A ranging method and system based on networking data link

Abstract

This invention discloses a ranging method and system based on a network data link, relating to the field of wireless communication ranging technology. The method includes the following steps: synchronizing the clocks of all nodes in the network and aligning the transmit and receive timings between nodes; each node in the network transmitting a synchronization signal within its allocated fixed transmission time slot according to a preset fixed frame structure; the receiving node calculating the theoretical time at which it receives the synchronization signal when the signal propagation delay is zero based on the synchronization clock and the preset fixed frame structure, and recording the actual time of receiving the synchronization signal; and the receiving node calculating the distance between itself and the node that transmitted the synchronization signal based on the time difference between the theoretical and actual times. This invention effectively eliminates ranging errors caused by crystal oscillator clock deviations between nodes, requires no external satellite signals or two-way signaling interaction, and achieves ranging by multiplexing the synchronization signal. It significantly reduces hardware costs while achieving high-precision, low-latency, and environmentally adaptable inter-node ranging.

Description

Technical Field

[0001] This invention relates to the field of wireless communication ranging technology, and in particular to a ranging method and system based on a network data link. Background Technology

[0002] In unmanned system swarms, cooperative combat networks, and distributed Internet of Things (IoT) applications, relative distance measurement between nodes is fundamental for achieving functions such as cooperative positioning, formation keeping, and obstacle avoidance. Currently, common ranging technologies in communication networks mainly include Global Positioning System (GPS) ranging, Received Signal Strength Indication (RSSI) ranging, and Round Trip Time (RTT) ranging. These methods typically rely on external satellite signals, signal attenuation models, or specific two-way signaling interactions to obtain distance information between nodes, and have been applied to varying degrees in their respective applicable scenarios.

[0003] However, the aforementioned existing technologies have significant limitations in practical applications. Specifically, GPS ranging heavily relies on satellite signals, and in rainy weather, indoor environments, or scenarios with signal interference, it is prone to ranging failure due to the inability to correctly calculate latitude and longitude coordinates; RSSI ranging is susceptible to multipath effects and environmental obstruction, resulting in poor ranging accuracy, and is generally only suitable for close-range scenarios of no more than 100 meters; while RTT ranging does not rely on external signals, it requires RTT framing and deframing, a complex interaction process that leads to insufficient measurement accuracy and a relatively long measurement cycle, making it difficult to meet the real-time requirements of highly dynamic topologies. Furthermore, in traditional data link communication networks, communication synchronization and ranging functions are usually implemented independently, requiring additional hardware resources or signaling overhead, increasing system complexity and cost.

[0004] In summary, existing technologies suffer from low ranging accuracy, long ranging cycles, poor environmental adaptability, and high hardware costs. Summary of the Invention

[0005] This invention provides a ranging method and system based on a network data link to solve the technical problems of low ranging accuracy, long ranging cycle, poor environmental adaptability, and high hardware cost in existing ranging methods.

[0006] Firstly, a ranging method based on a network data link is provided, applicable to a communication network containing a master node and at least one slave node, comprising the following steps: To synchronize the clocks of all nodes in the network and align the transmit and receive timings between nodes; Each node in the network transmits a synchronization signal within its assigned fixed transmission time slot according to a preset fixed frame structure. The receiving node calculates the theoretical time when it receives the synchronization signal when the signal propagation delay is zero, based on the synchronization clock and the preset fixed frame structure, and records the actual time when it receives the synchronization signal. The receiving node calculates the distance between itself and the node that sent the synchronization signal based on the time difference between the theoretical time and the actual time.

[0007] In some embodiments, when the receiving node is the master node and the node sending the synchronization signal is the slave node, the receiving node calculates the distance between the receiving node and the node sending the synchronization signal based on the time difference between the theoretical time and the actual time, including: The distance between the master node and the slave node that sent the synchronization signal is calculated using the formula S=ΔT×C / 2. Where ΔT is the time difference between the theoretical time when the master node receives the synchronization signal and the actual time when the synchronization signal is actually received; C is the speed of light.

[0008] In some embodiments, when the receiving node is a first slave node and the node sending the synchronization signal is a second slave node, the receiving node calculates the distance between the receiving node and the node sending the synchronization signal based on the time difference between the theoretical time and the actual time, including: Obtain the time difference Δt between the theoretical time when the second slave node receives the synchronization signal sent by the first slave node and the actual time when it actually receives the synchronization signal sent by the first slave node. BA ; According to the formula S=(Δt) AB +Δt BA )×C / 2 calculates the distance between the first slave node and the second slave node that sent the synchronization signal; Where, Δt AB C is the time difference between the theoretical time when the first slave node receives the synchronization signal sent by the second slave node and the actual time when it actually receives the synchronization signal sent by the second slave node; C is the speed of light.

[0009] In some embodiments, the time difference Δt between obtaining the theoretical time when the second slave node receives the synchronization signal sent by the first slave node and recording the actual time when the second slave node actually receives the synchronization signal sent by the first slave node is used. BA Previously, including: The second slave node will calculate the time difference Δt. BA Broadcast to the network via wireless signaling; The first slave node receives the wireless signaling and parses it to obtain the time difference Δt. BA .

[0010] In some embodiments, synchronizing the clocks of all nodes in the network and aligning the transmit and receive timings between nodes includes: The master node and at least one slave node are networked using a time-division multiple access method. The master-slave synchronization mechanism synchronizes the clocks of all nodes in the network and aligns the transmission and reception timings between nodes.

[0011] In some embodiments, the step of synchronizing the clocks of all nodes in the network and aligning the transmit and receive timings between nodes through a master-slave synchronization mechanism includes: The master node sends a synchronization signal containing the reference clock; The slave node receives the synchronization signal sent by the master node and corrects its own clock according to the synchronization signal to synchronize its own clock with the master node's clock.

[0012] In some embodiments, after the master node sends a synchronization signal containing a reference clock, it further includes: If a slave node does not receive a synchronization signal from the master node, it receives synchronization signals from other slave nodes in the network and corrects its own clock based on these signals to synchronize it with the master node's clock.

[0013] In some embodiments, the synchronization signal is a pseudo-random synchronization sequence.

[0014] In some embodiments, the synchronization signal is a timestamp.

[0015] Secondly, a ranging system based on a network data link is provided, comprising: a master node and at least one slave node, wherein the master node and the slave node are configured to execute the aforementioned ranging method based on a network data link.

[0016] The beneficial effects of the technical solution provided by this invention include: This invention provides a ranging system and method based on a networked data link. The ranging method establishes a clock synchronization and transmit / receive timing alignment mechanism, combined with a preset fixed frame structure, enabling the receiving node to calculate the theoretical moment when the signal propagation delay is zero based on the synchronized clock. Then, the distance between nodes is calculated using the time difference between the theoretical moment and the actual moment. This invention effectively eliminates ranging errors caused by crystal oscillator clock deviations between nodes. It does not rely on external satellite signals or complex two-way signaling interactions; the ranging function can be achieved by multiplexing the communication synchronization signal. Therefore, while significantly reducing system complexity and hardware costs, it achieves high-precision, low-latency, and environmentally adaptable distance measurement between nodes. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 A flowchart illustrating a ranging method based on a network data link provided in an embodiment of the present invention; Figure 2 Implementation provided for the embodiments of the present invention Figure 1 A flowchart illustrating step S1. Figure 3 Implementation provided for the embodiments of the present invention Figure 2 A flowchart illustrating step S12; Figure 4 Implementation provided for the embodiments of the present invention Figure 1 A schematic diagram illustrating the calculation of the distance between the receiving node (master node) and the node that sends the synchronization signal (slave node) in step S4. Figure 5 Implementation provided for the embodiments of the present invention Figure 1 A schematic diagram illustrating the calculation of the distance between the receiving node (first slave node A) and the node sending the synchronization signal (second slave node B) in step S4. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] This invention provides a ranging method based on a network data link, which can solve the technical problems of low ranging accuracy, long ranging cycle, poor environmental adaptability and high hardware cost of existing ranging methods.

[0021] See Figure 1 This invention provides a ranging method based on a network data link, applicable to a communication network containing a master node and at least one slave node, comprising the following steps: Step S1: Synchronize the clocks of all nodes in the network and align the transmit and receive timings between the nodes.

[0022] Specifically, see Figure 2The step of synchronizing the clocks of all nodes in the network and aligning the transmit and receive timings between nodes includes: Step S11: Connect the master node and at least one slave node to form a network using time-division multiple access. Step S12: Synchronize the clocks of all nodes in the network and align the transmit and receive timings between nodes through a master-slave synchronization mechanism.

[0023] Further, see Figure 3 The method of synchronizing the clocks of all nodes in the network and aligning the transmit and receive timings between nodes through a master-slave synchronization mechanism includes: Step S121: The master node sends a synchronization signal containing a reference clock.

[0024] Step S122: The slave node receives the synchronization signal sent by the master node and corrects its own clock according to the synchronization signal so that its own clock is synchronized with the master node's clock.

[0025] In step S123, if the slave node does not receive the synchronization signal sent by the master node, the slave node receives the synchronization signal sent by other slave nodes in the network and corrects its own clock according to the synchronization signal of other slave nodes so that its own clock is synchronized with the clock of the master node.

[0026] The master node's clock serves as the clock reference for all nodes within the network. Upon receiving a synchronization signal from the master node, slave nodes correct their own clocks accordingly. When a slave node fails to receive a synchronization signal from the master node (e.g., the master node is blocked), it can correct its own clock based on synchronization signals received from other slave nodes, thus maintaining network-wide clock synchronization. This master-slave synchronization method eliminates errors caused by crystal oscillator clock deviations between different nodes, ensuring clock synchronization and perfectly aligned transmit / receive timings for all nodes within the network.

[0027] In step S2, each node in the network sends a synchronization signal within its assigned fixed transmission time slot according to a preset fixed frame structure.

[0028] Specifically, the frame structure is designed in a fixed manner, and the transmission time slot position of each node is also fixed. Each node knows its own transmission position in the frame, as well as the transmission positions of other nodes in the frame. The synchronization signal can be a pseudo-random synchronization sequence, encoded and parsed by a programmable logic device; alternatively, a timestamp method can be used. This synchronization signal is mainly used to maintain network clock synchronization. In this embodiment of the invention, this signal is reused for ranging, eliminating the need to send an additional ranging-specific signal.

[0029] Step S3: The receiving node calculates the theoretical time when it receives the synchronization signal when the signal propagation delay is zero, based on the synchronization clock and the preset fixed frame structure, and records the actual time when it receives the synchronization signal.

[0030] The clocks of all nodes in the network are synchronized and the frame structure is fixed. The receiving node can calculate the theoretical time t0 when it receives the synchronization signal if the distance between the two nodes is zero (i.e., the signal propagation delay is zero) based on its own synchronized clock and the transmission time slot position of the sending node in the fixed frame structure. At the same time, the receiving node records the actual time point t1 when it receives the synchronization signal from that node.

[0031] Step S4: The receiving node calculates the distance between the receiving node and the node that sent the synchronization signal based on the time difference between the theoretical time and the actual time.

[0032] All nodes have achieved clock alignment, eliminating crystal oscillator clock deviation. Therefore, the difference between t0 and t1 (i.e., the time difference) mainly reflects the time taken for the synchronization signal (radio wave) to travel between nodes. The receiving node can use this time difference to convert it into a distance value.

[0033] In summary, the ranging method based on network data link in this embodiment of the invention establishes a clock synchronization and transmit / receive timing alignment mechanism, and combines it with a preset fixed frame structure, enabling the receiving node to calculate the theoretical moment when the signal propagation delay is zero based on the synchronized clock, and then use the time difference between the theoretical moment and the actual moment to calculate the distance between nodes.

[0034] The beneficial effects of the present invention include at least the following: High-precision ranging: By directly measuring the propagation delay using a clock synchronization mechanism, the ranging error caused by the crystal clock deviation between nodes is effectively eliminated, avoiding the problem of RSSI-type methods being greatly affected by environmental interference, and significantly improving ranging accuracy.

[0035] Low latency and high real-time performance: No need for multiple frame assembly and deframe operations, the measurement process is simple, supports fast continuous refresh, and meets the real-time ranging requirements under dynamic topology.

[0036] No additional hardware resources are required: the ranging function can be realized by reusing the communication synchronization signal without increasing the system complexity and hardware cost.

[0037] Strong environmental adaptability: It does not rely on satellite signals and can work stably indoors, in obstructed and interfered environments.

[0038] Flexible and scalable: The ranging frequency and accuracy requirements can be adjusted according to different application scenarios.

[0039] In an optional embodiment of the present invention, for a ranging scenario between a master node and a slave node, when the receiving node is the master node and the node sending the synchronization signal is the slave node, the receiving node calculates the distance between the receiving node and the node sending the synchronization signal based on the time difference between the theoretical time and the actual time, including: The distance between the master node and the slave node that sent the synchronization signal is calculated using the formula S = ΔT × C / 2; where ΔT is the time difference between the theoretical time when the master node receives the synchronization signal and the actual time when the synchronization signal is actually received; and C is the speed of light, which can be taken as 3 × 10⁻⁶. 8 m / s.

[0040] Specifically, see Figure 4 The master node, based on the network's preset fixed frame structure and the fixed transmission time slot allocated to the slave node, and in conjunction with the synchronization clock (a clock referenced to the master node), calculates the theoretical time t0 at which it receives the slave node's synchronization signal under ideal conditions where signal propagation delay is zero. Simultaneously, the master node records the actual time t1 at which it receives the slave node's synchronization signal. In this embodiment of the invention, although the clocks of all nodes in the network are synchronized, there is still a time synchronization deviation between the slave node and the master node due to signal propagation. According to the master-slave synchronization principle adopted by this invention, the time difference ΔT (i.e., ΔT = t1) between the master node and the slave node's signal is calculated. t0) reflects the combined deviation of the signal during spatial propagation and under the synchronization mechanism. Assuming the time synchronization deviation received by the slave node from the master node is Δt, then the time synchronization deviation received by the master node from the slave node is 2Δt, meaning the time difference observed by the master node is twice the time synchronization deviation Δt. The time synchronization deviation 2Δt received by the master node from the slave node is multiplied by the speed of light and converted into a distance value. Half of this distance value is the actual distance between the master and slave nodes.

[0041] Therefore, the distance between the master node and the slave node is calculated as: S = 2Δt × C / 2 = ΔT × C / 2, where S represents the straight-line distance between the master node and the slave node; ΔT is the time difference between the theoretical time when the master node receives the synchronization signal and the actual time when the synchronization signal is actually received. This formula can effectively convert the equivalent round-trip time deviation observed by the master node into a one-way spatial distance, thereby eliminating the potential deviation multiplication effect in the synchronization mechanism and ensuring the accuracy of the ranging results.

[0042] In an optional embodiment of the present invention, a ranging implementation method based on bidirectional time difference averaging is provided for ranging scenarios between slave nodes. When the receiving node is a first slave node (denoted as node A) and the node sending the synchronization signal is a second slave node (denoted as node B), the receiving node calculates the distance between the receiving node and the node sending the synchronization signal based on the time difference between the theoretical time and the actual time, including: Obtain the time difference Δt between the theoretical time when the second slave node receives the synchronization signal sent by the first slave node and the actual time when it actually receives the synchronization signal sent by the first slave node. BA.

[0043] According to the formula S=(Δt) AB +Δt BA )×C / 2 calculates the distance between the first slave node and the second slave node that sent the synchronization signal; where Δt AB C is the time difference between the theoretical time when the first slave node receives the synchronization signal sent by the second slave node and the actual time when it actually receives the synchronization signal sent by the second slave node; C is the speed of light.

[0044] Specifically, see Figure 5 Both nodes act as receiving nodes, receiving synchronization signals sent by the other. The first slave node A, based on its own synchronized clock and a preset fixed frame structure, calculates the theoretical time when it receives the synchronization signal sent by the second slave node B, and records the actual reception time. The difference between the two is denoted as the time difference Δt. AB Similarly, the second slave node B, based on its own synchronized clock and preset fixed frame structure, calculates the theoretical time when it receives the synchronization signal sent by the first slave node A, and records the actual reception time. The difference between the two is denoted as the time difference Δt. BA .

[0045] In practical networks, despite the master-slave synchronization mechanism, slight residual clock skew or crystal drift may still exist between slave nodes. To eliminate the impact of this residual skew on ranging accuracy, this embodiment of the invention employs a bidirectional measurement and averaging method. The second slave node B calculates the time difference Δt. BA The wireless signaling is broadcast to the network, and the first slave node A receives the wireless signaling and parses it to obtain the time difference Δt. BA Subsequently, the first slave node A is determined according to the formula S=(Δt) AB +Δt BA )×C / 2 calculates the distance between the first slave node and the second slave node.

[0046] The above technical principle is: Δt AB and Δt BA These figures include the one-way propagation time of the signal and the residual clock deviation between nodes. Since the signal propagation paths are the same, the propagation times are equal; however, the residual clock deviation has opposite signs in bidirectional measurements. By adding the time differences in both directions, the effect of the residual clock deviation can be canceled out, and the sum is equivalent to the total round-trip propagation time of the signal. Therefore, multiplying by the speed of light C and then dividing by 2 in the formula allows for the accurate calculation of the one-way spatial distance. Compared to one-way ranging, this bidirectional ranging method can further eliminate residual errors in the synchronization mechanism, significantly improving the accuracy and reliability of distance measurement between nodes.

[0047] Of course, when it is necessary to measure the distance between the first slave node A and the second slave node B, the second slave node B can also be used as the receiving node to calculate the distance between the second slave node B and the first slave node A. The calculation formula is the same, S=(Δt) BA +Δt AB )×C / 2.

[0048] The ranging method based on network data link in this invention is further illustrated below with a specific embodiment: Assume the network contains one master node and two slave nodes (first slave node A and second slave node B). The three nodes are located on the same straight line, with the master node in the middle. The first slave node A is 15km away from the master node, and the second slave node B is 30km away from the master node. Theoretically, A and B are 45km apart.

[0049] The ranging process first performs time synchronization: with the master node time as the reference T, after the master node sends the synchronization signal, the first slave node A receives the master node's time at T+50μs, and the second slave node B receives the master node's time at T+100μs. At this time, each node completes clock correction, but there is clock deviation between nodes due to different propagation paths.

[0050] Then, the ranging signal interaction phase begins. Each node sends a synchronization signal in its respective time slot according to a preset fixed frame structure. The first slave node A receives the difference Δt between the actual time point and the theoretical time point from the second slave node B. AB The measured time was 200 μs. The second slave node B received the difference Δt between the actual time point and the theoretical time point from the first slave node A. BA The measured value is 100 μs. To achieve two-way ranging calculation, the nodes will use their respective measured time difference values ​​Δt. AB and Δt BA The signal is broadcast wirelessly to the network, enabling the first slave node A to acquire the measurement data from the second slave node B. Finally, the first slave node A calculates the distance between A and B using the two-way ranging formula: S = (Δt) / (Δt). BA +Δt AB )×C / 2=(200μs+100μs)×3×10 8 m / s / 2 = 45km. This process shows that by adding the bidirectional measurements, the clock deviations between nodes caused by different synchronization paths (50μs in this example) are canceled out during the calculation, thus achieving high-precision inter-node distance measurement without adding additional hardware.

[0051] Similarly, during the ranging process between the master node and the first slave node A, the master node, acting as a clock reference, sends a synchronization signal at time T. The first slave node A receives this signal at a distance of 15km from the master node at time T+50μs and corrects its own clock accordingly. At this point, the one-way synchronization deviation Δt is 50μs. Subsequently, the first slave node A sends a synchronization signal within its allocated fixed transmission time slot. The master node receives this signal and records the actual time point t1, while simultaneously calculating the theoretical time point t0 based on the fixed frame structure. Due to the characteristics of the clock synchronization mechanism, the time synchronization deviation measured by the master node is 2Δt, or 100μs. The master node calculates this using the formula S=(2Δt)×C / 2, substituting the values ​​into the equation: S=(100μs×3×10 8 (m / s) / 2 = 15km. This process verifies that the master node does not need to transmit an additional ranging request; it can directly calculate the precise distance between itself and the slave node using only the timing deviation of the communication synchronization signal.

[0052] In the description of this invention, it should be noted that the terms "upper," "lower," etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Unless otherwise expressly specified and limited, the terms "installed," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication between two elements. For those skilled in the art, the specific meaning of the above terms in this invention can be understood according to the specific circumstances.

[0053] It should be noted that in this invention, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0054] The above description is merely a specific embodiment of the present invention, enabling those skilled in the art to understand or implement the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features of the invention herein.

Claims

1. A ranging method based on a network data link, applied to a communication network containing a master node and at least one slave node, characterized in that, Includes the following steps: To synchronize the clocks of all nodes in the network and align the transmit and receive timings between nodes; Each node in the network transmits a synchronization signal within its assigned fixed transmission time slot according to a preset fixed frame structure. The receiving node calculates the theoretical time when it receives the synchronization signal when the signal propagation delay is zero, based on the synchronization clock and the preset fixed frame structure, and records the actual time when it receives the synchronization signal. The receiving node calculates the distance between itself and the node that sent the synchronization signal based on the time difference between the theoretical time and the actual time.

2. The ranging method based on a network data link according to claim 1, characterized in that, When the receiving node is the master node and the node sending the synchronization signal is the slave node, the receiving node calculates the distance between itself and the node sending the synchronization signal based on the time difference between the theoretical time and the actual time, including: The distance between the master node and the slave node that sent the synchronization signal is calculated using the formula S=ΔT×C / 2. Where ΔT is the time difference between the theoretical time when the master node receives the synchronization signal and the actual time when the synchronization signal is actually received; C is the speed of light.

3. The ranging method based on a network data link according to claim 1, characterized in that, When the receiving node is the first slave node and the node sending the synchronization signal is the second slave node, the receiving node calculates the distance between itself and the node sending the synchronization signal based on the time difference between the theoretical time and the actual time, including: Obtain the time difference Δt between the theoretical time when the second slave node receives the synchronization signal sent by the first slave node and the actual time when it actually receives the synchronization signal sent by the first slave node. BA ; According to the formula S=(Δt) AB +Δt BA )×C / 2 calculates the distance between the first slave node and the second slave node that sent the synchronization signal; Where, Δt AB C is the time difference between the theoretical time when the first slave node receives the synchronization signal sent by the second slave node and the actual time when it actually receives the synchronization signal sent by the second slave node; C is the speed of light.

4. The ranging method based on a network data link according to claim 3, characterized in that, The time difference Δt between obtaining the theoretical time when the second slave node receives the synchronization signal sent by the first slave node and recording the actual time when the second slave node actually receives the synchronization signal sent by the first slave node is recorded. BA Previously, including: The second slave node will calculate the time difference Δt. BA Broadcast to the network via wireless signaling; The first slave node receives the wireless signaling and parses it to obtain the time difference Δt. BA .

5. The ranging method based on a network data link according to claim 1, characterized in that, The process of synchronizing the clocks of all nodes in the network and aligning the transmit and receive timings between nodes includes: The master node and at least one slave node are networked using a time-division multiple access method. The master-slave synchronization mechanism synchronizes the clocks of all nodes in the network and aligns the transmission and reception timings between nodes.

6. The ranging method based on a network data link according to claim 5, characterized in that, The method of synchronizing the clocks of all nodes in the network and aligning the transmit and receive timings between nodes through a master-slave synchronization mechanism includes: The master node sends a synchronization signal containing the reference clock; The slave node receives the synchronization signal sent by the master node and corrects its own clock according to the synchronization signal to synchronize its own clock with the master node's clock.

7. The ranging method based on a network data link according to claim 6, characterized in that, After the master node sends a synchronization signal containing a reference clock, it also includes: If a slave node does not receive a synchronization signal from the master node, it receives synchronization signals from other slave nodes in the network and corrects its own clock based on these signals to synchronize it with the master node's clock.

8. The ranging method based on a network data link according to claim 1, characterized in that: The synchronization signal is a pseudo-random synchronization sequence.

9. The ranging method based on a network data link according to claim 1, characterized in that: The synchronization signal is a timestamp.

10. A ranging system based on a networked data link, characterized in that, include: A master node and at least one slave node, the master node and the slave node being configured to perform the ranging method based on a network data link as described in any one of claims 1-9.

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