A ranging method and system based on UWB technology

Abstract

This invention discloses a ranging method and system based on UWB technology. The ranging system includes a UWB terminal device, a UWB reference base station, and a UWB listening base station. The UWB terminal device and the UWB reference base station perform unilateral ranging, with either the UWB terminal device or the UWB reference base station calculating the distance between them. The UWB listening base station receives all data frames during the unilateral ranging process and uploads the timestamps corresponding to the data frames to a server. The server then calculates the distances between the UWB terminal device and both the UWB reference base station and the UWB listening base station. This invention calculates the distances between the UWB terminal device and both the UWB reference base station and the UWB listening base station simply by observing the interaction between the two frames between the UWB terminal device and the UWB reference base station. The UWB listening base station only needs to receive all frames, significantly reducing the ranging process and greatly improving the throughput of aerial ranging.

Description

Technical Field

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

[0002] Ultra-wideband (UWB) technology is a wireless carrier communication technology that originated from pulse communication technology, which emerged in the 1960s. UWB technology utilizes ultra-wide baseband pulses with an extremely wide spectrum for communication, hence it is also known as baseband communication technology or wireless carrier communication technology. It is primarily used in military radar, positioning, and communication systems with low probability of intercept (POC) / low detection rate (RDB). With the rapid development and widespread application of UWB technology, UWB ranging has also attracted increasing attention.

[0003] In existing technologies, UWB ranging is usually performed using the Time of Flight (TOF) method, which calculates the distance by measuring the round-trip flight time of the UWB signal between two devices (base station and tag).

[0004] The problem with existing technologies is that in composite ranging environments with multiple tags and multiple base stations, each tag often needs to communicate with each base station, or switch between each tag and a designated base station, to obtain UWB ranging information. Excessive UWB over-the-air interaction increases the information load of UWB over the air, reduces the throughput of UWB data transmission, and decreases the tag capacity for on-site positioning.

[0005] To address the aforementioned technical problems, this invention provides a ranging method and system based on UWB technology. Summary of the Invention

[0006] The purpose of this invention is to address the shortcomings of existing technologies by providing a ranging method and system based on UWB technology.

[0007] To achieve the above objectives, the present invention adopts the following technical solution:

[0008] A ranging system based on UWB technology includes a UWB terminal device, a UWB reference base station, and a UWB listening base station; the UWB terminal device is communicatively connected to the UWB reference base station and the UWB listening base station respectively, and the UWB reference base station is also communicatively connected to the UWB listening base station.

[0009] One-sided ranging is performed between the UWB terminal device and the UWB reference base station, and the distance between the UWB terminal device and the UWB reference base station is calculated by either the UWB terminal device or the UWB reference base station.

[0010] The UWB eavesdropping base station receives all data frames during the unilateral ranging between the UWB terminal device and the UWB reference base station, and uploads the timestamps corresponding to the data frames of the UWB eavesdropping base station and the UWB reference base station to the server. The server then calculates the distances between the UWB terminal device and the UWB reference base station and the UWB eavesdropping base station, respectively.

[0011] Correspondingly, a ranging method based on UWB technology is also provided, including:

[0012] S1. The UWB terminal device actively sends a broadcast Poll frame and records the timestamp t_poll_tx corresponding to the sending of the Poll frame;

[0013] S2. The UWB reference base station and the UWB listening base station respectively receive the Poll frames sent by the UWB terminal device, and respectively record the timestamp r_poll_rx and timestamp ls_poll_rx after receiving the Poll frames;

[0014] After receiving the Poll frame sent by the UWB terminal device, the S3.UWB reference base station delays for a period of time before replying with a broadcast Resp frame and records the timestamp r_resp_tx corresponding to the reply broadcast Resp frame.

[0015] S4. The UWB terminal device and the UWB listening base station respectively receive the broadcast Resp frame replied by the UWB reference base station; and respectively record the timestamp t_resp_rx and timestamp ls_resp_rx after receiving the reply broadcast Resp frame;

[0016] S5. Calculate the distances from the UWB terminal device to the UWB reference base station and the UWB listening base station based on the recorded timestamps.

[0017] Furthermore, the procedure before step S5 includes:

[0018] The time interval between the timestamp r_resp_tx recorded by the UWB reference base station in step S3 and the timestamp r_poll_rx recorded by the UWB reference base station in step S2 is calculated as follows:

[0019] R1 = r_resp_tx – r_poll_rx

[0020] R1 represents the time interval between timestamp r_resp_tx and timestamp r_poll_rx.

[0021] Furthermore, the time interval between the timestamp ls_resp_rx recorded by the UWB listening base station in calculation step S4 and the timestamp ls_poll_rx recorded by the UWB listening base station in step S2 is expressed as:

[0022] D1 = ls_resp_rx – ls_poll_rx

[0023] Where D1 represents the time interval between timestamps ls_resp_rx and ls_poll_rx.

[0024] Furthermore, the time interval between the timestamp t_resp_rx recorded by the UWB terminal device in calculation step S4 and the timestamp t_poll_tx recorded by the UWB terminal device in step S1 is expressed as:

[0025] T1 = t_resp_rx – t_poll_tx

[0026] Where T1 represents the time interval between timestamp t_resp_rx and timestamp t_poll_tx.

[0027] Furthermore, the procedure before step S5 includes:

[0028] The UWB listening base stations corresponding to the line-of-sight range of the UWB reference base station are selected. The distance between the UWB listening base station and the UWB reference base station is obtained. The flight time from the UWB listening base station to the UWB reference base station is calculated based on the obtained distance and expressed as:

[0029] tof_rsp = Dr / c

[0030] Where tof_rsp represents the flight time from the UWB listening base station to the UWB reference base station; Dr represents the distance between the UWB listening base station and the UWB reference base station; and c represents the speed of light.

[0031] Furthermore, the distance from the UWB terminal device to the UWB reference base station in step S5 is expressed as:

[0032]

[0033] Dref = tof_ref * c

[0034] Where tof_ref represents the flight time from the UWB terminal device to the UWB reference base station; Dref represents the distance from the UWB terminal device to the UWB reference base station.

[0035] Furthermore, the distance from the UWB terminal device to the UWB eavesdropping base station in step S5 is expressed as:

[0036]

[0037] Daim = tof_aim *c

[0038] Where tof_aim represents the flight time from the UWB terminal device to the UWB eavesdropping base station; Daim represents the distance from the UWB terminal device to the UWB eavesdropping base station.

[0039] Furthermore, the ranging method also includes:

[0040] The S6.UWB reference base station actively sends broadcast Centor frames and records the timestamp r_cen_tx corresponding to the sent Centor frames;

[0041] S7. The UWB terminal device and the UWB listening base station respectively receive the Centor frame sent by the UWB reference base station, and respectively record the corresponding timestamp t_cen_rx and timestamp ls_cen_rx after receiving the Centor frame;

[0042] After receiving the Centor frame sent by the UWB reference base station, the S8.UWB terminal device delays for a period of time before replying with a broadcast Resp frame and records the timestamp t_resp_tx corresponding to the reply broadcast Resp frame;

[0043] S9. The UWB reference base station and the UWB listening base station respectively receive the broadcast Resp frames replied by the UWB terminal equipment; and respectively record the timestamp r_resp_rx and timestamp ls_resp_rx after receiving the reply broadcast Resp frames;

[0044] S10. Calculate the distances from the UWB terminal device to the UWB reference base station and the UWB listening base station based on the recorded timestamps.

[0045] Furthermore, the distance calculation from the UWB terminal device to the UWB reference base station is performed by either the UWB terminal device or the UWB reference base station; the distance calculation from the UWB terminal device to the UWB eavesdropping base station is performed using a server.

[0046] Compared with existing technologies, the ranging method of the present invention only requires two frames of interaction between the UWB terminal device and the UWB reference base station to calculate and obtain the distance between the UWB terminal device and the UWB reference base station and the UWB listening base station respectively. In particular, for the UWB listening base station, it only needs to receive the entire process, which greatly reduces the ranging process and significantly improves the throughput of air ranging. Attached Figure Description

[0047] Figure 1 This is a structural diagram of a ranging system based on UWB technology provided in Embodiment 1;

[0048] Figure 2 This is a schematic diagram of a ranging method based on UWB technology provided in Embodiment 2;

[0049] Figure 3 This is a schematic diagram of a ranging method based on UWB technology provided in Embodiment 3; Detailed Implementation

[0050] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that, unless otherwise specified, the following embodiments and features described therein can be combined with each other.

[0051] The purpose of this invention is to address the shortcomings of existing technologies by providing a ranging method and system based on UWB technology.

[0052] Example 1

[0053] This embodiment provides a ranging system based on UWB technology, such as Figure 1 As shown, the system includes a UWB terminal device 11, a UWB reference base station 12, and several UWB listening base stations 13. The UWB terminal device 11 is communicatively connected to both the UWB reference base station 12 and the UWB listening base stations 13. The UWB reference base station 12 is also communicatively connected to the UWB listening base stations 13. Each UWB listening base station 13 can select a UWB listening base station 13 within the line-of-sight range of the corresponding UWB reference base station 12.

[0054] One-sided ranging is performed between the UWB terminal device 11 and the UWB reference base station 12, and the distance between the UWB terminal device 11 and the UWB reference base station 12 is calculated by either the UWB terminal device 11 or the UWB reference base station 12.

[0055] When the UWB terminal device 11 is the active ranging target, the UWB terminal device 11 actively performs one-sided ranging with the UWB reference base station 12, calculates the distance between itself and the UWB reference base station 12, and uploads the measured distance in the next round of active ranging frame.

[0056] When the UWB reference base station 12 is the active ranging target, that is, when the UWB terminal device 11 is the passive ranging target, the UWB reference base station 12 actively performs unilateral ranging with the UWB terminal device 11, and the distance between the UWB reference base station 12 and the UWB terminal device 11 is calculated by the UWB reference base station 12.

[0057] In this embodiment, if the UWB reference base station 12 is the active ranging target, and the UWB terminal device 11 starts each ranging round passively, it needs to apply for access. The time to open reception is controlled by the time of the first frame of the next ranging of the UWB reference base station 12, so as to control the power consumption of the UWB terminal device 11.

[0058] UWB eavesdropping base station 13 receives all data frames during the unilateral ranging between UWB terminal device 11 and UWB reference base station 12, and uploads all timestamps corresponding to the data frames generated during the interaction between UWB eavesdropping base station 13 and UWB reference base station 12 to the server. The server then calculates the distances between UWB terminal device 11 and UWB reference base station 12 and UWB eavesdropping base station 13, respectively.

[0059] The ranging method in this embodiment only requires the interaction process of two frames between the UWB reference base station and the UWB terminal tag to calculate and obtain the distance between the UWB terminal tag and the UWB reference base station and the UWB listening base station respectively. In particular, for the UWB listening base station, it only needs to receive the entire process, which greatly reduces the ranging process and significantly improves the throughput of air ranging.

[0060] Example 2

[0061] This embodiment provides a ranging method based on UWB technology, such as Figure 2 As shown, this ranging method is based on the ranging system in Embodiment 1.

[0062] The specific methods for distance measurement include:

[0063] S1. The UWB terminal device actively sends a broadcast Poll frame and records the timestamp t_poll_tx corresponding to the sending of the Poll frame;

[0064] S2. The UWB reference base station and the UWB listening base station respectively receive the Poll frames sent by the UWB terminal device, and record the corresponding timestamp r_poll_rx after the UWB reference base station receives the Poll frame and the corresponding timestamp ls_poll_rx after the UWB listening base station receives the Poll frame;

[0065] S3. After the UWB reference base station receives the Poll frame sent by the UWB terminal device, it replies with a broadcast Resp frame after a delay of R1, and records the timestamp r_resp_tx corresponding to the reply broadcast Resp frame;

[0066] S4. The UWB terminal device and the UWB listening base station respectively receive the broadcast Resp frame replied by the UWB reference base station; and record the timestamp t_resp_rx corresponding to the UWB terminal device receiving the reply broadcast Resp frame and the timestamp ls_resp_rx corresponding to the UWB listening base station receiving the reply broadcast Resp frame.

[0067] After recording the timestamp, perform the following operations:

[0068] The time interval between the timestamp r_resp_tx recorded by the UWB reference base station in step S3 and the timestamp r_poll_rx recorded by the UWB reference base station in step S2 is calculated as follows:

[0069] R1 = r_resp_tx – r_poll_rx

[0070] R1 represents the time interval between timestamp r_resp_tx and timestamp r_poll_rx.

[0071] The time interval between the timestamp ls_resp_rx recorded by the UWB listening base station in step S4 and the timestamp ls_poll_rx recorded by the UWB listening base station in step S2 is calculated as follows:

[0072] D1 = ls_resp_rx – ls_poll_rx

[0073] Where D1 represents the time interval between timestamps ls_resp_rx and ls_poll_rx.

[0074] The time interval between the timestamp t_resp_rx recorded by the UWB terminal device in step S4 and the timestamp t_poll_tx recorded by the UWB terminal device in step S1 is calculated as follows:

[0075] T1 = t_resp_rx – t_poll_tx

[0076] Where T1 represents the time interval between timestamp t_resp_rx and timestamp t_poll_tx.

[0077] At the ranging system site, both UWB listening base stations and UWB reference base stations are fixedly installed. Therefore, it is necessary to select UWB listening base stations within line-of-sight of the corresponding UWB reference base station to participate in the calculation. Since the coordinate data of all base stations is stored in the database, the distance Dr between the selected UWB listening base stations and UWB reference base stations is calculated using their fixed coordinates. Based on the distance Dr, the time of flight (tof) from the UWB listening base station to the UWB reference base station is calculated, expressed as:

[0078] tof_rsp = Dr / c

[0079] Where tof_rsp represents the flight time from the UWB listening base station to the UWB reference base station; Dr represents the distance between the UWB listening base station and the UWB reference base station; and c represents the speed of light.

[0080] The obtained tof_rsp and Dr records are stored in the server's database.

[0081] S5. Calculate the distances from the UWB terminal device to the UWB reference base station and the UWB listening base station based on the recorded timestamps.

[0082] The distance from the UWB terminal device to the UWB reference base station is as follows:

[0083] The time of free communication (tof) from the UWB terminal device to the UWB reference base station is calculated and expressed as:

[0084]

[0085] Wherein, tof_ref represents the tof time from the UWB terminal device to the UWB reference base station;

[0086] Multiplying tof_ref by the speed of light gives the distance from the UWB terminal device to the UWB reference base station, expressed as:

[0087] Dref = tof_ref * c

[0088] Where Dref represents the distance from the UWB terminal device to the UWB reference base station.

[0089] The distance Dref is calculated on the UWB terminal device and carried in the next round of Poll frames, then uploaded to the server via Ethernet through the UWB reference base station.

[0090] The distance from the UWB terminal device to the UWB listening base station is as follows:

[0091] The time-of-flight (tof) from the UWB terminal device to the UWB listening base station is calculated and expressed as:

[0092]

[0093] Where, tof_aim represents the tof time from the UWB terminal device to the UWB listening base station.

[0094] Multiplying tof_aim by the speed of light gives the distance from the UWB terminal device to the UWB listening base station, expressed as:

[0095] Daim = tof_aim *c

[0096] Wherein, Daim represents the distance from the UWB terminal device to the UWB eavesdropping base station.

[0097] Since the distance calculation parameters Daim are generated as follows: R1 is generated at the UWB reference base station, T1 at the UWB terminal device, and D1 at the UWB listening base station, T1 is carried by the UWB terminal device through the next round of Poll frames and uploaded to the server via Ethernet through the UWB reference base station. R1 and D1 are uploaded to the server via Ethernet by the UWB reference base station and the UWB listening base station, respectively. tof_rsp is recorded by the server. The final distance calculation from the UWB terminal device to the UWB listening base station is completed by the server.

[0098] Example 3

[0099] This embodiment provides a ranging method based on UWB technology, such as Figure 3 As shown, this ranging method is based on the ranging system in Embodiment 1.

[0100] S1. The UWB reference base station actively sends a broadcast Centor frame and records the timestamp r_cen_tx corresponding to the sent Centor frame;

[0101] S2. The UWB terminal device and the UWB listening base station respectively receive the Centor frame sent by the UWB reference base station, and record the corresponding timestamp t_cen_rx after the UWB terminal device receives the Centor frame and the corresponding timestamp ls_cen_rx after the UWB listening base station receives the Centor frame.

[0102] After receiving the Centor frame sent by the UWB reference base station, the S3.UWB terminal device delays for a period of time T1 to reply with a broadcast Resp frame and records the timestamp t_resp_tx corresponding to the reply broadcast Resp frame;

[0103] S4. The UWB reference base station and the UWB listening base station respectively receive the broadcast Resp frames replied by the UWB terminal equipment; and record the timestamp r_resp_rx corresponding to the UWB reference base station receiving the reply broadcast Resp frame and the timestamp ls_resp_rx corresponding to the UWB listening base station receiving the reply broadcast Resp frame.

[0104] After recording the timestamp, perform the following operations:

[0105] The time interval between the timestamp r_resp_rx recorded by the UWB reference base station in step S4 and the timestamp r_cen_tx recorded by the UWB reference base station in step S1 is calculated as follows:

[0106] R1 = r_resp_rx – r_cen_tx

[0107] R1 represents the time interval between timestamps r_resp_rx and r_cen_tx.

[0108] The time interval between the timestamp ls_resp_rx recorded by the UWB listening base station in step S4 and the timestamp ls_cen_rx recorded by the UWB listening base station in step S2 is calculated as follows:

[0109] D1 = ls_resp_rx – ls_cen_rx

[0110] Where D1 represents the time interval between timestamps ls_resp_rx and ls_cen_rx.

[0111] The time interval between the timestamp t_resp_tx recorded by the UWB terminal device in step S3 and the timestamp t_cen_rx recorded by the UWB terminal device in step S2 is calculated as follows:

[0112] T1=t_resp_tx–t_cen_rx

[0113] Where T1 represents the time interval between timestamp t_resp_tx and timestamp t_cen_rx.

[0114] In the ranging system field, both UWB listening base stations and UWB reference base stations are fixedly installed. Therefore, it is necessary to select UWB listening base stations within line-of-sight of the corresponding UWB reference base station to participate in the calculation. Since the coordinate data of all base stations is stored in the database, the distance Dr between the selected UWB listening base stations and the UWB reference base station is calculated using their fixed coordinates. Then, the time of departure (tof) between the UWB listening base station and the UWB reference base station is calculated based on the distance Dr, expressed as:

[0115] tof_rsp = Dr / c

[0116] Where tof_rsp represents the flight time from the UWB listening base station to the UWB reference base station; Dr represents the distance between the UWB listening base station and the UWB reference base station; and c represents the speed of light.

[0117] The obtained tof_rsp and Dr records are stored in the server's database.

[0118] S5. Calculate the distances from the UWB terminal device to the UWB reference base station and the UWB listening base station based on the recorded timestamps.

[0119] The distance from the UWB terminal device to the UWB reference base station is as follows:

[0120] The time of free communication (tof) from the UWB terminal device to the UWB reference base station is calculated and expressed as:

[0121]

[0122] Wherein, tof_ref represents the tof time from the UWB terminal device to the UWB reference base station;

[0123] Multiplying tof_ref by the speed of light gives the distance from the UWB terminal device to the UWB reference base station, expressed as:

[0124] Dref = tof_ref * c

[0125] Where Dref represents the distance from the UWB terminal device to the UWB reference base station.

[0126] The time interval T1 is generated on the UWB terminal device and sent via the Resp broadcast frame sent back by the UWB terminal device. The time interval R1 is generated on the UWB reference base station. Therefore, the calculation of distance Dref is completed on the UWB reference base station and uploaded to the server via Ethernet through the UWB reference base station.

[0127] The distance from the UWB terminal device to the UWB listening base station is as follows:

[0128] The time-of-flight (tof) from the UWB terminal device to the UWB listening base station is calculated and expressed as:

[0129]

[0130] Where, tof_aim represents the tof time from the UWB terminal device to the UWB listening base station.

[0131] Multiplying tof_aim by the speed of light gives the distance from the UWB terminal device to the UWB listening base station, expressed as:

[0132] Daim = tof_aim *c

[0133] Wherein, Daim represents the distance from the UWB terminal device to the UWB eavesdropping base station.

[0134] The time interval T1 is generated by the UWB terminal device and carried out via the Resp frame. The Resp frame is received by the UWB reference base station and uploaded to the server via Ethernet. R1 and D1 are uploaded to the server via Ethernet by the UWB reference base station and the UWB listening base station, respectively. tof_rsp is the data recorded by the server. The final distance calculation from the UWB terminal device to the UWB listening base station is completed by the server.

[0135] Example 4

[0136] The difference between the ranging method based on UWB technology provided in this embodiment and Embodiment 3 is as follows:

[0137] Before the UWB reference base station sends the broadcast Centor frame, the following is also included:

[0138] The UWB reference base station will periodically broadcast Centor frames for a period of centor_period.

[0139] UWB terminal devices initially need to apply for access. After sending a Request frame, they immediately enter the receiving state. When the UWB listening base station receives the Request frame, it will reply with an Ack frame to the corresponding UWB terminal device. The Ack frame contains the time interval Dt between the current timestamp and the timestamp of the next centor frame.

[0140] After receiving the Ack frame from the UWB reference base station, the UWB terminal device enters a sleep state and adjusts the sleep time slg_rt according to the time Dt.

[0141] Before the UWB reference base station prepares to send the center frame, the UWB terminal device wakes up and immediately accesses the receiving state.

[0142] When the UWB reference base station sends the broadcast center frame, the subsequent steps are similar to steps S1-S5 in Embodiment 3, specifically:

[0143] After the UWB terminal device receives the Centor frame, it delays for a period of time T1 and replies with a broadcast Resp frame. After the UWB reference base station and the UWB listening base station receive the Resp frame, they record the reception timestamp and start calculation. After the UWB terminal device finishes sending the Resp frame, it can enter the sleep state and adjust the sleep time slg_tt according to the time centor_period when the UWB reference base station periodically sends the Centor frame to ensure the ranging process in the next round.

[0144] Note that the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention, the scope of which is determined by the scope of the appended claims.

Claims

1. A ranging method based on UWB technology, characterized in that, The ranging method is implemented based on a ranging system using UWB technology. The ranging system includes a UWB terminal device, a UWB reference base station, and a UWB listening base station. The UWB terminal device is communicatively connected to the UWB reference base station and the UWB listening base station, respectively. The UWB reference base station is also communicatively connected to the UWB listening base station. Distance measurement methods include: S1. The UWB terminal device actively sends a broadcast Poll frame and records the timestamp t_poll_tx corresponding to the sending of the Poll frame; S2. The UWB reference base station and the UWB listening base station respectively receive the Poll frames sent by the UWB terminal device, and respectively record the timestamp r_poll_rx and timestamp ls_poll_rx after receiving the Poll frames; S3. After receiving the Poll frame sent by the UWB terminal device, the UWB reference base station delays for a period of time to reply with a broadcast Resp frame and records the timestamp r_resp_tx corresponding to the reply broadcast Resp frame; S4. The UWB terminal device and the UWB listening base station respectively receive the broadcast Resp frame replied by the UWB reference base station; and respectively record the timestamp t_resp_rx and timestamp ls_resp_rx after receiving the broadcast Resp frame replied; S5. Calculate the distances from the UWB terminal device to the UWB reference base station and the UWB listening base station based on the recorded timestamps; Step S5 includes the following: The time interval between the timestamp r_resp_tx recorded by the UWB reference base station in step S3 and the timestamp r_poll_rx recorded by the UWB reference base station in step S2 is calculated as follows: ， Where R1 represents the time interval between timestamp r_resp_tx and timestamp r_poll_rx; The time interval between the timestamp ls_resp_rx recorded by the UWB listening base station in step S4 and the timestamp ls_poll_rx recorded by the UWB listening base station in step S2 is calculated as follows: ， Where D1 represents the time interval between timestamps ls_resp_rx and ls_poll_rx; The time interval between the timestamp t_resp_rx recorded by the UWB terminal device in step S4 and the timestamp t_poll_tx recorded by the UWB terminal device in step S1 is calculated as follows: ， Where T1 represents the time interval between timestamp t_resp_rx and timestamp t_poll_tx; Before step S5, the process also includes: selecting UWB eavesdropping base stations within line-of-sight of the corresponding UWB reference base station to participate in the calculation, obtaining the distance between the UWB eavesdropping base station and the UWB reference base station, and calculating the flight time from the UWB eavesdropping base station to the UWB reference base station based on the obtained distance, expressed as: ， Where, tof_rsp represents the flight time from the UWB listening base station to the UWB reference base station; The distance between the UWB listening base station and the UWB reference base station is represented by c; c represents the speed of light. The calculation method for the flight time and distance from the UWB terminal device to the UWB reference base station in step S5 includes: First, the flight time from the UWB terminal device to the UWB reference base station is calculated and expressed as: ， Where, tof_ref represents the flight time from the UWB terminal device to the UWB reference base station; Then, multiplying the flight time tof_ref by the speed of light yields the distance from the UWB terminal device to the UWB reference base station, expressed as: ， in, This indicates the distance from the UWB terminal device to the UWB reference base station; The method for calculating the flight time and distance from the UWB terminal device to the UWB listening base station in step S5 includes: First, calculate the flight time from the UWB terminal device to the UWB listening base station, expressed as: ， Where, tof_aim represents the flight time from the UWB terminal device to the UWB listening base station; Then, multiplying the flight time tof_aim by the speed of light yields the distance from the UWB terminal device to the UWB eavesdropping base station, expressed as: ， in, This indicates the distance from the UWB terminal device to the UWB listening base station.

2. The ranging method based on UWB technology according to claim 1, characterized in that... The ranging method further includes: S6. The UWB reference base station actively sends a broadcast Centor frame and records the timestamp corresponding to the sent Centor frame. ; S7. The UWB terminal device and the UWB listening base station respectively receive the Centor frame sent by the UWB reference base station, and respectively record the corresponding timestamp after receiving the Centor frame. timestamp ; S8. After receiving the Center frame sent by the UWB reference base station, the UWB terminal device delays for a period of time before replying with a broadcast Resp frame and records the timestamp corresponding to the reply broadcast Resp frame. ; S9. The UWB reference base station and the UWB listening base station respectively receive the broadcast Resp frames replied by the UWB terminal equipment; and respectively record the corresponding timestamp after receiving the broadcast Resp frames. timestamp ; S10. Calculate the distances from the UWB terminal device to the UWB reference base station and the UWB listening base station based on the recorded timestamps.

3. The ranging method based on UWB technology according to claim 2, characterized in that... The distance calculation from the UWB terminal device to the UWB reference base station is performed by either the UWB terminal device or the UWB reference base station; the distance calculation from the UWB terminal device to the UWB listening base station is performed by the server.

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