Method for uwb tag to implement low-power management channel in uwb positioning, uwb tag

Abstract

The application discloses a method for realizing low-power consumption management channel of a UWB tag in UWB positioning and the UWB tag, and the method comprises the following steps: receiving a UWB positioning message sent by the UWB tag at a set frequency, wherein the UWB positioning message carries positioning information and additional information, the additional information comprises receiving parameters of a 2.4G module; analyzing the UWB positioning message to obtain the additional information, recording the additional information and a time stamp of the additional information; packaging and encapsulating the UWB positioning message and the time stamp, and then sending the UWB positioning message and the time stamp to a positioning server through Ethernet; after receiving a configuration message issued by the positioning server to the UWB tag, sending the configuration message to the 2.4G module of the UWB tag according to the latest additional information of the corresponding UWB tag recorded. The application scheme can reduce the current consumption of the management channel, and further reduce the overall power consumption of the UWB tag.

Description

Technical Field

[0001] This invention relates to the field of high-precision UWB indoor positioning, specifically to a method for implementing a low-power management channel for UWB tags in UWB positioning, and a UWB tag. Background Technology

[0002] Currently, common indoor positioning technologies on the market include Radio Frequency Identification (RFID), Bluetooth Angle of Arrival / Angle of Departure (AOA / AOD) positioning algorithms, and Ultra Wideband (UWB) positioning technology. RFID positioning accuracy is relatively poor, and the coverage area of ​​a single base station is small, resulting in fewer positioning applications. Bluetooth AOA / AOD positioning technology generally has low accuracy, only 1 to 2 meters, and the small coverage area of ​​a single base station requires a large number of base stations for deployment, thus limiting its application. UWB is a carrier-free communication technology that uses non-sinusoidal narrow pulses in the nanosecond to microsecond range to transmit data. It can use TDoA (Time Difference of Arrival) and ToF (Time of Arrival) algorithms to locate people or objects, achieving a positioning accuracy of about 10cm. It has begun to be widely used in industries with high positioning accuracy requirements, such as power plants, chemical plants, and factories.

[0003] UWB positioning systems operate between 3GHz and 6.5GHz, mostly employing the TDOA algorithm. Four base stations can cover an area of ​​several thousand square meters, achieving a positioning accuracy of 10cm-30cm. In a UWB positioning system, the UWB tag only sends positioning messages to the UWB base station. The positioning server can calculate the accurate location of the UWB tag based on positioning timestamps and other data reported by multiple UWB base stations, combined with the known coordinates of the base stations. This method allows the UWB tag to maintain low power consumption.

[0004] After a UWB tag starts working, sometimes the positioning server needs to send configuration information (such as the frequency of positioning message transmission) to the UWB tag through the UWB base station to change the UWB tag's operating mode. This requires the UWB tag to have the ability to receive configuration parameters from the air interface. Since many UWB tags may be sending positioning messages simultaneously on the UWB channel, the air interface occupancy rate on the channel is high. At the same time, the UWB module of the UWB base station needs to continuously receive positioning messages from the UWB tag, which is not suitable for sending configuration parameters. Therefore, various manufacturers currently use an additional wireless technology besides UWB to enable the transmission of configuration parameters from the UWB base station to the UWB tag. This is also called adding a management channel. Currently, the commonly used management channel technologies are Bluetooth Low Energy (BLE) and 2.4G wireless communication.

[0005] To accurately receive configuration information from the UWB base station, UWB tags need to enable the wireless reception function of their management channel. Since UWB tags are primarily battery-powered, extending their battery life requires minimizing their operating current. If the management channel reception function is continuously active, it increases the overall power consumption of the UWB tag, affecting its battery life. Therefore, UWB tag management channels typically use intermittent reception to reduce power consumption; this period is called the reception window. In this scenario, the UWB base station needs to accurately determine the timing and duration of the reception window and then send configuration parameters from its management channel while the UWB tag is in the reception window. This ensures the UWB tag can receive the configuration parameters sent by the UWB base station. When using Bluetooth BLE as the management channel, the UWB tag periodically sends broadcast data on the Bluetooth BLE broadcast channel (2.4 GHz band), for example, 8 times per second. The broadcast data carries the UWB tag's device number, which is used to allow other devices to discover the UWB tag. After sending the Bluetooth BLE broadcast, the UWB base station immediately opens a receiving window on the broadcast channel for a period of time. If the UWB base station needs to send configuration information to this UWB tag, the UWB base station sends a connection request message to the UWB tag during the receiving window after receiving the Bluetooth BLE broadcast message sent by the UWB tag. In this way, the UWB base station and the UWB tag can negotiate to establish a connection. After the connection is established, the UWB base station sends the configuration parameters to the UWB tag on different channels by frequency hopping according to the Bluetooth BLE protocol.

[0006] When using 2.4G wireless communication technology as the management channel, both the 2.4G module in the UWB tag and the 2.4G module in the UWB base station must be configured to operate on the same channel. The 2.4G module in the UWB tag, acting as a slave, needs to have its receiving function enabled and only accept configuration messages whose destination address matches its own device number. The 2.4G module in the UWB base station, acting as the master, encapsulates configuration information and broadcasts it on the designated channel when needed. All UWB tags configured on the same channel will receive the configuration message, and each tag determines whether to process it based on whether its device number matches the destination address in the message. Because the UWB tag is unsure when the UWB base station will send the configuration message, its 2.4G module's receiving function needs to be continuously enabled, resulting in higher average power consumption for the UWB tag.

[0007] In both of the above communication technologies and implementation methods, in order to achieve the configuration delivery function which is used very infrequently, Bluetooth BLE needs to continuously send broadcast data and intermittently turn on the receiving function, while 2.4G communication technology needs to continuously turn on the receiving function, both of which will bring a large current consumption to the UWB tag. Summary of the Invention

[0008] This invention provides a method for implementing a low-power management channel for UWB tags in UWB positioning, and a UWB tag that can reduce the current consumption of the management channel, thereby reducing the overall power consumption of the UWB tag.

[0009] On one hand, the present invention provides a method for implementing a low-power management channel for UWB tags in UWB positioning, the method comprising: The system receives UWB positioning messages sent by UWB tags at a set frequency. The UWB positioning messages carry positioning information and additional information, including: the receiving parameters of the 2.4G module; the receiving parameters of the 2.4G module include: the channel number on which the 2.4G module starts receiving, the delay time of the start receiving window, and the duration of the start receiving window. Parse the UWB positioning message to obtain the additional information, and record the additional information and its timestamp. The UWB positioning message and the timestamp are packaged and encapsulated, and then sent to the positioning server via Ethernet. After receiving the configuration message sent by the positioning server to the UWB tag, the system sends the configuration message to the 2.4G module of the UWB tag according to the latest additional information recorded for the corresponding UWB tag.

[0010] Optionally, sending the configuration message to the 2.4G module of the UWB tag based on the latest additional information recorded for the corresponding UWB tag includes: Determine whether the receiving window of the UWB tag has expired based on the latest additional information recorded for the corresponding UWB tag; If it has not expired, the 2.4G module is used to enable the frequency corresponding to the channel number to receive the UWB tag and the configuration message is sent to the 2.4G module of the UWB tag. If it has expired, wait for the next UWB positioning message from the UWB tag before sending the configuration message to the 2.4G module of the UWB tag.

[0011] Optionally, the method further includes: the channel number for enabling reception of the 2.4G module carried in each UWB positioning message sent by the UWB tag is dynamically changed.

[0012] Optionally, the method further includes: the UWB tag randomly selects a signal channel within the range of the channel number value each time it sends a UWB positioning message; or the UWB tag increases the value of the channel number by a fixed value each time it sends a UWB positioning message.

[0013] Optionally, the method further includes: after the UWB tag sends a UWB positioning message, it starts a timer to delay the delay time (T1), then turns on the receiving function of the 2.4G module and makes it work in the frequency band corresponding to the channel number.

[0014] Optionally, the method further includes: If the configuration message is not received after the UWB tag has enabled the receiving function of the 2.4G module for the duration of the receiving window, the receiving function of the 2.4G module will be disabled and the 2.4G module will enter a deep sleep mode. After the UWB tag enables the receiving function of the 2.4G module, if the configuration message is received within the open duration of the receiving window, a configuration response message is sent, which carries the sequence number and configuration result of the configuration message.

[0015] Optionally, the method further includes: after receiving the configuration response message sent by the UWB tag, issuing a configuration end command to the UWB tag and reporting the configuration result to the positioning server.

[0016] Optionally, the method further includes: after receiving the configuration end instruction, the 2.4G module of the UWB tag disables the receiving function of the 2.4G module and enters normal working mode; and / or after the UWB tag sends the configuration response message, if no new configuration message or configuration end instruction is received within a set time period, the receiving function of the 2.4G module is disabled and enters normal working mode.

[0017] On the other hand, the present invention also provides a UWB tag, the UWB tag comprising: a UWB module, a 2.4G module, and a processor; The UWB module is used to send UWB positioning messages at a set frequency. The UWB positioning messages carry positioning information and additional information. The additional information includes the receiving parameters of the 2.4G module. The receiving parameters of the 2.4G module include the channel number on which the 2.4G module starts receiving, the delay time (T1) of starting the receiving window, and the duration of the receiving window (T2). The 2.4G module is used to receive configuration messages; The processor is configured to, after the UWB module sends the UWB positioning message, start a timer to delay the delay time (T1), then enable the receiving function of the 2.4G module and make it work in the frequency band corresponding to the channel number.

[0018] Optionally, the processor is further configured to, if the configuration message is not received after the receiving function of the 2.4G module has been open for the duration of the receiving window, close the receiving function of the 2.4G module and put the 2.4G module into a deep sleep mode; after the receiving function of the 2.4G module is opened, if the configuration message is received within the duration of the receiving window, send a configuration response message, the configuration response message carrying the sequence number and configuration result of the configuration message.

[0019] The method and UWB tag for implementing a low-power management channel in UWB positioning provided in this invention cleverly utilize the characteristic that UWB tags need to periodically send positioning messages on the UWB module. The UWB positioning messages carry management channel parameters, and the UWB message transmission / reception time is used as the baseline for the management channel window opening time (UWB message transmission speed is the speed of light, and the transmission time for 100 meters is only 333ns). This allows the UWB tag's 2.4G module to not need to send any data at all, only intermittently turn on reception, thus greatly reducing the current consumption of the management channel and achieving low-power transmission of UWB tag configuration parameters. Since the UWB tag and the UWB base station implement synchronous frequency hopping transmission function of the 2.4G module, the reliability of the entire configuration transmission function is also greatly increased. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the UWB positioning system; Figure 2 This is a flowchart of a method for implementing a low-power management channel for UWB tags in UWB positioning provided by the present invention; Figure 3 This is a schematic diagram illustrating the process of sending UWB positioning messages and configuration messages in the method of this invention; Figure 4 A schematic diagram of a UWB tag structure provided by the present invention. Detailed Implementation

[0021] To enable those skilled in the art to better understand the embodiments of the present invention, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings and implementation methods.

[0022] In a UWB positioning system, the UWB tag itself continuously transmits UWB positioning messages through the UWB module, and the UWB base station also continuously receives the UWB positioning messages transmitted by the UWB tag. Leveraging this characteristic, this invention provides a method for implementing a low-power management channel using a UWB tag in UWB positioning, and a configuration method for the UWB tag, combined with a UWB module and a 2.4G module, to achieve a lower-power management channel.

[0023] The following is a brief explanation of the UWB positioning system. Figure 1 The diagram shown is a structural schematic of an existing UWB positioning system.

[0024] There are three types of devices in a UWB positioning system: UWB tags, UWB base stations, and positioning servers. Among them: UWB tags are worn or installed on people or objects that need to be located, and serve as the signal source for location tracking. The UWB module in the UWB tag is used to send UWB location messages, while the 2.4G module receives configuration messages on the Bluetooth BLE broadcast channel.

[0025] UWB base stations are deployed in a dispersed manner within the area requiring positioning. Their locations are fixed and their coordinates have been accurately measured. Each UWB base station collects UWB positioning messages broadcast by UWB tags, encapsulates these messages, and uploads them to the positioning server. When the positioning server configures the parameters of the UWB positioning tags, the UWB base station acts as a configuration relay, sending the configuration information from the positioning server to the corresponding UWB tags.

[0026] The positioning server can calculate the current location of the UWB tag by combining the positioning information of the UWB tag uploaded by the UWB base station and the known location of the UWB base station. It can also save and further process the UWB tag data. Its management component can also provide an interface for administrators and other business modules to save and modify the tag configuration.

[0027] Based on the aforementioned UWB positioning system, this embodiment of the invention provides a method for implementing a low-power management channel for UWB tags in UWB positioning, such as... Figure 2 The diagram shown is a flowchart of this method, which includes the following steps: Step 201: The UWB base station receives the UWB positioning message sent by the UWB tag at a set frequency. The UWB positioning message carries positioning information and additional information. The additional information includes: the receiving parameters of the 2.4G module; the receiving parameters of the 2.4G module include: the channel number on which the 2.4G module starts receiving, the delay time T1 of the start receiving window, and the start duration T2 of the receiving window.

[0028] Step 202: Parse the UWB positioning message to obtain the additional information, and record the additional information and the timestamp of the additional information.

[0029] Step 203: Package and encapsulate the UWB positioning message and the timestamp, and send them to the positioning server via Ethernet.

[0030] Step 204: After receiving the configuration message sent by the positioning server to the UWB tag, send the configuration message to the 2.4G module of the UWB tag according to the latest additional information recorded for the corresponding UWB tag.

[0031] To more clearly illustrate the interaction process between UWB tags, UWB base stations, and positioning servers, the following will combine... Figure 3 To elaborate further.

[0032] Reference Figure 3 , Figure 3 The process of sending UWB positioning messages and configuration messages in an embodiment of the present invention is illustrated.

[0033] like Figure 3As shown, when a UWB tag sends a UWB positioning message at a fixed frequency (usually 1Hz), the message carries not only positioning information but also additional information. This additional information includes the receiving parameters of the 2.4G module, primarily: the channel number (channel) on which the UWB tag's 2.4G module starts receiving, the delay time T1 for opening the receiving window (i.e., how long after sending the positioning message the 2.4G module's receiving window opens), and the duration T2 of the receiving window. In other words, after sending the UWB positioning message, the UWB tag opens its 2.4G module to receive the configuration message on the frequency band corresponding to the channel number (channel) after a delay of T1, and the duration of the receiving window is T2.

[0034] It should be noted that, in one non-limiting embodiment, the channel number carried in the UWB positioning message sent by the UWB tag each time can be varied. For example, the channel number can be set to a range of 0-125, which means that the operating frequency band when the 2.4G module receives the signal is 2400+ channel MHz.

[0035] Since Bluetooth, Wi-Fi, and other wireless networks also operate in the 2.4GHz band, they may interfere with the operation of the 2.4GHz module in the UWB tag. Therefore, the 2.4GHz module of the UWB tag uses a changing channel each time it starts receiving data, instead of a fixed channel. This frequency hopping method avoids the problem of a particular channel failing to receive configuration parameters correctly due to interference.

[0036] In practical applications, the channel number can be changed using various algorithms. For example, it can be a random number between 0 and 125. Alternatively, it can be a method where the channel number is increased by a fixed value each time the frequency is hopped, such as adding 7 to the original channel number. After the accumulated value exceeds 125, the remainder after dividing the accumulated value by 7 is used as the new channel number.

[0037] Accordingly, after receiving a UWB positioning message from a UWB tag, the UWB module of the UWB base station encapsulates the timestamp of the received message and the tag device number, and then sends it to the positioning server via the Ethernet module in the UWB base station. Additionally, after receiving each UWB positioning message, the UWB base station parses and saves the additional information within the message, namely the receiving parameters of the UWB tag's 2.4G module and the timestamp (in microseconds) at the time of receipt.

[0038] Accordingly, the positioning server calculates the latest location coordinates of the UWB tag based on the positioning data of the UWB tags from multiple UWB base stations it receives, and then pushes the data to the business system for display and storage.

[0039] Continue to refer to Figure 3 After sending a UWB location message, the UWB tag will start a hardware timer to delay for time T1, then enable the receiving function of the 2.4G module and operate in the frequency band corresponding to the channel, with the receiving address set to the device number of the UWB tag.

[0040] When it is necessary to modify parameters such as the positioning frequency of a UWB tag, the positioning server will send a configuration message to the UWB base station via Ethernet. The configuration message contains the device number of the target UWB tag, the new operating parameters, and the serial number of this configuration.

[0041] After receiving the configuration message from the positioning server to be sent to the UWB tag, the UWB base station caches the information in the configuration message. Then, based on the previously recorded reception parameters of the latest 2.4G module of the UWB tag, it determines whether the latest 2.4G reception window of the UWB tag has expired. If it has not expired, it calculates the time point when the 2.4G module of the UWB tag opens its reception window, and then sends the configuration message to the 2.4G module of the corresponding UWB tag at the recorded channel number using the corresponding frequency at that time point. If the latest 2.4G reception window of the UWB tag has expired, it waits for the next UWB positioning message from the UWB tag, parses and saves the additional information in the next UWB positioning message, calculates the time point when the 2.4G module of the UWB tag will next open its reception window, and then sends the configuration message to the 2.4G module of the corresponding UWB tag at the recorded channel number using the corresponding frequency at that time point.

[0042] When the 2.4G module of the UWB base station sends configuration messages, only configuration messages whose channel number is the same as the channel number that the 2.4G module of the UWB tag is enabled to receive, and whose destination address is the device number of the UWB tag, can be received by the UWB tag.

[0043] When the UWB tag's 2.4G module is enabled and enters working time T2, if no configuration message is received from the UWB base station, the 2.4G module's receiving function is disabled, and the 2.4G module is set to deep sleep mode to save power. If the UWB tag's 2.4G module receives a configuration message from the UWB base station during the receiving window, it continues to receive. For each configuration message received from the UWB base station (containing the configuration message's sequence number), a configuration response message is immediately sent through the UWB module, carrying the sequence number and configuration result of that configuration message. If, after sending the configuration response message, the UWB tag's 2.4G module does not receive a new configuration message or a configuration end command from the UWB base station within a certain time (e.g., 100ms), the UWB tag disables the 2.4G module, returns to normal working mode, and adopts new operating parameters.

[0044] After receiving the configuration response message on the UWB module, the UWB base station sends a configuration end command to the UWB tag via the 2.4G module, and simultaneously reports the configuration result to the positioning server via the Ethernet module. Upon receiving the configuration end command on the 2.4G module, the UWB tag immediately disables the 2.4G module's receiving function, returns to normal operating mode, and continues to periodically send UWB positioning messages via the UWB module, while periodically enabling the 2.4G module's receiving function.

[0045] In this invention, the frequency at which the UWB tag sends the UWB positioning message is typically 1Hz. The 2.4G module on the management channel of the UWB tag only needs to open a 500us reception cycle (T2) each time to complete the configuration. After the 2.4G module opens the reception function, the average current is about 12.3mA. The average current of the 500us serial port is only 6.15uA in a 1s time period.

[0046] If the existing technology is used, i.e., Bluetooth technology is used as the management channel, the Bluetooth module in the UWB tag will send multiple Bluetooth broadcast messages per second, and after sending the Bluetooth broadcast, it will turn on the receiver for a period of time to wait for the UWB base station to connect. Only after the base station and the tag establish a connection can the configuration be sent.

[0047] It should be noted that in specific applications, the processor used for UWB tags can be the low-power processor NRF52832. The NRF52832 is a powerful and highly flexible ultra-low-power multi-protocol SoC (System on Chip) that is widely used in products such as smart fitness trackers. The chip has a built-in ARM Cortex-M4 32-bit processor with a floating-point unit, a working frequency of 64MHz, supports 32 general-purpose I / O interfaces, 3 SPI interfaces and 2 I2C interfaces, and the current is only 0.3μA when the system is in sleep mode at 3V.

[0048] The UWB module used in UWB tags and UWB base stations can be the DW1000 chip and its peripheral circuitry. The DW1000 is a fully integrated low-power RF transceiver that complies with the IEEE 802.15.4-2011 ultra-wideband standard. It can be used in two-way ranging or TDOA positioning systems with an accuracy of 10cm. It uses six RF bands from 3.5GHz to 6.5GHz and supports data rates of 100kbps, 850kbps, and 6.8Mbps. The DW1000 can enter sleep mode when not transmitting, with a current consumption of only 200nA during sleep.

[0049] The 2.4G module used in UWB tags and UWB base stations can be the NRF24L01, a monolithic wireless transceiver chip operating in the 2.4~2.5GHz frequency band. The wireless transceiver includes: a frequency generator, an enhanced SchockBurst™ mode controller, a power amplifier, a crystal oscillator, a modulator, and a demodulator. Output power, channel selection, and protocol settings can be configured via the SPI interface. It features extremely low current consumption: 9mA in transmit mode with a transmit power of -6dBm, and 12.3mA in receive mode.

[0050] In this embodiment of the invention, the UWB base station can be powered by PoE (Power Over Ethernet), with low power consumption requirements not being high. Its main function is to work with the UWB tag to implement the logic for configuring the UWB tag under low power consumption. The processor of the UWB base station can be a high-performance domestic MCU processor, the GD32F427. The GD32F407 integrates powerful computing performance and rich peripheral interfaces. The processor's maximum clock frequency can reach 168MHz, and it provides a complete DSP (Digital Signal Processing) instruction set, parallel computing capabilities, and a dedicated floating-point unit (FPU). It is equipped with a large-capacity built-in Flash memory of 512KB to 3072KB and up to 192KB of SRAM, achieving a maximum operating performance of 210 DMIPS (Dhrystone Million Instructions executed Per Second) at its highest clock frequency. In this embodiment of the invention, the UWB module DW1000 of the UWB base station always operates in receiving mode, constantly receiving location messages and configuration response messages sent by the UWB tag. Upon receiving a location message from a UWB tag, the base station encapsulates it and uploads it to the location server for calculating the tag's location coordinates. Simultaneously, it saves the subsequent 2.4G module operating parameters for that UWB tag. When the location server has configuration parameters to send to the UWB tag, the UWB base station can send a 2.4G message—the configuration message—to the UWB tag at the correct time, using the correct frequency and target address.

[0051] In a non-limiting embodiment of the present invention, the UWB tag can be powered by a lithium battery with a capacity of 3.7V and 700mAh. The default positioning frequency is 1Hz. The UWB tag activates the DW1000 to send a UWB positioning message once per second. The UWB positioning message carries the next 2.4G module operating parameters T1 (default value 5ms), T2 (default value 0.5ms), and channel number (initially 0, then +7 each time and modulo). After the UWB tag finishes sending the UWB positioning message, it immediately puts the DW1000 and the NRF52832 processor into sleep mode and starts a hardware timer to delay for the duration T1. After time T1, the NRF52832 is woken up and enters working mode, activating the 2.4G module to operate at a frequency of 2400+ channel MHz and enabling the receive function. The receive address is set to the tag's device number (e.g., 1A3F004B11). If the 2.4G module does not receive a configuration message within time T2, its receive function is disabled and it is put into sleep mode. Without configuration operations, the average current consumption of the UWB tag is 150µs, theoretically allowing for a battery life of 194 days, which meets the requirements of most UWB tags for long-term continuous operation.

[0052] Accordingly, embodiments of the present invention also provide a UWB tag, such as... Figure 4 The image shown is a structural diagram of the UWB tag.

[0053] Reference Figure 4 The UWB tag 400 includes: a UWB module 401, a 2.4G module 402, and a processor 403. Among them: The UWB module 401 is used to send UWB positioning messages at a set frequency. The UWB positioning messages carry positioning information and additional information. The additional information includes: the receiving parameters of the 2.4G module; the receiving parameters of the 2.4G module include: the channel number for which the 2.4G module starts receiving, the delay time T1 for starting the receiving window, and the opening duration T2 of the receiving window. The 2.4G module 402 is used to receive configuration messages; The processor 403 is used to start a timer to delay the delay time T1 after the UWB module 401 sends the UWB positioning message, and then enable the receiving function of the 2.4G module 402 and make it work in the frequency band corresponding to the channel number.

[0054] Furthermore, the processor 403 can also disable the receiving function of the 2.4G module 402 and put the 2.4G module 402 into a deep sleep mode if the configuration message is not received after the receiving window has been open for a certain period of time; after the receiving function of the 2.4G module 402 is opened, if the configuration message is received within the receiving window, a configuration response message is sent, which carries the sequence number and configuration result of the configuration message.

[0055] Furthermore, the processor 403 can also shut down the 2.4G module 402 and enter normal working mode after the 2.4G module 402 receives the configuration end instruction.

[0056] The method and UWB tag for implementing a low-power management channel in UWB positioning provided in this invention cleverly utilize the characteristic that UWB tags need to periodically send positioning messages on the UWB module. The UWB positioning messages carry management channel parameters, and the UWB message transmission / reception time is used as the baseline for the management channel window opening time (UWB message transmission speed is the speed of light, and the transmission time for 100 meters is only 333ns). This allows the UWB tag's 2.4G module to not need to send any data at all, only intermittently turn on reception, thus greatly reducing the current consumption of the management channel and achieving low-power transmission of UWB tag configuration parameters. Since the UWB tag and the UWB base station implement synchronous frequency hopping transmission function of the 2.4G module, the reliability of the entire configuration information transmission function is also greatly increased.

[0057] Compared to existing Bluetooth BLE technology, the present invention does not continuously send broadcast messages on the management channel, thereby reducing the current consumption of the management channel and reducing the overall power consumption of the UWB tag.

[0058] It should be understood that the term "and / or" in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this article indicates that the preceding and following related objects have an "or" relationship.

[0059] In the embodiments of this application, "multiple" refers to two or more.

[0060] The descriptions of "first," "second," etc., appearing in the embodiments of this application are for illustrative purposes and to distinguish the objects being described. They have no order and do not indicate any special limitation on the number of devices in the embodiments of this application, nor do they constitute any limitation on the embodiments of this application.

[0061] In this application, the term "connection" refers to various connection methods, such as direct connection or indirect connection, to achieve communication between devices. This application does not impose any limitations on this.

[0062] It should be noted that the terms "comprising" and "having" and any variations thereof in the specification, claims and accompanying drawings of this invention are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to such processes, methods, products or devices.

[0063] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to interchangeably. Each embodiment focuses on its differences from other embodiments. Furthermore, the system embodiments described above are merely illustrative. The modules and units described as separate components may or may not be physically separate; that is, they may be located on a single network unit or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0064] The embodiments of the present invention have been described in detail above. Specific implementation methods have been used to illustrate the present invention. The descriptions of the embodiments above are merely for the purpose of helping to understand the method and apparatus of the present invention, and are only a part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention, and the content of this specification should not be construed as a limitation of the present invention. Therefore, any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for implementing a low-power management channel for UWB tags in UWB positioning, characterized in that, The method includes: The system receives UWB positioning messages sent by UWB tags at a set frequency. The UWB positioning messages carry positioning information and additional information, including: the receiving parameters of the 2.4G module; the receiving parameters of the 2.4G module include: the channel number on which the 2.4G module starts receiving, the delay time of the start receiving window, and the duration of the start receiving window. Parse the UWB positioning message to obtain the additional information, and record the additional information and its timestamp. The UWB positioning message and the timestamp are packaged and encapsulated, and then sent to the positioning server via Ethernet. After receiving the configuration message sent by the positioning server to the UWB tag, the configuration message is sent to the 2.4G module of the UWB tag according to the latest additional information recorded for the corresponding UWB tag.

2. The method according to claim 1, characterized in that, Sending the configuration message to the 2.4G module of the UWB tag according to the latest additional information recorded for the corresponding UWB tag includes: Determine whether the receiving window of the UWB tag has expired based on the latest additional information recorded for the corresponding UWB tag; If it has not expired, the 2.4G module is used to enable the frequency corresponding to the channel number to receive the UWB tag and the configuration message is sent to the 2.4G module of the UWB tag. If it has expired, wait for the next UWB positioning message from the UWB tag before sending the configuration message to the 2.4G module of the UWB tag.

3. The method according to claim 1, characterized in that, The method further includes: The channel number for enabling reception of the 2.4G module carried in each UWB positioning message sent by the UWB tag changes dynamically.

4. The method according to claim 3, characterized in that, The method further includes: The UWB tag randomly selects a signal channel within the range of the channel number values ​​each time it sends a UWB location message; or Each time the UWB tag sends a UWB location message, it adds a fixed value to the channel number.

5. The method according to claim 1, characterized in that, The method further includes: After sending a UWB location message, the UWB tag starts a timer to delay the delay time (T1), then turns on the receiving function of the 2.4G module and makes it work in the frequency band corresponding to the channel number.

6. The method according to claim 5, characterized in that, The method further includes: If the configuration message is not received after the UWB tag has enabled the receiving function of the 2.4G module for the duration of the receiving window, the receiving function of the 2.4G module will be disabled and the 2.4G module will enter a deep sleep mode. After the UWB tag enables the receiving function of the 2.4G module, if the configuration message is received within the open duration of the receiving window, a configuration response message is sent, which carries the sequence number and configuration result of the configuration message.

7. The method according to claim 6, characterized in that, The method further includes: After receiving the configuration response message sent by the UWB tag, a configuration end command is sent to the UWB tag, and the configuration result is reported to the positioning server.

8. The method according to claim 7, characterized in that, The method further includes: After receiving the configuration end command, the 2.4G module of the UWB tag disables its receiving function and enters normal operating mode; and / or After the UWB tag sends the configuration response message, if no new configuration message or configuration end instruction is received within a set time period, the receiving function of the 2.4G module is turned off and it enters normal working mode.

9. A UWB tag, characterized in that, The UWB tag includes: a UWB module, a 2.4G module, and a processor; The UWB module is used to send UWB positioning messages at a set frequency. The UWB positioning messages carry positioning information and additional information. The additional information includes the receiving parameters of the 2.4G module. The receiving parameters of the 2.4G module include the channel number on which the 2.4G module starts receiving, the delay time (T1) of starting the receiving window, and the duration of the receiving window (T2). The 2.4G module is used to receive configuration messages; The processor is configured to, after the UWB module sends the UWB positioning message, start a timer to delay the delay time (T1), then enable the receiving function of the 2.4G module and make it work in the frequency band corresponding to the channel number.

10. The UWB tag according to claim 9, characterized in that, The processor is further configured to, if the configuration message is not received after the receiving function of the 2.4G module has been enabled for the duration of the receiving window, disable the receiving function of the 2.4G module and put the 2.4G module into a deep sleep mode; and if the configuration message is received within the duration of the receiving window after the receiving function of the 2.4G module has been enabled, send a configuration response message, the configuration response message carrying the sequence number and configuration result of the configuration message.

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