A time slot allocation method for a UWB positioning system facing business requirements

Abstract

The application relates to a time slot allocation method of a UWB positioning system facing business demands, and belongs to the fields of wireless communication and precise positioning. The method is based on a positioning base station in the UWB positioning system, and time slots are divided into data transmission time slots and positioning time slots. The data transmission time slots are used for data transmission of the positioning base station in the well, and the positioning time slots are used for distance measurement between the positioning base station in the well and a positioning tag. According to a positioning update period size in the business demand, the positioning base station allocates a fast positioning time slot or a normal positioning time slot. For a business with a positioning update period demand greater than a preset threshold, a normal positioning time slot is allocated; and for a business with a positioning update period demand less than the preset threshold, a fast positioning time slot is allocated. According to different business demands, the application dynamically allocates time slots, greatly improves time slot utilization, and enables the positioning base station to perform TOF positioning and UWB wireless data transmission at the same time, thereby reducing system construction cost.

Description

Technical Field

[0001] This invention belongs to the field of wireless communication and precise positioning, and relates to a time slot allocation method for a UWB positioning system oriented towards business needs. Background Technology

[0002] Ultra-wideband (UWB) wireless positioning technology boasts advantages such as low power consumption, strong multipath resistance, high security, and low system complexity, making it widely used in indoor high-precision positioning systems. UWB technology is also widely applied in underground coal mines. The two main positioning technologies are Time-of-Flight (TDOA) and Time-of-Flight (TOF). TOF positioning technology calculates the distance between the tag and the base station by measuring the flight time of electromagnetic waves, and then calculates the tag's location. TOF positioning schemes do not require synchronization between base stations, have simple hardware implementation, are easy to deploy, and offer high location accuracy, making their application in underground coal mines more widespread than TDOA. Currently, UWB-based positioning technology in underground coal mines has gradually expanded from personnel positioning applications to applications such as coal washing plants, trackless rubber-tired vehicle positioning, material positioning, and human-machine proximity detection.

[0003] As UWB positioning systems expand into underground operations, the demands for positioning speed and capacity are increasing, rendering traditional time slot allocation methods inadequate. Traditional methods allocate time slots to base stations according to a uniform standard, making some applications requiring rapid positioning impossible. For example, applications like locating trackless rubber-wheeled vehicles and managing traffic lights using UWB positioning require rapid positioning because vehicles travel at high speeds; slow positioning prevents timely location updates and traffic light management. Deploying a separate base station for vehicle positioning and traffic light management increases construction costs, and since both personnel and vehicle positioning base stations use UWB, interference and positioning failures can occur. Furthermore, in some application scenarios, wired networks are not feasible, necessitating wireless data transmission to a host computer. In these cases, UWB data transmission is crucial, making appropriate time slot allocation essential without affecting normal Time-of-Flight (TOF) ranging. In summary, in order to improve the compatibility, flexibility, and operational efficiency of the entire positioning system and reduce system construction costs, there is an urgent need for a UWB positioning system time slot allocation method oriented towards business needs. Summary of the Invention

[0004] In view of this, the purpose of the present invention is to provide a UWB positioning system time slot allocation method oriented towards business needs.

[0005] To achieve the above objectives, the present invention provides the following technical solution:

[0006] A time slot allocation method for a UWB positioning system oriented towards business needs. This method divides time slots into data transmission time slots and positioning time slots based on the positioning base station in the UWB positioning system. The data transmission time slot is used for the positioning base station to transmit data, and the positioning time slot is used for the positioning base station to determine the distance between itself and the positioning tag.

[0007] The positioning base station allocates fast positioning time slots or normal positioning time slots according to the size of the positioning update cycle in the service requirements. Normal positioning time slots are allocated for services with positioning update cycle requirements greater than a preset threshold, and fast positioning time slots are allocated for services with positioning update cycle requirements less than a preset threshold.

[0008] Furthermore, in determining the number of time slots for data transmission and positioning, the following steps are included:

[0009] Based on the time slot length L ts And the time T required to transmit 1 byte byte Calculate the maximum number of bytes L that can be transmitted in one time slot. max The calculation formula is as follows:

[0010] L max =(L ts / T byte )*K

[0011] Where K is the transmission loss coefficient, and its value ranges from 0 to 1. <K≤1;

[0012] According to L max Calculate the data transmission bandwidth BW for one time slot. ts The calculation formula is as follows:

[0013] BW ts =(L max *8) / (L sf *L ts )

[0014] Where L sf L represents the superframe length. ts Indicates the time slot length;

[0015] Based on the data transmission bandwidth BW of a time slot ts and the actual required data transmission bandwidth BW data Calculate the number of data transmission time slots L ts_data And the number of positioning time slots L ts_range The calculation formula is as follows:

[0016] L ts_data =BW data / BW ts

[0017] Lts_range =L sf -L ts_data

[0018] Among them, the number of positioning time slots L ts_range This includes the fast positioning time slot L. ts_fast and ordinary positioning time slot L ts_general .

[0019] Furthermore, regarding the number of positioning time slots L ts_range Determine the fast positioning time slot L ts_fast And ordinary positioning time slot L ts_general The process of determining the number of time slots includes the following steps:

[0020] Divide the entire superframe cycle into n fast localization cycles T. fast Dynamically adjusting parameter n improves the rapid positioning cycle T after segmentation. fast The rapid positioning cycle T according to actual needs f To minimize the difference, the adjustment formula is as follows:

[0021] (L sf *L ts ) / n=T fast ≈T f

[0022] When the rapid positioning period T after division fast The rapid positioning cycle T according to actual needs f When the difference is minimized, determine the number of superframe period divisions n, and the fast positioning period T after division. fast Superframe length L sf_f :

[0023] L sf_f =L sf / n

[0024] Then, based on the actual business needs, the tag capacity N f To determine the fast positioning time slot L within the divided fast positioning cycle. ts_fast The number N fast and ordinary positioning time slot L ts_general The number N general .

[0025] Furthermore, during the final time slot allocation, the length L will be... sf The superframe is divided into n fast localization cycles, where,

[0026] In the first n-1 fast positioning cycles, no data transmission time slots are allocated; only positioning time slots are allocated, i.e., the number of positioning time slots L. ts_range The superframe length for the fast positioning cycle is L. sf_f It includes Nfast One fast positioning time slot and N general One ordinary positioning time slot, of which:

[0027] N fast =N f

[0028] N general =L sf_f -N fast

[0029] In the nth fast positioning cycle, data transmission time slots and positioning time slots are allocated, i.e., the number of positioning time slots L. ts_range =L sf_f -L ts_data , where L ts_data Indicating the number of data transmission time slots, the fast positioning time slot L is included in the number of positioning time slots. ts_fast And ordinary positioning time slot L ts_general The number of time slots are as follows:

[0030] N fast =N f

[0031] N general =L sf_f -L ts_data -N fast .

[0032] Furthermore, in the fast positioning time slot, several tags representing services with fast positioning needs are set up, and the tags representing services with fast positioning needs perform n ranging measurements with the positioning base station within one superframe period; in the normal positioning time slot, several tags representing services with normal positioning needs are set up, and the tags representing services with normal positioning needs perform 1 ranging measurement with the positioning base station within one superframe period.

[0033] Furthermore, the distribution method of the present invention includes the following process:

[0034] S1. The host computer sends the following parameters to the positioning base station: time slot length L ts Superframe length L sf The time T required to transmit one byte byte Data transmission bandwidth (BW) data The rapid positioning cycle T for actual business needs f Rapidly locate tag capacity N f ;

[0035] S2. Calculate the maximum number of bytes L that can be transmitted in a single time slot. max ;

[0036] S3. Calculate the data transmission bandwidth BW for one time slot.ts ;

[0037] S4. Calculate the number of data transmission time slots L. ts_data L ts_data Take the smallest integer up;

[0038] S5. Calculate and determine the number n of the rapid positioning cycles;

[0039] S6. Calculate the superframe length L for each fast positioning cycle. sf_f , which represents the number of time slots in each fast positioning cycle;

[0040] S7. Determine the final allocation, where the first n-1 fast positioning cycles include N f One fast positioning time slot and L sf_f -N f One normal positioning time slot; the first N slots within the nth fast positioning cycle f Each time slot is a fast positioning time slot, and finally L ts_data One time slot is for data transmission, and the remaining L sf_f -N f -L ts_data Each time slot is a normal positioning time slot.

[0041] The beneficial effects of this invention are as follows:

[0042] The present invention has a high time slot utilization rate. Because most of the time is wasted due to the limited number of ordinary positioning tags used for ranging, this method classifies and allocates time slots to different services, thereby improving the utilization rate of time slots.

[0043] This invention offers high compatibility. In addition to dividing the positioning time slot into fast positioning time slots and normal positioning time slots, this method also adds a data transmission time slot, enabling the positioning base station to access various different service types without interference between them, thus improving system compatibility.

[0044] The present invention offers high flexibility. In this method, time slots can be dynamically allocated based on parameters such as data transmission bandwidth, rapid positioning cycle, and rapid positioning tag capacity required by different services. This high configurability also improves the system's flexibility.

[0045] The system construction cost of this invention is low. This method allows the positioning base station to wirelessly transmit data via UWB while performing TOF positioning, eliminating the need for separate hardware design for data transmission. This effectively combines the functions of several base stations into one, thus reducing the construction cost of the positioning system.

[0046] Other advantages, objectives, and features of the invention will be set forth in part in the description which follows, and in part will be apparent to those skilled in the art from the following examination, or may be learned from practice of the invention. The objectives and other advantages of the invention can be realized and obtained through the following description. Attached Figure Description

[0047] To make the objectives, technical solutions, and advantages of the present invention clearer, the preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings, wherein:

[0048] Figure 1 This is a simplified schematic diagram of the time slot structure of the present invention;

[0049] Figure 2 This is a flowchart illustrating the overall workflow of the allocation method of the present invention.

[0050] Figure 3 This is a schematic diagram of time slot allocation within the rapid positioning cycle of the present invention;

[0051] Figure 4 This is a schematic diagram of time slot allocation based on business needs according to the present invention;

[0052] Figure 5 This is a schematic diagram of the time slot allocation result under one embodiment of the present invention. Detailed Implementation

[0053] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0054] The accompanying drawings are for illustrative purposes only and are schematic diagrams, not actual pictures. They should not be construed as limiting the invention. To better illustrate the embodiments of the invention, some parts in the drawings may be omitted, enlarged, or reduced, and do not represent the actual product dimensions. It is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted in the drawings.

[0055] In the accompanying drawings of the embodiments of the present invention, the same or similar reference numerals correspond to the same or similar components. In the description of the present invention, it should be understood that if terms such as "upper," "lower," "left," "right," "front," and "rear" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, they are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms used to describe positional relationships in the drawings are only for illustrative purposes and should not be construed as limiting the present invention. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0056] Please see Figures 1-5 This paper proposes a time slot allocation method for UWB positioning systems tailored to specific business needs. Based on UWB wireless ranging technology in UWB precise positioning systems, this method divides time slots into two types: positioning time slots for TOF ranging between the positioning base station and the positioning tag, and data transmission time slots for data transmission via UWB. Furthermore, positioning time slots are also divided into two types: ordinary positioning time slots and fast positioning time slots. Ordinary positioning time slots are used for ranging with tags where positioning cycle requirements are not fast, while fast positioning time slots are used for ranging with tags where positioning cycle requirements are fast. This invention allows the positioning base station to dynamically allocate time slots according to different business needs, significantly improving time slot utilization. Moreover, the positioning base station can transmit data wirelessly via UWB while performing TOF positioning, eliminating the need for separate hardware design for data transmission and thus reducing the construction cost of the positioning system.

[0057] Preferably, such as Figure 1As shown, this invention divides the time slot structure into two categories: 1. Positioning time slots, and 2. Data transmission time slots. Positioning time slots are dedicated to TOF ranging between the base station and the tag, while data transmission time slots are dedicated to data transmission. The activation and length of data transmission time slots are configured via a host computer based on actual service requirements. If the actual service only requires ranging and not data transmission, the data transmission time slot can be disabled. Furthermore, positioning time slots can also be divided into two categories: 1. Fast positioning time slots, and 2. Normal positioning time slots. The positioning base station allocates fast or normal positioning time slots based on the positioning update cycle required by the service. Normal positioning time slots are allocated to services with a positioning update cycle requirement greater than a preset threshold, while fast positioning time slots are allocated to services with a positioning update cycle requirement less than the preset threshold. The preset threshold refers to a set update cycle; some services require frequent and continuous positioning, while others only require positioning at intervals. Therefore, the update cycle of the preset threshold can be set to 1 minute. For services with fast positioning cycle requirements, such as the positioning of trackless rubber-wheeled vehicles, which need to be updated continuously, the positioning update cycle is less than 1 minute, so fast positioning time slots are allocated to them. For ordinary services with low or no positioning cycle update requirements, such as personnel positioning and material positioning, which are usually located every 10 or 20 minutes, the positioning update cycle is greater than 1 minute, so ordinary positioning time slots are allocated to them.

[0058] Preferably, such as Figure 2 The allocation process shown involves the positioning base station primarily allocating time slots using four parameters, including the time slot length L. ts Superframe length L sf Data transmission bandwidth (BW) data Rapid positioning cycle T f and the capacity N of the fast-locating tag f By configuring these four parameters on the host computer, the positioning base station can allocate time slots according to different service requirements using the time slot allocation method of this invention. Specifically, within a workflow, from start to finish, the process includes the following steps:

[0059] 1) The host computer sends out configuration parameters;

[0060] 2) Check if a tag network access application frame has been received; if yes, proceed to step 3; otherwise, proceed to step 4.

[0061] 3) Allocate ranging time slots according to tag service requirements and reply with tag network access response frames;

[0062] 4) Check if the data transmission time slot is enabled. If yes, proceed to step 5; otherwise, return to step 2.

[0063] 5) Detect whether the system time reaches the data transmission time slot. If so, execute step 6; otherwise, return to step 2.

[0064] 6) Transmit the transmission data via UWB. After the transmission is completed, return to step 2 and repeat the execution until the end.

[0065] Preferably, in order to illustrate the allocation principle of the data transmission time slot and the positioning time slot, it is first assumed that there is no business requirement for fast positioning, only the business requirements for ordinary positioning and data transmission. According to different data transmission business requirements, different numbers of time slots are allocated for data transmission. Here, the business requirement refers to the required data transmission bandwidth BW. data . When allocating the data transmission time slot, first, according to the time slot length L ts and the time T required for UWB to transmit 1 byte byte , calculate the maximum number of bytes that can be transmitted in one time slot L max . The calculation formula is as follows:

[0066] L max = (L ts / T byte ) * K (1)

[0067] where the time T required for UWB to transmit one byte byte is calculated according to the communication rate, preamble length, etc. used by the UWB chip. This parameter can be calculated according to the formula provided by the UWB chip and will not be described in detail here. K is the transmission loss coefficient, and the value range is 0 < K ≤ 1. Because factors such as the air transmission time and the number of bytes occupied by the chip bottom layer frame header and frame tail need to be considered, actually, not so many bytes can be transmitted, and K generally takes 0.6.

[0068] Then, according to L max , calculate the data transmission bandwidth BW of one time slot ts . The calculation formula is as follows:

[0069] BW ts = (L max * 8) / (L sf * L ts ) (2)

[0070] where L sf represents the superframe length, and L ts represents the time slot length. According to the data transmission bandwidth BW of one time slot ts and the actually required data transmission bandwidth BW data , the number of time slots L ts_data to be allocated for data transmission and the number of positioning time slots L ts_range can be calculated. The calculation formula is as follows:

[0071] L ts_data =BW data / BW ts (3)

[0072] L ts_range =L sf -L ts_data (4)

[0073] Since it is assumed that there is no business requirement for fast positioning, that is, the number of fast positioning time slots is 0, the number of positioning time slots here refers to the number of ordinary positioning time slots.

[0074] Furthermore, to illustrate the principle of allocating fast positioning time slots, we assume here that there is no data transmission service requirement, only fast positioning service requirement and ordinary positioning service requirement. First, the entire superframe period is divided into n fast positioning periods, such that each of the divided fast positioning periods corresponds to the actual required fast positioning period T. f If the values ​​are equal or close, the superframe length of the divided fast positioning cycle is L. sf_f The calculation formula is as follows:

[0075] (L sf *L ts ) / n=T fast ≈T f (5)

[0076] L sf_f =L sf / n (6)

[0077] The T calculated here fast This refers to the allocated rapid positioning cycle, and then the tag capacity N is determined based on the actual business needs. f To determine the number of fast positioning time slots and the number of normal positioning time slots within a fast positioning cycle, a schematic diagram is shown below. Figure 3 As shown.

[0078] Because it assumes no data transmission service requirements, i.e., the number of data transmission time slots is 0, only fast positioning time slots and normal positioning time slots are used here.

[0079] Furthermore, by understanding the principles of data transmission time slot allocation and fast positioning time slot allocation, time slots can be allocated to services that require both data transmission and fast positioning. For example... Figure 4 As shown, once the specific business requirements are determined, the positioning base station will have a length of L. sfThe superframe is divided into n fast positioning cycles. Tag A and Tag B belong to the service type requiring fast positioning, while Tag C belongs to the service type requiring ordinary positioning. Additionally, a data transmission time slot is allocated in the last fast positioning cycle n of the superframe for data transmission. After joining the network, Tag A and Tag B can perform n Time-of-Flight (TOF) ranging operations with the base station within one superframe cycle. Tag C, after joining the network, only performs one TOF ranging operation with the base station within one superframe cycle. Furthermore, in the final data transmission time slot of the superframe, the base station also transmits data wirelessly via UWB. Therefore, this time slot allocation method for a UWB positioning system oriented towards service requirements can achieve the fast positioning needs of Tag A and Tag B, the ordinary positioning needs of Tag C, and the data transmission needs of the positioning base station.

[0080] Example

[0081] This embodiment illustrates how a positioning base station dynamically allocates time slots based on service requirements through a specific case that requires both rapid positioning and data transmission.

[0082] In this embodiment, the time slot length L of the positioning base station S is... ts The time frame is 10ms, and the superframe length is L. sf The value is 200, and the time T required to transmit one byte is... byte The specific parameter for the data transmission bandwidth (BW) is 10.55µs, which is the target business requirement. data The fast positioning period is 10kbps. f With a time of 500ms, the tag capacity N can be quickly located. f The value is 10. Based on the above parameters, the positioning base station allocates time slots according to the following steps:

[0083] S1: The maximum number of bytes L that can be transmitted in one time slot is calculated according to formula (1). max The calculation result is L. max = (10*1000 / 10.55)*0.6 = 568.

[0084] S2: The data transmission bandwidth BW of a time slot is calculated according to formula (2). ts The calculation result is BW ts =(568*8) / (10*200 / 1000)=2.272kbps.

[0085] S3: The number of time slots L for data transmission is calculated according to formula (3). ts_data The calculation result is L ts_data =10 / 2.272=4.4, here we take the smallest integer greater than 4.4, which is 5, so the number of output transmission time slots can be calculated to be 5. Next, we will start the allocation of fast positioning time slots.

[0086] S4: The number of fast positioning cycles n is calculated according to formula (5), and the result is n = (200 * 10) / 500 = 4. That is to say, the superframe needs to be divided into 4 fast positioning cycles.

[0087] S5: The superframe length of each fast positioning cycle is calculated according to formula (6), which is the number of time slots L in each fast positioning cycle. sf_f The calculation result is L sf_f =200 / 4=50.

[0088] S6: Finally, based on the fast positioning tag capacity N f =10, which yields the result of the entire time slot resource allocation. The first 10 time slots of fast positioning cycle 1 to fast positioning cycle 3 are fast positioning time slots, and the last 40 time slots are normal positioning time slots. The first 10 time slots of fast positioning cycle 4 are fast positioning time slots, the last 5 time slots are data transmission time slots, and the other 35 time slots are normal positioning time slots.

[0089] The final allocation result of the 200 time slot resources in this embodiment is as follows: Figure 5 As shown, after time slot resource allocation, this base station can perform TOF ranging with a positioning period of 500ms with up to 10 fast positioning tags, and TOF ranging with a positioning period of 2s with up to 155 ordinary positioning tags. It can also perform data transmission with a bandwidth of 10kbps. It is worth noting that fast positioning time slots for the same location within each fast positioning period should belong to the same positioning tag. For example, time slot 0, time slots 50, 100, and 150 belong to the same fast positioning tag and cannot be assigned to different fast positioning tags.

[0090] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A time slot allocation method for a UWB positioning system oriented towards business needs, characterized in that: The allocation method is based on the positioning base station in the UWB positioning system dividing the time slot into a data transmission time slot and a positioning time slot. The data transmission time slot is used by the positioning base station to transmit data, and the positioning time slot is used by the positioning base station to determine the distance between itself and the positioning tag. The positioning base station allocates fast positioning time slots or normal positioning time slots according to the size of the positioning update cycle in the service requirements. Normal positioning time slots are allocated for services with positioning update cycle requirements greater than a preset threshold, and fast positioning time slots are allocated for services with positioning update cycle requirements less than a preset threshold. The steps involved in determining the number of data transmission time slots and positioning time slots are as follows: Based on the time slot length L ts And the time T required to transmit 1 byte byte Calculate the maximum number of bytes L that can be transmitted in one time slot. max The calculation formula is as follows: Where K is the transmission loss coefficient, and its value ranges from 0 to 1. <K≤1; According to L max Calculate the data transmission bandwidth BW for one time slot. ts The calculation formula is as follows: Where L sf L represents the superframe length. ts Indicates the time slot length; Based on the data transmission bandwidth BW of a time slot ts and the actual required data transmission bandwidth BW data Calculate the number of data transmission time slots L ts_data And the number of positioning time slots L ts_range The calculation formula is as follows: Among them, the number of positioning time slots L ts_range This includes the fast positioning time slot L. ts_fast And ordinary positioning time slot L ts_general ; In the number of positioning time slots L ts_range Determine the fast positioning time slot L ts_fast And ordinary positioning time slot L ts_general The process of determining the number of time slots includes the following steps: Divide the entire superframe cycle into n fast localization cycles. Dynamically adjusting parameter n enables faster positioning after segmentation. Rapid positioning cycle in line with actual needs To minimize the difference, the adjustment formula is as follows: When the rapid positioning cycle after division Rapid positioning cycle in line with actual needs When the difference is minimized, determine the number of superframe period divisions n, and the fast positioning period after division. Superframe length L sf_f : Then, based on the actual business needs, the tag capacity N f To determine the fast positioning time slot L within the divided fast positioning cycle. ts_fast The number N fast and ordinary positioning time slot L ts_general The number N general .

2. The UWB positioning system time slot allocation method oriented towards business needs according to claim 1, characterized in that: During the final time slot allocation, the slot of length L will be... sf The superframe is divided into n fast localization cycles, where, In the first n-1 fast positioning cycles, no data transmission time slots are allocated; only positioning time slots are allocated, i.e., the number of positioning time slots L. ts_range The superframe length for the fast positioning cycle is L. sf_f It includes N fast One fast positioning time slot and N general One ordinary positioning time slot, of which: In the nth fast positioning cycle, data transmission time slots and positioning time slots are allocated, i.e., the number of positioning time slots L. ts_range = -L ts_data , where L ts_data Indicating the number of data transmission time slots, the fast positioning time slot L is included in the number of positioning time slots. ts_fast And ordinary positioning time slot L ts_general The number of time slots are as follows: 。 3. The UWB positioning system time slot allocation method oriented towards business needs according to claim 2, characterized in that: In the fast positioning time slot, there are several tags representing services with fast positioning needs. The tags representing services with fast positioning needs perform n ranging measurements with the positioning base station within one superframe period. In a normal positioning time slot, several tags representing services with normal positioning needs are set up. Each tag representing a service with normal positioning needs performs a distance measurement with the positioning base station once within one superframe period.

4. The UWB positioning system time slot allocation method oriented towards business needs according to claim 3, characterized in that: The allocation method is as follows: S1. The host computer sends the following parameters to the positioning base station: time slot length L ts Superframe length L sf The time T required to transmit one byte byte Data transmission bandwidth (BW) data The rapid positioning cycle T for actual business needs f Rapidly locate tag capacity N f ; S2. Calculate the maximum number of bytes L that can be transmitted in a single time slot. max ; S3. Calculate the data transmission bandwidth BW for one time slot. ts ; S4. Calculate the number of time slots L for data transmission. ts_data L ts_data Take the smallest integer up; S5. Calculate and determine the number n of the rapid positioning cycles; S6. Calculate the superframe length L for each fast positioning cycle. sf_f , which represents the number of time slots in each fast positioning cycle; S7. Determine the final allocation, where the first n-1 fast positioning cycles include N f One fast positioning time slot and L sf_f -N f One normal positioning time slot; the first N slots within the nth fast positioning cycle f Each time slot is a fast positioning time slot, and finally L ts_data One time slot is for data transmission, and the remaining L sf_f -N f -L ts_data Each time slot is a normal positioning time slot.

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