A positioning method based on radio frequency biochip

Abstract

The application relates to a positioning method based on a radio frequency biochip, comprising the following steps: adjusting the clocks of a plurality of base stations according to the communication delay time between the base stations corresponding to a target breeding area, so that the clocks of the base stations are synchronized; obtaining a three-dimensional map of the target breeding area; the three-dimensional map is divided into a plurality of grids; obtaining a plurality of first distance vectors according to the base station positions of the base stations and the center point positions of the plurality of grids; the first distance vector is a distance vector between the center position and the plurality of base stations; obtaining a second distance vector according to the communication time data of a radio frequency biochip arranged on a target livestock and poultry and the plurality of base stations; the second distance vector is a distance vector between the radio frequency biochip and the plurality of base stations; and positioning a target grid where the target livestock and poultry are located according to the plurality of first distance vectors and the second distance vector. The application can accurately position the target grid where the target livestock and poultry are located.

Description

Technical Field

[0001] This application relates to the technical field of bio-location, and in particular to a location method based on radio frequency biochips. Background Technology

[0002] With the rapid development of wireless communication technology, ultra-wideband (UWB) technology, with its superior high-precision positioning performance, has become an important tool in precise positioning and tracking systems. High-precision positioning systems typically require multiple base stations to work collaboratively, providing positioning information and ensuring accuracy. To achieve accurate positioning, base stations need to use synchronization algorithms to ensure clock synchronization and avoid errors caused by clock deviations. However, in traditional positioning systems, synchronization algorithms based on a single positioning sensor often suffer from significant time delays and high computational complexity. Especially in scenarios involving synchronization of multiple base stations, time asynchrony can lead to a substantial decrease in positioning accuracy. Summary of the Invention

[0003] Therefore, the purpose of this application is to provide a positioning method based on radio frequency biochips, which can overcome the shortcomings of the prior art.

[0004] To achieve the above objectives, the technical solution adopted in this application is as follows:

[0005] A localization method based on radio frequency biochips, comprising:

[0006] Based on the communication delay time between multiple base stations in the corresponding target aquaculture area, adjust the clocks of the multiple base stations to synchronize them;

[0007] Obtain a 3D map of the target aquaculture area; the 3D map is divided into multiple grids.

[0008] Based on the base station locations of the multiple base stations and the center point locations of the multiple grids, multiple first distance vectors are obtained; the first distance vector is the distance vector between the center location and the multiple base stations.

[0009] A second distance vector is obtained based on the communication time data between the radio frequency biochip installed on the target livestock and poultry and the multiple base stations; the second distance vector is the distance vector between the radio frequency biochip and the multiple base stations.

[0010] The target grid where the target livestock and poultry are located is determined based on the plurality of first distance vectors and the second distance vector.

[0011] Compared with traditional technologies, the beneficial effects of this application are:

[0012] The positioning method based on radio frequency biochips in this application involves synchronizing the clocks of multiple base stations in the target breeding area, obtaining multiple first distance vectors based on the positions of the multiple base stations and the center point positions of multiple grids, and then obtaining a second distance vector based on the communication time data between the radio frequency biochip installed on the target livestock and poultry and the multiple base stations. Finally, the target grid where the target livestock and poultry are located is located based on the multiple first distance vectors and the second distance vectors. The target livestock and poultry can be accurately located through multiple clock-synchronized base stations.

[0013] In one implementation, the plurality of base stations includes a master base station and a plurality of slave base stations;

[0014] The step of synchronizing the clocks of multiple base stations based on the communication delay time between multiple base stations in the corresponding target aquaculture area includes:

[0015] The plurality of base stations send synchronization request packets to the master base station to request the standard time information of the master clock, and the master base station returns a synchronization response packet with a timestamp;

[0016] After receiving the synchronization request packet, the master base station generates a synchronization response packet with the current time timestamp and returns the synchronization response packet to several slave base stations.

[0017] After receiving the synchronization response packet, the slave base stations calculate the round-trip time based on the timestamp carried in the synchronization response packet and the local reception time, and adjust the corresponding slave clock accordingly.

[0018] In this embodiment, the communication round-trip delay obtained from the time information of the synchronization request packet and the synchronization response packet can accurately obtain the time deviation between each slave base station and the master base station, so as to realize the clock synchronization of the base station.

[0019] As one implementation, the step of calculating the communication round-trip delay based on the timestamp of the synchronization response packet includes:

[0020] The round-trip communication delay can be obtained using the following formula:

[0021]

[0022] in, The round-trip time of the communication. The time when the synchronization request packet is sent from the base station to the master base station. The moment when the master base station receives the synchronization request packet. The moment when the master base station sends the synchronization response packet. The communication round-trip delay is used to estimate the pure signal propagation delay by eliminating the influence of intermediate processing time, which is the time when the synchronization response packet is received from the base station.

[0023] In this embodiment, the communication round-trip delay can be accurately obtained using the above formula.

[0024] As one implementation, the step of calculating the time deviation with the main base station includes:

[0025] The time deviation is obtained using the following formula:

[0026]

[0027] in, The time deviation is mentioned. For communication round-trip delay, The local time when the packet was received from the base station (from the clock). Write the transmission timestamp into the response packet for the master base station (master clock).

[0028] In this embodiment, the time deviation can be accurately obtained using the above formula.

[0029] In one implementation, the master clock of the main base station is a rubidium atomic clock, and the time accumulation error of the rubidium atomic clock is obtained by the following formula:

[0030]

[0031] in, It is an error accumulated over time. For frequency deviation, For the ideal frequency of a rubidium atomic clock, This refers to the accumulated time of the rubidium atomic clock at the master base station from its last calibration (or startup) to the current moment. This error originates from the frequency drift of the rubidium atomic clock itself. Before the master base station sends the current timestamp to the slave base station for synchronization, it needs to consider the accumulated error caused by its own clock deviating from the ideal frequency. This accumulated time error... This is used to correct the timestamp sent by the master base station; that is, when generating the synchronization response packet, the current system time is subtracted. This is then used as a transmission timestamp to compensate for errors caused by frequency deviations during the operation of the rubidium atomic clock, ensuring a more accurate time reference is obtained from the base station.

[0032] In this embodiment, using a rubidium atomic clock as a high-precision clock source can improve the accuracy of time information.

[0033] In one implementation, the side length of the grid is half the average body size of the multiple target livestock and poultry in the target breeding area.

[0034] In this embodiment, the side length of the grid is restricted so that only one animal or poultry can be placed in each grid, which can improve the accuracy of animal and poultry positioning.

[0035] As one implementation, the step of obtaining multiple first distance vectors based on the base station locations of the multiple base stations and the center point locations of the multiple grids includes:

[0036] Based on the height of the target livestock and poultry, the coordinate system of the three-dimensional map is adjusted to obtain the center point coordinates of the center points of multiple grids corresponding to the adjusted coordinate system, and the coordinates of multiple base stations corresponding to the positions of multiple base stations corresponding to the adjusted coordinate system.

[0037] The plurality of first distance vectors are obtained based on the coordinates of the center point and the coordinates of the plurality of base stations.

[0038] In this embodiment, the plurality of first distance vectors can be obtained efficiently and accurately based on the coordinate system of the adjusted 3D map.

[0039] As one implementation, the step of obtaining the plurality of first distance vectors based on the coordinates of the center point and the coordinates of the plurality of base stations includes:

[0040] The first distance vector is obtained using the following formula:

[0041]

[0042] in, Let be the first distance vector between the center point and the q-th base station. The first coordinate axis value is the coordinate of the c-th center point. The second coordinate axis value is the coordinate of the c-th center point. The value of the third coordinate axis of the c-th center point. Let be the value of the first coordinate axis of the base station coordinates of the q-th base station. Let be the value of the second coordinate axis of the q-th base station. This is the value of the third coordinate axis of the base station coordinates of the q-th base station.

[0043] In this embodiment, the first distance vector can be accurately obtained using the above formula.

[0044] As one implementation, the step of locating the target grid where the target livestock is located based on the plurality of first distance vectors and the second distance vector includes:

[0045] Obtain the vector difference between each of the first distance vectors and the second distance vector;

[0046] The grid corresponding to the first distance vector with the smallest vector difference is determined as the target grid.

[0047] In this embodiment, the target mesh can be accurately obtained based on the vector difference between the first distance vector and the second distance vector.

[0048] As one implementation, the step of obtaining the vector difference between each of the first distance vectors and the second distance vector includes:

[0049] The vector difference is obtained using the following formula:

[0050]

[0051] in, The vector difference represents the Euclidean distance between the actual distance vector measured by the radio frequency biochip and the theoretical distance vector of the c-th grid center point, used to measure whether the center point is the closest point to the location of the livestock. Let be the distance vector between the radio frequency biochip and the first base station. Let be the distance vector between the radio frequency biochip and the second base station. Let be the distance vector between the radio frequency biochip and the third base station. Let the first distance vector be the distance between the center point and the first base station. Let the first distance vector be the distance between the center point and the second base station. Let be the first distance vector between the center point and the third base station.

[0052] In this embodiment, the vector difference can be accurately obtained using the above formula.

[0053] To better understand and implement this application, the following detailed description is provided in conjunction with the accompanying drawings. Attached Figure Description

[0054] Figure 1 A flowchart illustrating a localization method based on a radio frequency biochip according to an embodiment of this application;

[0055] Figure 2 This is a schematic diagram of the coordinate system of a three-dimensional map for a localization method based on radio frequency biochips according to an embodiment of this application;

[0056] Figure 3 This is a schematic diagram of the second vector of a localization method based on a radio frequency biochip according to an embodiment of this application;

[0057] Figure 4 This is a schematic flowchart illustrating an example of a localization method based on a radio frequency biochip according to an embodiment of this application.

[0058] Figure 5 This is a schematic diagram of the master-slave clock synchronization process for an example of a positioning method based on a radio frequency biochip according to an embodiment of this application. Detailed Implementation

[0059] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0060] It should be understood that the described embodiments are merely some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of the embodiments of this application.

[0061] In the following description, when referring to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. In the description of this application, it should be understood that the terms "first," "second," "third," etc., are used only to distinguish similar objects and are not necessarily used to describe a specific order or sequence, nor should they be construed as indicating or implying relative importance. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances. The singular forms "a," "the," and "the" used in this application and the appended claims are also intended to include the plural forms, unless the context clearly indicates otherwise. The word "if" as used herein can be interpreted as "when," "when," or "in response to determination."

[0062] Furthermore, in the description of this application, unless otherwise stated, "multiple" means two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. The character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0063] Please see Figure 1 The flowchart below is a first embodiment of the localization method based on a radio frequency biochip, comprising:

[0064] S1: Adjust the clocks of the multiple base stations according to the communication delay time between the multiple base stations in the corresponding target breeding area to synchronize the clocks of the multiple base stations.

[0065] There are three base stations corresponding to the target aquaculture area. Each of the three base stations has a unique identifier to identify the target aquaculture area corresponding to the base station.

[0066] S2: Obtain a three-dimensional map of the target aquaculture area; the three-dimensional map is divided into multiple grids.

[0067] Geographical data of the target aquaculture area can be obtained through on-site manual measurement to construct a three-dimensional map. Taking a rectangular target aquaculture area as an example, the length and width of the target aquaculture area are measured to obtain the horizontal coordinate system, which is then combined with the vertical coordinate system to obtain a three-dimensional map with a three-dimensional coordinate system.

[0068] S3: Based on the base station locations of the multiple base stations and the center point locations of the multiple grids, a plurality of first distance vectors are obtained; the first distance vectors are the distance vectors between the center location and the multiple base stations.

[0069] S4: Based on the communication time data between the radio frequency biochip installed on the target livestock and poultry and the multiple base stations, a second distance vector is obtained; the second distance vector is the distance vector between the radio frequency biochip and the multiple base stations.

[0070] Among them, radio frequency biochips are Figure 3 Livestock and poultry labels.

[0071] S5: Locate the target grid where the target livestock and poultry are located based on the plurality of first distance vectors and the second distance vector.

[0072] Compared with traditional technologies, the beneficial effects of this application are:

[0073] The positioning method based on radio frequency biochips in this application involves synchronizing the clocks of multiple base stations in the target breeding area, obtaining multiple first distance vectors based on the positions of the multiple base stations and the center point positions of multiple grids, and then obtaining a second distance vector based on the communication time data between the radio frequency biochip installed on the target livestock and poultry and the multiple base stations. Finally, the target grid where the target livestock and poultry are located is located based on the multiple first distance vectors and the second distance vectors. The target livestock and poultry can be accurately located through multiple clock-synchronized base stations.

[0074] In one feasible embodiment, the plurality of base stations includes a master base station and a plurality of slave base stations. The master base station is equipped with a master clock for recording time, and the slave base stations are equipped with slave clocks for recording time.

[0075] S1: The step of adjusting the clocks of the multiple base stations to synchronize them based on the communication delay time between the multiple base stations in the corresponding target aquaculture area includes:

[0076] S11: The plurality of base stations send synchronization request packets to the main base station to request the standard time information of the master clock, and the main base station returns a synchronization response packet with a timestamp.

[0077] S12: After receiving the synchronization request packet, the master base station generates a synchronization response packet with the current time timestamp and returns the synchronization response packet to several slave base stations.

[0078] S13: After receiving the synchronization response packet, the plurality of slave base stations calculate the round-trip time based on the timestamp carried in the synchronization response packet and the local reception time, and adjust the corresponding slave clock accordingly.

[0079] Through the aforementioned interactive master-slave synchronization process, each slave base station can correct its own time and frequency in real time, enabling each base station to maintain high-precision time synchronization. Even with accumulated time errors, the master base station can also ensure high accuracy, thereby achieving time consistency across the entire target aquaculture area.

[0080] In this embodiment, the communication round-trip delay obtained from the time information of the synchronization request packet and the synchronization response packet can accurately obtain the time deviation between each slave base station and the master base station, so as to realize the clock synchronization of the base station.

[0081] In a feasible embodiment, step S12: calculating the communication round-trip delay based on the timestamp of the synchronization response packet includes:

[0082] The round-trip communication delay can be obtained using the following formula:

[0083]

[0084] in, The round-trip time of the communication. The time when the synchronization request packet is sent from the base station to the master base station. The moment when the master base station receives the synchronization request packet. The moment when the master base station sends the synchronization response packet. The communication round-trip delay is used to estimate the pure signal propagation delay by eliminating the influence of intermediate processing time, which is the time when the synchronization response packet is received from the base station.

[0085] In this embodiment, the communication round-trip delay can be accurately obtained using the above formula.

[0086] In a feasible embodiment, step S13: calculating the time deviation with the main base station includes:

[0087] The time deviation is obtained using the following formula:

[0088]

[0089] in, The time deviation is mentioned. The round-trip time of the communication. The local time when the packet was received from the base station. The sending timestamp is written into the response packet for the master base station. There are three base stations corresponding to the actual breeding area (target breeding area). The rubidium atomic clock of one base station is used as the master clock, and the clocks of the other several base stations are used as slave clocks. The clocks of the three base stations are continuously calibrated to ensure that the clocks of the three base stations are synchronized.

[0090] In this embodiment, the time deviation can be accurately obtained using the above formula.

[0091] In one feasible embodiment, the master clock of the main base station is a rubidium atomic clock, and the time accumulation error of the rubidium atomic clock is obtained by the following formula:

[0092]

[0093] in, This is the time accumulation error. For frequency deviation, For the ideal frequency of a rubidium atomic clock, This refers to the accumulated time of the rubidium atomic clock at the master base station from its last calibration or startup to the current moment. This error originates from the frequency drift of the rubidium atomic clock itself. Before the master base station sends the current timestamp to the slave base station for synchronization, it needs to consider the accumulated error caused by its own clock deviating from the ideal frequency. This accumulated time error... This is used to correct the timestamp sent by the master base station; that is, when generating the synchronization response packet, the current system time is subtracted. This is then used as a transmission timestamp to compensate for errors caused by frequency deviations during the operation of the rubidium atomic clock, ensuring a more accurate time reference is obtained from the base station.

[0094] In this embodiment, using a rubidium atomic clock as a high-precision clock source can improve the accuracy of time information.

[0095] In one feasible embodiment, the side length of the grid is half the average body size of the target livestock and poultry in the target breeding area.

[0096] The "average body size" refers to the average body length of multiple target livestock and poultry within the target breeding area. Setting the grid side length to half of this average value aims to ensure that a grid space can accommodate at most one livestock or poultry and its radio frequency biochip, thereby avoiding multiple chips appearing in the same grid and causing positioning confusion, while taking into account both positioning accuracy and system resource efficiency.

[0097] In this embodiment, the side length of the grid is limited so that each grid can only accommodate one animal or poultry, which can improve the accuracy of animal and poultry positioning.

[0098] In a feasible embodiment, step S3: obtaining multiple first distance vectors based on the base station locations of the multiple base stations and the center point locations of the multiple grids, includes:

[0099] S31: Based on the height of the target livestock and poultry, adjust the coordinate system of the three-dimensional map to obtain the center point coordinates of the multiple grids corresponding to the adjusted coordinate system, and the multiple base station coordinates corresponding to the multiple base station positions.

[0100] In this process, taking into account the height of the target livestock, the coordinate system of the three-dimensional map is shifted upwards in the vertical space. We obtain a new coordinate system by measuring a distance. In this new coordinate system, the base station coordinates are... There are a total of 3 base stations (q=1,2,3), and the coordinates of the center point of the grid are... The number of center points of the grid is c.

[0101] in, , Let be the side length of the grid. The height of the target livestock is given by k, where k is the index of the center point on the x-axis and p is the index of the center point on the y-axis, mapped to the center point coordinates. , , respectively represent the coordinates of the c-th center point on the x, y, and z axes.

[0102] S32: Based on the coordinates of the center point and the coordinates of the multiple base stations, obtain the multiple first distance vectors.

[0103] In this embodiment, the plurality of first distance vectors can be obtained efficiently and accurately based on the coordinate system of the adjusted 3D map.

[0104] In a feasible embodiment, step S31: obtaining the plurality of first distance vectors based on the center point coordinates and the plurality of base station coordinates, includes:

[0105] The first distance vector is obtained using the following formula:

[0106]

[0107] in, Let be the first distance vector between the center point and the q-th base station. The first coordinate axis value is the coordinate of the c-th center point. The second coordinate axis value is the coordinate of the c-th center point. The value of the third coordinate axis of the c-th center point. Let be the value of the first coordinate axis of the base station coordinates of the q-th base station. Let be the value of the second coordinate axis of the q-th base station. This is the value of the third coordinate axis of the base station coordinates of the q-th base station.

[0108] In this embodiment, the first distance vector can be accurately obtained using the above formula.

[0109] In a feasible embodiment, step S5: locating the target grid where the target livestock / poultry is located based on the plurality of first distance vectors and the second distance vector, includes:

[0110] S51: Obtain the vector difference between each of the first distance vectors and the second distance vector.

[0111] S52: The grid corresponding to the first distance vector with the smallest vector difference is determined as the target grid.

[0112] In this embodiment, the target mesh can be accurately obtained based on the vector difference between the first distance vector and the second distance vector.

[0113] In a feasible embodiment, step S51: obtaining the vector difference between each of the first distance vectors and the second distance vector includes:

[0114] The vector difference is obtained using the following formula:

[0115]

[0116] in, The vector difference represents the Euclidean distance between the actual distance vector measured by the radio frequency biochip and the theoretical distance vector of the c-th grid center point, used to measure whether the center point is the closest point to the location of the livestock. Let be the distance vector between the radio frequency biochip and the first base station. Let be the distance vector between the radio frequency biochip and the second base station. Let be the distance vector between the radio frequency biochip and the third base station. Let the first distance vector be the distance between the center point and the first base station. Let the first distance vector be the distance between the center point and the second base station. Let be the first distance vector between the center point and the third base station.

[0117] In this embodiment, the vector difference can be accurately obtained using the above formula.

[0118] Please see Figure 4 and Figure 5 To further illustrate the technical solution of this application, the following example is provided:

[0119] Step 101: Master-Slave Clock Synchronization. Specifically, there are three base stations corresponding to the actual aquaculture area (target aquaculture area). The rubidium atomic clock of one base station serves as the master clock, and the clocks of the other several base stations serve as slave clocks. The clocks of the three base stations are continuously calibrated to ensure synchronization. The rubidium atomic clock outputs time with extremely high stability and accuracy.

[0120] Step 101: Includes the following steps:

[0121] 501: The clock sends a synchronization request packet to the master clock, and the master clock returns a synchronization response packet with a timestamp;

[0122] 502: The clock calculates the round-trip delay based on the timestamp in the synchronization response packet and adjusts its own clock accordingly;

[0123] 503: If a delay exists, the base station will adjust its frequency according to the difference in network propagation time, thereby continuously improving clock accuracy.

[0124] Step 102: Manually input the area boundary values, livestock body size, grid division side lengths, and relative coordinates when installing the three base stations. Specifically, the actual breeding area is mapped through on-site manual measurement. Generally, it is a closed area of ​​a standard shape, taking a rectangle as an example. Measure the length and width of this area, assuming it is a three-dimensional space, with the breeding area as a two-dimensional horizontal plane. Record the total length, i.e., the three-dimensional coordinates of the four vertices and the three base stations. The ground breeding area is A meters × B meters, and the grid size is... Mi× Meters, the height of the livestock and poultry radio frequency biochip is The base station is z meters high, and its locations are as follows: Base Station A: Base Station B: Base Station C: .

[0125] Step 103: Based on the provided data, divide all grids according to the base station coordinate system. Grids shorter than a fixed length are also considered as one grid. Determine the grid intersections and center points. Specifically, obtain half the average body size of livestock in the breeding area as the grid side length to ensure that there is at most one radio frequency biochip for a livestock in each grid. Divide the 3D map of the breeding area according to the grid, obtain the center point of each grid, and divide the grid side length as follows: The coordinates are divided according to the method of extending from the origin to the x and y axes respectively, and any part that is less than one grid is also counted as one grid.

[0126] First, divide the grid intersection points:

[0127] Through L / To determine if it is an integer, if it is not an integer, it means that the last row or column is insufficient. The size of the grid, through To determine the final row and column coordinates, if they are positive, then... Determine the coordinates. Here, m and n are non-negative integers, representing the indices of the grid intersections along the x and y axes, respectively, with values ​​ranging from [value range missing]. L is the side length of the region.

[0128] Based on the grid obtained from the 3D map, the two-dimensional horizontal coordinates are shifted upwards in vertical space. The distance is considered, taking into account the actual height of livestock during positioning, to form a new three-dimensional spatial simulation of real positioning. The location of the base station is known. .

[0129] If the side length of the region is just enough to... Integer partitioning is done through To determine the coordinates of the center point, otherwise... The center points are determined using the same method as above, with the center point of the last row and column being... Determined. Here, k and p are non-negative integers representing the indices of the center point, with values ​​ranging from... .

[0130] Step 104: The system locates and records all grid center points within the area to which the base station belongs, saving the distance vectors of all points in the order of base station 1, 2, 3. Specifically, the system maps the base station coordinates of the area to the first distance vector from the center point to the base station. The distance calculation formula is as follows:

[0131]

[0132] in, Let be the first distance vector between the center point and the q-th base station. The first coordinate axis value is the coordinate of the c-th center point. The second coordinate axis value is the coordinate of the c-th center point. The value of the third coordinate axis of the c-th center point. Let be the value of the first coordinate axis of the base station coordinates of the q-th base station. Let be the value of the second coordinate axis of the q-th base station. Let be the value of the third coordinate axis of the q-th base station. Integrate the first distance vector between the center point and the base station to obtain... A target aquaculture area has three base stations, so the resulting vector contains three elements, which correspond to the distances between the center point and the three base stations respectively, c is the number of the center points, and q (q=1,2,3) is the number of the base stations.

[0133] Step 105: After livestock enter the pen, they send a request signal with a unique identifier to the three base stations in their respective areas. The time points when the tag and base stations send the request signals are recorded. Upon receiving the signal, the base stations send signals to the livestock in their respective areas, recording the time points when the tag and base stations receive the data packets. This continues until the tag receives a reply signal. The distance between the location point and the three base stations is calculated and mapped to a distance vector. Specifically, the distances to the three base stations obtained from the location point (the radio frequency biochip of the target livestock) are mapped onto three-dimensional coordinates. The formula for calculating the distance between the base station and the location point is as follows: .

[0134] in, It is the one-way flight time of the signal. It is the speed of signal propagation, The time point at which the radio frequency biochip sends a request signal. The time point at which data packets are sent with the base station; For the time point when the radio frequency biochip receives data packets, The time point at which the base station receives the request signal; It is the distance between the q-th (q=1,2,3) base station and the radio frequency biochip, that is, the second distance vector between the radio frequency biochip and the q-th base station.

[0135] The distances between these three base stations and the radio frequency biochip are calculated to obtain a five-dimensional distance vector. The first three data points are recorded in the order of base station 1, 2, and 3 to ensure uniqueness. The specific vector expression is as follows: .

[0136] Where 's' represents distance, 'b' represents a unique area identifier that each base station transmitter can embed in its signal, and 'a' represents a unique identifier for each livestock. The identifier propagates along with the signal transmission. When the livestock's receiver receives the signal, it can extract this area identifier to determine which area the signal originated from. Frequency division multiplexing ensures that base stations between areas do not interfere with each other. The radio frequency biochip within an area sends a reply signal to the base station in its own area, avoiding interference between signals from different areas.

[0137]

[0138] in, This represents the total bandwidth of the UWB, where N is the number of subbands. It is a protection interval coefficient to prevent inherent inter-band spectrum leakage.

[0139] To prevent spectral leakage or cross-interference between different sub-bands, frequency spacing is set between adjacent sub-bands:

[0140]

[0141] in, The guard bandwidth between the sub-bands, The isolation factor represents the proportion of a sub-band that is reserved for protection; it is typically set to [value missing] here. , To correspond to the subband bandwidth, even if different subbands are used in each region, interband interference may still occur due to factors such as filter roll-off and modulation spread spectrum. Therefore, using... Implement physical isolation.

[0142] Step 106: Determine the distances between the vectors obtained from the three base stations and the location point and the center points of the four surrounding grids. The shortest distance is the grid to which the location point belongs. Specifically, compare the first distance vector with the second distance vector, and select the nearest grid centroid to determine the grid to which the radio frequency biochip belongs. The specific formula for calculating the distance between the location point and the grid center is as follows:

[0143]

[0144] in, The distance is represented by the Euclidean distance between the actual distance vector measured by the radio frequency biochip and the theoretical distance vector of the c-th grid center point, used to measure whether the center point is the closest point to the location of the livestock. Let be the distance vector between the radio frequency biochip and the first base station. Let be the distance vector between the radio frequency biochip and the second base station. Let be the distance vector between the radio frequency biochip and the third base station. Let the first distance vector be the distance between the center point and the first base station. Let the first distance vector be the distance between the center point and the second base station. Let be the first distance vector between the center point and the third base station.

[0145] Among them, a linear scan algorithm can be used to achieve the first... The distance is initialized to the minimum storage value min_value, and all values ​​are traversed. For each number, check if it is smaller than the current min_value. If it is, update min_value; otherwise, continue comparing to the next number. After all iterations are complete, min_value is the minimum value. This algorithm has a time complexity of O(n). Linear scan is the shortest time and least complex algorithm for finding the minimum value. This allows us to obtain the shortest Euclidean distance between the location point and a certain center coordinate, thus determining whether the radio frequency biochip belongs to this grid.

[0146] The device embodiments described above are merely illustrative. The components described as separate parts may or may not be physically separate, and the components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this application according to actual needs. Those skilled in the art can understand and implement this without any inventive effort.

[0147] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0148] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 The computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function selected in one or more boxes.

[0149] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function selected in one or more boxes.

[0150] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0151] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0152] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0153] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0154] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A localization method based on a radio frequency biochip, characterized in that, include: Based on the communication delay time between multiple base stations in the corresponding target aquaculture area, adjust the clocks of the multiple base stations to synchronize them; Obtain a 3D map of the target aquaculture area; The three-dimensional map is divided into multiple grids; the side length of each grid is half the average body size of the multiple target livestock and poultry in the target breeding area, so that each grid space can accommodate at most one livestock and poultry and its radio frequency biochip. Based on the base station locations of the multiple base stations and the center point locations of the multiple grids, multiple first distance vectors are obtained; the first distance vector is the distance vector between the center location and the multiple base stations; The second distance vector is obtained based on the communication time data between the radio frequency biochip installed on the target livestock and poultry and the multiple base stations. ;in, , , denoted by distance, b represents a unique area identifier that the base station transmitter in each area can embed in its signal, and a represents a unique identifier for each livestock and poultry; The second distance vector is the distance vector between the radio frequency biochip and the plurality of base stations; The target grid where the target livestock and poultry are located is determined based on the plurality of first distance vectors and the second distance vector.

2. The positioning method based on radio frequency biochip according to claim 1, characterized in that, The plurality of base stations includes a master base station and several slave base stations; The step of synchronizing the clocks of multiple base stations based on the communication delay time between multiple base stations in the corresponding target aquaculture area includes: The plurality of base stations send synchronization request packets to the main base station to request the standard time information of the master clock; After receiving the synchronization request packet, the master base station generates a synchronization response packet with the current time timestamp and returns the synchronization response packet to several slave base stations. After receiving the synchronization response packet from the base station, the plurality of units calculate the time deviation with the main base station based on the timestamp, local reception time and communication round-trip delay carried in the synchronization response packet. The slave base station adjusts its corresponding slave clock according to the time deviation to achieve clock synchronization with the master base station.

3. The positioning method based on radio frequency biochip according to claim 2, characterized in that, The step of obtaining the communication round-trip time includes: The round-trip communication delay can be obtained using the following formula: ； in, The round-trip time of the communication. The time when the synchronization request packet is sent from the base station to the master base station. The moment when the master base station receives the synchronization request packet. The moment when the master base station sends the synchronization response packet. The communication round-trip delay is used to estimate the pure signal propagation delay by eliminating the influence of intermediate processing time, which is the time when the synchronization response packet is received from the base station.

4. The positioning method based on radio frequency biochip according to claim 2, characterized in that, The step of calculating the time deviation between the main base station and the primary base station includes: The time deviation is obtained using the following formula: ； in, Due to time deviation, The round-trip time of the communication. The local time when the synchronization response packet is received from the base station. The primary base station writes the sending timestamp into the synchronization response packet.

5. The positioning method based on radio frequency biochip according to claim 2, characterized in that, The master clock of the main base station is a rubidium atomic clock, and the time accumulation error of the rubidium atomic clock is obtained by the following formula: ； in, It is an error accumulated over time. For frequency deviation, For the ideal frequency of a rubidium atomic clock, The accumulated time from the last calibration or startup of the rubidium atomic clock at the main base station to the current moment, wherein the accumulated time error is... Used to correct the timestamps sent by the main base station.

6. The positioning method based on radio frequency biochip according to claim 1, characterized in that, The step of obtaining multiple first distance vectors based on the base station locations of the multiple base stations and the center point locations of the multiple grids includes: Based on the height of the target livestock and poultry, the coordinate system of the three-dimensional map is adjusted to obtain the center point coordinates of the center points of multiple grids corresponding to the adjusted coordinate system, and the coordinates of multiple base stations corresponding to the positions of multiple base stations corresponding to the adjusted coordinate system. The plurality of first distance vectors are obtained based on the coordinates of the center point and the coordinates of the plurality of base stations.

7. The positioning method based on radio frequency biochip according to claim 6, characterized in that, The step of obtaining the plurality of first distance vectors based on the coordinates of the center point and the coordinates of the plurality of base stations includes: The first distance vector is obtained using the following formula: ； in, Let be the first distance vector between the center point and the q-th base station. Let c be the value of the first coordinate axis of the center point. The value of the second coordinate axis for the c-th center point. The value of the third coordinate axis of the c-th center point is... Let be the value of the first coordinate axis of the base station coordinates of the q-th base station. Let be the value of the second coordinate axis of the q-th base station. This is the value of the third coordinate axis of the base station coordinates of the q-th base station.

8. The positioning method based on radio frequency biochip according to claim 1, characterized in that, The step of locating the target grid where the target livestock and poultry are located based on the plurality of first distance vectors and the second distance vector includes: Obtain the vector difference between each of the first distance vectors and the second distance vector; The grid corresponding to the first distance vector with the smallest vector difference is determined as the target grid.

9. The positioning method based on radio frequency biochip according to claim 8, characterized in that, The step of obtaining the vector difference between each of the first distance vectors and the second distance vector includes: The vector difference is obtained using the following formula: ； in, The vector difference represents the Euclidean distance between the actual distance vector measured by the radio frequency biochip and the theoretical distance vector of the c-th grid center point. Let be the distance vector between the radio frequency biochip and the first base station. Let be the distance vector between the radio frequency biochip and the second base station. Let be the distance vector between the radio frequency biochip and the third base station. Let the first distance vector be the distance between the center point and the first base station. Let the first distance vector be the distance between the center point and the second base station. Let be the first distance vector between the center point and the third base station.

Images