Ultra-wideband many-to-many ranging method and system

Abstract

The invention discloses an ultra wide band many-to-many ranging method and system. The method comprises the following steps: starting first session ranging; synchronizing ranging configuration information of the first session to the second session, wherein the ranging configuration information comprises a ranging block, a ranging round and time slot configuration of the first session; in the first mode, the ranging round of the second session is the sum of the ending time of the ranging round of the first session and the time offset; and in the second mode, the ranging round of the second session is obtained by adding a pseudo-random number to the ending time of the ranging round of the first session, and carrying out modulus operation on the round number of each ranging block. According to the ultra-wideband many-to-many distance measurement method and system provided by the invention, different distance measurement round strategies are adopted in different modes, so that efficient many-to-many distance measurement is realized in the same space.

Description

Technical Field

[0001] The present invention relates to the field of ultra-wideband technology, and in particular to an ultra-wideband many-to-many ranging method and system. Background Art

[0002] Ultra-Wide Band (UWB) ranging is to calculate the distance through the air flight time of electromagnetic waves, and its accuracy can reach the centimeter level. The basic ranging methods can be divided into SS-TWR (Single-Sided Two-Way Ranging) and DS-TWR (Double-Sided Two-Way Ranging), which can realize one-to-one and one-to-many ranging methods. However, in practical applications, some specific occasions require many-to-many ranging.

[0003] Therefore, it is necessary to provide an ultra-wideband many-to-many ranging method and system to solve the above problems. Summary of the invention

[0004] In view of the problems and shortcomings of the prior art, the present invention provides an ultra-wideband many-to-many ranging method and system, which realizes the ultra-wideband many-to-many ranging function in the same space by adopting different ranging round strategies in different modes.

[0005] The technical solution adopted by the present invention to solve the above technical problems is to provide an ultra-wideband many-to-many ranging method, the method comprising the following steps: Start the first session ranging; Synchronize the ranging configuration information of the first session to the second session, the ranging configuration information including the ranging block, ranging round, and time slot configuration of the first session; When in the first mode, the ranging round of the second session is the end time of the ranging round of the first session plus a time offset; When in the second mode, the ranging round of the second session is the end time of the ranging round of the first session plus a pseudo-random number modulo the number of rounds per ranging block.

[0006] Preferably, the first control device sends the ranging control message to the first group of controlled devices, wherein the ranging control message specifies the initiator and responder of the first session ranging; The initiator sends a ranging start message to the responder; The responder sends a ranging response message according to the time slot configuration; The initiator sends a ranging report message to the responder; The responder sends a ranging result report message according to the time slot configuration.

[0007] Preferably, the ranging configuration information of the first session is transmitted to the second session via an out-of-band communication method, and the out-of-band communication method includes any one of Bluetooth, Wi-Fi, cellular network and Ethernet.

[0008] Preferably, the ranging control message is protected by CCM encryption, the CCM encryption key is generated by ranging configuration information, and the devices participating in ranging are configured through UCI instructions of ultra-wideband before ranging starts.

[0009] Preferably, the second control device of the second session listens to the ranging control message, and if decryption and parsing are successful, it means that the ranging control message is sent by the first session.

[0010] Preferably, the ranging round end time and the time offset of the first session are calculated according to the ranging round and ranging control message sending time of the first session.

[0011] Preferably, when in the first mode, the ranging block of the second session is an integer multiple of the ranging block of the first session.

[0012] Preferably, the pseudo-random number is calculated by an AES encryption algorithm.

[0013] Preferably, when in the second mode, the ranging round of the second session is calculated by the following formula:

[0014] in, For the ranging round of the second session, For the first session of the ranging round, is a pseudo-random number, is the number of rounds in each ranging block, Rand < RoundsPerBlock .

[0015] The present invention also provides an ultra-wideband many-to-many ranging system, the system comprising: A first session ranging module, which is used to start the first session ranging; A ranging configuration information synchronization module, configured to synchronize the ranging configuration information of the first session to the second session, wherein the ranging configuration information includes a ranging block, a ranging round, and a time slot configuration of the first session; A first mode processing module, configured to, when in the first mode, cause the ranging round of the second session to be equal to the end time of the ranging round of the first session plus a time offset; The second mode processing module is used for, when in the second mode, the ranging round of the second session is the end time of the ranging round of the first session plus a pseudo-random number modulo the number of rounds per ranging block.

[0016] Compared with the prior art, the technical solution of the embodiment of the present invention has the following beneficial effects: The present invention provides an ultra-wideband many-to-many ranging method and system, the method comprising: starting ranging of a first session; synchronizing ranging configuration information of the first session to a second session, the ranging configuration information comprising a ranging block, a ranging round and a time slot configuration of the first session; when in a first mode, the ranging round of the second session is the end time of the ranging round of the first session plus a time offset; when in a second mode, the ranging round of the second session is the end time of the ranging round of the first session plus a pseudo-random number modulo the number of rounds of each ranging block, and by adopting different ranging round strategies in different modes, efficient many-to-many ranging is achieved in the same space.

[0017] Furthermore, the present invention optimizes the channel resource scheduling strategy under different ranging modes through the algorithm design of the first mode and the second mode, so that it can adapt to various ranging requirements, reasonably allocate channel resources, reduce channel access conflicts, and thus improve the efficiency and stability of many-to-many ranging. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following is a brief introduction to the drawings required for use in the embodiments or the prior art descriptions. Obviously, the drawings described below are some embodiments of the present invention, not all embodiments. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative labor.

[0019] Figure 1 Flow chart of an ultra-wideband many-to-many ranging method according to a preferred embodiment of the present invention.

[0020] Figure 2 The flowchart of the first session ranging in the ultra-wideband many-to-many ranging method according to a preferred embodiment of the present invention is shown.

[0021] Figure 3 Schematic diagram of the ranging configuration in the ultra-wideband many-to-many ranging method according to a preferred embodiment of the present invention.

[0022] Figure 4 This is a ranging round offset diagram of a first session and a second session in a first mode in an ultra-wideband many-to-many ranging method in a preferred embodiment of the present invention.

[0023] Figure 5This is a ranging round offset diagram of the first session and the second session in the second mode in the ultra-wideband many-to-many ranging method in a preferred embodiment of the present invention.

[0024] Figure 6 FIG. 4 is a schematic diagram of the architecture of an ultra-wideband many-to-many ranging system according to a preferred embodiment of the present invention. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are 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 making creative work are within the scope of protection of the present invention.

[0026] The technical solution of the present invention is described in detail below with reference to specific embodiments.

[0027] Based on the problems existing in the prior art, the embodiments of the present invention provide an ultra-wideband many-to-many ranging method and system, which implement efficient many-to-many ranging in the same space by adopting different ranging round strategies in different modes.

[0028] View now Figure 1 The embodiment of the present invention provides an ultra-wideband many-to-many ranging method, comprising the following steps: Step S11: Start the first conversation ranging.

[0029] Step S12: Synchronize the ranging configuration information of the first session to the second session, the ranging configuration information including the ranging block, ranging round and time slot configuration of the first session.

[0030] Step S13: When in the first mode, the ranging round of the second session is the end time of the ranging round of the first session plus a time offset.

[0031] Step S14: When in the second mode, the ranging round of the second session is the end time of the ranging round of the first session plus a pseudo-random number modulo the number of rounds per ranging block.

[0032] View now Figure 2 The first session ranging comprises the following steps: Step S21: the first control device sends the ranging control message to the first group of controlled devices, wherein the ranging control message specifies the initiator and responder of the first session ranging.

[0033] Step S22: the initiator sends a ranging start message to the responder.

[0034] Step S23: The responder sends a ranging response message according to the time slot configuration.

[0035] Step S24: the initiator sends a ranging report message to the responder.

[0036] Step S25: The responder sends a ranging result report message according to the time slot configuration.

[0037] View now Figure 3-Figure 5 ,The ranging configuration includes ranging blocks, ranging rounds and time slots. The interval between two ranging ,measurements is a ranging block. Each ranging block can be divided into multiple ,ranging rounds, and each ranging round can be further divided into multiple time slots.

[0038] For example, Figure 3 In, it includes block index 0, block index 1, block index 2, and block index 3. Further, block index 1 includes round index 0, round index 1, round index 2, and round index 3. Further, round index 0 includes time slot 0, time slot 1, time slot 2, time slot 3, time slot 4, time slot 5, time slot 6, time slot 7, time slot 8, time slot 9, time slot 10, and time slot 11.

[0039] When the first session ranging is started, the ranging configuration information of the first session is transmitted to the second session through an out-of-band communication method, wherein the out-of-band communication method includes any one of Bluetooth, Wi-Fi, cellular network and Ethernet.

[0040] The ranging control message is encrypted and protected by CCM (Counter with CBC – MAC), and the CCM encryption key is generated by the ranging configuration information. Before the ranging starts, the devices participating in the ranging are configured through the UCI (User-Controlled Interface) instructions of the ultra-wideband.

[0041] The second control device of the second session listens to the ranging control message, and if the decryption and parsing are successful, it means that the ranging control message is sent by the first session. At this time, the second control device synchronizes the ranging configuration information of the first session.

[0042] For example, Figure 4In the first mode, when in the first mode, the ranging round of the second session is the end time of the ranging round of the first session plus the time offset. The first mode is a mode other than the Hopping Mode. The ranging that starts first is called the first session, and the ranging that starts later is called the second session. Then, after the ranging of the first session is started, the configuration of the ranging of the first session can be notified to the control device of the second session through OOB (Out of Band), and OOB can be BT, WiFi or cellular network, or Ethernet, etc. The control device of the second session uses the ranging configuration of the first session to generate a CCM key, listens to the ranging control message of the first session of the air interface, and if the decryption and parsing are successful, it means that the ranging control message belongs to the control device of the first session. It can achieve ranging time synchronization with the first session, but does not participate in the ranging of the first session. The ranging block of the second session takes an integer multiple of the ranging block of the first session. The control device of the second session can send a ranging control message at the end time of the ranging round of the first session plus the offset to start the ranging of the second session, so that the problem of channel access conflict can be solved and many-to-many ranging can be achieved.

[0043] For example, Figure 5 In the second mode, i.e., Hopping Mode, the ranging rounds in each ranging block are not in a fixed position, and the ranging rounds of the second session are the end time of the ranging rounds of the first session plus a pseudo-random number modulo the number of rounds of each ranging block. The pseudo-random number is calculated by the AES (Advanced Encryption Standard) encryption algorithm. The second mode is Hopping Mode, and the ranging rounds of the second session are calculated by the following formula:

[0044] in, For the ranging round of the second session, For the first session of the ranging round, is the offset, is the number of rounds in each ranging block, Rand < RoundsPerBlock, That is, the pseudo-random number is smaller than the number of rounds of each ranging block.

[0045] For example, each ranging block of the first session contains 4 rounds, and the ranging of the second session is offset by 1 round relative to that of session A. When the ranging round of the first session is the 3rd round, the ranging round of session B is (3 + 1) % 4 = 0.

[0046] When in the first mode and the second mode, the ranging round end time and the time offset of the first session are calculated according to the ranging round and ranging control message sending time of the first session.

[0047] In a specific implementation, for example, there are two groups of ranging devices, and each group of ranging devices includes a control device and multiple controlled devices.

[0048] The first group of ranging devices starts to declare the occupation of channel resources by sending the ranging control message of the first group of devices by the first control device. After receiving the ranging control message of the group, the first group of controlled devices uses its sending time as the reference time point to align the time slot, and calculates the start time of the next ranging and the time offset of the next ranging round by accumulating the time length of the ranging block.

[0049] For the second group of ranging devices, if the second control device can accurately obtain the ranging blocks, ranging rounds, time slot configurations, and ranging control message sending time of the current first group of ranging devices, then the second group of ranging devices adopts different ranging round strategies in different modes and takes avoidance measures to ensure that the two groups of ranging devices do not conflict with each other and realize many-to-many ranging.

[0050] View now Figure 6 The embodiment of the present invention further provides an ultra-wideband many-to-many ranging system, the system comprising: The first session ranging module 61 is used to start the first session ranging.

[0051] The ranging configuration information synchronization module 62 is used to synchronize the ranging configuration information of the first session to the second session, wherein the ranging configuration information includes the ranging block, ranging round and time slot configuration of the first session.

[0052] The first mode processing module 63 is configured to, when in the first mode, cause the ranging round of the second session to be equal to the end time of the ranging round of the first session plus a time offset.

[0053] The second mode processing module 64 is used for, when in the second mode, the ranging round of the second session is the end time of the ranging round of the first session plus a pseudo-random number modulo the number of rounds per ranging block.

[0054] In summary, the ultra-wideband many-to-many ranging method, system method and device provided by the present invention include: starting ranging for a first session; synchronizing the ranging configuration information of the first session to the second session, the ranging configuration information including the ranging block, ranging round and time slot configuration of the first session; when in the first mode, the ranging round of the second session is the end time of the ranging round of the first session plus a time offset; when in the second mode, the ranging round of the second session is the end time of the ranging round of the first session plus a pseudo-random number modulo the number of rounds of each ranging block, and by adopting different ranging round strategies in different modes, efficient many-to-many ranging is achieved in the same space.

[0055] Furthermore, the present invention optimizes the channel resource scheduling strategy under different ranging modes through the algorithm design of the first mode and the second mode, so that it can adapt to various ranging requirements, reasonably allocate channel resources, reduce channel access conflicts, and thus improve the efficiency and stability of many-to-many ranging.

[0056] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An ultra-wideband many-to-many ranging method, characterized in that: The method comprises the following steps: Start the first session ranging; Synchronize the ranging configuration information of the first session to the second session, the ranging configuration information including the ranging block, ranging round, and time slot configuration of the first session; When in the first mode, the ranging round of the second session is the end time of the ranging round of the first session plus a time offset; When in the second mode, the ranging round of the second session is the end time of the ranging round of the first session plus a pseudo-random number modulo the number of rounds per ranging block.

2. The ultra-wideband many-to-many ranging method according to claim 1, characterized in that: The first session ranging includes: The first control device sends a ranging control message to the first group of controlled devices, wherein the ranging control message specifies an initiator and a responder of the first session ranging; The initiator sends a ranging start message to the responder; The responder sends a ranging response message according to the time slot configuration; The initiator sends a ranging report message to the responder; The responder sends a ranging result report message according to the time slot configuration.

3. The ultra-wideband many-to-many ranging method according to claim 1, characterized in that: The ranging configuration information of the first session is transmitted to the second session via an out-of-band communication method, where the out-of-band communication method includes any one of Bluetooth, Wi-Fi, cellular network, and Ethernet.

4. The ultra-wideband many-to-many ranging method according to claim 1, characterized in that: The ranging control message is protected by CCM encryption. The CCM encryption key is generated by the ranging configuration information. Before the ranging starts, the devices participating in the ranging are configured through the UCI instructions of the ultra-wideband.

5. The ultra-wideband many-to-many ranging method according to claim 4, characterized in that: The second control device of the second session listens to the ranging control message, and if decryption and parsing are successful, it means that the ranging control message is sent by the first session.

6. The ultra-wideband many-to-many ranging method according to claim 1, characterized in that: The ranging round end time and the time offset of the first session are calculated according to the ranging round and ranging control message sending time of the first session.

7. The ultra-wideband many-to-many ranging method according to claim 1, characterized in that: When in the first mode, the ranging block of the second session is an integer multiple of the ranging block of the first session.

8. The ultra-wideband many-to-many ranging method according to claim 1, characterized in that: The pseudo-random number is calculated by using the AES encryption algorithm.

9. The ultra-wideband many-to-many ranging method according to claim 1, characterized in that: When in the second mode, the ranging rounds of the second session are calculated by the following formula: in, For the ranging round of the second session, For the first session of the ranging round, is a pseudo-random number, is the number of rounds in each ranging block, Rand < RoundsPerBlock .

10. An ultra-wideband many-to-many ranging system, characterized in that: The system comprises: A first session ranging module, which is used to start the first session ranging; A ranging configuration information synchronization module, configured to synchronize the ranging configuration information of the first session to the second session, wherein the ranging configuration information includes a ranging block, a ranging round, and a time slot configuration of the first session; A first mode processing module, configured to, when in the first mode, cause the ranging round of the second session to be equal to the end time of the ranging round of the first session plus a time offset; When in the second mode, the ranging round of the second session is the end time of the ranging round of the first session plus a pseudo-random number modulo the number of rounds per ranging block.

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