Dynamic adjustment method for polling period of UWB positioning base station
By dividing the area into multiple positioning zones and dynamically adjusting the polling cycle, the problem of insufficient tag capacity in the UWB positioning system is solved, achieving efficient and accurate tag positioning management and adapting to large-scale positioning needs in complex environments.
Patent Information
- Application Number
- CN202510861091.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-06-25
- Publication Date
- 2025-11-18
AI Technical Summary
The existing UWB positioning base stations have a fixed polling cycle, which leads to insufficient tag capacity in complex environments, making it impossible to quickly and effectively obtain the location information of all tags.
The area is divided into multiple positioning zones, and the polling cycle of each zone is adjusted independently. The polling cycle is dynamically adjusted according to the number of tags in the zone. Through the collaborative work of the server and positioning base stations, efficient management and positioning of tags are achieved.
This increases the tag capacity of the UWB positioning system, ensuring efficient positioning and accurate tag location in complex environments, and adapting to the positioning needs of large-scale personnel or equipment.
Smart Images
Figure CN120980441A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the field of UWB positioning technology, and particularly relates to a dynamic adjustment method of a UWB positioning base station polling period. BACKGROUND
[0002] A UWB (Ultra-Wideband) positioning base station is a high-precision positioning device based on ultra-wideband wireless communication technology. It has the advantages of high precision, anti-interference, wide range, low power consumption, etc., and is currently widely used in the positioning field. The UWB positioning technology is based on the propagation time of multiple wireless signals received by a receiving device. According to the propagation speed and propagation time of the UWB signal in space, the distance between the base station and the tag can be calculated by using the TOF (Time of Flight) algorithm. According to the trilateration algorithm, the distance can be converted into coordinates, so that high-precision indoor positioning can be achieved.
[0003] In the TOF ranging mode, the tag needs to range with the surrounding positioning base stations one by one, and generally takes more than 5ms~7ms for one round of ranging. In tunnel, mine and other construction sites, if we need to implement the position of workers carrying tags, we need to obtain the data reported by all positioning base stations at a very fast speed, that is, the shorter the polling period of the base station, the better the timeliness of the system in obtaining the position of the tag. However, too fast polling period will result in less tag capacity in the measured area. For example, in a positioning system with a 1S polling period, the tag needs 7ms to calculate in each round of ranging, and the upper limit of the tag capacity in each area is 1000 / 7≈142. When the actual number of tags in the area exceeds the upper limit of the tag capacity, the excess tags will not be allocated positioning time. However, in the existing design, the polling period of each round of ranging of the positioning base station is fixed. SUMMARY
[0004] To solve the above technical problems, the present application discloses a dynamic adjustment method of a UWB positioning base station polling period, which dynamically adjusts the polling period based on the number of tags in the area, and is beneficial to realize efficient positioning management of the tags.
[0005] The dynamic adjustment method of the UWB positioning base station polling period divides the area into a plurality of continuous positioning areas; each positioning area has a plurality of positioning base stations; each positioning area corresponds to a polling period; each polling adjusts the polling period of each positioning area; in the next polling, the polling period corresponding to the positioning area is recorded as the next polling period. When the next polling, the positioning base station in each positioning area determines the number of current tags in the respective positioning area based on the respective corresponding next polling period, and determines the next polling period based on the number of current tags in the respective positioning area, thereby achieving dynamic adjustment of the polling period of the positioning base station.
[0006] Further, when the next polling, the positioning base station in each positioning area determines the number of current tags in the respective positioning area based on the respective corresponding next polling period, and determines the next polling period based on the number of current tags in the respective positioning area, thereby achieving dynamic adjustment of the polling period of the positioning base station. Step S1: During the next polling process, the positioning base station in the positioning area determines the distance of the tag in the positioning area based on the corresponding next polling period, and after successful ranging, obtains the next ranging information of the tag, and uploads the next ranging information of the tag to the server; Step S2: The server determines the current position of the tag based on the next ranging information of the tag; Step S3: The server distributes the information of the tag to the positioning base station in the corresponding positioning area based on the current position of the tag; the information of the tag includes the ID of the tag and the current position of the tag; Step S4: The positioning base station in the positioning area determines the current tag in the positioning area based on the information of the tag; Step S5: The positioning base station in the positioning area determines the next polling period of the positioning area based on the number of current tags in the positioning area, thereby achieving dynamic adjustment of the polling period; Step S6: During the next polling process, the positioning base station in the positioning area determines the distance of the current tag in the positioning area based on its corresponding next polling period.
[0007] Further, if the next polling is the initial polling, after initializing all positioning base stations in the region, all positioning base stations in the region perform ranging on all tags with a pre-set initial polling period, and after successful ranging, obtain the next ranging information, and then continue to perform steps S2-S5.
[0008] Further, the two adjacent positioning areas have a boundary area, and in step S4, if the current position of the tag is the boundary area, the server distributes the information of the tag to the positioning base stations in the two positioning areas with the boundary area based on the current position of the tag.
[0009] Further, in step S5, the more the number of current tags in the positioning area, the longer the next polling period; the fewer the number of current tags in the positioning area, the shorter the next polling period.
[0010] Further, the initial position of the region sets a scanning base station; the scanning base station is used for determining a new tag entering the region; if the scanning base station scans the new tag entering the region, the new tag is informed to a positioning base station in the positioning region closest to the initial position.
[0011] Further, the number of the positioning base stations in each positioning region is greater than 3.
[0012] The beneficial effects of the present application are as follows: 1. The present application effectively improves the tag capacity of the UWB positioning system through region division and dynamic adjustment of the polling period, and can accommodate more tags without reducing real-time performance, thereby adapting to the positioning requirements of large-scale personnel or equipment in complex environments.
[0013] 2. The tag processing mechanism of the boundary region ensures the accuracy and continuity of positioning when the tag switches between different positioning regions, thereby avoiding the occurrence of tag positioning loss or error. BRIEF DESCRIPTION OF DRAWINGS
[0014] Figure 1 Fig. 1 is a schematic diagram of the positioning region of the present application; Figure 2 Fig. 2 is an interaction schematic diagram between the TOF-based positioning base station and the tag of the present application; Figure 3 Fig. 3 is a schematic diagram of the positioning base station determining the tag position of the present application. DETAILED DESCRIPTION
[0015] The technical solutions in the embodiments of the present application will be described clearly and completely in combination with the accompanying drawings in the embodiments of the present application. In the following description, a large number of specific details are set forth in order to facilitate a full understanding of the present application, but the present application can also be implemented in other ways different from those described herein, and those skilled in the art can make similar generalizations without departing from the connotation of the present application, therefore the present application is not limited to the specific embodiments disclosed below.
[0016] The present application discloses a dynamic adjustment method of the UWB positioning base station polling period, the polling period is dynamically adjusted based on the number of tags in the region, which is conducive to realizing efficient positioning management of the tags.
[0017] The application discloses a dynamic adjustment method of a UWB positioning base station polling period, which divides a region into a plurality of continuous positioning areas; each positioning area has a plurality of positioning base stations; in the application, the positioning base stations are all UWB positioning base stations. The number of UWB positioning base stations in each positioning area is greater than 3. Each positioning area corresponds to a polling period; each time of polling, each positioning area respectively adjusts the polling period thereof; in the current polling, the polling period corresponding to the positioning area is recorded as a current polling period; in the next polling, the polling period corresponding to the positioning area is recorded as a next polling period. In the current polling, the positioning base stations in each positioning area determine the number of current tags in the respective positioning area based on the respective corresponding current polling period, and determine the next polling period based on the number of current tags in the respective positioning area, so as to realize dynamic adjustment of the polling period of the positioning base station.
[0018] Specific implementation steps are as follows: Step S1: In the current polling process, the positioning base stations in the positioning area determine the tags in the positioning area in the last polling process based on the corresponding current polling period, and after successful ranging, obtain the current ranging information of the tags, and upload the current ranging information of the tags to the server. Step S2: The server obtains the current position of the tags based on the current ranging information of the tags. Step S3: The server sends the information of the tags to the positioning base stations in the corresponding positioning area based on the current position of the tags; the information of the tags includes the ID of the tags and the current position of the tags. Assuming that there are 12 tags in the region, in step S3, the server determines the current positions of the 12 tags (5 tags are currently in the positioning area A1, 4 tags are currently in the positioning area A2, and 3 tags are currently in the positioning area A3), then the server sends the ID and the current position of the 5 tags in the positioning area A1 to the positioning base stations in the positioning area A1; the server sends the ID and the current position of the 4 tags in the positioning area A2 to the positioning base stations in the positioning area A2; and the server sends the ID and the current position of the 3 tags in the positioning area A3 to the positioning base stations in the positioning area A3.
[0019] Step S4: The positioning base stations in the positioning area determine the current tags in the positioning area based on the ID of the tags; specifically, the positioning base stations in the positioning area determine which tags need to be ranged and the specific positions of the tags in the positioning area based on the ID of the tags.
[0020] Step S5: The positioning base stations in the positioning area determine the next polling period of the positioning area based on the current number of tags, so as to realize dynamic adjustment of the polling period. For example: the positioning area Al receives the IDs of 5 tags, so that the current number of tags in the positioning area Al is determined to be 5 in the next polling process, and the next polling period of the positioning area Al is determined based on the current number of tags (5). The positioning area A2 receives the IDs of 4 tags, so that the next polling period of the positioning area A2 is determined based on the current number of tags (4). The positioning area A3 receives the IDs of 5 tags, so that the next polling period of the positioning area A3 is determined based on the current number of tags (3).
[0021] Step S6: In the next polling process, the positioning base stations in the positioning area perform ranging on the current tags in the positioning area based on the corresponding next polling period. For example: in the next polling process, the positioning area Al performs ranging on the current 5 tags based on the next polling period. The positioning area A2 performs ranging on the current 4 tags based on the next polling period. The positioning area A3 performs ranging on the current 3 tags based on the next polling period.
[0022] If the current polling is the initial polling, after initializing all the positioning base stations in the region, all the positioning base stations in the region perform ranging on all the tags with a pre-set initial polling period, and obtain the current ranging information after successful ranging, and then continue to perform steps S2-S5.
[0023] First specific embodiment: As shown in Figure 1 The region is a tunnel, the tunnel has x positioning areas, and each positioning area Ax has four (a first preset value) positioning base stations. The tunnel entrance position (initial position and must-pass place) of the tunnel is provided with a scanning base station; the scanning base station does not participate in positioning, but is responsible for scanning whether a new tag enters the positioning area; if the scanning base station scans that a new tag enters the tunnel, the ranging information (ID of the new tag) of the new tag is notified to the positioning base station in the positioning area Al closest to the initial position.
[0024] Initial polling: all the positioning base stations in the tunnel are initialized, and the positioning base stations perform ranging on all the tags in the tunnel with a period of 2 seconds (initial polling period, 2 seconds / period is a longer polling period, which is sufficient for ranging of all tags) (four base stations are divided into 4 time sequences, and the four base stations initiate ranging instructions for a certain tag in turn), and the ranging information (ID value of the tag, distance value of the tag) of the successfully ranged tag is reported to the server.
[0025] Based on the ranging information of the tags, the server calculates the current position of each tag, then determines which positioning area Ax the tag is located in based on the current position of the tag, and then sends the tag information (ID value) to the four positioning base stations of the corresponding positioning area Ax.
[0026] After receiving the tag information from the server, the positioning base stations within positioning area Ax only need to perform ranging on tags within their own positioning area Ax during the next polling process. For example, in the initial polling, if positioning area A1 has 10 tags and positioning area A2 has 80 tags, and assuming each tag requires 7ms for ranging, the four positioning base stations in positioning area A1 only need 10ms to measure the distance. 7ms = 70ms is enough to complete the ranging work for all tags within this positioning area. The four positioning base stations in positioning area A2 require 80ms. It takes 7ms = 560ms to complete the ranging work for all tags within the current positioning area. Therefore, in the next polling cycle, the polling cycle for positioning area A1 can be set to 70ms, or slightly longer than 70ms (with some redundancy to avoid special cases). The polling cycle for positioning area A2 can be 560ms, or slightly longer than 560ms. Since each positioning base station knows the ranging objects (tags within the positioning area) and their quantity in each polling cycle based on feedback from the server, the time to complete the polling work within the positioning area can be automatically calculated, thus dynamically adjusting the polling cycle of the positioning base station.
[0027] When the tag enters the boundary area between positioning area A1 and positioning area A2, the positioning base stations in both positioning areas A1 and A2 will scan and measure its distance. The server will then use the four positioning base stations closest to the tag to calculate its current location based on the principle of proximity.
[0028] If a tag cannot be scanned by any positioning base station in the area multiple times in a row, it is considered that the tag is offline (battery is exhausted or it has left the positioning area). When the server sends ranging commands to all positioning base stations in the area, it will no longer include the tag, thereby further improving the polling cycle of the positioning base stations.
[0029] In this invention, the positioning base station uses TOF (Time-of-Flight) to measure the distance of tags.
[0030] The specific method is as follows: First, obtain the distance between the tag and the positioning base station (the signal's flight time in the air). The speed of light is the distance between the two (e.g., the speed of light is the distance between the two). Figure 2 As shown, in order to complete the ranging, the tag (Device B) and the positioning base station (Device A) will interact at least three times via wireless transmission and reception to obtain four time differences.Figure 2 T in round1 T reply1 T round2 T reply2 Then, based on the four time differences, the distance information between the tag and the positioning base station is obtained.
[0031] The formula for calculating flight time is as follows: ; in, Indicates the flight time of the tag.
[0032] T round1 The time difference between the first time the positioning base station (Device A) sends a ranging signal to the tag (Device B) and the first time the positioning base station (Device A) receives the reply signal from the tag (Device B); T reply1 The time difference between the first time the tag (Device B) receives the ranging signal from the positioning base station (Device A) and the first time the tag (Device B) sends a reply signal; T round2 The time difference between the tag (DeviceB) sending a reply signal to the positioning base station (DeviceA) for the first time and the tag (DeviceB) receiving the ranging signal sent by the positioning base station (DeviceA) for the second time; T reply2 The time difference between the first reception signal from the tag (Device B) by the positioning base station (Device A) and the second transmission of the ranging signal by the positioning base station (Device A).
[0033] In two-dimensional positioning mode, a tag typically requires ranging from three or more positioning base stations to calculate its location, such as... Figure 3 As shown, if the positions of positioning base stations 1 to 3 are known, the exact position of the tag can be calculated based on the distances L1, L2, and L3 between the tag and each positioning base station after the ranging is completed.
[0034] Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.
Claims
1. A method for dynamic adjustment of a UWB positioning base station polling period, characterized in that, The area is divided into a plurality of continuous positioning areas; each positioning area has a plurality of positioning base stations; each positioning area corresponds to a polling period; in each polling, each positioning area adjusts its respective polling period; in the current polling, the polling period corresponding to the positioning area is recorded as the current polling period; in the next polling, the polling period corresponding to the positioning area is recorded as the next polling period; In the current polling, the positioning base stations in each positioning area determine the number of current tags in the respective positioning area based on the respective current polling period, and determine the next polling period based on the number of current tags in the respective positioning area, thereby achieving dynamic adjustment of the polling period of the positioning base station.
2. The method of claim 1, wherein the UWB positioning base station polling period is dynamically adjusted based on the number of UWB positioning base stations in the UWB positioning network. In the current polling, the positioning base stations in each positioning area determine the number of current tags in the respective positioning area based on the respective current polling period, and determine the next polling period based on the number of current tags in the respective positioning area, thereby achieving dynamic adjustment of the polling period of the positioning base station. Step S1: In the current polling process, the positioning base stations in the positioning area determine the distance of the tags in the positioning area in the last polling process based on the corresponding current polling period, and after successful ranging, obtain the current ranging information of the tags, and upload the current ranging information of the tags to the server; Step S2: The server obtains the current position of the tag based on the current ranging information of the tag; Step S3: The server distributes the information of the tag to the positioning base stations in the corresponding positioning area based on the current position of the tag; the information of the tag includes the ID of the tag and the current position of the tag; Step S4: The positioning base stations in the positioning area determine the current tags in the positioning area based on the information of the tag; Step S5: The positioning base stations in the positioning area determine the next polling period of the positioning area based on the number of current tags in the positioning area, thereby achieving dynamic adjustment of the polling period; Step S6: In the next polling process, the positioning base stations in the positioning area determine the distance of the current tags in the positioning area based on the corresponding next polling period.
3. The method of claim 2, wherein the UWB positioning base station polling period is dynamically adjusted based on the number of UWB positioning base stations in the UWB positioning network. If the current polling is the initial polling, after initializing all positioning base stations in the area, all positioning base stations in the area range all tags at a pre-set initial polling period, and after successful ranging, obtain the current ranging information, and then continue to perform steps S2-S5.
4. The method of claim 2, wherein the UWB positioning base station polling period is dynamically adjusted based on the number of UWB positioning base stations in the UWB positioning network. The two adjacent positioning areas have a boundary area, and in step S4, if the current position of the tag is the boundary area, the server distributes the information of the tag to the positioning base stations in the two positioning areas with the boundary area based on the current position of the tag.
5. The method of claim 2, wherein the UWB positioning base station polling period is dynamically adjusted based on the number of UWB positioning base stations in the UWB positioning network. In step S5, the more the number of current tags in the positioning area, the longer the next polling period; the fewer the number of current tags in the positioning area, the shorter the next polling period.
6. The method of claim 1, wherein the UWB positioning base station polling period is dynamically adjusted based on the number of UWB positioning base stations in the UWB positioning network. The initial position of the area is provided with a scanning base station; the scanning base station is used to determine new tags entering the area; if the scanning base station scans a new tag entering the area, the new tag is notified to the positioning base stations in the positioning area closest to the initial position.
7. The method of claim 1, wherein the UWB positioning base station polling period is dynamically adjusted based on the number of UWB positioning base stations in the UWB positioning network. The number of positioning base stations in each positioning area is greater than 3.