CN110839203A

CN110839203A - Ultra-wideband-based label positioning method and device

Info

Publication number: CN110839203A
Application number: CN201911219801.6A
Authority: CN
Inventors: 丁晟
Original assignee: Ruijie Networks Co Ltd
Current assignee: Ruijie Networks Co Ltd
Priority date: 2019-12-03
Filing date: 2019-12-03
Publication date: 2020-02-25
Anticipated expiration: 2039-12-03
Also published as: CN110839203B

Abstract

The application discloses a tag positioning method and device based on ultra wide band. In the method, a label to be positioned detects whether first base station scheduling information is stored, wherein the first base station scheduling information comprises base station identifications of at least three positioning base stations and corresponding positioning time slots; if so, broadcasting a polling message so that the base station receiving the polling message uploads the polling message to a server; receiving a first response message which is sent by a corresponding positioning base station and comprises second base station scheduling information required by next positioning according to base station identifications of at least three positioning base stations; and updating the scheduling information of the first base station into the scheduling information of the second base station, and broadcasting a stop message according to the first response messages sent by the at least three positioning base stations, so that the at least three positioning base stations upload the stop message, the distance value between each positioning base station and the label thereof and the current base station information of the corresponding positioning base station to the server. The method shortens the delay of label scheduling and improves the success rate of label positioning.

Description

Ultra-wideband-based label positioning method and device

Technical Field

The application relates to the technical field of positioning, in particular to a label positioning method and device based on an ultra wide band.

Background

Ultra Wide Band (UWB) is a carrier-free communication technology, and uses nanosecond to microsecond non-sine wave narrow pulses to transmit data, and since the Ultra wide band signal itself has the characteristics of low power consumption, high security and strong multi-path resolution, UWB is used for high-precision positioning at home and abroad in recent years.

A UWB positioning system may include at least one tag, at least one base station, and a server. In current UWB location systems, a minimum of 7 stages are required to locate the tag, as shown in fig. 1:

(1) the label to be positioned broadcasts a Blink message at a fixed frequency.

(2) After receiving the Blink message, each base station sends scheduling reference information to the server, where the scheduling reference information may include a tag identifier (Identification, ID) of a tag to be located, information of a corresponding base station, and a Received Signal Strength Indication (RSSI) of the Blink message.

(3) The server sends base station scheduling information used for the current positioning configured for the label to be positioned to a selected base station, for example, an idle base station capable of communicating with the label to be positioned, a ranging init message is sent to the label to be positioned through the base station, the message carries base station calling information used for the current positioning configured for the label to be positioned by the server, the message comprises 4 base stations of the current positioning and positioning time slots of corresponding base stations, and meanwhile, label scheduling information carrying a label ID and sending a Response message is sent to the 4 base stations.

(4) After receiving the Ranging Init message, the label to be positioned sequentially sends a polling Poll message to the corresponding base station according to the positioning time slot appointed in the Ranging Init message.

(5) And the 4 base stations participating in the positioning reply the Response message.

(6) And the label to be positioned sequentially sends a Final message to the base station sending the Response message.

(7) And each base station calculates the distance between the label to be positioned and the base station according to the transmitting and receiving time of the Poll message, the Response message and the Final message. And after calculation, uploading the distance result to a server, and solving the position of the label to be positioned by the server according to the distance result and the known position of the corresponding base station.

Wherein, the process from step (1) to step (3) is called a label searching stage, the process lasts about 6 × 2ms, the process from step (4) to step (6) lasts about 0.5 × 6ms, and since each round of positioning of the label needs to be executed from step (1) to step (7), one positioning of the label needs 6 × 2+0.5 × 6ms, so that the positioning time is long; and if the Ranging Init message is lost in transmission, the label to be positioned cannot receive the scheduling information of the base station, so that label positioning failure is caused.

Disclosure of Invention

The embodiment of the application provides a method and a device for positioning a label based on an ultra-wideband, which solve the problems in the prior art, avoid the phenomenon that the label cannot receive the scheduling information of a base station, improve the efficiency of receiving the scheduling information of the base station by the label, shorten the delay of label scheduling, and improve the success rate of label positioning.

In a first aspect, an ultra-wideband-based tag positioning method is provided, and is applied to at least one tag included in an ultra-wideband positioning system, where the ultra-wideband positioning system further includes at least one base station and a server, and the method may include:

detecting whether first base station scheduling information is stored or not, wherein the first base station scheduling information comprises base station identifications and corresponding positioning time slots of at least three positioning base stations;

if the first base station scheduling information is detected to be stored, broadcasting a polling message so that the base station receiving the polling message uploads the polling message to the server, wherein the polling message comprises a label identifier of a label of the base station;

receiving a first response message sent by a corresponding positioning base station according to the base station identifiers of the at least three positioning base stations, wherein the first response message is determined by each positioning base station according to label scheduling information and the polling message stored by the server, the first response message comprises second base station scheduling information required by next positioning, and the label scheduling information comprises the label identifiers and the sequence of sending the response messages;

updating the first base station scheduling information to the second base station scheduling information;

and broadcasting a stop message according to the first response messages sent by the at least three positioning base stations, so that the at least three positioning base stations upload the stop message, a distance value between each positioning base station and a label thereof and current base station information of the corresponding positioning base station to the server, wherein the distance value is calculated by each positioning base station according to the receiving and sending time of the polling message, the response message and the stop message by adopting a preset distance algorithm.

In an optional implementation, the method further comprises:

if the first base station scheduling information is not stored, broadcasting a Blink message so that each base station receiving the Blink message uploads the Blink message and base station information of the corresponding base station to the server, wherein the Blink message comprises a label identifier of a label of the Blink message;

receiving first base station scheduling information sent by a target base station, wherein the first base station scheduling information is determined by the server according to each piece of base station information and the label identification and is sent to the target base station, and the target base station is any base station communicating with the label to be positioned;

broadcasting a polling message according to the scheduling information of the first base station;

receiving a second response message sent by a corresponding positioning base station according to base station identifiers of the at least three positioning base stations in the first base station scheduling information, wherein the second response message is determined by each positioning base station according to label scheduling information and the polling message, which are obtained by the server, and the label scheduling information is obtained by the server according to the base station information and the label identifiers;

and broadcasting a stop message according to the received second response messages of the at least three positioning base stations.

In an alternative implementation, broadcasting a polling packet includes:

acquiring positioning time slots corresponding to at least three positioning base stations included in the first base station scheduling information;

and broadcasting the polling message by the acquired positioning time slot.

In an optional implementation, broadcasting a stop packet according to the first response packet sent by the at least three positioning base stations includes:

setting the maximum overtime time according to the positioning time slot corresponding to the corresponding positioning base station in the first base station scheduling information;

and if the first response message sent by each of the at least three positioning base stations is detected to be received within the maximum timeout period, broadcasting a stop message.

In an alternative implementation, the positioning time slot in the first base station scheduling information is smaller than the positioning time slot in the second base station scheduling information; or, the positioning time slot in the first base station scheduling information is equal to the positioning time slot in the second base station scheduling information.

In a second aspect, an ultra-wideband-based tag positioning method is provided, and is applied to a positioning base station in at least one base station included in an ultra-wideband positioning system, where the ultra-wideband positioning system further includes at least one tag and a server, and the method may include:

receiving a polling message broadcasted by a label to be positioned, wherein the polling message is broadcasted after the label to be positioned detects and stores first base station scheduling information, the polling message comprises a label identification of the label to be positioned, and the first base station scheduling information comprises base station identifications of at least three positioning base stations and corresponding positioning time slots;

sending the polling message to the server to enable the server to send second base station scheduling information required by next positioning corresponding to the label identification and stored label scheduling information used by last positioning, wherein the label scheduling information comprises the label identification and a sending sequence of a response message;

receiving the second base station scheduling information and the label scheduling information sent by the server;

sending a first response message carrying the scheduling information of the second base station to the label to be positioned according to the sending sequence of the polling message and the response message in the label scheduling information, so that the label to be positioned receives the first response message sent by the at least three positioning base stations according to the scheduling information of the first base station, updates the scheduling information of the first base station into the scheduling information of the second base station, and broadcasts a stop message according to the first response message;

receiving the stop message;

calculating to obtain a distance value between the positioning base station and the label to be positioned by adopting a preset distance algorithm according to the receiving and sending time of the polling message, the first response message and the stop message;

and sending the stop message, the distance value and the current base station information to the server so that the server acquires the positioning coordinate of the label to be positioned and the base station scheduling information required by the next positioning according to the distance value and the current base station information.

In an optional implementation, the method further comprises:

receiving a Blink message broadcasted by the label to be positioned, wherein the Blink message is broadcasted after the label to be positioned detects that the first base station scheduling information is not stored, and the Blink message comprises a label identification of the label to be positioned;

sending base station information of the positioning base station and the Blink message to the server so that the server sends first base station scheduling information required by the current positioning and label scheduling information required by the current positioning corresponding to the label identification, wherein the label scheduling information is obtained by the server according to the base station information of the positioning base station and the label identification;

receiving the first base station scheduling information and the label scheduling information sent by the server;

sending the first base station scheduling information to the label to be positioned according to the label scheduling information so that the label to be positioned broadcasts a polling message according to the first base station scheduling information;

receiving the polling message;

sending a second response message to the label to be positioned according to the sending sequence of the response messages in the label scheduling information and the polling message, so that the label to be positioned broadcasts a stop message according to the received second response messages of the at least three positioning base stations;

receiving the stop message;

calculating to obtain a distance value between the positioning base station and the label to be positioned by adopting a preset distance algorithm according to the receiving and sending time of the polling message, the second response message and the stop message;

and sending the stop message, the distance value and the current base station information to the server so that the server acquires the positioning coordinate of the label to be positioned and second base station scheduling information required by next positioning according to the distance value and the current base station information.

In an optional implementation, the receiving the second base station scheduling information sent by the server includes:

if the total number of the positioning time slots currently configured in the server is greater than a preset number threshold, receiving second base station scheduling information of which the positioning time slots are greater than the positioning time slots in the first base station scheduling information;

and if the total number of the currently configured positioning time slots in the server is not greater than a preset number threshold, receiving second base station scheduling information of which the positioning time slots are equal to the positioning time slots in the first base station scheduling information.

In a third aspect, an ultra-wideband-based tag positioning apparatus is provided, where the ultra-wideband positioning apparatus is applied to at least one tag included in an ultra-wideband positioning system, where the ultra-wideband positioning system further includes at least one base station and a server, and the apparatus may include: the device comprises a detection unit, a broadcasting unit, a receiving unit and an updating unit;

the detection unit is used for detecting whether first base station scheduling information is stored or not, wherein the first base station scheduling information comprises base station identifications of at least three positioning base stations and corresponding positioning time slots;

the broadcasting unit is configured to broadcast a polling message if it is detected that the first base station scheduling information is stored, so that a base station receiving the polling message uploads the polling message to the server, where the polling message includes a tag identifier of a tag of the base station;

the receiving unit is configured to receive, according to the base station identifiers of the at least three positioning base stations, a first response packet sent by a corresponding positioning base station, where the first response packet is determined by each positioning base station according to the tag scheduling information and the polling packet stored in the server, the first response packet includes second base station scheduling information required for next positioning, and the tag scheduling information includes the tag identifiers and a sequence for sending the response packets;

the updating unit is configured to update the first base station scheduling information to the second base station scheduling information;

the broadcasting unit is further configured to broadcast a stop message according to the first response message sent by the at least three positioning base stations, so that the at least three positioning base stations upload the stop message, a distance value between each positioning base station and its own tag, and current base station information of the corresponding positioning base station to the server, where the distance value is calculated by each positioning base station according to the transceiving time of the polling message, the response message, and the stop message by using a preset distance algorithm.

In an optional implementation, the detecting unit is further configured to broadcast a Blink message if it is detected that the first base station scheduling information is not stored, so that each base station that receives the Blink message uploads the Blink message and base station information of a corresponding base station to the server, where the Blink message includes a tag identifier of its own tag;

the receiving unit is further configured to receive first base station scheduling information sent by a target base station, where the first base station scheduling information is determined by the server according to each piece of base station information and the tag identifier and is sent to the target base station, and the target base station is any base station that communicates with the tag to be positioned;

the broadcasting unit is further configured to broadcast a polling message according to the first base station scheduling information;

the receiving unit is further configured to receive a second response packet sent by a corresponding positioning base station according to the base station identifiers of the at least three positioning base stations in the first base station scheduling information, where the second response packet is determined by each positioning base station according to the label scheduling information and the polling packet acquired by the server, and the label scheduling information is acquired by the server according to the base station information and the label identifiers;

the broadcasting unit is further configured to broadcast a stop message according to the received second response messages of the at least three positioning base stations.

In an optional implementation, the broadcast unit is specifically configured to acquire positioning time slots corresponding to at least three positioning base stations included in the first base station scheduling information;

and broadcasting the polling message by the acquired positioning time slot.

In an alternative implementation, the apparatus further comprises a setting unit;

the setting unit is used for setting the maximum timeout time according to the positioning time slot corresponding to the corresponding positioning base station in the first base station scheduling information;

the broadcast unit is specifically configured to broadcast a stop message if it is detected that the first response message sent by each of the at least three positioning base stations is received within the maximum timeout period.

In a fourth aspect, an ultra-wideband-based tag positioning apparatus is provided, which is applied in a positioning base station of at least one base station included in an ultra-wideband positioning system, where the ultra-wideband positioning system further includes at least one tag and a server, and the apparatus may include: a receiving unit, a transmitting unit and an arithmetic unit;

the receiving unit is configured to receive a polling message broadcasted by a tag to be positioned, where the polling message is broadcasted after the tag to be positioned detects that first base station scheduling information is stored, the polling message includes a tag identifier of the tag to be positioned, and the first base station scheduling information includes base station identifiers of at least three positioning base stations and corresponding positioning time slots;

the sending unit is configured to send the polling packet to the server, so that the server sends second base station scheduling information required for next positioning and stored label scheduling information used for last positioning, where the second base station scheduling information corresponds to the label identifier, and the label scheduling information includes the label identifier and a sending sequence of a response packet;

the receiving unit is further configured to receive the second base station scheduling information and the tag scheduling information sent by the server;

the sending unit is further configured to send a first response message carrying the scheduling information of the second base station to the to-be-positioned tag according to the sending sequence of the response messages in the polling message and the tag scheduling information, so that the to-be-positioned tag receives the first response message sent by the at least three positioning base stations according to the scheduling information of the first base station, updates the scheduling information of the first base station into the scheduling information of the second base station, and broadcasts a stop message according to the first response message;

the receiving unit is further configured to receive the stop packet;

the operation unit is used for calculating a distance value between the positioning base station and the label to be positioned by adopting a preset distance algorithm according to the receiving and sending time of the polling message, the first response message and the stop message;

the sending unit is configured to send the stop packet, the distance value, and the current base station information to the server, so that the server obtains the positioning coordinate of the tag to be positioned and the base station scheduling information required for next positioning according to the distance value and the current base station information.

In an optional implementation, the receiving unit is further configured to receive a Blink message broadcasted by the tag to be positioned, where the Blink message is broadcasted after the tag to be positioned detects that the first base station scheduling information is not stored, and the Blink message includes a tag identifier of the tag to be positioned;

the sending unit is further configured to send base station information of the positioning base station and the Blink packet to the server, so that the server sends first base station scheduling information required for the current positioning and label scheduling information required for the current positioning, which correspond to the label identifier, where the label scheduling information is obtained by the server according to the base station information of the positioning base station and the label identifier;

the receiving unit is further configured to receive the first base station scheduling information and the tag scheduling information sent by the server;

the sending unit is further configured to send the first base station scheduling information to the tag to be positioned according to the tag scheduling information, so that the tag to be positioned broadcasts a polling message according to the first base station scheduling information;

the receiving unit is further configured to receive the polling packet;

the sending unit is further configured to send a second response message to the to-be-positioned label according to the sending sequence of the response messages in the label scheduling information and the polling message, so that the to-be-positioned label broadcasts a stop message according to the received second response messages of the at least three positioning base stations;

the receiving unit is further configured to receive the stop packet;

the operation unit is used for calculating a distance value between the positioning base station and the label to be positioned by adopting a preset distance algorithm according to the receiving and sending time of the polling message, the second response message and the stop message;

the sending unit is further configured to send the stop packet, the distance value, and the current base station information to the server, so that the server obtains the positioning coordinate of the tag to be positioned and second base station scheduling information required for next positioning according to the distance value and the current base station information.

In an optional implementation, the receiving unit is specifically configured to receive second base station scheduling information, where a positioning time slot is greater than a positioning time slot in the first base station scheduling information, if a total number of currently configured positioning time slots in the server is greater than a preset number threshold;

In a fifth aspect, an electronic device is provided, which includes a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory complete communication with each other via the communication bus;

a memory for storing a computer program;

a processor for carrying out the method steps of any of the above first aspects or the method steps of any of the above second aspects when executing a program stored in a memory.

A sixth aspect provides a computer readable storage medium having stored therein a computer program which, when executed by a processor, performs the method steps of any one of the above first aspects or the method steps of any one of the above second aspects.

In the ultra-wideband-based tag positioning method provided by the embodiment of the invention, a tag to be positioned detects whether first base station scheduling information is stored, wherein the first base station scheduling information comprises base station identifiers of at least three positioning base stations and corresponding positioning time slots; if so, broadcasting a polling message so that the base station receiving the polling message uploads the polling message to a server, wherein the polling message comprises a label identifier of a label of the base station; receiving a first response message which is sent by corresponding positioning base stations and comprises second base station scheduling information required by next positioning according to base station identifiers of at least three positioning base stations, wherein the first response message is determined by each positioning base station according to label scheduling information and polling messages stored by a server, and the label scheduling information comprises label identifiers and a sequence for sending response messages; updating the first base station scheduling information into second base station scheduling information, and broadcasting a stop message according to first response messages sent by at least three positioning base stations, so that the at least three positioning base stations upload the stop message, a distance value between each positioning base station and a label of the positioning base station and current base station information of the corresponding positioning base station to a server, wherein the distance value is calculated by each positioning base station according to the receiving and sending time of a polling message, a response message and the stop message by adopting a preset distance algorithm. Compared with the prior art, the method reduces the time spent on one positioning after the label exploration stage is removed, and the base station scheduling information required by the next positioning is placed in the Response message replied by each positioning base station, so that the loss of the base station scheduling information is avoided, the efficiency of receiving the base station scheduling information by the label is improved, the delay of label scheduling is shortened, and the success rate of label positioning is improved.

Drawings

Fig. 1 is a schematic flow chart of a method for positioning a tag based on ultra-wideband;

FIG. 2 is a schematic diagram of an ultra-wideband tag locating system;

fig. 3 is a schematic flowchart of an ultra-wideband-based tag positioning method according to an embodiment of the present invention;

fig. 4 is a schematic flow chart of an ultra-wideband-based primary tag positioning method based on fig. 3;

fig. 5 is a schematic structural diagram of an ultra-wideband-based tag positioning device according to an embodiment of the present invention;

FIG. 6 is a schematic structural diagram of another ultra-wideband-based tag locating device according to an embodiment of the present invention;

fig. 7 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present application without any creative effort belong to the protection scope of the present application.

An ultra-wideband UWB positioning system may comprise a tag, a base station, a server, as shown in fig. 2.

The tag is an ultra-wideband positioning system in which the device being positioned may be mobile. The label can be a worker brand, a wrist strap bracelet, equipment fixed on a safety helmet and the like. The tag may transmit a radio frequency signal, i.e., a UWB ultra wide band signal. The tag may include a power module, a motion sensor, a Micro Controller Unit (MCU) module, a UWB radio frequency module, and the like.

When the tag is in a non-transmitting and non-receiving working state, the tag is generally in a low-power consumption sleep state. The larger the time duty ratio in the low-power sleep state is, the lower the average power consumption of the tag is, and the stronger the cruising ability is. The shorter the time taken to locate the tag each time, the higher the utilization of the resources and thus more time in a low power state while the system capacity is greater.

The capacity of the system refers to the total amount of refresh frequencies of all tags that can be carried by the minimum area of the selected positioning base station.

For example, 20ms is needed for tag positioning once, and then 1 s-1000 ms is divided into n positioning time slots of 20ms, i.e., n-1000/20-50. So 1s can be divided into 50 positioning time slots of 20ms (where the server specifies that each time slot can implement scheduling for one base station), then the total number of times of positioning the tags that can be implemented by 1s in the minimum area of the selected positioning base station is 50Hz, the total amount of refresh frequency is 50, and if the refresh frequency of the tags is 1Hz/s, then the 50 tags can be positioned; if the tag refresh frequency is 2Hz/s, 25 tags can be located, and so on.

A base station is a fixed device in an ultra-wideband positioning system. The base station is mainly used for realizing ranging with the tag, and uploading information such as the tag identification of the tag to be positioned, the distance value between the base station and the tag to be positioned, the Received Signal Strength Indication (RSSI) and the like to the server. The base station may include a power module, an MCU module, an 100/1000M ethernet module, a Wi-Fi module, and the like.

The server is a processing device in an ultra-wideband positioning system. The method is used for collecting all label information and base station information uploaded by all base stations, then obtaining the positioning coordinates of the label to be positioned by utilizing the known coordinates to be positioned of all the base stations and distance data of distance measurement between each base station and the label to be positioned through a preset triangulation positioning algorithm and a preset least square algorithm, and displaying the positioning coordinates on a server interface.

The UWB-based tag positioning method provided by the embodiment of the present invention includes an initial positioning stage and a continuous positioning stage, wherein the initial positioning stage performs initial positioning, that is, first positioning, and the continuous positioning stage performs non-initial positioning, that is, subsequent positioning except for the first positioning.

The preferred embodiments of the present application will be described below with reference to the accompanying drawings of the specification, it being understood that the preferred embodiments described herein are merely for illustrating and explaining the present invention and are not intended to limit the present invention, and that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.

Fig. 3 is a schematic flowchart of an ultra-wideband-based tag positioning method according to an embodiment of the present invention, and as shown in fig. 3, the method may include:

step 301, when the label to be positioned detects that the first base station scheduling information is stored, broadcasting a Poll message.

And the label to be positioned detects whether first base station scheduling information is stored, wherein the first base station scheduling information comprises base station identifications of at least three positioning base stations and corresponding positioning time slots.

If the label to be positioned detects that the first base station scheduling information is stored, the label to be positioned indicates that the label to be positioned is non-primary positioning, namely subsequent positioning except the primary positioning, a continuous positioning stage is entered, and at the moment, the label to be positioned broadcasts a Poll message according to positioning time slots corresponding to at least three positioning base stations in the first base station scheduling information. The Poll message may include a tag identifier of a tag to be located. If the positioning is the second positioning of the label to be positioned, the label to be positioned stores the base station scheduling information used in the primary positioning.

Specifically, the label to be positioned determines the maximum value of the positioning time slots for calling at least three positioning base stations in the last positioning according to the positioning time slots corresponding to at least three positioning base stations in the stored scheduling information of the first base station;

if the current time is larger than the maximum value, determining the current time as the broadcast time of the broadcast Poll message, and broadcasting the Poll message.

The positioning time slot corresponding to the positioning base station refers to a time period for calling the corresponding base station by the tag to be positioned.

Optionally, in addition to the foregoing manner, the scheduling information of the first base station may also be set to include a preset period for each time of label positioning, and if the preset period is reached, the Poll message is broadcast, or other manners for triggering the label to be positioned to broadcast the Poll message are set.

If the tag to be positioned detects that the first base station scheduling information is not stored, indicating that the tag to be positioned is primarily positioned, entering an initial positioning stage to acquire the first base station scheduling information issued by the server, that is, the base station scheduling information required by the current positioning, as shown in fig. 4, the primary positioning method may include:

step 401, broadcasting a Blink message by a label to be positioned.

After the label to be positioned is awakened from the dormant state, a Blink message is broadcast, and the Blink message may include a label identifier of the label to be positioned.

And step 402, the base station sends the information of the base station and the label identification of the label to be positioned to the server according to the received Blink message.

Each base station in the positioning system can receive the Blink message, and each base station receiving the Blink message sends the information of the base station and the label identification of the label to be positioned to the server.

The base station information may include, but is not limited to, a base station identifier, signal strength indication information of a received Blink message, and a current state of the base station, such as an operating state, an idle state, and the like.

Step 403, the server obtains the first base station scheduling information and the label scheduling information required for the current positioning according to the base station information and the label identifier of each base station.

The first base station scheduling information may include base station identifiers of at least three positioning base stations and corresponding positioning time slots, where the positioning time slot corresponding to the corresponding positioning base station is a time period for the tag to be positioned to invoke the corresponding base station.

The label scheduling information may include information such as a label identifier of a label to be located and a sending sequence of a Response message.

Step 404, the server sends the first base station scheduling information and the label scheduling information required by the current positioning to the target base station.

The target base station may be any base station that can communicate with the tag to be positioned, for example, the target base station may be any base station of at least three positioning base stations corresponding to the first base station scheduling information.

The server may send the first base station scheduling information to the target base station, and send the tag scheduling information to at least three positioning base stations corresponding to the first base station scheduling information.

Step 405, the target base station sends first base station scheduling information to the label to be positioned.

And step 406, broadcasting a Poll message by the label to be positioned according to the scheduling information of the first base station.

And after acquiring the base station identifications and the corresponding positioning time slots of at least three positioning base stations in the scheduling information of the first base station, the label to be positioned broadcasts a Poll message. The Poll message may include the tag identification of the tag to be located.

Step 407, the positioning base station sends a second Response message to the label to be positioned according to the sending sequence of the Response message in the label scheduling information and the received Poll message.

Specifically, each of the at least three positioning base stations monitors whether a second Response message is sent by a positioning base station adjacent to the positioning base station in front of the positioning base station in a preset time period (for example, within 0.5 ms) according to the received Poll message and the sending sequence of the Response message in the label scheduling information;

and if the second Response message is sent within the preset time period, the second Response message is sent to the label to be positioned. And if the second Response message is not sent within the preset time period, sending the second Response message to the label to be positioned after the preset time period.

For example, the sequence of sending Response messages in the label scheduling information is base station 1, base station 2, base station 3, and base station 4.

When the base station 1 receives the Poll message, it immediately replies a second Response message, and the base station 2 detects that the base station 1 sends the second Response message, and then immediately replies the second Response message, so that the base station 3 and the base station 4 do not listen to the previous base station to send the second Response message within the timeout period of 0.5ms, and then reply to send the second Response message after 0.5 ms.

And step 408, broadcasting a Final message by the label to be positioned according to the received second Response messages of the at least three positioning base stations.

Optionally, the tag to be positioned may set the maximum timeout time of the positioning according to the positioning time slot corresponding to the corresponding positioning base station in the first base station scheduling information;

if the second Response message sent by each of the at least three positioning base stations is received within the maximum timeout period, the Final message is broadcasted, and then step 409 is executed.

And if the maximum timeout time is detected, receiving a second Response message sent by a part of the at least three positioning base stations, and determining that the positioning fails at the current time.

And further, the label to be positioned continues to position next time according to the scheduling information of the first base station.

And 409, calculating the distance value between the positioning base station and the label to be positioned by adopting a preset distance algorithm according to the transmitting and receiving time of the Poll message, the second Response message and the Final message.

Step 410, the positioning base station sends the Final message, the distance value and the current base station information to the server.

Step 411, the server obtains the positioning coordinate of the tag to be positioned and the second base station scheduling information required for the next positioning according to the distance value and the current base station information.

And the server calculates the distance value according to a preset triangular positioning algorithm and a preset least square algorithm to obtain a positioning coordinate of the label to be positioned, and acquires second base station scheduling information required by next positioning according to the current base station information.

Step 302, the base station sends a Poll message to the server.

After receiving the label identification of the label to be positioned sent by each base station, the server acquires the second base station scheduling information required by next positioning corresponding to the label identification and the stored label scheduling information used by last positioning.

The second base station scheduling information comprises base station identifications of at least three positioning base stations and corresponding positioning time slots. The label scheduling information may include a label identifier of the label to be located and a transmission sequence of the Response message.

Step 303, the server sends the second base station scheduling information and the label scheduling information to the positioning base station.

And step 304, the positioning base station sends a first Response message to the label to be positioned according to the sending sequence of the Poll message and the Response message in the label scheduling information.

The Response message includes scheduling information of the second base station.

The process is similar to the implementation process of step 408, and the positioning base station sends the first Response message to the tag to be positioned in the process, so that the tag to be positioned can acquire the scheduling information of the second base station.

And the label to be positioned receives a first Response message sent by the corresponding positioning base station according to the base station identifications of at least three positioning base stations in the stored first base station scheduling information.

And 305, updating the scheduling information of the first base station into the scheduling information of the second base station by the label to be positioned.

And the label to be positioned updates the stored first base station scheduling information into second base station scheduling information required by next positioning so as to be used for next positioning.

And step 306, broadcasting a Final message by the label to be positioned according to the first Response messages sent by the at least three positioning base stations.

The implementation process of this step is similar to step 409, and the specific process of the embodiment of the present invention is not described herein again.

And 307, the positioning base station calculates the distance value between the positioning base station and the label to be positioned by adopting a preset distance algorithm according to the transmitting and receiving time of the Poll message, the first Response message and the Final message.

And after receiving the Final message broadcasted by the label to be positioned, the positioning base station calculates the distance value between the positioning base station and the label to be positioned according to the receiving and sending time of the Poll message, the Response message and the Final message.

Step 308, the positioning base station sends the Final message, the distance value and the current base station information to the server.

Step 309, the server obtains the positioning coordinates of the tag to be positioned and base station scheduling information required for next positioning according to the distance value and the current base station information.

And the server calculates the distance value according to a preset triangular positioning algorithm and a preset least square algorithm to obtain the positioning coordinate of the label to be positioned, and acquires base station scheduling information required by next positioning according to the current base station information.

Therefore, after the exploration stage of removing the label, compared with the prior art, the positioning process except the primary positioning process of the embodiment of the invention reduces the number of the messages transmitted between the label to be positioned and the base station, the types of the messages and the positioning time. For example, if there are 4 positioning base stations, the transmission time of the Poll packet is 5ms, and the transmission of each packet is 0.5ms, in the first positioning process, i.e., in steps 201 to 220, only 6 packets are transmitted between the tag to be positioned and the base station, which takes 5+0.5 × 6 to 8ms of positioning time, and 7ms omitted is a stage of searching the tag compared with 15ms of the conventional positioning scheme.

Secondly, the scheduling information of the second base station is placed in a Response message of each positioning base station, and the Response message is replied to the label to be positioned, so that the loss of the scheduling information of the base station is avoided, and the success rate of receiving the scheduling information of the base station by the label is improved.

For example, the probability of successful reception of each message is the same, and is n (0 < n < 1), and for the conventional positioning scheme, the probability of successful reception of the scheduling information of the base station is P1 ═ n, and for the positioning scheme of the embodiment of the present invention, if the Response messages of two positioning base stations carry the scheduling information of the second base station, the probability of successful reception of the scheduling information of the second base station is P2 ═ C₂ ¹n(1-n)+n²＝2n-n²(ii) a Since P2/P1 is 2-n, already 0 is known<n<1, therefore 1<P2/P1<2. Therefore, the success rate of the two positioning base stations is 1-2 times that of the 1 positioning base station, and after the number of the two positioning base stations is increased to 3 or 4 positioning base stations, the receiving success rate is gradually increased.

In addition, in the conventional positioning scheme, if the current tag to be positioned only receives one second Response message, the positioning fails, and the positioning process is exited. However, in the positioning scheme of the embodiment of the present invention, the current tag to be positioned receives a second Response message, and even if the current positioning fails, the positioning process cannot be exited.

Further, in the conventional positioning scheme, after 1s is divided into N positioning time slots of 10ms, if the currently configured positioning time slot of the server at this time is full of the N positioning time slots set by the server, the server cannot process the Blink message when the server receives a new label to be positioned and sends the Blink message. Therefore, in order to realize stable positioning of each label to be positioned in the case of exceeding the system capacity, the server can dynamically adjust the refresh frequency of the labels in the capacity exceeding area covered by the positioning base station, for example, the total number of the labels to be positioned is increased in the capacity exceeding area 1s, that is, the refresh capacity of the total labels to be positioned is increased in the capacity exceeding area 1 s.

When the server detects that the total number of the currently configured positioning time slots is larger than a preset number threshold, the server determines that the system capacity exceeds the standard, prolongs the positioning time slots in the stored first base station scheduling information to generate second base station scheduling information, and at the moment, the positioning time slots in the second base station scheduling information required by next positioning are larger than the positioning time slots in the stored first base station scheduling information;

when the server detects that the total number of the currently configured positioning time slots is not greater than a preset number threshold, the server determines that the system capacity does not exceed the standard, the positioning time slots in the stored first base station scheduling information are not changed, and the positioning time slots in the second base station scheduling information required by next positioning are equal to the positioning time slots in the stored first base station scheduling information.

It can be understood that when the server detects that the total number of currently configured positioning time slots is reduced below the preset number threshold, the server restores the extended positioning time slots to the original positioning time slots.

In one example, if the server determines that the set N positioning timeslots are already occupied by N-3 positioning timeslots, in order to prevent the tag increase, for example, a dormant tag is awakened to be used, or a tag in a next partition area occupies a resource of a certain base station in the local area. At this time, the server may extend the duration of the positioning timeslot in the first base station scheduling information for storage from T1 to T2, for example, from 1s to 1.5s, the total refresh capacity is expanded to 1500/8-187 Hz, and 1000/8-125 Hz when the total refresh capacity is greater than 1 s. This ensures that each tag is uniformly and stably positioned even when capacity is exceeded, except that the tag cycle is no longer T1, but is extended to T2. When the server detects that the total number of the currently configured positioning time slots is reduced below the preset number threshold, the server restores the duration of the positioning time slots from T2 to T1.

Corresponding to the foregoing method, an embodiment of the present invention further provides an ultra-wideband-based tag positioning apparatus, which is applied to at least one tag included in an ultra-wideband positioning system, where the ultra-wideband positioning system further includes at least one base station and a server, and as shown in fig. 5, the apparatus includes: a detection unit 510, a broadcast unit 520, a reception unit 530, and an update unit 540;

a detecting unit 510, configured to detect whether to store first base station scheduling information, where the first base station scheduling information includes base station identifiers of at least three positioning base stations and corresponding positioning time slots;

a broadcasting unit 520, configured to broadcast a polling packet if it is detected that the first base station scheduling information is stored, so that a base station that receives the polling packet uploads the polling packet to the server, where the polling packet includes a tag identifier of a tag of the base station;

a receiving unit 530, configured to receive, according to the base station identifiers of the at least three positioning base stations, a first response packet sent by a corresponding positioning base station, where the first response packet is determined by each positioning base station according to the tag scheduling information and the polling packet stored in the server, where the first response packet includes second base station scheduling information required for next positioning, and the tag scheduling information includes the tag identifiers and a sequence for sending the response packets;

an updating unit 540, configured to update the first base station scheduling information to the second base station scheduling information;

the broadcasting unit 520 is further configured to broadcast a stop message according to the first response message sent by the at least three positioning base stations, so that the at least three positioning base stations upload the stop message, a distance value between each positioning base station and its own tag, and current base station information of the corresponding positioning base station to the server, where the distance value is calculated by each positioning base station according to the transceiving time of the polling message, the response message, and the stop message by using a preset distance algorithm.

In an optional implementation, the detecting unit 510 is further configured to broadcast a Blink message if it is detected that the first base station scheduling information is not stored, so that each base station that receives the Blink message uploads the Blink message and base station information of a corresponding base station to the server, where the Blink message includes a tag identifier of its own tag;

a receiving unit 530, configured to receive first base station scheduling information sent by a target base station, where the first base station scheduling information is determined by the server according to each piece of base station information and the tag identifier and is sent to the target base station, and the target base station is any base station that communicates with the tag to be positioned;

a broadcasting unit 520, configured to broadcast a polling packet according to the first base station scheduling information;

a receiving unit 530, further configured to receive, according to the base station identifiers of the at least three positioning base stations in the first base station scheduling information, a second response packet sent by a corresponding positioning base station, where the second response packet is determined by each positioning base station according to the label scheduling information and the polling packet acquired by the server, and the label scheduling information is acquired by the server according to the base station information and the label identifiers;

the broadcasting unit 520 is further configured to broadcast a stop message according to the received second response messages of the at least three positioning base stations.

In an optional implementation, the broadcasting unit 520 is specifically configured to acquire positioning time slots corresponding to at least three positioning base stations included in the first base station scheduling information;

and broadcasting the polling message by the acquired positioning time slot.

In an alternative implementation, the apparatus further comprises a setting unit 550;

a setting unit 550, configured to set a maximum timeout time according to a positioning time slot corresponding to a corresponding positioning base station in the first base station scheduling information;

the broadcasting unit 520 is specifically configured to broadcast a stop message if it is detected that the first response message sent by each of the at least three positioning base stations is received within the maximum timeout period.

The functions of the functional units of the ultra-wideband-based tag positioning device provided by the above embodiment of the present invention can be realized through the above method steps, and therefore, detailed working processes and beneficial effects of the units of the ultra-wideband-based tag positioning device provided by the embodiment of the present invention are not repeated herein.

Corresponding to the foregoing method, an embodiment of the present invention further provides an ultra-wideband-based tag positioning apparatus, which is applied to a positioning base station in at least one base station included in an ultra-wideband positioning system, as shown in fig. 6, the apparatus includes: a receiving unit 610, a transmitting unit 620, and an arithmetic unit 630;

a receiving unit 610, configured to receive a polling message broadcasted by a tag to be positioned, where the polling message is broadcasted after the tag to be positioned detects that a first base station scheduling information is stored, the polling message includes a tag identifier of the tag to be positioned, and the first base station scheduling information includes base station identifiers of at least three positioning base stations and corresponding positioning time slots;

a sending unit 620, configured to send the polling packet to the server, so that the server sends second base station scheduling information required for next positioning and stored label scheduling information used for last positioning, where the second base station scheduling information corresponds to the label identifier, and the label scheduling information includes the label identifier and a sending sequence of a response packet;

a receiving unit 610, further configured to receive the second base station scheduling information and the tag scheduling information sent by the server;

a sending unit 620, configured to send a first response packet carrying the scheduling information of the second base station to the to-be-positioned tag according to the sending sequence of the response packets in the polling packet and the tag scheduling information, so that the to-be-positioned tag receives the first response packet sent by the at least three positioning base stations according to the scheduling information of the first base station, updates the scheduling information of the first base station to the scheduling information of the second base station, and broadcasts a stop packet according to the first response packet;

a receiving unit 610, further configured to receive the stop packet;

the operation unit 630 is configured to calculate, according to the transceiving time of the polling packet, the first response packet, and the stop packet, a distance value between the positioning base station and the to-be-positioned tag by using a preset distance algorithm;

a sending unit 620, configured to send the stop packet, the distance value, and the current base station information to the server, so that the server obtains the positioning coordinate of the tag to be positioned and the base station scheduling information required for next positioning according to the distance value and the current base station information.

In an optional implementation, the receiving unit 610 is further configured to receive a Blink message broadcasted by the tag to be positioned, where the Blink message is broadcasted after the tag to be positioned detects that the first base station scheduling information is not stored, and the Blink message includes a tag identifier of the tag to be positioned;

a sending unit 620, further configured to send base station information of the positioning base station and the Blink packet to the server, so that the server sends first base station scheduling information required for the current positioning and label scheduling information required for the current positioning, which correspond to the label identifier, where the label scheduling information is obtained by the server according to the base station information of the positioning base station and the label identifier;

a receiving unit 610, further configured to receive the first base station scheduling information and the tag scheduling information sent by the server;

a sending unit 620, configured to send the first base station scheduling information to the tag to be positioned according to the tag scheduling information, so that the tag to be positioned broadcasts a polling packet according to the first base station scheduling information;

a receiving unit 610, further configured to receive the polling packet;

a sending unit 620, configured to send a second response message to the to-be-positioned label according to the sending order of the response messages in the label scheduling information and the polling message, so that the to-be-positioned label broadcasts a stop message according to the received second response messages of the at least three positioning base stations;

a receiving unit 610, further configured to receive the stop packet;

a computing unit 630, configured to calculate, according to the transceiving time of the polling packet, the second response packet, and the stop packet, a distance value between the positioning base station and the to-be-positioned tag by using a preset distance algorithm;

the sending unit 620 is further configured to send the stop packet, the distance value, and the current base station information to the server, so that the server obtains the positioning coordinate of the tag to be positioned and second base station scheduling information required for next positioning according to the distance value and the current base station information.

In an optional implementation, the receiving unit 610 is specifically configured to receive, if the total number of currently configured positioning time slots in the server is greater than a preset number threshold, second base station scheduling information whose positioning time slot is greater than a positioning time slot in the first base station scheduling information;

An embodiment of the present invention further provides an electronic device, as shown in fig. 7, including a processor 710, a communication interface 720, a memory 730, and a communication bus 740, where the processor 710, the communication interface 720, and the memory 730 complete mutual communication through the communication bus 740.

A memory 730 for storing a computer program;

the processor 710, when executing the program stored in the memory 730, implements the following steps:

In an optional implementation, the method further comprises:

In an alternative implementation, broadcasting a polling packet includes:

and broadcasting the polling message by the acquired positioning time slot.

Alternatively, the following steps are implemented:

receiving the stop message;

In an optional implementation, the method further comprises:

receiving the polling message;

receiving the stop message;

The aforementioned communication bus may be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The communication bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown, but this does not mean that there is only one bus or one type of bus.

The communication interface is used for communication between the electronic equipment and other equipment.

The Memory may include a Random Access Memory (RAM) or a Non-Volatile Memory (NVM), such as at least one disk Memory. Optionally, the memory may also be at least one memory device located remotely from the processor.

The Processor may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component.

Since the implementation and the beneficial effects of the problem solving of each device of the electronic device in the above embodiment can be realized by referring to each step in the embodiment shown in fig. 3, detailed working processes and beneficial effects of the electronic device provided by the embodiment of the present invention are not described herein again.

In yet another embodiment of the present invention, there is also provided a computer-readable storage medium having stored therein instructions, which when run on a computer, cause the computer to execute the ultra-wideband-based tag positioning method according to any one of the above embodiments.

In yet another embodiment, a computer program product containing instructions is provided, which when run on a computer causes the computer to perform the method for ultra-wideband based tag location as described in any of the above embodiments.

As will be appreciated by one of skill in the art, the embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, embodiments of the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

Embodiments of the present application are described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

While preferred embodiments of the present application have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including the preferred embodiment and all changes and modifications that fall within the true scope of the embodiments of the present application.

It is apparent that those skilled in the art can make various changes and modifications to the embodiments of the present application without departing from the spirit and scope of the embodiments of the present application. Thus, if such modifications and variations of the embodiments of the present application fall within the scope of the claims of the embodiments of the present application and their equivalents, the embodiments of the present application are also intended to include such modifications and variations.

Claims

1. An ultra-wideband-based tag positioning method is applied to at least one tag included in an ultra-wideband positioning system, the ultra-wideband positioning system further comprises at least one base station and a server, and the method is characterized by comprising the following steps:

2. The method of claim 1, wherein the method further comprises:

3. The method of claim 1, wherein broadcasting a polling message comprises:

and broadcasting the polling message by the acquired positioning time slot.

4. The method of claim 1, wherein broadcasting a stop message based on the first response messages sent by the at least three positioning base stations comprises:

5. The method of any of claims 1-4, wherein a positioning time slot in the first base station scheduling information is smaller than a positioning time slot in the second base station scheduling information; or, the positioning time slot in the first base station scheduling information is equal to the positioning time slot in the second base station scheduling information.

6. An ultra-wideband-based tag positioning method is applied to a positioning base station in at least one base station included in an ultra-wideband positioning system, the ultra-wideband positioning system further comprises at least one tag and a server, and the method comprises the following steps:

receiving the stop message;

7. The method of claim 6, wherein the method further comprises:

receiving the polling message;

receiving the stop message;

8. The method of any of claims 6-7, wherein receiving the second base station scheduling information sent by the server comprises:

9. An ultra-wideband-based tag positioning device applied to at least one tag included in an ultra-wideband positioning system, wherein the ultra-wideband positioning system further includes at least one base station and a server, the device comprising: the device comprises a detection unit, a broadcasting unit, a receiving unit and an updating unit;

10. The apparatus of claim 9,

the detecting unit is further configured to broadcast a Blink message if it is detected that the first base station scheduling information is not stored, so that each base station receiving the Blink message uploads the Blink message and base station information of a corresponding base station to the server, where the Blink message includes a tag identifier of a tag of the base station;

11. The apparatus of claim 9,

the broadcast unit is specifically configured to acquire positioning time slots corresponding to at least three positioning base stations included in the first base station scheduling information;

and broadcasting the polling message by the acquired positioning time slot.

12. The apparatus of claim 9, further comprising a setup unit;

13. The apparatus of any of claims 9-12, wherein a positioning time slot in the first base station scheduling information is smaller than a positioning time slot in the second base station scheduling information; or, the positioning time slot in the first base station scheduling information is equal to the positioning time slot in the second base station scheduling information.

14. An ultra-wideband-based tag positioning device applied to a positioning base station in at least one base station included in an ultra-wideband positioning system, wherein the ultra-wideband positioning system further includes at least one tag and a server, the device comprising: a receiving unit, a transmitting unit and an arithmetic unit;

the receiving unit is further configured to receive the stop packet;

15. The apparatus of claim 14,

the receiving unit is further configured to receive a Blink message broadcast by the tag to be positioned, where the Blink message is broadcast after the tag to be positioned detects that the first base station scheduling information is not stored, and the Blink message includes a tag identifier of the tag to be positioned;

the receiving unit is further configured to receive the polling packet;

the receiving unit is further configured to receive the stop packet;

16. The apparatus of any of claims 14-15,

the receiving unit is specifically configured to receive second base station scheduling information, in which a positioning time slot is greater than a positioning time slot in the first base station scheduling information, if a total number of currently configured positioning time slots in the server is greater than a preset number threshold;

17. An electronic device, characterized in that the electronic device comprises a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory are communicated with each other through the communication bus;

a memory for storing a computer program;

a processor for carrying out the method steps of any one of claims 1 to 5 and for carrying out the method steps of any one of claims 6 to 8 when executing a program stored on a memory.

18. A computer-readable storage medium, characterized in that a computer program is stored in the computer-readable storage medium, which computer program, when being executed by a processor, carries out the method steps of any of the claims 1-5 and carries out the method steps of any of the claims 6-8.