A ranging scheduling method and system for realizing active object detection

Abstract

The application discloses a ranging scheduling method and system for realizing moving object detection, sets a UWB anchor node for supporting moving object detection as a first detection UWB anchor node, exchanges and synchronizes ranging session parameters, sends working parameters of the first detection UWB anchor node to a detection module, the detection module identifies and receives frames sent by the first detection UWB anchor node, acquires CIR and extracts feature parameters from the CIR, and then performs moving object detection activities through the feature parameters; and the application scheme is based on a traditional digital key ranging process, the system authorization detection module receives data frames or ranging frames sent by the first detection UWB anchor node, no additional signals are transmitted, and the in-vehicle moving object detection is completed without increasing channel occupation and changing the traditional ranging process.

Description

A ranging scheduling method and system for realizing active object detection Technical Field

[0001] This invention relates to the field of intelligent vehicle technology, specifically to a ranging and scheduling method and system for realizing moving object detection. Background Technology

[0002] As people's living standards continue to improve, cars have become an integral part of people's work and life, enhancing the convenience of life. In vehicles, it is often necessary to check whether there are any moving objects (mainly human beings and pets) on the seats to remind people to fasten their seat belts. This can also prevent children, pets, etc. from being forgotten in the car, which could lead to suffocation and death due to closed doors and windows, excessively high temperature inside the car, and low oxygen levels.

[0003] Existing wireless digital key systems or other smart mobile devices can detect the distance between a person's digital key or other smart mobile device and the vehicle, enabling the vehicle to be unlocked when the person is nearby.

[0004] Ultra-wideband (UWB) technology can be used for high-precision distance measurement. By deploying UWB anchor nodes on vehicles, digital keys using UWB technology can achieve higher-precision location information, thereby providing a better user experience for vehicles, such as supporting vehicle welcome experiences and other scalable smart services.

[0005] UWB channel impulse response (CIR) can indicate channel characteristics. In automotive ranging applications, UWB anchor nodes are deployed inside the vehicle. When a living being is present in the vehicle, its vital signs, such as respiratory rate and heart rate, can cause changes in UWB channel characteristics. Therefore, UWB technology can be used to detect living beings inside the vehicle. Some existing technologies attempt to detect and identify biological information such as breathing and heartbeat by using millimeter-wave radar or by sending UWB signals separately and receiving them through a receiver. Alternatively, cameras can be added for in-vehicle detection. However, this also means that new equipment needs to be added, which requires additional costs and additional channel occupancy, and involves a series of issues such as personnel privacy. Summary of the Invention

[0006] The purpose of this invention is to provide a ranging scheduling method and system for realizing moving object detection, which can solve the problem of realizing the moving object detection function without affecting the ranging process, introducing fewer new devices or adding additional new devices, and without the need for additional signal transmission.

[0007] To achieve the aforementioned objective, this invention provides a ranging scheduling method for detecting active objects, comprising:

[0008] Set the UWB anchor node used to support active object detection as the first detection UWB anchor node;

[0009] Exchange and synchronize ranging session parameters;

[0010] The operating parameters of the first detected UWB anchor node are sent to the detection module;

[0011] The detection module identifies and receives frames sent by the first detection UWB anchor node, obtains the channel impulse response, and extracts feature parameters from the channel impulse response;

[0012] Active object detection is performed using the aforementioned feature parameters.

[0013] Optionally, the detection module includes a UWB radar receiver or a second detection UWB anchor node; wherein the UWB radar receiver does not have ranging functionality and is not joined to the ranging network; the second detection UWB anchor node is another UWB anchor node in the ranging network that is configured to support the detection of moving objects and has ranging functionality.

[0014] Optionally, when the detection module is the UWB radar receiver, the process of the UWB radar receiver identifying and receiving the frame sent by the first detection UWB anchor node includes two working modes: Mode 1, the UWB radar receiver continuously listens to the UWB signals in all ranging processes, filters out the frame sent by the first detection UWB anchor node, obtains the channel impulse response, and extracts the feature parameters; Mode 2, according to the ranging session parameters, the UWB radar receiver synchronizes with the ranging network, and only starts receiving when the first detection UWB anchor node is working, receiving the frame sent by the first detection UWB anchor node, obtaining the channel impulse response, and extracting the feature parameters. During non-receiving time slots, the UWB radar receiver is in sleep mode.

[0015] Optionally, when the detection module is the second detection UWB anchor node, the second detection UWB anchor node starts receiving when the first detection UWB anchor node is working, and / or the first detection UWB anchor node starts receiving when the second detection UWB anchor node is working.

[0016] Optionally, the operating parameters of the first detected UWB anchor node include the unique identifier of the first detected UWB anchor node, the operating time, and time synchronization information.

[0017] Optionally, when the detection module starts receiving when the first detection UWB anchor node is working, the working parameters of the first detection UWB anchor node also include time slot configuration parameters and relevant parameters of the ranging network where the first detection UWB anchor node is located.

[0018] Optionally, the time slot configuration parameters include the number of anchor points, ranging time slot time, ranging interval, number of ranging time slots per round, response time slot index of the first detected UWB anchor node, transition mode, and key.

[0019] Optionally, the time slots of the first UWB detection anchor node and the second UWB detection anchor node are configured as adjacent time slots.

[0020] Optionally, the first detection of UWB anchor node sending data frames, and the process of obtaining the channel impulse response includes: processing the channel impulse response from the preamble reception process.

[0021] Optionally, the first detection UWB anchor node sends a ranging frame, and the process of obtaining the channel impulse response includes: processing the channel impulse response from the preamble reception process or from the scrambled time sequence reception process.

[0022] Optionally, when the channel impulse response is obtained from the preamble reception process, the ranging session parameters include: data frame header, frame tail, version information, session ID, node ID, preamble parameters, channel, number of time slots in the ranging round, time slot time, ranging interval, ranging round control, time synchronization, and time slot of the UWB node.

[0023] Optionally, when the channel impulse response is obtained from the scrambling time sequence reception process, the ranging session parameters further include: scrambling time sequence parameters.

[0024] Optionally, the process of detecting active objects includes: using a machine learning algorithm to analyze the feature parameters to determine whether an active object exists; or using the feature parameters to align the first paths of multiple sets of channel impulse responses to form a two-dimensional channel impulse response matrix, applying a fast Fourier transform on the slow time dimension to find whether a target exists, finding the specific distance dimension where the target is located or multiple specific distance dimensions where multiple targets are located; obtaining the slow time domain signal phase information from the specific distance dimension, performing bandpass filtering with the breathing frequency as the target, and determining whether there is a breathing signal on different distance dimensions. If there is a breathing signal, it is determined that an active object exists.

[0025] The present invention also provides a ranging scheduling system for realizing active object detection, comprising: a first detection UWB anchor node, a detection module, a main control module, and a detection processing unit;

[0026] The first detection UWB anchor node is used to send data frames or ranging frames; the detection module is used to identify and receive the frames sent by the first detection UWB anchor node, obtain the channel impulse response, and extract feature parameters from the channel impulse response to perform active object detection activities; the main control module controls the communication between the first detection UWB anchor node and the detection module to support active object detection activities; the detection processing unit is used to analyze and process the feature parameters to obtain active object detection results.

[0027] Optionally, the detection module includes a UWB radar receiver or a second detection UWB anchor node; wherein the UWB radar receiver does not have ranging functionality and is not joined to the ranging network; the second detection UWB anchor node is a UWB anchor node with ranging functionality in the ranging network that is configured to support the detection of moving objects.

[0028] Compared to existing technologies, this invention receives data frames or ranging frames sent by the first detection UWB anchor node through a system authorization detection module, thus combining the function of detecting moving objects without affecting the ranging process. It eliminates the need for additional signal transmission based on the traditional ranging process, thereby enabling in-vehicle moving object detection without increasing channel occupancy. It requires little or no new equipment, improving the overall performance and reducing the overall cost. Furthermore, this solution can reduce interference and collision probability with other wireless systems, thereby increasing system capacity. Attached Figure Description

[0029] Figure 1 is a schematic diagram of the time slot for traditional digital key ranging in Embodiment 1 of the present invention;

[0030] Figure 2 is a flowchart of the ranging and scheduling method for detecting active objects in Embodiment 1 of the present invention;

[0031] Figure 3 is a time slot diagram of the ranging scheduling method for realizing active object detection in Embodiment 1 of the present invention;

[0032] Figure 4 is a second time slot diagram of the ranging scheduling method for realizing active object detection in Embodiment 1 of the present invention;

[0033] Figure 5 is a time slot diagram of the ranging scheduling method for realizing active object detection in Embodiment 1 of the present invention;

[0034] Figure 6 is a schematic diagram of the ranging and scheduling system for detecting active objects in Embodiment 2 of the present invention;

[0035] Figure 7 is a schematic diagram of the ranging and scheduling system for detecting active objects in Embodiment 2 of the present invention;

[0036] Figure 8 is a schematic diagram of the ranging and scheduling method system for realizing active object detection in Embodiment 2 of the present invention. Detailed Implementation

[0037] The present invention will now be described in more detail with reference to the accompanying drawings, which illustrate preferred embodiments of the invention. It should be understood that those skilled in the art can modify the invention described herein while still achieving its advantageous effects. Therefore, the following description should be understood as being of general knowledge to those skilled in the art and is not intended to limit the invention.

[0038] The invention is described more specifically by way of example in the following paragraphs with reference to the accompanying drawings. The advantages and features of the invention will become clearer from the following description. It should be noted that the drawings are in a very simplified form and use non-precise proportions, and are only used to facilitate and clarify the illustration of the embodiments of the invention.

[0039] In a traditional digital key ranging scenario, multiple UWB anchor nodes are set up on the vehicle. Each UWB anchor node communicates with the digital key to exchange UWB ranging session parameters, establish and start a UWB ranging session, and realize the ranging activity. However, the anchors do not communicate with each other.

[0040] Please refer to Figure 1. The traditional digital key ranging steps are as follows:

[0041] S101, the digital key / smart device sends a Pre Poll data frame (taking SP0 as an example), and all UWB anchor nodes receive the data frame for data transmission and information synchronization.

[0042] S201, The digital key / smart device sends a Poll ranging frame (taking SP3 as an example), and all Anchors receive the ranging frame to start ranging activities.

[0043] S301. Each Anchor sends a Resp ranging frame in sequence, and the digital key / smart device receives the Resp ranging frame.

[0044] S401, the digital key / smart device sends a final ranging frame, and all anchors receive the final ranging frame.

[0045] S501, the digital key / smart device sends a Final Data frame, and all Anchors receive the Final Data frame.

[0046] S601: Each Anchor sequentially sends a Result msg data frame. The digital key / smart device receives the Result msg frame and determines the final ranging result.

[0047] Based on the traditional digital key ranging process, the present invention receives data frames or ranging frames through the system authorization detection module. While performing UWB ranging and positioning, it obtains CIR for moving object detection by adjusting the relevant communication process control. This does not require additional signal transmission and completes the in-vehicle moving object detection function without increasing channel occupation.

[0048] Example 1

[0049] This invention provides a ranging scheduling method for realizing active object detection, as shown in Figure 2, which includes the following steps:

[0050] S1. Set the UWB anchor node used to support active object detection as the first detection UWB anchor node.

[0051] S2. Exchange and synchronize ranging session parameters.

[0052] S3. The working parameters of the first detected UWB anchor node are sent to the detection module.

[0053] S4. The detection module identifies and receives the frame sent by the first detection UWB anchor node, obtains the CIR, and extracts feature parameters from the CIR.

[0054] S5. Detect active objects using the aforementioned feature parameters.

[0055] Specifically, in step S1, the first detected UWB anchor node (Anchor A) is a UWB anchor node (Anchor) set during system initialization to support the detection of active objects. Anchor A can be any anchor node inside the vehicle, and its identification is achieved through system configuration.

[0056] In step S2, each Anchor exchanges ranging session parameters with the digital key or other smart devices to establish and start a UWB ranging session. The ranging session parameters can be sent using wired or wireless methods, such as out-of-band (OOB) data such as Bluetooth or BLE.

[0057] The process of synchronizing the ranging session parameters includes: the main control module on the vehicle communicating with all anchors and detection modules to synchronize the ranging session parameters.

[0058] In addition, in step S2, it is necessary to confirm in advance the method of acquiring CIR. Depending on the method of acquiring CIR, the ranging session parameters that are exchanged and synchronized will also be different.

[0059] In step S3, the working parameters of the first detected UWB anchor node are sent to the detection module, that is, the authorized detection module receives the frame sent by the first detected UWB anchor node.

[0060] The detection module includes a UWB radar receiver or a second detection UWB anchor node (Anchor B).

[0061] Please refer to Figures 3 and 4. Specifically, the detection module can be a UWB radar receiver without ranging function added to the system. This UWB radar receiver is used to listen to the signal of Anchor A and obtain the CIR of the corresponding received signal.

[0062] When the detection module is a UWB radar receiver without ranging capabilities, the process of the UWB radar receiver identifying and receiving the frame sent by Anchor A in step S4 includes two operating modes:

[0063] S401. The UWB radar receiver continuously monitors the UWB signals in all ranging processes and filters out the frames sent by Anchor A.

[0064] S402. According to the ranging session parameters, the UWB radar receiver synchronizes with the ranging area network (RAN) and only turns on reception when Anchor A is working, receiving frames sent by the first detected UWB anchor point. When not receiving, the UWB radar receiver is in sleep mode. The UWB radar receiver adjusts the clock after each reception to achieve clock synchronization.

[0065] Please continue to refer to Figure 3. Based on the traditional digital key ranging steps S101 to S601, the UWB radar receiver receives the UWB signals of all Anchors in the ranging process. According to the unique identifier of Anchor A, it obtains the Resp_A or Result msg_A sent by Anchor A, thereby extracting CIR, and then extracting feature parameters to realize the breathing detection of moving objects in the vehicle.

[0066] The characteristic parameters include at least one of amplitude, phase, and frequency information.

[0067] Therefore, in S401, when the detection module is a UWB radar receiver without ranging function, in order for the UWB radar receiver to filter out the frames sent by Anchor A from the UWB signals in all ranging processes, the working parameters of Anchor A received by the detection module include the unique identifier of Anchor A, working time and time synchronization information.

[0068] Furthermore, please continue to refer to Figure 4. In S402, when the UWB radar receiver only turns on reception when Anchor A is working, the UWB radar receiver needs to synchronize the response time information of Anchor A. Therefore, the working parameters of Anchor A received by the detection module also need to include relevant time slot configuration parameters and relevant parameters of the ranging network where Anchor A is located. The relevant time slot configuration parameters include the number of anchor points, ranging time slot time, ranging interval, number of ranging time slots per round, response time slot index of Anchor A, transition mode, and key.

[0069] Furthermore, in S402, during the ranging process, the detection module needs to perform periodic time synchronization by receiving information in order to synchronize with the transmission time slot of Anchor A, ensuring that it can accurately receive the data and CIR information corresponding to the first detection UWB anchor node, and then extract feature parameters to realize the breathing detection of the active object in the vehicle; correspondingly, since the reception time is greatly reduced, the power consumption of the device can also be reduced.

[0070] Furthermore, in step S3, the detection module can also set another Anchor with ranging function in the ranging system as Anchor B during system initialization, which is used to listen to and receive the signal of Anchor A and obtain the CIR of the corresponding received signal.

[0071] In the traditional ranging process, Anchor A and Anchor B only need to perform ranging activities and communicate with the ranging activity initiating module during their respective working time slots. There is no need for communication between Anchor A and Anchor B. However, in reality, when the two are in fixed positions and the time slots between them are determined, the CIR of the corresponding received signal can be obtained by using the frames sent between Anchor A and Anchor B. In this case, Anchor A and Anchor B also need to be woken up in advance during the intervals of the ranging time slots to receive the corresponding signals.

[0072] Specifically, please refer to Figure 5. When the detection module is Anchor B with ranging function, in step S4, Anchor B starts receiving when Anchor A sends Resp_A frame, and Anchor A starts receiving when Anchor B sends Resp_B frame, extracts CIR, and then extracts feature parameters, and further realizes the detection of moving objects in the vehicle through data processing.

[0073] When the detection module is Anchor B with ranging function, the working parameters of Anchor A received by the detection module include the unique identifier of Anchor A, working time and time synchronization information, as well as relevant time slot configuration parameters and relevant parameters of the ranging network where Anchor A is located.

[0074] The relevant time slot configuration parameters include the number of anchor points, ranging time slot time, ranging interval, number of ranging time slots per round, Anchor A's response time slot index, transition mode, and key.

[0075] Correspondingly, Anchor A can also start receiving when Anchor B sends Resp_B frames, thereby realizing the detection of moving objects inside the vehicle. The process of Anchor A receiving and completing the detection of moving objects is the same as that of Anchor B, that is, sending the working parameters of Anchor B to Anchor A and authorizing Anchor A to receive the frames sent by Anchor B.

[0076] Optionally, active object detection can be completed by extracting only the CIR of Anchor A or Anchor B. For example, only the CIR of the Resp_A ranging frame sent by Anchor A and received by Anchor B can be extracted for detection. In this case, Anchor A does not need to receive the Resp_B ranging frame of Anchor B, and the system does not need to synchronize the unique identifier of Anchor B to Anchor A, which can still meet the conditions for active object detection.

[0077] Furthermore, for low power consumption considerations, the working time slots of Anchor A and Anchor B can be allocated in a packet configuration, that is, the time slots of Anchor A and Anchor B are configured as adjacent time slots.

[0078] In one example, following a traditional workflow, if network entry information for 6 Anchors is received, the working time slots are arranged according to the order of entry. However, the working time slots for Anchor A and Anchor B are unordered. For example, Anchor A might be assigned to time slot 1, and Anchor B to time slot 5. In this case, Anchor A transmits in time slot 1 and needs to remain open in time slots 2-4 until Anchor B completes reception in time slot 5, increasing the power consumption of the Anchors. Alternatively, Anchor A might transmit in time slot 1, close in time slots 2-4, and open in time slot 5 to ensure Anchor B completes reception, leading to frequent system switching and increased power consumption. To reduce unnecessary power consumption and shorten detection time in the ranging and breathing detection process, the time slots of Anchor A and Anchor B can be bundled and allocated, meaning their time slots are allocated to similar time periods. In one embodiment, Anchor A can be assigned to time slot N, and Anchor B to time slot N+1. For example, Anchor A can be assigned to time slot 1, and Anchor B to time slot N+1. Anchor B is scheduled in time slot 2, Anchor A transmits in time slot 1, and Anchor A can turn off and enter sleep mode when Anchor B finishes receiving in time slot 2. This reduces unnecessary operations, effectively reduces power consumption, and shortens the waiting time for transmitting and receiving.

[0079] In other embodiments, for some practical applications that require multiple nodes, more nodes can be bundled and arranged in close time slots to further improve efficiency.

[0080] In step S4, the detection module identifies and receives frames sent by Anchor A, including data frames or ranging frames.

[0081] It should be noted that when the detection module is a UWB radar receiver without ranging function, the UWB radar receiver receives ranging frames or data frames sent by Anchor A; when the detection module is Anchor B with ranging function, Anchor B receives ranging frames sent by Anchor A, and / or Anchor A receives ranging frames sent by Anchor B.

[0082] Specifically, when receiving a data frame, the process of obtaining the CIR includes: processing the CIR during the preamble reception process; when receiving a ranging frame, the process of obtaining the CIR includes: processing the CIR during the preamble reception process or processing the CIR during the scrambled time series (STS) reception process.

[0083] Furthermore, in step S2, the ranging session parameters that are exchanged and synchronized vary depending on the process of obtaining the CIR. When the CIR is obtained from the preamble reception process, the ranging session parameters include: data frame header, frame tail, version information, session ID, node ID, preamble parameters, channel, number of time slots in the ranging round, time slot time, ranging interval, ranging round control, time synchronization, and time slots of the UWB node.

[0084] When the CIR is obtained during the STS reception process, the ranging session parameters exchanged and synchronized in step S2 also include: STS-related parameters, which include parameters such as STS mode and key information.

[0085] Furthermore, in step S4, during the process of acquiring the CIR and extracting feature parameters from the CIR, the feature parameters include at least one of the following: power level, strongest path index, peak path index, strongest path amplitude ratio, peak path amplitude ratio, strongest path time difference, spectral power, and phase information.

[0086] In step S5, the process of performing active object detection can be as follows:

[0087] S501. Use machine learning algorithms to analyze the feature parameters to determine whether there are active objects.

[0088] Machine learning algorithms mainly include: decision tree algorithm, neural network, nearest neighbor algorithm or support vector machine.

[0089] Furthermore, the active object detection can also be:

[0090] S502. Use CIR to align the first diameters of multiple CIRs to form a two-dimensional CIR matrix. Use Fast Fourier Transform (FFT) on the slow time dimension to check if there is a target. If there is a target, find the specific distance dimension where the target is located or multiple specific distance dimensions where multiple targets are located. From the specific distance dimension, obtain the phase information of the slow time domain signal. Perform bandpass filtering and other related signal processing operations with the respiratory rate as the target to extract the respiratory signal in the specific distance dimension. If the respiratory signal exceeds the decision threshold, it is determined that there is an active object.

[0091] In a specific example of the present invention, a ranging scheduling method for implementing active object detection according to the present invention includes:

[0092] S11. Set the UWB anchor node used to support active object detection to Anchor A.

[0093] S21. Exchange and synchronize ranging session parameters.

[0094] S31. Set a UWB radar receiver as a detection module, and send the working parameters of Anchor A to the UWB radar receiver.

[0095] S41. The UWB radar receiver continuously monitors the UWB signals in all ranging processes, or only monitors them when Anchor A is working. The UWB radar receiver identifies and receives the data frames or ranging frames sent by Anchor A.

[0096] When the UWB radar receiver receives a data frame, it processes the CIR during the preamble reception process and extracts the feature parameters from the CIR.

[0097] When the UWB radar receiver receives the ranging frame, it can obtain the CIR from the preamble reception process or from the STS reception process, and extract the feature parameters from the CIR.

[0098] S51. Use machine learning algorithms to analyze the feature parameters or form a CIR two-dimensional matrix to perform active object detection.

[0099] In another specific example of the present invention, a ranging scheduling method for implementing active object detection according to the present invention includes the following steps:

[0100] S11. Set the UWB anchor node used to support active object detection to Anchor A.

[0101] S21. Exchange and synchronize ranging session parameters.

[0102] S31. Set another UWB anchor node, Anchor B, as a detection module, and send the working parameters of Anchor A to Anchor B.

[0103] S41. Anchor B starts receiving when Anchor A sends Resp_A frame, Anchor A starts receiving when Anchor B sends Resp_B frame, or only Anchor B starts receiving when Anchor A sends Resp_A frame, and obtains CIR from the preamble reception process or from the STS reception process, and extracts feature parameters from CIR.

[0104] S51. Use machine learning algorithms to analyze the feature parameters or form a CIR two-dimensional matrix to perform active object detection.

[0105] Example 2

[0106] Please refer to Figure 6. In this embodiment of the invention, a ranging scheduling system for detecting active objects is provided, including: a first detection UWB anchor node (Anchor A), a detection module, a main control module, and a detection processing unit.

[0107] Anchor A is used to send data frames or ranging frames; the detection module is used to identify and receive the frames sent by Anchor A, obtain the CIR, and extract feature parameters from the CIR to perform active object detection; the main control module controls the communication between Anchor A and the detection module to support active object detection; the detection processing unit is used to analyze and process the feature parameters to obtain active object detection results.

[0108] Furthermore, the ranging scheduling system for realizing active object detection also includes a ranging processing unit, which is used to output ranging results.

[0109] The ranging scheduling system for realizing moving object detection in this embodiment of the invention is based on an in-vehicle ranging system, which also has the function of moving object detection without affecting the ranging process.

[0110] Please refer to Figures 7 and 8. The detection module includes a UWB radar receiver or a second detection UWB anchor node (Anchor B). The UWB radar receiver does not have ranging capabilities and is not included in the ranging network. Anchor B is a UWB anchor node with ranging capabilities in the ranging network that is configured to support the detection of moving objects.

[0111] When the detection module is Anchor B with ranging function, Anchor A, after being authorized by the system, can also recognize and receive the ranging frame sent by Anchor B, obtain the channel impulse response, and complete the active object detection activity.

[0112] In summary, this invention provides a ranging scheduling method and system for realizing moving object detection. While achieving UWB ranging and positioning, this invention also uses the CIR (Circuit Identifier) ​​for moving object detection by adjusting the flow control of related communications between UWB and moving objects. It eliminates the need for additional signal transmissions compared to traditional ranging procedures, thus supporting in-vehicle moving object detection without increasing channel occupancy. Through process optimization, unnecessary channel occupancy is reduced, improving overall performance and lowering overall cost without introducing new equipment or with minimal new equipment. Furthermore, the entire ranging process remains unchanged, maintaining compatibility with existing equipment. In addition, this solution not only reduces interference and collision probability with other wireless systems and increases system capacity, but also reduces signal transmission frequency and power-on time by bundling and allocating time slots for specific anchor nodes, thereby reducing system power consumption.

[0113] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A ranging scheduling method for realizing active object detection, characterized in that, include: Set the UWB anchor node used to support active object detection as the first detection UWB anchor node; exchange and synchronize ranging session parameters; The operating parameters of the first detection UWB anchor node are sent to the detection module; the detection module identifies and receives the frames sent by the first detection UWB anchor node, obtains the channel impulse response, and extracts feature parameters from the channel impulse response; active object detection is performed using the feature parameters; the detection module includes a UWB radar receiver or a second detection UWB anchor node; wherein, the UWB radar receiver does not have ranging function and is not joined to the ranging network; the second detection UWB anchor node is another UWB anchor node with ranging function in the ranging network that is configured to support active object detection.

2. The ranging and scheduling method for realizing active object detection as described in claim 1, characterized in that, When the detection module is the UWB radar receiver, the process of the UWB radar receiver identifying and receiving the frame sent by the first detection UWB anchor node includes two working modes: Mode 1, the UWB radar receiver continuously listens to the UWB signals in all ranging processes, filters out the frame sent by the first detection UWB anchor node, obtains the channel impulse response, and extracts the feature parameters; Mode 2, according to the ranging session parameters, the UWB radar receiver synchronizes with the ranging network, and only starts receiving when the first detection UWB anchor node is working, receiving the frame sent by the first detection UWB anchor node, obtaining the channel impulse response, and extracting the feature parameters. During non-receiving time slots, the UWB radar receiver is in sleep mode.

3. The ranging and scheduling method for detecting active objects as described in claim 1, characterized in that, When the detection module is the second detection UWB anchor node, the second detection UWB anchor node starts receiving when the first detection UWB anchor node is working, and / or the first detection UWB anchor node starts receiving when the second detection UWB anchor node is working.

4. The ranging and scheduling method for realizing active object detection as described in claim 2 or 3, characterized in that, The operating parameters of the first detected UWB anchor node include the unique identifier of the first detected UWB anchor node, the operating time, and time synchronization information.

5. The ranging and scheduling method for realizing active object detection as described in claim 4, characterized in that, When the detection module starts receiving when the first detection UWB anchor node is working, the working parameters of the first detection UWB anchor node also include time slot configuration parameters and relevant parameters of the ranging network where the first detection UWB anchor node is located.

6. The ranging and scheduling method for realizing active object detection as described in claim 5, characterized in that, The time slot configuration parameters include the number of anchor points, ranging time slot time, ranging interval, number of ranging time slots per round, response time slot index of the first detected UWB anchor node, transition mode, and key.

7. The ranging and scheduling method for realizing active object detection as described in claim 1, characterized in that, The time slots of the first UWB detection anchor node and the second UWB detection anchor node are configured as adjacent time slots.

8. The ranging and scheduling method for realizing active object detection as described in claim 1, characterized in that, The first detection UWB anchor node sends a data frame, and the process of obtaining the channel impulse response includes: processing the channel impulse response from the preamble reception process.

9. The ranging and scheduling method for realizing active object detection as described in claim 1, characterized in that, The first detection UWB anchor node sends a ranging frame, and the process of obtaining the channel impulse response includes: processing the channel impulse response from the preamble reception process or from the scrambled time sequence reception process.

10. The ranging and scheduling method for realizing active object detection as described in claim 8 or 9, characterized in that, When the channel impulse response is obtained from the preamble reception process, the ranging session parameters include: data frame header, frame tail, version information, session ID, node ID, preamble parameters, channel, number of time slots in the ranging round, time slot time, ranging interval, ranging round control, time synchronization, and time slot of the UWB node.

11. The ranging and scheduling method for realizing active object detection as described in claim 9, characterized in that, When the channel impulse response is obtained from the scrambling time series reception process, the ranging session parameters also include: scrambling time series parameters.

12. The ranging and scheduling method for realizing active object detection as described in claim 1, characterized in that, The process of detecting active objects includes: using machine learning algorithms to analyze the feature parameters to determine whether an active object exists; or using the feature parameters to align the first paths of multiple sets of channel impulse responses to form a two-dimensional channel impulse response matrix, applying a fast Fourier transform on the slow time dimension to find whether a target exists, and finding the specific distance dimension where the target is located or multiple specific distance dimensions where multiple targets are located; obtaining the slow time domain signal phase information from the specific distance dimension, performing bandpass filtering with the breathing frequency as the target, and determining whether there is a breathing signal on different distance dimensions. If there is a breathing signal, it is determined that an active object exists.

13. A ranging and scheduling system for detecting moving objects, characterized in that, include: The system comprises a first detection UWB anchor node, a detection module, a main control module, and a detection processing unit. The first detection UWB anchor node is configured to support active object detection and is used to send ranging frames. The main control module is used to exchange and synchronize ranging session parameters with the first detection UWB anchor node and the detection module. The detection module is used to identify and receive frames sent by the first detection UWB anchor node, obtain channel impulse responses, and extract feature parameters from the channel impulse responses to perform active object detection. The detection processing unit is used to analyze and process the feature parameters to obtain active object detection results.

14. The ranging and scheduling system for detecting moving objects as described in claim 13, characterized in that, The detection module includes a UWB radar receiver or a second detection UWB anchor node; wherein, the UWB radar receiver does not have ranging function and is not added to the ranging network; the second detection UWB anchor node is a UWB anchor node with ranging function in the ranging network that is set up to support the detection of moving objects.

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