit is used for:

The first time frame for ultra-bandwidth UWB wireless communication between communication devices in the positioning service system is acquired by the communication unit; wherein, the communication devices in the positioning service system include the tag device and at least three base stations , the first time frame includes a time slot for providing a base station synchronization operation and at least one time slot for providing a positioning service to the tag device through a preset positioning algorithm;

UWB wireless communication is realized by exchanging UWB signals with the communication device in the positioning service system by the communication unit in the current time slot on the first time frame.
The apparatus according to claim 27, wherein the one time slot for providing the base station synchronization operation is a first time slot, and the at least one time slot is used for providing a positioning service to the tag device by using a preset positioning algorithm The time slot includes a second time slot, a third time slot and a fourth time slot, the preset positioning algorithm includes a first positioning algorithm, a second positioning algorithm and a third positioning algorithm, and the tag device includes an electronic device and at least An IoT tag device;

Wherein, the second time slot is used to provide positioning service to the electronic device through the first positioning algorithm, and the third time slot is used to provide the at least one IoT tag device through the second positioning algorithm A positioning service is provided, and the fourth time slot is used for locating a target IoT tag device from the at least one IoT tag device to the electronic device through the third positioning algorithm.
The apparatus according to claim 28, wherein the current time slot is the second time slot, and the tag device is the electronic device;

In terms of exchanging UWB signals with the communication device in the positioning service system in the current time slot on the first time frame to realize UWB wireless communication, the processing unit is specifically configured to:

In the second time slot, according to the first positioning algorithm, a UWB signal is exchanged with the communication device in the positioning service system to determine its own position information in the positioning service system.
The apparatus according to claim 29, wherein the at least three base stations include a base station X, a base station K, and a base station L, the base station X and the base station K have a first distance, and the base station X and the base station K have a first distance. There is a second distance between the base stations L, and a third distance between the base station K and the base station L;

In terms of exchanging UWB signals with a communication device in the positioning service system according to the first positioning algorithm in the second time slot to determine its own position information in the positioning service system, the processing unit is specifically configured to: :

The UWB signal J is heard at the time stamp Q of the second time slot, and the UWB signal J is sent to the positioning service system by the base station X at the time stamp H of the second time slot. Broadcast by a communication device, the UWB signal J is used to detect the location information of the tag device in the positioning service system;

The UWB signal K is detected at the timestamp R of the second time slot, the timestamp R is after the timestamp Q, and the UWB signal K is detected by the base station K when the UWB signal K is detected. The signal J is then broadcast to the communication equipment in the positioning service system;

The UWB signal L is sensed at the time stamp S of the second time slot, and the time stamp S is after the time stamp R, and the UWB signal L is sensed by the base station L when the UWB signal is sensed. broadcast to the communication device in the positioning service system after K;

The indication information Z is received at the time stamp T of the second time slot; wherein the time stamp T is after the time stamp S, and the indication information Z is used to indicate the first transmission time difference and the second transmission time difference, The first sending time difference is the sending time difference between the base station X broadcasting the UWB signal J and the base station K broadcasting the UWB signal K, and the second sending time difference is the base station X broadcasting the UWB signal The transmission time difference between J and the base station L broadcasting the UWB signal L;

According to the time stamp Q, the time stamp R, the time stamp S, the first sending time difference and the second sending time difference, determine its own location information in the positioning service system.
The apparatus according to claim 28, wherein the current time slot is the third time slot, and the tag device is an Internet of Things tag device in the at least one Internet of Things tag device;

In terms of exchanging UWB signals with the communication device in the positioning service system in the current time slot on the first time frame to realize UWB wireless communication, the processing unit is specifically configured to:

In the third time slot, according to the second positioning algorithm, a UWB signal is exchanged with the communication device in the positioning service system to determine its own position information in the positioning service system.
The apparatus according to claim 31, wherein the at least three base stations include the base station X, the base station M, and the base station N;

In terms of exchanging UWB signals with the communication device in the positioning service system according to the second positioning algorithm in the third time slot to determine its own position information in the positioning service system, the processing unit is specifically configured to: :

Broadcast a UWB signal M to the communication device in the positioning service system at the time stamp U of the third time slot, where the UWB signal M is used to request to detect the location information of the tag device in the positioning service system ;

The UWB signal N is detected at the timestamp V of the third time slot, and the timestamp V is after the timestamp U. The UWB signal N is detected by the base station X when the UWB signal is detected. M is then broadcast to the communication device in the positioning service system;

The UWB signal P is detected at the timestamp W of the third time slot, and the timestamp W is after the timestamp V, and the UWB signal P is detected by the base station M when the UWB signal is detected. broadcast to the communication device in the positioning service system after N;

The UWB signal Q is detected at the time stamp F of the third time slot, and the UWB signal Q is broadcast by the base station N to the communication devices in the positioning service system after the UWB signal P is detected by the base station N of;

The indication information H is broadcast to the communication device in the positioning service system at the time stamp G of the third time slot, the time stamp G is after the time stamp F, and the indication information H is used to indicate the The timestamp U, the timestamp V, the timestamp W, the timestamp F, and the timestamp G.
A base station, the base station is a base station X, characterized in that it includes a processor, a memory and a communication interface, the memory stores one or more programs, and the one or more programs are executed by the processor, The one or more programs include instructions for performing steps in the method of any of claims 1-10.
A label device, characterized in that it comprises a processor, a memory and a communication interface, the memory stores one or more programs, and the one or more programs are executed by the processor, the one or more programs The program includes instructions for performing the steps in the method of any of claims 11-16.
A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program for electronic data exchange, wherein the computer program is operable to cause a computer to perform any one of claims 1-16 method described in item.