CN112230232A - Many-to-many two-way ranging method - Google Patents
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Abstract
The invention provides a many-to-many two-way ranging method, which is applied to the condition of DS-TWR (direct sequence spread-Range-.
Description
Technical Field
The invention relates to the technical field of positioning and navigation, in particular to a many-to-many two-way distance measuring method.
Background
The TOF time-of-flight ranging method is a widely used method for measuring the distance between two devices, and can obtain an accurate distance between the devices through multiple message interactions between the two devices. The flight time ranging method has various different implementation modes, the required message interaction times are different, and the number of the message interaction times required by one-time ranging of the two devices is recorded as N0In general, N0Is 2 to 4. However, when two devices in the group with M and N numbers are required to perform ranging, the number of messages to be interacted is N0Xmxn, which greatly increases the overhead of the network, resulting in insufficient concurrent ranging capacity of the system.
Therefore, in order to solve the above problems, a new protocol mechanism for reducing overhead of two ranging messages of devices in a group needs to be designed.
Disclosure of Invention
In order to solve the problem that when two devices in two marshalling groups with the numbers of M and N need to be subjected to ranging pairwise, a one-to-many mechanism needs a large message volume, the network overhead is greatly increased, and the system concurrent ranging capacity is insufficient in the prior art, a multi-to-many bidirectional ranging method is provided, and a multi-to-many reporting mechanism is adopted to solve the problem.
The invention provides a many-to-many two-way ranging method, which comprises the following steps:
s1, maintaining all UWB Anchor nodes Anchor with a same low-precision synchronous clock;
s2, allocating a downlink resource Slot number to each UWB Anchor node Anchor;
s3, the same reference signal is sent by the UWB Anchor node Anchor in the same reference signal Slot of each frame;
s4, allocating a non-repeated uplink resource Slot number for each UWB Tag node Tag;
s5, starting up a UWB Tag node Tag and monitoring a reference signal;
s6, if the reference signal is received in the first time T1, acquiring the current system frame number N, recording the local receiving time T of the reference signal, and operating the step S7; if not, repeating step S6 after sleeping for a second time T2;
s7, calculating local time for starting ranging by the UWB Tag node Tag, periodically ranging by the UWB Tag node Tag, and obtaining the distance between the UWB Tag node Tag and the UWB Anchor node Anchor according to the result obtained by the measurement by the UWB Anchor node Anchor; if the UWB Tag node Tag does not successfully measure the distance with the UWB Anchor node Anchor within the third time T3, performing step S6, otherwise, performing step S8;
and S8, completing ranging, and outputting the distance between the Tag node Tag and the UWB Anchor node Anchor.
The downlink resource slot is a downlink resource time slot, the uplink resource slot is an uplink resource time slot, and the reference signal slot is a reference signal time slot.
As a preferred mode, the specific method for allocating the Slot number of the downlink resource by the UWB Anchor node Anchor in step S2 includes:
and setting the number of Resp downlink resources in a frame structure as N, numbering downlink resource time slots by 1-N, and enabling the physical distance between the UWB anchor nodes allocated with the same time slot resource to be greater than an interference threshold.
Each base station allocates a downlink slot number in advance, the number determines which downlink resource slot the base station sends downlink Resp information, the number of Resp downlink resources in a frame structure is set as N, the range of the downlink resource slot number is 1-N, and the principle of number allocation is to make the base stations with the same number as far as possible on the spatial distance to avoid generating conflicts.
As a preferred mode, the method for allocating the uplink resource Slot number by the UWB Tag node Tag in step S4 specifically includes:
setting the ranging frequency of a Tag node Tag to be 1 time per second, wherein each second has 1/FrameDuration ranging frames, each ranging frame has M uplink resource slots, and the number range of the Tag ID of the UWB Tag node Tag is 1-M/FrameDuration;
the calculation formula is as follows:
SlotId＝TagId％M
the FarmeID is an uplink resource Frame number pre-allocated by a UWB Tag node Tag, the SlotID is an uplink resource slot number, and the FrameDuration is the Frame duration.
The numbering modes of the slot number ranges of the downlink resources and the numbering ranges of the tagids are the anchors or tags to be numbered, and the numbers are sequentially numbered according to the numbering ranges.
As a preferred mode, the specific method for calculating the local time for starting ranging in step S7 is as follows:
calculating the local time of Poll uplink resource slots used by the next ranging starting process of the Tag of the UWB Tag node, wherein the specific algorithm is as follows:
t′＝t+(TFID-N)％FrameNum*FrameDuration+ts
wherein, FrameNum is the number of frames in a ranging period, FrameDuration is the duration of the frames, and ts is the time offset of the Slot corresponding to the TSId in the frames.
As a preferred mode, the specific method for the UWB Tag node Tag to start periodic ranging in step S7 and the specific method for the UWB Anchor node Anchor to obtain the distance between the UWB Tag node Tag and the UWB Anchor node Anchor according to the result obtained by the measurement, according to the many-to-many two-way ranging method of the present invention, is as follows:
recording the number of the UWB label nodes as M, the UWB anchor nodes as N, all the UWB label nodes sequentially sending broadcast messages Poll to all the UWB anchor nodes by using different resource blocks, simultaneously recording respective sending time, and recording the sending time of the Xth label node (X is more than or equal to 1 and less than or equal to M) as T1x，T1xThe numerical value is equal to T' calculated by the Xth label in the step 4, the UWB anchor node respectively records the time of respectively receiving the Poll messages sent by all the label nodes, and the time of receiving the Poll message sent by the Xth label node by the Yth UWB anchor node (Y is more than or equal to 1 and less than or equal to N) is recorded as T2XYThe UWB anchor node respectively uses different resource blocks to send broadcast messages Resp to the UWB label node, the UWB anchor node respectively records the respective sending time of the messages Resp, and the sending time of the messages Resp of the Y-th anchor node is recorded as T3YThe UWB label node respectively receives the messages Resp sent by each anchor node and records the receiving time, and the time that the Xth UWB label node receives the Yth anchor node message Resp is recorded as T4YXThe UWB label node sends broadcast message Final to all UWB anchor nodes by using different resource blocks respectively, and the message Final sent by the Xth label node contains T1x， T4yx( y 1, 2.. N) and the transmission time T of the message Final itself5xThe UWB anchor node respectively records the time of respectively receiving the Final messages sent by all the label nodes, and the time of receiving the Final message sent by the Xth label node by the Yth UWB anchor node is recorded as T6XY
The time of flight T is calculated according to the following formulapropXY
Tround1XY＝T4YX-T1X；
Treply1XY＝T3Y-T2XY；
Tround2XY＝T6XY-T3Y；
Treply1XY＝T5X-T4YX；
The invention relates to a many-to-many two-way distance measurement method, which is a preferred mode, the content of a reference signal is the current frame number FrameId, and the relationship between the FrameID and a clock is as follows:
where Time is the system clock, FrameDuration is the duration of each Frame, and FrameNum is the number of frames in a period.
Because the reference signals sent by different base stations are the same, the reference signals received by the tags from different base stations can be equivalent to multipath signal superposition of the same reference signal, and therefore, interference on signal receiving is avoided.
The invention has the following beneficial effects:
(1) the method applies a many-to-many mechanism, and compared with the traditional one-to-many or one-to-one mode, the resource utilization efficiency is greatly improved;
(2) on the premise of finishing the same distance measurement quantity, the method reduces the quantity of the messages to be sent, and obviously reduces the resource block overhead quantity.
Drawings
FIG. 1 is a flow chart of a many-to-many two-way ranging method;
FIG. 2 is a schematic diagram of a number of a Slot of a downlink resource allocated to a UWB Anchor node Anchor by a many-to-many two-way ranging method;
fig. 3 is a schematic diagram of radio resource partitioning for a many-to-many two-way ranging method.
Detailed Description
The technical solutions in the embodiments of the present invention will be made clear below with reference to the accompanying drawings in the embodiments of the present invention.
Example 1
As shown in fig. 1, a many-to-many two-way ranging method includes the following steps:
s1, maintaining all UWB Anchor nodes Anchor with a same low-precision synchronous clock;
s2, allocating a downlink resource Slot number to each UWB Anchor node Anchor;
s3, the same reference signal is sent by the UWB Anchor node Anchor in the same reference signal Slot of each frame;
s4, allocating a non-repeated uplink resource Slot number for each UWB Tag node Tag;
s5, starting up a UWB Tag node Tag and monitoring a reference signal;
s6, if the reference signal is received in the first time T1, acquiring the current system frame number N, recording the local receiving time T of the reference signal, and operating the step S7; if not, repeating step S6 after sleeping for a second time T2;
s7, calculating local time for starting ranging by the UWB Tag node Tag, periodically ranging by the UWB Tag node Tag, and obtaining the distance between the UWB Tag node Tag and the UWB Anchor node Anchor according to the result obtained by the measurement by the UWB Anchor node Anchor; if the UWB Tag node Tag does not successfully measure the distance with the UWB Anchor node Anchor within the third time T3, performing step S6, otherwise, performing step S8;
and S8, completing ranging, and outputting the distance between the Tag node Tag and the UWB Anchor node Anchor.
As shown in fig. 2, a specific method of a reasonable allocation scheme for allocating the Slot number of the downlink resource by the UWB Anchor node Anchor in step S2 is as follows:
the number of Resp downlink resources in the frame structure is set as N, and the downlink resource slots are numbered in a range of 1-N without generating conflict. In this example, N is 6.
In order to enable all anchors to use their respective resources without collision, all anchors should have clock synchronization capability, which is different from ns-level clock synchronization required in a TDOA system, in this embodiment, the purpose of clock synchronization between anchors is to implement frame synchronization, and the frequent time of one frame is generally ms level, so that the precision of clock synchronization reaches 1e-4s level, which can be implemented by ethernet 1588 clock synchronization protocol or other wireless synchronization protocols.
The method for allocating the uplink resource Slot number by the UWB Tag node Tag in step S4 is specifically as follows:
setting the ranging frequency of a Tag node Tag to be 1 time per second, wherein each second has 1/FrameDuration ranging frames, each ranging frame has M uplink resource slots, and the number range of the Tag ID of the UWB Tag node Tag is 1-M/FrameDuration;
the calculation formula is as follows:
SlotId＝TagId％M
the FarmeID is an uplink resource Frame number pre-allocated by a UWB Tag node Tag, and the SlotID is an uplink resource slot number.
The specific method for calculating the local time for starting ranging in step S7 is as follows:
calculating the local time of Poll uplink resource slots used by the next ranging starting process of the Tag of the UWB Tag node, wherein the specific algorithm is as follows:
t′＝t+(TFID-N)％FrameNum*FrameDuration+ts
wherein, FrameNum is the number of frames in a ranging period, FrameDuration is the duration of the frames, tsThe time offset inside the Frame for the Slot corresponding to TSId.
In step S7, the specific method for the UWB Anchor node Anchor to obtain the distance between the UWB Tag node Tag and the UWB Anchor node Anchor according to the result of the measurement is as follows:
after the clock synchronization of the Tag and the Anchor is finished, a ranging process can be started, one ranging process is carried out between a plurality of Tags and a plurality of Anchor, every two ranging between three Tags and three anchors is taken as an example, the initiating device is Tag A/B/C, the responding device is Anchor A/B/C, the Tag A/B/C uses different resource blocks to sequentially send broadcast message Poll A/B/C to all anchors, and the respective sending time is recorded as T1A，T1B，T1C. The Anchor A/B/C respectively records the time of receiving the Poll A/B/C message, and the time of receiving the Poll A/B/C message by the Anchor A is T2AA/T2AB/T2ACThe time when Anchor B receives Poll A/B/C message is T2BA/T2BB/T2BCThe time when Anchor C receives Poll A/B/C message is T2CA/T2CB/T2CCThen the Anchor A/B/C respectively uses different resource blocks to send broadcast messages Resp A/B/C to the Tag A/B/C, and the Anchor A/B/C respectively records the respective sending time of the Resp A/B/C as T3A/T3B/T3CThe Tag A/B/C respectively receives the messages Resp A/B/C and records the receiving time, and the time for receiving the messages Resp A/B/C by the Tag A is T4AA/T4AB/T4ACThe time for receiving the message Resp A/B/C by the Tag B is T4BA/T4BB/T4BCThe time when the Tag C receives the message Resp A/B/C is T4CA/T4CB/T4CCThe Tag A/B/C respectively uses different resource blocks to send broadcast messages Final A/B/C to all Anchor, and the message Final A comprises T1A，T4AAnd the sending time T of the message Final A5AIn Final B, the term includes T1B，T4BAnd the sending time T of the message Final B5BThe message Final C contains T1C，T4CAnd the sending time T of the message Final C5C. The Anchor A/B/C respectively receives the Final A/B/C message and records the receiving time. When Anchor A receives Final A/B/C messageIs at interval of T6AA/T6AB/T6ACThe time when Anchor B receives Final A/B/C message is T6BA/T6BB/T6BCThe time when Anchor C receives Final A/B/C message is T6CA/T6CB/T6CC. In this case, Anchor A can be calculated to obtain a measurement T between Tag A/B/CpropAA/TpropAB/TpropACThe Anchor B can calculate the measurement result T between the Anchor B and the Tag A/B/CpropBA/TpropBB/TpropBCThe Anchor C can calculate the measurement result T between the Anchor C and the Tag A/B/CpropCA/TpropCB/TpropCC；
The time of flight T is calculated according to the following formulapropXY
Tround1XY＝T4YX-T1X；
Treply1XY＝T3X-T2XY；
Tround2XY＝T6XY-T3X；
Treply1XY＝T5Y-T4YX；
X, Y are the uplink resource Slot number and the downlink resource Slot number respectively.
The content of the reference signal is the current frame number FrameId, and the relationship between FrameId and the clock is as follows:
where Time is the system clock, FrameDuration is the duration of each Frame, and FrameNum is the number of frames in a period.
As shown in fig. 3, the radio resource is divided into several ranging frames with fixed size, where the ranging Frame is composed of four parts, the first part is a downlink reference signal resource, the second part is a Poll uplink resource group for Tag sending Poll messages, the third part is a Resp downlink resource group for Anchor sending Resp messages, and the fourth part is a Final uplink resource group for Tag sending Final messages. The number of the downlink reference signal resources is 1, the number of the resources in the Poll uplink resource group is consistent with the number of the resources in the Final uplink resource group, the number of the resources in the Resp downlink resource group is M, the number of the resources in the Resp downlink resource group is N, and M and N can be unequal. Each resource in the resource group forms a wireless resource block, Poll uplink resources and Final uplink resources at the same position are called as an uplink resource Slot in a matching mode, a ranging frame is provided with M uplink resource slots, each ranging resource Slot can be allocated to a Tag to complete ranging once, and meanwhile, a ranging frame is provided with N downlink resource slots which can be allocated to an Anchor to send downlink Resp messages. One ranging frame has 1 reference signal resource Slot, all anchors use the same reference signal resource, and the transmitted reference signals are the same signals.
Different tags and different anchors occupy different resource positions according to the number of the tags and the network resource allocation condition, thereby avoiding message sending conflict.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and equivalent substitutions or changes according to the technical solution and the inventive concept of the present invention should be covered by the scope of the present invention.
Claims (6)
1. A many-to-many two-way distance measurement method is characterized in that: the method comprises the following steps:
s1, maintaining all UWB anchor nodes to be a same low-precision synchronous clock with the synchronization error superior to 1 e-4S;
s2, allocating a downlink resource time slot number for each UWB anchor node;
s3, the UWB anchor node sends the same reference signal in the same reference signal time slot of each frame;
s4, allocating a non-repeated uplink resource time slot number for each UWB Tag node Tag;
s5, starting up the UWB tag node and monitoring a reference signal;
s6, if the UWB tag node receives the reference signal in the first time T1, acquiring the current system frame number N, recording the local receiving time T of the reference signal, and operating the step S7; if the reference signal is not received, sleeping for a second time T2 and then repeating step S6;
s7, the UWB tag node calculates the local time for starting ranging, the UWB tag node starts to periodically perform ranging, and the UWB anchor node obtains the distance between the UWB tag node and the UWB anchor node according to the measured result; if the UWB tag node does not successfully perform ranging with the UWB anchor node within a third time T3, performing a step S6, otherwise performing a step S8;
and S8, finishing ranging, and outputting the distance between the Tag node Tag and the UWB anchor node.
2. A many-to-many two-way ranging method according to claim 1, wherein: the specific method for the UWB anchor node to assign the downlink resource timeslot number in step S2 is as follows:
and setting the number of Resp downlink resources in a frame structure as N, numbering downlink resource time slots from 1 to N, and enabling the physical distance between the UWB anchor nodes allocated with the same time slot resource to be greater than an interference threshold.
3. A many-to-many two-way ranging method according to claim 1, wherein: the method for allocating the uplink resource time slot number to the UWB tag node in step S4 is specifically:
setting the ranging frequency of Tag node Tag to be 1 time per second, wherein each second has 1/FrameDuration ranging frames, each ranging frame has M uplink resource time slots, and the number range of Tag ID of UWB Tag node is 1-M/FrameDuration;
the calculation formula is as follows:
SlotId＝TagId％M
the FarmeID is an uplink resource Frame number pre-allocated to the UWB tag node, the SlotID is an uplink resource time slot number, and the FrameDuration is the duration of the Frame.
4. A many-to-many two-way ranging method according to claim 1, wherein: the specific method for calculating the local time for starting ranging in step S7 is as follows:
calculating the local time of the Poll uplink resource time slot used by the UWB tag node for starting the ranging process next time, wherein the specific algorithm is as follows:
t′＝t+(TFID-N)％FrameNum*FrameDuration+ts
wherein, FrameNum is the number of frames in a ranging period, FrameDuration is the duration of the frames, and ts is the time offset of the Slot corresponding to the TSId in the frames.
5. A many-to-many two-way ranging method according to claim 3, wherein: in the step S7, the specific method in which the UWB tag node starts to periodically perform ranging, and the UWB anchor node obtains the distance between the UWB tag node and the UWB anchor node according to the result of the measurement includes:
recording the number of UWB label nodes as M, the number of UWB anchor nodes as N, all the UWB label nodes sequentially sending broadcast messages Poll to all the UWB anchor nodes by using different resource blocks, simultaneously recording respective sending time, and recording the sending time of the Xth label node (X is more than or equal to 1 and less than or equal to M) as T1xSaid T is1xThe numerical value is equal to T' calculated by the Xth label in the step 4, the UWB anchor nodes respectively record the time of respectively receiving the Poll messages sent by all the label nodes, and the time of receiving the Poll message sent by the Xth label node by the Yth UWB anchor node (Y is more than or equal to 1 and less than or equal to N) is recorded as T2XYThe UWB anchor node sends broadcast messages Resp to the UWB label node by using different resource blocks respectivelyThe UWB anchor node respectively records the respective sending time of the message Resp, and the sending time of the message Resp of the Y-th anchor node is recorded as T3YThe UWB label node respectively receives messages Resp sent by each anchor node and records the receiving time, and the time for receiving the Y-th anchor node message Resp by the X-th UWB label node is recorded as T4YXThe UWB tag node sends broadcast messages Fina1 to all the UWB anchor nodes by using different resource blocks respectively, and the message Fina1 sent by the Xth tag node contains T1x，T4yx(y 1, 2.. N) and the transmission time T of the message Final itself5xThe UWB anchor node records the time of respectively receiving the Final messages sent by all the label nodes, and the time of receiving the Final message sent by the Xth label node by the Yth UWB anchor node is recorded as T6XY
The time of flight T is calculated according to the following formulapropXY
Tround1XY＝T4YX-T1X；
Treply1XY＝T3Y-T2XY；
Tround2XY＝T6XY-T3Y；
Treply1XY＝T5X-T4YX；
6. A many-to-many two-way ranging method according to claim 1, wherein: the content of the reference signal is the current frame number FrameId, and the relationship between FrameId and the clock is as follows:
where Time is the system clock, FrameDuration is the duration of each Frame, and FrameNum is the number of frames in a period.
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| CN112731426A (en) * | 2020-12-01 | 2021-04-30 | 华能(大连)热电有限责任公司 | Many-to-many two-way ranging method and system |
| CN115134763A (en) * | 2022-02-16 | 2022-09-30 | 浙江利尔达物联网技术有限公司 | Beacon broadcast type UWB ranging method |
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