Multi-base-station seamless switching method and system for underground UWB positioning system

Abstract

The invention relates to a multi-base-station seamless switching method and system for an underground UWB positioning system, belongs to the technical field of wireless communication, and solves the problems of large switching delay, positioning interruption and blind areas in underground positioning. According to the technical scheme, a main distance measurement base station monitors the distance of a positioning terminal in real time and issues a switching instruction containing an adjacent base station address list when the distance exceeds a preset threshold value; the positioning terminal executes a differentiated process according to the number of the lists; if a single base station exists, a target is directly determined, and if multiple base stations exist, a unique response base station is screened through polling detection, and a point-to-point directional network access request is initiated; and after responding, the target base station issues new parameters and is upgraded to a new main ranging base station. Seamless continuous positioning is achieved, positioning blind areas are eliminated, signal interference is reduced, and system reliability and topological adaptability are improved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of wireless communication, and particularly relates to a positioning terminal roaming switching technology in an underground ultra-wideband (UWB) positioning system, in particular to a multi-base station cooperative seamless switching method and system capable of adapting to complex roadway topologies in the underground. BACKGROUND

[0002] Due to the characteristics of narrow space, interlaced roadways, and complex electromagnetic environment, the underground environment puts forward extremely high requirements for the accurate positioning of personnel and vehicles. The ultra-wideband (UWB) positioning technology based on the time of flight (TOF) ranging principle has been widely applied in the field of underground positioning due to its high accuracy and strong penetration. However, the existing underground UWB positioning system has significant technical bottlenecks when the mobile terminal (such as a positioning tag installed on a vehicle or personnel) crosses the coverage area of different base stations.

[0003] Firstly, the traditional switching mechanism is passive. The terminal usually starts searching and attempting to access a new base station only after completely losing the signal connection with the current master base station. This "re-entry into the network" process takes a long time, resulting in significant switching delay and positioning interruption, which cannot guarantee the continuity of the positioning trajectory. Secondly, the system generally lacks efficient pre-synchronization and switching decision mechanisms. The terminal must "disconnect from the network" before "connecting to the network", which not only exacerbates the positioning interruption, but also makes it impossible for the terminal to predict the moving direction and preferentially select the best next base station for access when facing complex intersections such as three-way or crossroads, which is extremely prone to positioning vacuum zones (or blind areas).

[0004] The existence of such positioning vacuum zones is extremely dangerous. It not only means that the position information of the moving target is lost in the critical area, but also can cause misjudgment or even failure of the downstream associated control systems, such as vehicle anti-collision systems and traffic signal scheduling systems, which rely on the positioning information. The specific consequences may manifest as the appearance of jumps or loss of vehicle running trajectories on the monitoring system, and the disorder of signal control logic at intersections, thereby causing local traffic congestion in the underground, and even posing a serious safety hazard. Therefore, developing a multi-base station cooperative positioning method that can achieve fast, smooth, and non-perceptual switching to adapt to the complex roadway topologies in the underground has become a technical problem to be solved in the field. SUMMARY

[0005] The present application aims to overcome the shortcomings of the prior art and provide a multi-base station seamless switching method and system for an underground UWB positioning system, which aims to solve the problems of large switching delay, positioning interruption, easy formation of positioning blind areas, and inability to adapt to complex roadway topologies when the mobile terminal crosses the base stations.

[0006] To achieve the above object, the application discloses a seamless switching method of a multi-base station of an underground ultra-wideband (UWB) positioning system, which is characterized by a three-level linkage mechanism of a main base station threshold triggering, an auxiliary base station dynamic coordination screening and a terminal autonomous decision point-to-point network entry.

[0007] The method comprises the following steps:

[0008] The main ranging base station monitors the ranging distance of the positioning terminal in real time;

[0009] When the main ranging base station monitors that the ranging distance of the positioning terminal exceeds a preset maximum effective ranging distance threshold, the main ranging base station issues a switching instruction containing a list of one or more adjacent base station addresses to the positioning terminal;

[0010] After the positioning terminal receives the switching instruction, the positioning terminal executes a differentiated process to determine a unique target base station according to the number of base stations in the list of adjacent base station addresses;

[0011] The positioning terminal initiates a point-to-point directional network entry request to the unique target base station;

[0012] The target base station responds to the request, issues new communication parameters to the positioning terminal and upgrades to a new main ranging base station of the positioning terminal to complete the switching.

[0013] Further, the differentiated process executed by the positioning terminal comprises:

[0014] If the list of adjacent base station addresses contains only a single base station address, the positioning terminal directly determines the single base station as the target base station;

[0015] If the list of adjacent base station addresses contains multiple base station addresses, the positioning terminal polls all auxiliary base stations in the list in a non-network entry ranging mode and determines the target base station according to the response of the auxiliary base stations.

[0016] Further, the step of determining the target base station by the positioning terminal according to the response of the auxiliary base stations comprises:

[0017] When each auxiliary base station in the list receives the non-network entry ranging request of the positioning terminal, the auxiliary base station determines whether the distance between the positioning terminal and the auxiliary base station exceeds a preset maximum effective ranging distance threshold of the auxiliary base station;

[0018] If not, the auxiliary base station maintains ranging interaction with the positioning terminal;

[0019] If yes, the auxiliary base station interrupts the interaction with the positioning terminal and starts communication shielding;

[0020] The positioning terminal monitors the number of responses of the auxiliary base stations in real time, and when only one auxiliary base station is found to be continuously responding, the one auxiliary base station is determined as the target base station.

[0021] Further, the communication shielding refers to that the auxiliary base station rejects all communication requests of the positioning terminal within a preset configurable time length.

[0022] Further, the point-to-point directional onboarding request is a non-broadcast request, and the request frame is only received and responded by the target base station.

[0023] Further, the method further comprises a pre-configuration step:

[0024] Through the host computer configuration system, the maximum effective ranging distance threshold of each base station in the system is independently written, and the address list of the adjacent base stations of each base station in different moving directions is pre-configured according to the tunnel topological structure.

[0025] Among them, the maximum effective ranging range of any two adjacent base stations is configured to overlap each other.

[0026] Further, the ranging distance is obtained based on the time of flight (TOF) ranging principle.

[0027] A multi-base station seamless switching system of a downhole UWB positioning system, comprising a main ranging base station, at least one auxiliary base station, and a positioning terminal.

[0028] The main ranging base station is configured to monitor the ranging distance with the positioning terminal in real time, and when the distance is found to exceed the preset maximum effective ranging distance threshold, the main ranging base station is configured to issue a switching instruction containing a list of one or more adjacent base station addresses to the positioning terminal.

[0029] The positioning terminal is configured to receive the switching instruction, execute a differentiated process according to the number of base stations in the adjacent base station address list to determine a unique target base station, and initiate a point-to-point directional onboarding request to the target base station.

[0030] The at least one auxiliary base station is configured to respond to the detection request of the positioning terminal in the differentiated process.

[0031] Among them, the auxiliary base station determined as the target base station is configured to issue new communication parameters to the positioning terminal after responding to the point-to-point directional onboarding request, and is upgraded to a new main ranging base station of the positioning terminal.

[0032] Further, the positioning terminal is configured to:

[0033] When the adjacent base station address list contains only a single base station address, the single base station is directly determined as the target base station.

[0034] When the adjacent base station address list contains multiple base station addresses, all the auxiliary base stations in the detection list are polled in the off-network ranging mode, and the target base station is determined according to the response of the auxiliary base station.

[0035] Further, the auxiliary base station is configured to:

[0036] When receiving the off-network ranging request of the positioning terminal, it is judged whether the distance between the positioning terminal and the auxiliary base station exceeds the respective preset maximum effective ranging distance threshold value;

[0037] If not, the ranging interaction with the positioning terminal is maintained;

[0038] If yes, the interaction with the positioning terminal is interrupted, and the communication shielding is started.

[0039] Further, an upper computer configuration system is further included, which is used for independently writing the maximum effective ranging distance threshold value of each base station in the system, and pre-configuring the adjacent base station address list of each base station in different moving directions according to the tunnel topological structure, and ensuring that the maximum effective ranging ranges of any two adjacent base stations overlap with each other.

[0040] The present application has the following beneficial effects:

[0041] (1) Through the physical deployment constraint overlapping and the logical processing mechanism of dynamic hierarchical response, continuous positioning switching can be realized in any complex tunnel such as straight line, three-way or cross, millisecond-level instantaneous switching can be realized in a single base station scene, and through polling screening, the optimal access point is accurately locked in a multi-base station scene, so that the interruption and jump phenomenon of the positioning trajectory is completely eliminated, and the positioning continuity of the positioning terminal is ensured.

[0042] (2) The point-to-point directional network entry and non-broadcast polling detection mechanism are innovatively used, the terminal directly establishes communication with the target base station, and the multi-base station contention response and signal collision problem caused by the traditional broadcast network entry mechanism is fundamentally avoided. At the same time, the self-shielding rule of the auxiliary base station to the over-distance terminal request greatly reduces the invalid signaling interference in the network, and the stability of the control channel can still be maintained in the high-density terminal scene, and the resource utilization efficiency of the base station is improved.

[0043] (3) Based on the dynamic hierarchical strategy of the length of the adjacent base station list, the single base station direct connection and the multi-base station polling two paths are intelligently distinguished. In the simple single base station scene, the terminal can skip the redundant detection step, and the energy consumption of the terminal is significantly saved; in the complex multi-base station scene, the detection process is started as needed to ensure the reliability of switching. The design has low requirements for the resources of the terminal and the base station, and meets the deployment requirements of low-power, embedded devices in the underground.

[0044] (4) The standardized five-step switching process (pre-configuration list -> threshold trigger -> dynamic grading response -> polling screening -> final direct connection) builds a topology-independent general framework. Through the distributed intelligent mechanism of terminal autonomous decision and base station cooperative response, the system realizes ultra-high reliability operation, and can work stably even in the complex composite tunnel environment of long distance and high frequency switching, and fully meets the requirements of positioning continuity and reliability in harsh mine environment.

[0045] Other advantages, objects, and features of the application will be apparent from the following specification, and upon examination of the attached drawings. The goals and other advantages of the application will be realized and attained by the structure particularly pointed out in the specification as follows as well as claimed. BRIEF DESCRIPTION OF DRAWINGS

[0046] In order to make the objects, technical solutions and advantages of the present application clearer, the preferred embodiments of the present application will be described in detail below with reference to the drawings, in which:

[0047] Figure 1 The overall scheme architecture and collaborative process schematic diagram provided for the embodiments of the present application are shown in the figure.

[0048] Figure 2 The scene schematic diagram of straight line-three-way section switching in the embodiments of the present application is shown in the figure.

[0049] Figure 3 The timing flow chart of straight line section positioning switching in the embodiments of the present application is shown in the figure.

[0050] Figure 4 The timing flow chart of three-way section positioning switching in the embodiments of the present application is shown in the figure.

[0051] Figure 5 The multi-base station cooperative full-topology seamless switching standardized process schematic diagram proposed for the embodiments of the present application is shown in the figure. DETAILED DESCRIPTION

[0052] The embodiments of the present application are described below through specific specific examples, and those skilled in the art can easily understand other advantages and effects of the present application from the disclosure of the specification. The present application can also be implemented or applied through other different specific embodiments, and the details in the specification can be modified or changed in various ways based on different views and applications without departing from the spirit of the present application. It should be noted that the diagrams provided in the following embodiments only illustrate the basic concept of the present application in a schematic manner, and the following embodiments and features in the embodiments can be combined with each other without conflict.

[0053] In the drawings, only for example, the representation is a schematic diagram, not a physical diagram, and cannot be understood as a limitation of the present application; in order to better illustrate the embodiments of the present application, some components of the drawings may be omitted, enlarged or reduced, and do not represent the size of the actual product; for those skilled in the art, it is understandable that some well-known structures and their descriptions in the drawings may be omitted.

[0054] The same or similar reference numerals in the drawings of the embodiments of the present application correspond to the same or similar components; in the description of the present application, it should be understood that if the terms "upper", "lower", "left", "right", "front", "back" and the like indicate the orientation or positional relationship shown in the drawings, only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore the positional relationship described in the drawings is only for example, and cannot be understood as a limitation of the present application, for those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0055] Referring to Figure 1 The present application constructs a multi-level cooperative seamless switching architecture based on dynamic threshold triggering, which is composed of four core components: host computer configuration system, main ranging base station, auxiliary base station group and positioning terminal. The system adopts a three-level cooperative mechanism of "pre-judgment-parallel screening-accurate access" to realize the seamless switching of base stations.

[0056] Embodiment one: system pre-configuration and initialization

[0057] This embodiment details the deployment and initialization process of the system, which provides a basic guarantee for the subsequent seamless switching.

[0058] In the system deployment stage, through the host computer configuration system, the parameters of each UWB base station in the underground tunnel are solidified and topologically bound.

[0059] First, the maximum effective ranging distance threshold value of each base station is written independently. The threshold value is determined comprehensively according to the specific structure of the mine tunnel, whether there are large metal equipment and other obstructions, and the signal attenuation model determined according to the actual environment, to ensure that the base station only responds to the terminal within its effective coverage radius.

[0060] Secondly, the key directional adjacent base station topology binding is carried out. Through the tunnel topology analysis software, the address list of the adjacent base stations of each base station in different physical extension directions (such as forward direction, backward direction, left turn direction, etc.) is defined in advance. The list is solidified in the non-volatile memory (such as Flash) of the base station in the form of a direction index table.

[0061] Referring to Figure 2For example, base station A, its positive direction (from position 2 to position 4 along the trajectory) faces a three-way intersection, so its positive direction bound adjacent base station address list is {C, D}; its negative direction corresponds to base station B, so the negative direction bound adjacent base station address list is {B}. Similarly, the positive direction list of base station B is {A}, and the negative direction list of base station C is {A, D}.

[0062] Finally, and most importantly, the coverage overlap constraint must be ensured. When deployed, it must be forcibly guaranteed that the maximum effective ranging range of any two physically adjacent base stations is mutually overlapping. As shown in Figure 2 , the positive maximum ranging distance d maxB+ of base station B must form an overlapping area with the negative maximum ranging distance d maxA- of base station A.

[0063] Embodiment Two: Seamless Handover of Straight Line Segment (Single Base Station Handover Scenario)

[0064] This embodiment takes the process of the positioning terminal moving from position 1 to position 2 along the trajectory in Figure 2 as an example to elaborate the handover process under simple topology.

[0065] (1) Dynamic Monitoring and Triggering: When the positioning terminal is at position 1, it continuously performs bidirectional ranging interaction with base station B (which is the primary ranging base station at this time) through TOF ranging principle. Base station B monitors the ranging distance with the terminal in real time. When the terminal moves to position 2, base station B monitors that the distance value exceeds its preset positive maximum effective ranging distance threshold d maxB+ .

[0066] (2) Issue Handover Instruction: Once the threshold condition is triggered, base station B immediately sends a handover instruction to the terminal within the next communication superframe period. The instruction carries the adjacent base station address list of the target direction. According to the configuration of Embodiment One, this list only contains a single base station address {A}.

[0067] (3) Differential Process Decision: After receiving the handover instruction, the positioning terminal parses the list content. The built-in logic of the terminal judges that the list only contains one base station address, so it triggers the single base station fast handover path in the differential process. At this time, the terminal skips the subsequent multi-base station polling detection phase and directly determines base station A as the only target base station.

[0068] (4) Point-to-point directed onboarding: The terminal initiates a non-broadcast point-to-point directed onboarding request to the target base station A. The target address field of the request frame explicitly points to base station A, so only base station A in the network will receive and process the request, thereby avoiding signal conflicts.

[0069] (5) Control migration: Base station A responds to the request and issues new communication parameters, such as time slot allocation parameters and superframe structure configuration, to the terminal. After receiving the new parameters, the terminal immediately switches to a point-to-point ranging mode that executes according to the new parameters and establishes a stable TOF ranging connection with base station A. At the same time, base station A upgrades to a new master ranging base station for the terminal, completing the seamless transfer of control. The entire switching process is extremely short, and the positioning is uninterrupted. The timing flow is shown in Figure 3

[0070] Example Three: Seamless switching at a three-way intersection (multi-base station switching scenario)

[0071] This example takes the process of a positioning terminal moving from position 4 to position 5 in Figure 2 to elaborate on the switching flow under complex topology.

[0072] (1) Triggering and instruction issuing: When the terminal moves from the coverage area of base station A to position 4 at the three-way intersection, base station A, as the master ranging base station, detects that the terminal has exceeded its forward maximum effective ranging threshold d maxA+ . Base station A immediately sends a switching instruction to the terminal, and the adjacent base station address list carried in the instruction at this time is {C, D}.

[0073] (2) Differential flow decision and polling detection: After receiving and analyzing the instruction, the terminal finds that the list contains multiple base station addresses. At this time, the terminal triggers the multi-base station screening path in the differential flow. The terminal initiates ranging requests to base station C and base station D in the list in a fixed cycle (e.g., 1 second) in a non-onboarding ranging mode. This mode is lightweight and only for ranging, without establishing a complete communication connection.

[0074] (3) Dynamic screening and autonomous shielding:

[0075] In the initial stage (when the terminal is at position 4), due to the overlap of coverage ranges, both base station C and base station D may detect that the terminal is within their respective effective ranging ranges and respond to the terminal's ranging requests.

[0076] As the terminal moves along the predetermined trajectory to position 5, it becomes increasingly distant from base station C. When base station C discovers through ranging interaction that the distance between the terminal and itself has exceeded its

[0077] ​When the maximum effective ranging distance threshold is exceeded, it immediately executes the autonomous shielding rule: interrupt the ranging interaction with this terminal and start a configurable duration of communication shielding. During the shielding period, base station C will reject all communication requests from this specific terminal.

[0078] (4) Final decision and handover: The terminal monitors the number of effectively responding base stations in real time during the polling process. When it finds that base station C is no longer responsive and only base station D continues to maintain effective ranging interaction, it decides that base station D is the final and only target base station.

[0079] (5) Directional onboarding and control migration: The terminal immediately initiates a non-broadcast point-to-point directional onboarding request to target base station D. The subsequent process is the same as in Example Two: base station D responds and issues new parameters, the terminal switches connections, base station D upgrades to the new master ranging base station, and the smooth and seamless handover from base station A to base station D is completed. The timing flow is shown in Figure 4

[0080] Example Four: Standardized Process for Seamless Handover of Full Topology

[0081] Referring to Figure 5 , the invention forms a standardized closed-loop handover process that can adapt to any laneway topology through the above mechanisms. The process is summarized as follows:

[0082] Step 1: Pre-configure the list. When the system is deployed, pre-configure the list of adjacent base station addresses for each base station based on physical connection relationships.

[0083] Step 2: Threshold triggering. The main base station monitors the distance in real time and immediately issues a handover instruction carrying the list once the limit is exceeded.

[0084] Step 3: Dynamic hierarchical response. The terminal intelligently distributes according to the list length, single base station directly connected, and multiple base stations polled.

[0085] Step 4: Polling detection and screening. In the multi-base station scenario, each auxiliary base station executes a unified distance shielding rule to assist the terminal in dynamic screening.

[0086] Step 5: Final decision and direct connection handover. After the terminal monitors the only responding base station, it initiates a point-to-point directional onboarding to complete the final handover.

[0087] This standardized process does not depend on specific laneway structures and is universally applicable. It can be used as an industrial-level solution and widely applied in various complex downhole environments.

[0088] ​The present application successfully solves a series of problems of the downhole UWB positioning system in multi-base station switching through a chain closed loop design of pre-configuration, threshold triggering, dynamic hierarchical response, auxiliary base station cooperative shielding and terminal autonomous decision, realizes seamless connection of positioning in a full topology environment, and greatly improves reliability, real-time performance and safety of the system.

[0089] Finally, it should be pointed out that the above embodiments are only used to illustrate the technical solutions of the present application but not limit the present application, although the present application has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present application can be modified or replaced equivalently without departing from the purpose and scope of the present technical solutions, which should be covered in the scope of claims of the present application.

Claims

1. A method for seamless handover of multiple base stations in an underground UWB positioning system, characterized in that: Includes the following steps: The main ranging base station monitors the ranging distance of the positioning terminal in real time; When the main ranging base station detects that the ranging distance of the positioning terminal exceeds the preset maximum effective ranging distance threshold, it sends a switching instruction to the positioning terminal containing a list of one or more adjacent base station addresses. After receiving the handover instruction, the positioning terminal performs a differentiation process to determine a unique target base station based on the number of base stations in the adjacent base station address list. The positioning terminal initiates a point-to-point directional network access request to the unique target base station; The target base station responds to the request by sending new communication parameters to the positioning terminal and upgrading itself to become the new primary ranging base station for the positioning terminal to complete the handover.

2. The seamless multi-base station switching method for an underground UWB positioning system according to claim 1, characterized in that: The differentiated process executed by the positioning terminal includes: If the list of adjacent base station addresses contains only a single base station address, the positioning terminal directly identifies that single base station as the target base station. If the list of adjacent base station addresses contains multiple base station addresses, the positioning terminal polls all auxiliary base stations in the list in a non-network ranging mode and determines the target base station based on the response of the auxiliary base stations.

3. The seamless multi-base station switching method for an underground UWB positioning system according to claim 2, characterized in that: The step of the positioning terminal determining the target base station based on the response of the auxiliary base station includes: When each auxiliary base station in the list receives a non-network ranging request from the positioning terminal, it determines whether the distance between the positioning terminal and itself exceeds its respective preset maximum effective ranging distance threshold. If the distance is not exceeded, the auxiliary base station maintains ranging interaction with the positioning terminal; If the number of cases exceeds the limit, the auxiliary base station will interrupt its interaction with the positioning terminal and initiate communication blocking. The positioning terminal monitors the number of responses from the auxiliary base stations in real time. When it detects that only one auxiliary base station is continuously responding, it identifies that single auxiliary base station as the target base station.

4. The seamless multi-base station switching method for an underground UWB positioning system according to claim 3, characterized in that: The communication blocking refers to the auxiliary base station rejecting all communication requests from the positioning terminal within a preset configurable time period.

5. The seamless multi-base station switching method for an underground UWB positioning system according to claim 1, characterized in that: The point-to-point targeted network access request is a non-broadcast request, and the request frame is only received and responded to by the target base station.

6. The seamless multi-base station handover method for an underground UWB positioning system according to claim 1, characterized in that: The method also includes a pre-configuration step: The system configures each base station independently with its maximum effective ranging distance threshold and pre-configures a list of adjacent base station addresses in different directions of movement based on the alleyway topology. The maximum effective ranging range of any two adjacent base stations is configured to overlap.

7. The seamless multi-base station switching method for an underground UWB positioning system according to claim 1, characterized in that: The ranging distance is obtained based on the Time-of-Flight (TOF) ranging principle.

8. A seamless multi-base station switching system for underground UWB positioning, characterized in that: It includes a main ranging base station, at least one auxiliary base station, and a positioning terminal; The main ranging base station is used to monitor the ranging distance with the positioning terminal in real time, and when the monitoring detects that the distance exceeds its preset maximum effective ranging distance threshold, it sends a switching instruction to the positioning terminal containing a list of one or more adjacent base station addresses. The positioning terminal is used to receive the handover instruction, perform a differentiated process based on the number of base stations in the adjacent base station address list to determine a unique target base station, and initiate a point-to-point directional network access request to the target base station; The at least one auxiliary base station is used to respond to the detection request of the positioning terminal in the differentiation process; Among them, the auxiliary base station that is identified as the target base station, after responding to the point-to-point directional network access request, sends new communication parameters to the positioning terminal and upgrades to become the new main ranging base station of the positioning terminal.

9. The seamless multi-base station switching system for downhole UWB positioning according to claim 8, characterized in that: The positioning terminal is configured as follows: When the adjacent base station address list contains only a single base station address, that single base station is directly identified as the target base station; When the adjacent base station address list contains multiple base station addresses, all auxiliary base stations in the detection list are polled in a non-network ranging mode, and the target base station is determined based on the response of the auxiliary base stations.

10. The seamless multi-base station switching system for downhole UWB positioning according to claim 9, characterized in that: The auxiliary base station is configured as follows: When a non-network ranging request is received from the positioning terminal, it is determined whether the distance between the positioning terminal and the terminal exceeds their respective preset maximum effective ranging distance threshold. If the distance is not exceeded, the ranging interaction with the positioning terminal will continue. If the condition is exceeded, the interaction with the positioning terminal will be interrupted, and communication blocking will be activated.

11. The seamless switching system for multiple base stations in the downhole UWB positioning system according to claim 8, characterized in that: It also includes a host computer configuration system, which is used to independently write the maximum effective ranging distance threshold for each base station in the system, and pre-configure the address list of adjacent base stations in different movement directions for each base station according to the lane topology, and ensure that the maximum effective ranging range of any two adjacent base stations overlaps with each other.

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