Intelligent high-precision positioning method

Abstract

The invention provides an intelligent high-precision positioning method, belongs to the technical field of intelligent positioning and communication, can realize automatic production measurement, automatic deployment configuration, self-adaptive high-precision positioning and data transmission through three intelligent stages of production, deployment and work, greatly improves the air interface capacity of a system, and improves the positioning precision of the system. And meanwhile, the network side base station is low in synchronization precision requirement and easy to realize.

Description

Technical Field

[0001] The present invention relates to the fields of intelligent positioning technology and communication technology, and in particular to an intelligent high-precision positioning method. Background Art

[0002] Ultra-wideband UWB high-precision positioning technology has a positioning accuracy of up to centimeter level. The existing technology adopts two-way TOF asynchronous positioning method and TDOA synchronous positioning method.

[0003] (1) Existing two-way TOF asynchronous positioning method

[0004] The ranging process in the two-way TOF (Time Of Flight) asynchronous positioning method is as follows: Figure 1 shown.

[0005] The tag sends a Poll message, measures and records the transmission time T1 of the ultra-wideband signal; after receiving the Poll message, the base station measures and records the reception time T2 of the first path signal in the ultra-wideband signal; the base station sends a response message, measures and records the transmission time T3 of the ultra-wideband signal; the tag receives the Response message, measures and records the reception time T4 of the first path signal in the ultra-wideband signal; the tag sends a final message, measures and records the transmission time T5 of the ultra-wideband signal, wherein the Final message contains T1, T4 and T5 recorded by the tag; the base station receives the Final message, measures and records the reception time T6 of the first path signal in the ultra-wideband signal. Therefore, the base station obtains all the transmission time and reception time, namely T1, T2, T3, T4, T5 and T6. The ranging result is calculated by the following formula:

[0006] Tround11=T4-T1

[0007] Tround22=T6-T3

[0008] Treply11=T3-T2

[0009] Treply22=T5-T4

[0010]

[0011] (2) Existing TDOA synchronous positioning methods

[0012] The existing TDOA synchronous positioning method determines the position of the tag by detecting the absolute time difference between the arrival of the UWB signal at two base stations, rather than the arrival flight time. The TOA of the time when the tag arrives at the two base stations is used to obtain the difference. This method requires strict time synchronization between the base stations, and the time synchronization accuracy must be at the nanosecond level (10-9s) to meet the ranging accuracy and positioning accuracy requirements of ultra-wideband UWB.

[0013] Existing ultra-wideband positioning systems are mainly used for high-precision positioning indoors and outdoors, while data transmission needs to rely on wireless transmission systems such as 4G, 5G, WiFi, and LoRa.

[0014] In the existing two-way TOF asynchronous positioning method, since the tags randomly send Poll messages, when the number of tags in the same area increases, the probability of tag collision increases, the positioning success rate decreases rapidly, and the system capacity is small.

[0015] The existing TDOA synchronous positioning method requires nanosecond-level time synchronization accuracy between base stations, and the synchronization accuracy is high. If the synchronization accuracy does not meet the requirements, the ranging accuracy and positioning accuracy will be directly reduced.

[0016] Therefore, there is an urgent need in this field for a technical solution that can improve the intelligence level of the system and improve the system's high-precision positioning and data transmission performance.

[0017] The information disclosed in this background technology section is only intended to enhance the understanding of the overall background of the invention and should not be regarded as an acknowledgment or any form of suggestion that the information constitutes the prior art already known to a person skilled in the art. Summary of the invention

[0018] The purpose of the present invention is to provide a high-precision positioning method.

[0019] To achieve the above object, the present invention provides the following solutions:

[0020] An intelligent high-precision positioning method, characterized by comprising:

[0021] Automated production testing;

[0022] Automated deployment configuration;

[0023] Adaptive positioning and data transmission.

[0024] Optionally, the automated production test includes:

[0025] The server receives the tag positioning data uploaded by the base station through the message protocol mechanism;

[0026] The base station selects the production test mode through the network configuration tool and broadcasts the current working mode and working parameters through beacon frames;

[0027] The tag identifies the production test base station through Beacon frames and enters the production test mode, accessing the production test base station with a high positioning frequency.

[0028] Optionally, the automated deployment configuration includes:

[0029] The server configures the base station to enter deployment mode 1 and / or deployment mode 2 through a message protocol mechanism;

[0030] The base station configures network information and server information through the network configuration tool, receives configuration information through the message protocol mechanism and adjusts its own working mode and working status. The tag identifies the base station working mode and enters the deployment assistance mode.

[0031] Optionally, the deployment mode 1 is used for base station networking and working parameter adjustment. The server configures the base station information through the message protocol mechanism, including the base station long identifier, the base station short identifier, the subnet identifier, the base station synchronization identifier, the base station beacon time slot, and the base station beacon transmission power; the server collects the base station working information through the message protocol mechanism, including the base station beacon time slot occupancy, Beacon signal strength and clock tree level around the base station;

[0032] When the base station short identifier is configured to a specific value, the base station receives Beacon frames from other base stations in the same personal area network identifier, and reports the base station short identifier, base station beacon time slot, Beacon signal strength and clock tree of the received Beacon frame; when the base station short identifier is configured to other values, it synchronizes with other base stations in the existing network and sends its own Beacon frame according to the configuration parameters.

[0033] Optionally, the deployment mode 2 is used for base station working parameter adjustment, deployment point information correction and positioning test. The server configures the base station information through the message protocol mechanism, including the base station accessible identification and the base station working transmission power. The server collects the tag positioning information through the message protocol mechanism. The tag reports the Response frame signal strength, and the base station reports the Final frame signal strength. The server displays the positioning result and adjusts the deployment point information in the solution parameters. The base station configures the network information and server information through the network configuration tool, receives the configuration information through the message protocol mechanism and adjusts its own working mode and working status. In addition, the base station uploads the Response frame signal strength and the Final frame signal strength on the basis of uploading the tag positioning data, and the tag Final frame additionally reports the Response frame signal strength.

[0034] Optionally, the adaptive positioning and data transmission includes:

[0035] The server performs NTP timing, message protocol mechanism authentication, base station configuration information issuance and modification, tag configuration information issuance and modification, base station reporting of tag access events, tag positioning, message transmission, data transmission, base station upgrade, and tag upgrade;

[0036] The base station performs NTP timing, base station networking synchronization, tag access response, time slot resource management, tag positioning, message transmission management, data transmission management, base station upgrade, and tag upgrade;

[0037] The tag performs air interface timing, base station access request, time slot resource application and management, tag positioning, message transmission, data transmission, and tag upgrade.

[0038] Optionally, the base station includes:

[0039] The time slot resource management module is used for applying for and releasing time slot resources;

[0040] Tag information management module, used for tag information management, tag identification record, tag short identification allocation, occupied time slot resource management, time slot resource timeout detection and broadcast message reception status management;

[0041] Message management module, used for tag uplink message management, server downlink point-to-point message management and server downlink broadcast message management;

[0042] Time management module, used for clock synchronization and high-precision clock synchronization over air interfaces;

[0043] The message protocol mechanism transceiver module is used to process the sending and receiving of MATT information from the TCP layer buffer;

[0044] TCP module, used to process network data transmission and reception;

[0045] LAN management module, used for UDP LAN device discovery and automatic configuration of LAN devices.

[0046] Optionally, the tag includes:

[0047] The time slot resource management module is used to synchronize with the base station time. After synchronization, the time of the next Beacon and the time of the next work can be obtained; the time slot occupancy in the Beacon can be analyzed;

[0048] Tag information management module, used to determine the working mode through Beacon messages;

[0049] The message management module is used to manage the uplink message buffer, the downlink broadcast message buffer, and the downlink point-to-point message buffer.

[0050] Optionally, the tasks of the base station include: real-time tasks, highest priority tasks, higher-than-normal priority tasks, normal priority tasks, and lower-than-normal priority tasks;

[0051] The real-time tasks include:

[0052] Beacon sends a task and the timer interrupt wakes up;

[0053] Air interface message processing task, wake up by successful reception of ultra-wideband interrupt event;

[0054] The highest priority tasks include: data collection tasks from antenna positioning;

[0055] The tasks higher than normal priority include: timeout time slot resource recovery and timeout message release tasks, which are periodic tasks;

[0056] The normal priority tasks are: message protocol mechanism receiving and parsing and message sending tasks;

[0057] The tasks below the normal level are: network data sending and receiving tasks.

[0058] Optionally, the base station and tag workflow includes:

[0059] Base station networking; tag short identifier allocation; tag application and release of time slot resources; tag positioning; tag data and message transmission; tag upgrade.

[0060] Optionally, the base station networking includes: base station synchronization parameters; base station power-on and start of operation; base station synchronization;

[0061] The tag short identifier allocation includes: when the tag has no short identifier, obtaining a random short identifier from a base station;

[0062] When a tag has a short identifier, the short identifier is carried when applying for time slot resources, and a flag indicating whether it can be changed is carried. If there is no conflict in the short identifier, it is used directly. If there is a conflict and it can be changed, a short identifier randomly generated by the base station is returned; if there is a conflict and it cannot be changed, an Invalid short identifier error is returned;

[0063] When applying for a conflict between the short identifiers of two base stations, apply to the first base station through a MAC instruction to regenerate the short identifier and switch;

[0064] The tag application and release of time slot resources include: applying for resources of a specified basic positioning frequency, applying for resources of a specified multiple frequency, applying for any high positioning frequency, applying for any high positioning frequency, applying for temporary resources, and applying for periodic resources of a specified time slot;

[0065] When applying for resources, the existing resources are cleared by default. The flag bit for retaining existing time slot resources can be carried. When retaining existing time slot resources, the number of existing resources is reported to prevent the base station from allocating them but not receiving them. The base station checks whether the required resources are allocated before allocating them. The tag can actively release the specified resources or all resources.

[0066] The tag positioning, time slot types include: one-dimensional, non-one-dimensional single station, non-one-dimensional dual station; in deployment mode, the Final message additionally carries the Response received signal strength; when the periodic RBG fails for multiple consecutive times, the resources are released and reapplied;

[0067] The tag data and message transmission includes: transmitting point-to-point uplink messages, transmitting point-to-point downlink messages and broadcast messages. When the amount of data is too large, the base station notifies the tag through a MAC instruction to obtain data through a pure data time slot. The tag chooses whether to use the time slot for positioning or data transmission. When the time slot period is long, an independent temporary time slot is applied for data transmission;

[0068] For the tag upgrade, the base station switches to the tag upgrade mode, retains the networking function, broadcasts the upgrade working mode, the latest firmware information of the tag and the idle time slot table in the Beacon; the tag can apply for temporary time slot resources by itself and specify the firmware data it wants to obtain in the time slot control message.

[0069] Optionally, the server has one or more of the following functions:

[0070] Configure the base station to work in upgrade mode;

[0071] Configure the tag positioning frequency, support basic positioning frequency, support multiple frequency, support any high positioning frequency, and support any long period of single positioning;

[0072] Point-to-point message transmission, point-to-point reliable message transmission, broadcast message transmission, broadcast message reliable transmission, big data point-to-point transmission, big data point-to-point reliable transmission;

[0073] The base station has one or more of the following functions:

[0074] Point-to-point message management, broadcast message management, and big data point-to-point transmission management;

[0075] Single-station positioning, synchronous dual-station collaborative positioning, and asynchronous multi-station positioning;

[0076] Tags have one or more of the following functions:

[0077] Point-to-point message transmission, point-to-point reliable message transmission, broadcast message transmission, broadcast message reliable transmission, big data point-to-point transmission, big data point-to-point reliable transmission; single-station positioning, synchronous dual-station collaborative positioning and asynchronous multi-station positioning.

[0078] Compared with the prior art, the present invention has the following beneficial effects:

[0079] Through the three intelligent stages of production, deployment and operation, the present invention can realize automated production and testing, automated deployment and configuration, adaptive high-precision positioning and data transmission, greatly improving the system air interface capacity. At the same time, the synchronization accuracy requirement of the network side base station is low and easy to implement. BRIEF DESCRIPTION OF THE DRAWINGS

[0080] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0081] Figure 1 The figure is a schematic diagram of the bidirectional TOF ranging process in the prior art.

[0082] Figure 2 A flow chart of an intelligent high-precision positioning method provided by an embodiment of the present invention.

[0083] Figure 3 A schematic diagram of the structure of a base station provided in an embodiment of the present invention.

[0084] Figure 4 A schematic diagram of a label structure provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0085] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0086] The purpose of the present invention is to provide a high-precision positioning method.

[0087] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0088] Embodiment 1:

[0089] This embodiment provides an intelligent high-precision positioning method, such as Figure 2 As shown, including:

[0090] Automated production testing;

[0091] Automated deployment configuration;

[0092] Adaptive positioning and data transmission.

[0093] Furthermore, the automated production test includes:

[0094] The server receives the tag positioning data uploaded by the base station through the message protocol mechanism;

[0095] The base station selects the production test mode through the network configuration tool and broadcasts the current working mode and working parameters through beacon frames;

[0096] The tag identifies the production test base station through Beacon frames and enters the production test mode, accessing the production test base station with a high positioning frequency.

[0097] Furthermore, the automated deployment configuration includes:

[0098] The server configures the base station to enter deployment mode 1 and / or deployment mode 2 through a message protocol mechanism;

[0099] The base station configures network information and server information through the network configuration tool, receives configuration information through the message protocol mechanism and adjusts its own working mode and working status. The tag identifies the base station working mode and enters the deployment assistance mode.

[0100] Furthermore, the deployment mode 1 is used for base station networking and working parameter adjustment. The server configures the base station information through the message protocol mechanism, including the base station long identifier, the base station short identifier, the subnet identifier, the base station synchronization identifier, the base station beacon time slot, and the base station beacon transmission power; the server collects the base station working information through the message protocol mechanism, including the base station beacon time slot occupancy, Beacon signal strength and clock tree level around the base station;

[0101] When the base station short identifier is configured to a specific value, the base station receives Beacon frames from other base stations in the same personal area network identifier, and reports the base station short identifier, base station beacon time slot, Beacon signal strength and clock tree of the received Beacon frame; when the base station short identifier is configured to other values, it synchronizes with other base stations in the existing network and sends its own Beacon frame according to the configuration parameters.

[0102] Furthermore, the deployment mode 2 is used for adjusting base station working parameters, correcting deployment point information and positioning testing. The server configures the base station information, including the base station accessible identifier and the base station working transmission power, through the message protocol mechanism. The server collects the tag positioning information through the message protocol mechanism. The tag reports the Response frame signal strength, and the base station reports the Final frame signal strength. The server displays the positioning result and adjusts the deployment point information in the solution parameters. The base station configures the network information and server information through the network configuration tool, receives the configuration information through the message protocol mechanism and adjusts its own working mode and working status. In addition, the base station uploads the Response frame signal strength and the Final frame signal strength on the basis of uploading the tag positioning data, and the tag Final frame additionally reports the Response frame signal strength.

[0103] The adaptive positioning and data transmission comprises:

[0104] The server performs NTP timing, message protocol mechanism authentication, base station configuration information issuance and modification, tag configuration information issuance and modification, base station reporting of tag access events, tag positioning, message transmission, data transmission, base station upgrade, and tag upgrade;

[0105] The base station performs NTP timing, base station networking synchronization, tag access response, time slot resource management, tag positioning, message transmission management, data transmission management, base station upgrade, and tag upgrade;

[0106] The tag performs air interface timing, base station access request, time slot resource application and management, tag positioning, message transmission, data transmission, and tag upgrade.

[0107] Further, such as Figure 3 As shown, the base station includes:

[0108] The time slot resource management module is used for applying for and releasing time slot resources;

[0109] Tag information management module, used for tag information management, tag identification record, tag short identification allocation, occupied time slot resource management, time slot resource timeout detection and broadcast message reception status management;

[0110] Message management module, used for tag uplink message management, server downlink point-to-point message management and server downlink broadcast message management;

[0111] Time management module, used for clock synchronization and high-precision clock synchronization over air interfaces;

[0112] The message protocol mechanism transceiver module is used to process the sending and receiving of MATT information from the TCP layer buffer;

[0113] TCP module, used to process network data transmission and reception;

[0114] LAN management module, used for UDP LAN device discovery and automatic configuration of LAN devices.

[0115] Further, such as Figure 4 As shown, the label includes:

[0116] The time slot resource management module is used to synchronize with the base station time. After synchronization, the time of the next Beacon and the time of the next work can be obtained; the time slot occupancy in the Beacon can be analyzed;

[0117] Tag information management module, used to determine the working mode through Beacon messages;

[0118] The message management module is used to manage the uplink message buffer, the downlink broadcast message buffer, and the downlink point-to-point message buffer.

[0119] Further, the base station tasks include: real-time tasks, highest priority tasks, higher than normal priority tasks, normal priority tasks, and lower than normal priority tasks;

[0120] The real-time tasks include:

[0121] Beacon sends a task and the timer interrupt wakes up;

[0122] Air interface message processing task, wake up by successful reception of ultra-wideband interrupt event;

[0123] The highest priority tasks include: data collection tasks from antenna positioning;

[0124] The tasks higher than normal priority include: timeout time slot resource recovery and timeout message release tasks, which are periodic tasks;

[0125] The normal priority tasks are: message protocol mechanism receiving and parsing and message sending tasks;

[0126] The tasks below the normal level are: network data sending and receiving tasks.

[0127] Furthermore, the base station and tag workflow includes:

[0128] Base station networking; tag short identifier allocation; tag application and release of time slot resources; tag positioning; tag data and message transmission; tag upgrade.

[0129] Furthermore, the base station networking includes: base station synchronization parameters; base station power-on and start of operation; base station synchronization;

[0130] The tag short identifier allocation includes: when the tag has no short identifier, obtaining a random short identifier from a base station;

[0131] When a tag has a short identifier, the short identifier is carried when applying for time slot resources, and a flag indicating whether it can be changed is carried. If there is no conflict in the short identifier, it is used directly. If there is a conflict and it can be changed, a short identifier randomly generated by the base station is returned; if there is a conflict and it cannot be changed, an Invalid short identifier error is returned;

[0132] When the short identifiers of two stations conflict, the first base station is requested to regenerate the short identifier and switch via a MAC instruction.

[0133] The tag application and release of time slot resources include: applying for resources of a specified basic positioning frequency, applying for resources of a specified multiple frequency, applying for any high positioning frequency, applying for any high positioning frequency, applying for temporary resources, and applying for periodic resources of a specified time slot;

[0134] When applying for resources, the existing resources are cleared by default. The flag bit for retaining existing time slot resources can be carried. When retaining existing time slot resources, the number of existing resources is reported to prevent the base station from allocating them but not receiving them. The base station checks whether the required resources are allocated before allocating them. The tag can actively release the specified resources or all resources.

[0135] The tag positioning, time slot types include: one-dimensional, non-one-dimensional single station, non-one-dimensional dual station; in deployment mode, the Final message additionally carries the Response received signal strength; when the periodic RBG fails for multiple consecutive times, the resources are released and reapplied;

[0136] The tag data and message transmission includes: transmitting point-to-point uplink messages, transmitting point-to-point downlink messages and broadcast messages. When the amount of data is too large, the base station notifies the tag through a MAC instruction to obtain data through a pure data time slot. The tag chooses whether to use the time slot for positioning or data transmission. When the time slot period is long, an independent temporary time slot is applied for data transmission;

[0137] For the tag upgrade, the base station switches to the tag upgrade mode, retains the networking function, broadcasts the upgrade working mode, the latest firmware information of the tag and the idle time slot table in the Beacon; the tag can apply for temporary time slot resources by itself and specify the firmware data it wants to obtain in the time slot control message.

[0138] Furthermore, the server has one or more of the following functions:

[0139] Configure the base station to work in upgrade mode;

[0140] Configure the tag positioning frequency, support basic positioning frequency, support multiple frequency, support any high positioning frequency, and support any long period of single positioning;

[0141] Point-to-point message transmission, point-to-point reliable message transmission, broadcast message transmission, broadcast message reliable transmission, big data point-to-point transmission, big data point-to-point reliable transmission;

[0142] The base station has one or more of the following functions:

[0143] Point-to-point message management, broadcast message management, and big data point-to-point transmission management;

[0144] Single-station positioning, synchronous dual-station collaborative positioning, and asynchronous multi-station positioning;

[0145] Tags have one or more of the following functions:

[0146] Point-to-point message transmission, point-to-point reliable message transmission, broadcast message transmission, broadcast message reliable transmission, big data point-to-point transmission, big data point-to-point reliable transmission; single-station positioning, synchronous dual-station collaborative positioning and asynchronous multi-station positioning.

[0147] Embodiment 2:

[0148] This embodiment provides an intelligent high-precision positioning method, which includes the following three parts:

[0149] 1. Intelligentization stage

[0150] (1) Production stage: automated production testing

[0151] Server: Receives tag positioning data uploaded by the base station through a message protocol (eg, MQTT (Message Queuing Telemetry Transport)) mechanism.

[0152] Base station: Select the working mode as production test mode through the network configuration tool, and broadcast the current working mode, working parameters and other information through the beacon frame, supporting the positioning function with high positioning frequency, for example, the positioning frequency is 10Hz.

[0153] Tag: Use Beacon frames to identify the production test base station and enter the production test mode, access the production test base station with a high positioning frequency, for example, a positioning frequency of 10 Hz.

[0154] (2) Deployment phase: automated deployment and configuration

[0155] Server: NTP (Network Time Protocol) timing; MQTT authentication function; configure the base station to enter deployment mode 1 and / or deployment mode 2 through a message protocol mechanism (e.g., MQTT);

[0156] (2.1) Deployment mode 1: used for base station networking and working parameter adjustment. The server configures base station information (downlink) through MQTT, including base station long identifier (e.g., UUID (Universally Unique Identifier)), base station short identifier (e.g., Short Address), subnet identifier (e.g., PanID (Personal Area Network identification)), base station synchronization identifier (e.g., master base station, slave base station), base station beacon time slot, base station beacon transmission power, etc. The server collects base station working information (uplink) through MQTT, including base station beacon time slot occupancy around the base station, Beacon signal strength, clock tree level, etc.;

[0157] (2.2) Deployment mode 2: used for adjusting base station working parameters, modifying deployment point information and positioning testing. The server configures base station information (downlink) through MQTT, including base station accessibility flag (for example, true: accessible, false: inaccessible) and base station operating transmit power; the server collects tag positioning information (uplink) through MQTT, the tag reports the Response frame signal strength, the base station reports the Final frame signal strength, the server can display the positioning results, and can adjust the deployment point information in the solution parameters.

[0158] Base station: configure network information and server information through the network configuration tool; receive configuration information through MQTT and adjust its own working mode and working status;

[0159] Deployment mode 1: When the base station short identifier is configured as a specific value, for example, 0xFFFE, the base station receives Beacon frames from other base stations in the same PanID (personal area network identifier), and reports the base station short identifier, base station beacon time slot, Beacon signal strength, clock tree level, etc. of the received Beacon frame; when the base station short identifier is configured as other values, for example, 0x0000-0x03FF, in addition to the above functions, it can also synchronize with other base stations in the existing network and send its own Beacon frame according to the configuration parameters. The base station accessible identifier in the Beacon frame is set to false, which means it is not accessible;

[0160] Deployment mode 2: In addition to uploading tag positioning data, the Response frame signal strength and Final frame signal strength are also uploaded.

[0161] Tags: Identify base station working mode and enter deployment assistance mode;

[0162] Deployment mode 2: Final frames additionally report the Response frame signal strength.

[0163] (3) Working phase: adaptive positioning and data transmission

[0164] Server: NTP timing; MQTT authentication function; base station configuration information issuance and modification; base station upgrade function, tag upgrade function; configure the base station to work in upgrade mode; base station reports tag access events; configure tag positioning frequency, support basic positioning frequency (for example, 10Hz, 5Hz, 1Hz, 1 / 3Hz, 1 / 6Hz, 1 / 9Hz), support frequency doubling (for example, 2Hz, 2 / 3Hz), support any high positioning frequency (for example, any integer frequency greater than or equal to 3Hz), support any long period (for example, greater than 10 seconds and less than 12 hours) of single positioning; point-to-point message transmission (without ACK (Acknowledge character)); point-to-point message reliable transmission (with ACK); broadcast message transmission (without ACK); broadcast message reliable transmission (with ACK); big data point-to-point (reliable) transmission (without ACK / with ACK).

[0165] Base station: NTP timing; base station networking synchronization; tag access response (tag short identification allocation); time slot resource management; point-to-point message management; broadcast message management; base station upgrade function; tag upgrade function; positioning function.

[0166] Tags: air interface timing; base station access request; time slot resource application and management; point-to-point message (reliable) transmission (without ACK / with ACK); broadcast message (reliable) transmission (without ACK / with ACK); big data point-to-point (reliable) transmission (application for single resource, without ACK / with ACK); tag upgrade function; single-station positioning function; synchronous dual-station collaborative positioning function; asynchronous multi-station positioning function.

[0167] 2. Air Interface Definition

[0168] (1) Air interface time slot structure:

[0169] Hyperframe (HF), fixed period, for example, HF is 3 seconds, containing 30 SFs.

[0170] Superframe (SF): a fixed period, for example, SF is 100 milliseconds and contains N RBs.

[0171]

[0172] Resource Block (RB): duration t RB Adjustable, including Beacon time slot and Working time slot.

[0173] Inactive Portion: The residue caused by the SF period not being able to divide the RB duration.

[0174] B W …… W I B W …… W I B W …… W I W W …… W I W W …… W I W W …… W I B W …… W I B W …… W I B W …… W I W W …… W I W W …… W I W W …… W I B W …… W I B W …… W I B W …… W I W W …… W I W W …… W I W W …… W I B W …… W I B W …… W I B W …… W I W W …… W I W W …… W I W W …… W I B W …… W I B W …… W I B W …… W I W W …… W I W W …… W I W W …… W I

[0175] B: Beacon time slot, including 2 Beacon Seats, every 5 Beacon time slots form a cycle, with a total of 10 seats.

[0176] W: Working time slot, which can be used for positioning, data transmission, large data transmission and competitive access (the usage of allocated time slots can be controlled by tags, and unallocated time slots can be used for access).

[0177] I: Residual time that cannot be divided evenly should not be used.

[0178] (2) Air interface capacity:

[0179] t RB 4 milliseconds, small data transmission (single time slot can be used for both uplink and downlink transmission) and large data transmission (single frame data volume is recommended to be 768B, and single time slot can transmit 1 frame) are unlimited, Beacon occupies 5%, 15% of the time slot is reserved, and the number of available positioning time slots is The air interface capacity is 200Hz.

[0180] t RB 5 milliseconds, small data transmission (single time slot can be used for both uplink and downlink transmission) and large data transmission (single frame data volume 512B is recommended, single time slot can transmit 2 frames) are unlimited, Beacon occupies 5%, 10% time slot is reserved, and the number of available positioning time slots is The air interface capacity is 170Hz.

[0181] t RB 6 milliseconds, small data transmission has no limit (single time slot is only for uplink or downlink transmission), large data transmission has a maximum of 256B, single time slot can transmit 1 frame, Beacon occupies 5%, 10% time slot is reserved, and the number of available positioning time slots is The air interface capacity is 136H Z .

[0182] t RB 7 milliseconds, small data transmission has no limit (single time slot can be used for both uplink and downlink transmission), large data transmission has a maximum of 256B, single time slot can transmit 1 frame, Beacon occupies 5%, 10% time slot is reserved, and the number of available positioning time slots is The air interface capacity is 119Hz.

[0183] 3. Workflow

[0184] (1) Base station functional module:

[0185] Time slot resource management module: responsible for the application and release of time slot resources.

[0186] Tag information management module: responsible for tag information management, tag identification recording, tag short identification allocation, occupied time slot resource management, time slot resource timeout detection, and broadcast message reception status.

[0187] Message management module: tag uplink message management, server downlink point-to-point message management, server downlink broadcast message management.

[0188] Time management module: clock synchronization (for example, SNTP (Simple Network Time Protocol), MQTT), air interface high-precision clock synchronization (for example, DWT (Data Watchpoint and Trace) counter).

[0189] MQTT transceiver module: handles the sending and receiving of MQTT messages from the TCP layer buffer.

[0190] TCP module: processes network data transmission and reception, wired / 4G / 5G / Wi-Fi, etc.

[0191] LAN management module: UDP LAN device discovery, LAN device automatic configuration (server).

[0192] (2) Base station tasks:

[0193] Task 1 (real-time task): Beacon sending task, wake up by timer interrupt, send once every 10 SFs.

[0194] Task 2 (real-time task): air interface message processing task, woken up by the successful reception event of the ultra-wideband interrupt. The main antenna of the base station is in the receiving state except during the Beacon transmission in Task 1 and the message processing in Task 2. In Task 2, the type of received message is determined and the corresponding operation is performed.

[0195] Task 3 (highest priority task): Slave antenna (all antennas except the master antenna are slaves) positioning data collection task, triggered by Task 2.

[0196] Task 4 (higher than normal priority task): timeout slot resource recovery and timeout message release task, periodic task (e.g., 500 milliseconds).

[0197] Task 5 (normal priority task): MQTT message receiving, parsing and message sending task, triggered by Task 6 or MQTT publishing.

[0198] Task 6 (lower priority than normal tasks): Network data sending and receiving task.

[0199] There are five thread priorities: AboveNormal, BelowNormal, Highest, Lowest, and Normal. The higher the thread priority, the more CPU time is allocated to the thread, and the more execution time it has. Realtime is higher than Highest.

[0200] AboveNormal: Schedule the thread between Highest and Normal;

[0201] BelowNormal: Schedule the thread after Normal and before Lowest;

[0202] Highest: Arranged before other priority threads;

[0203] Lowest: Scheduled after other priority threads;

[0204] Normal: Arranged before BelowNormal and after AboveNormal.

[0205] (3) Label function module:

[0206] Time slot resource management module: responsible for time synchronization with the base station. After synchronization, the time of the next Beacon and the time of the next work can be obtained; the time slot occupancy in the Beacon is analyzed (the current SF and the next SF, one Beacon time slot every 2 SFs), which can be used to select competitive access time slots and collaborative resource applications; the applied RBG is maintained, and after each use of the time slot resources, it is incremented and added to the future time slot management list through the "method for calculating the next time slot position", and the interval between the head time slot of the list and the current time slot is obtained, and the next wake-up time is calculated.

[0207] Tag information management module: determine the working mode, networked PanID, tag short identifier, status information, status information reporting cycle management, alarm information, etc. through Beacon messages.

[0208] Message management module: uplink message buffer, downlink broadcast message buffer, downlink point-to-point message buffer.

[0209] (4) System function workflow:

[0210] (4.1) Base station networking

[0211] Base station synchronization parameters: (TimeLevel, SyncToMaster), TimeLevel is the synchronization level, the master base station is fixed to 0, and the slave base station is 1-1023. SyncToMaster is the flag bit for whether to synchronize with the master base station.

[0212] The base station starts working after being powered on: it listens to 1 HF signal (for example, 3 seconds).

[0213] If no base station with the same PanID is detected around, if it is the master base station, the synchronization parameter is set to (0, True); if it is the slave base station, the synchronization parameter is set to (1, False).

[0214] If a base station with the same PanID is detected nearby, it will join the existing network. If it is the master base station, the synchronization parameter will be set to (0, True). If it is a slave base station, it will select a base station with SyncToMaster set to True or a smaller TimeLevel to synchronize and join the network, and set the synchronization parameter to (TimeLevel+1, SyncToMaster).

[0215] Base station synchronization: abnormal situations that may occur after joining the network require parameter update

[0216] After the main base station joins the network, it does not need to keep in sync with the surrounding base stations.

[0217] SyncToMaster's Keep:

[0218] Currently it is False. If the target synchronization base station has True, it will become True.

[0219] Currently it is True, there is no True or it is empty in the target synchronization base station. If the current TimeLevel is 1, it will become False after 3 HFs. If the current TimeLevel>1, it will directly become False.

[0220] TimeLevel maintenance:

[0221] As long as a higher level is detected, the target synchronization base station is set to that base station.

[0222] If the previous level base station is not detected within 3 HFs, the BS of the same level will be detected around. If there is no base station of the same level, the BS will continue to work as it is. If TimeLevelDegrade is True among them, the BS will lower its own TimeLevel; in addition, if the BS is the last one, the BS will keep its own TimeLevel unchanged, otherwise the BS will lower its own TimeLevel and set the TimeLevelDegrade flag to True within the next HF.

[0223] (4.2) Label short identifier allocation

[0224] When the tag has no short identifier (it can be initialized to 0xFFFE to represent unassigned), a random short identifier is obtained from the base station.

[0225] When a tag has a short identifier, it carries the short identifier when applying for time slot resources, and carries a flag indicating whether it can be changed (when applying for dual base stations, the short identifier cannot be changed at will by the second base station). If there is no conflict in the short identifier, it is used directly. If there is a conflict and it can be changed, the short identifier randomly generated by the base station is returned; if there is a conflict and it cannot be changed, the short identifier Invalid error is returned.

[0226] When applying for a conflict in the short identifiers of two stations, the first base station may be requested to regenerate the short identifier and switch via a MAC instruction.

[0227] (4.3) Label application and release of time slot resources

[0228] Types of resources that can be applied for:

[0229] Apply for resources that specify basic positioning frequency

[0230] Apply for resources with specified frequency

[0231] Apply for any high positioning frequency (for example, any integer frequency greater than or equal to 3 Hz)

[0232] Apply for temporary resources

[0233] Apply for cycle resources in a specified time slot

[0234] When applying for resources, the existing resources are cleared by default. The flag for retaining existing time slot resources can be carried. When retaining existing time slot resources, the number of existing resources should be reported to prevent the base station from allocating them but not receiving them.

[0235] Before allocating resources, the base station should check whether the required resources have been allocated

[0236] Tags can actively release specified resources or all resources (before leaving the base station, actively switching or shutting down)

[0237] (4.4) Label positioning

[0238] Time slot type (determined by Beacon): one-dimensional, non-one-dimensional single-station, non-one-dimensional dual-station

[0239] In deployment mode, the Final message also carries the Response receiving signal strength

[0240] If the periodic RBG fails 3-4 times in a row, the resources should be released and reapplied.

[0241] (4.5) Tag data transmission

[0242] The base station only acts as a byte stream transparent transmission module, and will put all data packets into the byte stream without packetization. The tag side and the server side need to package and identify themselves. Very few messages are sent only to the base station and do not need to be sent to the server, such as timing. After the necessary data, the air interface message may carry MAC instructions (must be a complete message, a control message related to the physical layer), a message from the tag to the base station (must be a complete message, a short message), a broadcast message byte stream (need to be packaged and identified by itself), and a bidirectional point-to-point message byte stream with the server (need to be packaged and identified by itself). The main base station sends data during collaboration.

[0243] Point-to-point uplink message: After receiving the message, the base station adds a long tag identifier (for example, tag UUID) and encodes it, and adds it to the MQTT publish message queue.

[0244] Point-to-point downlink message: The base station first saves the message to be sent to the tag transmitted by MQTT into the message manager. If the tag has been connected to the current base station, the address of the message to be sent is added to the list of messages to be sent in the tag information. If the tag has not been connected to the current base station, it is added to the list of unknown tag messages. When traversing the tag information in base station task 4, check whether the tag has been connected or whether the message has timed out.

[0245] Broadcast message: self-incrementing sequence number, the tag information maintains the sequence number of the broadcasted message, and the sequence numbers of ordinary broadcast messages and important broadcast messages are separated. Broadcast messages have an expiration date, and the base station task 4 checks the timeliness and removes them. Only one broadcast message will be sent at a time. Important broadcast messages need to display ACK in Final, and the base station will report to the server after receiving them.

[0246] When the amount of data is too large, the base station notifies the tag through the MAC command to obtain data through the pure data time slot. The tag can choose whether to use the time slot for positioning or data transmission. When the time slot period is long (for example, <= 1 / 9Hz), an independent temporary time slot should be applied for data transmission.

[0247] (4.6) Tag upgrade

[0248] The base station can switch to the tag upgrade mode and retain the networking function. The upgrade working mode, the latest firmware information of the tag and the idle time slot table are broadcast in the Beacon.

[0249] Tags can apply for temporary time slot resources on their own and specify the firmware data they want to obtain in the time slot control message.

[0250] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the system disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

[0251] The principles and implementation methods of the present invention are described in this article using specific examples. The description of the above embodiments is only used to help understand the method and core idea of ​​the present invention. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. An intelligent high-precision positioning method, characterized in that: include: Automated production testing; Automated deployment configuration; Adaptive positioning and data transmission; The automated production test includes: a server receives tag positioning data uploaded by a base station through a message protocol mechanism; the base station selects a working mode as a production test mode through a network configuration tool, and broadcasts the current working mode and working parameters through a Beacon frame; the tag identifies the production test base station through a Beacon frame and enters the production test mode, and accesses the production test base station at a high positioning frequency; The automated deployment configuration includes: the server configures the base station to enter deployment mode 1 and / or deployment mode 2 through a message protocol mechanism; the base station configures network information and server information through a network configuration tool, receives configuration information through a message protocol mechanism and adjusts its own working mode and working status; the tag identifies the base station working mode and enters a deployment assistance mode.

2. The intelligent high-precision positioning method according to claim 1, characterized in that: The deployment mode 1 is used for base station networking and working parameter adjustment. The server configures base station information through a message protocol mechanism, including a base station long identifier, a base station short identifier, a subnet identifier, a base station synchronization identifier, a base station beacon time slot, and a base station beacon transmission power; The server collects base station working information through the message protocol mechanism, including the occupancy of base station beacon time slots around the base station, Beacon signal strength and clock tree level; When the base station short identifier is configured as a specific value, the base station receives Beacon frames from other base stations in the same personal area network identifier, and reports the base station short identifier, base station beacon timeslot, Beacon signal strength and clock tree of the received Beacon frame; When the base station short identifier is configured to other values, it synchronizes with other base stations in the existing network and sends its own Beacon frame according to the configured parameters.

3. The intelligent high-precision positioning method according to claim 1, characterized in that: The deployment mode 2 is used for adjusting base station working parameters, modifying deployment point information and positioning testing. The server configures base station information through a message protocol mechanism, including base station access identification and base station working transmission power. The server collects tag positioning information through a message protocol mechanism. The tag reports the Response frame signal strength, and the base station reports the Final frame signal strength. The server displays the positioning result and adjusts the deployment point information in the solution parameters. The base station configures network information and server information through the network configuration tool, receives configuration information through the message protocol mechanism and adjusts its own working mode and working status; and on the basis of uploading tag positioning data, the base station additionally uploads the Response frame signal strength and Final frame signal strength, and the tag Final frame additionally reports the Response frame signal strength.

4. The intelligent high-precision positioning method according to claim 1, characterized in that: The adaptive positioning and data transmission comprises: The server performs NTP timing, message protocol mechanism authentication, base station configuration information issuance and modification, tag configuration information issuance and modification, base station reporting of tag access events, tag positioning, message transmission, data transmission, base station upgrade, and tag upgrade; The base station performs NTP timing, base station networking synchronization, tag access response, time slot resource management, tag positioning, message transmission management, data transmission management, base station upgrade, and tag upgrade; The tag performs air interface timing, base station access request, time slot resource application and management, tag positioning, message transmission, data transmission, and tag upgrade.

5. The intelligent high-precision positioning method according to any one of claims 1 to 4, characterized in that: The base station comprises: The time slot resource management module is used for applying for and releasing time slot resources; Tag information management module, used for tag information management, tag identification record, tag short identification allocation, occupied time slot resource management, time slot resource timeout detection and broadcast message reception status management; Message management module, used for tag uplink message management, server downlink point-to-point message management and server downlink broadcast message management; Time management module, used for clock synchronization and high-precision clock synchronization over air interfaces; The message protocol mechanism transceiver module is used to process the sending and receiving of message protocol mechanism information from the TCP layer buffer; TCP module, used to process network data transmission and reception; LAN management module, used for UDP LAN device discovery and automatic configuration of LAN devices.

6. The intelligent high-precision positioning method according to any one of claims 1 to 4, characterized in that: The tags include: The time slot resource management module is used to synchronize with the base station time. After synchronization, the time of the next Beacon and the time of the next work can be obtained; the time slot occupancy in the Beacon can be analyzed; Tag information management module, used to determine the working mode through Beacon messages; The message management module is used to manage the uplink message buffer, the downlink broadcast message buffer, and the downlink point-to-point message buffer.

7. The intelligent high-precision positioning method according to any one of claims 1 to 4, characterized in that: The tasks of the base station include: real-time tasks, highest priority tasks, higher than normal priority tasks, normal priority tasks and lower than normal priority tasks; The real-time tasks include: Beacon sends a task and the timer interrupt wakes up; Air interface message processing task, wake up by successful reception of ultra-wideband interrupt event; The highest priority tasks include: data collection tasks from antenna positioning; The tasks higher than normal priority include: timeout time slot resource recovery and timeout message release tasks, which are periodic tasks; The normal priority tasks are: message protocol mechanism receiving and parsing and message sending tasks; The tasks below the normal level are: network data sending and receiving tasks.

8. The intelligent high-precision positioning method according to any one of claims 1 to 4, characterized in that: The base station and tag workflow includes: Base station networking; tag short identifier allocation; tag application and release of time slot resources; tag positioning; tag data and message transmission; tag upgrade.

9. The intelligent high-precision positioning method according to claim 8, characterized in that: The base station networking includes: base station synchronization parameters; base station power-on and start working; base station synchronization; The tag short identifier allocation includes: when the tag has no short identifier, obtaining a random short identifier from the base station; when the tag has a short identifier, carrying the short identifier when applying for time slot resources, and carrying a flag bit indicating whether it can be changed, if the short identifier has no conflict, it is directly used; if there is a conflict and it can be changed, then the short identifier randomly generated by the base station is returned; if there is a conflict and it cannot be changed, then the short identifier Invalid error is returned; When applying for a conflict between the short identifiers of two base stations, apply to the first base station through a MAC instruction to regenerate the short identifier and switch; The tag application and release of time slot resources include: applying for resources of a specified basic positioning frequency, applying for resources of a specified multiple frequency, applying for any high positioning frequency, applying for any high positioning frequency, applying for temporary resources, and applying for periodic resources of a specified time slot; When applying for resources, the existing resources are cleared by default. The flag bit for retaining existing time slot resources can be carried. When retaining existing time slot resources, the number of existing resources is reported to prevent the base station from allocating them but not receiving them. The base station checks whether the required resources are allocated before allocating them. The tag can actively release the specified resources or all resources. The tag positioning, time slot types include: one-dimensional, non-one-dimensional single station, non-one-dimensional dual station; in deployment mode, the Final message additionally carries the Response received signal strength; when the periodic RBG fails for multiple consecutive times, the resources are released and reapplied; The tag data and message transmission includes: transmitting point-to-point uplink messages, transmitting point-to-point downlink messages and broadcast messages. When the amount of data is too large, the base station notifies the tag through a MAC instruction to obtain data through a pure data time slot. The tag chooses whether to use the time slot for positioning or data transmission. When the time slot period is long, an independent temporary time slot is applied for data transmission; For the tag upgrade, the base station switches to the tag upgrade mode, retains the networking function, broadcasts the upgrade working mode, the latest firmware information of the tag and the idle time slot table in the Beacon; the tag can apply for temporary time slot resources by itself and specify the firmware data it wants to obtain in the time slot control message.

10. The intelligent high-precision positioning method according to any one of claims 1 to 4, characterized in that: The server has one or more of the following capabilities: Configure the base station to work in upgrade mode; Configure the tag positioning frequency, support basic positioning frequency, support multiple frequency, support any high positioning frequency, and support any long period of single positioning; Point-to-point message transmission, point-to-point reliable message transmission, broadcast message transmission, broadcast message reliable transmission, big data point-to-point transmission, big data point-to-point reliable transmission; The base station has one or more of the following functions: Point-to-point message management, broadcast message management, and big data point-to-point transmission management; Single-station positioning, synchronous dual-station collaborative positioning, and asynchronous multi-station positioning; Tags have one or more of the following functions: Point-to-point message transmission, point-to-point reliable message transmission, broadcast message transmission, broadcast message reliable transmission, big data point-to-point transmission, big data point-to-point reliable transmission; single-station positioning, synchronous dual-station collaborative positioning and asynchronous multi-station positioning.

Images