A spatial ranging system, method and device based on ultra-wideband technology

Abstract

The present invention is applicable to the field of wireless communication technology, and provides a space ranging system, method and device based on ultra-wideband technology. The space ranging system based on ultra-wideband technology includes at least two space ranging devices, and the space ranging device includes: a wireless data transceiver module for transmitting and receiving wireless data; an ultra-wideband pulse transceiver module for transmitting and receiving ultra-wideband positioning data; a digital protocol processing module for coordinating the wireless data transceiver module and the ultra-wideband pulse transceiver module, and encoding and decoding the data; a processing operation module for obtaining a space ranging result based on the wireless data and the ultra-wideband positioning data. The system of the present invention can achieve wireless data transmission and reception and precise space positioning, with a simple implementation method and a flexible and free structure, which can greatly reduce the chip area, and make full use of the flexibility of software operations to reduce the systemic risk of chip design.

Description

Technical Field

[0001] The present invention belongs to the field of wireless communication technology, and in particular relates to a space ranging system, method and device based on ultra-wideband technology. Background Art

[0002] In the field of chip technology in today's world, wireless data communication and precise spatial positioning are two closely related technical fields. In order to achieve precise spatial positioning, we must first achieve accurate spatial ranging capabilities. With the rapid development of science and technology, the demand for precise spatial positioning is increasing. In recent years, UWB (Ultra Wide Band) technology has developed rapidly in this field and has become one of the most promising technical solutions for precise spatial positioning.

[0003] In order to promote the development of UWB technology, IEEE (Institute of Electrical and Electronics Engineers) has formulated UWB-related technical standards and has iterated multiple versions in recent years. In the latest IEEE Standard 802.15.4 standard (in the following description, the IEEE standard is sometimes used to refer to this protocol), the use of UWB for wireless data transmission and ranging positioning has been clearly regulated. Currently, there are many chip products on the market that comply with the IEEE Standard 802.15.4 protocol framework.

[0004] However, a basic design concept of the IEEE Standard 802.15.4 protocol is to use UWB to achieve wireless data transmission. When ranging is required, UWB ranging frames are sent and received between devices to achieve accurate ranging. This method of binding wireless data transmission and reception with accurate ranging brings a disadvantage: if the designer only needs the ability of accurate ranging, but in order to achieve this capability, the ability of wireless data transmission and reception must be implemented in the manner specified by the protocol. Unfortunately, the UWB data transceiver specified in the protocol involves the correlation operation of spatial signals, and multiple parallel correlation operators and a large amount of supporting logic must be designed, and the implementation cost is very high.

[0005] Therefore, a new spatial ranging method is needed to solve the problems of large logical calculation and high cost of existing spatial ranging based on UWB technology. Summary of the invention

[0006] The purpose of the embodiments of the present invention is to provide a space ranging system based on ultra-wideband technology, aiming to solve the problems of large logical calculation amount and high cost of existing space ranging based on UWB technology.

[0007] The embodiment of the present invention is implemented as follows: a space ranging system based on ultra-wideband technology, the space ranging system based on ultra-wideband technology includes at least two space ranging devices, and the space ranging device includes:

[0008] A wireless data transceiver module, used for sending and receiving wireless data;

[0009] Ultra-wideband pulse transceiver module, used for sending and receiving ultra-wideband positioning data;

[0010] A digital protocol processing module, used to coordinate the wireless data transceiver module and the ultra-wideband pulse transceiver module, and to encode and decode the data;

[0011] The processing and operation module is used to obtain a spatial ranging result according to the wireless data and the ultra-wideband positioning data.

[0012] Another object of an embodiment of the present invention is to provide a spatial ranging method based on ultra-wideband technology, which is applied to a spatial ranging device as an initiator. The spatial ranging method comprises the following steps:

[0013] Sending a first ranging frame to the responding end; wherein the first ranging frame includes a data transceiver part, a controlled interval part and a positioning sequence part, and the intersection point of the controlled interval part and the positioning sequence part is a first critical time point;

[0014] Receive a second ranging frame sent by the responding end; wherein the second ranging frame includes a data transceiving part, a controlled interval part and a positioning sequence part, the data transceiving part includes a second critical time point and a third critical time point, and the positioning sequence part includes a fourth critical time point;

[0015] Calculate the spatial distance between the initiator and the responder

[0016]

[0017] Where L represents the spatial distance between the initiator and the responder; T originator represents the ranging counter value of the initiating end, which is equal to the fourth critical time point minus the first critical time point; T responder represents the ranging counter value of the responding end, which is equal to the third critical moment minus the second critical moment; c represents the speed of light.

[0018] Another object of an embodiment of the present invention is to provide a spatial ranging method based on ultra-wideband technology, which is applied to a spatial ranging device as a responding end, and the spatial ranging method comprises the following steps:

[0019] receiving a first ranging frame sent by an initiator; wherein the first ranging frame includes a data transceiver part, a controlled interval part and a positioning sequence part, and the positioning sequence part includes a second critical time point;

[0020] A second ranging frame is sent to the initiator; wherein the second ranging frame includes a data transceiver part, a controlled interval part and a positioning sequence part, and the intersection point of the controlled interval part and the positioning sequence part is a third critical time point.

[0021] Another object of an embodiment of the present invention is a space ranging device, which executes the space ranging method based on ultra-wideband technology, and the space ranging device includes:

[0022] A wireless data transceiver module, used for sending and receiving wireless data;

[0023] Ultra-wideband pulse transceiver module, used for sending and receiving ultra-wideband positioning data;

[0024] A digital protocol processing module, used to coordinate the wireless data transceiver module and the ultra-wideband pulse transceiver module, and to encode and decode the data;

[0025] The processing and operation module is used to obtain a spatial ranging result according to the wireless data and the ultra-wideband positioning data.

[0026] The embodiment of the present invention provides a space ranging system based on ultra-wideband technology. By allocating the transmission and reception of wireless data and UWB positioning data, it can realize wireless data transmission between devices and accurate ranging between devices. Based on accurate ranging, it can further realize accurate spatial positioning. Compared with the traditional method, the structure provided by the present invention is simple to implement and flexible in structure. According to the implementation method provided by the present invention, the chip area can be greatly reduced, and the flexibility of software operation can be fully utilized to reduce the systematic risk of hardware design. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 A structural block diagram of a space ranging system based on ultra-wideband technology provided by an embodiment of the present invention;

[0028] Figure 2 A structural block diagram of a space distance measuring device provided by an embodiment of the present invention;

[0029] Figure 3 A schematic diagram of a ranging physical layer protocol provided by an embodiment of the present invention;

[0030] Figure 4 A schematic diagram of the definition of the data transceiver part (FDXU) and the positioning sequence part (FUPU) provided in an embodiment of the present invention;

[0031] Figure 5An autocorrelation characteristic diagram of a positioning sequence part (FUPU) sequence provided in an embodiment of the present invention;

[0032] Figure 6 It is the traditional TWR ranging principle;

[0033] Figure 7 The TWR ranging principle based on the physical layer protocol defined in the present invention is provided in the embodiment of the present invention;

[0034] Figure 8 A flow chart of a spatial ranging method implemented as an initiator provided in an embodiment of the present invention;

[0035] Fig. 9 A schematic diagram of the structure and time parameter definition of the initiator provided in an embodiment of the present invention;

[0036] Fig.10 A schematic diagram of the structure and time parameter definition of a responder provided in an embodiment of the present invention;

[0037] Fig.11 A schematic diagram of key time parameters in the ranging process provided by an embodiment of the present invention;

[0038] Fig.12 A flow chart of a spatial ranging method implemented as a responding end provided in an embodiment of the present invention;

[0039] Fig.13 A system structure block diagram combining UWB incoherent energy detection and UWB positioning provided by an embodiment of the present invention;

[0040] Fig.14 A schematic diagram of performing relevant operations on FUPU provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0041] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0042] It is understood that the terms "first", "second", etc. used in this application may be used herein to describe various elements, but unless otherwise specified, these elements are not limited by these terms. These terms are only used to distinguish a first element from another element. For example, without departing from the scope of this application, a first xx script may be referred to as a second xx script, and similarly, a second xx script may be referred to as a first xx script.

[0043] like Figure 1 and Figure 2As shown, in one embodiment, a space ranging system based on ultra-wideband technology is provided, and the space ranging system based on ultra-wideband technology includes at least two space ranging devices, and the space ranging device includes:

[0044] A wireless data transceiver module, used for sending and receiving wireless data;

[0045] Ultra-wideband pulse transceiver module, used for sending and receiving ultra-wideband positioning data;

[0046] A digital protocol processing module, used to coordinate the wireless data transceiver module and the ultra-wideband pulse transceiver module, and to encode and decode the data;

[0047] The processing and operation module is used to obtain a spatial ranging result according to the wireless data and the ultra-wideband positioning data.

[0048] In this embodiment, the wireless data transceiver module is responsible for the transceiver of wireless data, and the ultra-wideband pulse transceiver module is responsible for the transceiver of UWB positioning pulses. The wireless data transceiver module and the ultra-wideband pulse transceiver module work under the coordination of the digital protocol processing module. In this embodiment, when wireless data transceiver is required and positioning is not required, the ultra-wideband pulse transceiver module does not participate in the work; when spatial ranging is required, the wireless data transceiver module and the ultra-wideband pulse transceiver module both participate in the work. According to the UWB technology of the protocol specification, the improvement of the transmission rate is extremely challenging. The maximum data transmission rate specified in the protocol is 27Mbit / S. However, the mainstream products currently known on the market can only achieve a rate of 6.8Mbit / s. This also proves from the fact that the protocol specification has a large technical difficulty in the data transmission rate. In this embodiment, by flexibly configuring the wireless data transceiver module and the ultra-wideband pulse transceiver module, wireless signals are used to send and receive information without using UWB transmission, which can improve the data transmission efficiency and the software operation efficiency, reduce the amount of logical calculations, and reduce costs.

[0049] In this embodiment, if Figure 3 As shown, the ranging physical layer protocol is defined in the space ranging system based on ultra-wideband technology, and the ranging physical layer protocol includes:

[0050] The data transceiver part is used to define the data encoding format transmitted by wireless means;

[0051] The positioning sequence part is used to define the format of the positioning sequence transmitted by ultra-wideband mode;

[0052] The controlled interval part is used to determine the time interval between the data transceiver part and the positioning sequence part.

[0053] like Figure 3As shown, in the case of spatial ranging positioning, the definition is as follows Figure 3 The physical layer protocol of ranging and positioning is shown in FIG. According to the definition, the ranging and positioning frame FRAME is divided into two main parts: a data transceiver part and a positioning sequence part, and there is a certain time interval between the data transceiver part and the positioning sequence part.

[0054] To facilitate the subsequent description, the following phrases are defined:

[0055] Data transmission and reception part: FDXU (FRAME DATA EXCHANGE UNIT)

[0056] Positioning sequence part: FUPU (FRAME UWB PULSE UNIT)

[0057] Controllable interval part: FIGP (FRAME INTERNAL GAP PERIOD)

[0058] Figure 4 The exemplary definitions of FDXU and FUPU are given. Note that the definitions here are not mandatory. The exemplary definitions are given only to better illustrate the core idea of ​​the present invention. Figure 4 As shown in the upper part, the FDXU part is divided into the preamble, address code, valid data, CRC and other parts. In actual engineering implementation, a clear boundary point can be selected as the calculation reference point for calculating the critical moment, such as the intersection of the preamble and the address code as the calculation reference point. Figure 4 As shown in the lower part, this embodiment designs a 3-ary code sequence based on UWB technology as the implementation method of the FUPU part. This code type has good autocorrelation characteristics, such as Figure 5 shown.

[0059] In one embodiment, Figure 6 As shown, a TWR ranging method is provided, which is extracted from the ranging method defined in Annex E of IEEE Standard 802.15.4 2011. In this embodiment, to perform accurate ranging, it is necessary to accurately know the value of the ranging counter of the initiator (Originator) and the value of the ranging counter of the responder (Responder). As long as these two values ​​can be accurately measured, the calculation of the flight time is conceptually simple. (Original text of the protocol: At the most basic level, the ranging capability described in this standard is determined by the ranging counter shown in the center box of the figure. The ranging counter can be assigned at the precise moment when the device sends and receives RMARKER. Once the ranging counter and its ability to accurately capture timestamps are in place, the calculation of the flight time is conceptually simple.)

[0060] like Figure 7 As shown, the present invention provides a different Figure 6 The embodiment shown in the figure has the following main differences: the ranging physical layer protocol of this embodiment is different from the existing IEEE standard. This embodiment redefines the concept of critical moment. The critical moment (critical instant, which is also represented by RMARKER in the IEEE standard) is defined as the first pulse of the PHR in the IEEE protocol. In this embodiment, the critical moment is defined based on FUPU, and the time when the first pulse of FUPU arrives at the antenna end is defined as the critical moment. According to the physical layer protocol defined in this embodiment, the schematic diagram of TWR ranging is shown in FIG. Figure 7 As shown in the figure, since the critical moment is defined on FUPU, the ranging process has some significant changes.

[0061] First: Because of this definition, this embodiment does not require the FDXU part to perform wireless data transmission in UWB mode, which brings great flexibility. However, this flexibility also loses the guarantee of obtaining accurate critical moments from the FDXU part. Therefore, the precise critical moment point cannot be completely obtained by relying on the signal of the FDXU part. However, because FIGP is a certain interval time, the relationship between the occurrence time of the FDXU part and the occurrence time of FUPU is roughly determined. In actual design, a basic time point is generated using the FDXU part signal, and then the basic time point is accurately corrected using FUPU to obtain the final precise time point.

[0062] Secondly, because of this definition, the system is given the ability to: the FDXU part does not need to run at an extremely high time resolution, as long as it can guarantee the wireless data exchange capability required by the system. However, for the FUPU part, in order to achieve ranging, the FUPU part's signal must still be processed with a sufficiently high time resolution. Obviously, according to the TWR ranging principle, the precise time calculation of the FUPU part does not have a very high real-time requirement. Therefore, the computing power of the software part can be fully utilized to implement software-related operations, thereby obtaining high-resolution time information.

[0063] like Figure 8 As shown, an embodiment provides a space ranging method based on ultra-wideband technology, which is applied to a space ranging device as an initiator. The space ranging method includes the following steps S202 to S206:

[0064] Step S202, sending a first ranging frame to the responding end; wherein the first ranging frame includes a data transceiver part, a controlled interval part and a positioning sequence part, and the intersection point of the controlled interval part and the positioning sequence part is a first critical time point.

[0065] Step S204, receiving a second ranging frame sent by the responding end; wherein the second ranging frame includes a data transceiving part, a controlled interval part and a positioning sequence part, the data transceiving part includes a second critical time point and a third critical time point, and the positioning sequence part includes a fourth critical time point.

[0066] Step S206: Calculate the spatial distance between the initiator and the responder

[0067]

[0068] Where L represents the spatial distance between the initiator and the responder; T originator represents the ranging counter value of the initiating end, which is equal to the fourth critical time point minus the first critical time point; T responder represents the ranging counter value of the responding end, which is equal to the third critical moment minus the second critical moment; c represents the speed of light.

[0069] In the space ranging system, the accuracy of the values ​​of the ranging counter at the transmitter and the ranging counter at the responder determines the accuracy of the ranging result. It should be noted here that the ranging counter at the transmitter and the ranging counter at the responder are not simple counters that work under the main clock of the chip system. They are actually an abstract counting concept. They are a data result that can reflect the precise time point of the critical moment by combining a variety of original information that can be obtained in the system design and obtaining it through a specific mathematical operation method. The time resolution accuracy of this result generally reaches the sub-nanosecond level. For example, in the IEEE standard, after algorithmic processing of the original data, this accuracy reaches 1 / 128 of a chip, that is, 1 / 64 nanosecond. Obviously, it is unrealistic to design a chip that works at 64GHz and it is not the intention expressed by the IEEE standard. The same applies to this issue in the description of the present invention.

[0070] In this embodiment, Figure 7RFRAMEA and RFRAMEB are used to represent the first ranging frame and the second ranging frame respectively. The value of the ranging counter at the transmitting end is determined by the first critical time point when the first ranging frame (RFRAMEA) is transmitted and the value of the fourth critical time point when the second ranging frame (RFRAMEB) is received. The value of the ranging counter at the responding end is determined by the second critical time point when the first ranging frame (RFRAMEA) is received and the value of the third critical time point when the second ranging frame (RFRAMEB) is transmitted. Specifically, the first critical time point is the time point when the first pulse of the positioning sequence in the first ranging frame flies away from the antenna of the initiating end; the second critical time point is the time point when the first pulse of the positioning sequence in the first ranging frame flies to the antenna of the responding end; the third critical time point is the time point when the first pulse of the positioning sequence in the second ranging frame flies away from the antenna of the responding end; and the fourth critical time point is the time point when the first pulse of the positioning sequence in the second ranging frame flies to the antenna of the initiating end.

[0071] In this way, at the most basic level, the problems that affect the accuracy of ranging results are broken down into four basic problems:

[0072] How to accurately obtain the first critical moment when the first ranging frame (RFRAMEA) is transmitted?

[0073] How to accurately obtain the second critical time point when the first ranging frame (RFRAMEA) is received?

[0074] How to accurately obtain the third critical moment when the second ranging frame (RFRAMEB) is transmitted?

[0075] How to accurately obtain the fourth critical time point when the second ranging frame (RFRAMEB) is received?

[0076] Because there is no essential difference between the first ranging frame (RFRAMEA) and the second ranging frame (RFRAMEB) in the acquisition method of the critical time point, the problem can be further simplified into two basic questions:

[0077] Basic question 1: How to accurately obtain the critical moment when the first ranging frame (RFRAMEA) or the second ranging frame (RFRAMEB) is transmitted?

[0078] Basic Question 2: How to accurately obtain the critical moment when the first ranging frame (RFRAMEA) or the second ranging frame (RFRAMEB) is received?

[0079] In response to the above basic question 1, in one embodiment, a method for obtaining the first critical moment point is proposed, namely step S202, which specifically includes steps S302 to S310:

[0080] Step S302: Send the first ranging frame to the responding end.

[0081] Step S304, sampling and recording are performed at the intersection of the synchronization code and the data subsequent to the synchronization code in the data receiving and transmitting part to obtain a first sampling time point.

[0082] Step S306: Taking the first sampling time point as a reference, record the first data transmission time of the subsequent data of the synchronization code in the data transceiver part.

[0083] Step S308: obtaining a first interval time of the controlled interval part.

[0084] Step S310: Add the first sampling time point, the first data transmission time, and the first interval time to obtain the first critical time point.

[0085] like Fig. 9 As shown, Tm is the system clock cycle, T_fdxu is the length of the data transceiver part (FDXU) in the ranging physical layer protocol data packet (excluding the synchronization code), T_figpt is the length of the controllable interval part (FIGP) in the ranging physical layer protocol data packet, and T_fupu is the length of the positioning sequence part (FUPU) in the ranging physical layer protocol data packet. Fig. 9 In the , the critical moment is defined at the front end of the positioning pulse sequence of the positioning sequence part (FUPU). In the actual engineering processing of ranging, FDXU is a data packet responsible for the transmission of time tag information. Only some time tags need to be transmitted in this packet, and T_fdxu can be completely measured by the number of Tm. T_figpt is the interval from the end of the data transceiver part (FDXU) to the critical moment. Because the critical moment is generally defined at the moment when the signal leaves / arrives at the antenna, the delay of the signal in the internal circuit of the chip must be considered. This time is not a multiple of Tm, but a time information that needs to be accurately calculated and measured, and this event will vary with different chip samples. In order to obtain the most accurate event information of each chip in engineering, each chip is calibrated during the mass production process, and the calibration parameters are stored in the non-volatile memory of the system. But in any case, one thing is clear, for each chip, T_figpt is determined and measurable. According to the above description, under the newly defined ranging physical layer protocol, it is completely feasible for the upper layer of the system to obtain the critical moment when RFRAME is transmitted.

[0086] Here is an example of a simple and feasible method: maintain a counter in the chip, sample and record this counter at the intersection of the synchronization code of the data transceiver part (FDXU) and the subsequent data structure, and obtain the time value T0, such as Fig. 9As shown, the value of the critical time point is: T0+T_fdxu+T_figpt, where T0 represents the first sampling time point; T_fdxu represents the first data transmission time; and T_figpt represents the first interval time.

[0087] In response to the above basic question 2, in one embodiment, a method for obtaining the fourth critical moment point is proposed, namely step S204, which specifically includes steps S402 to S412:

[0088] Step S402: receiving the second ranging frame sent by the responding end.

[0089] Step S404, sampling and recording are performed at the intersection point of the synchronization code and the data subsequent to the synchronization code in the data transceiver part to obtain a second sampling time point.

[0090] Step S406, taking the second sampling time point as a reference, recording the second data transmission time of the subsequent data of the synchronization code in the data transceiver part.

[0091] Step S408: obtaining a second interval time of the controlled interval part.

[0092] Step S410: Acquire a first time offset of the second ranging frame in the positioning sequence part.

[0093] Step S412: Add the second sampling time point, the second data transmission time, the second interval time and the first time offset to obtain the fourth critical time point.

[0094] like Fig.10 As shown, Tm is the system clock cycle, T_fdxu is the length of the data transceiver part (FDXU) in the ranging physical layer protocol data packet (excluding the synchronization code), T_figpr is the length of the controllable interval part (FIGP) in the ranging physical layer protocol data packet, and T_capture is the time length used to capture the positioning sequence part (FUPU) in the ranging physical layer protocol data packet.

[0095] It should be noted that when defining the transmit and receive RFRAME, the length of the controllable interval part (FIGP) is defined differently. This description is actually to better illustrate the processing method of the receiving process, rather than saying that the transmission and reception are two different data packets. In fact, what is described here is the situation of the same data packet at the transmitting end and the receiving end.

[0096] exist Fig.10As can be seen in the figure, in the case of ranging, if the data reception of the data transceiver part (FDXU) is completed, then after the T_figpr time, the system will enter the state of the capture and positioning sequence part (FUPU), that is, the T_capture interval. In order to achieve a sufficiently high time resolution, at this time, the signal to be captured must be transferred to the storage array in the chip with a sufficiently high clock frequency.

[0097] Therefore, in this embodiment, in order to accurately capture the accurate critical time information carried by the positioning sequence part (FUPU), that is, the time point when the first pulse of the positioning sequence arrives at the antenna end, another embodiment is proposed, that is, step S410 specifically includes steps S502 to S506:

[0098] Step S502, acquiring data of the positioning sequence portion to obtain original data.

[0099] Step S504: convert the original data into multiple parallel channels under a high-speed clock and store them in a memory array.

[0100] Step S506, parsing the data in the memory array to obtain a first time offset.

[0101] In the embodiment of steps S502 to S506, a dedicated conversion logic is first used to convert the original data of the positioning sequence part (FUPU) into multi-path parallel under a high-speed clock, so as to achieve frequency reduction and then enter the memory array. In order to deal with the multipath problem and the clock asynchronous problem between the transmitting end and the receiving end, a wider capture time window (compared with the positioning sequence part (FUPU) time window of the transmitting end) must be used to capture the positioning sequence part (FUPU), otherwise information may be lost. After completion, it is still impossible to know where the critical moment of the receiving end occurs. The next step is to perform calculations based on the original data stored in the storage array to determine the exact time of the critical moment. Because in the present invention, the ranging function and the data transmission function are implemented separately, and under the ranging function, the real-time requirement for determining the critical moment is not high. Therefore, this embodiment does not need to spend a lot of resources to design hardware circuits like traditional UWB data transceiver chips to ensure the real-time decoding. This embodiment sends the original data in the storage array to a certain operation processing module in the system, and uses the operation capability of the operation processing module to perform operations on the original data, thereby obtaining the time offset. Of course, some coprocessors can also be designed to reduce the operation burden of the operation processing module.

[0102] After the above steps S502 to S506, the fourth critical time point needs to be calculated based on the obtained data. Fig.10As shown, the relative delay relative to the starting point of T_capture is T_fupudly. According to the above description, it can be known that under the newly defined ranging physical layer protocol, it is completely feasible for the upper layer of the system to obtain the critical time point when RFRAME is received.

[0103] One possible way is to Fig.10 As shown, a counter is maintained in the chip, and the counter is sampled and recorded at the intersection of the FDXU synchronization code and the subsequent data structure to obtain the time value T0, and the value of the critical moment is: T0+T_fdxu+T_figpr+T_fupudly. Among them, T0 represents the second sampling time point; T_fdxu represents the second data transmission time; T_figpr represents the second interval time; T_fupudly represents the time offset.

[0104] In this embodiment, the value of the ranging counter of the initiating end is determined by the critical moment when the initiating end transmits RFRAMEA and the critical moment when the initiating end receives RFRAMEB. The value of the ranging counter of the responding end is determined by the critical moment when the responding end receives RFRAMEA and the critical moment when the receiving end transmits RFRAMEB. Fig.11 As shown, the values ​​of the four critical moments that determine ranging are:

[0105] The first critical time point when the first ranging frame (RFRAMEA) is transmitted: TA0+T_fdxuA+T_figptA;

[0106] The second critical time point when the first ranging frame (RFRAMEA) is received: TB0+T_fdxuB+T_figprB+T_fupudlyB;

[0107] The third critical time point when the second ranging frame (RFRAMEB) is transmitted: TB1+T_fdxuB+T_figptB;

[0108] The fourth critical time point when the second ranging frame (RFRAMEB) is received: TA1+T_fdxuA+T_figprA+T_fupudlyA;

[0109] According to the above four critical time points, the ranging counter values ​​of the initiator and the responder can be obtained as follows:

[0110] The initiator's ranging counter value T originator for:

[0111] (TA1+T_fdxuA+T_figprA+T_fupudlyA)—(TA0+T_fdxuA+T_figptA)

[0112] =TA1-TA0+T_figprA+T_fupudlyA-T_figptA

[0113] The ranging counter value of the responding end is T responder :

[0114] (TB1+T_fdxuB+T_figptB)—(TB0+T_fdxuB+T_figprB+T_fupudlyB)

[0115] =TB1-TB0+T_figptB-T_figprB-T_fupudlyB

[0116] Therefore, the example of the transmitter and the responder can be expressed by the formula "L = signal flight time * C". The spatial distance:

[0117]

[0118] Wherein, L represents the spatial distance between two spatial distance measuring devices; T originator Indicates the ranging counter value of the initiator; T responder represents the ranging counter value at the responding end; c represents the speed of light.

[0119] It should be noted that in the above formula, the counter value is directly used to represent the time value in seconds. This is only for the purpose of clearly explaining the problem. The difference should be noted in actual engineering operations.

[0120] In one embodiment, Fig.12 As shown, the space ranging method based on ultra-wideband technology is applied to a space ranging device as a responding end, and the space ranging method includes the following steps:

[0121] Step S602, receiving a first ranging frame sent by the initiator; wherein the first ranging frame includes a data transceiver part, a controlled interval part and a positioning sequence part, and the positioning sequence part includes a second critical time point.

[0122] Step S604: Send a second ranging frame to the initiator; wherein the second ranging frame includes a data transceiver part, a controlled interval part and a positioning sequence part, and the intersection point of the controlled interval part and the positioning sequence part is the third critical time point.

[0123] In this embodiment, the method for obtaining the second critical time point includes steps S702 to S712:

[0124] Step S702: Receive the first ranging frame sent by the initiator.

[0125] Step S704, sampling and recording are performed at the intersection point of the synchronization code and the data subsequent to the synchronization code in the data receiving and transmitting part to obtain a third sampling time point.

[0126] Step S706, taking the third sampling time point as a reference, recording a third data transmission time of the subsequent data of the synchronization code in the data transceiver part.

[0127] Step S708: Acquire the third interval time of the controlled interval part.

[0128] Step S710: Acquire a second time offset of the first ranging frame in the positioning sequence part.

[0129] Step S712: Add the third sampling time point, the third data transmission time, the third interval time and the second time offset to obtain the second critical time point.

[0130] In this embodiment, the method for obtaining the third critical time point includes steps S802 to S810:

[0131] Step S802: Send the second ranging frame to the initiator.

[0132] Step S804, sampling and recording are performed at the intersection of the synchronization code and the data subsequent to the synchronization code in the data receiving and transmitting part to obtain a fourth sampling time point.

[0133] Step S806, taking the fourth sampling time point as a reference, recording a fourth data transmission time of the subsequent data of the synchronization code in the data transceiver part.

[0134] Step S808: Acquire a fourth interval time of the controlled interval part.

[0135] Step S810: Add the fourth sampling time point, the fourth data transmission time, and the fourth interval time to obtain the third critical time point.

[0136] In the present invention, the spatial distance measuring device can be used as an initiating end or a responding end, but no matter it is used as an initiating end or a responding end, the method for obtaining the critical moment point is the same. The execution steps of the spatial distance measuring device as an initiating end and the method for obtaining the critical moment point have been described above. They will not be repeated here.

[0137] According to the above explanation, the present invention has clearly explained the basic problem of how to accurately obtain the critical moment time point under the framework of the present invention. The present invention does not make any rigid provisions on the technical scope of the FDXU part. No matter what kind of wireless communication method the FDXU part adopts, it is within the protection scope of the present invention. In order to more clearly explain the present invention, the present invention will further use a special implementation example to illustrate the engineering implementation under the framework of the present invention. In this selected special example, the FDXU part adopts a UWB data transceiver front end with incoherent energy detection for specific implementation, combined with the critical moment precise capture method described in the present invention, to realize data transceiver and ranging positioning functions. Through this example, the structural features and ideas of the present invention can be better explained:

[0138] In one embodiment, the UWB data transmission technology with incoherent energy detection is used to implement the data exchange of the FDXU part. Fig.13 As shown, during the data exchange of the FDXU part, after the antenna receives the UWB signal propagated in space, it is first amplified by the LNA low noise amplifier, and then further amplified by the PA amplifier, and enters the energy integration detection circuit, and the result is converted into a digital signal that can be decoded by the digital decoding circuit through the flashADC. Obviously, because of the energy integration process, the time resolution of the UWB signal is lost, so it is difficult to accurately locate through the energy integration branch. There is a patented solution that uses the proportional relationship between the energy integration windows to perform algorithmic compensation of the signal arrival time, and combines the statistical average of multiple measurements to obtain the accurate signal critical time point, but this processing method not only consumes more power, but also cannot solve the impact of the multipath problem on the positioning accuracy, because the multipath problem will inevitably lead to the time domain change of the energy distribution, so the algorithmic compensation of the signal arrival time through the ratio between the energy integration windows loses its theoretical basis for work. According to the method described in the present invention, after the FDXU part completes the data exchange, it will send FUPU at a fixed time point, and after entering the receiver, FUPU will take the high-speed FlashADC branch and finally be stored in the storage array inside the chip. Because this branch does not perform energy integration, the time domain resolution of the UWB signal is not lost. A sufficiently high-speed clock is required to capture and store the details of the UWB signal within the capture interval, and this data contains sufficiently accurate time information of the critical moment. This information can be restored to the precise time value of the critical moment through the calculation of the system calculation module (not shown in the figure), so as to further solve the distance and perform positioning.

[0139] Notes on resource sharing: Fig.13As shown, it is obvious that storing the details of the UWB signal in the capture interval requires a certain amount of storage resources in the digital storage area, but we all know that during the ranging period, the length of the FDXU part of the data is very short, and only a few bytes of timestamp information need to be sent and received. Therefore, at this time, most of the storage space in the chip used for data exchange cache is idle. Therefore, these idle storage spaces can be fully utilized to store the details of the UWB signal, thereby saving the area overhead of the chip.

[0140] Design description of FUPU code type: The present invention does not make a mandatory definition for the design of the specific FUPU code type, but provides an implementation plan: First, the duration of FUPU does not need to be too long, because too long FUPU time will lead to a large increase in the required storage space, thereby increasing the cost, which is unnecessary. The FUPU time is generally at the microsecond level. Secondly, the FUPU code type design must have good autocorrelation characteristics. Here is just an example to illustrate the design principle of a good FUPU sequence: For example, design the following sequence:

[0141] -00000000000000+00000-00000+00+00+00000+00-00000000000+00-00+00+00+00000000-00+00000000

[0142] In the sequence, the - sign represents a negative pulse of uwb, 0 represents nothing, and + represents a positive pulse. For the convenience of subsequent explanation, several parameters are defined: N represents the sequence length. In the above example, the sequence length N is 93, X[n] represents each point in the above sequence, where n is [1, N], and X represents the above sequence.

[0143] According to the definition formula of autocorrelation:

[0144]

[0145] Expressing this formula in a discrete way and applying it to the above sequence X, we get:

[0146] Rxx(t)=∑X(n)X(n+t)

[0147] According to the above formula, we put the value of the sequence in and stipulate that - times - equals 1, + times + equals 1, - times + equals -1, + times - equals -1, and 0 times any value equals 0. We will find that only when t is 0 can we get the maximum value of the sequence autocorrelation of 16, otherwise the correlation value is a very small number. This conclusion is in Figure 6 Based on this feature, at the system level, the FUPU raw data obtained within the capture interval is subjected to relevant operations. The operation process is as follows: Fig.14 As shown, the precise time offset of the critical moment of this FUPU can be determined.

[0148] The above code design uses a ternary code, that is, there are three states of 0+-. This is because this ternary code can easily achieve a good autocorrelation characteristic, but it is not necessary. In actual engineering, depending on the actual situation of the selected technical solution, you can also choose a binary code or a multi-bit ADC output value and design a corresponding FUPU sequence, which will not be further described here.

[0149] In one embodiment, Figure 2 As shown, a space distance measuring device is provided to execute the space distance measuring method based on ultra-wideband technology, and the space distance measuring device includes:

[0150] A wireless data transceiver module, used for sending and receiving wireless data;

[0151] Ultra-wideband pulse transceiver module, used for sending and receiving ultra-wideband positioning data;

[0152] A digital protocol processing module, used to coordinate the wireless data transceiver module and the ultra-wideband pulse transceiver module, and to encode and decode the data;

[0153] The processing and operation module is used to obtain a spatial ranging result according to the wireless data and the ultra-wideband positioning data.

[0154] It should be understood that, although each step in the flow chart of each embodiment of the present invention is shown in sequence according to the indication of the arrow, these steps are not necessarily performed in sequence according to the order indicated by the arrow. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be performed in other orders. Moreover, at least a portion of the steps in each embodiment may include a plurality of sub-steps or a plurality of stages, and these sub-steps or stages are not necessarily performed at the same time, but can be performed at different times, and the execution order of these sub-steps or stages is not necessarily performed in sequence, but can be performed in turn or alternately with at least a portion of other steps or sub-steps or stages of other steps.

[0155] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0156] The above-mentioned embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the present invention. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

[0157] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A spatial ranging method based on ultra-wideband technology, characterized in that: Applied to a space distance measurement device as an initiator, the space distance measurement method comprises the following steps: Sending a first ranging frame to the responding end; wherein the first ranging frame includes a data transceiver part, a controlled interval part and a positioning sequence part, and the intersection point of the controlled interval part and the positioning sequence part is a first critical time point; Receive a second ranging frame sent by the responding end; wherein the second ranging frame includes a data transceiving part, a controlled interval part and a positioning sequence part, the data transceiving part includes a second critical time point and a third critical time point, and the positioning sequence part includes a fourth critical time point; Calculate the spatial distance between the initiator and the responder Where L represents the spatial distance between the initiator and the responder; represents the ranging counter value of the initiating end, which is equal to the fourth critical time point minus the first critical time point; represents the ranging counter value of the responding end, which is equal to the third critical moment minus the second critical moment; c represents the speed of light; The method for obtaining the first critical moment point comprises the following steps: Sending the first ranging frame to the responding end; Sampling and recording are performed at the intersection of the synchronization code and the subsequent data of the synchronization code in the data receiving and transmitting part to obtain a first sampling time point; Taking the first sampling time point as a reference, recording the first data transmission time of the subsequent data of the synchronization code in the data transceiver part; obtaining a first interval time of the controlled interval portion; Adding the first sampling time point, the first data transmission time, and the first interval time to obtain the first critical time point; The method for obtaining the second critical moment includes: Receiving the first ranging frame sent by the initiator; Sampling and recording are performed at the intersection of the synchronization code and the subsequent data of the synchronization code in the data receiving and transmitting part to obtain a third sampling time point; Taking the third sampling time point as a reference, recording a third data transmission time of the subsequent data of the synchronization code in the data transceiving part; obtaining a third interval time of the controlled interval portion; Acquire a second time offset of the first ranging frame on the positioning sequence part; Add the third sampling time point, the third data transmission time, the third interval time, and the second time offset to obtain the second critical time point; The method for obtaining the third critical moment point includes: Sending the second ranging frame to the initiator; Sampling and recording are performed at the intersection of the synchronization code and the subsequent data of the synchronization code in the data transceiver part to obtain a fourth sampling time point; Based on the fourth sampling time point, record the fourth data transmission time of the subsequent data of the synchronization code in the data transceiver part; obtaining a fourth interval time of the controlled interval portion; Adding the fourth sampling time point, the fourth data transmission time, and the fourth interval time to obtain the third critical time point; The method for obtaining the fourth critical moment point comprises the following steps: receiving the second ranging frame sent by the responding end; Sampling and recording are performed at the intersection of the synchronization code and the subsequent data of the synchronization code in the data receiving and transmitting part to obtain a second sampling time point; Taking the second sampling time point as a reference, recording a second data transmission time of the subsequent data of the synchronization code in the data transceiver part; obtaining a second interval time of the controlled interval portion; Acquire a first time offset of the second ranging frame on the positioning sequence part; The second sampling time point, the second data transmission time, the second interval time and the first time offset are added to obtain the fourth critical time point.

2. The spatial ranging method based on ultra-wideband technology according to claim 1, characterized in that: The step of obtaining the first time offset of the second ranging frame on the positioning sequence part comprises the following steps: Acquire the data of the positioning sequence part to obtain original data; Converting the original data into multiple parallel channels under a high-speed clock and storing them in a memory array; The data in the memory array is parsed to obtain a first time offset.

3. A spatial ranging method based on ultra-wideband technology, characterized in that: Applied to a space distance measuring device as a responding end, the space distance measuring method comprises the following steps: receiving a first ranging frame sent by an initiator; wherein the first ranging frame includes a data transceiver part, a controlled interval part and a positioning sequence part, and the positioning sequence part includes a second critical time point; Sending a second ranging frame to the initiator; wherein the second ranging frame includes a data transceiver part, a controlled interval part and a positioning sequence part, and the intersection point of the controlled interval part and the positioning sequence part is a third critical time point; The method for obtaining the second critical moment point comprises the following steps: Receiving the first ranging frame sent by the initiator; Sampling and recording are performed at the intersection of the synchronization code and the subsequent data of the synchronization code in the data receiving and transmitting part to obtain a third sampling time point; Taking the third sampling time point as a reference, recording a third data transmission time of the subsequent data of the synchronization code in the data transceiving part; obtaining a third interval time of the controlled interval portion; Acquire a second time offset of the first ranging frame on the positioning sequence part; Add the third sampling time point, the third data transmission time, the third interval time, and the second time offset to obtain the second critical time point; The method for obtaining the third critical moment point comprises the following steps: Sending the second ranging frame to the initiator; Sampling and recording are performed at the intersection of the synchronization code and the subsequent data of the synchronization code in the data transceiver part to obtain a fourth sampling time point; Based on the fourth sampling time point, record the fourth data transmission time of the subsequent data of the synchronization code in the data transceiver part; obtaining a fourth interval time of the controlled interval portion; Adding the fourth sampling time point, the fourth data transmission time, and the fourth interval time to obtain the third critical time point; The spatial distance measurement method comprises the following steps: Sending a first ranging frame to the responding end; wherein the first ranging frame includes a data transceiver part, a controlled interval part and a positioning sequence part, and the intersection point of the controlled interval part and the positioning sequence part is a first critical time point; Receive a second ranging frame sent by the responding end; wherein the second ranging frame includes a data transceiving part, a controlled interval part and a positioning sequence part, the data transceiving part includes a second critical time point and a third critical time point, and the positioning sequence part includes a fourth critical time point; Calculate the spatial distance between the initiator and the responder Where L represents the spatial distance between the initiator and the responder; represents the ranging counter value of the initiating end, which is equal to the fourth critical time point minus the first critical time point; represents the ranging counter value of the responding end, which is equal to the third critical moment minus the second critical moment; c represents the speed of light.

4. A spatial distance measuring device, characterized in that: The method for spatial ranging based on ultra-wideband technology according to any one of claims 1 to 3 is implemented, wherein the spatial ranging device comprises: a wireless data transceiver module for transmitting and receiving wireless data; Ultra-wideband pulse transceiver module, used for sending and receiving ultra-wideband positioning data; A digital protocol processing module, used to coordinate the wireless data transceiver module and the ultra-wideband pulse transceiver module, and to encode and decode the data; The processing and operation module is used to obtain a spatial ranging result according to the wireless data and the ultra-wideband positioning data.

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