UWB-based time synchronization method, system, device and base station

Abstract

The present disclosure provides a method for time synchronization between base stations based on UWB, including: receiving synchronization data sent by a second base station relative to a first base station; updating a time sequence table of the second base station relative to the first base station based on the synchronization data; fitting a clock model of the second base station relative to the first base station according to the time sequence table; and synchronizing the time of the second base station with the first base station based on the clock model. By utilizing the technical solution of the present invention, multiple base stations can process data on the same time axis with less resource occupation and cost, and the time synchronization accuracy between base stations can be improved to 0.1ns, thereby improving the positioning accuracy of the system and enhancing the adaptability of the positioning system in complex environments.

Description

Technical Field

[0001] The present disclosure relates to the field of UWB communication technology, and in particular to a UWB-based inter-base station time synchronization method, system, device and base station. Background Art

[0002] As a short-range wireless communication technology, UWB (Ultra-Wideband) technology has the advantages of high-precision positioning, low power consumption, anti-multipath and anti-interference. Its excellent time resolution and penetration ability can achieve centimeter-level high-precision positioning in complex environments.

[0003] In a multi-base station three-dimensional positioning system based on UWB, in order to ensure the accuracy of positioning data and the overall performance of the system, precise time synchronization must be achieved between base stations to ensure data exchange and calculation under the same time reference.

[0004] At present, to achieve synchronization between multiple base stations, dedicated wired timing or global navigation satellite (GNSS) solutions can be used, but the existing solutions have limitations in terms of resource occupation, accuracy and cost, and cannot meet the needs of high time accuracy. Therefore, there is an urgent need for a time synchronization solution between base stations that can provide high-precision performance at a lower cost. Summary of the invention

[0005] The present invention provides a UWB-based inter-base station time synchronization method, system, device and base station, which are used to solve the problem that the accuracy of existing UWB inter-base station synchronization cannot meet the requirements of low cost and high accuracy.

[0006] The present invention solves the above technical problems through the following aspects:

[0007] In a first aspect, the present invention provides a method for time synchronization between base stations based on UWB, applicable to a computing server side, comprising:

[0008] Receiving synchronization data relative to the first base station sent by the second base station, the synchronization data including a transmission time of a broadcast signal for synchronization transmitted by the first base station and a reception time of the broadcast signal received by the second base station;

[0009] updating a time sequence table of the second base station relative to the first base station based on the synchronization data;

[0010] Obtaining, by fitting according to the time series table, a clock model of the second base station relative to the first base station;

[0011] The second base station is time synchronized with the first base station based on the clock model.

[0012] In a second aspect, the present invention provides a UWB-based inter-base station time synchronization method, applicable to a base station side, comprising:

[0013] transmitting a broadcast signal for synchronization when configured as a first base station;

[0014] When configured as a second base station, after receiving the broadcast signal transmitted from the first base station, the reception time and the transmission time of the broadcast signal are transmitted to the operation server as synchronization data, so that the operation server performs a synchronization operation, and the synchronization operation includes: receiving the synchronization data; updating the time series table of the second base station relative to the first base station based on the synchronization data; fitting the clock model of the second base station relative to the first base station according to the time series table; and synchronizing the time of the second base station with that of the first base station according to the clock model.

[0015] In a third aspect, the present invention provides a UWB-based inter-base station time synchronization system, comprising at least a first base station, a second base station and a computing server, wherein:

[0016] The first base station transmits a broadcast signal for synchronization;

[0017] The second base station receives the broadcast signal, and transmits the receiving time of the broadcast signal and the transmitting time of the broadcast signal as synchronization data to the operation server;

[0018] The operation server receives the synchronization data; updates the time sequence table of the second base station relative to the first base station based on the synchronization data; obtains a clock model of the second base station relative to the first base station based on the time sequence table; and synchronizes the time of the second base station with that of the first base station based on the clock model.

[0019] In a fourth aspect, the present invention provides a server-side device for time synchronization between UWB base stations, comprising:

[0020] a receiving module, configured to receive synchronization data relative to the first base station sent by the second base station, the synchronization data including a transmission time of a broadcast signal for synchronization transmitted by the first base station and a reception time of the broadcast signal received by the second base station;

[0021] A sequence table module, configured to update a time sequence table of the second base station relative to the first base station based on the synchronization data;

[0022] A fitting calculation module, configured to obtain a clock model of the second base station relative to the first base station by fitting according to the time series table;

[0023] The base station synchronization module is configured to synchronize the time of the second base station with the first base station based on the clock model.

[0024] In a fifth aspect, the present invention provides a UWB base station, comprising:

[0025] A transmitting module, used for transmitting a broadcast signal for synchronization when serving as a first base station;

[0026] A receiving module, when serving as a second base station, for receiving a broadcast signal transmitted from the first base station;

[0027] A data transmission module is used to transmit the reception time and the transmission time of the broadcast signal as synchronization data to an operation server after receiving the broadcast signal transmitted from the first base station, so that the operation server performs a synchronization operation, and the synchronization operation includes: receiving the synchronization data; updating the time sequence table of the second base station relative to the first base station based on the synchronization data; fitting the clock model of the second base station relative to the first base station according to the time sequence table; and synchronizing the time of the second base station with that of the first base station based on the clock model.

[0028] The technical solution of the present invention has the following beneficial effects:

[0029] 1) The clock model of the base station is fitted by the server, which can be used to extrapolate the measured time at any time, so as to maintain time synchronization with the synchronous base station. The clock model can also be used to detect whether the clock of the base station has jumped.

[0030] 2) The fitting clock model uses a simple linear fitting based on the characteristics of the crystal oscillator, which not only optimizes the accuracy of data fitting, but also reduces complex calculations and improves computing efficiency.

[0031] 3) This solution uses wireless synchronization between base stations by sending and receiving broadcast signals. It does not rely on external satellites or cables, reduces system resource usage, and improves the scalability and flexibility of the system.

[0032] 4) Carrying the transmission time in the broadcast signal reduces the round-trip process of interactive signals between base stations, reduces communication delays, and is conducive to improving the accuracy of time synchronization.

[0033] By utilizing the technical solution of the present invention, multiple base stations can perform data processing on the same time axis with less resource occupation and cost, and the time synchronization accuracy between base stations can be improved to 0.1ns, thereby improving the positioning accuracy of the system and enhancing the adaptability of the positioning system in complex environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0035] Figure 1 A schematic diagram of the network architecture of a UWB positioning system in an embodiment of the present disclosure;

[0036] Figure 2 A schematic diagram of the topological structure of a UWB base station in an embodiment of the present disclosure;

[0037] Figure 3 Flow chart of the server-side method for time synchronization between UWB-based base stations provided in the embodiment of the present disclosure

[0038] Figure 4 It is a timing diagram of each base station receiving and sending broadcast signals in an embodiment of the present disclosure;

[0039] Figure 5 A structural block diagram of a UWB-based inter-base station time synchronization system provided in an embodiment of the present disclosure;

[0040] Figure 6 A structural block diagram of a server-side device provided in an embodiment of the present disclosure;

[0041] Figure 7 A structural block diagram of a UWB base station provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0042] In order to enable those skilled in the art to better understand the technical solutions in the present disclosure, the technical solutions of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, rather than all of the embodiments. Based on the embodiments of the present disclosure, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present disclosure. In addition, for the sake of clarity, parts that are not related to the description of the exemplary embodiments are omitted in the drawings.

[0043] In this specification, it should be understood that terms such as "including" or "having" are intended to indicate the existence of the features, numbers, steps, behaviors, components, parts or combinations thereof disclosed in the present disclosure, and are not intended to exclude the possibility that one or more other features, numbers, steps, behaviors, components, parts or combinations thereof exist or are added. It should also be noted that the embodiments in the present disclosure and the features in the embodiments may be combined with each other if there is no conflict.

[0044] In the UWB multi-base station 3D positioning system, each base station needs to work together through the communication network to ensure that the location data of the mobile target can be accurately and real-time transmitted back to the central control system to achieve real-time monitoring and management of the target. In order to ensure the accuracy of the positioning data and the overall performance of the system, accurate time synchronization must be achieved between each base station so that data exchange and calculation can be performed under the same time reference.

[0045] Time synchronization is not only one of the core technologies of multi-base station positioning systems, but also the basis for ensuring system stability and reliability. Accurate time synchronization can eliminate the negative impact of time errors on positioning calculations and ensure that the data between base stations can match each other, thereby improving the overall positioning accuracy. In practical applications, such as unmanned vehicle fleet collaboration and intelligent robot clusters, accurate base station time synchronization is an important factor in ensuring the efficient operation of these systems.

[0046] Currently, there are two main ways to achieve time synchronization of multiple base stations in the positioning system:

[0047] The first is a dedicated wired timing method, which connects each base station through a physical cable to achieve a unified time reference. The base station sends and receives UWB signals based on this time reference to ensure that the time error of each base station is minimized. The ranging data of each base station is calculated on the same time axis, which improves the accuracy of positioning.

[0048] Although the wired timing method can provide high-precision time synchronization, it has several significant problems:

[0049] 1) High cost: In complex application environments, large-scale wired connection deployment is a very costly and time-consuming task, especially in some scenarios that require flexible deployment.

[0050] 2) Poor system scalability: Wired connections limit the flexibility of system expansion. Adding new equipment or changing deployment requires rewiring, which increases the difficulty of maintenance.

[0051] 3) Susceptible to environmental influences: Physical cables are easily damaged by the external environment, such as mechanical damage or electromagnetic interference, which reduces system stability and increases maintenance costs.

[0052] The second is the time synchronization method based on GNSS (Global Navigation Satellite System). In some application scenarios, using GNSS for time synchronization is a possible option. Each base station has a built-in GNSS receiving module and uses the time reference provided by satellite signals for synchronization. The limitations of this method are:

[0053] 1) Strong signal dependence: Good satellite signal coverage is required. In indoor or shielded environments, it is easily affected by signal quality and cannot guarantee continuous high-precision synchronization.

[0054] 2) High equipment cost: Each base station needs to be equipped with a GNSS module, which significantly increases the hardware cost and power consumption of the system.

[0055] 3) Time delay: There is a certain delay in satellite signal propagation, especially in dynamic scenes, the time synchronization accuracy may be poor.

[0056] With the development of wireless communication technology, the complexity and application areas of positioning systems are constantly expanding, and the requirements for time synchronization are becoming higher and higher. Not only does the synchronization accuracy need to reach the nanosecond level, the cost of system deployment and maintenance also needs to be as low as possible, and it must have high scalability and adaptability to work effectively in various complex environments and dynamically changing scenarios.

[0057] Based on the current technical status, the present invention improves the time synchronization scheme between UWB base stations. The scheme has good scalability and adaptability and can be widely used in various application scenarios.

[0058] First, the network architecture of the UWB positioning system using the synchronization method of the embodiment of the present disclosure is briefly described.

[0059] Figure 1 Schematic diagram of the network architecture of the UWB positioning system in the embodiment of the present disclosure.

[0060] like Figure 1 As shown, multiple UWB base stations in the system are connected to the NTP server and the computing server, for example, they are in the same local area network and connected by wire. The NTP server can provide coarse synchronization between base stations, and all base stations complete time synchronization with the NTP server. Due to the uncertainty of the transmission delay of the LAN network, after the base station is synchronized by NTP, the time accuracy of each base station can reach up to 1us~10us. In some scenarios, it cannot meet the accuracy requirements, and the computing server is required to execute the synchronization method provided by the present disclosure to meet it. When the UWB base station completes the first NTP synchronization, it will synchronously clear the UWB time counter to ensure that the time starting point of each base station in the system is the same.

[0061] Multiple UWB base stations in the system can communicate with each other. Figure 2 In the base station topology shown, the signal transmitted by UWB base station 3 can be received by UWB base station 2 , UWB base station 4 , UWB base station 5 and UWB base station 6 .

[0062] Figure 3A flowchart of a server-side method for UWB-based time synchronization between base stations provided in an embodiment of the present disclosure.

[0063] like Figure 3 As shown, the method on the server side includes operations S110 to S140. The server here is a computing server, and the following description refers to the computing server unless otherwise specified.

[0064] S110: receiving synchronization data relative to the first base station sent by the second base station, the synchronization data including the transmission time of the broadcast signal for synchronization transmitted by the first base station and the reception time of the broadcast signal received by the second base station.

[0065] The first base station can be configured as a main base station, transmitting a broadcast signal for synchronization, so that other base stations in the system receive the broadcast signal and maintain time synchronization with the first base station. The broadcast signal can be broadcast by the first base station at a preset period, so that other base stations can synchronize with the first base station periodically. For example, the system presets a frame structure for the transmission time, and the beginning of each frame is a broadcast subframe. The first base station transmits a broadcast signal in the broadcast subframe, and the second base station receives the broadcast signal in the broadcast subframe. This preset time structure is conducive to the coordination between base stations. When the second base station receives the broadcast signal, it identifies the respective receiving time, and transmits the transmission time and receiving time of the broadcast signal and the ID of the second base station to the operation server. The transmission time of the broadcast signal can be added to the broadcast signal by the first base station, and then transmitted to the server by the second base station, thereby saving the communication interaction process between the first base station and the second base station and reducing resource occupation.

[0066] S120: Update the time sequence table of the second base station relative to the first base station based on the synchronization data.

[0067] When other base stations receive the broadcast information, they will mark their respective receiving times and transmit the transmitting and receiving times and the base station ID to the computing server. Since the positions of the base stations remain unchanged and the distances between the base stations remain fixed, the time difference between the receiving and transmitting times should theoretically remain unchanged. Any changes are caused by clock drift and clock jitter, which will affect the measurement accuracy.

[0068] Figure 4 An example of the timing of each base station sending and receiving broadcast signals is given.

[0069] like Figure 4 As shown in the figure, UWB base station 3 is the transmitting base station, and UWB base station 2, UWB base station 4, UWB base station 5 and UWB base station 6 are receiving base stations. The purpose of time synchronization between base stations is to make the sending and receiving times of each base station on the same time axis. Due to the different locations of the receiving base stations from the transmitting base station, the receiving time will be different. is the kth transmission time of UWB base station 3, It is the kth receiving moment of UWB base station 2, and the markings of other base stations are similar.

[0070] The reception timings of the UWB base station 5 and the UWB base station 6 are similar to this.

[0071] The second base station as the receiver will transmit the corresponding receiving time and transmitting time as synchronization data to the server every time it receives a broadcast signal, which also includes the ID of the first base station to identify that the synchronization data is relative to the first base station. The server records the time sequence table corresponding to the second base station based on the synchronization data. As the second base station receives a new broadcast signal each time, the server updates the corresponding time sequence table. The time sequence table can be stored in a secondary list format according to the base station ID, for example:

[0072] The time series of the UWB base station transmitting the broadcast signal for 3 cycles is:

[0073]

[0074] The time series of the UWB base station 2 receiving the broadcast signal is:

[0075]

[0076] The time series of the UWB base station 4 receiving the broadcast signal is:

[0077]

[0078] S130: Obtain a clock model of the second base station relative to the first base station by fitting according to the time series table.

[0079] When fitting the clock model, there can be a variety of fitting algorithms. The embodiment of the present disclosure provides a simple linear fitting method. The first base station as the transmitter can be the main base station, and the adjacent second base station that needs to be synchronized with it can be based on the least squares criterion, and the data in the first time range in the time series table can be fitted with a first-order polynomial, the data in the second time range can be fitted with a second-order polynomial, and the data in the third time range can be fitted with a third-order polynomial to obtain the clock model of the second base station relative to the first base station. The first time range, the second time range, and the third time range are successively away from the current moment. The interval division of the first time range, the second time range, and the third time range and the linear fitting method adopted are matched with the characteristics of the crystal oscillator, so that high-precision performance can be provided with a simple algorithm.

[0080] Still taking UWB base station 3 transmitting and UWB base station 2 receiving as an example, the specific fitting can be in the following form:

[0081] A first-order polynomial fit is used for data within intervals greater than 10 seconds and less than 30 minutes.

[0082]

[0083] A second-order polynomial fit is used for data within intervals greater than 30 minutes and less than 3 hours.

[0084]

[0085] A third-order polynomial fit is used for data within an interval greater than 3 hours and less than 12 hours.

[0086]

[0087] The clock model of UWB base station 2 relative to UWB base station 3 is obtained through the polynomial fitting.

[0088] S140: Synchronize the time of the second base station with that of the first base station according to the clock model.

[0089] According to the currently fitted clock model, a polynomial fitting extrapolation is performed to obtain the extrapolated time of the second base station at the observation time point. For example, when locating a UWB tag, the communication between the second base station and the tag occurs within the time range after it is synchronized with the first base station. Therefore, the second base station can calculate the positioning time of the tag through the clock model, and the time synchronization between the second base station and the first base station can be maintained, so that the location of the tag can be calculated with more accurate time. Actual verification can improve the synchronization accuracy between base stations to 0.1ns, which can meet the needs of high-precision scenarios.

[0090] Furthermore, the method of the embodiment of the present disclosure also includes detecting whether the clock of the second base station has a jump according to the measurement result of the clock model. When the second base station receives a new UWB broadcast signal transmitted by the first base station, the clock model is used to extrapolate and calculate the current receiving time. The corresponding calculation time , when receiving and the calculated time When the deviation exceeds the threshold, it is determined that there is a clock jump. Preferably, the deviation threshold can be set to 10ns. Since the positions of each base station remain unchanged and the distances between the base stations remain fixed, the change in the time difference between the sending and receiving times is caused by factors such as clock drift, clock jitter or clock jump. The influence of clock drift and jitter can be solved by extrapolation algorithm fitting, while clock jumps cannot match the model and need to be detected and eliminated. When a clock anomaly is detected, the data in the corresponding time series table is cleared; otherwise, the time series table continues to be updated. After a synchronization anomaly is detected, the positioning data of the second base station can be temporarily not used during positioning, and will be used for positioning calculations after its clock returns to normal. Through anomaly detection, the time synchronization error can be adjusted and repaired in real time to ensure the stability and reliability of the system.

[0091] According to the method of the above embodiment, the clock model of the base station can be fitted by the server, which can be used to extrapolate the measured time at any time, so as to maintain time synchronization with the synchronous base station, and the clock model can also be used to detect whether the clock of the base station has a jump. The fitting clock model adopts a simple linear fitting according to the characteristics of the crystal oscillator, which not only optimizes the accuracy of data fitting, but also reduces complex calculations and improves the operation efficiency. On the other hand, the scheme uses the wireless method of sending and receiving broadcast signals between base stations for synchronization, does not rely on external satellites or cables, reduces the occupation of system resources, and improves the scalability and flexibility of the system. On this basis, the transmission time is carried in the broadcast signal, which reduces the round-trip process of the interactive signal between base stations, reduces the communication delay, and is conducive to improving the accuracy of time synchronization. Using the technical solution of the present invention, multiple base stations can perform data processing on the same time axis with less resource occupation and cost, and the time synchronization accuracy of each base station can be improved to 0.1ns, which improves the positioning accuracy of the system, enhances the adaptability of the positioning system in complex environments, and thus improves the stability and reliability of the system.

[0092] Correspondingly, the present disclosure also provides an embodiment of a base station side method for UWB-based time synchronization between base stations.

[0093] The UWB base station in the positioning system can act as the first base station or the second base station, which can be configured by the system through high-level instructions.

[0094] When configured as a first base station, a broadcast signal for synchronization is transmitted.

[0095] When configured as a second base station, after receiving the broadcast signal transmitted from the first base station, the reception time of the broadcast signal and the transmission time of the broadcast signal are transmitted to the operation server as synchronization data, so that the operation server can perform a synchronization operation, which includes: receiving the synchronization data; updating the time series table of the second base station relative to the first base station based on the synchronization data; fitting a clock model of the second base station relative to the first base station according to the time series table; and synchronizing the time of the second base station with that of the first base station according to the clock model.

[0096] When acting as the first base station, the corresponding transmission time is added to the transmitted broadcast signal, thereby reducing the signal round trip process when synchronizing with the second base station, reducing resource occupation, and improving communication efficiency. In addition, the first base station and the second base station can send and receive signals according to the preset frame structure. The first base station periodically transmits the broadcast signal, and the second base station receives the broadcast signal within the corresponding time, so that the adjacent base station can maintain synchronization with the first base station.

[0097] On this basis, the present disclosure also provides a UWB-based inter-base station time synchronization system 200.

[0098] Figure 5 A structural block diagram of a UWB-based inter-base station time synchronization system provided in an embodiment of the present disclosure.

[0099] like Figure 5 As shown, the system 200 at least includes a first base station 210 , a second base station 220 and a computing server 230 .

[0100] The first base station 210 transmits a broadcast signal for synchronization.

[0101] The second base station 220 receives the broadcast signal, and transmits the receiving time of the broadcast signal and the transmitting time of the broadcast signal as synchronization data to the operation server.

[0102] The operation server 230 receives the synchronization data; updates the time sequence table of the second base station relative to the first base station based on the synchronization data; obtains a clock model of the second base station relative to the first base station according to the time sequence table; and synchronizes the time of the second base station with that of the first base station according to the clock model.

[0103] The synchronization system in this embodiment may also include an NTP server 240 for initial time synchronization between the first base station and the second base station. The time accuracy of the base station after NTP synchronization is between 1us and 10us, which is coarse synchronization in the disclosed embodiment. After completing NTP synchronization, the first base station may periodically transmit a broadcast signal within a preset time, and the second base station may receive the broadcast signal within a corresponding time. When each base station completes the first NTP synchronization, it will synchronously clear its own UWB time counter to ensure that the time starting point of each base station in the system is the same.

[0104] According to the method of the embodiment of the present disclosure, synchronization is performed by wirelessly transmitting and receiving broadcast signals between base stations, without relying on external satellites or cables, thus reducing the occupation of system resources and improving the scalability and flexibility of the system. By using the technical solution of the present invention, multiple base stations can process data on the same time axis, thus improving the positioning accuracy of the system, enhancing the adaptability of the positioning system in complex environments, and improving the stability and reliability of the system.

[0105] Based on the same inventive concept, the present disclosure also provides a server-side device 300 for time synchronization between UWB base stations.

[0106] Figure 6 It is a structural block diagram of the server-side device 300.

[0107] like Figure 6 As shown, the server-side device 300 includes a data receiving module 310, a sequence table module 320, a fitting calculation module 330 and a base station synchronization module 340. The server-side device 300 can be implemented by software, hardware or a combination of software and hardware. The server-side device 300 can execute the various synchronization methods on the server side mentioned above.

[0108] The data receiving module 310 is configured to receive synchronization data relative to the first base station sent by the second base station, the synchronization data including the transmission time of the broadcast signal for synchronization transmitted by the first base station and the reception time of the broadcast signal received by the second base station.

[0109] The sequence table module 320 is configured to update the time sequence table of the second base station relative to the first base station based on the synchronization data.

[0110] The fitting calculation module 330 is configured to obtain a clock model of the second base station relative to the first base station by fitting according to the time series table.

[0111] The base station synchronization module 340 is configured to synchronize the time of the second base station with the first base station according to the clock model.

[0112] Among them, the fitting calculation module 330 can use the least squares criterion to fit the data in the first time range in the time series table using a first-order polynomial fit, the data in the second time range using a second-order polynomial fit, and the data in the third time range using a third-order polynomial fit to obtain a clock model of the second base station relative to the first base station. The first time range, the second time range, and the third time range are successively away from the current time.

[0113] Based on the same inventive concept, the embodiment of the present disclosure also provides a UWB base station 400 .

[0114] Figure 7 A structural block diagram of a UWB base station provided in an embodiment of the present disclosure.

[0115] like Figure 7 As shown, the base station 400 includes a transmitting module 410, a receiving module 420 and a data transmission module 430. The base station 400 can be implemented by software, hardware or a combination of software and hardware. The base station 400 can execute the various synchronization methods on the base station side mentioned above.

[0116] The transmitting module 410 is used to transmit a broadcast signal used for synchronization when serving as the first base station.

[0117] The receiving module 420, when serving as a second base station, is used to receive a broadcast signal transmitted from the first base station.

[0118] The data transmission module 430 is used to transmit the reception time and the transmission time of the broadcast signal as synchronization data to the operation server after receiving the broadcast signal transmitted from the first base station, so that the operation server performs a synchronization operation, and the synchronization operation includes: receiving the synchronization data; updating the time series table of the second base station relative to the first base station based on the synchronization data; fitting the clock model of the second base station relative to the first base station according to the time series table; and synchronizing the time of the second base station with the first base station according to the clock model.

[0119] The transmitting module 410 can transmit a broadcast signal at a preset period and add a transmission time to the broadcast signal, thereby reducing the communication interaction process with the second base station.

[0120] The present disclosure also provides an electronic device for time synchronization between UWB base stations, the electronic device includes one or more processors and a memory, the memory is used to store one or more computer programs, when the one or more computer programs are executed by one or more processors, the one or more processors implement the various synchronization methods described above.

[0121] The above describes specific embodiments of the present disclosure. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0122] Each embodiment in the present disclosure is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the embodiments of the base station side method, the corresponding base station, the server side device, the synchronization system and the electronic device, since they are basically similar to the embodiments of the server side synchronization method, the description is relatively simple, and the relevant parts can be referred to the partial description of the server side method embodiment.

[0123] The above description is only an embodiment of the present disclosure and is not intended to limit the present disclosure. For those skilled in the art, the present disclosure may have various changes and variations. Any modification, equivalent substitution, improvement, etc. made within the spirit and principle of the present disclosure shall be included in the scope of the claims of the present disclosure.

Claims

1. A method for time synchronization between base stations based on UWB, applicable to a computing server side, characterized in that: include: receiving synchronization data relative to the first base station sent by the second base station, the synchronization data including a transmission time of a broadcast signal for synchronization transmitted by the first base station and a reception time of the broadcast signal received by the second base station, wherein the transmission time of the broadcast signal is added to the broadcast signal by the first base station; updating a time sequence table of the second base station relative to the first base station based on the synchronization data; Fitting the clock model of the second base station relative to the first base station according to the time series table includes: fitting the data within the first time range in the time series table using a first-order polynomial, fitting the data within the second time range using a second-order polynomial, and fitting the data within the third time range using a third-order polynomial, based on a least squares criterion, to obtain the clock model of the second base station relative to the first base station; The second base station is time synchronized with the first base station based on the clock model.

2. The method according to claim 1, characterized in that The broadcast signal is broadcast by the first base station at a preset period.

3. The method according to claim 1, characterized in that The first time range, the second time range and the third time range are successively farther away from the current time.

4. The method according to claim 1, characterized in that: The method also includes detecting whether there is an abnormality in the clock of the second base station according to the calculation result of the clock model.

5. The method according to claim 4, characterized in that The method further comprises: If the clock of the second base station is abnormal, clear the data in the time series table; Otherwise, continue to update the time series table.

6. A method for time synchronization between base stations based on UWB, applicable to the base station side, characterized in that: include: When configured as a first base station, transmitting a broadcast signal for synchronization, and adding a transmission time of the broadcast signal to the broadcast signal; When configured as a second base station, after receiving the broadcast signal transmitted from the first base station, the receiving time and the transmitting time of the broadcast signal are transmitted to the operation server as synchronization data, so that the operation server performs a synchronization operation, and the synchronization operation includes: receiving the synchronization data; updating the time series table of the second base station relative to the first base station based on the synchronization data; fitting a clock model of the second base station relative to the first base station according to the time series table; synchronizing the time of the second base station with that of the first base station according to the clock model, wherein fitting the clock model includes: based on the least squares criterion, fitting the data in the first time range in the time series table with a first-order polynomial, fitting the data in the second time range with a second-order polynomial, and fitting the data in the third time range with a third-order polynomial, to obtain the clock model of the second base station relative to the first base station.

7. A UWB-based base station time synchronization system, characterized in that: At least includes a first base station, a second base station and a computing server, wherein: The first base station transmits a broadcast signal for synchronization, and adds a transmission time of the broadcast signal into the broadcast signal; The second base station receives the broadcast signal, and transmits the receiving time of the broadcast signal and the transmitting time of the broadcast signal as synchronization data to the operation server; The operation server receives the synchronization data; updates the time series table of the second base station relative to the first base station based on the synchronization data; obtains a clock model of the second base station relative to the first base station according to the time series table; and synchronizes the time of the second base station with that of the first base station based on the clock model; wherein fitting the clock model comprises: based on the least squares criterion, fitting the data within the first time range in the time series table using a first-order polynomial, fitting the data within the second time range using a second-order polynomial, and fitting the data within the third time range using a third-order polynomial, to obtain a clock model of the second base station relative to the first base station.

8. The system according to claim 7, characterized in that The system further comprises an NTP server for initial time synchronization between the first base station and the second base station.

9. A server-side device for time synchronization between UWB base stations, characterized in that: include: a data receiving module, configured to receive synchronization data relative to the first base station sent by the second base station, the synchronization data including a transmission time of a broadcast signal for synchronization transmitted by the first base station and a reception time of the broadcast signal received by the second base station, wherein the transmission time of the broadcast signal is added to the broadcast signal by the first base station; A sequence table module, configured to update a time sequence table of the second base station relative to the first base station based on the synchronization data; A fitting calculation module is configured to obtain a clock model of the second base station relative to the first base station according to the time series table by fitting, including: based on the least squares criterion, using a first-order polynomial fitting for data within a first time range in the time series table, using a second-order polynomial fitting for data within a second time range, and using a third-order polynomial fitting for data within a third time range, to obtain a clock model of the second base station relative to the first base station; The base station synchronization module is configured to synchronize the time of the second base station with the first base station based on the clock model.

10. A UWB base station, characterized in that: include: A transmitting module, when serving as a first base station, for transmitting a broadcast signal for synchronization, and adding a transmitting time of the broadcast signal into the broadcast signal; A receiving module, when serving as a second base station, for receiving a broadcast signal transmitted from the first base station; A data transmission module is used to transmit the reception time and the transmission time of the broadcast signal as synchronization data to an operation server after receiving a broadcast signal transmitted from a first base station, so that the operation server performs a synchronization operation, the synchronization operation comprising: receiving the synchronization data; updating the time series table of the second base station relative to the first base station based on the synchronization data; fitting a clock model of the second base station relative to the first base station according to the time series table; synchronizing the time of the second base station with that of the first base station based on the clock model; wherein fitting the clock model comprises: based on the least squares criterion, fitting the data within the first time range in the time series table using a first-order polynomial, fitting the data within the second time range using a second-order polynomial, and fitting the data within the third time range using a third-order polynomial, to obtain the clock model of the second base station relative to the first base station.

Images