CN113325403A - Cluster distance measurement method based on ultra-wideband technology in unmanned system cluster - Google Patents
Cluster distance measurement method based on ultra-wideband technology in unmanned system cluster Download PDFInfo
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Abstract
The invention discloses a cluster distance measurement method based on an ultra-wideband technology in an unmanned system cluster, which logically mainly comprises five parts, namely network protocol framework design, distance measurement message generation and distance measurement information updating, high-dynamic cluster self-adaption improvement, mismatching processing of distance measurement message loss and distance measurement period, and high-density cluster self-adaption improvement. The invention firstly designs a simple protocol frame, so that each side of the distance measurement only needs to send the distance measurement message periodically instead of replying the message immediately after receiving the message. Then, a message structure of a data packet of the ranging message is designed, and an updating method and a distance calculating method of the ranging message are designed according to the ranging message data packet. The ranging process is then designed to be adaptive according to speed and distance, based on the data in the updated ranging message. Finally, the method for simultaneously supporting wireless ranging and data transmission and applying the ultra-wideband technology in dense and dynamic clusters is realized.
Description
Technical Field
The invention relates to the field of research based on an ultra-wideband technology in an unmanned system cluster, in particular to an unmanned aerial vehicle and other emerging technologies, and particularly relates to a cluster ranging method based on the ultra-wideband technology in the unmanned system cluster.
Background
With the rapid development of electronics manufacturing industry, more and more aerial robots, ground robots, wearable devices and portable devices are commercially available. Robots and equipment are becoming increasingly smaller, lighter, and less expensive, and thus becoming popular. This makes it possible to combine tens to thousands of such machine devices into one cluster and make them complete complex tasks by cooperating with each other. Compared to a single fully functional large robot, a small robot and equipment cluster has a number of advantages, including better fault tolerance, more flexibility in deployment scale and number, and faster deployment speed.
Three important features of the robot and equipment cluster: large quantity, high maneuverability and short distance. First, tens to thousands of robots and devices will be deployed to cooperate, depending on the complexity of the task. Second, miniature unmanned systems, wheeled robots, walking robots, as well as wearable and portable devices that can be carried by humans, can all move rapidly as required. Moreover, because of the small size of these robots and equipment, they can cooperate in close proximity to accomplish complex tasks. In summary, the application of robots and equipment clusters in the near future should be dynamic and dense. A successful dynamic and dense clustering application requires low latency communication and real-time positioning. Without external infrastructure support, it is important to pre-form ad hoc networks and relative positioning within clusters.
Disclosure of Invention
In order to solve the problems, the invention aims to design a cluster ranging method based on the ultra-wideband technology for a dynamic and dense cluster consisting of unmanned systems and equipment, which has the advantages of simplicity, high efficiency, strong self-adaptability, robustness, expandability, compatibility and the like.
The technical scheme is as follows: in order to achieve the purpose, the invention adopts the technical scheme that: the cluster ranging method based on the ultra-wideband technology in the unmanned system cluster comprises the following steps:
step 1: a simple network protocol framework is designed so that each side of the communication periodically sends a ranging message instead of replying to a message immediately upon receipt of the message.
Step 2: aiming at the ranging message and the protocol framework in the step 1, a message structure of a ranging message data packet, a ranging message generation method and a ranging information updating method are designed.
And step 3: aiming at the ranging interval of each ranging message in the step 2, the ranging interval P is designed to be self-adaptive according to the speed and the distance, and an appropriate ranging message transmission interval is set for the high dynamic state of the fast movement.
And 4, step 4: aiming at the problem of the mismatching of the ranging message loss and the ranging period caused by using different ranging intervals in the step 3, corresponding solutions are provided for different situations.
And 5: the cluster ranging method based on the ultra-wideband technology is popularized to a large-scale high-density cluster, and further improvement is made on a message structure of ranging messages, a ranging message generation method, a ranging message updating method and a distance calculation method.
The invention further improves that: the step 1 comprises the following design:
(1) the protocol frameworks of the transceiver are designed as follows:
a) the protocol framework of the sending party:
step 1011, the sender generates a ranging message;
step 1012, the sender broadcasts the ranging message generated in step 1011;
step 1013, updating the current device ranging message;
(b) the protocol framework of the receiving party:
step 1021, the receiving side receives a ranging message, and step 1022 is executed;
step 1022, updating the ranging data of the current ranging table;
1023, calculating the transmission time delay (ToF) of the data packet between the two parties according to the updated ranging data;
(2) defining a ranging message XiIs the ith broadcast message by robot or device X, which can be expressed as:
The invention further improves that:
step 2 is to design a distance measurement message generation method, and according to the interaction of distance measurement messages of both sides of the transceiver under the protocol framework of step 1, a distance measurement message structure capable of storing the latest 7 timestamps is designed. Meanwhile, according to the designed ranging message structure, a ranging information updating method and a ToF (time delay of transmission) calculation method of data packets between the transmitting side and the receiving side are designed.
For the ranging message in step 2, the generating method comprises the following steps:
step 2011: clearing a set of receive timestamps and corresponding message identifiers;
step 2012: step 2013 is performed for each message received since the last transmission;
step 2013: combining the current receiving timestamp and the set of corresponding message identifiers until all the ranging messages are received;
step 2014: returning the generated ranging message data packet;
aiming at the ranging message in the step 2, a specific updating method is designed, and the steps are as follows;
step 2021: step 2022 if the current device is sending ranging messages, otherwise step 2023 is performed;
step 2022: updating T for each distance measuring table maintained by current equipmentfA time stamp;
step 2023: the current device receives the ranging message, and the ranging message is from the neighbor device Y, execute step 2024;
step 2024: updating T in ranging table of equipment Y maintained by current equipment Af，Rf，Re；
For the updated ranging table in step 2024, a distance calculation method between two devices is designed, which includes the following steps:
step 2031: if the ranging table maintained by the current device a with respect to the neighbor device Y is complete, execute step 2032; otherwise, returning a null value;
step 2032: calculating the propagation delay ToF of the data packet between the transmitting side and the receiving side by using the corresponding time stamp in the complete ranging table according to a formula;
step 2033: resetting the ranging table in step 2024;
step 2034: returning to step 2032 to calculate the propagation delay ToF of the data packet between the two parties.
The invention further improves that:
and 3, designing the ranging process to be self-adaptive according to the speed and the distance according to the ranging message in the step 2. According to the protocol framework and the ranging message in the step 1, the step 3 theoretically analyzes the self-adaption of the ranging interval P according to the speed and the distance under the high-speed long-ranging interval scene. The analysis leads to the conclusion that: the closer the distance, the shorter the ranging interval; meanwhile, the faster the speed, the shorter the ranging interval.
The invention further improves that:
in the step 4, according to the analysis of the problem of the distance measurement message loss and the mismatch between the distance measurement periods caused by using different distance measurement intervals, four kinds of unbalanced situations of message exchange are summarized, which are respectively:
case (1) the ranging message received by the receiver is larger than the ranging message sent by the sender;
case (2) one ranging message sent by the sender is lost;
case (3) the sender sends more ranging messages than it receives;
case (4) one ranging message transmitted by the receiving side is lost.
In the cases (1) and (2), the data packet sent by the sender in the next round lacks part of the time stamp, and the solution is to directly discard the time stamp stored by the sender and sent by the receiver in the previous round.
For case (3), the solution is to update or overwrite the transmit timestamp in the ranging table each time a message is transmitted in time.
For case (4), the solution is to discard the corresponding timestamp of the previous round. Summarizing the solution method is the following distance measuring table updating method:
step 401: if device a receives a ranging message from neighbor Y, go to step 402;
step 402: if the arrival timestamp in the ranging message sent by the device a in the previous round maintained by the device a has not been received with the ranging message of the neighbor Y, executing step 403, otherwise executing step 404;
step 403: updating and clearing the relevant time stamp;
step 404: if the ranging message sent by the equipment A is not matched with the ranging message serial number of the received equipment Y, updating the related timestamp so as to carry out the next round of ranging calculation;
and 5, improving the message structure of the ranging message, the ranging message generation method, the ranging message updating method and the distance calculation method, so that the method can be popularized and applied to large-scale high-density clusters.
The method comprises the following specific steps:
step 501: improved ranging table message structure. And (3) comparing the data table in the step (1) with three newly added parameters, namely the latest ranging interval of A and Y, the next expected transmission time of Y and the expiration time of the neighbor Y ranging message.
Step 502: redesigning the updating method of the ranging table. Updating the ranging interval P in the ranging table according to the existing calculation formula after the calculated ToF of the data packet between the two parties is updated;
step 503: when a ranging message to the neighbor Y is sent, the next expected transmission time is updated; when receiving a ranging message from neighbor Y, the expiration time is updated;
step 504: as the ranging table is refined and properly maintained, the design generates one ranging message based on the next expected transmission time and expiration time in all ranging tables. And sequencing according to the next expected transmission time of the neighbor and selecting m (the maximum number of timestamps carried by the ranging message) most urgent neighbors. The receive timestamps of the m neighbors are loaded into and sent with the ranging message. Thereafter, the m next transmission times are updated by the ranging table updating method according to their respective ranging intervals. This process is repeated when the next transmission time arrives and the next ranging message is generated.
Compared with the prior art, the invention has the following beneficial effects:
1. the present invention is the first method to apply the uwb technique in dense and dynamic clusters to support both wireless ranging and data transmission.
2. A simple and efficient cluster ranging method based on the ultra-wideband technology is designed. The type of message involved is only one and easy to implement, and the design takes advantage of the broadcast nature of the wireless ranging information and is therefore more efficient in the cluster.
3. An adaptive and robust ultra-wideband ranging protocol is designed. The protocol employs a round robin scheme to cope with situations where too much neighbor information will be carried in a single ranging message and is compatible with higher layer network protocols such as the OLSR protocol.
Drawings
FIG. 1 is a main frame of a trunking ranging protocol based on ultra wideband technology designed by the present invention;
FIG. 2 is a bilateral two-way ranging (DS-TWR) protocol ranging message communication process referenced by the present invention;
FIG. 3 is a ranging message structure designed by the present invention;
FIG. 4 is a diagram of a scenario for theoretical analysis of a high speed long range interval in accordance with the present invention;
fig. 5 is an improved ranging message structure for a large-scale cluster according to the present invention.
Detailed Description
The present invention will be further illustrated with reference to the accompanying drawings and specific embodiments, which are to be understood as merely illustrative of the invention and not as limiting the scope of the invention. It should be noted that the terms "front," "back," "left," "right," "upper" and "lower" used in the following description refer to directions in the drawings, and the terms "inner" and "outer" refer to directions toward and away from, respectively, the geometric center of a particular component.
The cluster ranging method based on the ultra-wideband technology in the unmanned system cluster comprises the following steps:
1. designing a network protocol framework:
1) According to the related parameters of the ranging message, the protocol frameworks of the transmitting party and the receiving party are as follows:
a) the protocol framework of the sending party:
step 1011. sender (TX): the program generation () generates a ranging message msg,
step 1012, the sender (TX) broadcasts the ranging message msg generated in step 101 by a program Transmit ();
step 1013, calling Update () to Update the ranging data;
b) the protocol framework of the receiving party:
step 1021, the receiving side (RX) receives a ranging message, and executes step 1022;
step 1022, calling Update () to receive the ranging message msg and Update the ranging data;
step 1023, calling computer () to calculate the transmission time delay ToF of the data packet between the two receiving and transmitting parties according to the updated ranging data;
2) defining a ranging message XiIs the ith broadcast message by robot or device X, which can be expressed as:
2. Ranging message generation and ranging information update:
step 2, firstly, a distance measurement message generation method is designed, and a distance measurement message structure capable of storing the latest 7 timestamps is designed according to the interaction of the distance measurement messages of the transmitting side and the receiving side under the protocol framework in the step 1, as shown in fig. 2. Meanwhile, according to the designed ranging message structure, a ranging information updating method and a ToF (time delay of transmission) calculation method of data packets between the transmitting side and the receiving side are designed. According to the analysis of the timestamp and the ToF calculation of the data packet between the two transmitting and receiving parties in the two-way ranging protocol, as shown in fig. 3, the ToF calculation formula of the data packet between the two transmitting and receiving parties is as follows:
ad＝Rr-Tp，bp＝Tr-Rp，bd＝Rf-Tr，ap＝Tf-Rr (1)
1) aiming at the designed message structure of the ranging message, the method for generating the ranging message is designed,
the method comprises the following steps:
step 2011 emptying the set RxM of receive timestamps and corresponding message identifiers;
step 2012. for each message Y received since last transmissioniStep 2013 is executed;
step 2013. merge the current receive timestamp and the set of corresponding message identifiers: RxM U (Y)j，RYj) Until all ranging messages are received;
step 2014, returning the generated ranging message data packet
2) Aiming at the ranging message in the step 2, a specific updating method is designed, and the steps are as follows:
step 2021. if the current device is sending a ranging message, go to step 2022, otherwise go to step 2023;
step 2022, updating the Tf timestamp for each ranging table maintained by the current device;
step 2023, the current device receives the ranging message, and the ranging message is from the neighbor device Y, execute step 2024;
step 2024, update the distance measurement table T of device Y maintained by the current device af，Rf，Re；
3) For the updated ranging table in step 2024, a distance calculation method between two devices is designed, which includes the following steps:
step 2031, if the distance measuring table maintained by the current device A and related to the neighbor device Y is complete, execute step 2032; otherwise, return to
Step 2032, according to the formula (2) in step 1, calculating the propagation delay ToF of the data packet between the two parties by using the corresponding time stamp in the complete ranging table;
step 2033. reset the ranging table in step 2024: rp←Rf，Tp←Tf，Rr←Re；
Step 2034, return to the propagation delay ToF of the data packet between the two parties calculated in step 2032;
3. high dynamic cluster adaptation improvement:
and 3, designing the ranging process to be self-adaptive according to the speed and the distance. According to the protocol framework and the ranging message in step 1, step 3 theoretically analyzes the adaptation of the ranging interval P according to the speed and the distance under the high-speed long-ranging interval scenario, as shown in fig. 4, according to the theoretical analysis process:
theoretically, the propagation delay ToF of a data packet between a transmitting party and a receiving party can be calculated by the following formula:
the reception time is divided by one transmission period into a ratio β ═ α, where α + β ═ 1.
In the actual protocol implementation process, the propagation delay ToF of the data packet between the actual transmitting and receiving parties can be calculated by the following formula:
in the protocol implementation process, the error is constrained as:
by error constraint formula and relation vP ═ tΔc, obtaining:
the distance d2 is calculated from the given velocity v as a reference for determining the range interval P. Through theoretical analysis, it can be seen from the inequality that the closer the distance, the shorter the ranging interval; meanwhile, the faster the speed, the shorter the ranging interval.
4. And (3) processing the mismatch between the ranging message loss and the ranging period:
step 4, according to the analysis of the problem of the distance measurement information loss and the distance measurement period mismatch caused by using different distance measurement intervals, four kinds of unbalanced conditions of information exchange are summarized, which are respectively: (1) the distance measurement message received by the receiver is larger than the distance measurement message sent by the sender; (2) a ranging message sent by a sender is lost; (3) the sender sends the ranging message more than the sender receives the ranging message; (4) one ranging message sent by the receiver is lost. In the cases (1) and (2), the data packet sent by the sender in the next round lacks part of the time stamp, and the solution is to directly discard the time stamp stored by the sender and sent by the receiver in the previous round. For case (3), the solution is to update or overwrite the transmit timestamp in the ranging table each time a message is transmitted in time. For case (4), the solution is to discard the corresponding timestamp of the previous round. Summarizing the solution method is the following distance measuring table updating method:
step 401, if the device A receives the ranging message msg from the neighbor Y, execute step 402;
step 402, if the device A maintains R in table (AY)fIs composed of
Step 403 is executed, otherwise step 404 is executed;
step 403, emptying relevant parameters in table (ay) of device a:
and simultaneously updating related parameters: rr←Re；
Step 404. if the sequence number of the transmitted ranging message does not match the sequence number of the received ranging message: index (T)r)≠index(Rr) Updating the relevant time stamp: rp←Rf，Tp←Tf,Rr←ReAnd clears the relevant timestamp:
5. high-density cluster self-adaptation improvement:
and 5, improving the message structure of the ranging message, the ranging message generation method, the ranging message updating method and the distance calculation method, so that the method can be popularized and applied to large-scale high-density clusters. The method comprises the following specific steps:
1) compared with the data table in the step 1, the improved message structure of the ranging table has three newly added parameters: p, tnAnd tsRepresenting the latest ranging interval for a and Y, the next expected transmission time for Y, and the expiration time for neighbor Y, respectively, as shown in fig. 5.
2) Redesigning a ranging table updating method: updating the ranging interval P in the ranging table according to a formula (2) after the calculated propagation delay ToF of the data packet between the two transmitting and receiving sides is updated according to the ranging table;
3) the next expected transmission time t when sending a ranging message to neighbor YnIs updated; upon receiving a ranging message from neighbor Y, the expiration time tsThe update will be performed. The method comprises the following concrete steps:
step 5011. if device a sends a ranging message;
step 5012, for each Y carrying the receiving time stamp in the msg, executing step 5013;
step 5013 update tnComprises the following steps: t is tn←tcurrent+P；
Step 5014. if device a receives the ranging message from neighbor Y, go to step 5015;
step 5015. update tnComprises the following steps: t is tn←tcurrent+Texpiration；
4) As the ranging tables are refined and properly maintained, the design is based on the next expected transmission time t in all ranging tablesnAnd an expiration time tsA ranging message is generated. According to their next expected transmission time tnAnd sequencing according to the time sequence, and selecting m (the most time stamps carried by the ranging message) most urgent neighbors. The reception timestamps of the m neighbors are loaded into the ranging message and transmitted. Thereafter, the m next transmission times are updated by the ranging table updating method according to their respective ranging intervals. This process is repeated when the next transmission time arrives and the next ranging message is generated. The method comprises the following concrete steps:
step 5021, for each neighbor ranging table (AY) maintained by the step A, executing the step 502;
step 5022, if the current time is greater than the expiration time tsDeleting the table (AY) of the distance measurement table;
step 5023, according to tnSorting all the tables in an ascending order;
step 5024, emptying the collection of the receiving timestamp and the corresponding message identifier: RxM;
step 5025, for the distance measurement tables of the first m neighbors Y maintained by the A, executing the step 506;
step 5026, receiving the time stamp from the neighbor Y: RxM ← RxM ≡ Y, RY);
step 5027, returning the generated ranging message;
through the steps, the cluster ranging method based on the ultra-wideband technology in the unmanned system can be obtained. Therefore, the design of the cluster ranging method based on the ultra-wideband technology in the large-scale unmanned system is completed, and a new method is provided for large-scale cluster ranging.
The technical means disclosed in the invention scheme are not limited to the technical means disclosed in the above embodiments, but also include the technical scheme formed by any combination of the above technical features.
Claims (6)
1. The cluster ranging method based on the ultra-wideband technology in the unmanned system cluster is characterized by comprising the following steps:
the method comprises the following steps:
step 1: designing a simple network protocol framework to enable each side of communication to periodically send a ranging message instead of immediately replying a message after receiving the message;
step 2: aiming at the ranging message and the protocol frame in the step 1, a message structure of a ranging message data packet, a ranging message generation method and a ranging information updating method are designed;
and step 3: aiming at the ranging interval of each ranging message in the step 2, the ranging interval P is designed to be self-adaptive according to the speed and the distance, and an appropriate ranging message transmission interval is set for the fast-moving high-dynamic unmanned system cluster.
And 4, step 4: aiming at the problem of the mismatching of the ranging message loss and the ranging period caused by using different ranging intervals in the step 3, corresponding solutions are provided for different conditions;
and 5: the cluster ranging method based on the ultra-wideband technology is popularized to a large-scale high-density cluster, and further improvement is made on a message structure of ranging messages, a ranging message generation method, a ranging message updating method and a distance calculation method.
2. The cluster ranging method based on the ultra-wideband technology in the unmanned system cluster as claimed in claim 1, wherein: the step 1 comprises the following design:
(1) the protocol frameworks of the transceiver are designed as follows:
a) the protocol framework of the sending party:
step 1011, the sender generates a ranging message;
step 1012, the transmitting side broadcasts the ranging message generated in step 1011;
step 1013, updating the current device ranging message;
b) the protocol framework of the receiving party:
step 1021, the receiving side receives a ranging message and executes step 1022;
step 1022, updating the ranging data of the current ranging table;
1023, calculating the transmission time delay (ToF) of the data packet between the two parties according to the updated ranging data;
(2) defining a ranging message XiIs the ith broadcast message by robot or device X, which can be expressed as:
3. The cluster ranging method based on the ultra-wideband technology in the unmanned system cluster as claimed in claim 1, wherein: step 2 firstly designs a distance measurement message generation method, and designs a distance measurement message structure capable of storing the latest 7 timestamps according to the interaction of distance measurement messages of the transmitting side and the receiving side under the protocol framework in step 1; meanwhile, according to the designed ranging message structure, a ranging information updating method and a ToF (time delay of transmission) calculation method of data packets between the transmitting side and the receiving side are designed;
(3) for the ranging message in step 2, the generating method comprises the following steps:
step 2011: clearing a set of receive timestamps and corresponding message identifiers;
step 2012: step 2013 is performed for each message received since the last transmission;
step 2013: combining the current receiving timestamp and the set of corresponding message identifiers until all the ranging messages are received;
step 2014: returning the generated ranging message data packet;
(4) aiming at the ranging message in the step 2, a specific updating method is designed, and the steps are as follows;
step 2021: step 2022 if the current device is sending ranging messages, otherwise step 2023 is performed;
step 2022: updating a corresponding time stamp of each ranging table maintained by the current equipment;
step 2023: the current device receives the ranging message, and the ranging message is from the neighbor device Y, execute step 2024;
step 2024: updating a corresponding timestamp in a ranging table of a device Y maintained by a current device A;
(5) for the updated ranging table in step 2024, a distance calculation method between two devices is designed, which includes the following steps:
step 2031: if the ranging table maintained by the current device a with respect to the neighbor device Y is complete, execute step 2032; otherwise, returning a null value;
step 2032: calculating the propagation delay ToF of the data packet between the transmitting side and the receiving side by using the corresponding time stamp in the complete ranging table according to a formula;
step 2033: resetting the ranging table in step 2024;
step 2034: returning to step 2032 to calculate the propagation delay ToF of the data packet between the two parties.
4. The cluster ranging method based on the ultra-wideband technology in the unmanned system cluster as claimed in claim 1, wherein: and 3, designing the ranging process to be self-adaptive according to the speed and the distance according to the ranging message in the step 2. According to the protocol framework and the ranging message in the step 1, the step 3 theoretically analyzes the self-adaption of the ranging interval P according to the speed and the distance under the high-speed long-ranging interval scene. The analysis leads to the conclusion that: the closer the distance, the shorter the ranging interval; meanwhile, the faster the speed, the shorter the ranging interval.
5. The cluster ranging method based on the ultra-wideband technology in the unmanned system cluster as claimed in claim 1, wherein: in the step 4, according to the analysis of the problem of the distance measurement message loss and the mismatch between the distance measurement periods caused by using different distance measurement intervals, four kinds of unbalanced situations of message exchange are summarized, which are respectively:
case (1) the ranging message received by the receiver is larger than the ranging message sent by the sender;
case (2) one ranging message sent by the sender is lost;
case (3) the sender sends more ranging messages than it receives;
case (4) one ranging message sent by the receiver is lost;
aiming at the conditions (1) and (2), the data packet sent by the sender in the next round lacks part of time stamps, and the solution is to directly discard the time stamps stored by the sender and sent by the receiver in the previous round; for case (3), the solution is to update or overwrite the send timestamp in the ranging table each time a message is sent in time; for case (4), the solution is to discard the corresponding timestamp of the previous round;
summarizing the solution method is the following distance measuring table updating method:
step 401: if device a receives a ranging message from neighbor Y, go to step 402;
step 402: if the arrival timestamp in the ranging message sent by the device a in the previous round maintained by the device a has not been received with the ranging message of the neighbor Y, executing step 403, otherwise executing step 404;
step 403: updating and clearing the relevant time stamp;
step 404: if the transmitted ranging message of device a does not match the received ranging message sequence number of device Y, the associated timestamp is updated for the next round of ranging calculations.
6. The cluster ranging method based on the ultra-wideband technology in the unmanned system cluster as claimed in claim 1, wherein: step 5, the message structure of the ranging message, the ranging message generation method, the ranging message updating method and the distance calculation method are improved, so that the method can be popularized and applied to large-scale high-density clusters, and the method specifically comprises the following steps:
step 501: improved ranging table message structure. Compared with the data table in the step 1, three parameters are newly added, namely the latest distance measurement interval of A and Y, the next expected transmission time of Y and the expiration time of the distance measurement message of the neighbor Y;
step 502: redesigning the updating method of the ranging table. Updating the ranging interval P in the ranging table according to the existing calculation formula after the calculated ToF of the data packet between the two parties is updated;
step 503: when a ranging message to the neighbor Y is sent, the next expected transmission time is updated; when receiving a ranging message from neighbor Y, the expiration time is updated;
step 504: as the ranging table is refined and properly maintained, the design generates one ranging message based on the next expected transmission time and expiration time in all ranging tables. Sorting according to the next expected transmission time of the neighbor cells according to the time sequence, and selecting m (the most time stamps carried by the ranging message) most urgent neighbors; the receive timestamps of the m neighbors are loaded into and sent with the ranging message. Thereafter, the m next transmission times are updated by the ranging table updating method according to their respective ranging intervals. This process is repeated when the next transmission time arrives and the next ranging message is generated.
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