Hybrid scheduling method and device based on UWB, equipment and medium

Abstract

The invention provides a UWB-based hybrid scheduling method, apparatus and device, and a medium. The invention discloses a scheduling method applied to a main anchor point in a UWB communication system, belongs to the technical field of UWB communication, and solves the technical problems of poor overall performance and low operation efficiency of a scheduling method in the prior art, and the method comprises the steps: receiving and analyzing time sequence scheduling information, so as to obtain a distance measurement time period, a radar time period and a data time period of the main anchor point in a hybrid scheduling process; performing distance detection in the distance measurement time period to obtain first sub distance measurement data, and performing radar detection in the radar time period to obtain first sub radar detection data when the time sequence scheduling information comprises a radar enable signal of the main anchor point; receiving second sub-ranging data and second sub-radar detection data in the data period, and determining target ranging data and target radar detection data; and sending the target ranging data and the target radar detection data. The overall performance and the operation efficiency of the system are improved.

Description

Technical Field

[0001] The present disclosure relates to the field of UWB communication technology, and in particular to a UWB-based hybrid scheduling method, device, equipment and medium. Background Art

[0002] Ultra Wide Band (UWB) technology is a carrier-free communication technology that uses non-sinusoidal narrow pulses in the nanosecond to microsecond range to transmit data. It can transmit extremely low-power signals over a wider spectrum. Therefore, UWB technology is widely used in data transmission, positioning, ranging and other application scenarios due to its high time resolution, high-speed data transmission capability, anti-multipath interference characteristics and low power consumption.

[0003] With the rapid development of the Internet of Vehicles, UWB's unique advantages make UWB also have broad application potential in the field of digital car keys. Based on the above advantages of UWB, in the relevant technical solutions, there is no hybrid scheduling solution that integrates UWB-based ranging, radar detection and data transmission on a chip. By designing a reasonable scheduling timing, business interference can be avoided to maximize the function of UWB and save costs, and a method is designed to reduce power consumption by controlling the activation state or sleep state of the anchor point in the non-business state. Summary of the invention

[0004] In view of this, the present disclosure hopes to provide a UWB-based hybrid scheduling method, device, equipment and medium; it is possible to integrate UWB-based ranging, radar detection and data transmission on one chip, saving the cost of automobile companies and improving the efficiency of business processing.

[0005] The technical solution of the present disclosure is achieved as follows: In a first aspect, the present disclosure provides a hybrid scheduling method based on UWB, the method being applied to a primary anchor point in a UWB communication system, the method comprising: Receiving and parsing the timing scheduling information to obtain the ranging period, radar period and data period of the main anchor point itself in the hybrid scheduling process; Performing distance detection in the ranging period to obtain first sub-ranging data, and when the timing scheduling information includes a radar enable signal of a primary anchor point, performing radar detection in the radar period to obtain first sub-radar detection data; receiving at least one second sub-ranging data and second sub-radar detection data transmitted from an anchor point during a data period; and Target ranging data is determined according to the first sub-ranging data and the second sub-ranging data, and target radar detection data is determined according to the first sub-radar detection data and the second sub-radar detection data, and the target ranging data and the target radar detection data are sent.

[0006] In a second aspect, the present disclosure provides a hybrid scheduling method based on UWB, the method being applied to a slave anchor point in a UWB communication system, the method comprising: Receiving and parsing the timing scheduling information to obtain the ranging period, radar period and data period of the slave anchor point itself in the hybrid scheduling process; Performing distance detection in the ranging period to obtain second sub-ranging data, and when the timing scheduling information includes a radar enable signal from an anchor point, performing radar detection in the radar period to obtain second sub-radar detection data; In the data period, the second sub-ranging data and the second sub-radar detection data are sent to the main anchor point.

[0007] In a third aspect, an embodiment of the present disclosure provides a hybrid scheduling device based on UWB, which is applied to a main anchor point in a UWB communication system, including: A first receiving module is used to receive and parse the timing scheduling information to obtain the ranging period, radar period and data period of the main anchor point itself in the hybrid scheduling process; a first detection module, performing distance detection in the ranging period to obtain first sub-ranging data, and performing radar detection in the radar period to obtain first sub-radar detection data when the timing scheduling information includes a radar enable signal of a primary anchor point; a first determining module, performing distance detection in the ranging period to obtain first sub-ranging data, and when the timing scheduling information includes a radar enable signal of a primary anchor point, performing radar detection in the radar period to obtain first sub-radar detection data, and receiving at least one second sub-ranging data and second sub-radar detection data sent from an anchor point in a data period; and The first sending module is used to determine target ranging data according to the first sub-ranging data and the second sub-ranging data, determine target radar detection data according to the first sub-radar detection data and the second sub-radar detection data, and send the target ranging data and the target radar detection data.

[0008] In a fourth aspect, an embodiment of the present disclosure provides a hybrid scheduling device based on UWB, which is applied to a slave anchor point in a UWB communication system, including: A second receiving module is used to receive and parse the timing scheduling information to obtain the ranging period, radar period and data period of the slave anchor point itself in the hybrid scheduling process; a second detection module, performing distance detection in the ranging period to obtain second sub-ranging data, and performing radar detection in the radar period to obtain second sub-radar detection data when the timing scheduling information includes a radar enable signal from an anchor point; The second sending module is used to send the second sub-ranging data and the second sub-radar detection data to the main anchor point during the data period.

[0009] In a fifth aspect, the present disclosure provides a hybrid scheduling method based on UWB, which is applied to a UWB communication system, wherein the UWB communication system includes a master anchor point, at least one slave anchor point and a control terminal; wherein: The control terminal sends timing scheduling information to the master anchor point and the slave anchor point; The master anchor point and the slave anchor point receive and parse the timing scheduling information to obtain the ranging period, radar period and data period of the master anchor point itself in the hybrid scheduling process; In the ranging period, the main anchor point performs distance detection to obtain first sub-ranging data, and the slave anchor point performs distance detection to obtain second sub-ranging data; In the radar period, when the timing scheduling information includes the radar enable signal of the main anchor point, the main anchor point performs radar detection in the radar period to obtain first sub-radar detection data, and when the timing scheduling information includes the radar enable signal of the slave anchor point, the slave anchor point performs radar detection to obtain second sub-radar detection data; During the data period, sending the second sub-ranging data and the second sub-radar detection data from the anchor point to the main anchor point; The main anchor point determines target ranging data according to the first sub-ranging data and the second sub-ranging data, and determines target radar detection data according to the first sub-radar detection data and the second sub-radar detection data; The main anchor point sends the target ranging data and the target radar detection data to the control terminal.

[0010] In a sixth aspect, an embodiment of the present disclosure provides an electronic device, comprising: a processor and a memory; the processor is used to execute instructions stored in the memory to implement the UWB-based hybrid scheduling method described in the first aspect and / or the second aspect.

[0011] In a seventh aspect, an embodiment of the present disclosure provides a computer storage medium, wherein the storage medium stores at least one instruction, and the at least one instruction is used to be executed by a processor to implement the UWB-based hybrid scheduling method described in the first aspect and / or the second aspect.

[0012] The present disclosure proposes a hybrid scheduling method, device, equipment and medium based on UWB, aiming to improve data processing efficiency and system performance. The method accurately performs distance detection in the ranging period, efficiently performs radar detection in the radar period, and receives and processes data from multiple slave anchor points in the data period. With the help of advanced data fusion technology and comprehensive analysis methods, high-precision ranging and radar detection results can be quickly obtained. At the same time, the system receives and parses the timing scheduling information, intelligently arranges the operation of the main anchor point in each time period, realizes the optimization of system scheduling, and significantly improves the overall performance and operation efficiency of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 A system architecture diagram of a UWB-based hybrid scheduling system provided in the present disclosure.

[0014] Figure 2 A flow chart of a hybrid scheduling method based on UWB provided in the present disclosure.

[0015] Figure 3 A schematic diagram of a hybrid scheduling timing composition provided by the present disclosure.

[0016] Figure 4 A schematic flow chart of another UWB-based hybrid scheduling method provided in the present disclosure.

[0017] Figure 5 A flowchart of another UWB-based hybrid scheduling method provided by the present disclosure is provided.

[0018] Figure 6 A schematic diagram of the structure of a UWB-based hybrid scheduling device provided in an embodiment of the present disclosure.

[0019] Figure 7 A schematic diagram of the structure of another UWB-based hybrid scheduling device provided in an embodiment of the present disclosure.

[0020] Figure 8 A schematic diagram of the structure of an electronic device provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0021] The technical solutions in the present disclosure will be described clearly and completely below in conjunction with the accompanying drawings in the present disclosure.

[0022] UWB technology has significant advantages in areas such as the Internet of Vehicles, which are mainly reflected in the following aspects: First, UWB has high temporal resolution, and its transmission speed reaches nanosecond level. This feature enables UWB to achieve centimeter-level high-precision positioning, meeting the needs of application scenarios with extremely high positioning accuracy requirements, and providing strong support for the precise positioning and navigation of vehicles.

[0023] Secondly, UWB's high-speed data transmission capability is also outstanding. Its transmission rate ranges from a few Mbit / s to hundreds of Mbit / s, and theoretically can even reach 1GBit / s, far exceeding BLE and WIFI. This enables UWB to efficiently transmit large amounts of data and is suitable for data-intensive communication needs, such as real-time transmission and processing of vehicle information.

[0024] In addition, UWB also performs well in resisting multipath interference. Thanks to its high resolution and high precision, UWB can effectively detect obstacles and people stranded in the vehicle in the radar field, improving the system's environmental perception and safety assurance capabilities, and providing important guarantees for safe driving and intelligent monitoring of vehicles.

[0025] Finally, UWB has the advantage of low power consumption. Although its frequency bandwidth reaches 7.5GHz, FIRA stipulates that its power is less than -41.3dBm, which is much lower than the power limit of BLE and WIFI. This allows UWB devices to have longer battery life while maintaining high performance, reducing energy consumption costs and extending the service life of the device.

[0026] With the rapid development of the Internet of Vehicles, these unique advantages of UWB have made it shine in application areas such as digital car keys. By realizing the mixed scheduling of multiple functions of UWB on a single chip, not only can the various functions of UWB be fully utilized, but also the cost can be effectively reduced, bringing users a better and more economical Internet of Vehicles experience.

[0027] In existing technical solutions, digital car keys usually use a combination of Bluetooth and UWB. Bluetooth is responsible for the initial connection and pairing, while UWB uses its high time resolution and centimeter-level positioning accuracy to achieve precise positioning and unlocking. However, this solution may have the problem of insufficient connection stability, especially in an environment with large signal interference. The Bluetooth connection is easily interfered with, resulting in reduced response speed and reliability of the digital car key. In terms of radar detection, the UWB radar system can accurately detect obstacles around the vehicle and stranded people in the vehicle by arranging multiple anchor points or sensors. However, the ranging and radar in the prior art are completed on different chips. In terms of UWB radar detection, the ranging and radar functions in the prior art are usually completed on different chips.

[0028] This multi-chip integration method increases the complexity of the system because data transmission and coordination are required between multiple chips. Communication between different chips may introduce additional delays and power consumption, reducing the overall efficiency of radar detection. Since the ranging and radar functions are distributed on different chips, resource sharing and optimal configuration cannot be achieved. Each chip requires independent power, storage and processing resources, which not only increases the cost of the system but also reduces resource utilization. In some resource-constrained application scenarios, such as miniaturized vehicle equipment, the limitations of this multi-chip solution are more obvious. The multi-chip architecture requires complex coordination and management at the system level to ensure synchronization and collaborative work between the various chips. This increases the difficulty of system design and debugging and prolongs the product development cycle. At the same time, in actual use, if one of the chips fails, it may also cause the failure of the entire radar detection system, affecting the vehicle's environmental perception capabilities.

[0029] Based on this, Figure 1 The system architecture diagram of the same UWB-based hybrid scheduling system disclosed in the present invention is shown, including a control terminal 10 and a positioning anchor point 20 set on a vehicle, wherein the positioning anchor point 20 can be divided into a main anchor point and a slave anchor point, and the control terminal can achieve ranging and radar detection by communicating with the main anchor point and the slave anchor point.

[0030] Optionally, the control terminal 10 is used to send timing scheduling information to the main anchor point and the slave anchor point, so that the main anchor point and the slave anchor point can achieve distance measurement and radar detection. The control terminal 10 may include a digital car key, a car computer, etc., which will not be described in detail here.

[0031] In some examples, reference Figure 2 , the main anchor point can specifically execute steps S210 to S240.

[0032] In step S210, the timing scheduling information is received and parsed to obtain the ranging period, radar period and data period of the main anchor point itself in the hybrid scheduling process.

[0033] In some example embodiments of the present disclosure, the timing scheduling information is predefined time arrangement information used to guide each anchor point to perform specific tasks in different time periods. The timing scheduling information may include specific time arrangements and task allocations for ranging periods, radar periods, and data periods; the main anchor point receives the timing scheduling information sent by the control terminal and parses the information to determine its specific tasks and operations in each period. This information may be transmitted via UWB signals or other communication protocols (such as BLE).

[0034] The ranging period is a period of time specifically used for distance measurement. During the ranging period, the master anchor calculates the distance between it and the control terminal by transmitting and receiving UWB signals. The radar period is a period of time used for radar detection. During the radar period, the master anchor or the slave anchor can perform radar scanning to detect obstacles, moving objects or other targets in the surrounding environment. The data period is a period of time used for data transmission and processing. During this period, the master anchor receives data from the slave anchor and performs data fusion and processing.

[0035] In step S220, distance detection is performed in the ranging period to obtain first sub-ranging data, and when the timing scheduling information includes a radar enable signal of the primary anchor point, radar detection is performed in the radar period to obtain first sub-radar detection data.

[0036] In an exemplary implementation of the present disclosure, the main anchor point starts a ranging procedure within a ranging period to obtain the distance between the main anchor point and the control terminal to obtain the first sub-ranging data.

[0037] Optionally, the timing scheduling information includes a radar enable signal, which indicates whether the main anchor point needs to perform radar detection during the radar period. If the timing scheduling information includes a radar enable signal, the main anchor point will enter the radar detection mode. The main anchor point starts the radar detection program during the radar period, sends a radar signal (usually a UWB pulse signal), and receives a reflected signal. By analyzing the characteristics of the reflected signal, the main anchor point can determine the position, speed, shape and other information of the target in the surrounding environment to obtain the above-mentioned first sub-radar detection data.

[0038] In step S230, at least one of second sub-ranging data and second sub-radar detection data sent from an anchor point is received in a data period.

[0039] In the UWB hybrid scheduling system, the slave anchor point is a node that assists the main anchor point in ranging and radar detection. Under the coordination of the main anchor point, they perform ranging and radar detection tasks and send the results to the main anchor point. The slave anchor point performs distance detection in the ranging period, obtains ranging results, and sends these results to the main anchor point in the data period. The main anchor point receives these data, which are called second sub-ranging data. The slave anchor point performs radar detection in the radar period, obtains radar detection results, and sends these results to the main anchor point in the data period. The main anchor point receives these data, which are called second sub-radar detection data.

[0040] In step S240, target ranging data is determined according to the first sub-ranging data and the second sub-ranging data, and target radar detection data is determined according to the first sub-radar detection data and the second sub-radar detection data, and the target ranging data and the target radar detection data are sent.

[0041] After receiving the second sub-range measurement data and the second sub-radar detection data from at least one slave anchor point during the data period, the master anchor point fuses these data with the first sub-range measurement data and the first sub-radar detection data obtained by itself. The purpose of data fusion is to improve the accuracy and reliability of data by integrating information from multiple data sources.

[0042] The main anchor point processes the fused data, such as data verification, filtering, and analysis, to generate the final ranging results and radar detection results. These final results will be used for applications such as vehicle positioning, navigation, and obstacle detection.

[0043] After receiving the target ranging data and the target radar detection data, the main anchor point sends the target ranging data and the target radar detection data to the control terminal.

[0044] The hybrid scheduling method based on UWB in the disclosed embodiment accurately detects distance in the ranging period, efficiently detects radar in the radar period, and receives and processes data from multiple slave anchor points in the data period. With the help of advanced data fusion technology and comprehensive analysis methods, high-precision ranging and radar detection results can be quickly obtained. At the same time, the system receives and analyzes the timing scheduling information, intelligently arranges the operation of the main anchor point in each period, realizes the optimization of system scheduling, and significantly improves the overall performance and operation efficiency of the system.

[0045] In some examples, the ranging period may include a sending time slot and a receiving time slot, wherein the sending time slot is a portion of the time within the ranging period for the primary anchor point to send a response message, and the receiving time slot is another portion of the time within the ranging period for the primary anchor point to receive a ranging end message.

[0046] The control terminal can send a ranging message to the master anchor. The ranging message can contain the information required to start the ranging process, such as the timestamp of the ranging request. During the ranging period, the master anchor sends a response message on a predetermined transmission time slot. This time slot is predefined to ensure communication synchronization between the master anchor and the slave anchor. The response message sent by the master anchor usually contains the timestamp of the master anchor receiving the ranging message and the timestamp of sending the response message. These timestamps are used for ranging.

[0047] During the ranging period, the main anchor point receives the ranging end message sent by the control terminal in a predetermined receiving time slot. This time slot is also predefined to ensure that the main anchor point can accurately receive the response of the control terminal. The ranging end message sent by the control terminal may include the timestamp of the control terminal receiving the response message from the main anchor point and the timestamp of sending the ranging end message. These timestamps can be used for subsequent distance calculations.

[0048] Optionally, the main anchor point calculates the round-trip time of the signal based on the timestamps in the response message and the ranging end message, and calculates the distance between the main anchor point and the control terminal based on the round-trip time (ToF) of the signal and the speed of light (or the propagation speed of the UWB signal). Through this precise time synchronization and signal transmission, the main anchor point can accurately obtain the first sub-ranging data, providing a basis for subsequent data fusion and processing.

[0049] In some examples, the timing scheduling information includes a radar enable signal, which indicates whether the main anchor point needs to perform radar detection during the radar period. If the timing scheduling information includes a radar enable signal, the main anchor point will enter the radar detection mode. When the timing scheduling information includes a radar enable signal, the radar module of the main anchor point is activated and sends a detection signal. These detection signals can be UWB pulse signals used to detect targets in the surrounding environment. The radar module of the main anchor point receives feedback signals reflected from the target. These feedback signals contain information such as the position, speed, and shape of the target. The main anchor point generates the first sub-radar detection data based on the received feedback signal. These data will be used for subsequent data fusion and processing to generate the final radar detection results.

[0050] If the timing scheduling information does not include the radar enable signal of the main anchor point, it means that the main anchor point does not need to perform radar detection in the current radar period.

[0051] In some examples, the control terminal may send a link establishment request message to the master anchor point. After receiving the link establishment request message, the master anchor point schedules itself and at least one slave anchor point to switch from a dormant state to an active state. The master anchor point then sends a link establishment confirmation message to the control terminal to establish a communication connection.

[0052] In some examples, the control terminal also sends timing scheduling information to the slave anchor point, and the slave anchor point receives and parses the timing scheduling information. The timing scheduling information is pre-defined time arrangement information used to guide each anchor point to perform specific tasks in different time periods. The timing scheduling information may include specific time arrangements and task allocations for ranging periods, radar periods, and data periods; the slave anchor point receives the timing scheduling information sent by the control terminal and parses the information to determine its specific tasks and operations in each time period. This information may be transmitted via UWB signals or other communication protocols (such as BLE).

[0053] The ranging period is a period of time specifically used for distance measurement. During the ranging period, the distance between the anchor point and the control terminal is calculated through the transmission and reception of UWB signals to obtain the second sub-ranging data. The radar period is a period of time for radar detection. During the radar period, radar scanning can be performed from the anchor point to detect obstacles, moving objects or other targets in the surrounding environment to obtain the second sub-radar detection data.

[0054] Optionally, the timing scheduling information includes a radar enable signal, which indicates whether the slave anchor point needs to perform radar detection during the radar period. If the timing scheduling information includes a radar enable signal, the slave anchor point will enter the radar detection mode. The slave anchor point starts the radar detection program during the radar period, sends a radar signal (usually a UWB pulse signal), and receives a reflected signal. By analyzing the characteristics of the reflected signal, the slave anchor point can determine the position, speed, shape and other information of the target in the surrounding environment to obtain the second sub-radar detection data.

[0055] During the data period, the second sub-ranging data and the second sub-radar detection data are sent from the anchor point to the main anchor point.

[0056] Further, refer to Figure 3 In the timing scheduling model used to implement the above radar detection and distance detection, the time area can be divided into time blocks, rounds, and slots. The time block is the time period used for ranging and radar detection. Each time block is an integer multiple of the round, and each round is an integer multiple of the slot.

[0057] The period is further subdivided into an integer number of time slots, where a time slot is a time period of sufficient length for transmitting at least one frame RFRAME. Figure 3 The time block structure is shown. A time block block includes N time periods round, namely round0 to roundN-1. Each time period round may include M time slots slot, namely slot0 to slotM-1.

[0058] In some examples, during the radar period, the control terminal is in a dormant state, which can reduce power consumption. In some examples, after the master anchor point and the slave anchor point complete the ranging, they perform radar detection in their own period and enter a dormant state in the period when the radar is not needed, thereby reducing power consumption.

[0059] In some examples, reference Figure 4 , the hybrid scheduling method based on UWB may include the following steps: Step S401: The control terminal sends a link establishment request message to the primary anchor point.

[0060] Step S402: the master anchor point sends a wake-up message to each slave anchor point.

[0061] Step S403: The primary anchor point sends a link establishment confirmation message to the control terminal.

[0062] In step S404, the control terminal sends timing scheduling information to the primary anchor point and the secondary anchor point.

[0063] In step S405, the master anchor point parses the timing scheduling information to obtain the ranging period, radar period and data period of the master anchor point itself in the hybrid scheduling process.

[0064] In step S406, the main anchor point performs distance detection in the ranging period to obtain first sub-ranging data, and performs radar detection in the radar period to obtain first sub-radar detection data when the timing scheduling information includes a radar enable signal of the main anchor point.

[0065] In step S407, the timing scheduling information is received and parsed from the anchor point to obtain the ranging period, radar period, and data period of the main anchor point itself in the hybrid scheduling process.

[0066] In step S408, distance detection is performed in the ranging period from the anchor point to obtain second sub-ranging data, and when the timing scheduling information includes a radar enable signal from the anchor point, radar detection is performed in the radar period to obtain second sub-radar detection data.

[0067] In step S409, the second sub-ranging data and the second sub-radar data are sent from the anchor point to the main anchor point.

[0068] In step S410, the main anchor point determines target ranging data according to the first sub-ranging data and the second sub-ranging data, and determines target radar detection data according to the first sub-radar detection data and the second sub-radar detection data.

[0069] In step S411, the main anchor point sends the target ranging data and the target radar detection data to the control terminal.

[0070] It should be noted that the specific details of step S401 to step S411 have been described in detail above, and therefore will not be repeated here.

[0071] In some example implementations, the present disclosure further provides a hybrid scheduling method based on UWB, referring to Figure 5 , may include steps S510 to S570.

[0072] In step S510, the control terminal sends timing scheduling information to the primary anchor point and the secondary anchor point.

[0073] In step S520, the master anchor point and the slave anchor point receive and parse the timing scheduling information to obtain the ranging period, radar period and data period of the master anchor point itself in the hybrid scheduling process.

[0074] In step S530, during the ranging period, the main anchor point performs distance detection to obtain first sub-ranging data, and the slave anchor point performs distance detection to obtain second sub-ranging data.

[0075] In step S540, during the radar period, when the timing scheduling information includes the radar enable signal of the main anchor point, the main anchor point performs radar detection during the radar period to obtain first sub-radar detection data; when the timing scheduling information includes the radar enable signal of the slave anchor point, the slave anchor point performs radar detection to obtain second sub-radar detection data.

[0076] In step S550, during the data period, the second sub-ranging data and the second sub-radar detection data are sent from the anchor point to the main anchor point.

[0077] In step S560, the main anchor point determines the target ranging data according to the first sub-ranging data and the second sub-ranging data, and determines the target radar detection data according to the first sub-radar detection data and the second sub-radar detection data.

[0078] In step S570, the main anchor point sends the target ranging data and the target radar detection data to the control terminal.

[0079] It should be noted that the specific details of step S510 to step S570 have been described in detail above, and therefore will not be repeated here.

[0080] The hybrid scheduling method based on UWB in the disclosed embodiment accurately detects distance in the ranging period, efficiently detects radar in the radar period, and receives and processes data from multiple slave anchor points in the data period. With the help of advanced data fusion technology and comprehensive analysis methods, high-precision ranging and radar detection results can be quickly obtained. At the same time, the system receives and analyzes the timing scheduling information, intelligently arranges the operation of the main anchor point in each period, realizes the optimization of system scheduling, and significantly improves the overall performance and operation efficiency of the system.

[0081] For further reference, Figure 6 As shown, in the implementation of this example, a hybrid scheduling device 600 based on UWB is also provided, which is applied to the above-mentioned main anchor point and includes a first receiving module 610, a first detection module 620, a first determination module 630 and a first sending module 640. Among them: The first receiving module 610 may be configured to receive and parse the timing scheduling information to obtain the ranging period, radar period, and data period of the primary anchor point itself during the hybrid scheduling process.

[0082] The first detection module 620 may be configured to perform distance detection in a ranging period to obtain first sub-ranging data, and to perform radar detection in a radar period to obtain first sub-radar detection data when the timing scheduling information includes a radar enable signal of a primary anchor point.

[0083] The first determination module 630 can be used to perform distance detection in the ranging period to obtain first sub-ranging data, and when the timing scheduling information includes a radar enable signal of the main anchor point, perform radar detection in the radar period to obtain first sub-radar detection data, and receive at least one second sub-ranging data and second sub-radar detection data sent from the anchor point in the data period.

[0084] The first sending module 640 can be used to determine target ranging data according to the first sub-ranging data and the second sub-ranging data, determine target radar detection data according to the first sub-radar detection data and the second sub-radar detection data, and send the target ranging data and the target radar detection data.

[0085] In an example implementation, the ranging period includes a sending time slot and a receiving time slot, and the first detection module 620 can be configured to send a response message in the sending time slot within the ranging period after receiving the ranging message; receive a ranging end message in the receiving time slot within the ranging period, and determine the first sub-ranging data based on the time difference between the response message and the ranging end message.

[0086] In an example implementation, the ranging period includes a transmission time slot and a reception time slot, and the first detection module 620 may be configured to control the radar of the main anchor point to send a detection signal when the timing scheduling information includes a radar enable signal of the main anchor point, and to generate first sub-radar detection data according to the returned feedback signal.

[0087] In an example implementation, the UWB-based hybrid scheduling apparatus 600 may also be used to use the second sub-radar detection data as the target radar detection data when the radar enable signal of the main anchor point is not included in the timing scheduling information.

[0088] In an example implementation, the UWB-based hybrid scheduling device 600 may also be used to receive a link establishment request message, and schedule the master anchor point itself and at least one slave anchor point to switch from a dormant state to an active state; and send a link establishment confirmation message to establish a communication connection.

[0089] Further, refer to Figure 7 As shown, in the implementation of this example, a UWB-based hybrid scheduling device 700 is also provided, which is applied to the above-mentioned slave anchor point and may include a second receiving module 710 , a second detection module 720 and a second sending module 730 .

[0090] The second receiving module 710 may be used to receive and parse the timing scheduling information to obtain the ranging period, radar period, and data period from the anchor point itself in the hybrid scheduling process; The second detection module 720 may be configured to perform distance detection in the ranging period to obtain second sub-ranging data, and to perform radar detection in the radar period to obtain second sub-radar detection data when the timing scheduling information includes a radar enable signal from an anchor point; The second sending module 730 may be configured to send the second sub-ranging data and the second sub-radar detection data to the main anchor point during a data period.

[0091] In some examples, the UWB-based hybrid scheduling apparatus 700 may be used to receive a scheduling signal sent by a primary anchor point and switch from a dormant state to an active state.

[0092] It should be understood that the above-mentioned device embodiments are only illustrative, and the device of the present disclosure can also be implemented in other ways. For example, the division of units / modules in the above-mentioned embodiments is only a logical function division, and there may be other division methods in actual implementation. For example, multiple units, modules or components can be combined, or can be integrated into another system, or some features can be ignored or not executed.

[0093] In addition, unless otherwise specified, each functional unit / module in each embodiment of the present disclosure may be integrated into one unit / module, or each unit / module may exist physically separately, or two or more units / modules may be integrated together. The above-mentioned integrated unit / module may be implemented in the form of hardware or in the form of a software program module.

[0094] If the integrated unit / module is implemented in the form of hardware, the hardware may be a digital circuit, an analog circuit, etc. The physical implementation of the hardware structure includes but is not limited to transistors, memristors, etc. If not specifically stated, the processor may be any appropriate hardware processor. If not specifically stated, the storage unit may be any appropriate magnetic storage medium or magneto-optical storage medium, such as Resistive Random Access Memory (RRAM), Dynamic Random Access Memory (DRAM), Static Random Access Memory (SRAM), Enhanced Dynamic Random Access Memory (EDRAM), High-Bandwidth Memory (HBM), Hybrid Memory Cube (HMC), etc.

[0095] If the integrated unit / module is implemented in the form of a software program module and sold or used as an independent product, it can be stored in a computer-readable memory. Based on this understanding, the technical solution of the present disclosure, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a memory and includes several instructions for a computer device (which can be a personal computer, server or network device, etc.) to perform all or part of the steps of the various embodiments of the present disclosure. The aforementioned memory includes: U disk, read-only memory (ROM), random access memory (RAM), mobile hard disk, disk or optical disk, etc., and other media that can store program codes.

[0096] Please refer to Figure 8 , which shows a structural block diagram of an electronic device provided by an exemplary embodiment of the present disclosure. In some examples, the electronic device may be at least one of a smart phone, a smart watch, a desktop computer, a laptop, a virtual reality terminal, an augmented reality terminal, a wireless terminal, and a laptop computer. The electronic device has a communication function and can access a wired network or a wireless network. The electronic device may generally refer to one of a plurality of terminals, and those skilled in the art may know that the number of the above terminals may be more or less. It is understandable that the electronic device undertakes the calculation and processing work of the technical solution of the present disclosure, and the embodiments of the present disclosure are not limited to this.

[0097] like Figure 8 As shown, the electronic device 800 may include: at least one processor 810 , a memory 820 , and a communication interface 830 .

[0098] The memory 820 is used to store programs. Specifically, the programs may include program codes, and the program codes include computer operation instructions.

[0099] The memory 820 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0100] The processor 810 is used to execute the computer-executable instructions stored in the memory 820 to implement the hybrid scheduling method based on UWB described in the aforementioned method embodiment. The processor 810 may be a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present disclosure.

[0101] The electronic device 800 may also include a communication interface 830, so that it can communicate and interact with external devices through the communication interface 830. In a specific implementation, if the communication interface 830, the memory 820 and the processor 810 are implemented independently, the communication interface 830, the memory 820 and the processor 810 can be connected to each other through a bus and complete the communication between each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc., but it does not mean that there is only one bus or one type of bus.

[0102] Optionally, in a specific implementation, if the communication interface 830, the memory 820 and the processor 810 are integrated on a chip, the communication interface 830, the memory 820 and the processor 810 can complete communication through an internal interface.

[0103] The present disclosure also provides a computer-readable storage medium, which may include: a U disk, a mobile hard disk, a read-only memory random access memory, a disk or an optical disk, and other media that can store program codes. Specifically, the computer-readable storage medium stores program instructions, and the program instructions are used for the UWB-based hybrid scheduling method in the above-mentioned embodiment.

[0104] The embodiments of the present disclosure also provide a computer program product, which includes computer instructions stored in a computer-readable storage medium; a processor of an electronic device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the electronic device executes to implement the UWB-based hybrid scheduling method of the above-mentioned embodiments.

[0105] Those skilled in the art should be aware that in one or more of the above examples, the functions described in the embodiments of the present disclosure can be implemented using hardware, software, firmware, or any combination thereof. When implemented using software, these functions can be stored in a computer-readable medium or transmitted as one or more instructions or codes on a computer-readable medium. Computer-readable media include computer storage media and communication media, wherein communication media include any media that facilitates the transmission of computer programs from one place to another. Storage media can be any available media that can be accessed by general or special-purpose computers.

[0106] In the above embodiments, the description of each embodiment has its own emphasis. For the part not described in detail in a certain embodiment, please refer to the relevant description of other embodiments. The technical features of the above embodiments can be combined arbitrarily. In order to make the description concise, all possible combinations of the technical features in the above embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0107] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the inventions claimed herein. The present disclosure is intended to cover any variations, uses or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or customary technical means in the art that are not claimed in the present disclosure.

[0108] It should be understood that the present disclosure is not limited to the exact construction that has been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof.

Claims

1. A hybrid scheduling method based on UWB, characterized in that: The hybrid scheduling method of UWB is applied to the main anchor point in the UWB communication system, and the hybrid scheduling method of UWB includes: Receiving and parsing the timing scheduling information to obtain the ranging period, radar period and data period of the main anchor point itself in the hybrid scheduling process; Performing distance detection in the ranging period to obtain first sub-ranging data, and when the timing scheduling information includes a radar enable signal of a primary anchor point, performing radar detection in the radar period to obtain first sub-radar detection data; receiving at least one second sub-ranging data and second sub-radar detection data transmitted from an anchor point during a data period; and Target ranging data is determined according to the first sub-ranging data and the second sub-ranging data, and target radar detection data is determined according to the first sub-radar detection data and the second sub-radar detection data, and the target ranging data and the target radar detection data are sent.

2. The hybrid scheduling method of UWB according to claim 1, characterized in that: The ranging period includes a sending time slot and a receiving time slot; The performing distance detection in the ranging period to obtain first sub-ranging data includes: After receiving the ranging message, sending a response message in a transmission time slot within the ranging period; A ranging end message is received in a receiving time slot within the ranging period, and the first sub-ranging data is determined according to a time difference between the response message and the ranging end message.

3. The hybrid scheduling method of UWB according to claim 1, characterized in that: When the timing scheduling information includes a radar enable signal of a primary anchor point, performing radar detection in the radar time period to obtain first sub-radar detection data includes: When the timing scheduling information includes the radar enable signal of the main anchor point, the radar of the main anchor point is controlled to send a detection signal, and the first sub-radar detection data is generated according to the returned feedback signal.

4. The hybrid scheduling method of UWB according to claim 1, characterized in that: The hybrid scheduling method of UWB also includes: When the timing scheduling information does not include a radar enable signal of a primary anchor point, the second sub-radar detection data is used as the target radar detection data.

5. The hybrid scheduling method of UWB according to claim 1, characterized in that: The hybrid scheduling method of UWB also includes: receiving a link establishment request message, and scheduling the master anchor point itself and at least one slave anchor point to switch from a dormant state to an active state; Send a link establishment confirmation message to establish a communication connection.

6. A hybrid scheduling method based on UWB, characterized in that: The hybrid scheduling method of UWB is applied to any slave anchor point in the UWB communication system, and the hybrid scheduling method of UWB includes: Receiving and parsing the timing scheduling information to obtain the ranging period, radar period and data period of the slave anchor point itself in the hybrid scheduling process; Performing distance detection in the ranging period to obtain second sub-ranging data, and when the timing scheduling information includes a radar enable signal from an anchor point, performing radar detection in the radar period to obtain second sub-radar detection data; In the data period, the second sub-ranging data and the second sub-radar detection data are sent to the main anchor point.

7. The hybrid scheduling method of UWB according to claim 6, characterized in that: The hybrid scheduling method of UWB also includes: Receive the scheduling signal sent by the main anchor point and switch from the dormant state to the active state.

8. A hybrid scheduling device based on UWB, applied to the main anchor point in the UWB communication system, characterized in that: The device comprises: A first receiving module is used to receive and parse the timing scheduling information to obtain the ranging period, radar period and data period of the main anchor point itself in the hybrid scheduling process; A first detection module is configured to perform distance detection in the ranging period to obtain first sub-ranging data, and to perform radar detection in the radar period to obtain first sub-radar detection data when the timing scheduling information includes a radar enable signal of a primary anchor point; a first determining module, configured to perform distance detection in the ranging period to obtain first sub-ranging data, and when the timing scheduling information includes a radar enable signal of a primary anchor point, perform radar detection in the radar period to obtain first sub-radar detection data, and receive at least one second sub-ranging data and second sub-radar detection data sent from an anchor point in a data period; and The first sending module is used to determine target ranging data according to the first sub-ranging data and the second sub-ranging data, determine target radar detection data according to the first sub-radar detection data and the second sub-radar detection data, and send the target ranging data and the target radar detection data.

9. A hybrid scheduling device based on UWB, applied to a slave anchor point in a UWB communication system, characterized in that: The secondary anchor point device comprises: A second receiving module is used to receive and parse the timing scheduling information to obtain the ranging period, radar period and data period of the slave anchor point itself in the hybrid scheduling process; a second detection module, performing distance detection in the ranging period to obtain second sub-ranging data, and performing radar detection in the radar period to obtain second sub-radar detection data when the timing scheduling information includes a radar enable signal from an anchor point; The second sending module is used to send the second sub-ranging data and the second sub-radar detection data to the main anchor point during the data period.

10. A hybrid scheduling method based on UWB, characterized in that: Applied to a UWB communication system, the UWB communication system comprises a master anchor point, at least one slave anchor point and a control terminal; wherein, The control terminal sends timing scheduling information to the master anchor point and the slave anchor point; The master anchor point and the slave anchor point receive and parse the timing scheduling information to obtain the ranging period, radar period and data period of the master anchor point itself in the hybrid scheduling process; In the ranging period, the main anchor point performs distance detection to obtain first sub-ranging data, and the slave anchor point performs distance detection to obtain second sub-ranging data; In the radar period, when the timing scheduling information includes the radar enable signal of the main anchor point, the main anchor point performs radar detection in the radar period to obtain first sub-radar detection data, and when the timing scheduling information includes the radar enable signal of the slave anchor point, the slave anchor point performs radar detection to obtain second sub-radar detection data; During the data period, sending the second sub-ranging data and the second sub-radar detection data from the anchor point to the main anchor point; The main anchor point determines target ranging data according to the first sub-ranging data and the second sub-ranging data, and determines target radar detection data according to the first sub-radar detection data and the second sub-radar detection data; The main anchor point sends the target ranging data and the target radar detection data to the control terminal.

11. An electronic device, characterized in that: The electronic device comprises: a processor and a memory; the processor is used to execute instructions stored in the memory to implement the UWB-based hybrid scheduling method as described in any one of claims 1 to 7.

12. A computer storage medium, characterized in that: The storage medium stores at least one instruction, and the at least one instruction is used to be executed by a processor to implement the UWB-based hybrid scheduling method according to any one of claims 1 to 7.

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