Two-way ranging method and two-way ranging device and ultra-wideband positioning system

Abstract

The present application discloses a two-way ranging method and a two-way ranging device as well as an ultra-wideband positioning system. Based on the present application, by assigning a fixed response order to the base stations of the ultra-wideband positioning system, any base station has a response time slice with a fixed sequence position in the response time slice sequence of the available superframe time slot of any tag, and during the system operation of the ultra-wideband positioning system, for the two-way ranging initiated by any tag at any regional location, the base stations within the communication range of the tag can perform time-sharing responses based on the fixed response order of the base station, without relying on the scheduling device, and without signal collision interference between different base stations in the same response time slice. Thus, each base station of the ultra-wideband positioning system can independently determine the response time slot to avoid signal collision interference, and further, there is no need to deploy a scheduling device in the ultra-wideband positioning system, so as to help improve the deployment flexibility and system stability of the ultra-wideband positioning system.

Description

Technical Field

[0001] The present application relates to UWB (Ultra Wide Band) technology, and in particular to a two-way ranging method, a two-way ranging device, an ultra-wideband positioning system, and a portable device. Background Art

[0002] In the UWB positioning system, every superframe, the tag, which is a mobile end device, will initiate a TWR (Two-Way-Ranging) with multiple base stations, which are system edge devices, within the specified time slot of the superframe. The TWR ranging result is determined by the TOF (Time of Flight) of the physical layer signal exchanged between the base station and the tag during the TWR process.

[0003] Since all physical layer signals in the UWB positioning system need to use the same frequency band, and the physical layer signals of the interactions between various devices, including tags and base stations, need to be transmitted in time-sharing mode, each tag will initiate TWR to multiple base stations within its communication range in different designated time slots. In addition, an additional scheduling device is required to frequently send timing parameters to each base station to dynamically indicate the response time slice allocated to each base station within the communication range of the tag in the current designated time slot when the tag initiates TWR, so that the physical layer signals of different base stations responding to the same tag during the TWR process can meet the time-sharing transmission requirements of the UWB positioning system, thereby avoiding signal collision interference of physical layer signals caused by different base stations responding to tags at the same time in the same response time slice.

[0004] However, the implementation of TWR is completely dependent on the existence of a scheduling device, which will limit the deployment method of the UWB positioning system. That is, a scheduling device must be deployed in the UWB positioning system to provide timing parameters to the base station. Moreover, the timeliness of the timing parameters sent by the scheduling device to the base station will be affected by the network delay in the UWB positioning system. In particular, the larger the scale of the UWB positioning system, the greater the network delay, and the worse the timeliness of the timing parameters sent by the scheduling device to the base station. This may cause the base station to have a timing anomaly in the response signal of the same tag during the TWR process, thereby affecting the system stability of the UWB positioning system.

[0005] It can be seen that how to improve the deployment flexibility and system stability of the UWB positioning system has become a technical problem to be solved in the existing technology. Summary of the Invention

[0006] In the embodiments of the present application, a two-way ranging method, a two-way ranging apparatus, an ultra-wideband positioning system, and a portable device are provided, which help to improve the deployment flexibility and system stability of the UWB positioning system.

[0007] An embodiment of the present application provides a two-way ranging method, which is applied to any base station within a system deployment area of ​​an ultra-wideband positioning system, and the two-way ranging method includes:

[0008] Obtaining a first parameter set, where the first parameter set is used to configure a fixed response order of base stations within the system deployment area during system operation of the ultra-wideband positioning system, where the fixed response order represents a fixed sequence position of a response time slice allocated to a base station in a response time slice sequence of an available superframe time slot of a tag, and the first parameter set is configured such that: the fixed response order of all base stations within a communication range of a tag located at any regional location within the system deployment area is different from one another, and the fixed response order of all base stations within a communication range of any base station located within the system deployment area is different from one another;

[0009] During operation of the system, in response to a first physical layer signal broadcast by any tag at any location in the system deployment area in the corresponding available superframe time slot, a second physical layer signal is broadcast in a response time slice matching the fixed response order of the base station in the available superframe time slot, wherein the first physical layer signal is used to represent a two-way ranging request initiated by the tag, and the second physical layer signal is used to represent a response of the base station to the tag that initiated the two-way ranging request;

[0010] A ranging result of the two-way ranging is determined in response to a third physical layer signal broadcasted by the tag after receiving the second physical layer signal and used to indicate the end of the two-way ranging.

[0011] In some examples, optionally, the available superframe time slot of any tag is a self-allocated time slot determined by the tag by monitoring an idle time slot, and the idle time slot determined by any tag as an available superframe time slot includes: any time slot that is not occupied by two-way ranging of other tags and is not occupied by clock synchronization between base stations.

[0012] In some examples, optionally, the first parameter set is determined based on multiple sets of tag coverage information; wherein, the multiple sets of tag coverage information are obtained by listening at different listening positions within the system deployment area, and the listening position of each set of tag coverage information is any area location that the tag can reach within the system deployment area, and each set of tag coverage information is used to represent all base stations within the communication range of the tag located at the corresponding listening position.

[0013] In some examples, optionally, obtaining the first parameter set includes: obtaining the pre-calibrated first parameter set in response to a base station startup of the base station before the start of the system operation process.

[0014] In some examples, optionally, the first parameter set is calibrated based on multiple sets of tag coverage information monitored during a parameter calibration period before the system is operated; wherein, the multiple sets of tag coverage information are obtained by listening by a portable device at different listening positions within the system deployment area, and the listening position of each set of the tag coverage information is any area location that the tag can reach within the system deployment area, and each set of the tag coverage information is used to represent all base stations within the communication range of the tag located at the corresponding listening position.

[0015] In some examples, optionally, each base station within the system deployment area is configured to: broadcast a fourth physical layer signal with the base station identifier of the base station as the source base station identifier during the parameter calibration period; wherein each group of the label coverage information includes the source base station identifier of the fourth physical layer signal monitored at the corresponding monitoring position.

[0016] In some examples, optionally, obtaining the first parameter set includes: determining the first parameter set during a parameter learning phase during operation of the system.

[0017] In some examples, optionally, the two-way ranging method further includes: in the parameter learning phase, determining a response time slot for broadcasting the second physical layer signal using a preconfigured default response ordering, wherein the determination of the first parameter set is triggered by the end of the parameter learning phase; and in response to a successful determination of the first parameter set, replacing the default response ordering with the solidified response ordering.

[0018] In some examples, optionally, the first parameter set is determined based on multiple groups of label coverage information reported by the tag during the system learning phase; wherein, the multiple groups of label coverage information are respectively obtained by the tag listening at different listening positions within the system deployment area, and the listening position of each group of label coverage information is the regional position of the tag reporting the group of label coverage information within the system deployment area, and each group of label coverage information is used to represent all base stations within the communication range of the tag reporting the group of label coverage information.

[0019] In some examples, optionally, the source base station identifier of any physical layer signal broadcast by each base station in the system deployment area is the base station identifier of this base station; each group of the label coverage information includes the source base station identifier of any physical layer signal monitored by the label reporting the group of label coverage information.

[0020] In some examples, optionally, in response to a first physical layer signal broadcast by any tag at any location in the system deployment area within the corresponding available superframe time slot, a second physical layer signal is broadcast in a response time slice that matches the fixed response order of the base station within the available superframe time slot, including: in response to the first physical layer signal monitored in the transmission time slice within the available superframe time slot, using the fixed response order of the base station to determine the delay length of the base station after the transmission time slice; and broadcasting the second physical layer signal in the response time slice when the delay length is reached.

[0021] In some examples, optionally, a second parameter set is obtained, wherein the second parameter set includes a synchronous relay ordering of base stations within the system deployment area during a clock synchronization phase, wherein the synchronous relay ordering represents a fixed ordering position of the base station in the signal broadcast sequence, and the second parameter set is configured as follows: when the synchronous relay orders of all base stations within the communication range of any base station are different from each other, the sequence length of the synchronous relay ordering is less than the number of hops traversed by base stations that are interconnected within the communication range; during the clock synchronization phase, in response to the arrival of the ranking of this base station in the signal broadcast sequence, a fifth physical layer signal for clock synchronization is broadcast.

[0022] In some examples, optionally, obtaining the second parameter set includes: obtaining a pre-calibrated second parameter set in response to a base station startup of the base station before the start of the system operation process.

[0023] In some examples, optionally, the second parameter set is obtained based on calibration of multiple groups of base station coverage information; wherein, the multiple groups of base station coverage information are obtained by listening at different listening locations within the system deployment area, and the listening location of each group of base station coverage information is an area location within the communication range of any base station in the system deployment area, and each group of base station coverage information is used to represent all base stations within the communication range of the base station that listens to the group of base station coverage information.

[0024] In some examples, optionally, each base station within the system deployment area is configured to: broadcast a sixth physical layer signal with the base station identifier of the base station as the source base station identifier during the parameter calibration period, and the sixth physical layer signal is also used to carry the base station identifier of the neighboring base station within the communication range of the base station; wherein each group of the base station coverage information includes the source base station identifier of the sixth physical layer signal broadcast by any base station monitored and the base station identifier of the carried neighboring base station.

[0025] In some examples, optionally, each base station within the system deployment area is specifically configured to: broadcast the sixth physical layer signal at random time slices of a selected time period during the parameter calibration period; wherein the base station identifiers of the neighboring base stations carried in the sixth physical layer signal are gradually updated by monitoring the signals broadcast by other base stations by this base station, and the duration of monitoring the sixth physical layer signal is greater than or equal to a preset duration, and the preset duration is such that: under the probability of signal collision interference when the random time slices broadcasting the sixth physical layer signal are the same time slices at different base stations, the probability of successful monitoring of the sixth physical layer signals of all neighboring base stations of each base station pair is equal to or higher than a preset target probability value.

[0026] Another embodiment of the present application provides a two-way ranging device, which is applied to any base station within a system deployment area of ​​an ultra-wideband positioning system, and the two-way ranging device includes:

[0027] a parameter acquisition module, configured to acquire a first parameter set, wherein the first parameter set is used to configure a fixed response order of base stations within the system deployment area during system operation of the ultra-wideband positioning system, wherein the fixed response order represents a fixed sequence position of a response time slice allocated to a base station in a response time slice sequence of an available superframe time slot of a tag, and wherein the first parameter set is configured such that: the fixed response order of all base stations within a communication range of a tag located at any regional location within the system deployment area is different from one another, and the fixed response order of all base stations within a communication range of any base station located within the system deployment area is different from one another;

[0028] a ranging response module, configured to, during operation of the system, respond to a first physical layer signal broadcast by any tag at any location within the system deployment area within the corresponding available superframe time slot, and broadcast a second physical layer signal in a response time slice matching the fixed response order of the base station within the available superframe time slot, wherein the first physical layer signal is used to represent a two-way ranging request initiated by the tag, and the second physical layer signal is used to represent a response of the base station to the tag that initiated the two-way ranging request;

[0029] The result determination module is configured to determine a ranging result of the two-way ranging in response to a third physical layer signal broadcasted by the tag after receiving the second physical layer signal and used to indicate the end of the two-way ranging.

[0030] In some examples, optionally, the available superframe time slot of any tag is a self-allocated time slot determined by the tag by monitoring an idle time slot, and the idle time slot determined by any tag as an available superframe time slot includes: any time slot that is not occupied by two-way ranging of other tags and is not occupied by clock synchronization between base stations.

[0031] In some examples, optionally, the first parameter set is determined based on multiple sets of tag coverage information; wherein, the multiple sets of tag coverage information are obtained by listening at different listening positions within the system deployment area, and the listening position of each set of tag coverage information is any area location that the tag can reach within the system deployment area, and each set of tag coverage information is used to represent all base stations within the communication range of the tag located at the corresponding listening position.

[0032] In some examples, optionally, the two-way ranging device also includes: a parameter storage module for storing the pre-calibrated first parameter set; the parameter acquisition module is specifically used to: in response to the base station startup of this base station before the start of the system operation process, obtain the pre-calibrated first parameter set from the parameter storage module.

[0033] In some examples, optionally, the first parameter set is calibrated based on multiple sets of tag coverage information monitored during a parameter calibration period before the system is operated; wherein, the multiple sets of tag coverage information are obtained by listening by a portable device at different listening positions within the system deployment area, and the listening position of each set of the tag coverage information is any area location that the tag can reach within the system deployment area, and each set of the tag coverage information is used to represent all base stations within the communication range of the tag located at the corresponding listening position.

[0034] In some examples, optionally, each base station within the system deployment area is configured to: broadcast a fourth physical layer signal with the base station identifier of the base station as the source base station identifier during the parameter calibration period; wherein each group of the label coverage information includes the source base station identifier of the fourth physical layer signal monitored at the corresponding monitoring position.

[0035] In some examples, optionally, the two-way ranging device further includes: a parameter learning module, configured to determine the first parameter set during a parameter learning phase during operation of the system; and the parameter acquisition module is specifically configured to acquire the first parameter set from the parameter learning module.

[0036] In some examples, optionally, the ranging response module is further used to: during the parameter learning phase, determine a response time slot for broadcasting the second physical layer signal using a preconfigured default response ordering, wherein the determination of the first parameter set is triggered by the end of the parameter learning phase; and the parameter acquisition module is further used to: in response to a successful determination of the first parameter set, replace the default response ordering with the solidified response ordering.

[0037] In some examples, optionally, the first parameter set is determined based on multiple groups of label coverage information reported by the tag during the system learning phase; wherein, the multiple groups of label coverage information are respectively obtained by the tag listening at different listening positions within the system deployment area, and the listening position of each group of label coverage information is the regional position of the tag reporting the group of label coverage information within the system deployment area, and each group of label coverage information is used to represent all base stations within the communication range of the tag reporting the group of label coverage information.

[0038] In some examples, optionally, the source base station identifier of any physical layer signal broadcast by each base station in the system deployment area is the base station identifier of this base station; each group of the label coverage information includes the source base station identifier of any physical layer signal monitored by the label reporting the group of label coverage information.

[0039] In some examples, optionally, the ranging response module is specifically used to, during the operation of the system: in response to the first physical layer signal monitored by the transmission time slice in the available superframe time slot, determine the delay length of the base station after the transmission time slice using the fixed response order of the base station; and broadcast the second physical layer signal in the response time slice when the delay length is reached.

[0040] In some examples, optionally, the parameter acquisition module is further used to: obtain a second parameter set, the second parameter set including the synchronous relay order of the base stations in the system deployment area during the clock synchronization phase, the synchronous relay order indicating the fixed order position of the base station in the signal broadcast sequence, and the second parameter set is configured as follows: when the synchronous relay orders of all base stations within the communication range of any base station are different from each other, the sequence length of the synchronous relay order is less than the number of hops traversed by the base stations that are interconnected within the communication range; the two-way ranging device further includes: a clock synchronization module for broadcasting a fifth physical layer signal for clock synchronization in response to the arrival of the ranking of this base station in the signal broadcast sequence during the clock synchronization phase.

[0041] In some examples, optionally, the parameter acquisition module is specifically used to: obtain the pre-calibrated second parameter set in response to base station startup of the base station before the start of the system operation process.

[0042] In some examples, optionally, the second parameter set is obtained based on calibration of multiple groups of base station coverage information; wherein, the multiple groups of base station coverage information are obtained by listening at different listening locations within the system deployment area, and the listening location of each group of base station coverage information is an area location within the communication range of any base station in the system deployment area, and each group of base station coverage information is used to represent all base stations within the communication range of the base station that listens to the group of base station coverage information.

[0043] In some examples, optionally, each base station within the system deployment area is configured to: broadcast a sixth physical layer signal with the base station identifier of the base station as the source base station identifier during the parameter calibration period, and the sixth physical layer signal is also used to carry the base station identifier of the neighboring base station within the communication range of the base station; wherein each group of the base station coverage information includes the source base station identifier of the sixth physical layer signal broadcast by any base station monitored and the base station identifier of the carried neighboring base station.

[0044] In some examples, optionally, each base station within the system deployment area is specifically configured to: broadcast the sixth physical layer signal at random time slices of a selected time period during the parameter calibration period; wherein the base station identifiers of the neighboring base stations carried in the sixth physical layer signal are gradually updated by monitoring the signals broadcast by other base stations by this base station, and the duration of monitoring the sixth physical layer signal is greater than or equal to a preset duration, and the preset duration is such that: under the probability of signal collision interference when the random time slices broadcasting the sixth physical layer signal are the same time slices at different base stations, the probability of successful monitoring of the sixth physical layer signals of all neighboring base stations of each base station pair is equal to or higher than a preset target probability value.

[0045] Another embodiment of the present application provides an ultra-wideband positioning system, comprising a plurality of base stations, wherein each base station is configured to execute the two-way ranging method as described in the aforementioned embodiment.

[0046] Another embodiment of the present application provides a non-transitory computer-readable storage medium storing instructions, which, when executed by a processor, causes the processor to perform the two-way ranging method as described in the foregoing embodiment.

[0047] Another embodiment of the present application provides a portable device, including a processor, wherein the processor is configured to:

[0048] Generate a first parameter set, the first parameter set being used to configure a fixed response order of base stations within a system deployment area of ​​an ultra-wideband positioning system during system operation of the ultra-wideband positioning system, the fixed response order representing a fixed sequence position of a response time slice allocated to a base station in a response time slice sequence of an available superframe time slot of a tag, and the first parameter set being configured such that: the fixed response order of all base stations within a communication range of a tag located at any area location within the system deployment area is different from one another, and the fixed response order of all base stations within a communication range of any base station located within the system deployment area is different from one another;

[0049] The first parameter set is output to each base station within the system deployment area, so that: during operation of the system, each base station responds to a first physical layer signal broadcast by any tag at any location in the system deployment area within the corresponding available superframe time slot, and broadcasts a second physical layer signal in a response time slice that matches the fixed response order of the base station within the available superframe time slot, wherein the first physical layer signal is used to represent a two-way ranging request initiated by the tag, and the second physical layer signal is used to represent a response of the base station to the tag that initiated the two-way ranging request. Moreover, in response to a third physical layer signal broadcast by the tag after receiving the second physical layer signal, which is used to represent the end of the two-way ranging, the base station determines a ranging result of the two-way ranging.

[0050] In some examples, optionally, the available superframe time slot of any tag is a self-allocated time slot determined by the tag by monitoring an idle time slot, and the idle time slot determined by any tag as an available superframe time slot includes: any time slot that is not occupied by two-way ranging of other tags and is not occupied by clock synchronization between base stations.

[0051] In some examples, optionally, a communication component is further included, and the processor is further used to: during a parameter calibration period before the system is operated, use the communication component to listen to and obtain multiple sets of label coverage information, wherein the multiple sets of label coverage information are respectively obtained by listening at different listening positions within the system deployment area, and the listening position of each set of label coverage information is any area position that the label can reach within the system deployment area, and each set of label coverage information is used to represent all base stations within the communication range of the label located at the corresponding listening position; based on the multiple sets of label coverage information listened to, calibrate the first parameter set.

[0052] In some examples, optionally, each base station within the system deployment area is configured to: broadcast a fourth physical layer signal with the base station identifier of the base station as the source base station identifier during the parameter calibration period; wherein each group of the label coverage information includes the source base station identifier of the fourth physical layer signal monitored at the corresponding monitoring position.

[0053] In some examples, optionally, the processor is further configured to:

[0054] Generate a second parameter set, the second parameter set including a synchronization relay sequence of each base station in the system deployment area during a clock synchronization phase, the synchronization relay sequence of each base station representing a fixed sequence position of the base station in a signal broadcast sequence, and the second parameter set is configured such that: when the synchronization relay sequences of all base stations within a communication range of any base station are different from each other, a sequence length of the synchronization relay sequence is less than a number of traversal hops of base stations that are interconnected within the communication range;

[0055] The second parameter set is output to each base station in the system deployment area, so that: each base station broadcasts the fifth physical layer signal for clock synchronization in response to the ranking of the base station in the signal broadcast sequence during the clock synchronization phase.

[0056] In some examples, optionally, a communication component is further included, and the processor is further used to: during a parameter calibration period before the system operation period, use the communication component to monitor multiple sets of base station coverage information, wherein the multiple sets of base station coverage information are obtained by monitoring at different monitoring positions within the system deployment area, and the monitoring position of each set of base station coverage information is an area position within the communication range of any base station in the system deployment area, and each set of base station coverage information is used to represent all base stations within the communication range of the base station that monitors the group of base station coverage information; based on the multiple sets of base station coverage information, generate the second parameter set.

[0057] In some examples, optionally, each base station within the system deployment area is configured to: broadcast a sixth physical layer signal with the base station identifier of the base station as the source base station identifier during the parameter calibration period, and the sixth physical layer signal is also used to carry the base station identifier of the neighboring base station within the communication range of the base station; wherein each group of the base station coverage information includes the source base station identifier of the sixth physical layer signal broadcast by any base station monitored and the base station identifier of the carried neighboring base station.

[0058] Based on the above-described embodiment, a fixed response order can be assigned to base stations within the deployment area of ​​the ultra-wideband positioning system, so that any base station has a fixed response time slice in the response time slice sequence of any tag's available superframe time slot. Furthermore, the fixed response order assigned to all base stations within the system deployment area satisfies two constraints: the fixed response order of all base stations within the communication range of a tag located at any location within the system deployment area is different from one another, and the fixed response order of all base stations within the communication range of any base station located within the system deployment area is different from one another. Therefore, during the operation of the ultra-wideband positioning system, for a two-way ranging measurement initiated by any tag at any location within the system deployment area, all base stations within the communication range of the tag can respond in a time-sharing manner based on the fixed response order of the base station, without relying on a scheduling device and without causing signal collision interference between different base stations in the same response time slice. Consequently, each base station within the deployment area of ​​the ultra-wideband positioning system can autonomously determine a response time slot that avoids signal collision interference, thereby eliminating the need for a scheduling device in the ultra-wideband positioning system, thereby improving the deployment flexibility and system stability of the ultra-wideband positioning system. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] The following drawings are only provided for schematic illustration and explanation of the present application and do not limit the scope of the present application:

[0060] Figure 1 A schematic diagram of a two-way ranging principle in one embodiment of the present application;

[0061] Figure 2 For application such as Figure 1 Schematic diagram of an example of the two-way ranging principle shown;

[0062] Figure 3 This is a schematic diagram of an exemplary flow chart of a two-way ranging method applied to a base station in one embodiment of the present application;

[0063] Figure 4 This is a schematic diagram of an exemplary flow chart of a two-way ranging method applied to a tag in one embodiment of the present application;

[0064] Figure 5 A schematic diagram of a clock synchronization principle in an embodiment of the present application;

[0065] Figure 6 For application such as Figure 5 A schematic diagram of a first example of the clock synchronization principle shown;

[0066] Figure 7 For application such as Figure 5 A second example schematic diagram of the clock synchronization principle shown;

[0067] Figure 8 The two-way ranging method applied to the base station in the embodiment of the present application is based on the following Figure 5 The extended flow chart of the clock synchronization principle shown in FIG.

[0068] Figure 9 This is a schematic diagram of an exemplary structure of a two-way ranging device applied to a base station in one embodiment of the present application;

[0069] Figure 10 For example Figure 9 A schematic structural diagram of a first embodiment of a two-way distance measuring device is shown;

[0070] Figure 11 For example Figure 9 A schematic structural diagram of a second example of a two-way distance measuring device is shown;

[0071] Figure 12 For example Figure 9 The schematic diagram of the expanded structure of the two-way ranging device shown;

[0072] Figure 13 This is a schematic diagram of an exemplary structure of a portable device in one embodiment of the present application. DETAILED DESCRIPTION

[0073] In order to make the objectives, technical solutions and advantages of this application more clear, the application is further described in detail below with reference to the accompanying drawings and examples.

[0074] In an embodiment of the present application, a fixed response order can be assigned to base stations within the system deployment area of ​​the UWB positioning system so that when any base station is located within the communication range of any tag, the base station has a response time slice with a fixed sequence position in the response time slice sequence of the available superframe time slot of the tag. Therefore, the allocation mechanism of dynamically allocating response time slices to the base station by the scheduling device can be changed to a mechanism of fixing the response time slices allocated by the base station in the base station.

[0075] Figure 1 This is a schematic diagram of the two-way ranging principle in one embodiment of the present application. Figure 1 In the example, there are three base stations within the communication range of the tag, namely base station a, base station b and base station c.

[0076] See Figure 1When an available superframe time slot of any tag in superframe m (m is a positive integer representing the superframe sequence number) is determined to be time slot p in superframe m (p is a positive integer representing the time slot sequence number within the frame period of a superframe), the tag may broadcast a first physical layer signal S_poll in time slot p (e.g., the first time slice of time slot p). The available superframe time slot of the tag refers to a superframe time slot in any superframe that is allocated to the tag for achieving TWR between the tag and the base station; the first physical layer signal S_poll serves as a TWR request signal, that is, the first physical layer signal S_poll can be used to represent a two-way ranging request initiated by the tag, and the first physical layer signal S_poll can be named a Poll signal.

[0077] Each base station (including base station a, base station b and base station c) within the system deployment area of ​​the UWB positioning system is configured with a first parameter set Pra_rsp, which is used to configure the fixed response order of the base stations within the system deployment area of ​​the UWB positioning system (for example, each base station within the system deployment area of ​​the UWB positioning system) during the system operation of the UWB positioning system. The fixed response order represents the fixed sequence position of the response time slice assigned to the base station in the response time slice sequence of the available superframe time slot of the tag, that is, the fixed response order of each base station represents the fixed sequence position of the response time slice assigned to the base station in the response time slice sequence of the available superframe time slot of the tag. Therefore, in the case of Figure 1 The base stations a, b, and c within the communication range of the tag shown can also determine their respective fixed response rankings by configuring the first parameter set Pra_rsp, that is, Figure 1 The fixed response order i of base station a, the fixed response order j of base station b and the fixed response order k of base station c are shown in the figure, wherein i, j, k all represent the sequence position in the response time slice sequence Seq_slc of the available superframe time slot of the label, i, j, k are mutually exclusive positive integers, the response time slice sequence Seq_slc is the set of all time slices that can be used for the base station to respond to the base station after the first physical layer signal S_poll, and the slices of the response time slices in the response time slice sequence Seq_slc of the available superframe time slot are always greater than the maximum sort value of the fixed response order.

[0078] Thus, if Figure 1As shown, in response to the first physical layer signal S_poll broadcast by the tag in time slot p, base station a can first send a second physical layer signal S_rep_a in a response time slice that matches its fixed response order Slc_i. Then, base station b can send a second physical layer signal S_rep_b in a response time slice that matches its fixed response order Slc_j. Finally, base station c can send a second physical layer signal S_rep_c in a response time slice that matches its fixed response order Slc_k. That is, base stations a, b, and c within the communication range of the tag can all respond in time based on the fixed response order of the base station, without relying on the scheduling device and without signal collision interference between different base stations in the same response time slice. Among them, the second physical layer signal is used to respond to the tag's TWR request, that is, the second physical layer signal is used to represent the base station's response to the tag that initiated the two-way ranging request. Therefore, the second physical layer signal can also be named a Response signal.

[0079] Afterwards, if Figure 1 As shown, the tag can broadcast a third physical layer signal S_fin in time slot p (for example, the last time slice of time slot p or any time slice after receiving a sufficient number of second physical layer signals) to indicate the end of the current TWR, and the third physical layer signal S_fin used to indicate the end of TWR can also be named Final signal.

[0080] Based on the TOF of the first physical layer signal S_poll, the second physical layer signal, and the third physical layer signal S_fin interacting with the tag during the TWR process, base station a, base station b, and base station c can respectively obtain the TWR ranging results between the tag and the tag, that is, base station a, base station b, and base station c can determine the TWR ranging results between the tag in response to the monitored third physical layer signal S_fin. As for the specific algorithm of how to use TOF to obtain the TWR ranging result, it is not the focus of the embodiments of the present application, but can be specifically configured according to actual needs.

[0081] In the embodiment of the present application, no matter which tag initiates TWR in which area within the system deployment area of ​​the UWB positioning system, the allocation of the response time slices of the base station using the first parameter set Pra_rsp must ensure that all base stations within the communication range of the tag can respond in different response time slices based on the fixed response order of the base station. Accordingly, in the embodiment of the present application, the determination of the first parameter set Pra_rsp follows the following two principles:

[0082] Principle 1.1: The fixed response rankings of all base stations within the communication range of a tag located at any location within the system deployment area of ​​the UWB positioning system (i.e., every location that the tag may theoretically reach) are different from each other; and

[0083] Principle 1.2: The fixed response rankings of all base stations within the communication range of any base station within the system deployment area of ​​the UWB positioning system (ie, each base station within the system deployment area) are different from each other.

[0084] Figure 2 For application such as Figure 1 The example diagram of the two-way ranging principle is shown in FIG. Figure 2 In the example, two tags Tag_A and Tag_B with different regional locations are present in the system deployment area of ​​the UWB positioning system. In addition, the solidified response order of all base stations (base station identifiers are BS_A to BS_J) in the system deployment area of ​​the UWB positioning system is marked in brackets after the base station identifier, as shown in Table 1.

[0085] Base station identification Curing response sorting BS_A 6 BS_B 1 BS_C 5 BS_D 3 BS_E 1 BS_F 2 BS_G 6 BS_H 4 BS_I 2 BS_J 5

[0086] Table 1 - Correspondence between base station identification and fixed response order

[0087] Based on the first parameter set Pra_rsp, see Figure 2 And combined with Table 1:

[0088] The communication range of tag Tag_A covers four base stations identified as BS_D, BS_E, BS_H, and BS_I. The fixed response rankings of these four base stations are 3, 1, 4, and 2, respectively, which are different from each other, complying with the above principle 1.1.

[0089] The communication range of tag Tag_B covers three base stations identified as BS_G, BS_H, and BS_J. The fixed response rankings of these three base stations are 6, 4, and 5, respectively, which also conform to the above principle 1.1.

[0090] The communication range of the base station identified as BS_D covers five base stations identified as BS_A, BS_C, BS_D, BS_E, and BS_H. The fixed response rankings of these five base stations are 6, 5, 3, 1, and 4, which are different from each other, and meet the above principle 1.2.

[0091] The communication range of the base station identified as BS_H covers five base stations identified as BS_D, BS_G, BS_H, BS_I, and BS_J. The fixed response rankings of these five base stations are 3, 6, 4, 2, and 5, which are different from each other, and also comply with the above principle 1.2.

[0092] See Figure 2 When the available superframe time slot of tag Tag_A in superframe m is determined to be time slot p in superframe m, tag Tag_A may broadcast a first physical layer signal S_poll in time slot p (e.g., the first time slice of time slot p). Thereafter, in response to the first physical layer signal S_poll broadcast by tag Tag_A in time slot p:

[0093] The base station identified as BS_E may first send a second physical layer signal S_rep_E in a response time slice Slc1 that matches its fixed response order "1";

[0094] The base station identified as BS_I may send a second physical layer signal S_rep_I in a response time slice S1c2 that matches its fixed response order "2";

[0095] The base station identified as BS_D may send a second physical layer signal S_rep_D in a response time slice Slc3 that matches its fixed response order "3";

[0096] The base station identified as BS_H may send a second physical layer signal S_rep_H in a response time slice Slc4 that matches its fixed response order "4";

[0097] Finally, the tag Tag_A may broadcast a third physical layer signal S_fin in time slot p (eg, the last time slice of time slot p) to indicate the end of the current TWR.

[0098] Based on the time of flight (TOF) of the first physical layer signal S_poll, the second physical layer signal S_fin, and the third physical layer signal S_fin between Tag_A and each of the aforementioned base stations during the TWR process, the four base stations identified as BS_D, BS_E, BS_H, and BS_I can each obtain TWR ranging results with Tag_A. In other words, each of the aforementioned base stations can determine the TWR ranging result with Tag_A in response to the monitored third physical layer signal S_fin.

[0099] Moreover, if the maximum number of base stations receiving responses of tag Tag_A is greater than or equal to 4, then tag Tag_A can regard the second physical layer signals of the four base stations identified as BS_D, BS_E, BS_H, and BS_I as valid; if the maximum number of base stations receiving responses of tag Tag_A is less than 4 (for example, 3), then tag Tag_A can only regard the second physical layer signals of the three base stations with the highest signal strength (for example, the signal strength of the base station can be determined based on the signal strength of the second physical layer signal) among the four base stations identified as BS_D, BS_E, BS_H, and BS_I as valid, and ignore the second physical layer signal of the base station with the weakest signal strength.

[0100] Still see Figure 2 When the available superframe time slot of tag Tag_B in superframe m is determined to be time slot q in superframe m (q is a time slot sequence number within a frame period representing a superframe and a positive integer different from p), tag Tag_B may broadcast a first physical layer signal S_poll in time slot q (e.g., the first time slice of time slot q). Thereafter, in response to the first physical layer signal S_poll broadcast by tag Tag_B in time slot q:

[0101] The base station identified as BS_H may first send the second physical layer signal S_rep_H in the response time slice Slc4 that matches its fixed response order "4", that is, the response time slices Slc1 to Slc3 may be idle;

[0102] The base station identified as BS_J may send a second physical layer signal S_rep_J in the response time slice S1c5 that matches its fixed response order "5";

[0103] The base station identified as BS_G may send a second physical layer signal S_rep_G in a response time slice Slc6 that matches its fixed response order "6";

[0104] Finally, the tag Tag_B may broadcast a third physical layer signal S_fin in time slot q (eg, the last time slice of time slot q) to indicate the end of the current TWR.

[0105] Based on the time of flight (TOF) of the first physical layer signal S_poll, the second physical layer signal S_fin, and the third physical layer signal S_fin between tag_B and each of the aforementioned base stations during the TWR process, the three base stations identified as BS_G, BS_H, and BS_J can each obtain TWR ranging results with tag_B. In other words, each of the aforementioned base stations can determine the TWR ranging result with tag_B in response to the monitored third physical layer signal S_fin.

[0106] Moreover, assuming that the maximum number of base stations receiving responses for tag Tag_B is 3, based on the TOF of the second physical layer signal between each of the above base stations and tag Tag_B during the TWR process, tag Tag_B can regard the second physical layer signals of the three base stations with base station identifications BS_G, BS_H, and BS_J as valid.

[0107] By comparing the TWR process of tag Tag_A in time slot p with the TWR process of tag Tag_B in time slot q, it can be seen that the fixed response ranking of the base station identified as BS_H is "4", so that the sequence position of this base station in the available superframe time slot p of tag Tag_A, and the response time slice sequence Seq_slc of tag Tag_B and available superframe time slot q are both the 4th position of the matching response time slice Slc4. The difference is that: the set of base stations within the communication range of tag Tag_A or Tag_B located in different areas at the same time as this base station is different. Therefore, the relative ranking position of the fixed response ranking of this base station in different base station sets is different.

[0108] That is, for the set of base stations within the communication range of tag Tag_A, that is, the set of four base stations with base station identifications BS_D, BS_E, BS_H, and BS_I, the base station with base station identification BS_H has a fixed response ranking of "4", which makes its relative ranking position in the base station set last; and for the set of base stations within the communication range of tag Tag_B, that is, the set of three base stations with base station identifications BS_G, BS_H, and BS_J, the base station with base station identification BS_H has a fixed response ranking of "4", which makes its relative ranking position in the base station set first.

[0109] It can be seen from this that although the fixed response order of each base station determines that the sequence position of the response time slice allocated to the base station in the response time slice sequence Seq_slc of the available superframe time slot of the tag is fixed, in the TWR process initiated by tags in different regional locations, since the set of base stations within the communication range of the tag may be different, the relative ranking position between the fixed response order of each base station and other base stations in the same base station set may be different. Therefore, the fixed response order of each base station does not mean that the actual transmission order of the second physical layer signal broadcast by the base station during the TWR process is fixed.

[0110] Figure 3 This is an exemplary flow chart of a two-way ranging method applied to a base station in one embodiment of the present application. Figure 3 In an embodiment of the present application, a two-way ranging method applicable to any base station in a system deployment area of ​​a UWB positioning system is provided, and the two-way ranging method may include:

[0111] S3 1 0: Obtain a first parameter set, which is used to configure the fixed response order of base stations within the system deployment area of ​​the UWB positioning system during the system operation of the UWB positioning system. The fixed response order represents the fixed sequence position of the response time slice assigned to the base station in the response time slice sequence of the available superframe time slot of the tag, and the first parameter set can be configured so that: the fixed response order of all base stations within the communication range of the tag at any area location within the system deployment area of ​​the UWB positioning system is different from each other, and the fixed response order of all base stations within the communication range of any base station located in the system deployment area of ​​the UWB positioning system is different from each other.

[0112] S330: During the system operation of the UWB positioning system, in response to a first physical layer signal broadcast by any tag at any location in the system deployment area of ​​the UWB positioning system in a corresponding available superframe time slot, a second physical layer signal is broadcast in a response time slice that matches the fixed response order of this base station in the available superframe time slot corresponding to the tag, wherein the first physical layer signal is used to represent a two-way ranging request initiated by the tag, and the second physical layer signal is used to represent the base station's response to the tag that initiated the two-way ranging request.

[0113] For example, S330 can first respond to the first physical layer signal monitored by the transmission time slice within the available superframe time slice corresponding to any tag at any area location, and use the fixed response order of this base station to determine the delay length of this base station after the transmission time slice; then, S330 can broadcast the second physical layer signal in the response time slice when the delay length arrives (that is, the response time slice that matches the fixed response order of this base station).

[0114] S350: Determine a ranging result of the TWR in response to a third physical layer signal broadcasted by the tag after receiving the second physical layer signal, indicating the end of the two-way ranging.

[0115] For example, S350 may determine the TWR ranging result based on the TOF of the first physical layer signal, the second physical layer signal, and the third physical layer signal. As for the specific algorithm for obtaining the TWR ranging result using TOF, it is not the focus of the embodiments of the present application, but can be specifically configured according to actual needs.

[0116] Based on the above-mentioned two-way ranging method, a fixed response order can be assigned to the base stations within the deployment area of ​​the UWB positioning system, so that any base station has a response time slice with a fixed sequence position in the response time slice sequence of the available superframe time slot of any tag. In addition, the assignment of the fixed response order of all base stations within the system deployment area of ​​the UWB positioning system satisfies two constraints, namely, the fixed response order of all base stations within the communication range of the tag located at any regional location within the system deployment area of ​​the UWB positioning system (i.e., every regional location that the tag may theoretically reach) is different from each other, and the fixed response order of all base stations within the communication range of any base station located within the system deployment area of ​​the UWB positioning system (i.e., every base station within the system deployment area) is different from each other. Therefore:

[0117] During the operation of the UWB positioning system, for any two-way ranging initiated by any tag at any location in the system deployment area of ​​the UWB positioning system, the base stations within the communication range of the tag can respond in time based on the fixed response order of the base station, without relying on the scheduling device, and there will be no signal collision interference between different base stations in the same response time slice.

[0118] Therefore, each base station within the system deployment area of ​​the UWB positioning system can independently determine the response time slot to avoid signal collision interference. As a result, there is no need to deploy a scheduling device in the UWB positioning system (such as a server serving as a scheduling center, or a host computer connected to each base station respectively), which helps to improve the deployment flexibility and system stability of the UWB positioning system.

[0119] That is, since the elimination of the scheduling device also means saving the computing resources required for real-time calculation of response rankings and the bandwidth resources required for real-time distribution of response rankings or discrete deployment, as well as simplifying the base station interface. In addition, compared to a centralized networking solution that uses a server as a scheduling center, the embodiments of the present application do not rely on a unified scheduling center, and thus have a wider range of application scenarios; compared to a decentralized networking solution that uses a host computer to implement discrete scheduling, the present application can save system power consumption and system costs by saving the host computer.

[0120] In an embodiment of the present application, the first parameter set can be determined based on multiple sets of tag coverage information, wherein these multiple sets of tag coverage information can be obtained by listening at different listening positions within the system deployment area of ​​the UWB positioning system (that is, the listening range at each listening position can have the same size specification as the communication range of the tag), and the listening position of each set of tag coverage information can be any area position that the tag can reach within the system deployment area of ​​the UWB positioning system, and each set of tag coverage information is used to characterize all base stations within the communication range of the tag located at the corresponding listening position.

[0121] That is, the first parameter set can be determined based on the measured data (i.e., multiple sets of tag coverage information) within the system deployment area of ​​the UWB positioning system. Since the measured data can truly reflect the base station set of all base stations within the communication range of the tags located in the same area, as long as the measured data (i.e., multiple sets of tag coverage information) can traverse or basically traverse all reachable area positions of the tags in the system deployment area of ​​the UWB positioning system, all possible situations of the base station set among all base stations that are simultaneously covered by the communication range of a tag can be obtained, thereby ensuring that the obtained first parameter set can comply with the aforementioned principles 1.1 and 1.2.

[0122] For the first parameter set obtained by each base station, in the embodiment of the present application, two optional methods can be provided:

[0123] A pre-calibration method, i.e., pre-calibrating the first parameter set, and automatically obtaining the pre-calibrated first parameter set by each base station in response to base station startup of the base station before the start of the system operation process of the UWB positioning system, and if the pre-calibration method of the first parameter set is implemented based on multiple sets of tag coverage information, then monitoring of the multiple sets of tag coverage information occurs before the system operation process of the UWB positioning system; and

[0124] Self-learning mode, that is, each base station automatically determines the first parameter set through information collection during the system operation process of the UWB positioning system, and if the self-learning mode of the first parameter set is implemented based on multiple sets of tag coverage information, then the monitoring of multiple sets of tag coverage information occurs during the information collection process of the base station.

[0125] For the case where the first parameter set is determined by pre-calibration, such as Figure 3 S310 in the illustrated process may include: in response to the base station startup of the base station before the start of the system operation process of the UWB positioning system, obtaining a pre-calibrated first parameter set.

[0126] In this case, the first parameter set may be obtained by calibration based on multiple sets of tag coverage information monitored during a parameter calibration period before the system operation of the UWB positioning system, wherein:

[0127] Multiple sets of tag coverage information can be obtained by monitoring by the portable device at different monitoring positions within the system deployment area of ​​the UWB positioning system;

[0128] The monitoring location of each set of tag coverage information is any area that the tag can reach within the system deployment area of ​​the UWB positioning system;

[0129] Each set of tag coverage information is used to represent all base stations within the communication range of the tag located at the corresponding listening position.

[0130] For example, the tester can carry a portable device (the communication range of the portable device can have the same size specifications as the communication range of the tag) and travel around the system deployment area of ​​the UWB positioning system to traverse as many reachable regional locations of the tag as possible within the system deployment area of ​​the UWB positioning system. Moreover, during the period when the tester travels around the system deployment area of ​​the UWB positioning system, the portable device is used to monitor at different regional locations to obtain all base stations (i.e., multiple sets of tag coverage information) that can be covered by the communication range of the tag at the regional location.

[0131] In order to support the monitoring and acquisition of multiple groups of tag coverage information by portable devices during the parameter calibration period, the bilateral ranging method applied to the base station in the embodiment of the present application may further include: broadcasting a fourth physical layer signal with the base station identifier of the base station as the source base station identifier during the parameter calibration period. That is, each base station within the system deployment area of ​​the UWB positioning system can be further configured to: broadcast a fourth physical layer signal with the base station identifier of the base station as the source base station identifier during the parameter calibration period. Thus, each group of tag coverage information can include the source base station identifier of the fourth physical layer signal monitored at the corresponding monitoring position.

[0132] For example, the fourth physical layer signal may be any existing physical layer signal in the system protocol supported by the UWB positioning system, or may be a custom physical layer signal newly added in the system protocol supported by the UWB positioning system.

[0133] For the case where the first parameter set is determined by self-learning, such as Figure 3 S310 in the illustrated process may include: determining a first parameter set during a parameter learning phase during system operation of the UWB positioning system. Moreover, the bilateral ranging method applied to the base station in the embodiment of the present application may further include: determining a response time slot for broadcasting a second physical layer signal using a pre-configured default response ranking during the parameter learning phase (before S310), wherein the determination of the first parameter set in S310 is triggered by the end of the parameter learning phase; and, in response to the successful determination of the first parameter set through the parameter learning phase (before S330), replacing the default response ranking obtained when the base station is started with the fixed response ranking of the base station represented by the first parameter.

[0134] In this case, the first parameter set may be determined based on multiple sets of tag coverage information reported by the tags during a system learning phase during system operation of the UWB positioning system, wherein:

[0135] Multiple groups of tag coverage information are obtained by respectively listening by tags (the same or different tags) at different listening positions within the system deployment area of ​​the UWB positioning system. The listening position of each group of tag coverage information is the regional position of the tag reporting the group of tag coverage information within the system deployment area of ​​the UWB positioning system, and each group of tag coverage information is used to represent all base stations within the communication range of the tag reporting the group of tag coverage information.

[0136] For example, the duration of the parameter learning phase can be set based on an empirical value to ensure that: the movement range of all tags entering the system deployment area of ​​the UWB positioning system can reach the coverage level of all reachable regional positions of the tags in the system deployment area of ​​the UWB positioning system as much as possible, thereby obtaining tag coverage information that traverses all reachable regional positions of the tags in the system deployment area of ​​the UWB positioning system as much as possible.

[0137] To support tags monitoring and acquiring multiple sets of tag coverage information during the parameter learning phase, any physical layer signal broadcast by each base station within the system deployment area of ​​the UWB positioning system can be configured to have a source base station identifier, and the source base station identifier of any physical layer signal broadcast by each base station is the base station identifier of the base station. Accordingly, each set of tag coverage information can include the source base station identifier of any physical layer signal monitored by the tag reporting that set of tag coverage information.

[0138] In an embodiment of the present application, in addition to changing the allocation method of each base station's response time slices in a tag's available superframe time slots to a fixed order, the tag can also be allowed to independently determine the available superframe time slots in which it can initiate a TWR. That is, the available superframe time slots of any tag are self-allocated time slots determined by the tag by monitoring idle time slots. Moreover, the idle time slots determined by any tag as available superframe time slots include any time slots that are not occupied by two-way ranging of other tags and are not occupied by clock synchronization between base stations.

[0139] Figure 4 This is an exemplary flow chart of a two-way ranging method applied to a tag in one embodiment of the present application. Figure 4 In an embodiment of the present application, a two-way ranging method applicable to any tag within a system deployment area of ​​a UWB positioning system is provided, and the two-way ranging method may include:

[0140] S410: Determine an idle available superframe time slot in the current superframe based on a monitoring result of a physical layer signal of a TWR performed on other tags (eg, a first physical layer signal and / or a third physical layer signal transmitted by other tags).

[0141] For example, through monitoring results of other tags, all idle superframe time slots in the current superframe can be determined based on statistical prediction of the monitoring results, and one of the idle superframe time slots is randomly selected as the available superframe time slot of the current tag.

[0142] S430: Transmit a first physical layer signal within an available superframe time slot of the tag.

[0143] S450: In response to the end of monitoring the second physical layer signal in the available superframe time slot, transmit a third physical layer signal in the available superframe time slot of the current tag, so that the base station determines the ranging result of TWR in response to the third physical layer signal.

[0144] The UWB positioning system will also have clock synchronization between base stations (for example, clock synchronization relayed between base stations) to ensure the tag's selection of available superframe time slots for TWR and the accuracy of TWR between the tag and the base station, wherein the clock synchronization can be initiated intermittently (for example, periodically) during system operation, including once at the start of system operation.

[0145] Moreover, the initiation time of each clock synchronization process in the UWB positioning system and the number of superframe time slots occupied by each clock synchronization process (for example, each clock synchronization process occupies one or more superframe time slots) can be determined by the configurable parameter set of each base station in the deployment area of ​​the UWB positioning system.

[0146] In addition, in the embodiment of the present application, a mechanism is provided for clock synchronization between base stations to support base stations to autonomously determine the synchronization order.

[0147] Figure 5 Schematic diagram of the clock synchronization principle in one embodiment of the present application. Figure 5 In the example, there are three base stations within the communication range of the tag, namely base station a, base station b and base station c.

[0148] The base stations (including base station a, base station b, and base station c) within the system deployment area of ​​the UWB positioning system may also be configured with a second parameter set Pra_syn, which is used to configure the synchronization relay sequence of the clock synchronization phase intermittently initiated by the base stations within the system deployment area of ​​the UWB positioning system during the system operation of the UWB positioning system. In addition, the synchronization relay sequence represents the fixed sequence position of the base station in the signal broadcast sequence. Therefore, in the case of Figure 5 The base stations a, b, and c within the communication range of the tag shown can also determine their respective synchronous relay sequences by configuring the second parameter set Pra_syn, that is, Figure 5, the synchronous relay sequence n of base station a, the synchronous relay sequence n+1 of base station b, and the synchronous relay sequence n+2 of base station c are shown in FIG, where n is a positive integer greater than 0.

[0149] During each clock synchronization phase initiated by the UWB positioning system, at least some base stations need to broadcast the fifth physical layer signal for clock synchronization, and each of these base stations can broadcast the fifth physical layer signal for clock synchronization in response to the arrival of the ranking of the base station in the signal broadcast sequence. The fifth physical layer signal for clock synchronization can also be named a synchronization signal, that is, the fifth physical layer signal can be an existing physical layer signal or a custom physical layer signal dedicated to clock synchronization in the system protocol supported by the UWB positioning system, or the fifth physical layer signal can also be a physical layer signal with other uses such as the second physical layer signal (Response signal), and:

[0150] If the base station is at the first position in the broadcast sequence, then when the base station successfully obtains and determines the synchronous relay sequence of the base station, it is determined that the ranking of the base station in the broadcast sequence has been reached;

[0151] If the base station is at any position after the first one in the broadcast sequence, the base station can determine that its position in the broadcast sequence has been reached when it monitors the fifth physical layer message broadcast by another base station that ranks before the base station in the broadcast sequence.

[0152] The synchronous relay sequence of a base station can also be Null. A synchronous relay sequence of Null indicates that the base station is at the last level of the synchronous relay. The base station at the last level of the synchronous relay only needs to monitor the fifth physical layer signal broadcast by the base station at the previous level (the base station at the end of the broadcast sequence) and does not need to participate in the broadcast. Therefore, each base station within the system deployment area of ​​the UWB positioning system can be configured with a second parameter set Pra_syn. Among them, some base stations can determine, based on the second parameter set Pra_syn, that the base station has a synchronous relay sequence indicating that the fifth physical layer signal needs to be broadcast. Other base stations can determine, based on the second parameter set Pra_syn, that the synchronous relay sequence of the base station is empty and that the base station does not need to broadcast the fifth physical layer signal during each clock synchronization phase initiated by the UWB positioning system. That is, for each base station, if the synchronous relay sorting of the base station is not Null, then the synchronous relay sorting of the base station represents the fixed sorting position of the base station in the signal broadcast sequence; if the synchronous relay sorting of the base station is Null, then it indicates that the base station is not in the signal broadcast sequence. Therefore, the second parameter set Pra_syn can be used to configure the synchronous relay sorting of the clock synchronization phase intermittently initiated by a part of the base stations within the system deployment area of ​​the UWB positioning system during the system operation of the UWB positioning system.

[0153] Moreover, in the embodiment of the present application, the determination of the second parameter set Pra_syn follows the following two principles:

[0154] Principle 2.1. The synchronization relay order of all base stations within the communication range of any base station within the system deployment area of ​​the UWB positioning system (i.e., each base station within the system deployment area) is different from each other; and

[0155] Principle 2.2: When Principle 2.1 is met, the length of the sequence of synchronous relay sorting shall be less than the number of hops of base stations that are interconnected within the communication range, so as to minimize the length of the sequence of synchronous relay sorting.

[0156] Figure 6 For application such as Figure 5 The first example of the clock synchronization principle is shown in FIG. Figure 6 In the example, all base stations (base station identifications BS_A to BS_H) within the system deployment area of ​​the UWB positioning system are separated by a shielding structure into two groups of base stations whose signals are blocked from each other. The first group includes five base stations identified as BS_A to BS_E, and the second group includes three base stations identified as BS_F to BS_H. In addition, the synchronous relay sequence of all base stations (base station identifications BS_A to BS_H) within the system deployment area of ​​the UWB positioning system is marked in brackets after the base station identification, as shown in Table 2.

[0157] Base station identification Synchronous relay sorting BS_A Null BS_B 2 BS_C 1 BS_D Null BS_E Null BS_F 1 BS_G Null BS_H Null

[0158] Table 2 - Correspondence between base station identification and synchronous relay sequence

[0159] Based on the second parameter set Pra_syn, see Figure 6 In conjunction with Table 2, in the first group of base stations identified as BS_A to BS_E:

[0160] Within the communication range of base station BS_C, there are base station BS_C with a synchronous relay ranking of 1 and base station BS_B with a synchronous relay ranking of 2, and the synchronous relay rankings of the remaining base stations are all null. Within the communication range of base station BS_B, there are base station BS_C with a synchronous relay ranking of 2 and base station BS_B with a synchronous relay ranking of 1, and the synchronous relay rankings of the remaining base stations are all null. For each of base stations BS_A, BS_D, and BS_E, whose synchronous relay rankings are all null, within their communication range, there are only base station BS_C with a synchronous relay ranking of 1, base station BS_B with a synchronous relay ranking of 2, and other base stations with null synchronous relay rankings. Therefore, the above principle 2.1 is met.

[0161] The base stations BS_A, BS_D, and BS_E, whose synchronous relay rankings are all Null, are located at the last level in the synchronous relay and do not need to broadcast the fifth physical layer signal. Therefore, the sequence length of the synchronous relay ranking of base stations BS_A to BS_E is 2 (i.e., the sequence consisting of the synchronous relay ranking of base station BS_C being 1 and the synchronous relay ranking of base station BS_B being 2), which is less than the number of traversal hops of 4 for base stations in the group of base stations to connect with each other within the communication range (for example, the traversal order of BS_A->BS_B->BS_C->BS_D->BS_E requires 4 hops), which complies with the above principle 2.2.

[0162] Based on the second parameter set Pra_syn, still see Figure 6 In conjunction with Table 2, in the first group of base stations identified as BS_F to BS_G:

[0163] BS_F has only BS_F with a synchronization relay ranking of 1 within its communication range, while the synchronization relay rankings of the other BSs are all null. For each of BS_G and BS_H, whose synchronization relay rankings are both null, the only BS_F with a synchronization relay ranking of 1 and the other BSs with null synchronization relay rankings within its communication range also conform to Principle 2.1 above.

[0164] The base stations BS_G and BS_H, whose synchronous relay rankings are both Null, are located at the last level in the synchronous relay and do not need to broadcast the fifth physical layer signal. Therefore, the sequence length of the synchronous relay ranking of the second group of base stations identified as BS_F to BS_H is 1 (that is, only the synchronous relay ranking of base station BS_F in the sequence is 1), which is less than the number of traversal hops of base stations in the group of base stations that are interconnected within the communication range (for example, according to the traversal order of BS_F->BS_G->BS_H, 2 hops are required), which also complies with the above principle 2.2.

[0165] In such Figure 6 In the first example shown, the first group of base stations can achieve clock synchronization of base stations BS_A, BS_B, BS_D and BS_E with base station BS_C as the clock reference through 2-level relay, and the second group of base stations can achieve clock synchronization of base stations BS_G and BS_H with base station BS_F as the clock reference through 1-level relay.

[0166] Figure 7 For application such as Figure 5 The second example diagram of the clock synchronization principle is shown in FIG. Figure 7In the table, the communication ranges of all base stations (base station identifiers are BS_A to BS_G) within the system deployment area of ​​the UWB positioning system are connected and interconnected, and the synchronization relay sequence of all base stations (base station identifiers are BS_A to BS_H) within the system deployment area of ​​the UWB positioning system is marked in brackets after the base station identifier, as shown in Table 3.

[0167] Base station identification Synchronous relay sorting BS_A 1 BS_B 2 BS_C 3 BS_D 1 BS_E 2 BS_F 3 BS_G Null

[0168] Table 3 - Correspondence between base station identification and synchronous relay sequence

[0169] Based on the second parameter set Pra_syn, see Figure 7 And combined with Table 3:

[0170] The synchronous relay ranking of base stations BS_A and BS_D is both 1, but their communication ranges do not intersect. That is, there is no base station BS_D with the same synchronous relay ranking of 1 within the communication range of base station BS_A, and there is no base station BS_A with the same synchronous relay ranking of 1 within the communication range of base station BS_D. Within the communication range of base station BS_A, there is only one base station BS_B with a synchronous relay ranking of 2, and no base station with a synchronous relay ranking of 3. Within the communication range of base station BS_D, there is only one base station BS_E with a synchronous relay ranking of 2, and only one base station BS_C with a synchronous relay ranking of 3.

[0171] The synchronous relay ranking of base stations BS_B and BS_E is both 2, but their communication ranges do not intersect. That is, there is no base station BS_E with the same synchronous relay ranking of 2 within the communication range of base station BS_B, and there is no base station BS_B with the same synchronous relay ranking of 2 within the communication range of base station BS_E. Within the communication range of base station BS_B, there is only one base station BS_A with a synchronous relay ranking of 1, and only one base station BS_C with a synchronous relay ranking of 3. Within the communication range of base station BS_E, there is only one base station BS_D with a synchronous relay ranking of 1, and only one base station BS_F with a synchronous relay ranking of 3.

[0172] The synchronous relay ranking of base stations BS_C and BS_F is both 3, but their communication ranges do not intersect. That is, there is no base station BS_F with the same synchronous relay ranking of 3 within the communication range of base station BS_C, and there is no base station BS_C with the same synchronous relay ranking of 3 within the communication range of base station BS_F. Within the communication range of base station BS_C, there is only one base station BS_D with a synchronous relay ranking of 1, and only one base station BS_B with a synchronous relay ranking of 2. Within the communication range of base station BS_F, there is no base station with a synchronous relay ranking of 1, and only one base station BS_E with a synchronous relay ranking of 2.

[0173] Therefore, if Figure 7 The second example shown complies with the above principle 2.1.

[0174] Moreover, in Figure 7 In the second example shown, the sequence length of the synchronous relay sorting assigned to base stations BS_A~BS_G is 3, which is less than the number of base station traversal hops for continuous communication within the communication range (for example, according to the traversal order of BS_A->BS_B->BS_C->BS_D->BS_E->BS_F->BS_G, it takes 6 hops), which complies with the above principle 2.2.

[0175] In such Figure 7 The clock synchronization process of the second example is shown:

[0176] At time t0 when the synchronization process begins: base stations BS_A and BS_D, both with synchronization relay ranking 1, broadcast the fifth physical layer message in their clocks;

[0177] At time t1 after time t0, base station BS_B, whose synchronization relay order is 2, responds to the successful monitoring of base station BS_A and achieves clock synchronization with base station BS_A as the clock reference, and broadcasts the fifth physical layer message. Base station BS_E, whose synchronization relay order is also 2, responds to the successful monitoring of base station BS_D and achieves clock synchronization with base station BS_D as the clock reference, and broadcasts the fifth physical layer message.

[0178] At time t2 after time t1, base station BS_C, whose synchronization relay ranking is 3, achieves clock synchronization with base station BS_A as the clock reference in response to the successful monitoring of base station BS_B, and broadcasts the fifth physical layer message. Base station BS_F, whose synchronization relay ranking is also 3, achieves clock synchronization with base station BS_D as the clock reference in response to the successful monitoring of base station BS_E, and broadcasts the fifth physical layer message.

[0179] The base station BS_G with the synchronization relay ranking of Null is located at the last stage in the synchronization relay and does not need to broadcast the fifth physical layer signal. The base station BS_G can achieve clock synchronization with the base station BS_D as the clock reference in response to the successful monitoring of the base station BS_F.

[0180] In addition, BS_D, which has a synchronization relay order of 1, can also monitor the fifth physical layer message broadcast by BS_C, which has a synchronization relay order of 3, so that it can calibrate itself, BS_E, BS_F, and BS_G to use BS_A as the clock reference during the next clock synchronization process. Figure 7The second example shown can be regarded as dividing base stations BS_A to BS_G into two groups for sequential clock synchronization. Base station BS_D first calibrates base stations BS_E to BS_G to synchronize with itself, and then monitors BS_D to BS G to complete synchronization calibration with base stations BS_A to BS_C during the next clock synchronization.

[0181] Figure 8 The two-way ranging method applied to the base station in the embodiment of the present application is based on the following Figure 5 The extended flow chart of the clock synchronization principle is shown in Figure 1. Figure 8 In an embodiment of the present application, the two-way ranging method for a base station may further include:

[0182] S810: Obtain a second parameter set, which is used to configure the synchronous relay sorting of base stations within the system deployment area of ​​the UWB positioning system in the clock synchronization phase intermittently initiated during the system operation of the UWB positioning system. The synchronous relay sorting represents the fixed sorting position of the base station in the signal broadcast sequence, and the second parameter set is configured as follows: when the synchronous relay sorting of all base stations within the communication range of any base station is different from each other, the sequence length of the synchronous relay sorting is less than the number of base station traversal hops that are interconnected in the communication range.

[0183] In an embodiment of the present application, clock synchronization between base stations of a UWB positioning system may affect the accuracy of TWR. Therefore, to ensure that clock synchronization can cover all base stations in the system deployment area at the start of the UWB positioning system operation, the second parameter set may be parameters that need to be used before the system operation process of the UWB positioning system begins. In this case, the second parameter set may preferably be determined by pre-calibration. Accordingly, S810 may obtain the pre-calibrated second parameters in response to the base station startup before the system operation process of the UWB positioning system begins.

[0184] S830: In each clock synchronization phase initiated by the UWB positioning system, in response to the ranking of the base station in the signal broadcast sequence, broadcast the fifth physical layer signal used for clock synchronization.

[0185] For example, S830 can first determine whether the ranking of this base station is in the first place in the signal broadcast sequence; if this base station is in the first place in the broadcast sequence, then S830 can broadcast the fifth physical layer signal of this base station in response to the successful determination of the synchronous relay ranking of this base station; if this base station is after the first place in the broadcast sequence, then S830 can start listening to the fifth physical layer messages broadcast by other base stations ranked before this base station in the broadcast sequence in response to the successful determination of the synchronous relay ranking of this base station, and, in response to the successful monitoring of the fifth physical layer messages broadcast by other base stations ranked before this base station, broadcast the fifth physical layer signal of this base station.

[0186] Each base station in the deployment area of ​​the UWB positioning system performs the following Figure 8 The process shown can achieve clock synchronization between base stations in the system deployment area of ​​the UWB positioning system.

[0187] If the first parameter set is determined in a pre-calibrated manner, S310 for obtaining the first parameter set can be executed before S830 or the first clock synchronization between the base stations is completed. For example, S310 can be executed synchronously with S810 for obtaining the pre-calibrated second parameter set, and S330 and S350 occurring in the TWR process can be interspersed with S830 for intermittently initiating clock synchronization.

[0188] If the first parameter set is determined by self-learning, then S310 of acquiring the first parameter set may be performed after S810 of acquiring the pre-calibrated second parameter set.

[0189] In addition, in an embodiment of the present application, the tag can also monitor the base stations within its communication range during the clock synchronization phase initiated by the UWB positioning system each time. Therefore, by monitoring the fifth physical layer signal broadcast by the base station during the clock synchronization phase, the tag can determine the signal strength of each base station within its communication range. Thus, when the number of base stations that respond to the tag using the second physical layer signal exceeds the maximum number of base stations that receive responses to the tag, the signal strength determined based on the fifth physical layer signal can also be used as a reference for the tag to select the second physical layer signal of the base station.

[0190] In the case where the second parameter set is determined in a pre-calibrated manner, the second parameter set may be obtained by calibration based on multiple sets of base station coverage information monitored during a parameter calibration period before the system operation period of the UWB positioning system, wherein:

[0191] Multiple sets of base station coverage information are obtained by monitoring at different monitoring locations within the system deployment area of ​​the UWB positioning system;

[0192] The monitoring location of each set of base station coverage information is the regional location within the communication range of any base station in the system deployment area of ​​the UWB positioning system;

[0193] Each group of base station coverage information is used to represent all base stations located within the communication range of the base station that monitors the group of base station coverage information.

[0194] For example, similar to the multiple sets of tag coverage information based on which the first parameter set is determined in a pre-calibrated manner, the tester can carry a portable device (the communication range of the portable device at this time can have the same size specifications as the communication range of the base station) and travel through the system deployment area of ​​the UWB positioning system, so as to make the communication range of the portable device cover all base stations within the system deployment area of ​​the UWB positioning system as much as possible, and during the period when the tester travels through the system deployment area of ​​the UWB positioning system, the portable device is used to monitor all base stations within the communication range of each base station (i.e., multiple sets of base station coverage information) at different regional locations.

[0195] In order to support portable devices in monitoring and acquiring multiple groups of base station coverage information during the parameter calibration period of the UWB positioning system, the two-way ranging method for base stations in the embodiment of the present application may further include: broadcasting a sixth physical layer signal with the base station identifier of this base station as the source base station identifier during the parameter calibration period of the UWB positioning system, and the sixth physical layer signal is also used to carry the base station identifier of the neighboring base stations within the communication range of this base station. That is, each base station in the system deployment area of ​​the UWB positioning system can be configured to: broadcast a sixth physical layer signal with the base station identifier of this base station as the source base station identifier during the parameter calibration period of the UWB positioning system, and the sixth physical layer signal is also used to carry the base station identifier of the neighboring base stations within the communication range of this base station. Thus, each group of base station coverage information used to determine the second parameter set may include the source base station identifier of the sixth physical layer signal broadcast by any base station monitored and the base station identifier of the carried neighboring base station.

[0196] If the communication ranges of the tag and the base station have the same size specifications, then the multiple sets of tag coverage information used to determine the first parameter set in a pre-calibrated manner, and the multiple sets of base station coverage information used to determine the second parameter in a pre-calibrated manner, can be simultaneously monitored and acquired during the parameter calibration of the UWB positioning system. At this time, the sixth physical layer signal containing the source base station identifier can also be reused for monitoring and acquiring the multiple sets of tag coverage information.

[0197] In an embodiment of the present application, each base station within the system deployment area of ​​the UWB positioning system can be specifically configured to broadcast the sixth physical layer signal in random time slices of a selected time period during the parameter calibration period of the UWB positioning system. The period length of the set period can be set in time slots (for example, one or more superframe time slots), or it can be set directly in time units (such as 1 second).

[0198] All base stations broadcast the sixth physical layer signal in random time slices, resulting in a probability event of signal collision interference caused by any two base stations broadcasting the sixth message in the same time slice. Therefore, by reasonably maintaining the monitoring duration at each monitoring location, under the condition of the collision probability that the random time slices broadcasting the sixth physical layer signal by different base stations are the same time slice, the base station identifier of the neighboring base station carried in the sixth physical layer signal broadcast by each base station can be gradually updated by the base station monitoring the signals broadcast by other base stations, until the probability of successful monitoring of the sixth physical layer signals of all neighboring base stations by each base station is equal to or higher than the preset target probability value.

[0199] That is, the base station identification of the neighboring base station carried in the sixth physical layer signal broadcast by each base station is gradually updated by monitoring the signals broadcast by other base stations by this base station, and the duration of monitoring the sixth physical layer signal broadcast by each base station at each monitoring position can be greater than or equal to the preset duration, and the preset duration can make: under the probability condition that the random time slices broadcasting the sixth physical layer signal at different base stations are signal collision interference of the same time slice, the probability of successful monitoring of the sixth physical layer signals of all neighboring base stations by each base station pair is equal to or higher than the preset target probability value.

[0200] Figure 9 This is an exemplary structural diagram of a two-way ranging device applied to a base station in one embodiment of the present application. Figure 9 In an embodiment of the present application, a two-way ranging device applicable to any base station in a system deployment area of ​​a UWB positioning system is provided, and the two-way ranging device may include:

[0201] A parameter acquisition module 910 is configured to acquire a first parameter set, where the first parameter set is used to configure a fixed response order of base stations within a system deployment area of ​​the UWB positioning system during system operation of the UWB positioning system. The fixed response order represents a fixed sequence position of a response time slice allocated to a base station in a response time slice sequence of an available superframe time slot of a tag. The first parameter set may be configured such that: the fixed response orders of all base stations within a communication range of a tag located at any area within the system deployment area of ​​the UWB positioning system are different from one another, and the fixed response orders of all base stations within a communication range of any base station located within the system deployment area of ​​the UWB positioning system are different from one another.

[0202] For example, the first parameter set obtained by the parameter acquisition module 910 can be determined based on multiple sets of tag coverage information, wherein these multiple sets of tag coverage information can be obtained by listening at different listening positions within the system deployment area of ​​the UWB positioning system (that is, the listening range at each listening position can have the same size specification as the communication range of the tag), and the listening position of each set of tag coverage information can be any area position that the tag can reach within the system deployment area of ​​the UWB positioning system, and each set of tag coverage information is used to represent all base stations within the communication range of the tag located at the corresponding listening position.

[0203] The ranging response module 930 is configured to, during operation of the UWB positioning system, respond to a first physical layer signal broadcast by any tag at any location within the system deployment area of ​​the UWB positioning system in a corresponding available superframe time slot, and broadcast a second physical layer signal in a response time slice that matches the fixed response order of the base station in the available superframe time slot corresponding to the tag, wherein the first physical layer signal is used to represent a two-way ranging request initiated by the tag, and the second physical layer signal is used to represent the base station's response to the tag that initiated the two-way ranging request.

[0204] For example, the ranging response module 930 may first respond to the first physical layer signal monitored in the transmission time slice within the available superframe time slice corresponding to any tag at any area location, and use the fixed response order of this base station to determine the delay duration of this base station after the transmission time slice; then, the ranging response module 930 may broadcast the second physical layer signal in the response time slice when the delay duration arrives (i.e., the response time slice that matches the fixed response order of this base station).

[0205] For another example, the available superframe time slot of any tag is a self-allocated time slot determined by the tag by monitoring the idle time slot, and the idle time slot determined by any tag as an available superframe time slot includes: any time slot that is not occupied by the two-way ranging of other tags and is not occupied by clock synchronization between base stations.

[0206] The result determination module 970 is configured to determine the ranging result of the TWR in response to a third physical layer signal broadcasted by the tag after receiving the second physical layer signal, indicating the end of the two-way ranging.

[0207] Based on the above-mentioned two-way ranging device, a fixed response order can be assigned to the base stations within the deployment area of ​​the UWB positioning system, so that any base station has a response time slice with a fixed sequence position in the response time slice sequence of the available superframe time slot of any tag, and the assignment of the fixed response order of all base stations in the system deployment area of ​​the UWB positioning system satisfies two constraints, namely, the fixed response order of all base stations within the communication range of the tag at any regional position within the system deployment area of ​​the UWB positioning system is different from each other, and the fixed response order of all base stations within the communication range of any base station within the system deployment area of ​​the UWB positioning system is different from each other. Therefore, during the system operation of the UWB positioning system, for the two-way ranging initiated by any tag at any regional position within the system deployment area of ​​the UWB positioning system, the base stations within the communication range of the tag can respond in a time-sharing manner based on the fixed response order of the base station, without relying on the scheduling device, and without signal collision interference between different base stations in the same response time slice. Therefore, each base station within the system deployment area of ​​the UWB positioning system can independently determine the response time slot to avoid signal collision interference. As a result, there is no need to deploy a scheduling device in the UWB positioning system (such as a server serving as a scheduling center, or a host computer connected to each base station respectively), which helps to improve the deployment flexibility and system stability of the UWB positioning system.

[0208] Figure 10 For example Figure 9 The first example of the structure diagram of the two-way distance measuring device is shown in FIG. Figure 10 In an embodiment of the present application, the first parameter set acquired by the parameter acquisition module 910 may be determined in a pre-calibrated manner. In this case, the two-way ranging apparatus may further include: a parameter storage module 900, configured to store the pre-calibrated first parameter set; and the parameter acquisition module 910 may be specifically configured to: acquire the pre-calibrated first parameter set from the parameter storage module 900 in response to a base station startup of the base station before the start of the system operation process.

[0209] For the principle of determining the first parameter set in a pre-calibrated manner, reference may be made to the relevant description of the two-way ranging method applied to the base station in the aforementioned embodiment, which will not be repeated here.

[0210] Figure 11 For example Figure 9 The second example of the structure of the two-way distance measuring device is shown in FIG. Figure 11In an embodiment of the present application, the first parameter set obtained by the parameter acquisition module 910 may also be determined by a self-learning method of the base station. In this case, the two-way ranging device may further include: a parameter learning module 920, configured to determine the first parameter set during a parameter learning phase during system operation of the UWB positioning system; and the parameter acquisition module 910 may be specifically configured to obtain the first parameter set from the parameter learning module 920.

[0211] In addition, the ranging response module 930 may be further configured to, during the parameter learning phase, use a preconfigured default response order to determine a response time slot for broadcasting the second physical layer signal. For example, the bidirectional ranging apparatus may further include a parameter storage module 900 configured to store the preconfigured default response order. Furthermore, the determination of the first parameter set by the parameter learning module 920 is triggered by the expiration of the parameter learning phase. The parameter acquisition module 910 may also be configured to, in response to the parameter learning module 920 successfully determining the first parameter set, replace the default response order with the fixed response order of the base station.

[0212] For the principle of determining the first parameter set in a base station self-learning manner, reference may be made to the relevant description of the two-way ranging method applied to the base station in the aforementioned embodiment, which will not be repeated here.

[0213] Figure 12 For example Figure 9 The extended structure diagram of the two-way distance measuring device is shown in FIG. Figure 12 In an embodiment of the present application, the two-way ranging device applied to the base station can also support the base station to autonomously determine the synchronization order. In this case, the parameter acquisition module 910 can be further used to: obtain a second parameter set, which is used to configure the synchronization relay sequence of the clock synchronization phase intermittently initiated by the base stations in the system deployment area of ​​the UWB positioning system during the system operation of the UWB positioning system. The synchronization relay sequence represents the fixed sequence position of the base station in the signal broadcast sequence, and the second parameter set is configured as: when the synchronization relay sequences of all base stations located within the communication range of any base station are different from each other, the sequence length of the synchronization relay sequence is less than the number of traversal hops of the base stations that are interconnected in the communication range.

[0214] For example, the second parameter set can be determined by pre-calibration. Accordingly, the two-way ranging device may further include a parameter storage module 900 for storing the pre-calibrated second parameter set. Furthermore, the parameter acquisition module 910 may be specifically configured to, in response to a base station startup prior to the start of the UWB positioning system, acquire the pre-calibrated second parameter set from the parameter storage module 900. If the first parameter set is determined by pre-calibration, the parameter storage module 900 may also store both the pre-calibrated first parameter set and the second parameter set for acquisition by the parameter acquisition module 910.

[0215] In addition, the two-way ranging device may further include: a clock synchronization module 950, which is used to broadcast the fifth physical layer signal for clock synchronization in response to the ranking of the base station in the signal broadcast sequence during each clock synchronization phase initiated by the UWB positioning system.

[0216] For example, the clock synchronization module 950 can first determine whether the ranking of this base station is in the first place in the signal broadcast sequence; if this base station is in the first place in the broadcast sequence, then the clock synchronization module 950 can broadcast the fifth physical layer signal of this base station in response to the successful determination of the synchronous relay ranking of this base station; if this base station is after the first place in the broadcast sequence, then S830 can start listening to the fifth physical layer messages broadcast by other base stations ranked before this base station in the broadcast sequence in response to the successful determination of the synchronous relay ranking of this base station, and, in response to the successful monitoring of the fifth physical layer messages broadcast by other base stations ranked before this base station, broadcast the fifth physical layer signal of this base station.

[0217] Each base station in the system deployment area of ​​the UWB positioning system is deployed as follows Figure 12 The two-way ranging device shown can achieve clock synchronization between base stations in the system deployment area of ​​the UWB positioning system.

[0218] For the calibration principle of the second parameter, reference may be made to the related description of the two-way ranging method applied to the base station in the aforementioned embodiment, which will not be repeated here.

[0219] In another embodiment of the present application, an ultra-wideband positioning system is provided, comprising a plurality of base stations, wherein each base station is configured to execute the two-way ranging method described in the foregoing embodiment.

[0220] Another embodiment of the present application provides a non-transitory computer-readable storage medium storing instructions, which, when executed by a processor, causes the processor to perform the two-way ranging method as described in the foregoing embodiment.

[0221] Figure 13This is a schematic diagram of an exemplary structure of a portable device in one embodiment of the present application. Figure 13 In an embodiment of the present application, a portable device for parameter calibration is further provided. The portable device may include a processor 1310 and an interface component 1390. The processor 1310 may be configured to:

[0222] Generate a first parameter set, the first parameter set being used to configure a fixed response order of base stations within a system deployment area of ​​the UWB positioning system during system operation of the UWB positioning system, the fixed response order representing a fixed sequence position of a response time slice allocated to a base station in a response time slice sequence of an available superframe time slot of a tag, and the first parameter set being configured such that: the fixed response order of all base stations within a communication range of a tag located at any regional location within the system deployment area of ​​the UWB positioning system is different from one another, and the fixed response order of all base stations within a communication range of any base station located within the system deployment area of ​​the UWB positioning system is different from one another;

[0223] The interface component 1390 is used to output the generated first parameter set to each base station within the system deployment area of ​​the UWB positioning system, so that: during the system operation of the UWB positioning system, each base station responds to the first physical layer signal broadcast by any tag at any location in the system deployment area of ​​the UWB positioning system in the corresponding available superframe time slot (for example, a self-allocated time slot determined by the tag by monitoring an idle time slot), and broadcasts the second physical layer signal in the response time slice that matches the fixed response order of the base station within the available superframe time slot corresponding to the tag, the first physical layer signal is used to represent the two-way ranging request initiated by the tag, the second physical layer signal is used to represent the base station's response to the tag that initiated the two-way ranging request, and the ranging result of TWR is determined in response to the third physical layer signal broadcast by the tag after receiving the second physical layer signal to represent the end of the two-way ranging.

[0224] See Figure 13 In the embodiment of the present application, the portable device for parameter calibration may further include a communication component 1330, and the processor 1310 may be further configured to:

[0225] During a parameter calibration period before the system operation of the UWB positioning system, multiple sets of tag coverage information are monitored using the communication component 1330, wherein the multiple sets of tag coverage information can be obtained by monitoring by the portable device at different monitoring positions within the system deployment area of ​​the UWB positioning system, the monitoring position of each set of tag coverage information is any area position that the tag can reach within the system deployment area of ​​the UWB positioning system, and each set of tag coverage information is used to represent all base stations within the communication range of the tag located at the corresponding monitoring position;

[0226] Accordingly, the processor 1310 may generate a first parameter set based on the monitored multiple groups of tag coverage information.

[0227] For the physical layer message targeted by the monitoring tag coverage information, reference may be made to the relevant description of the two-way ranging method in the above-mentioned embodiment, which will not be repeated here.

[0228] In an embodiment of the present application, the processor 1310 of the portable device that can be used for parameter calibration may be further configured to:

[0229] Generate a second parameter set, the second parameter set being used to configure a synchronous relay sequence of a clock synchronization phase intermittently initiated by base stations within a system deployment area of ​​the UWB positioning system during system operation of the UWB positioning system, the synchronous relay sequence representing a fixed sequence position of the base station in a signal broadcast sequence, and the second parameter set being configured such that: when the synchronous relay sequences of all base stations within a communication range of any base station are different from each other, a sequence length of the synchronous relay sequence of each group of base stations is less than a number of traversal hops of base stations that are interconnected within the communication range;

[0230] The generated second parameter set is output to each base station in the system deployment area of ​​the UWB positioning system, so that: at least a part of the base stations in the system deployment area of ​​the UWB positioning system broadcasts the fifth physical layer signal for clock synchronization in response to the ranking of the base station in the signal broadcast sequence during each clock synchronization phase initiated by the UWB positioning system.

[0231] For example, the processor 1310 may be further configured to: during a parameter calibration period prior to the system operation of the UWB positioning system, use the communication component 1330 to monitor multiple sets of base station coverage information, wherein the multiple sets of base station coverage information are respectively obtained by monitoring at different monitoring locations within the system deployment area of ​​the UWB positioning system; the monitoring location of each set of base station coverage information is an area location within the communication range of any base station within the system deployment area of ​​the UWB positioning system; each set of base station coverage information is used to represent all base stations within the communication range of the base station that monitors the set of base station coverage information;

[0232] Accordingly, the processor 1310 may generate a second parameter set based on multiple groups of base station coverage information.

[0233] For the physical layer message for monitoring the base station coverage information, reference may be made to the relevant description of the two-way ranging method in the above-mentioned embodiment, which will not be repeated here.

[0234] In addition, the portable device in the embodiment of the present application may also include a first storage medium 1350 and a second storage medium 1370, wherein the first storage medium 1350 may store instructions for the processor 1310, and the second storage medium 1370 may store a first parameter set and a second parameter set generated by the processor 1310.

[0235] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A two-way ranging method, characterized in that: The two-way ranging method is applied to any base station within a system deployment area of ​​the ultra-wideband positioning system, and the two-way ranging method includes: Obtaining a first parameter set, where the first parameter set is used to configure a fixed response order of base stations within the system deployment area during system operation of the ultra-wideband positioning system, where the fixed response order represents a fixed sequence position of a response time slice allocated to a base station in a response time slice sequence of an available superframe time slot of a tag, and the first parameter set is configured such that: the fixed response order of all base stations within a communication range of a tag located at any regional location within the system deployment area is different from one another, and the fixed response order of all base stations within a communication range of any base station located within the system deployment area is different from one another; During operation of the system, in response to a first physical layer signal broadcast by any tag at any location in the system deployment area in the corresponding available superframe time slot, a second physical layer signal is broadcast in a response time slice matching the fixed response order of the base station in the available superframe time slot, wherein the first physical layer signal is used to represent a two-way ranging request initiated by the tag, and the second physical layer signal is used to represent a response of the base station to the tag that initiated the two-way ranging request; A ranging result of the two-way ranging is determined in response to a third physical layer signal broadcasted by the tag after receiving the second physical layer signal and used to indicate the end of the two-way ranging.

2. The two-way ranging method according to claim 1, wherein: The available superframe time slots of any tag are self-allocated time slots determined by the tag by monitoring idle time slots, and the idle time slots determined by any tag as available superframe time slots include: any time slots that are not occupied by two-way ranging of other tags and are not occupied by clock synchronization between base stations.

3. The two-way ranging method according to claim 1, wherein: The two-way ranging method further includes: Obtaining a second parameter set, the second parameter set including a synchronization relay order of base stations within the system deployment area during a clock synchronization phase, the synchronization relay order indicating a fixed order position of the base station in a signal broadcast sequence, and the second parameter set being configured such that, when the synchronization relay orders of all base stations within a communication range of any base station are different from each other, a sequence length of the synchronization relay order is less than a number of traversal connection hops of base stations that are interconnected within the communication range; In the clock synchronization phase, in response to the base station's ranking in the signal broadcast sequence being reached, a fifth physical layer signal for clock synchronization is broadcast.

4. The two-way ranging method according to claim 1, wherein: The first parameter set is determined based on multiple sets of tag coverage information; Among them, multiple groups of label coverage information are obtained by listening at different listening positions within the system deployment area, and the listening position of each group of label coverage information is any area position that the label can reach within the system deployment area, and each group of label coverage information is used to represent all base stations within the communication range of the label located at the corresponding listening position.

5. The two-way ranging method according to claim 1, wherein: The acquiring of the first parameter set includes: acquiring the pre-calibrated first parameter set in response to a base station startup of the base station before the start of the system operation process; The first parameter set is obtained based on calibration of multiple groups of tag coverage information monitored during a parameter calibration period before the system is operated, wherein the multiple groups of tag coverage information are obtained by monitoring different monitoring positions within the system deployment area by a portable device, and the monitoring position of each group of tag coverage information is any area position that the tag can reach within the system deployment area, and each group of tag coverage information is used to represent all base stations within the communication range of the tag located at the corresponding monitoring position.

6. The two-way ranging method according to claim 1, wherein: The acquiring of the first parameter set comprises: determining the first parameter set during a parameter learning phase during operation of the system; The two-way ranging method further includes: during the parameter learning phase, determining a response time slot for broadcasting the second physical layer signal using a preconfigured default response ordering, wherein determination of the first parameter set is triggered by an end of the parameter learning phase; and, in response to successful determination of the first parameter set, replacing the default response ordering with the fixed response ordering.

7. The two-way ranging method according to claim 3, wherein: The obtaining of the second parameter set includes: obtaining the pre-calibrated second parameter set in response to a base station startup of the base station before the system operation process starts; The second parameter set is obtained based on the calibration of multiple groups of base station coverage information, wherein the multiple groups of base station coverage information are obtained by listening at different listening positions within the system deployment area, and the listening position of each group of base station coverage information is an area location within the communication range of any base station in the system deployment area, and each group of base station coverage information is used to represent all base stations within the communication range of the base station that listens to the group of base station coverage information.

8. A two-way distance measuring device, characterized in that: The two-way ranging device is applied to any base station in the system deployment area of ​​the ultra-wideband positioning system, and the two-way ranging device includes: a parameter acquisition module, configured to acquire a first parameter set, wherein the first parameter set is used to configure a fixed response order of base stations within the system deployment area during system operation of the ultra-wideband positioning system, wherein the fixed response order represents a fixed sequence position of a response time slice allocated to a base station in a response time slice sequence of an available superframe time slot of a tag, and wherein the first parameter set is configured such that: the fixed response order of all base stations within a communication range of a tag located at each regional location within the system deployment area is different from one another, and the fixed response order of all base stations within a communication range of any base station located within the system deployment area is different from one another; a ranging response module, configured to, during operation of the system, respond to a first physical layer signal broadcast by any tag at any location within the system deployment area within the corresponding available superframe time slot, and broadcast a second physical layer signal in a response time slice matching the fixed response order of the base station within the available superframe time slot, wherein the first physical layer signal is used to represent a two-way ranging request initiated by the tag, and the second physical layer signal is used to represent a response of the base station to the tag that initiated the two-way ranging request; The result determination module is configured to determine a ranging result of the two-way ranging in response to a third physical layer signal broadcasted by the tag after receiving the second physical layer signal and used to indicate the end of the two-way ranging.

9. The two-way distance measuring device according to claim 8, characterized in that: The available superframe time slots of any tag are self-allocated time slots determined by the tag by monitoring idle time slots, and the idle time slots determined by any tag as available superframe time slots include: any time slots that are not occupied by two-way ranging of other tags and are not occupied by clock synchronization between base stations.

10. The two-way distance measuring device according to claim 8, characterized in that: The parameter acquisition module is further configured to: acquire a second parameter set, the second parameter set including a synchronization relay sequence of each base station in the system deployment area during a clock synchronization phase, the synchronization relay sequence of each base station representing a fixed sequence position of the base station in a signal broadcast sequence, and the second parameter set is configured such that: when the synchronization relay sequences of all base stations within a communication range of any base station are different from each other, a sequence length of the synchronization relay sequence is less than a number of traversal hops of base stations that are interconnected within the communication range; The two-way ranging device further comprises: a clock synchronization module, configured to broadcast a fifth physical layer signal for clock synchronization in response to the arrival of the ranking of the base station in the signal broadcast sequence during the clock synchronization phase.

11. An ultra-wideband positioning system, characterized in that: The system comprises a plurality of base stations, wherein each base station is configured to perform the two-way ranging method according to any one of claims 1 to 7.

12. A non-transitory computer-readable storage medium, characterized in that The non-transitory computer-readable storage medium stores instructions that, when executed by a processor, cause the processor to perform the two-way ranging method according to any one of claims 1 to 7.

13. A portable device, characterized in that comprising a processor configured to: Generate a first parameter set, the first parameter set being used to configure a fixed response order of base stations within a system deployment area of ​​an ultra-wideband positioning system during system operation of the ultra-wideband positioning system, the fixed response order representing a fixed sequence position of a response time slice allocated to the base station in a response time slice sequence of an available superframe time slot of a tag, and the first parameter set being configured such that: the fixed response order of all base stations within a communication range of a tag located at any area location within the system deployment area is different from one another, and the fixed response order of all base stations within a communication range of any base station located within the system deployment area is different from one another; The first parameter set is output to each base station within the system deployment area, so that: during operation of the system, each base station responds to a first physical layer signal broadcast by any tag at any location in the system deployment area within the corresponding available superframe time slot, and broadcasts a second physical layer signal in a response time slice that matches the fixed response order of the base station within the available superframe time slot, wherein the first physical layer signal is used to represent a two-way ranging request initiated by the tag, and the second physical layer signal is used to represent a response of the base station to the tag that initiated the two-way ranging request. Moreover, in response to a third physical layer signal broadcast by the tag after receiving the second physical layer signal, which is used to represent the end of the two-way ranging, the base station determines a ranging result of the two-way ranging.

14. The portable device according to claim 13, wherein: The processor is further configured to: Generate a second parameter set, the second parameter set including a synchronization relay sequence of each base station in the system deployment area during a clock synchronization phase, the synchronization relay sequence of each base station representing a fixed sequence position of the base station in a signal broadcast sequence, and the second parameter set is configured such that: when the synchronization relay sequences of all base stations within a communication range of any base station are different from each other, a sequence length of the synchronization relay sequence is less than a number of traversal hops of base stations that are interconnected within the communication range; The second parameter set is output to each base station in the system deployment area, so that: during the clock synchronization phase, the base station broadcasts the fifth physical layer signal for clock synchronization in response to the arrival of the ranking of the base station in the signal broadcast sequence.

Images