Ultra-wideband synchronous positioning method, device, electronic equipment and system

Abstract

The present invention relates to the field of ultra-wideband positioning technology, and its implementation methods provide an ultra-wideband synchronous positioning method, device, electronic device and system. The ultra-wideband synchronous positioning method includes: determining the transmission path between each ultra-wideband positioning base station and the control end; determining the transmission delay on each transmission path; determining the sending time of the ultra-wideband positioning base station at the opposite end of the transmission path to send the positioning tag information based on the reception time of the positioning tag information received by the control end and the transmission delay corresponding to the transmission path through which the positioning tag information passes; and calculating the position of the positioning tag based on the positioning tag information and the sending time of the positioning tag information. The implementation methods provided by the present invention avoid additional synchronization costs in the ultra-wideband synchronous positioning system, and reduce system costs and background computing load.

Description

Technical Field

[0001] The present invention relates to the field of ultra-wideband positioning technology, and in particular to an ultra-wideband synchronous positioning method, an ultra-wideband synchronous positioning device, an ultra-wideband synchronous positioning system, an electronic device and a machine-readable storage medium. Background Art

[0002] The positioning system has high requirements for accuracy, especially in the field of substations, which involves the safety of personnel and equipment, so the requirements for latency are more stringent. The premise of accurate positioning of the system is based on the complete synchronization of all positioning devices. Therefore, the usual method is to connect all positioning base stations with the main station by laying wired transmission media, such as optical cables, to achieve time synchronization of positioning base stations. However, in scenarios with high security requirements such as substations, there are construction difficulties such as equipment power supply routing, and the difficulty of laying communication optical cables is relatively high, which consumes high costs such as manpower, financial resources, and equipment costs.

[0003] If wireless communication is used for device synchronization, it is necessary to periodically exchange a large amount of information to synchronize time between all positioning base stations. This method has huge network communication overhead and greatly increases the energy consumption of wireless communication base stations. When encountering a large number of tags and base stations, the amount of data is huge. All front-end data needs to be aggregated to the server for analysis, classification, and settlement, which puts great pressure on the server. Summary of the invention

[0004] In view of this, the present invention aims to propose an ultra-wideband synchronous positioning method, device, electronic device and system to at least partially solve the above technical problems.

[0005] To achieve the above-mentioned purpose, the present invention provides an ultra-wideband synchronous positioning method, including: the method is based on a control end and at least four ultra-wideband positioning base stations, the method includes: determining the transmission path between each ultra-wideband positioning base station and the control end; determining the transmission delay on each transmission path; determining the sending time of the ultra-wideband positioning base station at the other end of the transmission path to send the positioning tag information according to the reception time of the positioning tag information received by the control end and the transmission delay corresponding to the transmission path through which the positioning tag information passes; and calculating the position of the positioning tag according to the positioning tag information and the sending time of the positioning tag information.

[0006] Preferably, determining the transmission path between each ultra-wideband positioning base station and the control end includes: taking the path with the least relay nodes between the ultra-wideband positioning base station and the control end as the transmission path of the ultra-wideband positioning base station.

[0007] Preferably, the path with the least relay nodes between the ultra-wideband positioning base station and the control end is used as the transmission path of the ultra-wideband positioning base station, including: broadcasting a first type of data frame including a hop number and a sender ID, the hop number and the sender ID in the first type of data frame will be updated after each forwarding; taking the sender corresponding to the sender ID with the smallest hop number in the received first type of data frame as the parent node of the ultra-wideband positioning base station; if the parent node of the ultra-wideband positioning base station is the control end, generating a transmission path between the ultra-wideband positioning base station and the control end; if the parent node of the ultra-wideband positioning base station is not the control end, generating a transmission path between the ultra-wideband positioning base station and the control end with one or more ultra-wideband positioning base stations as relays.

[0008] Preferably, the method of taking the transmitter corresponding to the transmitter ID with the smallest number of hops in the received first type of data frame as the parent node of the ultra-wideband positioning base station also includes: when there is more than one transmitter ID with the smallest number of hops, selecting the transmitter with the best link quality from the multiple transmitters corresponding to the multiple transmitter IDs with the smallest number of hops as the parent node of the ultra-wideband positioning base station.

[0009] Preferably, the ultra-wideband synchronous positioning method further comprises: monitoring the operating status of the parent node of each ultra-wideband positioning base station in real time; and re-determining the parent node of the ultra-wideband positioning base station whose parent node operating status is abnormal.

[0010] Preferably, determining the transmission delay on each transmission path includes: determining the transmission delay between each ultra-wideband positioning base station and its parent node; accumulating the transmission delay between the ultra-wideband positioning base station and its parent node on the transmission path to obtain the transmission delay on the transmission path.

[0011] Preferably, determining the transmission delay between each ultra-wideband positioning base station and its parent node includes: performing initial synchronization on the ultra-wideband positioning base station and its parent node; determining the transmission delay based on the receiving time and sending time of the second type of data frame, and the sending time is included in the second type of data frame.

[0012] Preferably, the second type of data frame also includes a transmitter ID, and the initial synchronization of the ultra-wideband positioning base station and its parent node includes: receiving the second type of data frame sent by the transmitter; determining the theoretical transmission delay based on the coordinate distance between the transmitter and the transmitter ID in the second type of data frame; correcting the local time based on the sending time in the second type of data frame and the theoretical transmission delay to achieve the initial synchronization with the transmitter; wherein the transmitter is the ultra-wideband positioning base station or the parent node of the ultra-wideband positioning base station.

[0013] Preferably, the sending time of the positioning tag information sent by the ultra-wideband positioning base station at the other end of the transmission path is determined based on the reception time of the positioning tag information received by the control end and the transmission delay corresponding to the transmission path passed by the positioning tag information, including: subtracting the transmission delay corresponding to the transmission path from the reception time of the positioning tag information to obtain the sending time of the positioning tag information sent from the ultra-wideband positioning base station at the other end of the transmission path.

[0014] In the second aspect of the present invention, an ultra-wideband synchronous positioning device is also provided, and the device includes: a path determination module, which is used to determine the transmission path between each ultra-wideband positioning base station and the control end; a delay determination module, which is used to determine the transmission delay on each transmission path; a time determination module, which is used to determine the sending time of the ultra-wideband positioning base station at the other end of the transmission path to send the positioning tag information according to the reception time of the positioning tag information received by the control end and the transmission delay corresponding to the transmission path passed by the positioning tag information; and a position calculation module, which is used to calculate the position of the positioning tag according to the positioning tag information and the sending time of the positioning tag information.

[0015] In the third aspect of the present invention, there is also provided an electronic device, comprising a processor and a memory; the memory stores a computer program readable by the processor; wherein when the processor executes the computer program, the steps of the aforementioned ultra-wideband synchronous positioning method are implemented.

[0016] In a fourth aspect of the present invention, a control terminal is further provided. The control terminal is communicatively coupled to at least four ultra-wideband positioning base stations, and the control terminal is configured to execute the aforementioned ultra-wideband synchronous positioning method.

[0017] In the fifth aspect of the present invention, an ultra-wideband synchronous positioning system is also provided, comprising the aforementioned control terminal and at least four aforementioned ultra-wideband positioning base stations, wherein the control terminal and the ultra-wideband positioning base stations are communicatively connected via a wireless communication networking intercommunication module.

[0018] In the sixth aspect of the present invention, a machine-readable storage medium is further provided, storing a computer program; when the program is executed by a processor, the steps of the aforementioned ultra-wideband synchronous positioning method are implemented.

[0019] Compared with the prior art, the ultra-wideband synchronous positioning method, device, electronic device and system provided by the embodiments of the present invention have the following beneficial effects:

[0020] The implementation method provided by the present invention does not need to add any separate clock synchronization unit hardware to the device, and does not need to perform time synchronization on the tag end. It only needs to know the time information when the tag information arrives at the positioning base station to solve the coordinate information of the target tag to be located according to the equation group composed of the coordinate information of the four nodes, thereby avoiding the high cost brought by the construction of the ultra-wideband synchronization system. At the same time, the position coordinate solution work of the target positioning tag is set to be completed on the control end, reducing the computing pressure on the server end.

[0021] Other features and advantages of the present invention will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The accompanying drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the accompanying drawings:

[0023] Figure 1 It is a schematic diagram of the process of the ultra-wideband synchronous positioning method provided by an embodiment of the present invention;

[0024] Figure 2 It is a schematic diagram of a flow chart of determining a transmission path based on a path detection frame provided by an embodiment of the present invention;

[0025] Figure 3 It is a schematic diagram of the process of parent node status monitoring provided by an embodiment of the present invention;

[0026] Figure 4 It is a schematic diagram of the calculation process of the transmission delay provided by the embodiment of the present invention;

[0027] Figure 5 It is a schematic diagram of the calculation flow of delay synchronization and positioning tag solution provided by an embodiment of the present invention;

[0028] Figure 6 is a schematic diagram of a TDOA positioning algorithm provided by an embodiment of the present invention;

[0029] Figure 7 is a schematic diagram of the structure of a control terminal provided by an embodiment of the present invention;

[0030] Figure 8 It is a structural schematic diagram of an ultra-wideband synchronous positioning base station provided by an embodiment of the present invention;

[0031] Fig. 9 It is a schematic diagram of the structure of an ultra-wideband synchronous positioning system provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0032] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features of the embodiments may be combined with each other.

[0033] The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments.

[0034] Figure 1 is a flow chart of an ultra-wideband synchronous positioning method provided by an embodiment of the present invention, such as Figure 1 An ultra-wideband synchronous positioning method is applied to an ultra-wideband synchronous positioning system, the system includes a control terminal and at least four ultra-wideband positioning base stations that are communicatively coupled, the method includes:

[0035] S01, determining a transmission path between each ultra-wideband positioning base station and the control end;

[0036] Since multiple ultra-wideband positioning base stations are deployed in different locations, their communication relationship with the control end is also divided into direct reachability and indirect reachability. Among them, indirect reachability includes the use of other ultra-wideband positioning base stations for relaying. In the case of direct reachability, the ultra-wideband positioning base station communicates directly with the control end and does not require relaying. In the case of indirect reachability, the ultra-wideband positioning base station needs to determine a communication path for transmission with the control end, which can be referred to as a transmission path here. The transmission path is used for information transmission between the ultra-wideband positioning base station and the control end. Each ultra-wideband positioning base station has a transmission path with the control end.

[0037] S02, determining the transmission delay on each transmission path;

[0038] The transmission of a signal along a transmission path will have a delay, which may include the time required for channel transmission and the time required for node device processing. By determining the transmission delay along the transmission path, the receiving time can be calculated when the sending time is determined. Or vice versa, the sending time can be calculated when the receiving time is determined.

[0039] S03, determining the sending time of the positioning tag information sent by the ultra-wideband positioning base station at the other end of the transmission path according to the reception time of the positioning tag information received by the control end and the transmission delay corresponding to the transmission path through which the positioning tag information passes;

[0040] The control end receives the positioning tag information as the receiving end, obtains the receiving time based on the local time, and can determine through the transmission path: which ultra-wideband positioning base station sent the positioning tag information, and the corresponding sending time. The sending time here does not depend on the front-end sending source base station of the positioning tag information, but is calculated by the control end itself, so as to avoid prior synchronization with the ultra-wideband positioning base station.

[0041] S04, the location of the positioning tag is calculated based on the positioning tag information and the sending time of the positioning tag information. The control end calculates the location of the positioning tag based on the positioning tag information obtained by multiple ultra-wideband positioning base stations, and the calculation method can directly adopt the positioning algorithm in the existing technology, such as TDOA positioning algorithm.

[0042] Through the above implementation, the synchronization requirement of the system composed of multiple ultra-wideband positioning base stations in the prior art is avoided, and there is no need to perform full synchronization deployment and interactive operations on all ultra-wideband positioning base stations and positioning tags in advance. This not only reduces the terminal hardware cost, but also reduces the communication overhead for full synchronization of all devices to a certain extent.

[0043] In some possible implementations, the path with the least relay nodes is used as the transmission path between the ultra-wideband positioning base station and the control terminal. In the transmission process of positioning tag information, each additional relay will introduce additional delay. This implementation uses the path with the least relay nodes, which is conducive to reducing the transmission time of positioning tag information and improving transmission efficiency.

[0044] In some possible implementations, the transmission path with the least relays between the control end and each ultra-wideband positioning base station is determined as the transmission path, including: broadcasting a first type of data frame including the number of hops and the sending end; the number of hops and the sending end in the first type of data frame will be updated after each forwarding; the sending end with the smallest number of hops in the received first type of data frame is used as the parent node of the ultra-wideband positioning base station; if the parent node of the ultra-wideband positioning base station is the control end, the transmission path between the ultra-wideband positioning base station and the control end is generated; if the parent node of the ultra-wideband positioning base station is not the control end, the transmission path between the ultra-wideband positioning base station and the control end with one or more ultra-wideband positioning base stations as relays is generated. The parent node here is actually the next hop node for the information transmission of the ultra-wideband positioning base station. The first type of data frame here (depending on its function, it can also be called a path detection frame or Packet det ) Its content includes at least the hop count and the sender to identify the number of times the data frame is relayed and which device in the system sends it. det ) can be formatted as follows:

[0045]

[0046] The frame format includes the transmitter ID of the detection frame (ie, Transmitter ID, the ID of the control end (hereinafter also referred to as the wireless synchronization control device) is 0), the previous node hop count information (Pre-Hop Count), and the local synchronization start waiting time information (Local Start Waiting Time).

[0047] Figure 2 is a schematic diagram of a flow chart of determining a transmission path based on a path detection frame provided in an embodiment of the present invention, such as Figure 2 As shown. When an ultra-wideband positioning base station receives a path detection frame, it parses the data frame, adds 1 to the Pre-HopCount field information in the frame, and records it locally as its current hop count; records the transmitter ID as its parent node ID; the local synchronization start waiting time information (LocalStart Waiting Time) is τ (τ is equal to the two-hop transmission time), and records the local synchronization start waiting time information (Local Start Waiting Time) of each ultra-wideband positioning base station as τ (τ is equal to the two-hop transmission time). And record its own ID and its own hop count in the transmitter ID (Transmitter ID) field and the hop count (Hop Count) field respectively, and continue to broadcast the path detection frame.

[0048] For example, when an ultra-wideband positioning base station receives a path detection frame from a wireless synchronization control device, it records the local hop count as 1 locally, and updates its own ID, local hop count, and local time window into the transmitter ID field and the hop count field, and continues to broadcast the path detection frame. This is to ultimately enable each ultra-wideband positioning base station in the network to obtain its own hop count information, parent node information, and time window information.

[0049] In some possible implementations, the method of using the transmitter with the smallest hop count in the received first-class data frame as the parent node of the ultra-wideband positioning base station also includes: when there is more than one transmitter ID with the smallest hop count, selecting the transmitter with the best link quality from the transmitter with the smallest hop count as the parent node of the ultra-wideband positioning base station. For example, when an ultra-wideband positioning base station receives a path detection frame broadcast by surrounding nodes, the hop count (Hop Count) field in the frame is verified. If the hop count (Pre-Hop Count) plus 1 (i.e., the latest local hop count) in the newly received path detection frame is greater than the previously recorded current hop count (Hop Count), the current path detection frame is discarded. If the hop count plus 1 in the newly received path detection frame is less than the previously recorded current hop count (Hop Count), the transmitter ID (Transmitter ID) in the current path detection is updated to its own parent node (Parent ID). If the hop count plus 1 in the newly received path detection frame is equal to the previously recorded current hop count (Hop Count), the transmission path loss is used as the link quality evaluation indicator Link between two adjacent base stations. level. Comparison of link quality evaluation indicators Link level , select the sending node with better link quality evaluation index to update as its parent node (Parent ID). The link quality evaluation index here takes the substation environment as an example, and the calculation method is as follows: The transmission path loss is L = Lp (f, d) + L subs+ L met , where Lp is the propagation loss in the space, L subs is the electromagnetic interference loss in the substation environment, L met is the shielding loss in a multi-metal environment. The link quality evaluation index is obtained, and the transmitter with the best link quality is selected as the parent node.

[0050] The parent node determined by the above implementation may have various abnormal conditions, so that it becomes unavailable, so it is necessary to monitor the operation status of the parent node in real time, so as to re-determine the parent node according to the above implementation when the parent node is abnormal. Therefore, the ultra-wideband synchronous positioning method also includes: real-time monitoring of the operation status of the parent node of each ultra-wideband positioning base station; re-determining the parent node of the ultra-wideband positioning base station whose parent node has an abnormal operation status. Figure 3 is a schematic diagram of a process of monitoring the state of a parent node provided by an embodiment of the present invention, such as Figure 3 The ultra-wideband positioning base station node periodically unicasts the parent node status detection frame with a period of T parent_detedc , design the parent node state feedback receiving time window T detect_window , used to receive the status confirmation frame ACK returned by the parent node parent_confirm Detect the parent node status information. If in the receiving time window T detect_window Backoff ends, and the parent node returns a status confirmation frame ACK. parent_confirm , in the neighbor node information list, the identity information of the current parent node is changed from the parent node identity (Parent) to the common identity (Common), and the neighbor node status information (NeighborIdentity) corresponding to the parent node is changed from normal status (Normal) to abnormal (Abnormal).

[0051] Current UWB positioning base station selection inter-base station link quality evaluation index Link level (A->N) is the smallest, and the node status information is normal. The neighboring base station node with an ordinary identity is updated to the latest parent node identity. The link delay information frame Pkt is sent in unicast form via the latest parent node transmission path, carrying the latest link delay information. delay_infoTo the control end. The control end synchronously updates the transmission delay of the transmission path for the current positioning base station node. Because the ultra-wideband positioning system has high accuracy requirements, this implementation method can effectively reduce the transmission interruption caused by obstacles in the transmission path and hardware and software failures of the intermediate base station nodes, and increase the transmission delay of the positioning information.

[0052] In some possible implementations, determining the transmission delay on each transmission path includes: determining the transmission delay between each ultra-wideband positioning base station and its parent node; accumulating the transmission delay between the ultra-wideband positioning base station and its parent node on the transmission path to obtain the transmission delay on the transmission path. In this implementation, the transmission delay on the transmission path is obtained in a segmented manner. The entire transmission path includes multiple relay segments, and the transmission delay of each relay segment needs to be accumulated to obtain the total transmission delay on the transmission path. Among them, the transmission delay of each relay segment can be obtained by the following implementation: Figure 4 : is a schematic diagram of the calculation flow of the transmission delay provided by the embodiment of the present invention, such as Figure 4 Performing initial synchronization between the ultra-wideband positioning base station and its parent node, including

[0053] (1) Receive the second type of data frame sent by the sender. The second type of data frame can also be called a local synchronous broadcast data frame or a Pkt local_sync . Its format is as follows:

[0054] Preamble Frame Control Transmitter ID Send Time FCS

[0055] The frame contains the synchronous broadcast data frame transmitter ID (Transmitter ID) and the sending time (SendTime). The second type of data frame has the following relationship with the sending time of the first type of data frame: when an ultra-wideband positioning base station receives the path detection frame broadcast by the surrounding nodes, it needs to wait for the local synchronization start waiting time information (Local Start Waiting Time) for a period of time T wait . T wait Equal to 2 times the single-hop transmission time τ and the single communication architecture information processing time Δt proc_smdelay The sum is denoted as T wait =2*(τ+Δt proc_smdelay ), after waiting for this period of time, the current ultra-wideband positioning base station starts the local synchronous broadcast action and broadcasts the local synchronous broadcast data frame carrying local time information to the surrounding ultra-wideband positioning base station nodes. This is to prevent the local synchronous broadcast data frame (Pkt local_sync ) and other nodes are broadcasting path detection frames. Set the local synchronous broadcast data frame broadcast time window to T window . T windowAfter the retreat is completed, stop broadcasting to the surrounding area.

[0056] (2) Determine the theoretical transmission delay based on the coordinate distance between the transmitting end and the second type of data frame. Each ultra-wideband positioning base station stores multiple lists in the storage module, one of which is a list of ultra-wideband positioning base station position coordinates that records the fixed coordinates of all nodes in the network. After the current ultra-wideband positioning base station receives the local synchronous broadcast data frame broadcast by the surrounding ultra-wideband positioning base stations, the transmission delay between two adjacent ultra-wideband positioning base stations can be calculated by the distance formula between the two points.

[0057]

[0058] d=c*Δt

[0059] Right now

[0060]

[0061]

[0062] Among them, (x recv ,y recv , z recv ) is to receive the local synchronous broadcast data frame Pkt local_sync The node coordinates (x send ,y send , z send ) is to send a local synchronous broadcast data frame Pkt local_sync The node coordinates, Δt neighbor_init is the initial transmission delay, d is the coordinate distance, and c is the electromagnetic wave propagation speed.

[0063] (3) Correct the local time according to the sending time in the second type of data frame and the theoretical transmission delay to achieve the initial synchronization with the sending end. The current ultra-wideband positioning base station receives the first local synchronous broadcast data frame from the surrounding neighbor ultra-wideband positioning base station. According to the sending time information in the frame, the current arrival time Arrive_Time = Send_Time + Δt neighbor_init According to the current arrival time, the current ultra-wideband positioning base station readjusts the clock for timing to achieve initial synchronization between two adjacent ultra-wideband positioning base stations.

[0064] Furthermore, the current ultra-wideband positioning base station continuously receives K local synchronous broadcast data frames from the same neighboring ultra-wideband positioning base station. Based on the updated clock, the link delays between the arrival time and the sending time of K pairs are calculated as follows:

[0065] Δt neighbor_init (i)=Arrive_Time(i)-Send_Time(i),

[0066] Where i∈[1,K]. If K is large enough, the link delay conforms to the normal distribution. Solve the mean value of K for the link delay as the corrected estimate of the link delay between each two adjacent UWB positioning base stations, and obtain the link delay Δt between each two adjacent UWB positioning base stations. neighbor ,Right now

[0067]

[0068] After the transmission delay calculation is completed, the fixed position coordinate list of all base station nodes in the network can be deleted.

[0069] In some optional implementations, the transmission time of the positioning tag information from the ultra-wideband positioning base station at the opposite end of the transmission path is determined based on the reception time of the positioning tag information received by the control end and the transmission delay corresponding to the transmission path through which the positioning tag information passes, including: subtracting the transmission delay corresponding to the transmission path from the reception time of the positioning tag information to obtain the transmission time of the positioning tag information from the ultra-wideband positioning base station at the opposite end of the transmission path. Because the time error has a great influence on the accuracy of the positioning system, the data transmission delay in this implementation is Δt proc_dmdelay The control end calculates the delay information on the transmission path of each base station node as RouteDelay+Δt proc_delay Among them, Route Delay is the cumulative delay information of the path, Δt proc_delay is the data processing delay between modules of the dual communication architecture. Assuming that the control end ID is represented by the letter O, the transmission delay list of the transmission path from the control end to each positioning base station is as follows:

[0070]

[0071] In some possible implementations, the position of the positioning tag is obtained by calculating the position of the positioning tag according to the positioning tag information and the sending time in step S04, and the calculation can be performed in the following manner.

[0072] Figure 5 FIG. 1 is a schematic diagram of a calculation flow of delay synchronization and positioning tag solution provided by an embodiment of the present invention, such as Figure 5 As shown. According to the TDOA positioning algorithm, at least four positioning base stations are required to locate the position of the tag. The TDOA positioning algorithm is not only applicable to ultra-wideband positioning base stations, but also to other types of positioning base stations, so the positioning base stations here include ultra-wideband positioning base stations. Figure 6 Schematic diagram of the TDOA positioning algorithm provided by the embodiment of the present invention. Figure 6 As shown. The target tag to be located (x, y, z) to the positioning base station A (x A ,yA , z A )、B(x B ,y B , z B )、C(x c ,y C , z C )、D(x D ,y D , z D ) are respectively represented by R B , R C , R D The above distance relationship can be expressed as follows using the coordinates of the positioning base station and the target to be positioned:

[0073]

[0074]

[0075]

[0076]

[0077] Then, the distance difference obtained by the time difference can be used to establish the following equations for the x, y, z coordinates of the target tag to be located:

[0078]

[0079] in,

[0080] t BA =(t B -t0)-(t A -t0)

[0081] t CA =(t c -t o )-(t A -t0)

[0082] t DA =(t D -t0)-(t A -t0)

[0083] B, C, and D are common positioning base stations that can be reached by the target positioning tag information, and A is the reference positioning base station. In the control end (or wireless synchronization control device), according to the situation that the target positioning tag information is delivered to the relevant positioning base stations, the transmission delay of each of the aforementioned positioning base stations is evaluated, and the relevant base station with the smallest transmission delay information is determined as the reference base station A, and the remaining positioning base stations are set as common base stations in the calculation for the current target positioning tag.

[0084] t A,t B ,t C ,t D is the time information when the tag information arrives at the positioning base stations A, B, C, and D, and t0 is the information sending time at the tag end. Because in the TDOA algorithm, the information sending time at the tag end can be eliminated through the above equations, so there is no need to synchronize the time at the tag end. Only the time information when the tag information arrives at the positioning base station can be solved according to the above equations to calculate the coordinate information of the tag with the positioning target.

[0085] t A ,t B ,t C ,t D According to the information of the target positioning tag, the base station N i (i.e. A, B, C, D) are forwarded and reach the wireless synchronization control device N sync The time minus the stored optimal path delay information (Route Delay (N i ->N sync )+Δt proc_dmdelay ), the time when the target positioning tag information arrives at each node can be obtained, and the coordinate information of the target tag to be located can be solved according to the above equations.

[0086] In some implementations, an ultra-wideband synchronous positioning method is also provided, which is applied to a control end, and the control end is coupled to at least four ultra-wideband positioning base stations in communication, and the ultra-wideband synchronous positioning method includes: obtaining positioning tag information; determining the reception time of the positioning tag information and the transmission delay of the positioning tag information on the transmission path; calculating the transmission time of the positioning tag information from the ultra-wideband positioning base station at the opposite end of the transmission path according to the reception time and the transmission delay; and calculating the position of the positioning tag according to the positioning tag information and the transmission time of the positioning tag information. The control end in this implementation mainly implements the following functions:

[0087] (1) Receive positioning tag information from an ultra-wideband positioning base station;

[0088] (2) determining the acquisition time of the received positioning tag information at the ultra-wideband positioning base station;

[0089] (3) Calculate the positioning tag information to obtain the position of the positioning tag.

[0090] In some optional implementations, the transmission path includes: a transmission path with the least relays between each ultra-wideband positioning base station.

[0091] In some optional embodiments, the transmission delay of the positioning tag information on the transmission path is determined by the following steps: accumulating the transmission delay between each ultra-wideband positioning base station and its parent node on the transmission path to obtain the transmission delay on the transmission path; the parent node is an adjacent transmission target node of the ultra-wideband positioning base station determined according to the transmission path.

[0092] In some optional implementations, the transmission delay between each ultra-wideband positioning base station and its parent node is measured by the ultra-wideband positioning base station and reported to the control end through the transmission path between the ultra-wideband positioning base station and the control end.

[0093] The specific implementation process of the above implementation mode and optional implementation mode is described above and will not be repeated here.

[0094] In some embodiments, an ultra-wideband synchronous positioning method is also provided, which is applied to an ultra-wideband positioning base station, and the method includes: determining an ultra-wideband positioning base station or a control terminal as the parent node of the ultra-wideband positioning base station according to the acquired data frame; measuring the transmission delay between the ultra-wideband positioning base station and the parent node, and sending the transmission delay to the parent node; if the positioning tag information is acquired, forwarding the positioning tag information to the parent node; if the reported transmission delay is received, adding the reported transmission delay to the transmission delay between the ultra-wideband positioning base station and the parent node to generate an accumulated transmission delay and send it to the parent node; the transmission delay is used to determine the sending time of the positioning tag information; the positioning tag information and the sending time are used to solve the position of the positioning tag. The ultra-wideband positioning base station in this embodiment mainly implements the following functions:

[0095] (1) Determine the parent node. That is, determine the topological position of the ultra-wideband positioning base station in the system. The determined parent node serves as the forwarding target node of the positioning tag information and the reporting target node of the transmission delay. The parent node is determined by using the aforementioned path detection frame (Packet det ), the specific implementation process is referred to the previous text and will not be repeated here.

[0096] (2) Forwarding the positioning tag information. The positioning tag information is finally sent to the control end, which implements the solution function to obtain the position of the positioning tag.

[0097] (3) Measure the transmission delay on this relay segment and report it. The implementation process of transmission delay measurement is as mentioned above and will not be repeated here. window After the backoff ends, the current UWB positioning base station unicasts the link delay information frame Pkt to the parent node. delay_infoThe link delay between the local and upper parent node base stations is superimposed and continues to be transmitted to the upper node in unicast mode until it is transmitted to the control end. The control end can obtain the delay information of all ultra-wideband positioning base stations on the entire transmission path. Link delay information frame Pkt delay_info The frame format is as follows: it contains the starting node ID information and the path cumulative delay information (Route Delay) of the path passed from the starting node base station.

[0098] Preamble Frame Control Transmitter ID Route Delay FCS

[0099] Among them, Transmitter ID is the sender ID, and Route Delay is the reported transmission delay.

[0100] Each ultra-wideband positioning base station can also store the above information by setting a list in the storage module. The list is used to record local information including parent node information, time window information T window , Hop Count, Parent Node Status Feedback Receiving Time Window T detect_window ; Record all neighbor node information of the network itself, including neighbor base station ID, link quality evaluation index Link between neighbor base stations level , Link Delay information Δt between neighboring base stations neighbor , neighbor node identity information (Neighbor Identity), neighbor node status information (Neighbor Identity). The structure of the list is as follows:

[0101]

[0102] In some optional implementations, determining an ultra-wideband positioning base station or a control terminal as the parent node of the ultra-wideband positioning base station according to the acquired first-class data frame includes: receiving the first-class data frame including the hop number and the transmitting end; the hop number and the transmitting end in the first-class data frame will be updated after each forwarding; and determining the transmitting end with the smallest hop number in the received first-class data frame as the parent node of the ultra-wideband positioning base station. Here, according to the path detection frame (Packet det ) The process of determining the parent node is as described above and will not be repeated here.

[0103] In some optional implementations, the method of using the transmitter with the smallest number of hops in the received first-class data frame as the parent node of the ultra-wideband positioning base station further includes: determining that there is more than one transmitter with the smallest number of hops, and selecting the transmitter with the best link quality from the transmitter with the smallest number of hops as the parent node of the ultra-wideband positioning base station. When there are two or more transmitters with the smallest number of hops, the transmitter with the best link quality is selected as the parent node, and the specific process is as described above and will not be repeated here.

[0104] In some optional implementations, the operating status of the parent node is monitored in real time; if the operating status of the parent node is abnormal, the parent node of the ultra-wideband positioning base station is re-determined.

[0105] In some optional embodiments, the measurement of the transmission delay between the parent node and the parent node includes: performing initial synchronization with the parent node; determining the transmission delay based on the receiving time and sending time of the second type of data frame; and the sending time is included in the second type of data frame.

[0106] In some optional embodiments, the second type of data frame includes the sending time and the sending end; initial synchronization with the parent node includes: receiving the second type of data frame sent by the sending end; determining the theoretical transmission delay based on the coordinate distance between the sending end and the second type of data frame; correcting the local time based on the sending time in the second type of data frame and the theoretical transmission delay to achieve the initial synchronization with the sending end; wherein the sending end is the ultra-wideband positioning base station or the parent node of the ultra-wideband positioning base station.

[0107] In some optional embodiments, the transmission delay is used to determine the sending time of the positioning tag information, including: subtracting the transmission delay corresponding to the transmission path from the receiving time of the positioning tag information to obtain the sending time of the positioning tag information at the ultra-wideband positioning base station at the other end of the transmission path.

[0108] The implementation steps in the above optional implementation modes can all refer to the corresponding parts described in the previous text and will not be repeated here.

[0109] In some embodiments, an ultra-wideband synchronous positioning device is also provided, which includes: a path determination module, used to determine the transmission path between each ultra-wideband positioning base station and the control end; a delay determination module, used to determine the transmission delay on each transmission path; a time determination module, used to determine the sending time of the ultra-wideband positioning base station at the other end of the transmission path to send the positioning tag information based on the reception time of the positioning tag information received by the control end and the transmission delay corresponding to the transmission path passed by the positioning tag information; and a position calculation module, used to calculate the position of the positioning tag based on the positioning tag information and the sending time of the positioning tag information.

[0110] The specific definition of each functional module in the above-mentioned ultra-wideband synchronous positioning device can refer to the definition of the ultra-wideband synchronous positioning method above, which will not be repeated here. Each module in the above-mentioned device can be implemented in whole or in part by software, hardware and a combination thereof. The above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

[0111] In some optional implementations, a control terminal is also provided, the control terminal is communicatively coupled with at least four ultra-wideband positioning base stations, and the control terminal is configured to execute the aforementioned ultra-wideband synchronous positioning method. The control terminal here can be communicatively coupled with the ultra-wideband synchronous positioning in a wireless manner, and therefore can also be referred to as a wireless synchronous control device. Figure 7 is a schematic diagram of the structure of the control terminal provided by an embodiment of the present invention, such as Figure 7 As shown. It includes: power management, main control unit, storage unit, public network communication module and networking information interaction communication module. The main control unit includes a computing unit, and the public network communication module and the networking information interaction communication module are respectively connected to the public network communication transmission antenna and the networking information interaction communication antenna. The power management continuously supplies power to the device through solar power. The control end is equipped with dual communication modules, including a public network communication module and a networking information interaction communication module. The public network communication module is used for data communication with the background master station; the networking information interaction communication module is used for data communication with the background master station.

[0112] In some optional implementations, an ultra-wideband positioning base station is also provided, and the ultra-wideband positioning base station is configured to execute the ultra-wideband synchronous positioning method as claimed in the preceding claims. Figure 8 is a schematic diagram of the structure of an ultra-wideband synchronous positioning base station provided by an embodiment of the present invention, such as Figure 8As shown. The ultra-wideband synchronous positioning base station includes: power management, main control unit, storage unit, ultra-wideband communication module and networking information interaction communication module. The main control unit includes a computing unit, and the ultra-wideband communication module and the networking information interaction communication module are respectively connected to the ultra-wideband signal receiving antenna and the networking information interaction communication antenna. The power management continuously supplies power to the device through solar power. The ultra-wideband synchronous positioning base station is equipped with dual communication modules, including an ultra-wideband communication module and a networking information interaction communication module. The ultra-wideband communication module is used to receive ultra-wideband data frames sent by the positioning tag; the networking information interaction communication module is used for information interaction between positioning base stations, and communication between the positioning base station and the wireless synchronization control device.

[0113] In some embodiments of the present invention, an ultra-wideband synchronous positioning system is also provided, comprising the aforementioned control terminal and at least four aforementioned ultra-wideband positioning base stations, wherein the control terminal and the ultra-wideband positioning base stations are communicatively connected via a wireless communication networking intercommunication module. Fig. 9 Schematic diagram of the structure of the ultra-wideband synchronous positioning system provided by the embodiment of the present invention. Fig. 9 As shown in the figure, the control end is a wireless synchronization control device, and AF in the figure are ultra-wideband positioning base stations. The figure also illustrates the changes of the path detection frame during the transmission process of the ultra-wideband synchronous positioning system, as well as the local information stored in the ultra-wideband positioning base stations C and F.

[0114] In some embodiments of the present invention, an electronic device is also provided, comprising a processor and a memory; the memory stores a computer program readable by the processor; wherein when the processor executes the computer program, one of the steps of the aforementioned ultra-wideband synchronous positioning method is implemented. The electronic device here can be a server, a dedicated device, a computer, or other device that can execute a computer program.

[0115] In some embodiments of the present invention, a machine-readable storage medium is provided, storing a computer program; when the program is executed by a processor, at least one step of the aforementioned ultra-wideband synchronous positioning method is implemented.

[0116] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0117] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0118] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0119] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0120] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0121] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0122] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0123] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0124] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. An ultra-wideband synchronous positioning method, characterized in that: The method is based on a control terminal and at least four ultra-wideband positioning base stations, and the method includes: Determining a transmission path between each ultra-wideband positioning base station and the control terminal; Determining the transmission delay on each transmission path includes: determining the transmission delay between each ultra-wideband positioning base station and its parent node; accumulating the transmission delay between the ultra-wideband positioning base station and its parent node on the transmission path to obtain the transmission delay on the transmission path; wherein, determining the transmission delay between each ultra-wideband positioning base station and its parent node includes: performing initial synchronization on the ultra-wideband positioning base station and its parent node; determining the transmission delay according to the receiving time and sending time of the second type of data frame, the sending time being included in the second type of data frame; Determine the sending time of the positioning tag information sent by the ultra-wideband positioning base station at the other end of the transmission path according to the reception time of the positioning tag information received by the control end and the transmission delay corresponding to the transmission path through which the positioning tag information passes; The position of the positioning tag is obtained by calculating the positioning tag information and the sending time of the positioning tag information.

2. The ultra-wideband synchronous positioning method according to claim 1, characterized in that: Determining a transmission path between each ultra-wideband positioning base station and the control end includes: The path with the least relay nodes between the ultra-wideband positioning base station and the control end is used as the transmission path of the ultra-wideband positioning base station.

3. The ultra-wideband synchronous positioning method according to claim 2, characterized in that: The method of using a path with the least relay nodes between the ultra-wideband positioning base station and the control terminal as a transmission path of the ultra-wideband positioning base station includes: Broadcasting a first type of data frame including a hop count and a sender ID, wherein the hop count and the sender ID in the first type of data frame will be updated after each forwarding; The sending end corresponding to the sending end ID with the smallest number of hops in the received first type of data frame is used as the parent node of the ultra-wideband positioning base station; If the parent node of the ultra-wideband positioning base station is a control end, generating a transmission path between the ultra-wideband positioning base station and the control end; If the parent node of the ultra-wideband positioning base station is not the control end, a transmission path between the ultra-wideband positioning base station and the control end is generated with one or more ultra-wideband positioning base stations as relays.

4. The ultra-wideband synchronous positioning method according to claim 3, characterized in that: The method of taking the transmitting end corresponding to the transmitting end ID with the smallest number of hops in the received first type of data frame as the parent node of the ultra-wideband positioning base station also includes: When there is more than one transmitter ID with the smallest hop number, a transmitter with the best link quality is selected from multiple transmitters corresponding to the multiple transmitter IDs with the smallest hop number as the parent node of the ultra-wideband positioning base station.

5. The ultra-wideband synchronous positioning method according to claim 3, characterized in that: The ultra-wideband synchronous positioning method also includes: Monitor the operating status of the parent node of each ultra-wideband positioning base station in real time; Re-determine the parent node of the ultra-wideband positioning base station whose parent node operating status is abnormal.

6. The ultra-wideband synchronous positioning method according to claim 1, characterized in that: The second type of data frame further includes a transmitter ID, and the initial synchronization of the ultra-wideband positioning base station and its parent node includes: Receiving the second type of data frame sent by the transmitting end; Determine the theoretical transmission delay according to the coordinate distance between the coordinates of the transmitting end corresponding to the transmitting end ID in the second type of data frame; Correct the local time according to the sending time in the second type of data frame and the theoretical transmission delay to achieve the initial synchronization with the sending end; Wherein, the transmitting end is the ultra-wideband positioning base station or a parent node of the ultra-wideband positioning base station.

7. The ultra-wideband synchronous positioning method according to claim 1, characterized in that: Determining the sending time of the positioning tag information sent by the ultra-wideband positioning base station at the opposite end of the transmission path according to the receiving time of the positioning tag information received by the control end and the transmission delay corresponding to the transmission path through which the positioning tag information passes, comprising: The transmission delay corresponding to the transmission path is subtracted from the reception time of the positioning tag information to obtain the transmission time when the positioning tag information is sent from the ultra-wideband positioning base station at the other end of the transmission path.

8. An ultra-wideband synchronous positioning device, characterized in that: The device comprises: A path determination module, used to determine the transmission path between each ultra-wideband positioning base station and the control end; The delay determination module is used to determine the transmission delay on each transmission path, including: determining the transmission delay between each ultra-wideband positioning base station and its parent node; accumulating the transmission delay between the ultra-wideband positioning base station and its parent node on the transmission path to obtain the transmission delay on the transmission path; wherein, the determination of the transmission delay between each ultra-wideband positioning base station and its parent node includes: performing initial synchronization on the ultra-wideband positioning base station and its parent node; determining the transmission delay according to the reception time and the transmission time of the second type of data frame, and the transmission time is included in the second type of data frame; A time determination module, configured to determine a sending time of the positioning tag information sent by the ultra-wideband positioning base station at the other end of the transmission path according to a receiving time of the positioning tag information received by the control end and a transmission delay corresponding to a transmission path through which the positioning tag information passes; and The position calculation module is used to calculate the position of the positioning tag according to the positioning tag information and the sending time of the positioning tag information.

9. An electronic device, characterized in that: It comprises a processor and a memory; the memory stores a computer program that can be read by the processor; wherein when the processor executes the computer program, the steps of the ultra-wideband synchronous positioning method as claimed in any one of claims 1 to 7 are implemented.

10. A control terminal, the control terminal being communicatively coupled to at least four ultra-wideband positioning base stations, characterized in that: The control end is configured to execute the ultra-wideband synchronous positioning method described in any one of claims 1 to 7.

11. An ultra-wideband synchronous positioning system, characterized in that: It comprises the control terminal as claimed in claim 10, and at least four ultra-wideband positioning base stations.

12. A machine-readable storage medium, characterized in that: A computer program is stored; when the program is executed by a processor, the steps of the ultra-wideband synchronous positioning method described in any one of claims 1 to 7 are implemented.

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