Data transmission fault-tolerant scheduling method, device, system and medium based on BLE-UWB

Abstract

The embodiment of the present invention discloses a data transmission fault-tolerant scheduling method, device, system and medium based on BLE-UWB. The method comprises: establishing a UWB connection and a BLE connection with a tag device through a synchronization message and a BLE broadcast message; packetizing the data to be sent to form a data packet to be sent, and sending parameter information of the data packet to be sent to the tag device through a control message; sending the data packet to be sent to the tag device in sequence through the UWB connection, and waiting for a confirmation response message; receiving a confirmation response message sent by the tag device through the BLE connection and parsing it to obtain verification information of the sent data packet; if the verification information is wrong and the maximum number of retransmissions does not reach a threshold, starting a data retransmission process.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of ultra-wideband (UWB) communication technology, and in particular to a method, device, system and medium for data transmission fault-tolerant scheduling based on BLE-UWB. Background Art

[0002] The currently known advantages of ultra-wideband and Bluetooth Low Energy (BLE) technologies include, for example, UWB has excellent characteristics such as strong anti-multipath capability, high time resolution, low power consumption, and high-speed data transmission. In the field of data transmission, UWB can use lower power to transmit longer distances, and has good anti-multipath interference and penetration capabilities; UWB's transmission rate can reach several hundred megabits, but due to the characteristics of pulse technology, if the fault tolerance mechanism is supported, the transmission rate will be greatly reduced; BLE has the characteristics of low power consumption, low cost, and mature technology, and has been widely used in the market, but the data rate is only 1-3Mbit / s, which cannot meet the requirements in the high-speed data transmission scenario. Using UWB to transmit data and using BLE to transmit the fault tolerance identifier (ACK), combining the respective advantages of UWB and BLE, that is, maintaining the transmission rate of UWB, increasing fault tolerance, and then greatly improving the success rate of data transmission, is a successful attempt. Currently, UWB is mainly used in ranging and positioning systems. The protocol standards IEEE 802.15.4, IEEE 802.15.4z and the FIRA Alliance do not describe UWB-based data transmission. They only describe the functions of the Media Access Control (MAC) layer, and do not describe the MAC layer scheduling function based on UWB data transmission. Therefore, there is no existing technical solution. Summary of the invention

[0003] In view of this, the embodiments of the present invention hope to provide a data transmission fault-tolerant scheduling method, device, system and medium based on BLE-UWB, which can perform parallel processing through UWB's efficient data transmission and BLE's efficient error packet retransmission mechanism, while ensuring the transmission success rate, greatly improving the efficiency and performance of UWB data transmission.

[0004] The technical solution of the embodiment of the present invention is achieved as follows:

[0005] In a first aspect, an embodiment of the present invention provides a data transmission fault-tolerant scheduling method based on BLE-UWB, the method being applied to a base station, the method comprising:

[0006] Establish UWB connection and BLE connection with tag devices through synchronization messages and BLE broadcast messages;

[0007] Divide the data to be sent into packets to form data packets to be sent, and send parameter information of the data packets to be sent to the tag device through a control message;

[0008] Sending the data packets to be sent to the tag device in sequence through the UWB connection, and waiting for a confirmation response message;

[0009] Receiving a confirmation response message sent by the tag device through the BLE connection and parsing it to obtain verification information of the sent data packet;

[0010] If the verification information is wrong and the maximum number of retransmissions does not reach the threshold, the data retransmission process is started.

[0011] In a second aspect, an embodiment of the present invention provides a data transmission fault-tolerant scheduling method based on BLE-UWB, the method being applied to a tag device, the method comprising:

[0012] Receive synchronization messages and BLE broadcast messages sent by the base station, and complete time domain synchronization and establishment of a BLE connection with the base station;

[0013] Receive and parse the control message sent by the base station to obtain parameter information of the data packet to be sent;

[0014] sequentially receiving data packets sent by the base station through the UWB connection established with the base station, judging the integrity of the received data packets according to the parameter information, and verifying the received data packets to obtain verification information of each data packet;

[0015] The verification information is sent to the base station through a confirmation response message via the BLE connection established with the base station;

[0016] If the verification information is wrong, data retransmission is requested and the retransmitted data packet is received and verified.

[0017] In a third aspect, an embodiment of the present invention provides a base station device, the base station device comprising: a first establishment part, a sending part, a first UWB interaction part, a BLE receiving part and a retransmission part; wherein,

[0018] The first establishing part is configured to establish a UWB connection and a BLE connection with the tag device through a synchronization message and a BLE broadcast message;

[0019] The sending part is configured to divide the data to be sent into packets to form data packets to be sent, and send parameter information of the data packets to be sent to the tag device through a control message;

[0020] The first UWB interaction part is configured to send the data packets to be sent to the tag device in sequence through the UWB connection, and wait for a confirmation response message;

[0021] The BLE receiving part is configured to receive a confirmation response message sent by the tag device through the BLE connection and parse it to obtain verification information of the sent data packet;

[0022] The retransmission part is configured to start the data retransmission process if the verification information is erroneous and the maximum number of retransmissions does not reach a threshold.

[0023] In a fourth aspect, an embodiment of the present invention provides a tag device, characterized in that the tag device comprises: a second establishment part, a receiving part, a second UWB interaction part, a BLE sending part, and a request retransmission part; wherein,

[0024] The second establishing part is configured to receive a synchronization message and a BLE broadcast message sent by a base station, and complete the establishment of a time domain synchronization and a BLE connection with the base station;

[0025] The receiving part is configured to receive and parse the control message sent by the base station to obtain parameter information of the data packet to be sent;

[0026] The second UWB interaction part is configured to sequentially receive data packets sent by the base station through the UWB connection established with the base station, determine the integrity of the received data packets according to the parameter information, and verify the received data packets to obtain verification information of each data packet;

[0027] The BLE sending part is configured to send the verification information to the base station through a confirmation response message via the BLE connection established with the base station;

[0028] The retransmission request part is configured to request data retransmission and receive and verify the retransmitted data packet if the verification information is erroneous.

[0029] In a fifth aspect, an embodiment of the present invention provides a network node device, the network node device comprising: a wireless communication circuit, a memory and a processor; each component is coupled together through a bus system; wherein,

[0030] The wireless communication circuit comprises: a UWB communication component for enabling the network node device to perform UWB communication and / or for data transmission and a BLE communication component for enabling the network node device to perform BLE communication;

[0031] The memory is used to store a computer program that can be run on the processor;

[0032] The processor is used to execute the steps of the BLE-UWB-based data transmission fault-tolerant scheduling method described in the first aspect or the second aspect when running the computer program.

[0033] In a sixth aspect, an embodiment of the present invention provides a data transmission fault-tolerant scheduling system based on BLE-UWB, the system comprising: a base station and one or more tag devices; the short range of the base station covers all tag devices; wherein,

[0034] The base station is configured to perform the steps of the BLE-UWB-based data transmission fault-tolerant scheduling method according to the first aspect;

[0035] The tag device is configured to execute the steps of the BLE-UWB-based data transmission fault-tolerant scheduling method described in the second aspect.

[0036] In the seventh aspect, an embodiment of the present invention provides a computer storage medium, which stores a BLE-UWB-based data transmission fault-tolerant scheduling program, and when the BLE-UWB-based data transmission fault-tolerant scheduling program is executed by at least one processor, it implements the steps of the BLE-UWB-based data transmission fault-tolerant scheduling method described in the first aspect or the second aspect.

[0037] The embodiments of the present invention provide a data transmission fault-tolerant scheduling method, device, system and medium based on BLE-UWB. Before data transmission, a synchronization message is broadcasted through UWB technology to establish a UWB connection with a tag device and complete time domain synchronization. The BLE connection between the base station and the tag device in the system is established through BLE technology. During the data transmission process, parallel processing is performed through UWB's efficient data transmission and BLE's efficient error packet retransmission mechanism. While ensuring the transmission success rate, the efficiency and performance of UWB data transmission are greatly improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 A schematic diagram of the composition of a wireless communication system capable of implementing the technical solution of an embodiment of the present invention;

[0039] Figure 2 A schematic diagram of the hardware structure of a network node device provided by an embodiment of the present invention;

[0040] Figure 3 A flowchart of a method for fault-tolerant scheduling of data transmission based on BLE-UWB provided in an embodiment of the present invention;

[0041] Figure 4 A flow chart of device access based on BLE-UWB in a one-to-many scenario provided by an embodiment of the present invention;

[0042] Figure 5 A data transmission flow chart based on BLE-UWB in a one-to-many scenario provided by an embodiment of the present invention;

[0043] Figure 6 A flow chart of device access based on BLE-UWB in a one-to-one scenario provided by an embodiment of the present invention;

[0044] Figure 7 A data transmission flow chart based on BLE-UWB for a one-to-one scenario provided by an embodiment of the present invention;

[0045] Figure 8 Another data transmission flow chart based on BLE-UWB for a one-to-one scenario provided by an embodiment of the present invention;

[0046] Fig. 9 A schematic flow chart of another method for data transmission fault-tolerant scheduling based on BLE-UWB provided in an embodiment of the present invention;

[0047] Fig.10 A schematic diagram of the composition of a base station device provided by an embodiment of the present invention;

[0048] Fig.11 A schematic diagram of the composition of a labeling device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0049] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0050] See also Figure 1 , which shows a schematic diagram of the composition of a wireless communication system 100 that can be applied to the technical solution described in the embodiment of the present invention. It should be noted that Figure 1 The wireless communication system shown is but one example of possible systems, and embodiments of the present disclosure may be implemented in any of a variety of systems as desired.

[0051] like Figure 1 As shown, the wireless communication system 100 includes: a base station 11 and one or more base stations within the signal coverage range of the base station 11 (such as Figure 1In some non-limiting examples, the base station 11 and Tag21, Tag22, Tag23 and Tag24 can be collectively referred to as wireless communication devices, and they can communicate wirelessly using any of a variety of wireless communication technologies, which may include ultra-wideband (UWB) communication technology (for example, compliant with IEEE 802.15.4z), Wi-Fi (for example, IEEE 802.11) and / or other technologies based on WPAN or WLAN wireless communication.

[0052] It should be noted that in Figure 1In the wireless communication system 100 shown, the term "wireless communication device" may also be referred to by those skilled in the art as a mobile station (MS), a subscriber station, a mobile unit, a subscriber unit, a wireless unit, a remote unit, a mobile device, a wireless device, a remote device, a mobile subscriber station, an access terminal (Access Termination, AT), a mobile terminal, a wireless terminal, a remote terminal, a handset, a terminal, a user agent, a mobile client, a client or some other suitable term; and the wireless communication device does not necessarily need to have mobile capabilities in some examples, but may also be stationary; in addition, the wireless communication device may include several hardware structural components whose sizes and shapes are preset and arranged to facilitate the implementation of wireless communication, such components may include antennas electrically coupled to each other, antenna arrays, radio frequency (Radio Frequency, RF) chains, amplifiers, one or more processors, and the like. In addition, in some non-limiting examples, in addition to the printers, PDAs, cameras, access points, speaker systems, and wireless networks described above, other non-limiting examples of wireless communication devices include mobile devices, cellular (cell) phones, smart phones, Session Initiation Protocol (SIP) phones, laptops, personal computers (PCs), notebooks, netbooks, smartbooks, tablet devices, and a wide variety of embedded systems, for example, corresponding to the "Internet of Things" (IoT). Additionally, the wireless communication device can be an automobile or other transportation vehicle, a remote sensor or actuator, a robot or robotic device, a satellite radio, a Global Positioning System (GPS) device, an object tracking device, a drone, a multi-axis aircraft, a quadcopter, a remote control device, a consumer and / or wearable device (such as glasses), a wearable camera, a virtual reality device, a smart watch, a health or fitness tracker, a digital audio player (e.g., an MP3 player), a camera, a game console, etc. Additionally, the wireless communication device may also be a digital home or smart home device, such as home audio, video and / or multimedia devices, appliances, vending machines, smart lighting devices, home security systems, smart meters, etc. Additionally, the wireless communication device may also be a smart energy device, security device, solar panel or solar array, municipal infrastructure equipment that controls electricity, lighting, water, etc. (e.g., smart grid); industrial automation and enterprise equipment; logistics controllers; agricultural equipment; military defense equipment, vehicles, aircraft, ships and weapons, etc.

[0053] against Figure 1In the wireless communication system 100 shown, in some examples, the base station 11 and the tag devices Tag21, Tag22, Tag23 and Tag24 can also be collectively referred to as network node devices within the wireless communication system 100. For any of these network node devices, see Figure 2 , which shows an example of a composition that can realize a network node device 200, the network node device 200 may include at least: a processor 210, a memory 220, a wireless communication circuit 230 and a power supply 240; the components may be connected through various appropriate types of buses, such as a power bus, a control bus and a status signal bus. The power supply 240 provides power to the components in the network node device 200.

[0054] In some examples, the processor 210 may be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The methods, steps and logic block diagrams disclosed in the embodiments of the present invention may be implemented or executed. The general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc. The contents disclosed in conjunction with the embodiments of the present invention may be directly embodied as being executed by a hardware decoding processor or being executed by a combination of hardware and software modules in the decoding processor. The software module may be located in the memory 220.

[0055] In some examples, memory 220 may be a volatile memory or a nonvolatile memory, or may include both volatile and nonvolatile memories. Among them, the nonvolatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct memory bus random access memory (DRRAM). The memory 220 of the systems and methods described herein is intended to include, but is not limited to, these and any other suitable types of memory.

[0056] In some examples, the wireless communication circuit 230 may include communication components capable of wireless communication using a variety of wireless communication standards or radio access technologies (RATs), such as Figure 2 The UWB communication component 231 and the BLE communication component 232 shown in the figure; wherein the UWB communication component 231 is used to enable the network node device 200 to perform UWB communication and / or data transmission according to the IEEE 802.15.4 protocol, for example. The BLE communication component 232 is used to enable the network node device 200 to perform BLE communication. Of course, in other examples, the wireless communication circuit 230 may also include a communication component capable of wireless communication according to other communication protocols other than UWB and BLE, which will not be repeated in the embodiments of the present invention.

[0057] Combination Figure 1 as well as Figure 2The embodiment of the present invention provides a data transmission fault-tolerant scheduling scheme based on BLE-UWB, and it is expected that the respective advantages of UWB and BLE can be fully utilized through scheduling, so that each tag device (Tag) can transmit data with the base station 11 through UWB and transmit fault-tolerant identification through BLE. Based on this, see Figure 3 , which shows a method flow of a data transmission fault-tolerant scheduling method based on BLE-UWB, which can be applied to a base station, and includes:

[0058] S301: Establishing a UWB connection and a BLE connection with a tag device through synchronization messages and BLE broadcast messages;

[0059] S302: Divide the data to be sent into packets to form data packets to be sent, and send parameter information of the data packets to be sent to the tag device through a control message;

[0060] S303: sending the data packets to be sent to the tag devices in sequence through the UWB connection, and waiting for a confirmation response message;

[0061] S304: receiving a confirmation response message sent by the tag device through the BLE connection and parsing the message to obtain verification information of the sent data packet;

[0062] S305: If the verification information is wrong and the maximum number of retransmissions does not reach the threshold, the data retransmission process is started.

[0063] for Figure 3 The technical solution shown, before data transmission, broadcasts a synchronization message through UWB technology to establish a UWB connection with the tag device and complete time domain synchronization, and completes the establishment of a BLE connection between the base station and the tag device in the system through BLE technology; during the data transmission process, parallel processing is performed through UWB's efficient data transmission and BLE's efficient error packet retransmission mechanism, which greatly improves the efficiency and performance of UWB data transmission while ensuring the transmission success rate.

[0064] In order to clarify the subsequent technical solutions, the following roles or technical terms are defined. The wireless communication devices can be divided into two types, namely controller and controlee. The controller refers to the base station that realizes data transmission, which has the functions of networking, sending UWB data, and receiving BLE data. The controlee is a tag device for data transmission, such as Figure 1Any of the tag devices Tag21, Tag22, Tag23 and Tag24 in the wireless communication system 100 shown is mainly used to realize the network pairing with the Controller, and has the functions of receiving UWB data and sending BLE data. Data transmission based on BLE-UWB can be divided into two scenarios, namely one-to-many scenario and one-to-one scenario, which can also be understood as a Controller, multiple Controlee scenario and a Controller, one Controlee scenario. In order to facilitate the explanation of the technical solution, the embodiment of the present invention takes the base station as the data sending end and the tag device as the data receiving end as an example for the two parties of data transmission.

[0065] It should be noted that the basic idea of ​​the technical solution of the embodiment of the present invention is to divide the processing of the entire scheduling scheme into two stages, the first is the device access stage, and the second is the data transmission stage. In the device access stage, the BLE pairing and binding between the base station and the tag device and the UWB access work are completed; and in the data transmission stage, the interactive work of UWB-based data transmission and BLE-based data confirmation is completed. It can be understood that at present, for BLE connections, it is possible to support multiple Controllers and multiple Controlee connections. Based on this feature, the embodiment of the present invention binds the base station and the tag device; similarly, this feature is also applicable to UWB connections. In this way, in the device access stage, the base station will only pair and connect with the tag device with which it has a binding relationship, which can greatly reduce the scheduling complexity of BLE and UWB. For Figure 3 The technical solution shown in can be represented as a processing stage of a complete scheduling scheme, wherein the content described in step S301 is in the aforementioned device access stage; S302 to S305 are in the data transmission stage, that is, a process based on UWB data transmission and BLE data confirmation.

[0066] against Figure 3 In some possible implementations of the technical solution shown, the establishment of a UWB connection and a BLE connection with a tag device through a synchronization message and a BLE broadcast message includes:

[0067] After the system is powered on, a synchronization message including time domain synchronization information and a tag device address identifier is broadcast to complete the time domain synchronization with the tag device and establish a UWB connection;

[0068] Scan and parse the BLE broadcast message sent by the tag device to obtain the address identifier carried in the BLE broadcast message, and establish a BLE connection with the tag device according to the address identifier.

[0069] For the above implementation, in some examples, Figure 1The wireless communication system 100 shown in FIG. Figure 4 The device access flow chart based on BLE-UWB in a one-to-many scenario is shown. Specifically, when the entire system is powered on, the base station 11 is the controller by default, and the tag devices Tag21, Tag22, Tag23 and Tag24 are the controlled devices relative to the base station 11. The device access stage includes UWB access and BLE access. The detailed process steps are as follows:

[0070] S401: Send a synchronization message SYNC to each tag device Tag21, Tag22, Tag23 and Tag24 by broadcasting;

[0071] After the base station 11 is powered on, it sends a SYNC broadcast message at the assigned frequency according to the configuration. The message carries time domain synchronization information, such as the synchronization time slot and the address identifiers of the tag devices Tag21, Tag22, Tag23 and Tag24 to be accessed.

[0072] S402: Each tag device blindly detects the synchronization broadcast message at the assigned frequency point and performs time domain synchronization after successful authentication and address matching, and returns a synchronization confirmation message SYNC_CON to the base station 11;

[0073] After the tag devices Tag21, Tag22, Tag23 and Tag24 are powered on, they perform blind detection of the synchronous broadcast message of the base station 11 at the assigned frequency point according to the configuration. After the blind detection is successful, they perform time domain synchronization after authentication and address matching. After the time domain synchronization is completed, each tag device replies to the base station 11 with a SYNC_CON message, which carries the address identifier of the corresponding tag device. After each tag device sends the SYNC_CON message, it enters the access state. At the same time, the base station 11 also enters the access state after receiving the SYNC_CON message of each tag device Tag21, Tag22, Tag23 and Tag24. At this point, the UWB access between each tag device Tag21, Tag22, Tag23 and Tag24 and the base station 11 is completed.

[0074] S403: Each tag device Tag21, Tag22, Tag23 and Tag24 starts to send BLE broadcast messages regularly;

[0075] S404: The base station 11 starts scanning the BLE broadcast message of the tag device Tag21, sends a BLE connection request to the tag device Tag21 after authentication, and establishes a BLE connection with the tag device Tag21 after receiving the feedback response message;

[0076] Steps S405-S407 are basically the same as step S404, except that they are the BLE access process between tag devices Tag22, Tag23 and Tag24 and base station 11, which will not be described in detail here.

[0077] After the above device access phase is completed, time domain synchronization is required between UWB and BLE to ensure that message processing remains unified in the time domain.

[0078] It should be noted that the technical solution of the embodiment of the present invention is described by taking 1 base station and 4 tag devices as an example. In the specific implementation process, it can be flexibly expanded according to the above technical solution. That is to say, when the number of base stations and the number of tag devices change, when completing the binding relationship in the system device access phase, it is necessary to redesign according to the idea of ​​the above technical solution based on the capabilities of the base station UWB and BLE connections; when processing in the data transmission phase, data is transmitted according to the actual number of base stations and tag devices. In addition, the above S401 to S402 are all UWB access processes after the wireless communication system 100 is powered on, as shown in the solid line box; the above S403 to S407 are all BLE access processes after the wireless communication system 100 is powered on, as shown in the dotted line box. Then before the wireless communication system 100 goes offline or before the data transmission ends, the above process will no longer be repeated; after the above device access phase is completed, data will be sent and received through the UWB connection and BLE connection established in the device access phase, thereby entering the data transmission phase.

[0079] against Figure 3 In some possible implementations of the technical solution shown, the sending of the data packets to be sent to the tag device in sequence through the UWB connection and waiting for a confirmation response message includes:

[0080] Send the data packets to be sent in sequence through data messages according to the data packet sending interval in the parameter information;

[0081] Corresponding to each data message sent by the base station, waiting to receive a confirmation response message from the tag device; or,

[0082] Determine whether the number of sent data packets has reached the maximum number of transmissions:

[0083] If yes, wait for receiving the confirmation response message of the tag device; otherwise, continue to send data messages until the maximum number of transmissions is reached, and then wait for the confirmation response message.

[0084] against Figure 3 In some possible implementations of the technical solution shown, if the check information is wrong and the maximum number of retransmissions does not reach a threshold, starting a data retransmission process includes:

[0085] If the verification information is wrong, data retransmission is started and it is determined whether the maximum number of retransmissions reaches the threshold:

[0086] If yes, report an error indication to the upper layer and discard the data packet with the verification information being wrong; otherwise, continue to retransmit the data packet;

[0087] If the verification information is passed, the data packets to be sent continue to be sent in sequence.

[0088] According to the above description, taking the controller of data transmission as the base station and the controlled device as the tag device as an example, the base station and each tag device enter the access state after successful synchronization, because in the access state, the base station can send UWB data and receive the confirmation response message ACK through BLE; any one of the tag devices can receive UWB data and send the confirmation response message ACK through BLE. In the process of data transmission, the base station and each tag device need to have the ability to sub-packetize and assemble. Specifically, when the base station has a request to send data, the base station needs to have the ability to sub-packetize. First, it performs a sub-packetization operation according to the size of the data to be sent, and divides it into one or more data packets to be sent. The data transmitted on the MAC layer, each of which is composed of one or more data frames. The sub-packetization operation mainly includes dividing the total number of data packets, the size of each data packet, and the data packet sequence number; each tag device needs to have the ability to assemble the received data according to the data packet sequence number carried in the data sent by the base station. For Figure 3 The technical solution shown in the figure, the data transmission stage, specifically, see Figure 5 , which shows a data transmission flow chart based on BLE-UWB in a one-to-many scenario, and the detailed process steps are as follows:

[0089] S501: broadcasting a control message CTRL to each tag device Tag21, Tag22, Tag23 and Tag24;

[0090] The CTRL message carries parameter information such as the total number of data packets Num, the data packet size Size, the data packet sequence number Seq, the data packet sending interval Dur, the maximum number of retransmissions, etc.; after receiving the CTRL message, each tag device Tag21, Tag22, Tag23 and Tag24 parses it, obtains the parameter information carried in the message and starts the operation of receiving data according to the parameter information, and at the same time enables the timer to perform timeout processing on the reception of the data packet.

[0091] S502: The base station 11 sends a DATA message via the UWB connection broadcast, the message carrying the data packet DATA_1 and waits for an acknowledgment message ACK;

[0092] It should be noted that, since the UWB channel and the BLE channel are allocated on different channels, the base station 11 may not wait for each tag device to return an ACK message and continue to send the DATA message, or it may wait for each tag device to return an ACK message. Figure 5 The flowchart shown is described by taking the processing method of waiting for the return confirmation response message as an example.

[0093] S503: Each tag device Tag21, Tag22, Tag23 and Tag24 sends a confirmation response message ACK to the base station through the BLE connection and continues to receive a DATA message sent through the UWB connection;

[0094] Each tag device Tag21, Tag22, Tag23 and Tag24 sends an ACK message through the BLE connection to notify the controller of data transmission, i.e., the base station 11, of the status of each controlled device, i.e., each tag device, receiving data. The ACK message carries the cyclic redundancy check (CRC) information of the sent data, which is used to mark whether the data check result is passed or wrong. Each tag device performs a CRC check on the received data. If the CRC check result is correct, the check information is passed; if the CRC check result is wrong, the check information is wrong.

[0095] It should be noted that the CRC check refers to checking each data frame in the parsed data packet. The basic idea is that before the sending end sends the data, a CRC check code is generated, which can be a single bit or multiple bits, and is attached to the end of the valid data and sent to the receiving end in a serial manner; after the receiving end receives the data, a CRC check is performed, and the correctness and integrity of the data transmission are judged according to the check result. The generation of the CRC check code is to use the valid data as the dividend after expansion, use a specified polynomial as the divisor, perform modulo-2 division, and the remainder obtained is the check code; the data received by the receiving end includes valid data and CRC check code. After receiving the data, the CRC check is performed by expanding the received data as the dividend, using a specified polynomial as the divisor, and performing modulo-2 division. If the remainder is 0, it means that the data check is correct; otherwise, it means that the data check is wrong.

[0096] S504: If the verification information in the received confirmation response message ACK is wrong, the base station 11 starts a data retransmission process;

[0097] After receiving the ACK message, the base station 11 performs corresponding operations according to the verification information carried in the ACK message; if the verification information is passed, it continues to send new data packets to be sent; if the verification information is wrong, it is necessary to determine whether the number of retransmissions has reached the threshold. If the threshold has been reached, it is necessary to report an error indication to the upper layer and discard the data packet; if the maximum number of retransmissions has not been reached, the number of retransmissions is increased by 1, and the data packet with the verification information being wrong is retransmitted.

[0098] S505: receiving a confirmation response message ACK_retransmission of a retransmission data packet DATA_1_retransmission of data DATA_1 sent by each tag device through a BLE connection;

[0099] Each tag device Tag21, Tag22, Tag23 and Tag24 receives the retransmitted data packet DATA_1_retransmit of the data packet DATA_1, and needs to perform CRC check on the retransmitted data packet, and encapsulate the CRC check result in the ACK message, set the corresponding field value of the check information, and then, each tag device sends a confirmation response message ACK_retransmit of the retransmitted data packet through the BLE connection.

[0100] S506: transmitting data packets DATA_2, DATA_3, ... DATA_N in sequence through the UWB connection, taking the transmission of data packet DATA_N as an example and waiting for a confirmation response message;

[0101] S507: receiving confirmation response messages ACK_2, ACK_3...ACK_N of data packets DATA_2, DATA_3...DATA_N sent by each tag device Tag21, Tag22, Tag23 and Tag24 through the BLE connection, for example, confirmation response message ACK_N of data packet DATA_N.

[0102] For the specific process of data transmission and retransmission via UWB connection, refer to the aforementioned steps S501 to S505, which will not be described in detail here.

[0103] It should be noted that after the base station 11 sends the broadcast DATA message, the verification information in the confirmation response message ACK received from each tag device may be inconsistent. For example, the verification information in the ACK message sent by Tag21 is passed, and the verification information of Tag22 is wrong. Then the base station 11 needs to make a decision on whether to send a new transmission or retransmission based on the specific scenario and specific algorithm, which is not elaborated here.

[0104] against Figure 3 The technical solution shown in the figure is for a one-to-one scenario, that is, Figure 1The wireless communication system 100 shown in the figure is a network system composed of a base station 11 and any one of the tag devices Tag21, Tag22, Tag23 and Tag24. It is assumed that the base station 11 and the tag device Tag21 are taken as an example. Figure 6 , which shows a one-to-one scenario based on BLE-UWB device access flow chart, the specific steps are as follows:

[0105] S601: After the base station 11 is powered on, it sends a synchronization message SYNC by broadcasting;

[0106] It can be understood that the base station 11 sends a SYNC broadcast message at the allocated frequency according to the configuration, and the message carries the time slot of the time domain synchronization and the address identifier of the tag device that needs to be accessed.

[0107] S602: Tag device Tag21 blindly detects the synchronization message and returns a synchronization confirmation message SYNC_CON after authentication is passed;

[0108] According to the configuration, the broadcast signal of base station 11 is blindly detected at the allocated frequency. After the blind detection is successful, the time domain synchronization is performed after authentication and address matching. After the time domain synchronization is completed, Tag21 replies to base station 11 with a synchronization confirmation message SYNC_CON, which carries the address identifier of Tag21 to indicate the address identifier of the tag device that has been connected. After Tag21 sends the SYNC_CON message, it enters the access state. Correspondingly, base station 11 also enters the access state after receiving the SYNC_CON message. At this point, the tag device Tag21 completes the UWB access process.

[0109] S603: Tag device Tag21 sends a BLE broadcast message;

[0110] S604: After receiving the BLE broadcast message, the base station 11 scans and compares the address identifier of the tag device Tag21 carried in the BLE broadcast message. After authentication, the base station 11 sends a BLE connection request to the tag device Tag21;

[0111] S605: After receiving the feedback response message, the base station 11 establishes a BLE connection with the tag device Tag21.

[0112] According to the above description, steps S601 to S602 are the UWB access process of tag device Tag21, and steps S603 to S605 are the BLE access process of tag device Tag21. For details, please refer to Figure 4, which will not be described in detail here. After the base station 11 and Tag 21 complete the interaction process of the above-mentioned device access phase respectively, time domain synchronization is required between UWB and BLE to ensure that the message processing remains unified in the time domain. Moreover, both parties of the communication, namely the base station 11 and the tag device 21, have entered the access state, and both parties can send and receive data, entering the data transmission phase.

[0113] against Figure 3 In the technical solution shown, in some examples, there are three commonly used data retransmission methods, namely stop and wait, back N steps and selective retransmission. Among them, the stop and wait means waiting for the confirmation response message from the receiving end after sending each data packet. The message carries verification information whether all data packets have been successfully received. The verification information can be passed or error; the back N steps means that the sending end continuously sends data without waiting for the feedback message from the receiving end, until the receiving end returns a verification error, and the sending end sequentially retransmits the data with the verification information being wrong; the selective retransmission means that the sending end continuously sends data and stores the sent data. When the receiving end returns the verification information as an error, the sending end retransmits the data with the verification information being wrong. The embodiments of the present invention take the use of stop and wait and back N steps to retransmit data packets as examples, see Figure 7 , which shows a one-to-one scenario based on BLE-UWB data transmission flow chart, that is, a flow chart using stop-and-wait to transmit and retransmit data packets. After each data packet is sent by the sender, it waits for the confirmation response message from the receiver. It can also be understood that one confirmation response message corresponds to one DATA message. The specific steps are:

[0114] S701: The base station 11 sends a control message CTRL;

[0115] For base station 11, if there is a request to send data, it is necessary to first perform a packetization operation according to the size of the data to be sent, so as to obtain the total number of data packets, the size of each data packet, and the data packet sequence number of the corresponding data packet of the data. The CTRL message sent carries parameter information such as the total number of data packets Num, the size of the data packet Size, the data packet sequence number Seq, the data packet sending interval Dur, and the maximum number of retransmissions. For tag device Tag21, after receiving the CTRL message, according to the parameter information carried in the message, it starts the preparation for receiving data and enables the timer to perform timeout processing on the reception of the data packet.

[0116] S702: The base station 11 sends a DATA message through the UWB connection, the message carrying data DATA_1, and waits for a confirmation response message returned by the tag device Tag21;

[0117] S703: After receiving the DATA data, the tag device Tag21 sends a confirmation response message through the BLE connection, and continues to receive the DATA data sent through the UWB connection;

[0118] The tag device Tag21 sends a confirmation response message through the BLE connection to notify the base station 11 of the status of the received data of the receiving end Tag21. The confirmation response message carries verification information to mark whether the CRC check result of the data is passed or failed.

[0119] S704: After receiving the confirmation response message, the base station 11 determines the verification information. If it is an error and the maximum number of retransmissions does not reach the threshold, the data packet DATA_1 is retransmitted through the UWB connection;

[0120] Specifically, if the verification information is passed, continue to send the new data packet to be sent; if the verification information is wrong, it is necessary to determine whether the number of retransmissions has reached the maximum value. If the maximum number of retransmissions has been reached, it is necessary to report an error indication to the upper layer and discard this packet; if the maximum number of retransmissions has not been reached, increase the number of retransmissions by 1 and retransmit this data packet.

[0121] S705: receiving a confirmation response message ACK_1_retransmission of the retransmission data packet DATA_1_retransmission sent by the tag device Tag21 through the BLE connection;

[0122] It can be understood that after receiving the retransmitted data, the tag device Tag21 returns a confirmation response message of the retransmitted data packet according to the CRC check result.

[0123] S706: Send the data packets to be sent in sequence through the UWB connection and wait for a confirmation response message, such as data packet DATA_N;

[0124] S707: Receive an acknowledgement message ACK_N of the data packet DATA_N sent by the tag device Tag21 through the BLE connection.

[0125] The retransmission process of the data packet DATA_N is the same as above and will not be described in detail here.

[0126] In order to improve the efficiency of data transmission, it is expected that the response messages of multiple DATA messages will be replied with one confirmation message, which can greatly reduce the interaction between UWB and BLE. Assume that the number of DATA messages corresponding to one confirmation message can be recorded as N, and the size of N can be taken as an appropriate value according to the specific scenario and the packet error rate. Figure 8, which shows another data transmission flowchart based on BLE-UWB for a one-to-one scenario, and can also be understood as a flowchart for transmitting and retransmitting data packets in a Go-Back-N manner, that is, the sender continuously sends data without waiting for a feedback message from the receiver. Until the receiver returns an error in the check information, the sender resends the data with the check error in sequence. The specific steps are as follows:

[0127] S801: The base station 11 sends a control message CTRL;

[0128] S802: The base station 11 sends a DATA message to the tag device Tag21 through a UWB connection;

[0129] The DATA message carries a data packet DATA_1, and increments the number of sent data packets N_data by 1. The tag device Tag21 continues to open the receiver to prepare to receive data sent through the UWB connection; Since the UWB channel and the BLE channel are allocated on different channels, the base station 11 can continue to send the DATA message without waiting for an acknowledgment message ACK returned by the tag device Tag21.

[0130] S803: Sequentially send DATA messages through the UWB connection. Each of these messages carries data packets DATA_2, DATA_3... DATA_N, and determines whether the number of sent data packets N_data has reached the maximum number of transmissions N. If N_data < N, continue to send the DATA message; If N_data >= N, it is necessary to wait for an acknowledgment message ACK;

[0131] S804: After Tag21 receives all the data packets sent by the base station 11 through the UWB connection, perform a CRC check on all the received data packets to obtain the check information of the data packets, and encapsulate the check information into an acknowledgment message ACK, and send it to the base station 11 through a BLE connection;

[0132] Tag21 sends an acknowledgment message ACK through a BLE connection to notify the data sender of the status of receiving data. The acknowledgment message carries the check information of all the sent data packets, which is used to mark whether the check result of the data is passed or incorrect. The check information of the acknowledgment message has corresponding field values for the check results of the corresponding data packets DATA_1 - DATA_N, which are used to mark whether the corresponding data packets pass the check or are incorrect. Each data packet carried in each DATA message occupies 1 bit in the check information of the corresponding acknowledgment message.

[0133] S805: After receiving the confirmation response message, the base station 11 parses the message to obtain verification information. If the verification information is wrong and the maximum number of retransmissions does not reach the threshold, the data packet DATA_1 is retransmitted through the UWB connection.

[0134] Specifically, after receiving the confirmation response message, base station 11 traverses the verification information of DATA_1-DATA_N. If the verification information is passed, this data packet does not need to be retransmitted; if the verification information is wrong, it is necessary to determine whether the number of retransmissions has reached the maximum number of retransmissions. If the maximum number of retransmissions has been reached, it is necessary to report an error indication to the upper layer and discard this data packet; if the maximum number of retransmissions has not been reached, the number of retransmissions is increased by 1 and the data is retransmitted. After receiving the retransmitted data, tag device Tag21 replies to the confirmation response message of the retransmitted data again according to the CRC verification result.

[0135] S806: retransmitting the data packets DATA_2_retransmit, DATA_3_retransmit, ... DATA_N_retransmit in sequence after checking the error, and waiting for the confirmation response message ACK_retransmit of all the retransmitted data packets;

[0136] S807: Receive confirmation response messages ACK_retransmission of all retransmission data packets sent by tag device Tag21 through the BLE connection and analyze and judge the ACK_retransmission and data retransmission times of all retransmission data packets to determine whether the data needs to be retransmitted or discarded.

[0137] Based on the same inventive concept as the above technical solution, see Fig. 9 , which shows a method flow of a data transmission fault-tolerant scheduling method based on BLE-UWB provided in an embodiment of the present invention. The method can be applied to any one of tag devices Tag21, Tag22, Tag23 and Tag24. The method includes:

[0138] S901: receiving a synchronization message and a BLE broadcast message sent by a base station, and completing time domain synchronization and establishment of a BLE connection with the base station;

[0139] S902: receiving and parsing a control message sent by a base station to obtain parameter information of a data packet to be sent;

[0140] S903: receiving data packets sent by the base station in sequence through the UWB connection established with the base station, determining the integrity of the received data packets according to the parameter information, and verifying the received data packets to obtain verification information of each data packet;

[0141] S904: Sending the verification information to the base station via a confirmation response message through the BLE connection established with the base station;

[0142] S905: If the verification information is wrong, request data retransmission and receive and verify the retransmitted data packet.

[0143] against Fig. 9 In some possible implementations of the technical solution shown, the UWB connection established with the base station is used to sequentially receive data packets sent by the base station, determine the integrity of the received data packets according to the parameter information, and verify the received data packets to obtain verification information of each data packet, including:

[0144] receiving data packets sent by the base station through the UWB connection in sequence and parsing them to obtain parameter information of the parsed data packets;

[0145] Determining the integrity of the received data packets according to the parameter information and reassembling the parsed data packets to generate a reassembled data packet sequence;

[0146] According to the sequence of the reorganized data packets, cyclic redundancy check is performed on the parsed data packets in sequence to obtain verification information of the parsed data packets.

[0147] against Fig. 9 In some possible implementations of the technical solution shown, the verification information is sent to the base station through a confirmation response message through the BLE connection established with the base station, including:

[0148] Fill the verification information of the received data packet into the corresponding field of the confirmation response message;

[0149] Sending the confirmation response message to the base station via the BLE connection between the base station and the base station;

[0150] According to the verification information, it is determined whether to request data retransmission.

[0151] For the above Fig. 9 The technical solutions and examples shown in the figure, and the details not described in detail, can be found in the aforementioned Figures 3 to 8 The technical solutions and examples shown are described in detail in the embodiments of the present invention.

[0152] It should be noted that for Figure 3 and Fig. 9 After the corresponding operation steps of the technical solution shown are completed, the base station needs to complete the release of the tag device, so that both parties enter an idle state until the next round of cycle begins.

[0153] Based on the same inventive concept as the above technical solution, see Fig.10, which shows a base station device 1000 provided by an embodiment of the present invention, the base station device 1000 includes: a first establishment part 1001, a sending part 1002, a first UWB interaction part 1003, a BLE receiving part 1004 and a retransmission part 1005; wherein,

[0154] The first establishing part 1001 is configured to establish a UWB connection and a BLE connection with a tag device through a synchronization message and a BLE broadcast message;

[0155] The sending part 1002 is configured to divide the data to be sent into packets to form data packets to be sent, and send parameter information of the data packets to be sent to the tag device through a control message;

[0156] The first UWB interaction part 1003 is configured to send the data packets to be sent to the tag device in sequence through the UWB connection, and wait for a confirmation response message;

[0157] The BLE receiving part 1004 is configured to receive and parse the confirmation response message sent by the tag device through the BLE connection to obtain verification information of the sent data packet;

[0158] The retransmission part 1005 is configured to start a data retransmission process if the verification information is wrong and the maximum number of retransmissions does not reach a threshold;

[0159] In some examples, the first UWB interaction portion 1003 is configured as follows:

[0160] Send the data packets to be sent in sequence through data messages according to the data packet sending interval in the parameter information;

[0161] Corresponding to each data message sent by the base station, waiting to receive a confirmation response message from the tag device; or,

[0162] Determine whether the number of sent data packets has reached the maximum number of transmissions:

[0163] If yes, wait for receiving the confirmation response message of the tag device; otherwise, continue to send data messages until the maximum number of transmissions is reached, and then wait for the confirmation response message.

[0164] In some examples, the retransmission portion 1005 is configured as follows:

[0165] If the verification information is wrong, data retransmission is started and it is determined whether the maximum number of retransmissions reaches the threshold:

[0166] If yes, report an error indication to the upper layer and discard the data packet with the verification information being wrong; otherwise, continue to retransmit the data packet;

[0167] If the verification information is passed, the data packets to be sent continue to be sent in sequence.

[0168] Based on the same inventive concept as the above technical solution, see Fig.11 , which shows a tag device 1100 provided by an embodiment of the present invention, the tag device 1100 includes: a second establishment part 1101, a receiving part 1102, a second UWB interaction part 1103, a BLE sending part 1104 and a request retransmission part 1105; wherein,

[0169] The second establishing part 1101 is configured to receive a synchronization message and a BLE broadcast message sent by a base station, and complete the time domain synchronization and establishment of a BLE connection with the base station;

[0170] The receiving part 1102 is configured to receive and parse the control message sent by the base station to obtain parameter information of the data packet to be sent;

[0171] The second UWB interaction part 1103 is configured to sequentially receive data packets sent by the base station through the UWB connection established with the base station, determine the integrity of the received data packets according to the parameter information, and verify the received data packets to obtain verification information of each data packet;

[0172] The BLE sending part 1104 is configured to send the verification information to the base station via a confirmation response message through the BLE connection established with the base station;

[0173] The retransmission request part 1105 is configured to request data retransmission and receive and verify the retransmitted data packet if the verification information is erroneous.

[0174] In some examples, the second UWB interaction portion 1103 is configured to:

[0175] receiving data packets sent by the base station through the UWB connection in sequence and parsing them to obtain parameter information of the parsed data packets;

[0176] Determining the integrity of the received data packets according to the parameter information and reassembling the parsed data packets to generate a reassembled data packet sequence;

[0177] According to the sequence of the reorganized data packets, cyclic redundancy check is performed on the parsed data packets in sequence to obtain verification information of the parsed data packets.

[0178] In some examples, the BLE transmitting portion 1104 is configured to:

[0179] Fill the verification information of the received data packet into the corresponding field of the confirmation response message;

[0180] Sending the confirmation response message to the base station via the BLE connection between the base station and the base station;

[0181] According to the verification information, it is determined whether to request data retransmission.

[0182] It can be understood that in this embodiment, "part" can be part of a circuit, part of a processor, part of a program or software, etc., and of course it can also be a unit, a module, or a non-modular one.

[0183] In addition, each component in this embodiment may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above integrated unit may be implemented in the form of hardware or in the form of software function modules.

[0184] If the integrated unit is implemented in the form of a software function module and is not sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this embodiment is essentially or the part that contributes to the prior art or the whole or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, server, or network device, etc.) or a processor to perform all or part of the steps of the method described in this embodiment. The aforementioned storage medium includes: U disk, mobile hard disk, read only memory (ROM), random access memory (RAM), disk or optical disk, etc., various media that can store program codes.

[0185] Therefore, this embodiment provides a computer storage medium, which stores a BLE-UWB-based data transmission fault-tolerant scheduling program. When the BLE-UWB-based data transmission fault-tolerant scheduling program is executed by at least one processor, the steps of the BLE-UWB-based data transmission fault-tolerant scheduling method described in the above technical solution are implemented.

[0186] It can be understood that the exemplary technical solutions of the above-mentioned base station device 1000 and tag device device 1100 belong to the same concept as the technical solution of the above-mentioned data transmission fault-tolerant scheduling method based on BLE-UWB. Therefore, the details not described in detail in the above-mentioned technical solutions of the base station device 1000 and tag device device 1100 can be referred to the description of the technical solution of the above-mentioned data transmission fault-tolerant scheduling method based on BLE-UWB. This embodiment of the present invention will not be described in detail.

[0187] It should be noted that the technical solutions described in the embodiments of the present invention can be combined arbitrarily without conflict.

[0188] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A data transmission fault-tolerant scheduling method based on BLE-UWB, characterized in that: The method is applied to a base station, and the method includes: Establish UWB connection and BLE connection with tag devices through synchronization messages and BLE broadcast messages; Divide the data to be sent into packets to form data packets to be sent, and send parameter information of the data packets to be sent to the tag device through a control message; The data packets to be sent are sequentially sent to the tag device through the UWB connection, and a confirmation response message is waited for, wherein the confirmation response message carries cyclic redundancy check information of the sent data packets, which is used to mark the check result of the sent data packets as passed or error; Receiving a confirmation response message sent by the tag device through the BLE connection and parsing it to obtain verification information of the sent data packet; If the verification information is wrong and the maximum number of retransmissions does not reach the threshold, the data retransmission process is started; The step of sending the data packets to be sent to the tag devices in sequence through the UWB connection and waiting for a confirmation response message includes: Send the data packets to be sent in sequence through data messages according to the data packet sending interval in the parameter information; Corresponding to each data message sent by the base station, waiting to receive a confirmation response message from the tag device; or, If it is determined that the number of data packets sent has not reached the maximum number of sending times, the data message continues to be sent until the maximum number of sending times is reached, and then a confirmation response message is waited for.

2. The method according to claim 1, characterized in that If the verification information is wrong and the maximum number of retransmissions does not reach the threshold, the data retransmission process is started, including: If the verification information is wrong, data retransmission is started and it is determined whether the maximum number of retransmissions reaches the threshold: If yes, report an error indication to the upper layer and discard the data packet with the verification information being wrong; otherwise, continue to retransmit the data packet; If the verification information is passed, the data packets to be sent continue to be sent in sequence.

3. A data transmission fault-tolerant scheduling method based on BLE-UWB, characterized in that: The method is applied to a label device, and the method comprises: Receive synchronization messages and BLE broadcast messages sent by the base station, and complete time domain synchronization and establishment of a BLE connection with the base station; Receive and parse the control message sent by the base station to obtain parameter information of the data packet to be sent; sequentially receiving data packets sent by the base station through the UWB connection established with the base station, judging the integrity of the received data packets according to the parameter information, and verifying the received data packets to obtain verification information of each data packet; The verification information is sent to the base station through a confirmation response message via the BLE connection established with the base station; If the verification information is wrong, request data retransmission and receive and verify the retransmitted data packet; The step of sending the verification information to the base station through a confirmation response message through the BLE connection established with the base station includes: Fill the verification information of the received data packet into the corresponding field of the confirmation response message; Sending the confirmation response message to the base station via the BLE connection between the base station and the base station; According to the verification information, it is determined whether to request data retransmission.

4. The method according to claim 3, characterized in that The method of sequentially receiving data packets sent by the base station through the UWB connection established with the base station, judging the integrity of the received data packets according to the parameter information, and verifying the received data packets to obtain verification information of each data packet includes: receiving data packets sent by the base station through the UWB connection in sequence and parsing them to obtain parameter information of the parsed data packets; Determining the integrity of the received data packets according to the parameter information and reassembling the parsed data packets to generate a reassembled data packet sequence; According to the sequence of the reorganized data packets, cyclic redundancy check is performed on the parsed data packets in sequence to obtain verification information of the parsed data packets.

5. A base station device, characterized in that: The base station device includes: a first establishment part, a sending part, a first UWB interaction part, a BLE receiving part and a retransmission part; wherein, The first establishing part is configured to establish a UWB connection and a BLE connection with the tag device through a synchronization message and a BLE broadcast message; The sending part is configured to divide the data to be sent into packets to form data packets to be sent, and send parameter information of the data packets to be sent to the tag device through a control message; The first UWB interaction part is configured to send the data packets to be sent to the tag device in sequence through the UWB connection, and wait for a confirmation response message, wherein the confirmation response message carries cyclic redundancy check information of the sent data packets, which is used to mark the check result of the sent data packets as passed or error; The BLE receiving part is configured to receive a confirmation response message sent by the tag device through the BLE connection and parse it to obtain verification information of the sent data packet; The retransmission part is configured to start a data retransmission process if the verification information is erroneous and the maximum number of retransmissions does not reach a threshold; Wherein, the first UWB interaction part is configured as follows: Send the data packets to be sent in sequence through data messages according to the data packet sending interval in the parameter information; Corresponding to each data message sent by the base station, waiting to receive a confirmation response message from the tag device; or, If it is determined that the number of data packets sent has not reached the maximum number of sending times, the data message continues to be sent until the maximum number of sending times is reached, and then a confirmation response message is waited for.

6. A labeling device, characterized in that: The tag device comprises: a second establishment part, a receiving part, a second UWB interaction part, a BLE sending part and a request retransmission part; wherein, The second establishing part is configured to receive a synchronization message and a BLE broadcast message sent by a base station, and complete the establishment of a time domain synchronization and a BLE connection with the base station; The receiving part is configured to receive and parse the control message sent by the base station to obtain parameter information of the data packet to be sent; The second UWB interaction part is configured to sequentially receive data packets sent by the base station through the UWB connection established with the base station, determine the integrity of the received data packets according to the parameter information, and verify the received data packets to obtain verification information of each data packet; The BLE sending part is configured to send the verification information to the base station through a confirmation response message via the BLE connection established with the base station; The retransmission request part is configured to request data retransmission and receive and verify the retransmitted data packet if the verification information is erroneous; Wherein, the BLE sending part is configured as follows: Fill the verification information of the received data packet into the corresponding field of the confirmation response message; Sending the confirmation response message to the base station via the BLE connection between the base station and the base station; According to the verification information, it is determined whether to request data retransmission.

7. A network node device, characterized in that: The network node device includes: wireless communication circuit, memory and processor; each component is coupled together through a bus system; wherein, The wireless communication circuit comprises: a UWB communication component for enabling the network node device to perform UWB communication and / or for data transmission and a BLE communication component for enabling the network node device to perform BLE communication; The memory is used to store a computer program that can be run on the processor; The processor is used to execute the steps of the BLE-UWB-based data transmission fault-tolerant scheduling method described in any one of claims 1 to 2 or any one of claims 3 to 4 when running the computer program.

8. A data transmission fault-tolerant scheduling system based on BLE-UWB, characterized in that: The system includes: a base station and one or more tag devices; the short-range range of the base station covers all tag devices; wherein, The base station is configured to perform the steps of the BLE-UWB-based data transmission fault-tolerant scheduling method according to any one of claims 1 to 2; The tag device is configured to execute the steps of the BLE-UWB-based data transmission fault-tolerant scheduling method as described in any one of claims 3 to 4.

9. A computer storage medium, characterized in that The computer storage medium stores a BLE-UWB-based data transmission fault-tolerant scheduling program, and when the BLE-UWB-based data transmission fault-tolerant scheduling program is executed by at least one processor, the steps of the BLE-UWB-based data transmission fault-tolerant scheduling method described in any one of claims 1 to 2 or any one of claims 3 to 4 are implemented.

Images