WO2022057454A1 - Procédé de détermination de différence de distance, procédé de transmission de trame de données et produit associé - Google Patents

Procédé de détermination de différence de distance, procédé de transmission de trame de données et produit associé Download PDF

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Publication number
WO2022057454A1
WO2022057454A1 PCT/CN2021/108998 CN2021108998W WO2022057454A1 WO 2022057454 A1 WO2022057454 A1 WO 2022057454A1 CN 2021108998 W CN2021108998 W CN 2021108998W WO 2022057454 A1 WO2022057454 A1 WO 2022057454A1
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Prior art keywords
time
data frame
distance
anchor point
indication field
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PCT/CN2021/108998
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English (en)
Chinese (zh)
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肖伟
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Oppo广东移动通信有限公司
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Publication of WO2022057454A1 publication Critical patent/WO2022057454A1/fr

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/14—Determining absolute distances from a plurality of spaced points of known location
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W52/00—Power management, e.g. TPC [Transmission Power Control], power saving or power classes
    • H04W52/02—Power saving arrangements
    • H04W52/0209—Power saving arrangements in terminal devices
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/33—Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

Definitions

  • 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.
  • Ultra Wide Band 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.
  • 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.
  • an embodiment of the present application provides a method for determining a distance difference, including:
  • 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
  • the The time t3 is the time when the data frame A2 from the anchor point A is detected
  • 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;
  • 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
  • the second distance is the distance D TB between the end device and the anchor point B.
  • an embodiment of the present application provides a data frame transmission method, including:
  • 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
  • the The second indication field is used to indicate the time t5 when 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
  • 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.
  • an embodiment of the present application provides a data frame transmission method, including:
  • 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
  • the The second indication field is used to indicate the time t5 when 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
  • 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.
  • 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
  • the second distance is the distance D TB between the end device and the anchor point B.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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
  • 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.
  • FIG. 4 is a schematic flowchart of another data frame transmission method provided by an embodiment of the present application.
  • FIG. 5 is a schematic flowchart of another method for determining a distance difference provided by an embodiment of the present application.
  • FIG. 6 is a schematic diagram of the composition and structure of a distance difference determination device provided by an embodiment of the present application.
  • FIG. 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.
  • 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.
  • 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.
  • TDOA Time Difference of Arrival
  • 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.
  • the terminal processor calculates the (x, y, z) spatial coordinates of the tag device, and The positioning results are presented on the terminal processor.
  • 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.
  • FIG. 1B is a schematic structural diagram of a positioning service system provided by an embodiment of the present application.
  • 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
  • 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.
  • 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 ⁇ L1 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.
  • the label device is calculated. 100 to the distance between the anchor point C and the distance difference between L3 and L1 ⁇ L2, and further according to ⁇ L1, ⁇ L2 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.
  • 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.
  • 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
  • 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).
  • RAM Random Access Memory
  • Read-Only Memory 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.
  • FIG. 1D is a schematic diagram of an interrupt hardware architecture provided by an embodiment of the present application.
  • 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)
  • SPI Serial Peripheral Interface
  • 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.
  • 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).
  • FIG. 2A 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.
  • 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
  • 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 t5 when the anchor point A senses the data frame B
  • the time t6 when the anchor point A sends the data frame A2.
  • 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 .
  • 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.
  • time t1 and time t3 are the time when the tag device itself senses the data frame from anchor point A
  • 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.
  • 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
  • the second distance is the distance D TB between the end device and the anchor point B.
  • 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 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 time difference between the time t1 and the time t3 is the time difference ⁇ t1
  • the time difference between the time t6 and the time t4 is the time difference ⁇ t2
  • the time difference between the time t5 and the time t4 The time difference is the time difference ⁇ t3
  • the ratio of the time difference ⁇ t1 to the time difference ⁇ t2 is the first ratio
  • the ratio of the duration Td1 to the time difference ⁇ t3 is the second ratio
  • the first ratio and the second ratio are the same.
  • 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 ⁇ t1 based on the clock of the tag device, and the time difference ⁇ t2 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 ⁇ t3 is the same as the time interval actually indicated based on the duration Td1 of anchor point B.
  • 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 ⁇ t1 to the time difference ⁇ t2 ie the first ratio and the ratio of the duration Td1 to the time difference ⁇ t3 ie the second ratio can be considered to be the same.
  • the time difference between time t1 and time t3 is time difference ⁇ t1
  • the time difference between time t6 and time t4 is time difference ⁇ t2
  • the time difference between time t5 and time t4 is time difference ⁇ t3
  • the ratio of time difference ⁇ t1 to time difference ⁇ t2 is the first ratio
  • the ratio of the duration Td1 to the time difference ⁇ t3 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.
  • the duration Td1 is calculated by the following formula:
  • 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.
  • the duration Td1 is calculated by the following formula: Since ⁇ t1, ⁇ t2, ⁇ t3 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.
  • 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
  • C is the propagation speed of light in space
  • 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.
  • the label device calculates the distance difference through a formula, which is beneficial to ensure the accuracy of the distance difference determination.
  • 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.
  • FIG. 2D is a schematic diagram of another data frame interaction time between devices provided by an embodiment of the present application.
  • 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.
  • 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, ⁇ t5.
  • 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 ⁇ t4, 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 ⁇ t5. At this time, the propagation time of two data frames can be obtained by ⁇ t3- ⁇ t4, 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 ⁇ t5.
  • 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
  • time t8 calculated from the time t8
  • the data frame A2 also carries the distance D AB .
  • 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.
  • 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.
  • 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.
  • the distance D AB is calculated by the local device.
  • 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.
  • 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.
  • 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.
  • the label device 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.
  • 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;
  • 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.
  • 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 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.
  • 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 .
  • 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 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
  • 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.
  • the point T can be determined according to the two hyperbolas.
  • 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.
  • 2a of the hyperbola is equal to the absolute value of the distance difference between D TA and D TC
  • 2b is equal to D AC .
  • the coordinates of the label device can be determined based on the above two hyperbolas.
  • the tag device 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.
  • 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.
  • 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.
  • FIG. 3A 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.
  • 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
  • the second indication field is used for
  • 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.
  • Point B broadcasts the data frame after listening to the data frame A1 and the delay time Td1.
  • 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.
  • Poll frame a kind of control frame
  • reply Reply
  • Final frame final frame
  • data frame A1 is Poll frame
  • data frame B is Reply frame
  • data frame A2 is Final frame
  • 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.
  • the filled content is the time t4 when anchor A sends the poll frame, that is, the data frame A1
  • “res_rx_ts” is the second indication field
  • 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
  • the filled content is the time t6 when the anchor point A sends the Final frame, that is, the data frame A2.
  • the tag device receives the data frame A2, it can obtain the data it needs.
  • 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).
  • 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.
  • 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.
  • the tag device after receiving the data frame A2, 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.
  • the tag device 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.
  • 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.
  • 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.
  • 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.
  • t8 there is no need to perform precise clock synchronization between devices, which is beneficial to saving costs.
  • 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.
  • FIG. 3C is another data frame format provided by an embodiment of the present application.
  • 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.
  • 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.
  • 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.
  • the distance D AB is calculated by the local device.
  • the tag device itself can also calculate the distance D AB according to the relevant time data in the detected data frame.
  • the distance D AB is calculated based on the SS-TWR algorithm.
  • 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.
  • 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 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.
  • 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.
  • 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.
  • the distance difference between D TA and D TB determines the coordinates of the local device.
  • 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.
  • 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.
  • the anchor device sends a 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
  • the second indication field is used for
  • 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.
  • Point B broadcasts the data frame after listening to the data frame A1 and the delay time Td1.
  • 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.
  • 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
  • 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
  • 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.
  • 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
  • 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
  • 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.
  • 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.
  • 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
  • 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.
  • 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.
  • 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.
  • 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.
  • t8 there is no need to perform precise clock synchronization between devices, which is beneficial to saving costs.
  • 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.
  • 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.
  • 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.
  • the distance D AB is calculated by the tag device.
  • the tag device itself can also calculate the distance D AB according to the relevant time data in the detected data frame.
  • the distance D AB is calculated based on the SS-TWR algorithm.
  • 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.
  • 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.
  • the anchor point A sends a data frame A1.
  • the time when the anchor point A sends the data frame A1 is time t4.
  • the anchor point B broadcasts the data frame B after listening to the data frame A1 and the delay time Td1.
  • the time when the anchor point A senses the data frame B is time t5.
  • the time when the anchor point A sends the data frame A2 is time t6.
  • 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.
  • 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 .
  • 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.
  • the device detects the data frame A1, it records the current time t1.
  • 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.
  • 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.
  • the tag device 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.
  • 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.
  • 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
  • the second distance is the distance D TB between the end device and the anchor point B .
  • the time difference between the time t1 and the time t3 is the time difference ⁇ t1
  • the time difference between the time t6 and the time t4 is the time difference ⁇ t2
  • the time difference between the time t5 and the time t4 The time difference is the time difference ⁇ t3
  • the ratio of the time difference ⁇ t1 to the time difference ⁇ t2 is the first ratio
  • the ratio of the duration Td1 to the time difference ⁇ t3 is the second ratio
  • the first ratio and the second ratio are the same.
  • the duration Td1 is calculated by the following formula:
  • 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.
  • the data frame A2 also carries the distance D AB .
  • the distance D AB is calculated by the local device.
  • 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.
  • 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.
  • 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
  • the distance D AC between the anchor point A and the anchor point C determines 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.
  • FIG. 7 is a schematic structural diagram of a data frame transmission apparatus provided by an embodiment of the present application.
  • 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.
  • 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
  • the time t3 is the time when the data frame A2 from the anchor point A is detected
  • the time t2 determines 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
  • the second distance is the end device and the anchor point B
  • the time t2 is the time when the data frame B from the anchor point B is detected.
  • 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.
  • 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.
  • the distance D AB is calculated by the local device.
  • 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.
  • 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
  • the distance D AC between the anchor point A and the anchor point C determines 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.
  • FIG. 8 is a schematic structural diagram of another data frame transmission apparatus provided by an embodiment of the present application.
  • 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
  • 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 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
  • 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
  • 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.
  • 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.
  • 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.
  • 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.
  • the disclosed apparatus may be implemented in other manners.
  • the device embodiments described above are only illustrative.
  • the division of the above-mentioned units is only a logical function division.
  • multiple units or components may be combined or integrated. to another system, or some features can be ignored, or not implemented.
  • 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.
  • 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.
  • 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.
  • a computer device which may be a personal computer, a server, or a network device, etc.
  • 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.

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Mobile Radio Communication Systems (AREA)

Abstract

Sont divulgués un procédé de détermination de différence de distance, un procédé de transmission de trame de données et un produit associé. Le procédé de détermination de différence de distance consiste : à déterminer un temps t1, un temps t2 et un temps t3, le temps t1 étant le temps auquel une trame de données A1 provenant d'un point d'ancrage A est détectée, le temps t2 étant le temps auquel une trame de données B provenant d'un point d'ancrage B est détectée, le temps t3 étant le temps auquel une trame de données A2 provenant du point d'ancrage A est détectée, la trame de données B étant une trame de données diffusée par le point d'ancrage B après que la trame de données A1 et une durée de retard Td1 sont détectées, et la trame de données A2 transportant un temps t4 auquel le point d'ancrage A envoie la trame de données A1, un temps t5 auquel le point d'ancrage A détecte la trame de données B, et un temps t6 auquel le point d'ancrage A envoie la trame de données A2 ; à déterminer la durée Td1 en fonction du temps t1, du temps t3, du temps t4, du temps t5 et du temps t6 ; et à déterminer la différence de distance entre une première distance et une seconde distance en fonction de la distance DAB entre le point d'ancrage A et le point d'ancrage B, du temps t2, du temps t1 et de la durée Td1. La présente demande facilite l'amélioration de la capacité d'un dispositif d'étiquetage dans un système de positionnement, et une réduction de la consommation d'énergie du dispositif d'étiquetage.
PCT/CN2021/108998 2020-09-15 2021-07-28 Procédé de détermination de différence de distance, procédé de transmission de trame de données et produit associé WO2022057454A1 (fr)

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