A positioning base station scheduling sequencing method and system

Abstract

The application belongs to the field of wireless positioning and communication technology, and discloses a positioning base station scheduling and sequencing method and system, the steps of the method comprising: pre-configuring an independent effective value interval [A, B] for each base station; obtaining real-time positioning measurement values of a to-be-positioned tag and each base station; calculating the range distance R of each base station according to the effective value interval [A, B] of each base station and the corresponding real-time positioning measurement value; taking the range distance R as the first sequencing basis to perform first scheduling priority sequencing on all base stations and obtain a preliminary sequencing sequence; only calculating the center distance C of the base station with the range distance R of 0, taking the center distance C as the second sequencing basis, and performing second scheduling priority sequencing on the basis of the preliminary sequencing sequence to obtain a secondary sequencing sequence; and the to-be-positioned tag selects multiple base stations with high sequencing in the secondary sequencing sequence according to the preset maximum number of scheduled base stations to complete the scheduling and sequencing of the positioning base station.

Description

Technical Field

[0001] This invention belongs to the field of wireless positioning and communication technology, specifically relating to a method and system for scheduling and sorting positioning base stations. Background Technology

[0002] Ultra-wideband (UWB) is a wireless communication technology with ultra-high time resolution. It supports various positioning algorithms such as TOF (Time of Flight), AOA (Angle of Arrival), and AOD (Angle of Departure), achieving centimeter-level ranging and positioning, and is widely used in various high-precision positioning scenarios. Among them, TOF is the most widely used implementation method in the field of UWB positioning.

[0003] The existing UWB TOF one-way two-way ranging process is as follows: The tag to be located actively sends a poll frame (POLL frame) to initiate a ranging request. All surrounding base stations (Anchors) that can receive signals will reply with a confirmation frame (CONF frame) within a preset contention period. The tag calculates its straight-line distance to each base station based on the time of signal round-trip transmission, thus completing the contention access process of multiple base stations.

[0004] Furthermore, the existing base station scheduling method involves sorting all accessible base stations by their measured distances from the tag to the base station, from closest to furthest. Then, based on the system's preset maximum number of base stations, the highest-ranked base stations are prioritized for stable time-slot ranging. Finally, the tag coordinates are calculated using the selected base station ranging data. This base station scheduling method uses only the measured distance between the tag and the base station as the sole criterion for priority determination, with the core idea being to prioritize establishing stable ranging links with the closest base stations.

[0005] The aforementioned base station scheduling method can stably output accurate positioning results in ideal environments with open or unobstructed views, demonstrating good positioning performance. However, in typical indoor building structures with corridors and individual rooms, this existing scheduling method, which relies solely on distance sorting, has inherent limitations.

[0006] In this scenario, base stations closer to the tag are located inside the rooms on either side of the corridor, while base stations further away are distributed at the ends of the corridor. When a tag is in the middle of the corridor, according to the existing scheduling logic, the tag is sorted from smallest to largest based on its measured distance to each base station, with base stations in the closer rooms prioritized and those at the far ends of the corridor prioritized. Under the constraint of the system's preset maximum number of base stations, the tag will only stably measure distance with base stations in the earlier-ranked rooms, not with base stations at the ends of the corridor. The final calculated positioning coordinates will shift towards the room area, resulting in a drifting phenomenon where the positioning point is "sucked into" the room, failing to accurately reflect the tag's true location in the corridor.

[0007] If the base stations at both ends of the corridor are included in the ranging queue by increasing the maximum number of base stations in the system, the power consumption of the tags will increase significantly, and a large amount of system time slot resources will be occupied, which will directly reduce the overall tag capacity of the system. Therefore, this optimization idea is not feasible in actual engineering.

[0008] Therefore, a positioning base station scheduling and sorting method is needed to solve the problems of positioning drift, power consumption and system capacity imbalance, and failure to achieve the desired base station scheduling and sorting results in complex indoor scenarios, which exist in the existing scheduling strategy that relies solely on ranging values ​​for sorting. Summary of the Invention

[0009] The purpose of this invention is to provide a method and system for scheduling and sorting positioning base stations to solve the above-mentioned problems.

[0010] To achieve the above objectives, in a first aspect of the present invention, a method for scheduling and ranking positioning base stations is provided, comprising the following steps: Each base station is pre-configured with an independent valid value range [A,B]; Obtain the real-time location measurement values ​​of the tag to be located and each base station; Based on the effective value range [A,B] of each base station and the corresponding real-time positioning metric value, calculate the range distance R of each base station; Using the aforementioned range distance R as the first sorting criterion, all base stations are sorted by scheduling priority for the first time to obtain a preliminary sorting sequence; The center distance C is calculated only for base stations whose distance R is 0. The center distance C is used as the second sorting criterion. Based on the preliminary sorting sequence, a second scheduling priority sorting is performed to obtain a secondary sorting sequence. The tag to be located selects several base stations ranked at the top of the secondary sorting sequence according to the preset maximum number of scheduling base stations, and completes the scheduling and sorting of the positioning base stations.

[0011] Furthermore, in the aforementioned positioning base station scheduling and sorting method, the range distance R represents the degree to which the positioning metric value of the tag to be located exceeds the effective value range of the base station; wherein, R=0 indicates that the positioning metric value of the tag to be located falls within the effective value range of the base station, R>0 indicates that the positioning metric value of the tag to be located falls outside the effective value range, and when R>0, the larger R is, the farther the positioning metric value of the tag to be located is from the effective value range of the base station. During the first scheduling priority sorting, all base stations are sorted in ascending order of their range distance R.

[0012] Furthermore, in the aforementioned positioning base station scheduling and sorting method, the formula for calculating the range distance R is: when hour, ; when When R=0; when When, R= ; Where D is the real-time positioning metric, and A and B are the lower and upper limits of the effective value range, respectively.

[0013] Furthermore, in the aforementioned positioning base station scheduling and sorting method, the center distance C represents the degree to which the tag's metric value is far from the center of the base station range when the range distance R=0; C∈[0,1], C=0 indicates that it is located at the optimal position in the center of the effective range, and C=1 indicates that it is located at the edge of the effective range; During the second scheduling priority sorting, the center distance C is sorted in ascending order for all base stations with a range distance R of 0.

[0014] Furthermore, in the aforementioned positioning base station scheduling and sorting method, in the TOF positioning scenario, the calculation formula is adapted to both full coverage and partial coverage modes. When it is a full coverage mode, i.e., A=0 ; When it is a partial coverage mode, i.e., A>0. ; Where D is the real-time positioning metric, and A and B are the lower and upper limits of the effective value range, respectively.

[0015] Furthermore, in the aforementioned positioning base station scheduling and sorting method, in either an AOA positioning scenario or an AOD positioning scenario, the calculation formula is... ; Where D is the real-time positioning metric, and A and B are the lower and upper limits of the effective value range, respectively.

[0016] Furthermore, in the aforementioned positioning base station scheduling and sorting method, the effective value range [A, B] is a dynamically adjustable parameter, and the adjustment steps include: The tag load rate of each base station is monitored in real time; when the tag load rate is greater than the preset load threshold, the upper limit B of the corresponding base station is reduced; when the tag load rate is less than the preset load threshold, the upper limit B of the corresponding base station is restored or increased.

[0017] Furthermore, in the aforementioned positioning base station scheduling and sorting method, in the TOF positioning scenario, the real-time positioning metric is the measured distance d between the tag and each base station, and the effective value interval [A,B] is the expected distance range of the base station. Based on the measured distance d of each base station and the effective value interval [A,B], the range distance R and the center distance C of the corresponding base station are calculated.

[0018] Furthermore, in the aforementioned positioning base station scheduling and sorting method, in the AOA or AOD positioning scenario, the real-time positioning metric is the angle metric θ of the tag relative to each base station, and the effective value interval [A,B] is the expected angle range of the base station. Based on the angle metric θ of each base station and the effective value interval [A,B], the range distance R and the center distance C of the corresponding base station are calculated.

[0019] A second aspect of the present invention also provides a positioning base station scheduling and sorting system for performing the positioning base station scheduling and sorting method described in the first aspect, comprising: The interval configuration module is used to configure a statically or dynamically adjustable valid value interval [A,B] for each base station; The data acquisition module is used to acquire the real-time location measurement values ​​of the tag to be located and each base station; The indicator calculation module is used to calculate the range distance R of each base station, and to calculate the center distance C only for base stations where the range distance R is 0; The sorting and scheduling module is used to sort all base stations in ascending order of range distance R as the first sorting criterion, and to sort the base stations with range distance R as the second sorting criterion for a second sorting order of center distance C as the third sorting criterion for a second sorting order of center distance C. And a dynamic adjustment module, used to adaptively update the effective value range [A,B] of the base station based on the tag load rate and scene events of each base station.

[0020] Compared with the prior art, the present invention has at least the following technical effects: This invention first configures a dedicated valid value range [A, B] for each base station, and calculates the range distance R of each base station based on real-time positioning metrics to initially prioritize each base station. When multiple base stations have R = 0, making it difficult to distinguish their priority order, it is necessary to further calculate their center distance C to perform a secondary priority ranking of each base station. Finally, based on the secondary ranking result, the base stations with higher priority are prioritized for stable ranging. This invention effectively solves the problem of positioning points being sucked into rooms and causing positioning drift distortion in complex indoor scenarios such as corridors and rooms, where base stations in nearby rooms compete for ranging resources, while base stations in distant corridors cannot be scheduled. It can significantly improve the accuracy and stability of UWB positioning results in complex indoor environments. At the same time, this invention does not require optimizing the positioning effect by increasing the maximum number of scheduled base stations, fundamentally avoiding the defects of increased tag power consumption and reduced system tag capacity brought about by existing optimization schemes. It takes into account the requirements of positioning accuracy, low power consumption operation of equipment, and large-capacity deployment of the system, and has stronger adaptability to indoor scenarios and engineering practicality. Attached Figure Description

[0021] Figure 1 This is a flowchart of a positioning base station scheduling and sorting method in one embodiment of the present invention; Figure 2 This is a scene distribution diagram of "corridor + rooms on both sides" in one embodiment of the present invention; Figure 3 This is a block diagram of a positioning base station scheduling and sorting system in another embodiment of the present invention. Detailed Implementation

[0022] The following will describe in more detail a positioning base station scheduling and sorting method and system according to the present invention with reference to the schematic diagrams, which illustrate preferred embodiments of the invention. It should be understood that those skilled in the art can modify the invention described herein while still achieving the advantageous effects of the invention. Therefore, the following description should be understood as being of general knowledge to those skilled in the art and is not intended to limit the invention.

[0023] For clarity, not all features of the actual embodiments are described. In the following description, well-known functions and structures are not detailed in detail, as they would obscure the invention with unnecessary detail. It should be understood that in the development of any actual embodiment, numerous implementation details must be made to achieve the developer's specific objectives, such as changes from one embodiment to another according to limitations related to the system or business. Furthermore, it should be understood that such development work may be complex and time-consuming, but is merely routine work for those skilled in the art.

[0024] Based on the teachings of this specification, those skilled in the art can form new technical solutions through cross-combination of different implementation methods without creating technical contradictions. Such variations should all be considered to fall within the protection scope of this invention.

[0025] The invention is described more specifically by way of example in the following paragraphs with reference to the accompanying drawings. The advantages and features of the invention will become clearer from the following description. It should be noted that the drawings are in a very simplified form and use non-precise proportions, and are only used to facilitate and clarify the illustration of the embodiments of the invention.

[0026] In existing UWB TOF indoor positioning systems, after the tag completes the competition for access to the base station, the base station priority is determined solely based on the measured distance between the tag and each base station. Then, the closest base station is scheduled for stable ranging. This scheduling logic can guarantee positioning accuracy in an ideal, open, unobstructed environment, but it has significant shortcomings in typical indoor architectural scenarios such as corridors with rooms on either side.

[0027] like Figure 2 As shown in the diagram, the triangles represent tags to be located, the long rectangle represents the corridor, the multiple smaller rectangles on either side of the long rectangle represent individual rooms, the blue circles represent base stations inside each room, and the blue squares represent base stations on both sides of the corridor. When the tag to be located is in the middle of the corridor, the measured distance between the base stations inside the rooms on both sides of the corridor is closer, typically only 4m to 6m, while the distance between the base stations at both ends of the corridor can reach 15m. According to the existing sorting rules, the system will prioritize selecting the base stations in the rooms with the closer distance for stable ranging, while the base stations at both ends of the corridor will be sorted later. If the system's preset maximum number of scheduled base stations is 5 or 10, the tag can only continuously measure distance with the base stations inside the rooms, and cannot stably measure distance with the base stations at both ends of the corridor. The final positioning coordinates will shift towards the interior of the room, resulting in a drifting problem where the positioning result is "sucked into the room," making it impossible to restore the tag's true position in the corridor.

[0028] To address the location drift issue, engineering projects aiming to include base stations at both ends of the corridor in stable ranging would necessitate a significant increase in the maximum number of scheduled base stations, often requiring up to 14. However, each additional base station increases the power consumption for radio frequency transmission and processing, shortens tag battery life, and significantly occupies limited communication time slots. This drastically reduces the system's simultaneous online tag capacity, ultimately leading to an imbalance between power consumption and system capacity. Therefore, this optimization method is not feasible in practical project deployments.

[0029] In summary, existing scheduling schemes that rely solely on ranging values ​​suffer from positioning drift and imbalances in power consumption and system capacity in complex indoor scenarios.

[0030] Example 1 In view of this, such as Figure 1 As shown, this embodiment proposes a positioning base station scheduling and sorting method to solve the above-mentioned problems. The method includes the following steps.

[0031] S1: Pre-configure an independent valid value range [A,B] for each base station.

[0032] S2: Obtain the real-time positioning measurement values ​​of the tag to be located and each base station.

[0033] S3: Calculate the range distance R of each base station based on the effective value range [A,B] of each base station and the corresponding real-time positioning metric value.

[0034] S4: Using the aforementioned range distance R as the first sorting criterion, perform the first scheduling priority sorting on all base stations to obtain a preliminary sorting sequence.

[0035] S5: Calculate the center distance C only for base stations where the distance R is 0. Using the center distance C as the second sorting criterion, perform a second scheduling priority sorting based on the preliminary sorting sequence to obtain a secondary sorting sequence.

[0036] S6: The tag to be located selects several base stations ranked at the top of the secondary sorting sequence according to the preset maximum number of scheduling base stations for stable ranging, thus completing the scheduling and sorting of the positioning base stations.

[0037] This embodiment uses a UWB-TOF positioning scenario as an example; for specific scenarios, please refer to [link / reference]. Figure 2 The scene layout is a long, narrow corridor with several independent rooms on both sides. The location tag is placed in the central area of ​​the corridor. There are two types of UWB base stations in the scene: the first type is the base station installed inside the room. Figure 2 The first type is represented by a circle, and is only used for positioning within this room. The second type is base stations located at both ends of the corridor. Figure 2 (Represented by a square in the image), used for positioning the entire corridor area. In this scenario, the distance from the base station inside the room to the edge of the corresponding room wall is 5m, the total length of the corridor is 30m, and the system is pre-set to have a maximum of 5 base stations that can be scheduled for a single stable ranging measurement.

[0038] When executing step S1, it is first necessary to configure a dedicated valid value range [A, B] for each base station. This valid value range represents the ideal area range within which the base station expects to perform stable ranging, and is not the physical maximum coverage limit of the base station's UWB signal. The actual physical signal coverage range of the base station's radio frequency signal is usually much larger than this valid value range, and the two are not mutually constrained.

[0039] Furthermore, the effective value range [A, B] of the base station supports two configuration modes. Depending on whether A is 0, the effective value range can be configured as a circle or a ring, corresponding to full coverage mode or partial coverage mode, respectively. In full coverage mode, the effective value range is a circle, with the lower limit A=0 and the upper limit B being the maximum radius the base station expects to cover. Taking the room base station in this scenario as an example, when only one room needs to be covered, A=0 is set, and B is the distance from the base station to the farthest boundary of the room. In partial coverage mode, the effective value range is a ring, with the lower and upper limits satisfying: A>0, B>0. This means the base station only wants to cover the ring area between A and B, effectively shielding near-field areas where close-range obstruction is severe.

[0040] In one specific embodiment, the base station inside the room adopts a full coverage mode, configured with A=0m and B=5m, indicating that stable ranging is only performed on tags within a range of 0m-5m from the base station. The base stations at both ends of the corridor adopt a full coverage mode, configured with A=0m and B=30m, indicating that full coverage of the entire 30m corridor is expected.

[0041] For base stations in special areas with close-range obstruction interference, a partial coverage mode can be adopted. For example, A=10m, B=20m can be configured to stably measure the distance of tags within a ring-shaped interval of 10m-20m from the base station, while filtering the ranging data of severely obstructed areas within 10m.

[0042] When executing step S2, this embodiment is a TOF positioning scenario. In this embodiment, the real-time positioning metric D corresponds to the measured distance d between the tag to be located and each base station.

[0043] It should be noted that in actual UWB positioning scenarios, the real-time positioning metrics between the tag to be located and each base station are generally obtained through contention-based access. This contention-based access mechanism itself suffers from a low success rate. This embodiment uses the real-time positioning metrics obtained through contention-based access, which have a lower success rate, as the initial input. Based on this, the range distance R and center distance C of each base station are calculated, completing two priority ranking processes. The tag selects the base stations with higher ranking results for time slot allocation. In other words, the base station selection and scheduling are completed using the raw metrics obtained with a low success rate, thereby achieving a higher success rate in obtaining real-time positioning metrics for subsequent positioning calculations.

[0044] The specific ranging process adopts the UWB time-of-flight contention access method commonly used in the background technology to achieve one-sided two-way ranging, which can obtain the measured distance between the tag itself and each positioning base station.

[0045] In this corridor + room scenario, the actual measured distances between the tags and each base station after distance measurement are as follows: The measured distance d=6m for room base station 1 and the measured distance d=7m for room base station 2. The measured distance d=14m for corridor base station 1; the measured distance d=16m for corridor base station 2.

[0046] For step S3, it is necessary to calculate the range distance R corresponding to each base station. The range distance R is used to represent the degree to which the tag to be located exceeds the effective value range of the base station relative to the measured distance. R=0 indicates that the tag is not outside the effective value range of the base station, R>0 indicates that the tag exceeds the effective value range (too close or too far), and the larger the value of R, the more severe the degree to which the tag exceeds the effective value range. The segmented calculation formula for the range distance R is as follows: when hour, ; when When R=0; when When, R= ; Where D is the real-time positioning metric, and A and B are the lower and upper limits of the effective value range, respectively.

[0047] In the UWB-TOF positioning scenario of this embodiment, the real-time positioning metric D is equivalent to the measured distance d between the tag and the base station. By replacing the parameter D in the formula with the measured distance d, the range distance R in this scenario can be calculated. The formula for calculating the range distance R is: .

[0048] In this corridor + room scenario, the range distance R calculated for each base station is as follows: Room base station 1: Measured distance d=6, configuration A=0, B=5, satisfying d>B, substituting into the formula... ; Room base station 2: Measured distance d=7, configuration A=0, B=5, satisfying d>B, substituting into the formula, we get... ; Corridor base station 1: Measured distance d=14, configuration A=0, B=30, satisfying A≤d≤B, substituting into the formula, we get R=0; Corridor base station 2: Measured distance d=16, configuration A=0, B=30, satisfying A≤d≤B, substituting into the formula, we get R=0.

[0049] When executing step S4, the range distance R calculated in step S3 is used as the first sorting criterion. The range distance R is sorted in ascending order to determine the scheduling priority of all base stations, resulting in a preliminary sorting sequence. Therefore, all base stations with R=0 have a higher priority than all base stations with R>0.

[0050] For this corridor + room scenario, the preliminary sorting sequence obtained after the first sort is: Corridor base station 1 (R=0), Corridor base station 2 (R=0), Room base station 1 (R=0.2), Room base station 2 (R=0.4).

[0051] When performing step S5, the center distance C is calculated only for base stations with a range distance R=0, while base stations with R>0 do not need to calculate the center distance C. C represents the degree to which the positioning metric of the tag to be located is far from the center of the effective value range of the base station when the range distance R=0; where C ranges from [0,1], C=0 represents that the tag is at the optimal center position of the effective value range, and C=1 represents that the tag is at the edge position of the effective value range.

[0052] This embodiment describes a UWB-TOF distance positioning scenario. Distance positioning includes two modes: full coverage and partial coverage. The definition of the range center differs between these two modes, therefore, a segmented calculation formula is used to determine the center distance C. In full coverage mode, A=0, and the range center is the center of the circular area. In partial coverage mode, A>0, and in this embodiment, the range center of the annular area is defined as the midpoint of the ring's width in the radial direction from the center. This difference in center definition leads to a distinction in the value of the center distance C, thus requiring separate calculation in two segments. The specific formula is as follows: When it is a full coverage mode, i.e., A=0 ; When it is a partial coverage mode, i.e., A>0. .

[0053] This embodiment describes a UWB-TOF positioning scenario. The real-time positioning metric D is equivalent to the measured distance d between the tag and the base station. By replacing the parameter D in the formula with the measured distance d, the center distance C in this scenario can be calculated. The formula for calculating the center distance C is: .

[0054] For this "corridor + room" scenario, the center distance C of the base station in the corridor with R=0 is calculated as follows: Corridor Base Station 1: Measured distance d=14, configuration A=0, B=30, meets the complete coverage condition A=0, substituting into the formula... ; Corridor Base Station 2: Measured distance d=16, configuration A=0, B=30, meets the complete coverage condition A=0, substituting into the formula... .

[0055] When performing the second priority sorting, all base stations with R=0 are sorted in ascending order of center distance C. Combined with the R level order obtained from the first sorting, the final second sorting sequence is: Corridor base station 1 (C=0.47), Corridor base station 2 (C=0.53), Room base station 1 (R=0.2), Room base station 2 (R=0.4).

[0056] It should be noted that for partial coverage mode, if the effective range of the base station is A=10m and B=20m, when the measured distance d=15, substituting into the formula yields... The optimal center location corresponds to the optimal scheduling priority; when the measured distance d=10 or d=20, substituting into the formula yields... , which is the edge position of the interval, has the lowest scheduling priority within the group where R=0.

[0057] Furthermore, after performing step S5 to complete the two-level sorting, there may be a situation where multiple base stations have the same range distance R and center distance C. In this case, it is not possible to distinguish the scheduling priority of different base stations by relying solely on the two indicators R and C.

[0058] In one embodiment, when R and C are the same, this embodiment can use RSSI (Received Signal Strength Indicator) as the third sorting criterion. Based on the second sorting sequence, the RSSI signal strength is sorted in descending order to obtain a third scheduling priority sorting sequence. The tag to be located selects the top-ranked base stations in the three sorting sequences according to the preset maximum number of scheduling base stations to complete the scheduling and sorting of the positioning base stations.

[0059] The specific sorting rule is as follows: For base stations with the same R and C values, the real-time RSSI signal strength of each base station is collected, and the priority is rearranged according to the RSSI values ​​from largest to smallest. The RSSI unit is dBm; a larger value indicates less wireless signal obstruction and better communication quality, corresponding to a higher base station scheduling priority.

[0060] In one specific embodiment, there are two corridor base stations. The effective value range pre-configured in step S1 is [0, 30]. In step S2, the measured distance between the tag and both corridor base stations is calculated to be d = 15m, and the measured distance d falls within the effective value range. Step S3 calculates that the range distance R of the two corridor base stations is equal to 0. Step S5 uses the center distance calculation formula for circular coverage mode to calculate that the C values ​​of both are completely consistent. At this point, the scheduling order of the two base stations cannot be determined solely by the R and C levels; therefore, RSSI signal strength is introduced for a third level of differentiation.

[0061] Specifically, real-time RSSI data from two base stations are first collected: Base Station X has an RSSI of -62dBm, indicating less wall obstruction and better signal quality; Base Station Y has an RSSI of -85dBm, indicating multiple walls obstructing the signal and severe signal attenuation. Following a third-level sorting rule based on RSSI from largest to smallest, Base Station X has a higher scheduling priority than Base Station Y. In the subsequent step S6, when allocating stable ranging time slots, the tag will preferentially select Base Station X with better signal quality for location calculation, effectively improving the stability of the overall ranging data and the reliability of the positioning results.

[0062] When executing step S6, the maximum number of base stations preset in this embodiment is 5. Therefore, the top 5 base stations in the secondary sorting sequence are selected for stable ranging. During scheduling, the tag will prioritize scheduling base stations at both ends of the corridor for stable ranging, thereby avoiding the problems of base stations in nearby rooms competing for scheduling resources and the positioning coordinates being "sucked into the room" in traditional sorting schemes. This ensures that the positioning calculation result matches the actual position of the tag in the corridor.

[0063] In summary, this embodiment no longer simply determines the base station based on distance. Instead, it combines the preset effective value range of the base station to select effective ranging base stations, prioritizing the scheduling of base stations adapted to the current positioning scenario and those with more stable ranging states to participate in the positioning calculation. Without increasing the number of scheduled base stations or increasing tag power consumption, it completely solves the positioning drift problem in corridor scenarios, effectively balances tag power consumption, system capacity, and positioning accuracy, and significantly improves the stability and practicality of the UWB-TOF positioning system in complex indoor building scenarios.

[0064] Example 2 This embodiment improves upon embodiment one by setting the fixed effective value range [A,B] of the base station in embodiment one as a dynamically adjustable parameter, which is adjusted in real time by the interval configuration module. This solves the problem of local overload of the base station and waste of system resources caused by static interval configuration, and achieves dynamic balance optimization of positioning resources across the entire network.

[0065] The interval configuration module can adaptively modify the interval parameters of each base station based on various triggering events such as real-time location heat, regional tag distribution density, or specific events (such as regional intrusion alarms), and issue update commands in real time. The entire base station sorting method still follows steps S1 to S6, the calculation method of range distance R and center distance C, and the two-level scheduling sorting rules are all the same as in Embodiment 1, and will not be repeated here. Only a pre-step of dynamically adjusting the effective value interval [A, B] of the server is added in step S1, and the original sorting process can be adapted to the dynamic parameters without modification.

[0066] The control logic is as follows: The dynamic control module monitors the tag load rate of each base station in real time; when the tag load rate of the base station is greater than the preset load threshold, an instruction is issued to reduce the upper limit B of the corresponding base station; when the tag load rate of the base station is less than the preset load threshold, an instruction is issued to restore the original upper limit B or increase the upper limit B of the corresponding base station.

[0067] Preferably, this embodiment presets a load threshold of 80%. When a base station has too many tags online simultaneously, and the tag load rate exceeds 80%, the dynamic control module will immediately issue a configuration command to narrow the upper limit B of the effective value range of the base station. After the parameter adjustment, the real-time positioning measurement value of the tags to be located that were originally at the edge of the base station's original effective range will exceed the updated upper limit B. At this time, when calculating according to the segmented calculation formula corresponding to step S3 in embodiment one, the distance R of such tags relative to the base station will be greater than 0, causing the scheduling priority of the base station for such edge tags to be reduced. In the subsequent base station sorting and scheduling process, low-priority overloaded base stations will no longer participate in ranging first, and the tags to be located will automatically select idle base stations with lower load rates in the surrounding area to complete the ranging interaction, ultimately realizing intelligent diversion and balanced scheduling of the entire network base station load.

[0068] Correspondingly, when the dynamic control module detects that the real-time tag load rate of a base station is below the preset threshold of 80%, it indicates that the base station has idle time slot resources and radio resources. At this time, the dynamic control module will issue an adjustment command to restore the original upper limit B of the base station, or further appropriately expand the upper limit B, thereby widening the effective value range for stable ranging of the base station. After parameter expansion, the base station can take over the tags to be located from other high-load areas, making full use of the idle resources of the system and improving the overall utilization rate of all base stations.

[0069] Through this dynamically adjustable range in this embodiment, the system can dynamically balance the access load pressure of all base stations in the network according to the real-time changes in the number of tags in the scene, effectively avoid overload of single base station resources, and achieve dynamic optimal configuration of positioning resources.

[0070] Example 3 The positioning base station scheduling and sorting method in this embodiment is not limited to the UWB-TOF ranging scenario described in Embodiment 1, but can also be applied to AOA positioning scenarios or AOD positioning scenarios. The specific method flow is consistent with steps S1 to S6 in Embodiment 1, and the sorting logic can be reused, so it will not be repeated here. The difference between the two scenarios lies in the different definitions of the real-time positioning metric value D and the effective value interval [A,B]. Simply replace the corresponding parameter meanings.

[0071] Specifically, in AOA or AOD positioning scenarios, the real-time positioning metric is replaced with the angle metric θ of the tag to be located relative to each base station. Here, the angle metric is the signal arrival angle or signal departure angle, and the effective value interval [A,B] is defined as the expected angle range of the base station. This embodiment can directly reuse the calculation formulas for range distance R and center distance C in steps S3 and S5 of Embodiment 1. Only the real-time positioning metric D in the formula needs to be replaced with the angle metric θ. Based on the signal arrival angle or signal departure angle and the corresponding effective angle interval [A,B], the calculation, sorting, and priority scheduling of range distance R and center distance C can be completed for each base station.

[0072] As a preferred example, the effective angle range can be set to This means the base station only performs effective location filtering on incident angle signals within a 60° sector directly in front of it. When the signal arrival angle θ of the tag to be located exceeds this angle range, the range distance R of the corresponding base station > 0, and the scheduling priority decreases accordingly. When the signal arrival angle θ is within the effective angle range, the range distance R of the corresponding base station = 0, making it a preferred effective base station. The formula for calculating the range distance R is: .

[0073] It should be noted that, unlike the TOF distance positioning scenario in Example 1, the AOA or AOD angle positioning scenario does not have circular or ring-shaped coverage area divisions. The center of the effective range of its base station is uniformly defined as the center of the effective angle value interval. Whether A is 0 or not does not change the definition logic of the angle center, and there is no need to use a segmented calculation method. Therefore, for the AOA or AOD angle positioning scenario, only for all base stations with a range distance R=0, the center distance C is further calculated. When calculating the center distance C, it does not distinguish whether A is 0. The calculation formula is: .

[0074] After completing the secondary priority sorting of effective base stations within the interval, base stations with better angle incidence conditions and higher positioning reliability can be effectively selected to participate in the positioning calculation.

[0075] As an example, if the measured signal arrival angle θ = 15°, satisfying -30° ≤ θ ≤ 30°, the calculated base station range distance R = 0. Substituting this into the center distance formula, we get C = 0.5. If the measured signal arrival angle θ = 35°, exceeding the upper limit of the effective angle range, the calculated base station range distance R > 0. In this case, the scheduling priority is postponed to avoid positioning errors caused by lateral interference angles.

[0076] In summary, this embodiment can be adapted to AOA positioning scenarios or AOD positioning scenarios. Through a two-level sorting mechanism of range distance R and center distance C, it accurately selects base stations with better incident angle conditions, less interference, and higher positioning reliability to participate in positioning calculation, effectively avoiding positioning errors caused by lateral and extra-sector angle signals, and significantly improving the overall positioning accuracy and stability in angle positioning scenarios.

[0077] Example 4 like Figure 3 This embodiment provides a positioning base station scheduling and sorting system for executing the positioning base station scheduling and sorting method described in Embodiment 1. It solves the problems of positioning drift and power consumption / system capacity imbalance in complex indoor scenarios caused by existing scheduling schemes that rely solely on ranging values ​​for sorting. The system includes an interval configuration module, a data acquisition module, an index calculation module, a sorting and scheduling module, and a dynamic adjustment module. This system is adaptable to three indoor positioning scenarios: UWB-TOF, AOA, and AOD positioning.

[0078] The interval configuration module is used to configure static or dynamically adjustable valid value intervals [A, B] for each base station. These valid value intervals support both a fixed static interval configuration mode, suitable for typical stable positioning scenarios, and a dynamic interval configuration mode that can be updated in real time. Furthermore, in TOF positioning scenarios, different base stations can configure interval parameters corresponding to full coverage and partial coverage based on differences in coverage area attributes to match the positioning coverage requirements of different areas.

[0079] The data acquisition module is used to obtain real-time positioning measurements between the tag to be located and each base station. It adaptively collects corresponding positioning measurements according to different positioning scenarios; specifically, it collects the measured distance *d* between the tag and the base station in UWB-TOF scenarios, and angle measurements in AOA or AOD scenarios. (Signal arrival angle or signal departure angle).

[0080] The indicator calculation module is used to calculate the range distance R of each base station, and to calculate the center distance C only for base stations where the range distance R is 0. Specifically, the indicator calculation module calculates the range distance R for each base station based on the real-time measurement values ​​collected by the data acquisition module and the valid value range [A, B] configured by the interval configuration module, according to a preset algorithm formula. Here, the range distance R represents the degree to which the real-time operating state of each base station deviates from the ideal valid range. Simultaneously, the center distance C is further calculated only for base stations where the range distance R is 0, i.e., within the valid value range.

[0081] The sorting and scheduling module is used to sort all base stations in ascending order of range distance R as the first sorting criterion, and to sort the base stations with range distance R as 0 as the second sorting criterion, and to sort the base stations with ascending order of center distance C as the second sorting criterion.

[0082] The dynamic adjustment module is used to adaptively update the effective value range [A, B] of each base station based on the tag load rate and scene events. Specifically, this module monitors the real-time tag load rate of each base station in the entire network, compares the measured load rate with the system's preset load threshold, and automatically reduces the upper limit B of the corresponding base station when the base station's tag load rate is higher than the preset threshold and it is in an overloaded state, thereby reducing the base station scheduling priority of edge tags and achieving load diversion. When the base station's tag load rate is lower than the preset threshold and it is in an idle state, it automatically restores or increases the upper limit B of the corresponding base station, expands the effective coverage scheduling range of the base station, makes full use of idle base station resources, achieves dynamic load balancing of the entire network of base stations, effectively avoids problems such as local base station overload and lag, and resource waste, thereby improving the overall environmental adaptability and operational stability of the positioning system.

[0083] The above are merely preferred embodiments of the present invention and do not constitute any limitation on the present invention. Any equivalent substitutions or modifications made by those skilled in the art to the technical solutions and content disclosed in the present invention without departing from the scope of the present invention shall be deemed to have remained within the scope of protection of the present invention.

Claims

1. A method for scheduling and sorting location base stations, characterized in that, include: Each base station is pre-configured with an independent valid value range [A,B]; Obtain the real-time location measurement values ​​of the tag to be located and each base station; Based on the effective value range [A,B] of each base station and the corresponding real-time positioning metric value, calculate the range distance R of each base station; Using the aforementioned range distance R as the first sorting criterion, all base stations are sorted by scheduling priority for the first time to obtain a preliminary sorting sequence; The center distance C is calculated only for base stations whose distance R is 0. The center distance C is used as the second sorting criterion. Based on the preliminary sorting sequence, a second scheduling priority sorting is performed to obtain a secondary sorting sequence. The tag to be located selects several base stations ranked at the top of the secondary sorting sequence according to the preset maximum number of scheduling base stations, and completes the scheduling and sorting of the positioning base stations.

2. The positioning base station scheduling and sorting method according to claim 1, characterized in that, The range distance R represents the degree to which the location measurement value of the tag to be located exceeds the effective value range of the base station; wherein, R=0 indicates that the location measurement value of the tag to be located falls within the effective value range of the base station, R>0 indicates that the location measurement value of the tag to be located falls outside the effective value range, and when R>0, the larger R is, the farther the location measurement value of the tag to be located is from the effective value range of the base station. During the first scheduling priority sorting, all base stations are sorted in ascending order of their range distance R.

3. The positioning base station scheduling and sorting method according to claim 2, characterized in that, The formula for calculating the distance R is: when hour, ; when When R=0; when When, R= ; Where D is the real-time positioning metric, and A and B are the lower and upper limits of the effective value range, respectively.

4. The positioning base station scheduling and sorting method according to claim 1, characterized in that, The center distance C represents the degree to which the tag's metric value is far from the center of the base station range when the range distance R=0. C=0 indicates that the position is located at the center of the effective range, and C=1 indicates that the position is located at the edge of the effective range. During the second scheduling priority sorting, the center distance C is sorted in ascending order for all base stations with a range distance R of 0.

5. The positioning base station scheduling and sorting method according to claim 4, characterized in that, In TOF positioning scenarios, the calculation formula is adapted to both full coverage and partial coverage modes. When it is a full coverage mode, i.e., A=0 ; When it is a partial coverage mode, i.e., A>0. ; Where D is the real-time positioning metric, and A and B are the lower and upper limits of the effective value range, respectively.

6. The positioning base station scheduling and sorting method according to claim 4, characterized in that, In AOA positioning scenarios or AOD positioning scenarios, the calculation formula is as follows: ; Where D is the real-time positioning metric, and A and B are the lower and upper limits of the effective value range, respectively.

7. The positioning base station scheduling and sorting method according to claim 1, characterized in that, The effective value range [A, B] is a dynamically adjustable parameter, and the adjustment steps include: The tag load rate of each base station is monitored in real time; when the tag load rate is greater than the preset load threshold, the upper limit B of the corresponding base station is reduced; when the tag load rate is less than the preset load threshold, the upper limit B of the corresponding base station is restored or increased.

8. The positioning base station scheduling and sorting method according to claim 1, characterized in that, In a TOF positioning scenario, the real-time positioning metric is the measured distance d between the tag and each base station, and the effective value interval [A,B] is the expected distance range of the base station. Based on the measured distance d of each base station and the effective value interval [A,B], the range distance R and the center distance C of the corresponding base station are calculated.

9. The positioning base station scheduling and sorting method according to claim 1, characterized in that, In AOA or AOD positioning scenarios, the real-time positioning metric is the angle metric θ of the tag relative to each base station, and the effective value interval [A,B] is the expected angle range of the base station. Based on the angle metric θ of each base station and the effective value interval [A,B], the range distance R and the center distance C of the corresponding base station are calculated.

10. A positioning base station scheduling and sorting system, characterized in that, The method for executing the positioning base station scheduling and sorting method according to any one of claims 1-9 includes: The interval configuration module is used to configure a statically or dynamically adjustable valid value interval [A,B] for each base station; The data acquisition module is used to acquire the real-time location measurement values ​​of the tag to be located and each base station; The indicator calculation module is used to calculate the range distance R of each base station, and to calculate the center distance C only for base stations where the range distance R is 0; The sorting and scheduling module is used to sort all base stations in ascending order of range distance R as the first sorting criterion, and to sort the base stations with range distance R as the second sorting criterion for a second sorting order of center distance C as the third sorting criterion for a second sorting order of center distance C. And a dynamic adjustment module, used to adaptively update the effective value range [A,B] of the base station based on the tag load rate and scene events of each base station.

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