Low-power-consumption communication method, label and system based on UWB positioning system

Abstract

The invention provides a low-power-consumption communication method based on a UWB positioning system. The low-power-consumption communication method comprises the following steps: executing a registration process in an earliest wake-up time slot of a current ranging period; updating the wake-up time slot in the current ranging period and the earliest wake-up time slot of the next ranging period according to the registration result; and executing a ranging process with the corresponding base station in the updated wake-up time slot, and entering a low power consumption mode in other time slots. According to the technical scheme of the invention, when the tag is in the boundary area and is connected with a plurality of base stations, the base stations do not need to coordinate or change the original communication flow of the base stations, the newly connected base stations normally distribute time slots for tag ranging, the tag is awakened in the distributed time slots, and the rest time slots continue to maintain low power consumption; the wakeup frequency of the label can be reduced, the standby time of the label can be prolonged, and seamless switching of the label between the base stations can be effectively supported.

Description

Technical Field

[0001] The present disclosure relates to the field of UWB communication technology, and in particular to a low-power communication method, tag, and system based on a UWB positioning system. Background Art

[0002] The UWB positioning system consists of a positioning base station, a tag, and a server combined with a positioning algorithm. The positioning base station is deployed in the positioning area. After a person or device wears a tag, the distance between the tag and a single or multiple base stations is measured. The positioning algorithm can be used to calculate the distance between the tag and the base station. In specific scenarios, one base station can be used to achieve one-dimensional positioning, or three base stations can be used to achieve two-dimensional positioning. After determining the specific location of the tag, it can meet the needs of actual applications for real-time display of personnel location, historical trajectory playback, personnel attendance, electronic fences, behavior analysis, multi-card identification, and intelligent inspection.

[0003] In a UWB positioning system, a base station can communicate with multiple tags using a time-division method. This means that within each communication cycle, the time is divided into multiple time slots, and only one tag is communicated with in each time slot, thus ensuring system stability. In a one-dimensional ranging environment, such as in an underground coal mine, a tag only needs to measure distance with a single base station to achieve precise positioning. As the tag moves, it can switch between different base stations. When a registration message sent by a tag is detected by a new base station, the new base station will also allocate a time slot to the tag. The tag then uses ranging with both base stations to select the appropriate base station for switching.

[0004] Currently, most underground UWB positioning systems use the DS-TWR bilateral algorithm based on Time of Flight (TOF). This ranging algorithm requires at least three consecutive communications between the positioning tag and the base station. To optimize the tag's energy efficiency, the tag enters low-power mode after completing ranging with the base station. After waking up at a fixed time slot, the tag uses a five-segment message to perform ranging with the base station. Afterward, the tag enters low-power mode and waits for the next wakeup. The five-segment message process involves the tag sending a registration frame, the base station returning a registration response frame, the tag sending a ranging request frame, the base station sending a ranging start frame, and the tag returning a ranging reply frame. The initial startup and connection to the base station are used to obtain a time slot allocation. The ALOHA algorithm and a delay algorithm (such as a random seed algorithm) are then combined to avoid time slot conflicts. This ranging method is primarily designed for multi-tag concurrency and time slot adjustment within a single base station. When a tag is within the overlapping area of ​​multiple base stations, ranging can easily cause conflicts and signal collisions with tags from neighboring base stations, leading to ranging failures and impacting ranging effectiveness and tag handoff stability. Summary of the Invention

[0005] The present invention provides a low-power communication method, a tag and a system based on a UWB positioning system, which are used to solve the problem of reduced effectiveness of existing tags in ranging at base station boundaries.

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

[0007] In a first aspect, the present invention provides a low-power communication method based on a UWB positioning system, comprising:

[0008] Perform the registration process in the earliest wake-up time slot of the current ranging cycle;

[0009] Update the wake-up time slot in the current ranging cycle and the earliest wake-up time slot in the next ranging cycle according to the registration result;

[0010] Perform ranging with the corresponding base station in the updated wake-up time slot and enter low power mode in other time slots;

[0011] If the earliest wake-up time slot of the current ranging cycle is a time slot allocated by base station A before the current ranging cycle, the ranging process with base station A is performed after the registration process is performed in the earliest wake-up time slot of the current ranging cycle.

[0012] In a second aspect, the present invention provides a low-power communication tag based on a UWB positioning system, comprising a UWB communication unit, a processing unit, and a storage unit;

[0013] The UWB communication unit is used to communicate with a UWB base station;

[0014] The storage unit is used to store a computer program. When the computer program is executed by the processing unit, the processing unit implements the various low-power communication methods described above.

[0015] In a third aspect, the present invention provides a low-power communication system based on a UWB positioning system, comprising at least:

[0016] Two base stations and one tag,

[0017] The base station is used to respond to messages sent by the tag during the registration process and the ranging process, and indicate the time slot allocated to the tag through a return message;

[0018] The tag is used to perform a registration process in the earliest wake-up time slot of the current ranging cycle;

[0019] Update the wake-up time slot in the current ranging cycle and the earliest wake-up time slot of the next ranging cycle according to the registration result; perform the ranging process with the corresponding base station in the updated wake-up time slot; enter the low power consumption mode in other time slots; wherein, if the earliest wake-up time slot of the current ranging cycle is the time slot allocated by base station A before the current ranging cycle, then perform the registration process in the earliest wake-up time slot and then perform the ranging process with the base station A.

[0020] By utilizing the technical solution of the present invention, the original five-message process is designed as a separate registration process and ranging process. In each ranging cycle, the tag wakes up in a predetermined time slot to execute the corresponding process, and maintains low power consumption in other time slots. The registration process is only performed in the earliest wake-up time slot, and ranging is directly performed in other wake-up time slots. When the tag is in a border area and connected to multiple base stations, there is no need to coordinate between base stations or change the original communication process of the base stations. The newly connected base station normally allocates time slots for tag ranging. The tag wakes up in the allocated time slot, and continues to maintain low power consumption in the remaining time slots. This not only reduces the number of tag wake-ups and extends the tag standby time, but also effectively supports seamless switching of tags between base stations. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments recorded in the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0022] Figure 1 A schematic diagram of the application of a low-power communication method based on a UWB positioning system in an underground coal mine;

[0023] Figure 2 This is a flow chart of the low-power communication method based on the UWB positioning system in this embodiment;

[0024] Figure 3 Schematic diagram of message flow between a tag and a base station in a dual-base station connection in the initial stage;

[0025] Figure 4 This is a schematic diagram of the tag's registration and ranging process with three base stations in the initial stage;

[0026] Figure 5 This is a flowchart of the tag registering and measuring distance with three base stations in the non-initial phase;

[0027] Figure 6 This is a schematic diagram of the UWB TWR ranging principle;

[0028] Figure 7 This is a structural block diagram of a low-power communication tag based on the UWB positioning system in this embodiment;

[0029] Figure 8 This is a structural block diagram of the low-power communication system based on the UWB positioning system provided in this embodiment. DETAILED DESCRIPTION

[0030] In order to enable those skilled in the art to better understand the technical solutions of the present disclosure, the technical solutions of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments of the present disclosure, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present disclosure. In addition, for the sake of clarity, parts that are not related to the description of the exemplary embodiments are omitted in the drawings.

[0031] In this specification, it should be understood that terms such as "including" or "having" are intended to indicate the presence of the disclosed features, numbers, steps, actions, components, parts, or combinations thereof, and are not intended to exclude the possibility of one or more other features, numbers, steps, actions, components, parts, or combinations thereof being present or added. It should also be noted that, unless there is a conflict, the embodiments of this disclosure and the features therein may be combined with each other.

[0032] First, the application scenarios of various communication methods of the embodiments of the present disclosure are briefly described.

[0033] Figure 1 Schematic diagram of the application scenario of the UWB positioning system in the embodiment of the present disclosure.

[0034] like Figure 1 The scenario shown is a personnel positioning system for underground coal mines. The dispatch center is located on the ground, and UWB base stations are deployed in the underground tunnels to achieve one-dimensional positioning. Both personnel and vehicles going down the mine need to carry tags. The tag obtains its precise location by performing ranging with a base station. When the tag moves between two base stations, the registration message broadcast by the tag is received by both base stations. Both base stations respond to the tag's registration message by sending a registration return message to the tag. The return message indicates the time slots the tag can use. The tag then initiates ranging with the corresponding base station in the corresponding time slot.

[0035] Figure 2 A flowchart of a low-power communication method based on a UWB positioning system provided in an embodiment of the present disclosure.

[0036] like Figure 2 As shown, the method is executed by the tag and includes operations S210 to S230.

[0037] S210: Execute the registration process in the earliest wake-up time slot of the current ranging cycle.

[0038] S220: Update the wake-up time slot in the current ranging cycle and the earliest wake-up time slot in the next ranging cycle according to the registration result.

[0039] S230: performing a ranging process with the corresponding base station in the updated wake-up time slot, and entering a low power consumption mode in other time slots.

[0040] If the earliest wake-up time slot of the current ranging cycle is a time slot allocated by base station A before the current ranging cycle, the ranging process with base station A is performed after the registration process is performed in the earliest wake-up time slot of the current ranging cycle.

[0041] If the current ranging cycle is in the initial connection stage, the earliest wake-up time slot of the current ranging cycle is the registration period set by the system, rather than the time slot allocated by the base station. At this time, the tag performs the registration process in order to be discovered by the base station and obtain a connection with the base station. After performing the registration process, it synchronizes time with the connected base station, and then wakes up to perform ranging with the base station when the time slot is allocated. It enters low power consumption mode at other times.

[0042] The registration process performed in S210 includes: sending a registration message and receiving a return message from the base station in response to the registration message to complete the connection with the corresponding base station; and determining the connected base station and the time slot allocated by the base station based on the return message. The tag broadcasts the registration message, which can be received by all nearby base stations. The return message from the base station can be sent after a preset time delay, with adjacent base stations having different delay lengths. This prevents conflicts when multiple base stations simultaneously send messages to the tag, resulting in the tag failing to receive the message. The preset delay can be set during base station configuration, with a different delay set for each three adjacent base stations, ensuring that the three adjacent base stations have different delays when there are more than three base stations. One approach is to set the delays of the three adjacent base stations to 0us, 750us, and 1500us, respectively. During the registration process, after receiving the tag's registration message, the base station sends a registration return message to the tag according to the delay, allowing the tag sufficient time to receive and process the message from each base station.

[0043] In S220, the wake-up time slot in the current ranging cycle and the earliest wake-up time slot in the next ranging cycle are updated according to the registration result, including: if there is a new time slot allocated by the newly connected base station in the registration result, the new time slot is recorded in the wake-up time slot list of the current ranging cycle, and the earliest time slot in the time slot list is set as the earliest wake-up time slot in the next ranging cycle.

[0044] In S230, performing ranging with the corresponding base station in the updated wake-up time slot includes: if multiple base stations are allocated the same time slot, ranging with multiple base stations respectively in the time slot; if multiple base stations are allocated different time slots, ranging with the corresponding base stations in sequence according to the time slot order.

[0045] Specifically, suppose the earliest wake-up slot in the current ranging cycle is already allocated by base station A, and the current registration result includes a new slot allocated by base station B. Several scenarios are possible: First, if base station B's slot is earlier than base station A's (i.e., the earliest wake-up slot), then ranging with base station B cannot be performed during the current ranging cycle. The tag will continue to perform ranging according to the original wake-up order during the current ranging cycle, while maintaining low power consumption in the remaining slots. In the next ranging cycle, the earliest wake-up slot will become base station B's, and the tag will perform the registration process in this slot before performing ranging with base station B. Second, if base station B's slot is later than base station A's, then ranging with base station A will be performed directly after the registration process. Low power consumption will be maintained until base station B wakes up in its slot, completing ranging with base station B. The tag will then continue to enter low power consumption, and in the next ranging cycle, base station A's slot will be the earliest wake-up slot. The third method uses base station A's time slots to match base station B's. After completing the registration process, the tag performs ranging with base stations A and B separately. During the remaining time slots, the tag enters low-power mode. This means the tag wakes up only once during the ranging cycle, and the wakeup time slot for the next ranging cycle remains unchanged. In this case, as long as the time slot length meets the requirements, the number of tag wakeups is minimized, resulting in the most power-efficient operation. In practice, even if two base stations cannot assign the same time slot to a tag, the method of this embodiment can still reduce the number of tag wakeups.

[0046] In S230, the tag performs a two-way ranging (TWR) process, including:

[0047] The system sends a ranging initiation message to the corresponding base station; receives a ranging start message from the corresponding base station; and sends a ranging end message to the corresponding base station. During the ranging process, if the system fails to successfully receive the ranging start message from the corresponding base station, it resends a ranging initiation message to the corresponding base station within the current timeslot. Increasing the number of retries within the current timeslot can effectively reduce ranging failures, improve ranging continuity, and enhance the stability of the handover process.

[0048] The ranging period in the disclosed embodiments can be pre-set, for example, to 1s, 2s, or 10s. Each ranging period contains multiple equally spaced time slots, with each time slot length at least sufficient to cover the combined duration of one registration process and two ranging processes. Specifically, considering that the one-way transmission time between a tag and a base station is no more than 1.5ms, the time slot length can be set to 17ms, and the ranging period is set to 1s. Dividing 1 second (1000ms) into 58 time slots, the maximum number of concurrent tags in each ranging period is 58. A 17ms time slot length supports a single tag registration process of 3ms + a maximum ranging time of 4.5*3 times = 13.5ms, for a total of 16.5ms. With this time slot structure, even if base stations A and B are allocated the same time slot, ranging can be performed sequentially with base stations A and B after the registration process. If ranging with one base station fails, the ranging can be retried within the current time slot. Furthermore, a tag can perform ranging with up to three base stations in a single time slot without requiring multiple wake-ups. On the other hand, due to being at the base station boundary, the same time slot may be used by different tags in two base stations, increasing the chance of collisions with other tags during ranging. Single ranging attempts are susceptible to collisions and failures. Increasing the number of re-measurement opportunities within a single time slot undoubtedly improves the ranging success rate. Using a 1s ranging cycle also allows for timely tracking of changes in tag handovers without increasing pressure on the base station.

[0049] Below through Figure 3-5 Specifically describe the process of distance measurement between a tag and multiple base stations.

[0050] Figure 3 Schematic diagram of message flow between a tag and a base station in a dual-base station connection in the initial stage.

[0051] like Figure 3 As shown in FIG, in the initial connection phase, the tag is powered on and registered at the boundary between two base stations, and the tag registration information (message 1) is sent in a fixed time slot within the current ranging cycle.

[0052] The tag receives registration return messages (Message 2) from two base stations within a fixed time period. The base stations indicate the time slots allocated to the tag in Message 2. The tag records the time slots allocated by different base stations and uses the earliest of these slots as the time to send the registration message during the next ranging cycle. In this case, the tag sends the registration message in the earliest time slot rather than the time slot with the best signal quality, ensuring registration synchronization and ranging with both base stations during each ranging cycle.

[0053] After completing the registration process, the tag determines the wake-up time according to the time slot allocated by each base station, and then wakes up in turn to send the ranging initiation frame (message 3), and sends the ranging end frame (message 5) after receiving the ranging start frame (message 4) returned by the base station, thereby completing one ranging and then entering low power mode. If message 4 is not received correctly after message 3, message 3 will continue to be sent within the time slot for re-measurement. Since the maximum time for a single ranging process is 4.5ms (including the transmission of three messages plus the processing time of 1.5ms*3), message 3 can be resent after 4.5ms. Since the length of a single time slot is 17ms, it is enough for the tag to perform three ranging interactions with the base station, which can ensure the success rate of ranging with the base station, and then enter low power mode.

[0054] Figure 4 Schematic diagram of the tag's registration and ranging process with three base stations in the initial stage.

[0055] like Figure 4 As shown in the figure, the tag powers on and enters the registration phase, sending a registration message (message 1). The base station receives the registration message and assigns the tag a corresponding time slot, thereby determining the tag's order within the base station and the tag's next wake-up time. If multiple base stations read the tag at this time, each base station will return a registration response message (message 2). In most cases, different base stations assign different time slots to the tag. After receiving message 2, the tag records the time slots assigned by all base stations and numbers the base stations according to the order of the time slots. If only a single base station returns message 2, the unique base station is numbered 1. If two base stations return message 2, they are numbered base station 1 and base station 2. In this example, if three base stations return message 3, they are numbered base station 1, base station 2, and base station 3, with the corresponding time slots ordered from earliest to latest. The ID of the base station that received the registration response message, the assigned number, and the assigned time slot are recorded in the tag's internal cache. If necessary, the tag also synchronizes or fine-tunes the time with each base station to ensure time slot alignment.

[0056] The tag compares the current time with the allocated time slots of each base station. If the current time is earlier than the time slot of base station 1, it waits until the time slot of base station 1 to wake up for ranging, followed by the time slots of base station 2 and base station 3. If the current time is later than the time slot of base station 1, the next wake-up time is the time slot allocated by base station 2. If the current time is later than the time slot of base station 2, the next wake-up time is set to the time slot allocated by base station 3, and the tag enters low power consumption mode at other times.

[0057] After the wake-up time is reached, the device exits the low power mode and starts sending the ranging initiation frame (message 3). Then, after receiving the returned ranging start frame (message 4), the device sends the ranging end frame (message 5). If the returned ranging start frame (message 4) is not received, the device enters the low power mode.

[0058] If there are multiple connected base stations in the tag cache, multiple ranging measurements are performed according to the time slot allocation of multiple base stations until the last allocated time slot in the current cycle, completing the tag wake-up and ranging with the base station, and then entering low power mode, setting the next wake-up time to the time slot allocated by base station 1, sending registration message 1 after waking up, and starting this process again.

[0059] Figure 5 The figure is a flowchart of the tag registering and measuring distance with three base stations in the non-initial stage.

[0060] like Figure 5 As shown, in the earliest wake-up time slot of the current ranging cycle, the tag exits low power mode, sends a registration message, receives a registration message returned by the base station, records the time slots allocated by each base station, and confirms the base station corresponding to the earliest wake-up time slot in the next ranging cycle. If necessary, it synchronizes or fine-tunes with each base station. Since the earliest wake-up time slot of this time is the time slot previously allocated by base station 1, the ranging process with base station 1 is immediately executed after completing the registration process. That is, a ranging start message is sent to base station 1 and a ranging start message is received back from the base station. Since the message returned by the base station carries the base station ID, the tag can determine whether there is a newly connected base station 2 based on the message. If there is no base station 2, the wake-up time of the next cycle remains unchanged. If there is base station 2, its allocated time slot is used as the wake-up time slot, and then the tag enters low power mode until ranging with base station 2 in the time slot of base station 2. If there is also base station 3, it wakes up in the time slot of base station 3 to range with base station 3, and so on until the end of this ranging cycle.

[0061] In this implementation, since the tag enters low power consumption after ranging, it must send a registration message during the next ranging cycle to maintain its connection with the base station. Once the base station receives the registration message and confirms the tag is online, it will not release the time slot allocated to the tag. Furthermore, at the base station boundary, since the registration message sent by the tag is a broadcast signal, it can be promptly detected by the new base station, allowing it to establish a ranging connection with the tag, helping to improve the efficiency and stability of tag handovers.

[0062] In the TWR ranging method, the distance between the tag and the base station is calculated using the following formula:

[0063]

[0064] Where Tround refers to the time difference between the base station sending and receiving, Treply refers to the time difference between the tag receiving and sending, c represents the speed of light, Tround and Treply are calculated from the sending and receiving timestamps of message 4 and message 5 in the ranging process and the records in the message. Figure 6 shown.

[0065] According to the method of the above embodiment, the tag performs registration and ranging after waking up in a time slot, and wakes up for ranging in the subsequent allocated time slot. When the tag is detected by multiple base stations at the base station boundary, each base station allocates a time slot to the tag according to the original scheduling plan. Regardless of whether the time slots allocated to the tag by multiple base stations are the same, the tag can complete ranging with the fewest number of wake-ups and enter low-power mode in other time slots, effectively improving the tag's standby time. By combining periodic ranging with time slot design, the ranging success rate of tags at the boundary is improved, and the stability of tags' seamless switching between base stations is also improved.

[0066] Corresponding to the aforementioned communication method, the present disclosure also provides an embodiment of a low-power communication tag 300 based on a UWB positioning system.

[0067] Figure 7 This is a structural block diagram of a low-power communication tag based on the UWB positioning system in this embodiment.

[0068] like Figure 7 As shown, the tag 300 includes a UWB communication unit 310 , a processing unit 320 and a storage unit 330 .

[0069] The UWB communication unit 310 is used to communicate with a UWB base station; the storage unit 330 is used to store a computer program. When the computer program is executed by the processing unit 320, the processing unit 320 implements the low-power communication method as described above.

[0070] The UWB communication unit 310 can send and receive UWB signals and includes an antenna, a wireless transceiver, a baseband processing unit, etc. The processing unit 320 can be a processor such as a CPU or an MCU. The processing unit 320 and the storage unit 330 can be integrated on a mainboard.

[0071] On this basis, the present disclosure also provides a low-power communication system 400 based on the UWB positioning system.

[0072] Figure 8 This is a structural block diagram of the low-power communication system based on the UWB positioning system provided in this embodiment.

[0073] like Figure 8 As shown, the system 400 includes at least two base stations 410 and 420 and a tag 430 .

[0074] The base stations 410 and 420 are used to respond to the messages sent by the tag 430 in the registration process and the ranging process, and indicate the time slot allocated to the tag 430 by returning a message.

[0075] The tag 430 is used to perform the registration process in the earliest wake-up time slot of the current ranging cycle;

[0076] According to the registration result, the wake-up time slot in the current ranging cycle and the earliest wake-up time slot of the next ranging cycle are updated; the ranging process is performed with the corresponding base stations 410 and 420 in the updated wake-up time slot; and the low power consumption mode is entered in other time slots; among which, if the earliest wake-up time slot of the current ranging cycle is the time slot allocated by the base station 410 before the current ranging cycle, the ranging process with the base station 410 is performed after the registration process is performed in the earliest wake-up time slot.

[0077] The communication system in this embodiment also includes a server 440. The base stations 410 and 420 run a mining operating system and transmit information and ranging data of the tag 430 to the server 440 via the MDTP protocol so that the server 440 can calculate the location information of the tag 430.

[0078] According to the method of the embodiment of the present disclosure, in a one-dimensional ranging environment, the tag is located at the boundary of the base station, and there is no need for coordination between the two base stations. The tag can perform ranging with the two base stations at the same time in the overlapping area of ​​the ranging ranges of the two base stations. This can not only reduce the probability of collision during tag ranging, but also reduce the wake-up time of the tag, increase the time proportion of the tag in low power consumption mode, and thus reduce the power consumption of the tag, thereby ensuring the effectiveness of ranging and the stability of switching.

[0079] The foregoing description describes specific embodiments of the present disclosure. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be performed in an order different from that described in the embodiments and still achieve the desired results. Furthermore, the processes depicted in the accompanying drawings do not necessarily require the specific order shown or the sequential order to achieve the desired results. In certain embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0080] Each embodiment of this disclosure is described in a progressive manner. Similar portions between embodiments can be referenced across them. Each embodiment focuses on the differences from other embodiments. In particular, the tag and system embodiments are generally similar to the tag communication method embodiments, so their description is relatively simplified. For relevant portions, refer to the tag method embodiments.

[0081] The foregoing is merely an embodiment of the present disclosure and is not intended to limit the present disclosure. Various modifications and variations are possible for those skilled in the art. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present disclosure are intended to be included within the scope of the claims of the present disclosure.

Claims

1. A low-power communication method based on a UWB positioning system, characterized in that: include: Perform the registration process in the earliest wake-up time slot of the current ranging cycle; Update the wake-up time slot in the current ranging cycle and the earliest wake-up time slot in the next ranging cycle according to the registration result; Perform ranging with the corresponding base station in the updated wake-up time slot and enter low power mode in other time slots; If the earliest wake-up time slot of the current ranging cycle is a time slot allocated by base station A before the current ranging cycle, the ranging process with base station A is performed after the registration process is performed in the earliest wake-up time slot of the current ranging cycle.

2. The method according to claim 1, characterized in that The registration process includes: Sending a registration message and receiving a return message sent by the base station in response to the registration message to complete the connection with the corresponding base station; The connected base station and the time slot allocated by the base station are determined according to the returned message.

3. The method according to claim 1, characterized in that The updating of the wake-up time slot in the current ranging cycle and the earliest wake-up time slot in the next ranging cycle according to the registration result includes: If there is a new time slot allocated by the newly connected base station in the registration result, the new time slot is recorded in the wake-up time slot list of the current ranging cycle, and the earliest time slot in the time slot list is set as the earliest wake-up time slot of the next ranging cycle.

4. The method according to claim 1, wherein The performing of the ranging process with the corresponding base station in the updated wake-up time slot includes: If multiple base stations are allocated the same time slot, ranging is performed with the multiple base stations respectively in the same time slot; If multiple base stations are allocated different time slots, ranging is performed with the corresponding base stations in sequence according to the time slot order.

5. The method according to claim 1, wherein The ranging cycle includes a plurality of equally spaced time slots, and the length of the time slots at least meets the total duration of one registration process and two ranging processes.

6. The method according to claim 5, characterized in that The ranging process includes: Sending a ranging initiation message to the corresponding base station; receiving a start ranging message returned by the corresponding base station; Sending a ranging end message to the corresponding base station; If the starting ranging message returned by the corresponding base station is not successfully received, a ranging initiation message is resent to the corresponding base station in the current time slot.

7. The method according to claim 2, characterized in that The return message sent by the base station is sent after a preset time delay, and adjacent base stations have different delay lengths.

8. A low-power communication tag based on a UWB positioning system, characterized in that: including a UWB communication unit, a processing unit and a storage unit; The UWB communication unit is used to communicate with a UWB base station; The storage unit is used to store a computer program. When the computer program is executed by the processing unit, the processing unit implements the low-power communication method according to any one of claims 1 to 7.

9. A low-power communication system based on a UWB positioning system, characterized in that: At least: Two base stations and one tag, The base station is used to respond to messages sent by the tag during the registration process and the ranging process, and indicate the time slot allocated to the tag through a return message; The tag is used to perform a registration process in the earliest wake-up time slot of the current ranging cycle; Update the wake-up time slot in the current ranging cycle and the earliest wake-up time slot of the next ranging cycle according to the registration result; perform the ranging process with the corresponding base station in the updated wake-up time slot; enter the low power consumption mode in other time slots; wherein, if the earliest wake-up time slot of the current ranging cycle is the time slot allocated by base station A before the current ranging cycle, then perform the registration process in the earliest wake-up time slot and then perform the ranging process with the base station A.

10. The communication system according to claim 9, wherein: The communication system further includes a server; The base station runs a mining operating system and transmits the tag information and ranging data to the server through the MDTP protocol so that the server can calculate the location information of the tag.

Images