A method, device and storage medium for realizing synchronization of a positioning system into a network

Abstract

The application discloses a method and device for realizing network entry synchronization of a positioning system and a storage medium, and is characterized in that: a first beacon and a plurality of second beacons are determined according to a starting sequence, wherein the first beacon is a beacon for sending a broadcast, and the plurality of second beacons are beacons for receiving the broadcast; round-trip timing inquiry messages are sent from the plurality of second beacons to the first beacon, and listening is performed according to a preset first time interval; in the case that the plurality of second beacons receive round-trip timing response messages sent by the first beacon, the first beacon is used to determine whether the number of received round-trip timing inquiry messages is the same as the number of the plurality of second beacons; in the case that the number of received round-trip timing inquiry messages by the first beacon is the same as the number of the plurality of second beacons, the plurality of second beacons are used to calculate and obtain an accurate system time; and according to the accurate system time, the local time of the plurality of second beacons is adjusted, and initial synchronization is completed.

Description

Technical Field

[0001] This application relates to the field of communications, and in particular to a method, apparatus, and storage medium for enabling a positioning system to synchronously access a network. Background Technology

[0002] With the development of integrated air-space-ground network technology, future networks place higher demands on all-time, all-domain, and all-air communication and network interconnection. Airborne operations, as a highly mobile and flexible form of warfare in modern warfare, can unexpectedly disrupt enemy deployments, alter the situation, and accelerate the operational process. However, during the deployment of personnel, supplies, and vehicles, factors such as weather, terrain, and military deployment cause different airborne units to land at different locations. This necessitates the establishment of a supporting communication and positioning system to achieve the goals of personnel and material situational awareness and rapid troop assembly. A common workflow involves first having a reconnaissance and guidance unit land with beacons, followed by the airdrop of vehicles and supplies, personnel air-drop, and finally, material search and troop assembly.

[0003] However, existing beacon deployment processes are often susceptible to external interference or sudden malfunctions, leading to beacon failures in signal transmission and reception. This disrupts subsequent positioning algorithms that rely on communication with beacon nodes, ultimately causing the communication system to malfunction or even crash. Furthermore, because beacons cannot transmit or receive signals properly, their network entry times are typically asynchronous. To ensure ranging and positioning accuracy, traditional TOA positioning communication systems require additional bit overhead or hardware resources for precise synchronization.

[0004] The existing technologies mentioned above have problems. When existing beacons are subjected to external interference or sudden failures, they may be unable to transmit or receive signals normally, resulting in asynchronous network access times for various beacons. In order to solve this problem, traditional solutions usually require the introduction of additional bit overhead or hardware resources to achieve precise synchronization, thereby increasing communication overhead and economic costs. Currently, no effective solution has been proposed. Summary of the Invention

[0005] The embodiments of this disclosure provide a method, apparatus, and storage medium for synchronous network access of a positioning system, to at least solve the technical problem in the prior art where existing beacons cannot transmit and receive signals normally due to external interference or sudden failures, resulting in asynchronous network access times for each beacon. To solve the above problem, traditional solutions usually require the introduction of additional bit overhead or hardware resources to achieve precise synchronization, thereby increasing communication overhead and economic costs.

[0006] According to one aspect of the present disclosure, a method for synchronously joining a positioning system is provided, comprising: determining a first beacon and a plurality of second beacons; sending round-trip time query messages to the first beacon using the plurality of second beacons, and listening at a preset first time interval; when the plurality of second beacons receive round-trip time response messages sent by the first beacon, determining using the first beacon whether the number of received round-trip time query messages is the same as the number of the plurality of second beacons; if the number of received round-trip time query messages is the same as the number of the plurality of second beacons, calculating and obtaining an accurate system time using the plurality of second beacons; and adjusting the local time of the plurality of second beacons according to the accurate system time, and completing initial synchronization.

[0007] According to another aspect of the present disclosure, a storage medium is also provided, the storage medium including a stored program, wherein, when the program is executed, a processor performs any of the methods described above.

[0008] According to another aspect of the present disclosure, an apparatus for synchronously joining a positioning system is also provided, comprising: a beacon determination module for determining a first beacon and a plurality of second beacons; an interrogation message sending module for sending round-trip time interrogation messages to the first beacon using the plurality of second beacons and listening at a preset first time interval; a first judgment module for determining, when the plurality of second beacons receive round-trip time response messages sent by the first beacon, whether the number of received round-trip time interrogation messages is the same as the number of the plurality of second beacons; a system time calculation module for calculating and obtaining an accurate system time using the plurality of second beacons when the number of received round-trip time interrogation messages is the same as the number of the plurality of second beacons; and a local time adjustment module for adjusting the local time of the plurality of second beacons according to the accurate system time and completing initial synchronization.

[0009] According to another aspect of the present disclosure, an apparatus for synchronizing a positioning system to network access is also provided, comprising: a processor; and a memory connected to the processor, configured to provide the processor with instructions for processing the following steps: determining a first beacon and a plurality of second beacons; sending round-trip time query messages to the first beacon using the plurality of second beacons, and listening at a preset first time interval; when the plurality of second beacons receive round-trip time response messages sent by the first beacon, determining using the first beacon whether the number of received round-trip time query messages is the same as the number of the plurality of second beacons; when the number of received round-trip time query messages is the same as the number of the plurality of second beacons, calculating and obtaining the precise system time using the plurality of second beacons; and adjusting the local time of the plurality of second beacons according to the precise system time, and completing initial synchronization.

[0010] In this embodiment, firstly, multiple beacons determine themselves as either the first or second beacon according to their activation order. Then, multiple second beacons send round-trip time query messages to the first beacon. When multiple second beacons receive round-trip time response messages from the first beacon, the first beacon determines whether the number of received round-trip time query messages is the same as the number of second beacons. If the number of received round-trip time query messages is the same as the number of second beacons, the multiple second beacons calculate and obtain the precise system time. Finally, the multiple second beacons adjust their local time based on the precise system time and complete initial synchronization. Since this embodiment pre-determines the first beacon and multiple second beacons, uses the first beacon to send round-trip time query messages, and then uses multiple second beacons to analyze the time interval between sending and receiving round-trip time query messages to adjust the start time of the local time slot, the time error can be calculated. That is, subtracting the calculated time error from the multiple second beacons enables accurate time slot calibration. Thus, the above operations achieve the technical effect of ensuring that all beacon nodes participating in positioning within each time slot of the positioning communication system can transmit and receive signals normally, realizing network entry time synchronization of each beacon node, and guaranteeing the normal and stable operation of the positioning communication system, while reducing communication overhead and economic costs. Furthermore, it solves the problem in existing technologies where existing beacons, due to external interference or sudden malfunctions, cannot transmit and receive signals normally, leading to asynchronous network entry times for each beacon. To solve this problem, traditional methods typically require introducing additional bit overhead or hardware resources to achieve precise synchronization, thereby increasing communication overhead and economic costs. Attached Figure Description

[0011] The accompanying drawings, which are included to provide a further understanding of this disclosure and form part of this application, illustrate exemplary embodiments of this disclosure and are used to explain this disclosure, but do not constitute an undue limitation of this disclosure. In the drawings:

[0012] Figure 1 This is a hardware structure block diagram of a computer device for implementing the method described in Embodiment 1 of this disclosure;

[0013] Figure 2 This is a flowchart illustrating the method for synchronous network access of a positioning system according to the first aspect of Embodiment 1 of this disclosure;

[0014] Figure 3 This is a flowchart illustrating the method for synchronizing a positioning system to network and determining whether a beacon node is faulty, according to the first aspect of Embodiment 1 of this disclosure.

[0015] Figure 4This is a network time synchronization principle diagram according to the first aspect of Embodiment 1 of this disclosure;

[0016] Figure 5 It is a coordinate system diagram of a plurality of beacon nodes according to the first aspect of Embodiment 1 of this disclosure;

[0017] Figure 6 This is a flowchart of a method for initial synchronization of multiple second beacons according to the first aspect of Embodiment 1 of this application;

[0018] Figure 7 This is a schematic diagram of a device for synchronously joining a positioning system to the network according to Embodiment 2 of this disclosure; and

[0019] Figure 8 This is a schematic diagram of the device for synchronous network access of a positioning system according to Embodiment 3 of this disclosure. Detailed Implementation

[0020] To enable those skilled in the art to better understand the technical solutions of this disclosure, the technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of this disclosure, and not all embodiments. Based on the embodiments of this disclosure, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this disclosure.

[0021] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this disclosure are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this disclosure described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0022] Example 1

[0023] According to this embodiment, a method embodiment for realizing synchronous network access of a positioning system is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0024] The method embodiments provided in this example can be executed on mobile terminals, computer terminals, or similar computing devices. Figure 1 A hardware block diagram of a computer device for implementing a method for synchronous network access of a positioning system is shown. Figure 1 As shown, the computer device 10 may include one or more processors 102 (shown as 102a, 102b, ..., 102n in the figure) 102 (processor 102 may include, but is not limited to, a microprocessor MCU or a programmable logic device FPGA, etc.), a memory 104 for storing data, and a transmission module 106 for communication functions. In addition, it may also include: a display, an input / output interface (I / O interface), a universal serial bus (USB) port (which may be included as one of the ports of the I / O interface), a network interface, a power supply, and / or a camera. Those skilled in the art will understand that... Figure 1 The structure shown is for illustrative purposes only and does not limit the structure of the aforementioned electronic device. For example, computer terminal 10 may also include... Figure 1 The more or fewer components shown, or having the same Figure 1 The different configurations shown.

[0025] It should be noted that the aforementioned one or more processors 102 and / or other data processing circuitry are generally referred to herein as "data processing circuitry". This data processing circuitry may be embodied, in whole or in part, in software, hardware, firmware, or any other combination thereof. Furthermore, the data processing circuitry may be a single, independent processing module, or may be integrated, in whole or in part, into any other element within the computer device 10. As involved in embodiments of this disclosure, the data processing circuitry serves as a processor control mechanism (e.g., selection of a variable resistor termination path connected to an interface).

[0026] The memory 104 can be used to store software programs and modules of application software, such as the program instructions / data storage device corresponding to the method for implementing synchronous network access of the positioning system in this embodiment of the present disclosure. The processor 102 executes various functional applications and data processing by running the software programs and modules stored in the memory 104, that is, implementing the method for implementing synchronous network access of the positioning system described above. The memory 104 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory remotely located relative to the processor 102, and these remote memories can be connected to the computer terminal 10 via a network. Examples of the above-mentioned networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0027] The transmission device 106 is used to receive or send data via a network. Specific examples of the network described above may include a wireless network provided by the communication provider of the computer terminal 10. In one example, the transmission device 106 includes a Network Interface Controller (NIC), which can connect to other network devices via a base station to communicate with the Internet. In another example, the transmission device 106 may be a Radio Frequency (RF) module, used for wireless communication with the Internet.

[0028] According to the first aspect of this embodiment, a method for synchronously joining a positioning system to a network is provided. Figure 2 A flowchart illustrating the method is shown below. (Refer to...) Figure 2 As shown, the method includes:

[0029] S202: Determine the first beacon and multiple second beacons according to the activation sequence;

[0030] S204: Use the plurality of second beacons to send round-trip timed query messages to the first beacon, and listen at a preset first time interval;

[0031] S206: When the plurality of second beacons receive the round-trip timer response message sent by the first beacon, the first beacon is used to determine whether the number of received round-trip timer query messages is the same as the number of the plurality of second beacons;

[0032] S208: When the number of round-trip timing interrogation messages received by the first beacon is the same as the number of the plurality of second beacons, the precise system time is calculated and obtained using the plurality of second beacons; and

[0033] S210: Adjust the local time of the plurality of second beacons according to the precise system time, and complete the initial synchronization.

[0034] As described in the background section, with the development of integrated air-space-ground network technology, future networks place higher demands on all-time, all-domain, and all-air communication and network interconnection. Airborne operations, as a highly mobile and flexible form of warfare in modern battlefields, can unexpectedly disrupt enemy deployments, alter the situation, and accelerate the operational process. However, during the deployment of personnel, supplies, and vehicles, factors such as weather, terrain, and military deployment cause different airborne units to land at different locations. This necessitates the establishment of a supporting communication and positioning system to achieve the goals of personnel and material situational awareness and rapid troop assembly. (A common workflow involves first having a reconnaissance and guidance unit land with beacons, then airdropping vehicles and supplies, followed by personnel airdrop, and finally searching for supplies and troop assembly.) However, existing beacons often experience communication disruptions due to asynchronous network access times, leading to signal transmission and reception failures.

[0035] To address the technical problems existing in the background art, this embodiment provides a method for achieving synchronous network access of a positioning system. In one application scenario, multiple reconnaissance and communication personnel, each carrying a beacon, land at different locations and rapidly assemble based on positioning communication between the multiple beacons.

[0036] First, the reconnaissance communications personnel activate the beacons and, according to the order of activation, identify the first beacon and several second beacons among multiple beacons (S202). The first beacon is the one that transmits broadcasts, and the multiple second beacons are capable of receiving broadcasts transmitted by the first beacon. Furthermore, the first beacon is activated before the multiple second beacons.

[0037] Given a first beacon and multiple second beacons, reconnaissance personnel use the multiple second beacons to send round-trip timed interrogation messages to the first beacon, and the multiple second beacons listen for a preset first time interval (S204). The round-trip timed interrogation message contains the source address of the beacon corresponding to one of the multiple second beacons. The first time interval is 48 seconds. For example, reconnaissance personnel 1, 2, and 3 each carry one beacon, and the beacon carried by reconnaissance personnel 1 is identified as the first beacon, while the beacons carried by reconnaissance personnel 2 and 3 are identified as second beacons. Reconnaissance personnel 2 and 3 use their carried beacons to send round-trip timed interrogation messages to the first beacon and listen for a preset 48-second interval.

[0038] Then, multiple second beacons determine whether they have received a round-trip time acknowledgment message sent by the first beacon. If multiple second beacons do not receive a round-trip time acknowledgment message sent by the first beacon, it could be that the first beacon is malfunctioning, or it could be that there is interference in the communication between the first beacon and the multiple second beacons.

[0039] When multiple second beacons receive round-trip timer acknowledgment messages from the first beacon, the first beacon determines whether the number of received round-trip timer interrogation messages is the same as the number of second beacons (S206). For example, reconnaissance personnel 1, 2, and 3 each carry one beacon, and the beacon carried by reconnaissance personnel 1 is identified as the first beacon, while the beacons carried by reconnaissance personnel 2 and 3 are second beacons. When multiple second beacons receive round-trip timer acknowledgment messages from the first beacon, the first beacon determines whether the number of received round-trip timer interrogation messages is the same as the number of second beacons. That is, the first beacon determines whether the number of received round-trip timer interrogation messages is 2. If the number of received round-trip timer interrogation messages is the same as the number of second beacons, it indicates that all second beacons are functioning normally; if the number of received round-trip timer interrogation messages is different from the number of second beacons, it indicates that one of the second beacons is faulty.

[0040] If the number of round-trip timing interrogation messages received by the first beacon is the same as the number of second beacons, the accurate system time is calculated and obtained using the multiple second beacons (S208). For example, if the number of second beacons is 2, and the number of round-trip timing interrogation messages received by the first beacon is the same as the number of second beacons, it means that all the second beacons are working properly. Then, the time error is calculated using each of the multiple second beacons. And precise system time. Multiple second beacons based on time error. Initial synchronization with the precise system time is completed.

[0041] Calculated time error The principle behind precise system time is precise synchronization. The core idea of ​​precise synchronization is that multiple second beacons periodically send Round-Trip Time Inquiry (RTT-I) messages to the first beacon. After broadcasting its network entry information, the first beacon enters the receiving state. When the first beacon receives the RTT-I messages from the multiple second beacons, it immediately sends a Round-Trip Time Reply (RTT-R) message within a specified time. The sending and receiving of the RTT-I and RTT-R messages are completed within a single time slot. The multiple second beacons adjust their local time slot start times by analyzing the time intervals between sending the RTT-I messages and receiving the RTT-R messages, thus achieving precise time slot calibration.

[0042] Figure 4 This is a schematic diagram illustrating the network time synchronization principle according to an embodiment of the present disclosure. (See reference) Figure 4 As shown, it is assumed that the time errors of multiple second beacons cause the time slot boundary to be delayed. ms, then the time error The arrival time (TOA) of the message can be queried using the round-trip timer corresponding to the first beacon. i The arrival time (TOA) of round-trip timed response messages corresponding to multiple second beacons. r The time of sending round-trip timed response messages within this time slot Calculations yield (wherein, in the technical solution of this disclosure) The value is 4ms, which is half a time slot. This includes the round-trip timer for query message propagation. Equivalent to Round Trip Time Inquiry (TOA) message arrival time i Subtract time error ,Right now:

[0043] (Formula 1)

[0044] Propagation time of round-trip timed response messages Plus It equals the arrival time (TOAr) of the round-trip time response message plus the time error. ,Right now:

[0045] (Formula 2)

[0046] (Formula 3)

[0047] Assuming the round-trip time query message propagation time Propagation time of round-trip timed response messages If they are the same, then:

[0048] (Formula 4)

[0049] Time error It can be calculated using formula (4), that is:

[0050] (Formula 5)

[0051] That is, multiple second beacons minus time error This allows you to adjust your local time and complete the initial synchronization (S210).

[0052] Furthermore, after initial synchronization is completed, in order to maintain synchronization between the first beacon and multiple second beacons, the participating units need to continuously monitor clock performance and the initial synchronization process. When the clock error exceeds the specified range, the participating units disable communication and initiate initial synchronization.

[0053] In this embodiment, firstly, multiple beacons determine themselves as either the first or second beacon according to their activation order. Then, multiple second beacons send round-trip time query messages to the first beacon. When multiple second beacons receive round-trip time response messages from the first beacon, the first beacon determines whether the number of received round-trip time query messages is the same as the number of second beacons. If the number of received round-trip time query messages is the same as the number of second beacons, the multiple second beacons calculate and obtain the precise system time. Finally, the multiple second beacons adjust their local time based on the precise system time and complete initial synchronization. Since this embodiment pre-determines the first beacon and multiple second beacons, uses the first beacon to send round-trip time query messages, and then uses multiple second beacons to analyze the time interval between sending and receiving round-trip time query messages to adjust the start time of the local time slot, the time error can be calculated. That is, subtracting the calculated time error from the multiple second beacons enables accurate time slot calibration. Thus, the above operations achieve the technical effect of ensuring that all beacon nodes participating in positioning within each time slot can transmit and receive signals normally, realizing network entry time synchronization of each node, and guaranteeing the stable and normal operation of the positioning communication system, while reducing communication overhead and economic costs. This solves the problem in existing technologies where beacons, due to external interference or sudden malfunctions, cannot transmit and receive signals normally, leading to asynchronous network entry times for each beacon. Traditional methods typically require additional bit overhead or hardware resources to achieve precise synchronization, thus increasing communication overhead and economic costs.

[0054] Optionally, the operation of determining the first beacon according to the startup sequence includes: starting the first beacon and listening at a preset second time interval; and if the first beacon does not listen to the broadcast, determining the first beacon as the master station and periodically sending broadcasts at a preset third time interval.

[0055] Specifically, Figure 3 This is a schematic flowchart illustrating a method for synchronously joining a positioning system to the network and determining whether a beacon node is faulty, according to an embodiment of this disclosure. (See reference) Figure 3 As shown, after the first beacon lands and starts, it listens for data according to a preset second time interval. This second time interval is two time frames (48 seconds). In the technical solution disclosed in this application, one time frame equals 24 seconds. Since the first beacon starts first and does not detect broadcasts from other beacons, it is determined to be the master beacon. Subsequently, the first beacon periodically sends broadcasts according to a preset third time interval, and continues listening after sending the broadcast. This third time interval is one time frame (24 seconds).

[0056] For example, reconnaissance communications personnel 1, 2, and 3 each carry one beacon. The beacon carried by reconnaissance communications personnel 1 is identified as the first beacon, while the beacons carried by reconnaissance communications personnel 2 and 3 are identified as the second beacons. The first beacon carried by reconnaissance communications personnel 1 conducts real-time monitoring at preset intervals of two time frames. Since the first beacon does not detect any broadcasts from other beacons, it is determined to be the master beacon and periodically transmits broadcasts at preset intervals of one time frame.

[0057] Thus, the above operations achieve the technical effect of providing the necessary foundation for beacon node network access calibration by identifying one of the multiple beacons as the master station.

[0058] Optionally, the operation of determining multiple second beacons according to the startup sequence includes: starting multiple second beacons and listening at a preset second time interval; and determining multiple second beacons as affiliated stations when multiple second beacons listen to the broadcast sent by the first beacon.

[0059] Specifically, refer to Figure 3 As shown, after multiple second beacons land and start, they listen for signals according to a preset second time interval. This second time interval is two time frames (i.e., 48 seconds). Since the multiple second beacons start after the first beacon and can listen to the broadcast sent by the first beacon, they are identified as belonging to the same station.

[0060] For example, reconnaissance communications personnel 1, 2, and 3 each carry one beacon, and each activates their beacon. The beacons carried by reconnaissance communications personnel 2 and 3 intercept the broadcast sent by the beacon carried by reconnaissance communications personnel 1, thus making the beacons carried by reconnaissance communications personnel 2 and 3 the second beacons.

[0061] Thus, the above operations achieve the technical effect of providing the necessary foundation for beacon node network access calibration by identifying multiple beacons as affiliated stations.

[0062] Optionally, when multiple second beacons receive round-trip timer response messages sent by the first beacon, the operation of determining whether the number of received round-trip timer query messages is the same as the number of multiple second beacons includes: if the number of received round-trip timer query messages is not the same as the number of multiple second beacons, determining that multiple second beacons are faulty, and requesting additional beacons to be deployed.

[0063] Specifically, refer to Figure 3As shown, if the number of round-trip timing interrogation messages received by the first beacon is not the same as the number of multiple second beacons, it indicates that some of the second beacons are unable to send round-trip timing interrogation messages to the first beacon. These beacons may be faulty. Therefore, the first beacon can report the faulty beacon to the central control station (e.g., the central control console, managed by the military commander) and request repair of the faulty beacon or the addition of a new beacon.

[0064] For example, reconnaissance communications personnel 1, 2, and 3 each carry one beacon, with the beacon carried by reconnaissance communications personnel 1 designated as the first beacon, and the beacons carried by reconnaissance communications personnel 2 and 3 designated as second beacons. The second beacons carried by reconnaissance communications personnel 2 and 3 send round-trip timed interrogation messages to the first beacon carried by reconnaissance communications personnel 1. The first beacon carried by reconnaissance communications personnel 1 determines that the number of received round-trip timed interrogation messages differs from the number of messages received from multiple second beacons. In this case, either the second beacon carried by reconnaissance communications personnel 2 or 3 may be malfunctioning. Therefore, the first beacon carried by reconnaissance communications personnel 1 can report this to headquarters and request the addition of a new beacon.

[0065] Thus, through the above operations, the technical effect of being able to promptly detect faulty second beacons and request the addition of new beacons to replace them is achieved, thereby ensuring the stable operation of the communication and positioning system.

[0066] Optionally, it further includes: if multiple second beacons do not receive a round-trip timer acknowledgment message from the first beacon, determining whether a periodic broadcast from the first beacon has been received; if multiple second beacons receive a periodic broadcast from the first beacon, sending a round-trip timer query message to the first beacon; and if multiple second beacons do not receive a periodic broadcast from the first beacon, determining whether a broadcast from a third beacon has been received, wherein the third beacon is a beacon other than the first beacon.

[0067] Specifically, refer to Figure 3 As shown, multiple second beacons, when they do not receive a round-trip time acknowledgment message from the first beacon, determine whether they have received the periodic broadcast from the first beacon. The failure of multiple second beacons to receive the round-trip time acknowledgment message from the first beacon could be due to a malfunction of the first beacon, or it could be due to interference in the communication between the first beacon and the multiple second beacons. Therefore, further analysis is needed to determine the reasons why multiple second beacons did not receive the round-trip time acknowledgment message from the first beacon.

[0068] Since the first beacon periodically broadcasts to multiple second beacons, the reasons why the multiple second beacons did not receive the round-trip timer acknowledgment messages from the first beacon can be analyzed based on whether the multiple second beacons received the periodic broadcasts from the first beacon. If the multiple second beacons received the periodic broadcasts from the first beacon, it indicates that there is interference in the communication between the first beacon and the multiple second beacons, and the multiple second beacons will send round-trip timer acknowledgment messages to the first beacon again. If the multiple second beacons did not receive the periodic broadcasts from the first beacon, it indicates that the first beacon is faulty, and the multiple second beacons need to further determine whether they received the broadcast from the third beacon.

[0069] Thus, through the above operations, the technical effect of being able to promptly analyze why multiple second beacons did not receive the round-trip timed response messages sent by the first beacon, and to promptly handle the reasons based on the analysis, and to promptly detect and replace the first beacon with a third beacon when the first beacon fails, thereby ensuring the normal operation of the communication and positioning system.

[0070] Optionally, the operation of determining whether a broadcast from a third beacon has been received includes: confirming that the third beacon is the master station if multiple second beacons receive the broadcast from the third beacon; and sending round-trip timed query messages to the third beacon using multiple second beacons, and listening at a preset first time interval.

[0071] Specifically, refer to Figure 3 As shown, if multiple second beacons do not receive the periodic broadcast sent by the first beacon, it is necessary to further determine whether the multiple second beacons have received the broadcast sent by the third beacon. If multiple second beacons have received the broadcast sent by the third beacon, the third beacon is determined to be the master station. Furthermore, multiple second beacons send round-trip timed interrogation messages to the third beacon and listen for signals according to a preset first time interval. The first time interval is two time frames (i.e., 48 seconds).

[0072] Furthermore, the third beacon is the second beacon that is the first to receive a broadcast from the first beacon among multiple second beacons. That is, this second beacon is the first to send a round-trip timed query message to the first beacon and the first to stop listening. Therefore, when the first beacon fails, the second beacon that stopped listening first will find that it has not received any broadcasts from either the first or any other second beacon. Thus, the second beacon that stopped listening first confirms itself as the third beacon and takes over the periodic broadcasting from the failed first beacon.

[0073] For example, reconnaissance communications personnel 1, 2, 3, and 4 each carry one beacon. Assume that the beacon carried by reconnaissance communications personnel 1 is the first beacon, the beacons carried by reconnaissance communications personnel 2 and 3 are the second beacons, and the beacon carried by reconnaissance communications personnel 4 is the third beacon. If the second beacons carried by reconnaissance communications personnel 2 and 3 do not detect the broadcast sent by the first beacon, but they do detect the broadcast sent by the third beacon carried by reconnaissance communications personnel 3, then the third beacon is confirmed as the master station.

[0074] Then, the second beacon carried by reconnaissance and communications personnel 2 and 3 sends a round-trip timed interrogation message to the third beacon and performs timed listening for a preset 48 seconds.

[0075] Thus, the above operations achieve the technical effect of promptly establishing a new master station in the event of a failure of the first beacon, thereby preventing the positioning and communication system from becoming paralyzed.

[0076] Optionally, the operation of determining whether a broadcast from a third beacon has been received includes: if multiple second beacons have not received a broadcast from a third beacon, confirming itself as a third beacon and replacing the first beacon by periodically sending a broadcast at a preset third time interval.

[0077] Specifically, refer to Figure 3 As shown, if multiple second beacons do not receive a broadcast from a third beacon, the second beacon identifies itself as the third beacon and replaces the first beacon as the new master. The new master beacon then periodically broadcasts at a preset third time interval. This third time interval is one time frame (i.e., 24 seconds). The new master beacon then receives round-trip time query messages from other beacons besides the first and multiple second beacons, and sends round-trip time response messages to the other beacons besides the first and multiple second beacons.

[0078] Thus, the above operations achieve the technical effect of promptly establishing a new master station in the event that the first beacon malfunctions and there is no third beacon to send a broadcast, thereby preventing the positioning and communication system from becoming paralyzed.

[0079] Furthermore, after the first beacon and multiple second beacons achieve initial synchronization, a unique spatial coordinate system can be determined by the altitude of any two of the first and multiple second beacons, as well as the distance between the first beacon and any two of the multiple second beacons. This allows the determination of the position coordinates of the first beacon and any two of the second beacons within the determined spatial coordinate system.

[0080] Since the positions of the first beacon and any two second beacons are fixed after they reach stable and precise synchronization, the position coordinates of the first beacon and any two second beacons in the spatial coordinate system are also fixed.

[0081] Therefore, after determining the position coordinates of the first beacon and any two second beacons, it is possible to calculate the position coordinates of any ordinary beacon other than the first beacon and the two second beacons in the spatial coordinate system.

[0082] For example, multiple beacons may include a first beacon A, a second beacon B, and a third beacon C. Given the known coordinates of the first beacon A, the second beacon B, and the third beacon C, it is necessary to determine the coordinates of a common beacon. The coordinates of the first beacon A are... The position coordinates of the second beacon B are B And the position coordinates of the second beacon C are C The position coordinates of the ordinary communication beacon are set to... . Figure 5 This is a schematic diagram showing the location of a beacon node according to the first aspect of Embodiment 1 of this disclosure. (See reference...) Figure 5 As shown, the following system of equations is established:

[0083] (Formula 6)

[0084] (Formula 7)

[0085] (Formula 8)

[0086] Where c is the speed of radio wave propagation. , and These are the arrival times of PPLI messages sent by the first beacon A, the second beacon B, and the second beacon C, which are recorded locally by ordinary beacons. The PPLI message records the location coordinates of the sender and the time of message transmission. It is the transmission time recorded in the PPLI message sent by the first beacon A. The transmission time recorded in the PPLI message sent by the second beacon B and The transmission time is recorded in the PPLI message sent by the second beacon C. Therefore, the position coordinates of the ordinary beacon can be calculated according to the above formulas (6) to (8).

[0087] Figure 6 This is a flowchart illustrating a method for initial synchronization using multiple second beacons according to one embodiment of this application. (See reference) Figure 6 As shown,

[0088] S601: After multiple beacons are landed and powered on, they all perform timing and monitoring according to the preset second time interval;

[0089] S602: The first beacon did not detect the broadcast, so the first beacon was the first to turn on and became the master station. The first beacon periodically sent broadcasts according to the preset third time interval and listened for a timer.

[0090] S603: When multiple second beacons detect a broadcast sent by the first beacon, they send round-trip timed query messages to the first beacon and start listening for a preset first time interval.

[0091] S604: Determine whether multiple second beacons have received a round-trip timer response message sent by the first beacon;

[0092] S605: If multiple second beacons receive round-trip timer response messages sent by the first beacon, determine whether the number of round-trip timer query messages received by the first beacon is the same as the number of multiple second beacons; if the number of round-trip timer query messages received by the first beacon is the same as the number of multiple second beacons, the multiple second beacons calculate the time correction amount, obtain the accurate system time, and complete the initial synchronization; if the number of round-trip timer query messages received by the first beacon is different from the number of multiple second beacons, the first beacon reports to the central dispatch that there is a faulty beacon among the multiple second beacons and requests the addition of a beacon;

[0093] S606: If multiple second beacons do not receive a round-trip timer acknowledgment message sent by the first beacon, determine whether the multiple second beacons have received a periodic broadcast sent by the first beacon; if the multiple second beacons have received a periodic broadcast sent by the first beacon, the multiple second beacons resend a round-trip timer query message to the first beacon;

[0094] S607: If multiple second beacons do not receive the periodic broadcast sent by the first beacon, determine whether a broadcast sent by the third beacon has been received; if multiple second beacons receive the broadcast sent by the third beacon, consider the third beacon to be the new master station and send a round-trip timed query message to the third beacon; if multiple second beacons do not receive the broadcast sent by the third beacon, confirm that it is the new master station and replace the first beacon to periodically send broadcasts according to a preset third time interval.

[0095] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that the present invention is not limited to the described order of actions, because according to the present invention, some steps can be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to the present invention.

[0096] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods according to the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0097] Example 2

[0098] Figure 7 An apparatus 700 for implementing synchronous network access of a positioning system according to this embodiment is shown, which corresponds to the method described according to the first aspect of Embodiment 1. (See reference...) Figure 7 As shown, the device 700 includes: a beacon determination module 710, used to determine a first beacon and a plurality of second beacons; a first interrogation message sending module 720, used to send round-trip time interrogation messages to the first beacon using the plurality of second beacons, and to listen at a preset first time interval; a first judgment module 730, used to determine, using the first beacon, whether the number of round-trip time interrogation messages received by the plurality of second beacons is the same as the number of the plurality of second beacons when the plurality of second beacons receive the round-trip time interrogation messages sent by the first beacon; a system time calculation module 740, used to calculate and obtain the accurate system time using the plurality of second beacons when the number of round-trip time interrogation messages received by the first beacon is the same as the number of the plurality of second beacons; and a local time adjustment module 750, used to adjust the local time of the plurality of second beacons according to the accurate system time and complete the initial synchronization.

[0099] Optionally, the beacon determination module 710 includes: a first listening module, configured to activate the first beacon and listen at a preset second time interval; and a first determination submodule, configured to determine the first beacon as the master station if the first beacon does not listen to a broadcast, and periodically send a broadcast at a preset third time interval.

[0100] Optionally, the beacon determination module 720 includes: a second listening module, configured to activate the plurality of second beacons and listen according to a preset second time interval; and a second determination submodule, configured to determine that the plurality of second beacons are affiliated stations when the plurality of second beacons listen to the broadcast sent by the first beacon.

[0101] Optionally, the first judgment module 730 includes a fault determination module, used to determine that the plurality of second beacons are faulty and to request additional beacons if the number of received round-trip timed query messages is not the same as the number of the plurality of second beacons.

[0102] Optionally, the device 700 further includes: a second determination module, configured to determine whether a periodic broadcast sent by the first beacon has been received when the plurality of second beacons have not received a round-trip time acknowledgment message sent by the first beacon; a second interrogation message sending module, configured to send the round-trip time interrogation message to the first beacon when the plurality of second beacons have received the periodic broadcast sent by the first beacon; and a third determination module, configured to determine whether a broadcast from a third beacon has been received when the plurality of second beacons have not received the periodic broadcast sent by the first beacon, wherein the third beacon is a beacon other than the first beacon.

[0103] Optionally, the third determination module includes: a third determination submodule, used to confirm that the third beacon is the master station when the plurality of second beacons receive the broadcast of the third beacon; and a third query message sending module, used to send the round-trip time query message to the third beacon using the plurality of second beacons, and to listen according to the preset first time interval.

[0104] Optionally, the third determination module includes: a fourth determination submodule, used to replace the first beacon and confirm itself as the master station when the plurality of second beacons do not receive the broadcast of the third beacon, and periodically send broadcasts at the preset third time interval.

[0105] In this embodiment, firstly, multiple beacons determine themselves as either the first or second beacon according to their activation order. Then, multiple second beacons send round-trip time query messages to the first beacon. When multiple second beacons receive round-trip time response messages from the first beacon, the first beacon determines whether the number of received round-trip time query messages is the same as the number of second beacons. If the number of received round-trip time query messages is the same as the number of second beacons, the multiple second beacons calculate and obtain the precise system time. Finally, the multiple second beacons adjust their local time based on the precise system time and complete initial synchronization. Since this embodiment pre-determines the first beacon and multiple second beacons, uses the first beacon to send round-trip time query messages, and then uses multiple second beacons to analyze the time interval between sending and receiving round-trip time query messages to adjust the start time of the local time slot, the time error can be calculated. That is, subtracting the calculated time error from the multiple second beacons enables accurate time slot calibration. Thus, the above operations achieve the technical effect of ensuring that all beacon nodes participating in positioning within each time slot can transmit and receive signals normally, synchronizing the network entry time of each node, and guaranteeing the stable and normal operation of the positioning communication system, while reducing communication overhead and economic costs. Furthermore, it solves the problem in existing technologies where beacons, due to external interference or sudden malfunctions, cannot transmit and receive signals normally, leading to asynchronous network entry times for each beacon. Traditional methods typically require additional bit overhead or hardware resources to achieve precise synchronization, thus increasing communication overhead and economic costs.

[0106] Example 3

[0107] Figure 8 An apparatus 800 for implementing synchronous network access of a positioning system according to this embodiment is shown, which corresponds to the method described according to the first aspect of Embodiment 1. (See reference...) Figure 8 As shown, the device 800 includes: a processor 810; and a memory 820 connected to the processor 810, used to provide the processor 810 with instructions to process the following steps: determining a first beacon and a plurality of second beacons; sending round-trip time query messages to the first beacon using the plurality of second beacons, and listening at a preset first time interval; when the plurality of second beacons receive round-trip time response messages sent by the first beacon, determining using the first beacon whether the number of received round-trip time query messages is the same as the number of the plurality of second beacons; when the number of received round-trip time query messages is the same as the number of the plurality of second beacons, calculating and obtaining the precise system time using the plurality of second beacons; and adjusting the local time of the plurality of second beacons according to the precise system time, and completing initial synchronization.

[0108] Optionally, the operation of determining the first beacon according to the startup sequence includes: starting the first beacon and listening at a preset second time interval; and if the first beacon does not listen to the broadcast, determining the first beacon as the master station and periodically sending broadcasts at a preset third time interval.

[0109] Optionally, the operation of determining multiple second beacons according to the startup sequence includes: starting multiple second beacons and listening at a preset second time interval; and determining multiple second beacons as affiliated stations when multiple second beacons listen to the broadcast sent by the first beacon.

[0110] Optionally, when multiple second beacons receive round-trip timer response messages sent by the first beacon, the operation of determining whether the number of received round-trip timer query messages is the same as the number of multiple second beacons includes: if the number of received round-trip timer query messages is not the same as the number of multiple second beacons, determining that multiple second beacons are faulty, and requesting additional beacons to be deployed.

[0111] Optionally, it further includes: if multiple second beacons do not receive a round-trip timer acknowledgment message from the first beacon, determining whether a periodic broadcast from the first beacon has been received; if multiple second beacons receive a periodic broadcast from the first beacon, sending a round-trip timer query message to the first beacon; and if multiple second beacons do not receive a periodic broadcast from the first beacon, determining whether a broadcast from a third beacon has been received, wherein the third beacon is a beacon other than the first beacon.

[0112] Optionally, the operation of determining whether a broadcast from a third beacon has been received includes: confirming that the third beacon is the master station if multiple second beacons receive the broadcast from the third beacon; and sending round-trip timed query messages to the third beacon using multiple second beacons, and listening at a preset first time interval.

[0113] Optionally, the operation of determining whether a broadcast from a third beacon has been received includes: if multiple second beacons have not received a broadcast from a third beacon, replacing the first beacon and confirming itself as the master station, and periodically sending a broadcast at a preset third time interval.

[0114] In this embodiment, firstly, multiple beacons determine themselves as either the first or second beacon according to their activation order. Then, multiple second beacons send round-trip time query messages to the first beacon. When multiple second beacons receive round-trip time response messages from the first beacon, the first beacon determines whether the number of received round-trip time query messages is the same as the number of second beacons. If the number of received round-trip time query messages is the same as the number of second beacons, the multiple second beacons calculate and obtain the precise system time. Finally, the multiple second beacons adjust their local time based on the precise system time and complete initial synchronization. Since this embodiment pre-determines the first beacon and multiple second beacons, uses the first beacon to send round-trip time query messages, and then uses multiple second beacons to analyze the time interval between sending and receiving round-trip time query messages to adjust the start time of the local time slot, the time error can be calculated. That is, subtracting the calculated time error from the multiple second beacons enables accurate time slot calibration. Thus, the above operations achieve the technical effect of ensuring that all beacon nodes participating in positioning within each time slot can transmit and receive signals normally, synchronizing the network entry time of each node, and guaranteeing the stable and normal operation of the positioning communication system, while reducing communication overhead and economic costs. Furthermore, it solves the problem in existing technologies where beacons, due to external interference or sudden malfunctions, cannot transmit and receive signals normally, leading to asynchronous network entry times for each beacon. Traditional methods typically require additional bit overhead or hardware resources to achieve precise synchronization, thus increasing communication overhead and economic costs.

[0115] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0116] In the above embodiments of the present invention, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0117] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling, direct coupling, or communication connection may be through some interfaces; the indirect coupling or communication connection between units or modules may be electrical or other forms.

[0118] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0119] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0120] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0121] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A method for synchronously joining a positioning system to a network, characterized in that, include: The first beacon and a plurality of second beacons are determined according to the activation sequence, wherein the first beacon is a beacon for transmitting broadcasts, and the plurality of second beacons are beacons for receiving broadcasts; The system uses the multiple second beacons to send round-trip timed query messages to the first beacon and listens at preset first time intervals. When the plurality of second beacons receive a round-trip timer response message sent by the first beacon, the first beacon is used to determine whether the number of the received round-trip timer query messages is the same as the number of the plurality of second beacons; If the number of round-trip timing interrogation messages received by the first beacon is the same as the number of the plurality of second beacons, the accurate system time is calculated and obtained using the plurality of second beacons; as well as Based on the precise system time, the local time of the plurality of second beacons is adjusted, and initial synchronization is completed.

2. The method according to claim 1, characterized in that, The steps for determining the first beacon according to the activation sequence include: The first beacon is activated, and listening is performed at a preset second time interval; and If the first beacon does not detect a broadcast, the first beacon is determined to be the master station, and broadcasts are periodically sent according to a preset third time interval.

3. The method according to claim 2, characterized in that, The operations for determining multiple second beacons according to their activation order include: Activate the plurality of second beacons and listen at preset second time intervals; and If the plurality of second beacons detect the broadcast sent by the first beacon, the plurality of second beacons are determined to be affiliated stations.

4. The method according to claim 3, characterized in that, When the plurality of second beacons receive round-trip time acknowledgment messages sent by the first beacon, the operation of determining whether the number of received round-trip time acknowledgment messages is the same as the number of the plurality of second beacons includes: If the number of received round-trip timed query messages is not the same as the number of the plurality of second beacons, it is determined that the plurality of second beacons are faulty, and an application is made to deploy additional beacons.

5. The method according to claim 4, characterized in that, Also includes: If the plurality of second beacons do not receive a round-trip time response message sent by the first beacon, determine whether a periodic broadcast sent by the first beacon has been received; When the plurality of second beacons receive the periodic broadcast sent by the first beacon, the round-trip time query message is sent to the first beacon; as well as If the plurality of second beacons do not receive the periodic broadcast sent by the first beacon, it is determined whether a broadcast from a third beacon has been received, wherein the third beacon is the second beacon among the plurality of second beacons that first sent the round-trip time query message to the first beacon.

6. The method according to claim 5, characterized in that, The operation to determine whether a broadcast from a third beacon has been received includes: If the plurality of second beacons receive a broadcast from the third beacon, the third beacon is identified as the master beacon; and The round-trip time query message is sent to the third beacon using the plurality of second beacons, and the system listens for the first time interval as preset.

7. The method according to claim 6, characterized in that, The operation to determine whether a broadcast from a third beacon has been received includes: If the plurality of second beacons do not receive the broadcast from the third beacon, the beacon identifies itself as the third beacon and replaces the first beacon by periodically sending broadcasts at the preset third time interval.

8. A storage medium, characterized in that, The storage medium includes a stored program, wherein, when the program is executed, the method described in any one of claims 1 to 7 is performed by a processor.

9. A device for realizing synchronous network access of a positioning system, characterized in that, include: The beacon determination module is used to determine the first beacon and multiple second beacons. The first interrogation message sending module is used to send round-trip timed interrogation messages to the first beacon using the plurality of second beacons, and to listen at a preset first time interval; The first judgment module is used to determine, when the plurality of second beacons receive a round-trip time response message sent by the first beacon, whether the number of the received round-trip time query messages is the same as the number of the plurality of second beacons. The system time calculation module is used to calculate and obtain the accurate system time using the plurality of second beacons when the number of round-trip timing query messages received by the first beacon is the same as the number of the plurality of second beacons. as well as The local time adjustment module is used to adjust the local time of the plurality of second beacons according to the precise system time and complete the initial synchronization.

10. A device for realizing synchronous network access of a positioning system, characterized in that, include: processor; as well as A memory, connected to the processor, for providing the processor with instructions to perform the following processing steps: Identify the first beacon and multiple second beacons; The system uses the multiple second beacons to send round-trip timed query messages to the first beacon and listens at preset first time intervals. When the plurality of second beacons receive a round-trip timer response message sent by the first beacon, the first beacon is used to determine whether the number of the received round-trip timer query messages is the same as the number of the plurality of second beacons; If the number of round-trip timing interrogation messages received by the first beacon is the same as the number of the plurality of second beacons, the accurate system time is calculated and obtained using the plurality of second beacons; as well as Based on the precise system time, the local time of the plurality of second beacons is adjusted, and initial synchronization is completed.

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