WO2022057454A1

WO2022057454A1 - Distance difference determination method, data frame transmission method, and related product

Info

Publication number: WO2022057454A1
Application number: PCT/CN2021/108998
Authority: WO
Inventors: 肖伟
Original assignee: Oppo广东移动通信有限公司
Priority date: 2020-09-15
Filing date: 2021-07-28
Publication date: 2022-03-24
Also published as: CN112073905B; CN112073905A

Abstract

Disclosed are a distance difference determination method, a data frame transmission method, and a related product. The distance difference determination method comprises: determining a time t1, a time t2 and a time t3, wherein the time t1 is the time at which a data frame A1 from an anchor point A is detected, the time t2 is the time at which a data frame B from an anchor point B is detected, the time t3 is the time at which a data frame A2 from the anchor point A is detected, the data frame B is a data frame broadcast by the anchor point B after the data frame A1 and a delay duration Td1 are detected, and the data frame A2 carries a time t4 at which the anchor point A sends the data frame A1, a time t5 at which the anchor point A detects the data frame B, and a time t6 at which the anchor point A sends the data frame A2; determining the duration Td1 according to the time t1, the time t3, the time t4, the time t5 and the time t6; and determining the distance difference between a first distance and a second distance according to the distance D_AB between the anchor point A and the anchor point B, the time t2, the time t1 and the duration Td1. The present application facilitates improvement of the capacity of a labeling device in a positioning system, and a reduction in the power consumption of the labeling device.

Description

Distance difference determination method, data frame transmission method and related products

technical field

The present application relates to the field of positioning technology, and in particular, to a distance difference determination method, a data frame transmission method and related products.

Background technique

Ultra Wide Band (UWB) is a technology that uses ultra-wide baseband pulses with extremely wide spectrum for communication. Because UWB has the advantages of low power consumption, accurate positioning, and high security in applications, UWB technology has been widely used in recent years. has developed rapidly. At present, UWB technology has been widely used in products such as labels.

SUMMARY OF THE INVENTION

The embodiments of the present application provide a distance difference determination method, a data frame transmission method, and related products, which are beneficial to increase the capacity of a label device in a positioning system and reduce the power consumption of the label device.

In a first aspect, an embodiment of the present application provides a method for determining a distance difference, including:

Determine time t1, time t2 and time t3, the time t1 is the time when the data frame A1 from the anchor point A is detected, the time t2 is the time when the data frame B from the anchor point B is detected, and the The time t3 is the time when the data frame A2 from the anchor point A is detected, and the data frame B is the data frame broadcast by the anchor point B after listening to the data frame A1 and the delay time Td1, The data frame A2 carries the time t4 when the anchor point A sends the data frame A1, the time t5 when the anchor point A hears the data frame B, and the anchor point A sends the data frame A2 time t6;

Determine the duration Td1 according to the time t1, the time t3, the time t4, the time t5, and the time t6;

The distance difference between the first distance and the second distance is determined according to the distance D _AB between the anchor point A and the anchor point B, the time t2, the time t1, and the time length Td1, so The first distance is the distance D _TA between the end device and the anchor point A, and the second distance is the distance D _TB between the end device and the anchor point B.

In a second aspect, an embodiment of the present application provides a data frame transmission method, including:

Receive a data frame A2, wherein the data frame A2 includes a first indication field, a second indication field, and a third indication field, the first indication field is used to indicate the time t4 when the anchor point A sends the data frame A1, and the The second indication field is used to indicate the time t5 when the anchor point A hears the data frame B, and the third indication field is used to indicate the time t6 when the anchor point A sends the data frame A2, the data frame B is the data frame broadcast by the anchor point B after listening to the data frame A1 and the delay time Td1.

In a third aspect, an embodiment of the present application provides a data frame transmission method, including:

Sending a data frame A2, wherein the data frame A2 includes a first indication field, a second indication field, and a third indication field, the first indication field is used to indicate the time t4 when the anchor point A sends the data frame A1, and the The second indication field is used to indicate the time t5 when the anchor point A hears the data frame B, and the third indication field is used to indicate the time t6 when the anchor point A sends the data frame A2, the data frame B is the data frame broadcast by the anchor point B after listening to the data frame A1 and the delay time Td1.

In a fourth aspect, an embodiment of the present application provides a device for determining a distance difference, including:

The first determining unit is used to determine time t1, time t2 and time t3, where the time t1 is the time when the data frame A1 from the anchor point A is detected, and the time t2 is the time when the data frame A1 from the anchor point B is detected The time of frame B, the time t3 is the time when the data frame A2 from the anchor point A is detected, and the data frame B is the time when the anchor point B listens to the data frame A1 and the delay time The data frame broadcast after Td1, the data frame A2 carries the time t4 when the anchor point A sends the data frame A1, the time t5 when the anchor point A hears the data frame B, and the anchor point A sends the time t6 of the data frame A2;

a second determining unit, configured to determine the duration Td1 according to the time t1, the time t3, the time t4, the time t5, and the time t6;

A third determining unit, configured to determine the distance between the first distance and the second distance according to the distance D _AB between the anchor point A and the anchor point B, the time t2, the time t1, and the time duration Td1 The first distance is the distance D _TA between the end device and the anchor point A, and the second distance is the distance D _TB between the end device and the anchor point B.

In a fifth aspect, an embodiment of the present application provides a data frame transmission device, including:

A receiving unit, configured to receive a data frame A2, wherein the data frame A2 includes a first indication field, a second indication field, and a third indication field, and the first indication field is used to instruct the anchor point A to send the data frame A1 Time t4, the second indication field is used to indicate the time t5 when the anchor point A hears the data frame B, and the third indication field is used to indicate the time t6 when the anchor point A sends the data frame A2 , the data frame B is a data frame broadcast by the anchor point B after listening to the data frame A1 and the delay time Td1.

In a sixth aspect, an embodiment of the present application provides a data frame transmission device, including:

A sending unit, configured to send a data frame A2, wherein the data frame A2 includes a first indication field, a second indication field, and a third indication field, and the first indication field is used to instruct the anchor point A to send the data frame A1 Time t4, the second indication field is used to indicate the time t5 when the anchor point A hears the data frame B, and the third indication field is used to indicate the time t6 when the anchor point A sends the data frame A2 , the data frame B is a data frame broadcast by the anchor point B after listening to the data frame A1 and the delay time Td1.

In a seventh aspect, an embodiment of the present application provides a tag device, including a processor, a memory, a communication interface, and one or more programs, wherein the one or more programs are stored in the memory, and are configured to be processed by the above The above program includes instructions for executing steps in any method of the first aspect of the embodiments of the present application.

In an eighth aspect, an embodiment of the present application provides a tag device, including a processor, a memory, a communication interface, and one or more programs, wherein the one or more programs are stored in the memory, and are configured to be processed by the above The above program includes instructions for executing steps in any method in the second aspect of the embodiments of the present application.

In a ninth aspect, an embodiment of the present application provides an anchor device, including a processor, a memory, a communication interface, and one or more programs, wherein the one or more programs are stored in the memory, and are configured by the above Executed by the processor, the above program includes instructions for executing steps in any method in the third aspect of the embodiments of the present application.

In a tenth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program for electronic data exchange, wherein the computer program enables a computer to execute the first embodiment of the present application. Some or all of the steps described in any of the methods of aspect or the second aspect or the third aspect.

In the embodiment of the present application, the tag device first determines time t1, time t2 and time t3, the time t1 is the time when the data frame A1 from the anchor point A is detected, and the time t2 is the time when the data frame A1 from the anchor point B is detected. The time of frame B, the time t3 is the time when the data frame A2 from the anchor point A is detected, and the data frame B is the data broadcast by the anchor point B after listening to the data frame A1 and the delay time Td1 frame, the data frame A2 carries the time t4 when the anchor point A sends the data frame A1, the time t5 when the anchor point A senses the data frame B, and the time t6 when the anchor point A sends the data frame A2, and then Determine the duration Td1 according to the time t1, the time t3, the time t4, the time t5, and the time t6, and finally according to the distance D _AB between the anchor point A and the anchor point B, the time t2, and the time t1 , the duration Td1 determines the distance difference between the first distance and the second distance, the first distance is the distance D _TA between the end device and the anchor point A, and the second distance is the end device and the anchor Distance D _TB between points B. It can be seen that when determining the distance difference, the tag device only needs to receive the data frame from the anchor device, and does not need to send the data frame itself, which is beneficial to increase the capacity of the tag device in the positioning system and reduce the power consumption of the tag device.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application or the background technology, the accompanying drawings required in the embodiments or the background technology of the present application will be described below.

FIG. 1A is an architecture diagram of a typical positioning service system using a TDOA algorithm provided by an embodiment of the present application;

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

FIG. 1C is an exemplary diagram of the composition of an electronic device provided by an embodiment of the present application;

1D is a schematic diagram of an interrupt hardware architecture provided by an embodiment of the present application;

2A is a schematic flowchart of a method for determining a distance difference provided by an embodiment of the present application;

2B is a schematic diagram of a data frame interaction time between devices according to an embodiment of the present application;

Fig. 2C is a schematic diagram of data frame interaction time between devices under the condition of ignoring the data frame propagation duration provided by the embodiment of the present application;

2D is a schematic diagram of another data frame interaction time between devices provided by an embodiment of the present application;

2E is an equivalent schematic diagram of a distance difference between devices in a coordinate system provided in an embodiment of the present application;

3A is a schematic flowchart of a data frame transmission method provided by an embodiment of the present application;

3B is a format of a data frame provided by an embodiment of the present application;

Fig. 3C is the format of another data frame provided by the embodiment of the present application;

4 is a schematic flowchart of another data frame transmission method provided by an embodiment of the present application;

5 is a schematic flowchart of another method for determining a distance difference provided by an embodiment of the present application;

6 is a schematic diagram of the composition and structure of a distance difference determination device provided by an embodiment of the present application;

7 is a schematic diagram of the composition and structure of a data frame transmission device provided by an embodiment of the present application;

FIG. 8 is a schematic structural diagram of another distance difference determination device provided by an embodiment of the present application.

specific implementation

In order to make those skilled in the art better understand the solutions of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only The embodiments are part of the present application, but not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the scope of protection of the present application.

The terms "first", "second", "third" and "fourth" in the description and claims of the present application and the drawings are used to distinguish different objects, rather than to describe a specific order . Furthermore, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units is not limited to the listed steps or units, but optionally also includes unlisted steps or units, or optionally also includes For other steps or units inherent to these processes, methods, products or devices.

Reference herein to an "embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the present application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor a separate or alternative embodiment that is mutually exclusive of other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

At present, a commonly used algorithm for indoor positioning or ranging algorithms includes the time difference of arrival TDOA algorithm. The TDOA algorithm calculates the location of the tag by detecting the time difference of arrival of the signal to multiple strictly time-synchronized base stations.

Please refer to FIG. 1A. FIG. 1A is an architecture diagram of a typical location service system using the TDOA algorithm. As shown in the figure,

A typical system using the Time Difference of Arrival (TDOA) algorithm consists of four parts: tag, anchor point, gateway and terminal processor. Its role and the implementation of the positioning scheme are as follows: the coordinates of each initial anchor point (four) are pre-determined, and then The coordinates of the added anchor point can be obtained by calculation; the anchor point and the anchor point are connected by wire, so that accurate clock synchronization can be performed to reduce the ranging error and improve the positioning accuracy; the tag periodically sends broadcast data, Four different anchors receive the same broadcast data. Due to different distances, the anchors will receive the data at different times. The anchors will time the data at the moment of receiving the data. The anchor points send their respective timestamps to the gateway by wire, and the gateway sends the data to the positioning engine on the terminal processor. Finally, the terminal processor calculates the (x, y, z) spatial coordinates of the tag device, and The positioning results are presented on the terminal processor.

Difficulties in TDOA implementation: The clock synchronization between TDOA anchors needs to be very precise, otherwise, only a 1ns time delay will result in a positioning error of 30cm; the computing power of the CPU must be strong, and an 8-bit MCU is basically incapable of performing the algorithm. , because there are more matrix and floating-point operations in the process of solving the three-dimensional coordinate system.

Disadvantages of a typical TDOA system: All base stations must be synchronized precisely, which makes the hardware system complex and costly, and the currently commonly used wired synchronization method is not friendly to the layout of anchor points; For the positioning result, only the host computer knows the position of the tag, and the tag cannot know its own position. The tag side must rely on other communication networks to obtain the positioning result. ;Because the tag needs to send Blink's range frame, when there are multiple tags in the ranging system at the same time, the time slot of each tag needs to be allocated accurately, otherwise it will lead to time slot conflict, so the infinite capacity of the tag cannot be achieved. extension.

From the perspective of consumer electronics applications, the shortcomings brought about by the application of the current TDOA method have problems that need to be solved when facing consumer electronics applications: the popularization of UWB in consumer electronics, the laying of anchor points must be a large-scale and multi-scene laying. Therefore, we must get rid of the shackles of the cable. The simpler the laying of anchor points, the easier the popularization of technology applications; the application scenarios of consumer electronics determine that consumers themselves need to know their location in real time. For example, after mobile phone users turn on UWB positioning services , you need to display your location in real time on the mobile phone; in practical applications of consumer electronics, there can be no capacity limit.

In response to the above problems, the embodiments of the present application provide a method for determining a distance difference, a method for transmitting a data frame, and related products. The embodiments of the present application are described below with reference to the accompanying drawings.

Please refer to FIG. 1B . FIG. 1B is a schematic structural diagram of a positioning service system provided by an embodiment of the present application. As shown in FIG. 1B , the positioning service system 10 may include: a plurality of anchor point devices (anchor point A, anchor point B and anchor point C shown in FIG. 1B ) and at least one label device 100 , and the anchor point device is For a server device supporting UWB technology, the tag device 100 is a client device supporting UWB technology, such as but not limited to wireless communication devices, portal transponder devices, household devices, tethered tags, and the like. Other UWB devices (which are not shown in Figure IB for simplicity) may include other computing devices, including but not limited to laptops, desktops, tablets, personal assistants, routers, monitors, televisions, printers and electrical appliances.

Wherein, each anchor device and tag device can implement the corresponding data frame transmission method provided in the embodiment of the present application, and the tag device can implement the distance difference calculation method provided in the embodiment of the present application, for example, according to the anchor point A and the anchor point The time difference between point B and the signal transmission with the label device 100, calculate the distance difference ΔL1 between the distance L1 from the label device 100 to the anchor point A and the distance L2 from the label device 100 to the anchor point B. Similarly, the label device is calculated. 100 to the distance between the anchor point C and the distance difference between L3 and L1 ΔL2, and further according to ΔL1, ΔL2 and the distance between the anchor point A and the anchor point B, the distance between the anchor point A and the anchor point C determine the label device coordinate of.

If the label device itself is a terminal device such as a mobile phone and a tablet computer with a UWB chip, after determining its own coordinates through the above distance difference calculation method, it can be directly displayed on the graphical interface of the mobile phone in real time to realize the positioning function of its own position.

If the tag device is an Internet of Things (The Internet of Things, IoT) tag device, the system 10 may further include: a terminal device 200, the tag device can transmit data to the terminal device through UWB or Bluetooth, etc., through the graphical interface of the terminal device. The IoT label device displays coordinates and realizes the positioning function of the IoT label device.

FIG. 1C is a diagram illustrating an example composition of an electronic device 300 provided by an embodiment of the present application. The electronic device 300 can be any anchor device or tag device 100 in FIG. 1B . The electronic device 300 can include a core processing unit 301, a UWB transceiver 302, a communication unit 303, a general interface unit 304, and a power supply unit 305. The communication unit 303 may specifically include, but is not limited to, one or more of Bluetooth, Wi-Fi, and cellular communication modules, and the general interface unit 304 is used to access various sensors, including but not limited to indicator lights, vibration sensors, and other sensors, power For example, the supply unit 305 may include, but is not limited to, a battery, a direct current to direct current DC-DC module, a filter circuit, an undervoltage detection circuit, and the like.

The core processing unit 301 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 electronic device 300, and executes the electronic device 300 by running or executing instructions, programs, code sets or instruction sets stored in the memory, and calling data stored in the memory. various functions and processing data. The processor may include one or more processing units, for example, the processor may include a central processing unit (Central Processing Unit, CPU), an application processor (application processor, AP), a modem processor, a graphics processor (graphics processing unit) unit, GPU), image signal processor (image signal processor, ISP), controller, microcontroller unit (Microcontroller Unit, MCU), video codec, digital signal processor (digital signal processor, DSP), baseband processor , and/or a neural-network processing unit (NPU), etc. The controller may be the nerve center and command center of the electronic device 300 . The controller can generate an operation control signal according to the instruction operation code and timing signal, and complete the control of fetching and executing instructions. The program stored in the memory is used to execute the steps in any of the distance difference determination methods described in the embodiments of the present application, or to execute the steps in any of the data frame transmission methods described in the embodiments of the present application.

The memory may include random access memory (Random Access Memory, RAM), or may include read-only memory (Read-Only Memory). Optionally, the memory includes a 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, instructions for implementing at least one function (such as a touch function, a sound playback function, an image playback function, etc.), Instructions for implementing the following method embodiments, etc., the operating system can be an Android (Android) system (including a system based on the deep development of the Android system), an IOS system developed by Apple (including a system based on the deep development of the IOS system) or other systems. The storage data area may also store data created by the electronic device 300 during use (such as calibrated location data) and the like.

Specifically, please refer to FIG. 1D , which is a schematic diagram of an interrupt hardware architecture provided by an embodiment of the present application. As shown in FIG. 1D , if the electronic device 300 is an IoT tag device or an anchor device, the core processing unit may include a micro Control unit MCU, UWB transceiver can include UWB chip and power amplifier (power amplifier, PA), data transmission between MCU and UWB chip can be completed through serial peripheral interface (Serial Peripheral Interface, SPI), MCU can pass the general The input and output interface (General-purpose input/output, GPIO) configures the UWB chip. The UWB chip is used to generate the UWB pulse signal used in positioning, and notify the MCU of various state changes during its own operation through interrupts. The MCU completes the entire communication process. State transitions and logical interactions. If the electronic device is a terminal device, taking a mobile phone as an example, the core processing unit may include an AP, and the interaction between the mobile phone AP and the UWB is consistent with the above-mentioned interaction between the MCU and the UWB (the hardware framework is the same as that in Figure 1D, only the micro-control unit needs to be MCU is replaced with application processor AP).

It should be noted that the above-mentioned schematic structural diagram of the electronic device 300 is only an example, and the specific components may be more or less, which is not limited here.

Please refer to FIG. 2A , which is a schematic flowchart of a method for determining a distance difference provided by an embodiment of the present application. As shown in the figure, the method for determining the distance difference includes the following steps. 2B is a schematic diagram of a data frame interaction time between devices provided by an embodiment of the present application, and _Td in the figure represents the delay time Td1.

S201, the tag device determines time t1, time t2 and time t3.

The time t1 is the time when the data frame A1 from the anchor point A is detected, the time t2 is the time when the data frame B from the anchor point B is detected, and the time t3 is the time when the data frame B from the anchor point B is detected. The time of the data frame A2 of the anchor point A, the data frame B is the data frame broadcast by the anchor point B after listening to the data frame A1 and the delay time Td1, and the data frame A2 carries some The time t4 when the anchor point A sends the data frame A1, the time t5 when the anchor point A senses the data frame B, and the time t6 when the anchor point A sends the data frame A2.

In a specific implementation, the labeling device may be the labeling device shown in FIG. 1B , and its specific structure may be as shown in FIG. 1C and FIG. 1D .

S202, the tag device determines the duration Td1 according to the time t1, the time t3, the time t4, the time t5, and the time t6.

Among them, time t1 and time t3 are the time when the tag device itself senses the data frame from anchor point A, and time t5 and time t6 are the information carried in the data frame from anchor point A sensed, that is That is to say, when the tag device determines the distance difference, it does not need to send data frames to other devices, but only needs to receive data frames from the anchor device. On the one hand, it reduces the power consumption of the tag device itself, on the other hand, Since the tag device does not need to send data frames, even if there are multiple tag devices in the system at the same time, there is no need to finely assign time slots to each tag device to avoid time slot conflicts, which increases the capacity of the tag devices in the system and makes the tag devices in the system. of unlimited capacity.

S203, the tag device determines the distance between the first distance and the second distance according to the distance D _AB between the anchor point A and the anchor point B, the time t2, the time t1, and the time length Td1 The distance is poor.

The first distance is the distance D _TA between the end device and the anchor point A, and the second distance is the distance D _TB between the end device and the anchor point B.

In the embodiment of the present application, the tag device first determines time t1, time t2 and time t3, the time t1 is the time when the data frame A1 from the anchor point A is detected, and the time t2 is the time when the data frame A1 from the anchor point B is detected. The time of frame B, the time t3 is the time when the data frame A2 from the anchor point A is detected, and the data frame B is the data broadcast by the anchor point B after listening to the data frame A1 and the delay time Td1 frame, the data frame A2 carries the time t4 when the anchor point A sends the data frame A1, the time t5 when the anchor point A senses the data frame B and the time t6 when the anchor point A sends the data frame A2, and then Determine the duration Td1 according to the time t1, the time t3, the time t4, the time t5, and the time t6, and finally according to the distance D _AB between the anchor point A and the anchor point B, the time t2, and the time t1 , the duration Td1 determines the distance difference between the first distance and the second distance, the first distance is the distance D _TA between the end device and the anchor point A, and the second distance is the end device and the anchor Distance D _TB between points B. It can be seen that when determining the distance difference, the tag device only needs to receive the data frame from the anchor device, and does not need to send the data frame itself, which is beneficial to increase the capacity of the tag device in the positioning system and reduce the power consumption of the tag device.

In a possible example, the time difference between the time t1 and the time t3 is the time difference Δt1, the time difference between the time t6 and the time t4 is the time difference Δt2, and the time difference between the time t5 and the time t4 The time difference is the time difference Δt3; the ratio of the time difference Δt1 to the time difference Δt2 is the first ratio; the ratio of the duration Td1 to the time difference Δt3 is the second ratio; ignoring the influence of the data frame flight duration, The first ratio and the second ratio are the same.

In the specific implementation, the delay time Td1 is the delay caused by the operation of the processor in the anchor point B between the anchor point B receiving the data frame A1 sent by the anchor point A and the broadcast data frame B. Since the flight time is picoseconds ( picosecond, ps) level, while the processing of processors in electronic devices such as CPU is microsecond (microsecond, μs) level, 1000000 picoseconds = 1 microsecond, so relative to the processing delay Td1 of the processor, The flight duration of the data frame is negligible. The clocks between different devices may not be precisely synchronized, and the time used to indicate the same moment based on the clocks of different devices may also be different. In the case of ignoring the flight duration, anchor A sends the time of data frames A1 and A2. The time actually indicated by t6 and time t4 corresponds to the time actually indicated by time t1 and time t3 when the tag device senses data frames A and A2 respectively, that is, the actual time indicated by time t1 and time t4 is the same time, time t3 and The time t6 actually indicates the same time; then the corresponding time difference Δt1 based on the clock of the tag device, and the time difference Δt2 based on the clock of the anchor A device, the actually indicated time interval is also the same; for the same reason, the clock based on anchor A is the same. The time difference Δt3 is the same as the time interval actually indicated based on the duration Td1 of anchor point B. Therefore, in the case of ignoring the flight duration of the data frame, the slope of the connection between the time point when each data frame is sent and the time point when it is received due to the data propagation duration in Figure 2B can be ignored, and the time relationship of data interaction between devices can be as follows As shown in FIG. 2C , the ratio of the time difference Δt1 to the time difference Δt2 ie the first ratio and the ratio of the duration Td1 to the time difference Δt3 ie the second ratio can be considered to be the same.

It can be seen that in this example, the time difference between time t1 and time t3 is time difference Δt1, the time difference between time t6 and time t4 is time difference Δt2, the time difference between time t5 and time t4 is time difference Δt3; the ratio of time difference Δt1 to time difference Δt2 is the first ratio; the ratio of the duration Td1 to the time difference Δt3 is the second ratio; under the condition of ignoring the influence of the flight duration of the data frame, the first ratio and the second ratio are the same. Since all the differences Δt1, Δt2, Δt3 and Td1 are calculated by different devices based on their own clocks, the errors caused by the clock errors between different devices for determining the distance difference can be eliminated. Clock synchronization, that is, no wired connection is required between devices, is beneficial to cost savings.

In a possible example, the duration Td1 is calculated by the following formula:

In the specific implementation, considering that the clocks between different devices may not be precisely synchronized, for example, the clocks between the tag device and anchor point B are not synchronized, due to the clock error between the tag device and anchor point B, at this time When the tag device calculates the system delay Td1 between when the anchor point B receives the data frame A1 from the anchor point A and sends the data frame B by itself, it cannot directly use the delay calculated according to the anchor point B's own clock. When the ratio of the time difference Δt1 to the time difference Δt2 is equal to the ratio of the duration Td1 to the time difference Δt3, the above formula can be obtained by conversion

Through the above formula, since Δt1, Δt2, Δt3 and Td1 are calculated by different devices based on their own clocks, the errors caused by the clock errors between different devices for determining the distance difference can be eliminated.

It can be seen that in this example, the duration Td1 is calculated by the following formula:

Since Δt1, Δt2, Δt3 and Td1 are calculated by different devices based on their own clocks, the errors caused by the clock errors between different devices for determining the distance difference can be eliminated, and precise clock synchronization between devices is not required. , that is, there is no need for wired connection between devices, which is beneficial to saving costs.

In a possible example, the distance difference between the first distance and the second distance is calculated by the following formula: D _TA -D _TB =D _AB -C×(t2-t1-T _d ), where , C is the speed of light.

In the specific implementation, please refer to FIG. 2B . In the figure, T _d represents the time interval between the anchor point B receiving the data frame A1 and sending the data frame B by itself. is t0, the time when the tag device receives the data frame A1 from anchor A

The time when the tag device receives data frame B from anchor B

and then

It can be further obtained

D _TB -D _TA =C×(t2-t1-T _d )-D _AB ;

D _TA -D _TB =D _AB -C×(t2-t1-T _d ),

Among them, C is the propagation speed of light in space, and the ratio of the distance between the two devices to the speed of light can represent the propagation time of the data frame between the two devices.

It can be seen that in this example, the distance difference between the first distance and the second distance is calculated by the following formula: D _TA -D _TB =D _AB -C×(t2-t1-T _d ), where C is the speed of light, The label device calculates the distance difference through a formula, which is beneficial to ensure the accuracy of the distance difference determination.

In a possible example, the distance D _AB uses the time t4, the time t5, and the time t7 when the anchor point B senses the data frame A1 according to the one-sided two-way ranging SS-TWR algorithm. , calculated by the time t8 at which the anchor point B broadcasts the data frame B.

For specific implementation, please refer to FIG. 2D . FIG. 2D is a schematic diagram of another data frame interaction time between devices provided by an embodiment of the present application. As shown in the figure, the figure shows two devices (anchor point A and anchor point B) , the anchor point A sends the data frame A1 to the anchor point B at time t4. After a period of time (Δt5), the anchor point device B listens to the data frame A1 at time t7. Due to the clocks of anchor point A and anchor point B It is independent. If the clocks between the two devices are not synchronized, it is obviously infeasible to directly pass t7-t4 as the time of data frame propagation, that is, Δt5. Using the SS-TWR algorithm, the anchor point A sends the data frame A1 at time t4. After a period of propagation, the anchor point device B hears the data frame A1 at time t7. After Δt4, the anchor point B at time t8 Data frame B is sent, and after a period of propagation, anchor A receives the data frame B at time t5. Since the location of the anchor point in the positioning service system is fixed, that is, the distance between the anchor point A and the anchor point B remains unchanged during the two data frame transmissions, it can be considered that the two data frame propagation times are consistent, both at Δt5. At this time, the propagation time of two data frames can be obtained by Δt3-Δt4, that is,

Subsequently, the distance between anchor point A and anchor point B can be calculated according to the speed of data frame propagation and the time Δt5.

It can be seen that in the embodiment of the present application, the distance is D _AB according to the single-sided two-way ranging SS-TWR algorithm, using time t4, time t5, time t7 when anchor point B senses data frame A1, and anchor point B broadcasts data frame B According to the time t8 calculated from the time t8, there is no need to perform precise clock synchronization between devices, that is, there is no need for wired connection between devices, which is beneficial to saving costs.

In a possible example, the data frame A2 also carries the distance D _AB .

In the specific implementation, anchor point A can determine anchor point A and anchor point according to the interaction of data frame A1 and data frame A2 between itself and anchor point B, for example, using the aforementioned SS-TWR algorithm and according to the time of data frame propagation Distance D _AB between B. And the calculated D _AB is carried in the data frame A2 sent subsequently. When the tag device receives the data frame A2, it can obtain the distance D _AB , and the tag device can directly use the data when determining the distance difference subsequently.

It can be seen that, in this example, the data frame A2 also carries the distance D _AB , and the tag device can directly calculate the subsequent distance difference according to the distance D _AB , which is beneficial to improve the efficiency of the tag device in determining the distance difference.

In a possible example, the distance D _AB is calculated by the local device.

In the specific implementation, if the anchor point A itself does not calculate the distance D _AB , the anchor point A can carry the relevant time data for determining the distance D _AB in the data frame A2, and the tag device itself can calculate the distance D _AB , for example According to the time t4, the time t5, the time t7 when the anchor point B senses the data frame A1, and the time t8 when the anchor point B broadcasts the data frame B, the distance D _AB is calculated based on the SS-TWR algorithm.

It can be seen that in this example, the distance D _AB is calculated by the local device, that is, when the tag device cannot directly obtain the distance D _AB , the distance D AB can be obtained by calculating the distance D _AB at the local end, which is beneficial to ensure that the local end can follow the distance D AB based on the distance D _AB . Perform distance difference determination.

In a possible example, the determining the time t1, the time t2 and the time t3 includes: when the data frame A1 from the anchor point A is detected, recording the current time t1; when the data frame A1 from the anchor point A is detected; When the data frame B of point B is recorded, the current time t2 is recorded; when the data frame A2 from the anchor point A is detected, the current time t3 is recorded.

In the specific implementation, when the label device receives each data frame, the label device will process it by itself, record the corresponding time stamps respectively, and then read them directly when needed.

It can be seen that in this example, the tag device records the current time t1 when it detects the data frame A1 from the anchor point A; records the current time t2 when it detects the data frame B from the anchor point B; When the data frame A2 comes from the anchor point A, the current time t3 is recorded, and each time the tag device receives the data frame, the time is recorded, and it can be directly read at the subsequent required time, which is beneficial to improve the efficiency of distance difference determination.

In a possible example, the method further includes: when listening to the data frame C from the anchor point C, recording the current time t9, the data frame C is the data frame C that the anchor point C heard when listening The data frame A1 and the data frame broadcast after the delay time Td2; when listening to the data frame A3 from the anchor point A, record the current time t10, and the data frame A3 carries the data sent by the anchor point A. The time t4 of the data frame A1, the time t11 when the anchor point A senses the data frame C, the time t12 when the anchor point A sends the data frame A3, and the time between the anchor point A and the anchor point The distance D _AC between C; the duration Td2 is determined according to the time t1, the time t10, the time t4, the time t11, and the time t12; according to the distance D _AC , the time t9 , the time t1 and the duration Td2 determine the distance difference between the first distance and the third distance, where the third distance is the distance DTC between the end device and the anchor point _C ; According to the distance difference between the first distance and the second distance, the distance difference between the first distance and the third distance, the distance D _AB , the distance D _AC , to determine the coordinates of the local device.

In the specific implementation, the tag device can determine the distance difference between D _TA and D _TB based on the data frame interaction between anchor point A, anchor point B, and tag device. In the frame interaction, the distance difference between the D _TA and the D _TC is determined. The anchor point C and the anchor point B have the same roles in the data frame interaction, which will not be repeated here. Then, the coordinates of the local label device can be determined according to the distance difference between D _TA and D _TB , the distance difference between D _TA and D _TC , the distance D _AB , and the distance D _AC .

Since the distance difference between D _TA and D _TB and the distance difference between D _TA and D _TC have been determined, that is, the difference between the distance between the tag device and anchor point A and anchor point B is determined, the tag device and anchor point B The difference between the distance between point A and anchor point C is also determined, then the distance difference can be equivalent to a hyperbola in the sense of the coordinate system, and the coordinate points corresponding to anchor point A, anchor point B and label in the coordinate system are For example, please refer to FIG. 2E. FIG. 2E is an equivalent schematic diagram of the distance difference between devices in a coordinate system provided in the embodiment of the present application. As shown in the figure, points A, B, and T in the coordinate system represent anchor point A, respectively. , the coordinates of the anchor point B and the position of the label device, since the distance difference between D _T and D _TB is determined, the distance difference can be equivalent to a hyperbola, point T is a point on the hyperbola, point A and point B is the focus of the hyperbola, and the formula corresponding to the hyperbola is

Among them, according to the properties of the hyperbola, 2a is equal to the absolute value of the distance difference between D _TA and D _TB , and 2b is equal to D _AB , since the absolute value of the distance difference between any point on the hyperbola and point A and point B is equal to the point The absolute value of the distance difference between T and point A and point B. If you want to solve the coordinate (x, y) of the label device T, you need another hyperbola about the point T. The point can be determined according to the two hyperbolas. The coordinates of T. In the same way, point C used to characterize the position of anchor point C is determined in this coordinate system, and another hyperbola of the distance difference between the equivalent D _TA and D _TC can be obtained, and the point T is the hyperbola on the hyperbola. At one point, 2a of the hyperbola is equal to the absolute value of the distance difference between D _TA and D _TC , and 2b is equal to D _AC . Since the distance difference between D _TA and D _TB , the distance difference between D _TA and D _TC , the distance D _AB , and the distance D _AC are all determined, the coordinates of the label device can be determined based on the above two hyperbolas.

In addition, if the tag device is an IoT tag device, it can send its own coordinate data to a terminal device such as a mobile phone, and display the location of the tag device through the mobile phone. The IoT tag device can be equipped with wireless transmission modules such as UWB, Bluetooth, WIFI, etc. The tag device sends the time information of its coordinates or the calculated distance difference data to the mobile terminal, and the mobile terminal passes the running positioning engine (Local). Engine), determine the position of the label device and display it in the mobile phone interface. If the tag device itself is a terminal device such as a mobile phone, the data can be directly returned to the application in the mobile phone through the SPI interface, and the coordinates are calculated by the positioning engine running on the mobile phone and displayed on the mobile phone interface.

It can be seen that in this example, the tag device also determines the distance difference between the first distance and the third distance, where the third distance is the distance D TC between the end device and the anchor point C, and then according to the distance D _TC between the end device and the anchor point C The distance difference between the first distance and the second distance, the distance difference between the first distance and the third distance, the distance D _AB , the distance D _AC , determine the coordinates of the local device, the label device It can calculate its own location according to various received data, without relying on other communication networks to obtain its own location information.

Please refer to FIG. 3A , which is a schematic flowchart of a data frame transmission method provided by an embodiment of the present application. As shown in the figure, the data frame transmission method includes the following steps.

S301, the tag device receives the data frame A2.

The data frame A2 includes a first indication field, a second indication field, and a third indication field. The first indication field is used to indicate the time t4 when the anchor point A sends the data frame A1, and the second indication field is used for At the time t5 indicating that the anchor point A hears the data frame B, the third indication field is used to indicate the time t6 when the anchor point A sends the data frame A2, and the data frame B is the anchor point. Point B broadcasts the data frame after listening to the data frame A1 and the delay time Td1.

In a specific implementation, the labeling device may be the labeling device shown in FIG. 1B , and its specific structure may be as shown in FIG. 1C and FIG. 1D . Since each device needs to extract data when interacting with data frames, for example, the tag device needs to extract the time t4 from the data frame A1, etc., the data frame format can be defined to make the interaction between the devices relatively simple.

The definition of the data frame format can be determined based on the data that needs to be extracted for the interaction between devices. For example, three data frames during data interaction are defined as Poll frame (a kind of control frame), reply (Reply) frame and final (Final) frame, data frame A1 is Poll frame, data frame B is Reply frame, data frame A2 is Final frame, under 802.15.4z as the basic frame format, customize the data frame format shown in Figure 3B, as shown in the figure As shown, the anchor point A will fill in all the content according to the data frame format to obtain the data frame A2 at time t6, and send it to the tag device. Among them, "pll_tx_ts" is the first indication field, the filled content is the time t4 when anchor A sends the poll frame, that is, the data frame A1, and "res_rx_ts" is the second indication field, and the filled content is that anchor A receives the Reply frame, that is, At the time t5 of the data frame B, "final_tx_ts" is the third indication field, and the filled content is the time t6 when the anchor point A sends the Final frame, that is, the data frame A2. When the tag device receives the data frame A2, it can obtain the data it needs. In addition, the data frame includes MAC header (MAC Header), frame check sequence FCS and MAC payload (MAC Paylod): type field (Type), length field (Length), identification (ID).

In the embodiment of this application, the tag device receives the data frame A2, where the data frame A2 includes a first indication field, a second indication field, and a third indication field, and the first indication field is used to indicate the time when the anchor point A sends the data frame A1 t4, the second indication field is used to indicate the time t5 when the anchor point A hears the data frame B, and the third indication field is used to indicate the time t6 when the anchor point A sends the data frame A2, the data frame B is The anchor point B broadcasts the data frame after listening to the data frame A1 and the delay time Td1. It can be seen that the format of the data frame is defined, and the data required by the tag device is filled into the corresponding area in the data frame. It is beneficial to improve the efficiency and flexibility of data transmission.

In a possible example, the method further includes: parsing the data frame A2 to obtain the time t4, the time t5, the time t6 and the distance D _AB ; The time t4, the time t5, and the time t6 determine the duration Td1, the time t1 is the time when the data frame A1 from the anchor point A is detected, and the time t3 is the time when the data frame A1 from the anchor point A is detected. The time of the data frame A2 of point A; the distance between the first distance and the second distance is determined according to the distance D _AB between the anchor point A and the anchor point B, the time t2, the time t1, and the time length Td1 the distance difference, the first distance is the distance D _TA between the end device and the anchor point, the second distance is the distance D _TB between the end device and the anchor point B, so The time t2 is the time t1 and the time t3 when the data frame B from the anchor point B is detected.

In the specific implementation, after receiving the data frame A2, the tag device parses the data frame A2, and can directly extract the corresponding data from different indication fields according to the content of the frame format, and then can read the data previously recorded by the local device. Time time t1, time t3, and then determine the time length Td1 according to time t1, time t3, and time t4, time t5, and time t6 obtained by analysis in the data frame A2, and further according to D _AB , time t2, the time t1, all The time length Td1 is used to determine the distance difference.

It can be seen that in this example, after receiving the data frame A2, the tag device will parse the data frame A2 to obtain time t4, time t5, time t6 and distance D _AB ; according to time t1, time t3, time t4, time t5, time t6 Determine the duration Td1, the time t1 is the time when the data frame A1 from the anchor point A is detected, and the time t3 is the time when the data frame A2 from the anchor point A is detected; according to the distance between the anchor point A and the anchor point B D _AB , time t2, time t1, and duration Td1 determine the distance difference between the first distance and the second distance. Since different indication fields in the data frame A2 correspond to different data required by the label device, the label device parses the data frame A2 , the corresponding data can be obtained directly, which is beneficial to improve the efficiency and flexibility of data transmission.

In a possible example, the distance D _AB uses the time t4, the time t5, and the anchor point B to sense the distance of the data frame A1 according to the single-sided two-way ranging SS-TWR algorithm. The time t7 is calculated from the time t8 when the anchor point B broadcasts the data frame B.

In the specific implementation, the SS-TWR algorithm is used to calculate the distance between the anchor point A and the anchor point B, through which time the anchor point A sends the data frame A1 and receives the data frame B, and the anchor point B receives the data frame A1 and B. The time of sending data frame B determines the duration of two data frame transmissions, and then determines the distance D _AB between the two devices according to the duration of data transmission between the two devices. The process does not require precise synchronization of the clocks of different devices, so there is no need to Synchronize the clocks of each anchor device.

It can be seen that in this example, the distance is the time when DAB uses time t4, time t5, time t7 when anchor point B senses data frame A1, and time when anchor point B broadcasts data frame _B according to the one-sided two-way ranging SS-TWR algorithm. Calculated by t8, there is no need to perform precise clock synchronization between devices, which is beneficial to saving costs.

In a possible example, the data frame A2 further includes a fourth indication field, where the fourth indication field is used to indicate the distance D _AB between the anchor point A and the anchor point B.

For a specific implementation, please refer to FIG. 3C , which is another data frame format provided by an embodiment of the present application. As shown in the figure, the data frame further includes a fourth indication field (distance field), and the anchor point A is in the At time t6, the distance D _AB will also be filled into the fourth indication field in the data frame, that is, the Distance part. After the tag device receives the data frame A2, the data frame A2 can be analyzed to obtain the distance D _AB , and the tag device can directly use the data when determining the distance difference subsequently.

It can be seen that, in this example, the data frame A2 further includes a fourth indication field for indicating the distance D _AB between the anchor point A and the anchor point B, which is beneficial to improve the efficiency of the tag device in determining the distance difference.

In a possible example, the distance D _AB is calculated by the local device.

In the specific implementation, the tag device itself can also calculate the distance D _AB according to the relevant time data in the detected data frame. At the time t8 when the anchor point B broadcasts the data frame B, the distance D _AB is calculated based on the SS-TWR algorithm.

In the specific implementation, the tag device first determines the distance D _TA from the tag device to the anchor point A and the distance D _TB from the tag device to the anchor point B based on the time difference between the anchor point A, the anchor point B and its own data frame transmission, and then The distance difference between D _TA and D _TB can be determined. Similarly, the distance D _TC from the tag device to the anchor point C can also be calculated, and the distance difference between D _TA and D _TC can be further determined. Finally, according to The determined distance difference between D _TA and D _TB , the distance difference between D _TA and D _TC , as well as the distance D _AB and the distance D _AC , determine the coordinates of the local device.

Referring to FIG. 4 , FIG. 4 is a schematic flowchart of another data frame transmission method provided by an embodiment of the present application. As shown in the figure, the data frame transmission method includes the following steps.

S401, the anchor device sends a data frame A2.

In a specific implementation, the anchor point device may be the anchor point A shown in FIG. 1B , and its specific structure may be as shown in FIG. 1C and FIG. 1D . The different indication fields in the data frame A2 sent by the anchor device are filled with corresponding data. The format of the data frame is self-defined, and the different indication fields in the data frame correspond to different data required by the label device, so that the label device can receive the data. After the frame, the required data can be directly obtained by parsing the data frame, which makes the interaction between the devices relatively simple.

In the embodiment of this application, the anchor point device sends a data frame A2, the data frame A2 includes a first indication field, a second indication field, and a third indication field, and the first indication field is used to instruct the anchor point A to send the data frame A1 Time t4, the second indication field is used to indicate the time t5 when the anchor point A hears the data frame B, and the third indication field is used to indicate the time t6 when the anchor point A sends the data frame A2, the data frame B It is the data frame broadcasted by the anchor point B after listening to the data frame A1 and the delay time Td1. It can be seen that the format of the data frame is defined, and the data required by the label device is filled into the corresponding area in the data frame. It is beneficial to improve the efficiency and flexibility of data transmission.

In a possible example, the data frame A2 is used for the tag device to perform the following operations: parsing the data frame A2 to obtain the time t4, the time t5, the time t6 and the distance D _AB ; The time t1, time t3, the time t4, the time t5, and the time t6 determine the duration Td1, the time t1 is the time when the data frame A1 from the anchor point A is detected, and the time t3 is The time when the data frame A2 from the anchor point A is heard; the first time is determined according to the distance D _AB between the anchor point A and the anchor point B, the time t2, the time t1, and the time length Td1 The distance difference between the distance and the second distance, the first distance is the distance D _TA between the end device and the anchor point A, and the second distance is the end device and the anchor point B The distance D _TB between them, the time t2 is the time when the data frame B from the anchor point B is detected.

In the specific implementation, the data frame A2 sent by the anchor device is used for the label device to parse the data frame A2 after receiving it, so as to extract the required data according to the content of the frame format, and further combine the data recorded by the label device itself. The data is used to determine the distance difference.

It can be seen that in this example, the data frame A2 is used for the label device to parse the data frame A2 after receiving the data frame A2 to obtain the corresponding data, and according to the time t1 and time t3 recorded by the label device before, and the data frame The time t4, time t5, and time t6 obtained by analysis in A2 determine the duration Td1, and then further determine the distance difference according to D _AB , time t2, the time t1, and the duration Td1, because the different indication fields in the data frame A2 are respectively Corresponding to the different data required by the label device, the label device parses the data frame A2 and can directly obtain the corresponding data, which is beneficial to improve the efficiency and flexibility of data transmission.

In the specific implementation, the SS-TWR algorithm is used to calculate the distance between the anchor point A and the anchor point B, through which time the anchor point A sends the data frame A1 and receives the data frame B, and the anchor point B receives the data frame A1 and the time. The time of sending data frame B determines the duration of two data frame transmissions, and then determines the distance D _AB between the two devices according to the duration of data transmission between the two devices. The process does not require precise synchronization of the clocks of different devices, so there is no need to Synchronize the clocks of each anchor device.

In the specific implementation, the anchor device can also fill the distance D _AB into the fourth indication field in the data frame. Yes, after the tag device receives the data frame A2, after parsing the data frame A2, the distance D _AB can also be obtained. , the tag device can directly use the data when determining the distance difference later.

In a possible example, the distance D _AB is calculated by the tag device.

It can be seen that in this example, the distance D _AB is calculated by the label device, that is, when the label device cannot directly obtain the distance D _AB , the distance D AB can be calculated by the label device itself, which is beneficial to ensure that the local end can follow the distance D _AB based on the distance D AB . _AB performs distance difference determination.

Referring to FIG. 5 , FIG. 5 is a schematic flowchart of another method for determining a distance difference provided by an embodiment of the present application. As shown in the figure, the method for determining the distance difference includes the following steps.

S501, the anchor point A sends a data frame A1.

The time when the anchor point A sends the data frame A1 is time t4.

S502, the anchor point B broadcasts the data frame B after listening to the data frame A1 and the delay time Td1.

S503, when the tag device detects the data frame A1, it records the current time t1.

S504, the anchor point A hears the data frame B.

The time when the anchor point A senses the data frame B is time t5.

S505, when the tag device detects the data and detects the data frame B, it records the current time t2.

S506, the anchor point A sends the data frame A2.

The time when the anchor point A sends the data frame A2 is time t6.

S507, when the tag device detects the data frame A2, it records the current time t3.

S508, the label device determines the duration Td1 according to the time t1, the time t3, the time t4, the time t5, and the time t6.

S509 , the tag device determines the distance difference between the first distance and the second distance according to the distance DAB between the anchor point A and the anchor point B, the time t2 , the time t1 , and the time length Td1 .

In the embodiment of the present application, the anchor point A sends the data frame A1 first, the time when the anchor point A sends the data frame A1 is time t4, and then the anchor point B listens to the data frame A1 and broadcasts the data frame B after the delay time Td1. When the device detects the data frame A1, it records the current time t1. After that, the anchor point A detects the data frame B, and the time when the anchor point A detects the data frame B is time t5, and the tag device detects the data. When the data frame is B, the current time t2 is recorded, and the anchor point A sends the data frame A2 again. The time when the anchor point A sends the data frame A2 is time t6. When the tag device detects the data frame A2, the current time t3 is recorded, and further tags The device determines the duration Td1 according to time t1, time t3, time t4, time t5, and time t6, and finally determines the first distance and the second distance according to the distance DAB between anchor point A and anchor point B, time t2, time t1, and duration Td1. The distance difference between the distances. It can be seen that in the whole process of distance difference determination, anchor point A sends two data frames, anchor point B sends one data frame, and the tag device only needs to receive data frames, and does not need to send data frames by itself, which is conducive to improving the labeling system in the positioning system. The capacity of the device reduces the power consumption of the label device.

Consistent with the embodiment shown in FIG. 2A above, please refer to FIG. 6 . FIG. 6 is a schematic structural diagram of a distance difference determination device 60 provided by the implementation of the present application. As shown in the figure, the distance difference determination device 60 includes:

The first determination unit 601 is used to determine time t1, time t2 and time t3, where the time t1 is the time when the data frame A1 from the anchor point A is detected, and the time t2 is the time when the data frame A1 from the anchor point B is detected. The time of data frame B, the time t3 is the time when the data frame A2 from the anchor point A is detected, and the data frame B is the time when the anchor point B listens to the data frame A1, delays The data frame broadcast after the duration Td1, the data frame A2 carries the time t4 when the anchor point A sends the data frame A1, the time t5 when the anchor point A hears the data frame B, and the anchor point A. Time t6 when point A sends the data frame A2;

a second determining unit 602, configured to determine the duration Td1 according to the time t1, the time t3, the time t4, the time t5, and the time t6;

The third determining unit 603 is configured to determine the difference between the first distance and the second distance according to the distance D _AB between the anchor point A and the anchor point B, the time t2, the time t1, and the time length Td1 The distance difference between, the first distance is the distance D _TA between the end device and the anchor point A, and the second distance is the distance D _TB between the end device and the anchor point B .

In a possible example, the duration Td1 is calculated by the following formula:

In a possible example, the data frame A2 also carries the distance D _AB .

In a possible example, the distance D _AB is calculated by the local device.

In a possible example, the first determining unit 601 is specifically configured to: record the current time t1 when the data frame A1 from the anchor point A is detected; When the data frame is B, the current time t2 is recorded; when the data frame A2 from the anchor point A is detected, the current time t3 is recorded.

In a possible example, the apparatus 60 further includes: a fourth determining unit 604, configured to record the current time t9 when the data frame C from the anchor point C is detected, and the data frame C is the The anchor point C listens to the data frame A1 and the data frame broadcast after the delay time Td2; when listening to the data frame A3 from the anchor point A, the current time t10 is recorded, and the data frame A3 It carries the time t4 when the anchor point A sends the data frame A1, the time t11 when the anchor point A hears the data frame C, the time t12 when the anchor point A sends the data frame A3, and the time t12 when the anchor point A sends the data frame A3. the distance D _AC between the anchor point A and the anchor point C; determine the duration Td2 according to the time t1, the time t10, the time t4, the time t11, and the time t12; The distance D _AC , the time t9, the time t1, and the duration Td2 determine the distance difference between the first distance and the third distance, where the third distance is the end device and the anchor distance D _TC between points C; according to the distance difference between the first distance and the second distance, the distance difference between the first distance and the third distance, the The distance D _AB and the distance D _AC determine the coordinates of the local device.

Consistent with the embodiment shown in FIG. 3A above, please refer to FIG. 7 . FIG. 7 is a schematic structural diagram of a data frame transmission apparatus provided by an embodiment of the present application. As shown in the figure, the data frame transmission apparatus 70 includes: a receiving unit 701, configured to receive a data frame A2, wherein the data frame A2 includes a first indication field, a second indication field, and a third indication field, the first indication field An indication field is used to indicate the time t4 when the anchor point A sends the data frame A1, the second indication field is used to indicate the time t5 when the anchor point A hears the data frame B, and the third indication field is used to indicate The time t6 when the anchor point A sends the data frame A2, the data frame B is the data frame broadcast by the anchor point B after listening to the data frame A1 and the delay time Td1.

In a possible example, the apparatus further includes: a first determining unit 702, configured to parse the data frame A2 to obtain the time t4, the time t5, the time t6 and the distance D _AB ; The duration Td1 is determined according to the time t1, the time t3, the time t4, the time t5, and the time t6. The time t1 is the time when the data frame A1 from the anchor point A is detected, and the time t3 is the time when the data frame A2 from the anchor point A is detected; according to the distance D _AB between the anchor point A and the anchor point B, the time t2, the time t1, and the time length Td1 determine the first The distance difference between a distance and a second distance, the first distance is the distance D _TA between the end device and the anchor point, and the second distance is the end device and the anchor point B The distance D _TB between them, the time t2 is the time when the data frame B from the anchor point B is detected.

In a possible example, the distance D _AB is calculated by the local device.

In a possible example, the apparatus 70 further includes: a second determining unit 703, configured to record the current time t9 when the data frame C from the anchor point C is detected, and the data frame C is the The anchor point C listens to the data frame A1 and the data frame broadcast after the delay time Td2; when listening to the data frame A3 from the anchor point A, the current time t10 is recorded, and the data frame A3 It carries the time t4 when the anchor point A sends the data frame A1, the time t11 when the anchor point A hears the data frame C, the time t12 when the anchor point A sends the data frame A3, and the time t12 when the anchor point A sends the data frame A3. the distance D _AC between the anchor point A and the anchor point C; determine the duration Td2 according to the time t1, the time t10, the time t4, the time t11, and the time t12; The distance D _AC , the time t9, the time t1, and the duration Td2 determine the distance difference between the first distance and the third distance, where the third distance is the end device and the anchor distance D _TC between points C; according to the distance difference between the first distance and the second distance, the distance difference between the first distance and the third distance, the The distance D _AB and the distance D _AC determine the coordinates of the local device.

Consistent with the embodiment shown in FIG. 4 above, please refer to FIG. 8 . FIG. 8 is a schematic structural diagram of another data frame transmission apparatus provided by an embodiment of the present application. As shown in the figure, the data frame transmission apparatus 80 includes: a sending unit 801, configured to send a data frame A2, wherein the data frame A2 includes a first indication field, a second indication field, and a third indication field, and the first indication field An indication field is used to indicate the time t4 when the anchor point A sends the data frame A1, the second indication field is used to indicate the time t5 when the anchor point A hears the data frame B, and the third indication field is used to indicate The time t6 when the anchor point A sends the data frame A2, the data frame B is the data frame broadcast by the anchor point B after listening to the data frame A1 and the delay time Td1.

In a possible example, the distance D _AB is calculated by the tag device.

An embodiment of the present application further provides a chip, wherein the chip includes a processor, configured to call and run a computer program from a memory, so that a device installed with the chip executes the electronic device described in the above method embodiments. some or all of the steps.

Embodiments of the present application further provide a computer storage medium, wherein the computer storage medium stores a computer program for electronic data exchange, and the computer program causes the computer to execute part or all of the steps of any method described in the above method embodiments , the above computer includes a mobile terminal.

Embodiments of the present application further provide a computer program product, where the computer program product includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to cause a computer to execute any one of the method embodiments described above. some or all of the steps of the method. The computer program product may be a software installation package, and the above-mentioned computer includes a mobile terminal.

It should be noted that, for the sake of simple description, the foregoing method embodiments are all expressed as a series of action combinations, but those skilled in the art should know that the present application is not limited by the described action sequence. Because in accordance with the present application, certain steps may be performed in other orders or concurrently. Secondly, 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 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, it should be understood that the disclosed apparatus may be implemented in other manners. For example, the device embodiments described above are only illustrative. For example, the division of the above-mentioned units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated. to another system, or some features can be ignored, or not implemented. On the other hand, the shown or discussed mutual coupling or direct coupling or communication connection may be through some interfaces, indirect coupling or communication connection of devices or units, and may be in electrical or other forms.

The units described above as separate components may or may not be physically separated, and components shown as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution in this embodiment.

In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one 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.

The above-mentioned integrated units, if implemented in the form of software functional units and sold or used as independent products, may be stored in a computer-readable memory. Based on this understanding, the technical solution of the present application can be embodied in the form of a software product in essence, or the part that contributes to the prior art, or all or part of the technical solution, and the computer software product is stored in a memory, Several instructions are included to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the above-mentioned methods in the various embodiments of the present application. The aforementioned memory includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program codes.

Those skilled in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing relevant hardware through a program, and the program can be stored in a computer-readable memory, and the memory can include: a flash disk , Read-only memory (English: Read-Only Memory, referred to as: ROM), random access device (English: Random Access Memory, referred to as: RAM), magnetic disk or optical disk, etc.

The embodiments of the present application have been introduced in detail above, and the principles and implementations of the present application are described in this paper by using specific examples. The descriptions of the above embodiments are only used to help understand the methods and core ideas of the present application; at the same time, for Persons of ordinary skill in the art, based on the idea of the present application, will have changes in the specific implementation manner and application scope. In summary, the contents of this specification should not be construed as limitations on the present application.

Claims

A method for determining distance difference, comprising:

Determine time t1, time t2 and time t3, the time t1 is the time when the data frame A1 from the anchor point A is detected, the time t2 is the time when the data frame B from the anchor point B is detected, and the The time t3 is the time when the data frame A2 from the anchor point A is detected, and the data frame B is the data frame broadcast by the anchor point B after listening to the data frame A1 and the delay time Td1, The data frame A2 carries the time t4 when the anchor point A sends the data frame A1, the time t5 when the anchor point A hears the data frame B, and the anchor point A sends the data frame A2 time t6;

Determine the duration Td1 according to the time t1, the time t3, the time t4, the time t5, and the time t6;

The distance difference between the first distance and the second distance is determined according to the distance D AB between the anchor point A and the anchor point B, the time t2, the time t1, and the time length Td1, so The first distance is the distance D TA between the end device and the anchor point A, and the second distance is the distance D TB between the end device and the anchor point B.
The method according to claim 1, wherein the time difference between the time t1 and the time t3 is a time difference Δt1, the time difference between the time t6 and the time t4 is a time difference Δt2, and the time t5 and The time difference between the times t4 is the time difference Δt3;

The ratio of the time difference Δt1 to the time difference Δt2 is a first ratio;

The ratio of the duration Td1 to the time difference Δt3 is a second ratio;

In the case of ignoring the influence of the flight duration of the data frame, the first ratio and the second ratio are the same.
The method according to claim 1 or 2, wherein the duration Td1 is calculated by the following formula:
The method according to any one of claims 1-3, wherein the distance difference between the first distance and the second distance is calculated by the following formula:

D TA -D TB =D AB -C×(t2-t1-T d )

where C is the speed of light.
The method according to any one of claims 1-4, wherein the distance D AB is based on a single-sided two-way ranging SS-TWR algorithm, using the time t4, the time t5, and the anchor point B Calculated from the time t7 when the data frame A1 is detected and the time t8 when the anchor point B broadcasts the data frame B.
The method according to claim 5, wherein the data frame A2 further carries the distance D AB .
The method according to claim 5, wherein the distance D AB is calculated by the local device.
The method according to any one of claims 1-7, wherein the determining time t1, time t2 and time t3 comprises:

When listening to the data frame A1 from the anchor point A, record the current time t1;

When the data frame B from the anchor point B is detected, record the current time t2;

When the data frame A2 from the anchor point A is detected, the current time t3 is recorded.
The method according to claim 8, wherein the method further comprises:

When listening to the data frame C from the anchor point C, record the current time t9, the data frame C is the data broadcast by the anchor point C after listening to the data frame A1 and the delay time Td2 frame;

When listening to the data frame A3 from the anchor point A, record the current time t10, the data frame A3 carries the time t4 when the anchor point A sends the data frame A1, and the anchor point A listens The time t11 to the data frame C, the time t12 when the anchor point A sends the data frame A3, and the distance D AC between the anchor point A and the anchor point C;

Determine the duration Td2 according to the time t1, the time t10, the time t4, the time t11, and the time t12;

The distance difference between the first distance and the third distance is determined according to the distance D AC , the time t9 , the time t1 , and the duration Td2 , where the third distance is the distance between the end device and the the distance D TC between the anchor points C;

According to the distance difference between the first distance and the second distance, the distance difference between the first distance and the third distance, the distance D AB , the distance D AC , to determine the coordinates of the local device.
A data frame transmission method, comprising:

Receive a data frame A2, wherein the data frame A2 includes a first indication field, a second indication field, and a third indication field, the first indication field is used to indicate the time t4 when the anchor point A sends the data frame A1, and the The second indication field is used to indicate the time t5 when the anchor point A hears the data frame B, and the third indication field is used to indicate the time t6 when the anchor point A sends the data frame A2, the data frame B is the data frame broadcast by the anchor point B after listening to the data frame A1 and the delay time Td1.
The method of claim 10, wherein the method further comprises:

Parse the data frame A2 to obtain the time t4, the time t5, the time t6 and the distance D AB ;

The duration Td1 is determined according to the time t1, the time t3, the time t4, the time t5, and the time t6. The time t1 is the time when the data frame A1 from the anchor point A is detected, and the time t3 is the time when the data frame A2 from the anchor point A is detected;

The distance difference between the first distance and the second distance is determined according to the distance D AB between the anchor point A and the anchor point B, the time t2, the time t1, and the time duration Td1, and the first distance The first distance is the distance D TA between the end device and the anchor point, the second distance is the distance D TB between the end device and the anchor point B, and the time t2 is the distance D TB from the anchor point B is detected. Time of data frame B at point B.
The method according to claim 11, wherein the distance D AB uses the time t4, the time t5, and the anchor point B to detect the Calculated from the time t7 of the data frame A1 and the time t8 when the anchor point B broadcasts the data frame B.
The method according to claim 12, wherein the data frame A2 further comprises a fourth indication field, and the fourth indication field is used to indicate the distance D between the anchor point A and the anchor point B AB .
The method according to claim 12, wherein the distance D AB is calculated by the local device.
The method according to any one of claims 10-14, wherein the method further comprises:

When listening to the data frame C from the anchor point C, record the current time t9, the data frame C is the data broadcast by the anchor point C after listening to the data frame A1 and the delay time Td2 frame;

When listening to the data frame A3 from the anchor point A, record the current time t10, the data frame A3 carries the time t4 when the anchor point A sends the data frame A1, and the anchor point A listens The time t11 to the data frame C, the time t12 when the anchor point A sends the data frame A3, and the distance D AC between the anchor point A and the anchor point C;

Determine the duration Td2 according to the time t1, the time t10, the time t4, the time t11, and the time t12;

The distance difference between the first distance and the third distance is determined according to the distance D AC , the time t9 , the time t1 , and the duration Td2 , where the third distance is the distance between the end device and the the distance D TC between the anchor points C;

According to the distance difference between the first distance and the second distance, the distance difference between the first distance and the third distance, the distance D AB , the distance D AC , to determine the coordinates of the local device.
A data frame transmission method, comprising:

Sending a data frame A2, wherein the data frame A2 includes a first indication field, a second indication field, and a third indication field, the first indication field is used to indicate the time t4 when the anchor point A sends the data frame A1, and the The second indication field is used to indicate the time t5 when the anchor point A hears the data frame B, and the third indication field is used to indicate the time t6 when the anchor point A sends the data frame A2, the data frame B is the data frame broadcast by the anchor point B after listening to the data frame A1 and the delay time Td1.
The method according to claim 16, wherein the data frame A2 is used for the tag device to perform the following operations:

Parse the data frame A2 to obtain the time t4, the time t5, the time t6 and the distance D AB ;

The duration Td1 is determined according to the time t1, the time t3, the time t4, the time t5, and the time t6. The time t1 is the time when the data frame A1 from the anchor point A is detected, and the time t3 is the time when the data frame A2 from the anchor point A is detected;

The distance difference between the first distance and the second distance is determined according to the distance D AB between the anchor point A and the anchor point B, the time t2, the time t1, and the time length Td1, and the first distance The first distance is the distance D TA between the end device and the anchor point A, the second distance is the distance D TB between the end device and the anchor point B, and the time t2 is the distance between the end device and the anchor point B. The time of data frame B for anchor B.
The method according to claim 17, wherein the distance D AB uses the time t4, the time t5, and the anchor point B to detect the Calculated from the time t7 of the data frame A1 and the time t8 when the anchor point B broadcasts the data frame B.
The method according to claim 18, wherein the data frame A2 further comprises a fourth indication field, and the fourth indication field is used to indicate the distance D between the anchor point A and the anchor point B AB .
The method of claim 18, wherein the distance D AB is calculated by the tag device.
A device for determining distance difference, comprising:

The first determining unit is used to determine time t1, time t2 and time t3, where the time t1 is the time when the data frame A1 from the anchor point A is detected, and the time t2 is the time when the data frame A1 from the anchor point B is detected The time of frame B, the time t3 is the time when the data frame A2 from the anchor point A is detected, and the data frame B is the time when the anchor point B listens to the data frame A1 and the delay time The data frame broadcast after Td1, the data frame A2 carries the time t4 when the anchor point A sends the data frame A1, the time t5 when the anchor point A hears the data frame B, and the anchor point A sends the time t6 of the data frame A2;

a second determining unit, configured to determine the duration Td1 according to the time t1, the time t3, the time t4, the time t5, and the time t6;

A third determining unit, configured to determine the distance between the first distance and the second distance according to the distance D AB between the anchor point A and the anchor point B, the time t2, the time t1, and the time duration Td1 The first distance is the distance D TA between the end device and the anchor point A, and the second distance is the distance D TB between the end device and the anchor point B.
A data frame transmission device, comprising:

A receiving unit, configured to receive a data frame A2, wherein the data frame A2 includes a first indication field, a second indication field, and a third indication field, and the first indication field is used to instruct the anchor point A to send the data frame A1 Time t4, the second indication field is used to indicate the time t5 when the anchor point A hears the data frame B, and the third indication field is used to indicate the time t6 when the anchor point A sends the data frame A2 , the data frame B is a data frame broadcast by the anchor point B after listening to the data frame A1 and the delay time Td1.
A data frame transmission device, comprising:

A sending unit, configured to send a data frame A2, wherein the data frame A2 includes a first indication field, a second indication field, and a third indication field, and the first indication field is used to instruct the anchor point A to send the data frame A1 Time t4, the second indication field is used to indicate the time t5 when the anchor point A hears the data frame B, and the third indication field is used to indicate the time t6 when the anchor point A sends the data frame A2 , the data frame B is a data frame broadcast by the anchor point B after listening to the data frame A1 and the delay time Td1.
A tag device comprising a processor, a memory, a communication interface, and one or more programs, the one or more programs being stored in the memory and configured to be executed by the processor, The program includes instructions for performing the steps in the method of any of claims 1-9.
A tag device comprising a processor, a memory, a communication interface, and one or more programs, the one or more programs being stored in the memory and configured to be executed by the processor, The program includes instructions for performing the steps in the method of any of claims 10-15.
An anchor device comprising a processor, a memory, a communication interface, and one or more programs, the one or more programs being stored in the memory and configured to be executed by the processor , the program comprising instructions for performing the steps in the method of any of claims 16-20.
A computer-readable storage medium, characterized by storing a computer program for electronic data exchange, wherein the computer program causes a computer to perform the method according to any one of claims 1-20.