WO2022016971A1 - 无线通信方法与装置、基站和标签设备 - Google Patents

无线通信方法与装置、基站和标签设备 Download PDF

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Publication number
WO2022016971A1
WO2022016971A1 PCT/CN2021/094628 CN2021094628W WO2022016971A1 WO 2022016971 A1 WO2022016971 A1 WO 2022016971A1 CN 2021094628 W CN2021094628 W CN 2021094628W WO 2022016971 A1 WO2022016971 A1 WO 2022016971A1
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Prior art keywords
base station
time
time slot
service system
uwb signal
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PCT/CN2021/094628
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English (en)
French (fr)
Inventor
张烨
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Oppo广东移动通信有限公司
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Publication of WO2022016971A1 publication Critical patent/WO2022016971A1/zh

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W72/00—Local resource management
    • H04W72/04—Wireless resource allocation
    • H04W72/044—Wireless resource allocation based on the type of the allocated resource
    • H04W72/0446—Resources in time domain, e.g. slots or frames
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/33—Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W56/00—Synchronisation arrangements
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W56/00—Synchronisation arrangements
    • H04W56/001—Synchronization between nodes
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W72/00—Local resource management
    • H04W72/04—Wireless resource allocation
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W88/00—Devices specially adapted for wireless communication networks, e.g. terminals, base stations or access point devices
    • H04W88/08—Access point devices

Definitions

  • the present application relates to the field of wireless communication technologies, and in particular, to a wireless communication method and apparatus, a base station, and a tag device.
  • Ultra Wide Band (UWB) technology is a wireless carrier communication technology, which is characterized by transmitting UWB signals encoded by pulse modulation with lower power and wider frequency range within a short distance.
  • Embodiments of the present application provide a wireless communication method and apparatus, a base station and a tag device, in order to avoid collision and interference of UWB signals in UWB channels, and to provide base station synchronization operation and positioning services between communication devices by time slot allocation.
  • an embodiment of the present application provides a wireless communication method, including:
  • the base station X obtains a first time frame for ultra-bandwidth UWB wireless communication between communication devices in the positioning service system; wherein, the communication devices in the positioning service system include at least three base stations and tag devices, and the first time frame
  • the time frame includes a time slot for providing base station synchronization operation and at least one time slot for providing positioning service to the tag device through a preset positioning algorithm;
  • the base station X exchanges UWB signals with the communication equipment in the positioning service system in the current time slot on the first time frame to realize UWB wireless communication.
  • an embodiment of the present application provides a wireless communication method, including:
  • the tag device acquires the first time frame used for ultra-bandwidth UWB wireless communication between communication devices in the positioning service system; wherein the communication device in the positioning service system includes the tag device and at least three base stations, the The first time frame includes a time slot for providing a base station synchronization operation and at least one time slot for providing a positioning service to the tag device through a preset positioning algorithm;
  • the tag device exchanges UWB signals with the communication device in the positioning service system in the current time slot on the first time frame to realize UWB wireless communication.
  • an embodiment of the present application provides a wireless communication apparatus, which is applied to a base station X.
  • the apparatus includes a processing unit and a communication unit, and the processing unit is configured to:
  • the first time frame used for ultra-bandwidth UWB wireless communication between communication devices in the positioning service system is acquired by the communication unit; wherein, the communication devices in the positioning service system include at least three base stations and tag devices, and the The first time frame includes a time slot for providing a base station synchronization operation and at least one time slot for providing a positioning service to the tag device through a preset positioning algorithm;
  • UWB wireless communication is realized by exchanging UWB signals with the communication device in the positioning service system by the communication unit in the current time slot on the first time frame.
  • an embodiment of the present application provides a wireless communication apparatus, which is applied to a tag device.
  • the apparatus includes a processing unit and a communication unit, and the processing unit is configured to:
  • the first time frame for ultra-bandwidth UWB wireless communication between communication devices in the positioning service system is acquired by the communication unit; wherein, the communication devices in the positioning service system include the tag device and at least three base stations , the first time frame includes a time slot for providing a base station synchronization operation and at least one time slot for providing a positioning service to the tag device through a preset positioning algorithm;
  • UWB wireless communication is realized by exchanging UWB signals with the communication device in the positioning service system by the communication unit in the current time slot on the first time frame.
  • an embodiment of the present application provides a base station, where the base station is a base station X, including a processor, a memory, and a communication interface, the memory stores one or more programs, and the one or more programs are The processor is executed, and the one or more programs are used to execute the instructions of the steps in the first aspect of the embodiments of the present application.
  • an embodiment of the present application provides a tag device, including a processor, a memory, and a communication interface, the memory stores one or more programs, and the one or more programs are executed by the processor, so The one or more programs are used to execute the instructions of the steps in the second aspect of the embodiments of the present application.
  • the embodiments of the present application provide a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program for electronic data exchange, and the computer program is operable to cause a computer to execute the embodiments of the present application some or all of the steps described in the first and second aspects.
  • an embodiment of the present application provides a computer program product, wherein the computer program product includes a computer program, and the computer program is operable to cause a computer to execute the first and second aspects of the embodiments of the present application. some or all of the steps.
  • the computer program product may be a software installation package.
  • 1A is a schematic diagram of an application scenario based on UWB technology positioning provided by an embodiment of the present application
  • 1B is a schematic diagram of signal interaction of an SS-TWR positioning method provided by an embodiment of the present application.
  • 1C is a schematic diagram of signal interaction of a DS TWR positioning method provided by an embodiment of the present application.
  • 1D is a schematic diagram of signal interaction of a TDOA positioning method provided by an embodiment of the present application.
  • 1E is a schematic diagram of an AOA/PDOA positioning method provided by an embodiment of the present application.
  • 1F is a schematic structural diagram of a superframe provided by an embodiment of the present application.
  • 1G is a schematic structural diagram of another superframe provided by an embodiment of the present application.
  • 1H is a schematic diagram of the architecture of a positioning service system provided by an embodiment of the present application.
  • FIG. 1I is a schematic structural diagram of a base station provided by an embodiment of the present application.
  • 1J is a schematic structural diagram of a labeling device provided by an embodiment of the present application.
  • FIG. 2A is a schematic flowchart of a wireless communication method provided by an embodiment of the present application.
  • FIG. 2B is a schematic structural diagram of a first time frame provided by an embodiment of the present application.
  • FIG. 2C is a schematic structural diagram of a UWB signal provided by an embodiment of the present application.
  • 2D is a schematic diagram of signal interaction in a first time slot of a first time frame provided by an embodiment of the present application
  • 2E is a schematic diagram of signal interaction in a first time slot of another first time frame provided by an embodiment of the present application.
  • 2F is a schematic diagram of determining location information of a base station through a hyperbola provided by an embodiment of the present application
  • FIG. 2G is a schematic diagram of the architecture of another positioning service system provided by an embodiment of the present application.
  • 2H is a schematic diagram of signal interaction in a second time slot of another first time frame provided by an embodiment of the present application.
  • 2I is a schematic diagram of signal interaction in a third time slot of a first time frame provided by an embodiment of the present application.
  • FIG. 3 is a schematic flowchart of another wireless communication method provided by an embodiment of the present application.
  • FIG. 4 is a block diagram of functional units of a wireless communication device provided by an embodiment of the present application.
  • FIG. 5 is a block diagram of functional units of another wireless communication device provided by an embodiment of the present application.
  • FIG. 6 is a schematic structural diagram of another base station provided by an embodiment of the present application.
  • FIG. 7 is a schematic structural diagram of another label device provided by an embodiment of the present application.
  • Ultra Wide Band (UWB)
  • UWB technology is a wireless carrier communication technology, which is characterized by transmitting UWB signals encoded by pulse modulation with lower power and wider frequency range within a short distance.
  • the operating frequency band of UWB occupies a bandwidth of more than 500MHz in the spectrum range of 3.1 to 10.6GHz, and utilizes nanosecond to microsecond non-sinusoidal narrow pulses transfer data.
  • Traditional UWB technology positioning is used in industrial places such as mines and warehouses. Its main application scenario is to monitor the real-time position of employees and goods indoors. Among them, the base stations have been calibrated in indoor places, and are connected to each other through wired or Wi-Fi for synchronization.
  • A represents a base station supporting UWB technology
  • the central location engine personal computer CLE PC
  • Ethernet LAN-TCP/IP represents The transmission control protocol/Internet protocol of the Ethernet local area network is supported between the base stations, and the position monitoring for the user wearing the tag device is realized by setting at least one base station in each area.
  • Tag positioning methods based on UWB technology can include time of flight (TOF), time difference of arrival (TDOA), angle of arrival (AOA)/phase difference of arrival (phase difference of arrival) arrival, PDOA).
  • TOF time of flight
  • TDOA time difference of arrival
  • AOA angle of arrival
  • PDOA phase difference of arrival
  • TOF is a two-way ranging technology that calculates the distance by measuring the flight time of the UWB signal to and from the base station and the tag. According to the different transmission methods of UWB signals, TOF positioning methods can be divided into one-way ranging and two-way ranging.
  • the UWB signal in the one-way ranging only propagates in one direction, and in order to obtain the flight time between the base station and the tag, the base station and the tag device need to maintain accurate clock synchronization, and the system implementation complexity and cost are high; two-way ranging; There is no strict requirement for the clock synchronization between the base station and the tag, and the complexity and cost of the system are low, while the two-way ranging can include single-sided two-way ranging (SS-TWR) and bilateral two-way ranging. Distance (double-sided two-way ranging, DS-TWR).
  • SS-TWR is a simple measurement of the time of a single to-signal.
  • Device A actively sends a signal to device B, and device B returns a signal to respond to device A.
  • Device A (Device A) actively sends (TX) signal A, and records the sending timestamp
  • Device B (Device B) records the receiving timestamp after receiving (RX) to signal A, and RMARKER indicates that the signal is completed Time node of transmission (reception or sending); after delay T reply , device B sends signal B and records the sending timestamp; device A records the receiving timestamp after receiving signal B.
  • T round represents the time difference between device A receiving signal B and sending signal A
  • T reply represents the delay time between device B receiving signal A and sending signal B
  • T round and T reply are calculated based on the local synchronous clock, and the local synchronous clock error can be offset, but there will be a slight clock offset between different devices, assuming that the clock offsets of devices A and B are e respectively A and e B , so T prop will increase with increasing T reply , the equation of ranging error is as follows:
  • DS-TWR is an extended ranging method of unilateral bidirectional ranging, recording the time stamps of two round-trip signals.
  • DS TWR obtains two round-trip delays based on three signal transmissions between the initiating node and the responding node, and measures the distance at the responding end. As shown in FIG.
  • the flight time of the wireless signal between device A and device B is calculated by the following formula:
  • k a and k b are the ratios of the actual frequency of the crystal oscillator to the nominal frequency, so k a and k b are very close to 1.
  • TDOA is an improvement to TOA, it does not directly use the arrival time of UWB signals, but calculates the location of tags by detecting the arrival time difference between UWB signals arriving at multiple strictly clock-synchronized base stations, without the need for tags and base stations to maintain clock synchronization .
  • Clock synchronization can be divided into wired clock synchronization and wireless clock synchronization.
  • wired clock synchronization uses a dedicated wired clock synchronizer for clock distribution, but the deployment and maintenance cost and cost of the clock network are high; wireless time synchronization does not require special synchronization equipment, and its accuracy is lower than that of wired clock synchronization, but the deployment of the system , maintenance and costs are relatively low.
  • the tag device broadcasts a UWB signal to base station A, base station B, base station C, and base station D, and the UWB signal to base station A's
  • the flight time is t1
  • the flight time of the UWB signal to base station B is t2
  • the flight time of the UWB signal to base station C is t3
  • the flight time of the UWB signal to base station D is t4.
  • AOA/PDOA is based on the phase difference of the same signal received by multiple antennas at different positions to determine the angle and distance of the identified object from itself.
  • the antenna A knows the angle ⁇ and the distance r between itself and the identification object; Know the angle ⁇ and the distance rp between itself and the recognized object.
  • a superframe In an indoor scene with multiple labels, a superframe needs to be set up to repeat periodically across the entire timeline. Among them, each tag needs to be allocated a time slot (slot), and the interaction between signals is performed in the respective time slot.
  • FIG 1F a schematic diagram of the superframe structure is shown, in which a time slot is allocated to N tags on the superframe k, and the tag i can be in the time slot of the tag i and its surrounding base station X, base station Y and base station X. interaction signal.
  • beacon frame Beacon, BCN
  • Idle Time is idle time
  • BCN is the time slot that carries the beacon frame
  • SVC represents the reserved time slot
  • TWR Slot represents the time slot that carries the bidirectional ranging signal. wake up is the wake-up time slot
  • RX represents the receiving state.
  • FIG. 1H is a positioning service system 100 provided by an embodiment of the present application.
  • the communication device in the location service system 100 may include at least three base stations 110 and a tag device 120
  • the tag device 120 may include an electronic device 130 and at least one IoT tag device 140 .
  • UWB signals may be exchanged between at least three base stations 110
  • UWB signals may be exchanged between at least three base stations 110 and the tag device 120
  • UWB signals may be exchanged between the electronic device 130 and at least one IoT tag device 140
  • at least UWB signals can also be exchanged between an IoT tag device 140 .
  • At the same time, at least three base stations 110 may provide positioning services for the tag device 120 , and the electronic device 130 may search for its own IoT tag device from at least one IoT tag device 140 .
  • the at least three base stations 110 may include a base station 111, a base station 112, a base station 113 and a base station 114, and UWB signals are exchanged between each of the at least three base stations 110 to achieve clock synchronization; at least one IoT tag device 140 may Including IoT label device 141 and IoT label device 142 and so on.
  • FIG. 1H is only an example of the location service system in the embodiment of the present application, and the location service system may also include other base stations, label devices, electronic devices, and IoT label devices, which are not specifically limited.
  • the base station 110 in this embodiment of the present application may be a server device supporting UWB technology, such as a UWB base station, a UWB anchor device, etc.
  • the tag device 120 may be a client device supporting UWB technology or an Internet of Things device, etc.
  • the electronic device 130 may be a user terminal device supporting UWB technology, such as user equipment (user equipment, UE), terminal device (terminal device), mobile terminal (mobile terminal, MT), intelligent terminal (intelligent terminal, IT), personal A digital assistant (personal digital assistant, PDA) or a personal computer (personal computer, PC), etc.
  • the IoT tag device 140 can be an IoT device that supports UWB technology, such as keys, wallets, cameras, home equipment, office equipment, and the like.
  • FIG. 1I is a structural example diagram of a base station 110 provided by an embodiment of the present application.
  • the base station 110 may include a processing unit 1101 , a communication unit 1102 , a power management unit 1103 and a general interface unit 1104 .
  • the processing unit 1101 may include a processor and a memory, and the processor may include one or more processing cores.
  • the processor uses various interfaces and lines to connect various parts of the entire base station 110, and executes various functions of the base station 110 by running or executing the instructions, programs, code sets or instruction sets stored in the memory, and calling the data stored in the memory. functions and processing data.
  • the processor may include a central processing unit (CPU), a modem processor, a graphics processing unit (GPU), an image signal processor (ISP), a video codec, a digital Signal processor (digital signal processor, DSP), baseband processor and/or neural-network processing unit (neural-network processing unit, NPU), etc.
  • the memory may include random access memory (RAM), read-only memory (read-only memory), and non-transitory computer-readable storage medium.
  • Memory may be used to store instructions, programs, codes, sets of codes, or sets of instructions.
  • the memory may include a stored program area and a stored data area, wherein the stored program area may store instructions for implementing an operating system and instructions for implementing at least one function (such as a touch function, a sound playback function, an image playback function, etc.).
  • the storage data area may store data created by the base station 110 in use (eg, calibrated location data) and the like.
  • the communication unit 1102 can implement functions such as UWB communication, the second generation 2G mobile communication technology network, the third generation 3G mobile communication technology network, the fourth generation 4G mobile communication technology network, and the fifth generation 5G mobile communication technology network to perform Reception and transmission of wireless mobile network data, and can provide 2.4GHz and 5GHz channel spectrum resources to perform network data reception and transmission, that is, the communication unit 1102 may specifically include a UWB module, and may also include Bluetooth, Wi-Fi , Zigbee, one or more of 2G/3G/4G/5G communication modules; the power management unit 1103 may include, but is not limited to, batteries, DC-to-DC DC-DC modules, filter circuits, and undervoltage detection circuits, for example; general
  • the interface unit 1104 may be used to access various types of sensors, including but not limited to indicator lights, vibration sensors, and other sensors. It should be noted that the above-mentioned schematic structural diagram of the base station 110 is only an example, and the specific components may be more or less, which is not limited here.
  • FIG. 1J is a schematic structural diagram of a label device provided by an embodiment of the present application.
  • the tag device 120 may include a processor 1201 , a communication module 1202 , a positioning module 1203 , a storage module 1204 and a power management module 1205 .
  • the processor 1201 connects and controls the communication module 1202, the positioning module 1203, the storage module 1204, and the power management module 1205 in the form of a corresponding bus.
  • the processor 1201 is the control center of the label device 120, and connects various parts of the label device 120 through various interfaces and lines.
  • the processor 1201 invokes the stored data in the memory by running or executing the software programs and/or modules in the storage module 1204 to execute various functions of the tag device 120 and process data, and monitor the overall operation of the tag device 120 .
  • the processor 1201 may include CPU, ISP, GPU, DSP, ASIC, NPU, and/or FPGA, and the like.
  • the communication unit 1102 can implement functions such as UWB communication, the second generation 2G mobile communication technology network, the third generation 3G mobile communication technology network, the fourth generation 4G mobile communication technology network, and the fifth generation 5G mobile communication technology network to perform Reception and transmission of wireless mobile network data, and can provide 2.4GHz and 5GHz channel spectrum resources to perform network data reception and transmission.
  • functions such as UWB communication, the second generation 2G mobile communication technology network, the third generation 3G mobile communication technology network, the fourth generation 4G mobile communication technology network, and the fifth generation 5G mobile communication technology network to perform Reception and transmission of wireless mobile network data, and can provide 2.4GHz and 5GHz channel spectrum resources to perform network data reception and transmission.
  • the positioning module 1203 can be used to perform UWB positioning.
  • the storage module 1204 may be used to store software programs and/or modules, and may include a storage program area and a storage data area.
  • the storage program area may be used to store an operating system or a software program required by at least one function, and the software program required by the at least one function may be used to execute the UWB positioning function in the embodiments of the present application.
  • the power management module 1205 may include a power management chip, and may provide management functions such as power conversion, distribution, and detection for the tag device 120 .
  • FIG. 2A is a schematic flowchart of a wireless communication method provided by an embodiment of the present application, and the method includes:
  • the base station X acquires a first time frame for performing ultra-bandwidth UWB wireless communication between communication devices in the positioning service system.
  • the communication devices in the positioning service system may include at least three base station tag devices; the first time frame may include a time slot for providing base station synchronization operations and at least one time slot for providing positioning services to tag devices through a preset positioning algorithm time slot.
  • the positioning service system in this example may be the above-mentioned positioning service system 100
  • the at least three base stations may be the above-mentioned at least three base stations 110
  • the label device may be the above-mentioned label device 120
  • the base station X can obtain the first time frame from the configuration information sent by a central location engine (central location engine, CLE) device (also known as a location server, such as a location computing device), or it can be obtained from the main base station in the location service system. Or obtain the first time frame by referring to the configuration information sent by the base station.
  • a central location engine central location engine, CLE
  • CLE central location engine
  • the base station X may be a base station to be accessed in the positioning service system, or a base station in the positioning service system, that is, a base station among at least three base stations.
  • the first time frame may represent a time interval periodically divided on the application layer, and the first time frame may be divided into multiple time slots, and each time slot may be a communication in the positioning service system
  • the device interacts with the UWB channel of the UWB signal.
  • the time interval periodically divided on the application layer and the time interval (for example, superframe) periodically divided on the media access control layer (MAC) satisfy a certain mapping relationship.
  • the base station synchronization operation may include at least one of the following: a position positioning operation between every two base stations of the at least three base stations, a position update operation between every two base stations of the at least three base stations, a base station X connection An access operation into the positioning service system or a removal operation of removing the base station X from the positioning service system. It can be understood that, within the first time frame, the base stations in the positioning service system can perform position positioning or position update operations with each other, and the new base station can access the positioning service system or remove the base station from the positioning service system, etc. operate.
  • the preset positioning algorithm may include an SS-TWR algorithm, a DS-TWR algorithm, a TDOA algorithm, and an AOA/PDOA algorithm, and may also include an improved TDOA algorithm combining the second time slot and the TDOA algorithm mentioned later in the embodiments of the present application , and the improved DS-TWR algorithm combining the third time slot and the DS-TWR algorithm mentioned later in the embodiments of this application.
  • a time slot for providing the base station synchronization operation is a first time slot
  • at least one time slot for providing a positioning service to a tag device through a preset positioning algorithm includes a second time slot, a third time slot slot and the fourth time slot
  • the preset positioning algorithm includes a first positioning algorithm, a second positioning algorithm and a third positioning algorithm
  • the tag device may include an electronic device and at least one IoT tag device.
  • the second time slot can be used to provide positioning services to electronic devices through the first positioning algorithm
  • the third time slot can be used to provide positioning services to at least one IoT tag device through the second positioning algorithm
  • the fourth time slot can be used
  • the third positioning algorithm is used to locate the target IoT tag device from the at least one IoT tag device for the electronic device.
  • the first time frame may include a first time slot, a second time slot, a third time slot, and a fourth time slot. Since the fourth time slot can be mainly used to locate the target IoT tag device from at least one IoT tag device for the electronic device through the third positioning algorithm, when the base station X is in the current time slot on the first time frame with the positioning service
  • the current time slot at this time can only be one of the first time slot, the second time slot or the third time slot.
  • FIG. 2B is a schematic structural diagram of a first time frame provided by an embodiment of the present application.
  • the first time frame is a periodic time interval, and each first time frame is divided into a first time slot, a second time slot, a third time slot and a fourth time slot, and the first time slot is again Can be divided into multiple sub-slots.
  • the first positioning algorithm may be one of SS-TWR algorithm, DS-TWR algorithm, TDOA algorithm, and TDOA improved algorithm
  • the second positioning algorithm may be SS-TWR algorithm, DS-TWR algorithm, TDOA algorithm, DS One of the improved TWR algorithms
  • the third positioning algorithm may be an AOA/PDOA algorithm.
  • the embodiment of the present application also considers providing different positioning authority and positioning accuracy for the positioning service level of the electronic device 130 on the second time slot of the first time frame, that is, according to the positioning service level of the electronic device 130 to select the corresponding first positioning algorithm.
  • different positioning authority and positioning accuracy are provided for the positioning service level of at least one IoT tag device 140 .
  • the location service level of the electronic device 130 includes three levels: low, medium and high, and the location service level can be determined according to whether or not to pay to become a VIP.
  • the number of positioning services that the positioning service system 100 can provide for the electronic device 130 is limited, that is, the number of devices accommodated is limited.
  • the location service system 100 may select from the SS-TWR algorithm, the TDOA improvement algorithm and the DS-TWR algorithm to provide different location authority and location accuracy according to the location service level of the electronic device 130 .
  • the base station X exchanges UWB signals with the communication device in the positioning service system in the current time slot on the first time frame to implement UWB wireless communication.
  • the current time slot may be the first time slot, the second time slot or the third time slot.
  • the UWB signal may include a media access control protocol data unit (media access control protocol data unit, MPDU), and may also include a beacon (beacon) frame or a data frame.
  • the frame control field in the MAC frame header of the UWB signal (for example, the frame control field in the MAC frame header of the beacon frame or the frame control field in the MAC frame header of the data frame) carries the valid information or label of the base station Valid information of the device, such as the identifier of the base station itself, the sub-slot number occupied by the base station to send the UWB signal, the location information of the base station, the starting time stamp of the base station to send the UWB signal, the identifier of the tag device itself, the location of the tag device Information or the starting timestamp of the UWB signal sent by the tag device, etc.
  • FIG. 2C is a schematic structural diagram of a UWB signal provided by an embodiment of the present application.
  • the UWB signal may include a Media Access Control Layer Frame Header (MAC Header, MHR), a Media Access Control Layer Service Data Unit (MAC Service Data Unit, MSDU), and a Media Access Control Layer Frame Footer (MAC Footer, MFR)
  • MAC Header, MHR Media Access Control Layer Frame Header
  • MSDU Media Access Control Layer Service Data Unit
  • MFR Media Access Control Layer Frame Footer
  • the MHR may include a frame control field, a sequence code field, and an addressing information field.
  • the base station X exchanges UWB signals with the communication device in the positioning service system in the current time slot to The specific steps to realize UWB wireless communication.
  • the current time slot is the first time slot
  • the first time slot includes at least three sub-slots
  • the base station X is a base station to be accessed to the positioning service system
  • the base station X is on the first time frame.
  • the UWB signal is exchanged with the communication device in the positioning service system to realize UWB wireless communication.
  • base station X determines the sub-slot number occupied by its own broadcast UWB signal according to the sub-slot occupancy of the UWB signal broadcast by each of the at least three base stations in at least three sub-slots;
  • the time difference between hearing the UWB signal broadcast by each of the at least three base stations and the time interval between the sub-slots in the at least three sub-slots determines the location information of itself in the positioning service system;
  • the base station X determines its location information according to its own The sub-slot number occupied by the broadcast UWB signal and its own position information in the positioning service system broadcast the UWB signal X to the communication equipment in the positioning service system to access the positioning service system.
  • base station X since base station X is a new base station that needs to access the positioning service system, it is necessary to configure the first time frame for base station X before base station X accesses the positioning service system.
  • the occupancy of sub-slots in a time slot, and the location information of base station X needs to be determined, so that after base station X accesses the positioning service system, it is ensured that the communication equipment in the positioning service system knows the information of base station X in the first time frame and the location information of base station X in the positioning service system.
  • the first time slot may contain at least three sub-slots, and one of the at least three base stations of the location service system may broadcast the UWB signal in one of the at least three sub-slots. Since the numbers of the sub-slots occupied by each base station are different, interference between UWB signals is avoided.
  • n sub-slots are configured in the first time slot of the first time frame, and each sub-slot in the n sub-slots is numbered sequentially, that is, sub-slot 1, sub-slot 2.
  • the communication equipment in the positioning service system includes base station 1, base station 2 and base station 3, and base station X is used as the positioning service system to be accessed
  • base station 1 broadcasts (Tx) UWB signals in subslot 1
  • base station 2 broadcasts UWB signals in subslot 3
  • base station 3 broadcasts UWB signals in subslot 4
  • base station X broadcasts UWB signals in subslot 4 1 to listen (Rx) to the UWB signal broadcast by base station 1
  • base station X listens to the UWB signal broadcast by base station 2 in subslot 3, and base station X hears the UWB signal broadcast by base station 3 in subslot 4 Signal.
  • the purpose of the base station X's listening is to obtain as accurately as possible the occupancy status of the sub-slots in the at least three sub-slots in the first time slot by each base station in the positioning service system.
  • the base station X can determine that the base station occupies the sub-slot by hearing the UWB signal of the base station in a certain sub-slot. For example, in FIG. 2D, the base station X hears the UWB broadcast by the base station 1 in the sub-slot 1.
  • base station X learns that base station 1 occupies subslot 1; alternatively, base station X can determine the subslot occupancy of the base station by listening to the effective information of the base station carried in the frame control field in the MAC frame header of the UWB signal, for example In FIG. 2D , base station X senses the UWB signal broadcast by base station 1 , and the frame control field in the MAC frame header of the UWB signal carries the information that base station 1 occupies subslot 1 .
  • the communication device in the positioning service system can know the base station X has occupied the sub-slot, and the communication device in the positioning service system can determine the location information of the base station X in the positioning service system through the flight time of the UWB signal X; or, when the MAC frame header of the UWB signal X carries the base station
  • the communication device in the positioning service system successfully detects the UWB signal X, and the base station X successfully accesses the positioning service system.
  • the base station X determines the sub-slot number occupied by the UWB signal broadcast by itself according to the occupancy of the sub-slots in the at least three sub-slots of the UWB signal broadcast by each of the at least three base stations, which may include the following operations: The base station X selects one of the sub-slots that are not occupied in the at least three sub-slots with a preset rule according to the occupancy of the sub-slots in the at least three sub-slots of the UWB signal broadcast by each of the at least three base stations sub-slots; wherein, the preset rule may include selecting unoccupied sub-slots in sequence from the starting number according to the number sequence, or randomly selecting sub-slots from the unoccupied sub-slots.
  • base station X can select a sub-slot from the unoccupied sub-slots, conflict and interference between UWB signals broadcast by base station X and UWB signals broadcast by other base stations can be avoided.
  • the positioning service system includes base station 1, base station 2, and base station 3, and base station X is a base station to be accessed in the positioning service system. Since base station 1 occupies subslot 1, base station 2 occupies subslot 3, and base station 3 occupies subslot 4, base station X can select a subslot from subslot 2 and subslot 5 to subslot n. When selecting unoccupied sub-slots from the starting number in sequence, base station X can select sub-slot 2; when randomly selecting sub-slots from the unoccupied sub-slots, base station X can Choose to randomly select a subslot from subslot 2 or subslot 5 to subslot n.
  • the at least three base stations include base station Y, base station Z, and base station H
  • the at least three sub-slots include a first sub-slot, a second sub-slot, and a third sub-slot
  • the second sub-slot is the first sub-slot A sub-slot after the sub-slot
  • the third sub-slot is a sub-slot after the second sub-slot
  • the time difference and the time interval between sub-slots in the at least three sub-slots determine the location information of itself in the positioning service system, which may include the following operations: base station X hears base station Y at time stamp X of the first sub-slot The UWB signal Y broadcast at the start time of the first subslot; the base station X hears the UWB signal Z broadcast by the base station Z at the start time of the second subslot at the timestamp Y of the second subslot, and Calculate the time interval between the start time of the first sub-slot and the start time of the second sub-slot to obtain the first time interval; base station X hears that base station H is at the time stamp Z of the third sub-slot.
  • the UWB signal H broadcasts at the start time of the third sub-slot, and calculates the time interval between the start time of the second sub-slot and the start time of the third sub-slot to obtain the second time interval; base station X Calculate the time difference between the UWB signal Y detected by itself and the UWB signal Z detected by itself according to the timestamp X and the timestamp Y to obtain the first time difference; The time difference between the signal Y and the UWB signal H detected by itself to obtain the second time difference; the base station X determines its own position information in the positioning service system according to the first time difference, the second time difference, the first time interval and the second time interval .
  • the base station X listens to the UWB signal broadcast by each base station in the positioning service system in the first time slot of the first time frame, and the time interval between the sub-slots in the first time slot , so that the location of the base station X is realized in the first time slot of the first time frame.
  • n sub-slots are configured in the first time slot of the first time frame, and each sub-slot in the n sub-slots is sequentially numbered, that is, sub-slot 1, Sub-slot 2, sub-slot 3, ..., sub-slot n, and at the same time, the time length of each of the n sub-slots is T.
  • the communication equipment in the positioning service system includes base station Y, base station Z and base station H, and base station X is used as a base station to be accessed to the positioning service system.
  • base station Y broadcasts UWB signal Y at the start time t0 of subslot 1
  • base station Z broadcasts UWB signal Z at the start time (t0+2T) of subslot 3
  • base station H at the start of subslot 4
  • the UWB signal H is broadcast at time (t0+3T).
  • base station X hears UWB signal Y at timestamp X of subslot 1
  • base station X hears UWB signal Z at timestamp Y of subslot 3
  • base station X hears time stamp Z of subslot 4 UWB signal H is detected.
  • the distance difference between the distance from base station X to base station Y and the distance from base station X to base station Z is equal to the time difference between base station X hearing UWB signal Y and hearing UWB signal Z multiplied by the speed of light minus UWB signal Z
  • the time difference between the broadcast time of the UWB signal Y and the broadcast time of the UWB signal Y is multiplied by the speed of light, that is,
  • the distance difference between the distance of base station Y and the distance from base station X to base station H is equal to the time difference between base station X hearing UWB signal Y and hearing UWB signal H multiplied by the speed of light minus the broadcast time of UWB signal H and UWB
  • the time difference between the broadcast times of the signal Y is multiplied by the speed of light, ie
  • the base station X communicates with the positioning service system in the current time slot on the first time frame
  • the device exchanges UWB signals to realize UWB wireless communication, which may include the following operations: the base station X broadcasts indication information X to the communication equipment in the positioning service system in the fourth sub-slot on the first time slot, and the indication information X is used to indicate the base station X Location information in the positioning service system; base station X hears the indication information Y sent by base station J in the fifth sub-slot on the first time slot, and the indication information Y is used to indicate the position of base station J in the positioning service system information, base station J is one base station except base station X among the at least three base stations.
  • base station X is a base station in the positioning service system
  • base station X can directly broadcast its own location information in the sub-slot of the first time slot, and listen to the information broadcast by other base stations in the positioning service system. location information, so as to implement location update between base stations in the location service system within the first time slot of the first time frame.
  • the base station X communicates with the positioning service system in the current time slot on the first time frame
  • the device interacts with the UWB signal to realize UWB wireless communication, which may include the following operations: the base station X exchanges the UWB signal with the communication device in the positioning service system according to the first positioning algorithm in the second time slot to determine the position of the electronic device in the positioning service system information.
  • the communication devices in the positioning service system can broadcast UWB signals in the second time slot of the first time frame at any time, unlike the need for each
  • the base station is configured to broadcast the sub-slot number of the UWB signal. Therefore, in order to avoid conflicts caused by the communication equipment in the positioning service system broadcasting the UWB signal at the same time in the second time slot, the UWB wireless communication in the second time slot can use the carrier sense multiplexing method. Road access/collision avoidance (Carrier Sense Multiple Access with Collision Avoid, CSMA/CA) mechanism.
  • Road access/collision avoidance Carrier Sense Multiple Access with Collision Avoid, CSMA/CA
  • base station X can be regarded as a master base station (reference base station or initiating base station) that provides positioning services for electronic devices, and other base stations that provide positioning services for electronic devices are slave base stations.
  • the embodiment of the present application considers the base station that receives the location service request sent by the electronic device as the primary base station in the second time slot, and the location service request is used to request the base station to provide the electronic device with the location service from the location service system.
  • the base station that receives the positioning service request forwards the positioning service request to the positioning server, and the positioning server selects the request. main base station.
  • the electronic device broadcasts the location service request in the second time slot; then, base station A, base station B, base station C and base station D all receive the location service request; finally, base station A, base station B, Base station C and base station D forward the positioning service request to the positioning server, and the positioning server selects base station A as the master base station, and base station B, base station C, and base station D as slave base stations.
  • the at least three base stations include base station X, base station K, and base station L, there is a first distance between base station X and base station K, a second distance between base station X and base station L, and a distance between base station K and base station L.
  • the base station X exchanges UWB signals with the communication device in the positioning service system according to the first positioning algorithm in the second time slot to determine the position information of the electronic device in the positioning service system, which may include the following operations:
  • the time stamp H of the second time slot broadcasts the UWB signal J to the communication equipment in the positioning service system, and the UWB signal J is used to detect the position information of the electronic device in the positioning service system; the time stamp J of the base station X in the second time slot
  • the time stamp J is after the time stamp H
  • the UWB signal K is broadcast by the base station K to the communication equipment in the positioning service system after the UWB signal J is detected;
  • the base station X is in the second time slot.
  • the UWB signal L is detected on the time stamp K of the time stamp K, and the time stamp K is after the time stamp J, and the UWB signal L is broadcast by the base station L to the communication equipment in the positioning service system after the UWB signal K is detected;
  • the time stamp H, the time stamp J and the first distance determine the first transmission time difference, and the first transmission time difference is the transmission time difference between the base station X broadcasting the UWB signal J and the base station K broadcasting the UWB signal K;
  • the base station X is based on the time stamp H, the time stamp K and the second distance determine the second transmission time difference, and the second transmission time difference is the transmission time difference between base station X broadcasting UWB signal J and base station L broadcasting UWB signal L;
  • the indication information Z is sent, the time stamp L is after the time stamp K, and the indication information Z is used to indicate the first sending time difference and the second sending time difference.
  • base station X, base station K, and base station L may exchange UWB signals in the first time slot of the first time frame to determine the distance between each other, as described in the above example, and will not be repeated here.
  • base station X acts as a master base station that provides positioning services to electronic equipment
  • base station K and base station L act as slave base stations that provide positioning services to electronic equipment.
  • the indication information Z sent by the base station X to the electronic device may carry the frame control field in the MAC frame header of the UWB signal.
  • this example considers that the base station X calculates the time difference between the base stations for sending the UWB signal, and then the base station X informs the electronic device, and finally the electronic device is based on the base station.
  • the time difference between sending the UWB signal and the time when the UWB signal is detected by itself is used to calculate its own position information.
  • the communication equipment in the positioning service system includes base station X, base station K, base station L and electronic equipment, and base station X, base station K and base station L exchange UWB signals in the first time slot by exchanging UWB signals.
  • base station X and base station K exchange UWB signals in the first time slot by exchanging UWB signals.
  • the positioning service is provided to the electronic device within two time slots.
  • base station X broadcasts UWB signal J at timestamp t4 of the second time slot
  • base station K broadcasts UWB signal K after hearing UWB signal J
  • base station L broadcasts UWB signal L after hearing UWB signal K.
  • the base station X senses the UWB signal K at the time stamp t5 of the second time slot
  • the base station X senses the UWB signal L at the time stamp t6 of the second time slot.
  • the base station X since the base station X knows the distance d1 from itself to the base station K, the base station X can calculate the flight time T1 from the UWB signal K to itself, so that the base station X broadcasts the UWB signal 1 and the base station K broadcasts the UWB signal according to t4, t5 and T1.
  • the transmission time difference T2 between the signals K similarly, the base station X can calculate the transmission time difference T3 between the base station X broadcasts the UWB signal 1 and the base station L broadcasts the UWB signal L.
  • the base station X sends indication information to the electronic device at the time stamp t7 of the second time slot, where the indication information is used to indicate T2 and T3.
  • the electronic device receives the indication information to know T2 and T3. Since the electronic device has known the time stamps when it received the UWB signal J, UWB signal K and UWB signal L, the electronic device can calculate the distance difference D1 between the distance between itself and the base station X and the distance between itself and the base station 2, and The distance difference D2 between the distance from the self to the base station X and the distance from the self to the base station 3, so that two hyperbolas are constructed according to the structures D1 and D2, and the position information of the self can be obtained according to the intersection of the two hyperbolas.
  • the base station X communicates with the positioning service system in the current time slot on the first time frame
  • the device interacts with the UWB signal to realize UWB wireless communication, which may include the following operations: the base station X exchanges the UWB signal with the communication device in the positioning service system according to the second positioning algorithm in the third time slot to determine the target in the at least one IoT tag device The location information of the IoT tag device in the location service system.
  • each The base station is configured to broadcast the sub-slot number of the UWB signal. Therefore, in order to avoid conflicts caused by the communication equipment in the positioning service system broadcasting the UWB signal at the same time in the third time slot, the UWB wireless communication in the third time slot can use the CSMA/CA mechanism .
  • base station X can be regarded as the main base station (reference base station or initiating base station) that provides positioning services to the target IoT tag device, and how to select the main base station is consistent with the above example, by receiving the target IoT in the third time slot.
  • the base station of the location service request sent by the device is used as the primary base station, and the location service request is used to request the base station that provides the target IoT device with the location service from the location service system, and details are not repeated here.
  • the location information of the networked tag device in the positioning service system may include the following operations: the base station X listens to the UWB signal M broadcast by the target IoT device on the timestamp M of the third time slot, and the UWB signal M is used to request to detect the target The location information of the IoT tag device in the positioning service system; the base station X broadcasts the UWB signal N to the communication devices in the positioning service system at the time stamp N of the third time slot, and the time stamp N is after the time stamp M; The indication information H is detected on the timestamp P of the third time slot.
  • the timestamp P is after the timestamp N, and the indication information H is detected by the target IoT tag device when the UWB signal N, UWB signal P and UWB signal Q are detected. After that, it is broadcast to the communication equipment in the positioning service system.
  • the UWB signal P is broadcast to the communication equipment in the positioning service system by the base station M after hearing the UWB signal N, and the UWB signal Q is broadcast by the base station N when the UWB signal is detected.
  • the signal P is broadcasted to the communication equipment in the positioning service system, and the indication information H carries the time stamp of broadcasting the UWB signal M on the third time slot and the time stamp of the UWB signal N being detected on the third time slot.
  • the base station X, the base station M and the base station N may exchange UWB signals in the first time slot of the first time frame to perform a synchronization operation.
  • base station X acts as the master base station that provides positioning services to the target IoT tag device
  • base station M and base station N act as slave base stations that provide positioning services to the target IoT tag device.
  • the indication information H broadcast by the target IoT device may be carried in the frame control field in the MAC frame header of the UWB signal.
  • this example considers that the IoT tag device sends its own broadcast to the base station and the time stamp of the UWB signal detected, and then The base station calculates the location information of the IoT label device according to the time stamp of the IoT label device broadcasting and listening to the UWB signal and the time stamp of the base station itself broadcasting and listening to the UWB signal, and finally the base station informs the IoT label device.
  • the communication devices in the positioning service system include base station X, base station M, base station N, and IoT tag device 1, and base station X, base station M, and base station N are directed to the object in the third time slot.
  • the networked tag device 1 provides location services.
  • the IoT tag device 1 broadcasts the UWB signal M on the timestamp U of the third time slot, while the base station XX listens to the UWB signal M at the timestamp M of the third time slot, and broadcasts the UWB signal M at the timestamp of the third time slot.
  • N broadcasts UWB signal N.
  • the base station M broadcasts the UWB signal P after hearing the UWB signal N
  • the base station N broadcasts the UWB signal Q after hearing the UWB signal P.
  • the IoT tag device 1 senses the UWB signal N, the UWB signal P and the UWB signal Q at the timestamp V, the timestamp W and the timestamp F of the third time slot, respectively, and at the time stamp G of the third time slot Broadcast indication information, the indication information is used to indicate timestamp U, timestamp V, timestamp W, timestamp F and timestamp G.
  • base station XX listens to the indication information to learn timestamp U, timestamp V and timestamp G, and calculates the timestamp according to timestamp U, timestamp V, timestamp G, timestamp M, timestamp N and timestamp P Obtain the distance r1 between the base station XX and the IoT tag device 1.
  • the base station M can calculate the distance r2 between the base station M and the IoT tag device 1
  • the base station N can calculate the distance r3 between the base station N and the IoT tag device 1, so that according to the base station XX, base station M and base station
  • the location information where N is located is the origin, and r1, r2, and r3 are the radii to construct the intersection of three circles as the location information of the IoT tag device 1.
  • the base station X exchanges UWB signals with at least three base stations, electronic devices, or at least one IoT tag device in the positioning service system in the current time slot on the first time frame to implement UWB wireless communication. Since the base station and the base station need to exchange UWB signals to perform the synchronization operation of the base station, and determine the position information of the electronic device and the position information of at least one IoT tag device through a preset positioning algorithm, the communication equipment in the positioning service system is used.
  • the first time frame is divided into different time slots, that is, different UWB channels, and the UWB signals are exchanged between the communication devices in the corresponding time slots, thus helping to avoid UWB signals.
  • FIG. 3 is a schematic flowchart of another wireless communication method provided by the implementation of the present application, and the method includes:
  • the tag device acquires a first time frame used for ultra-bandwidth UWB wireless communication between communication devices in the positioning service system.
  • the communication devices in the positioning service system may include at least three base station tag devices; the first time frame may include a time slot for providing base station synchronization operations and at least one time slot for providing positioning services to tag devices through a preset positioning algorithm time slot.
  • the fixed service system in this example may be the above-mentioned positioning service system 100
  • the at least three base stations may be the above-mentioned at least three base stations 110
  • the label device may be the above-mentioned label device 120
  • the tag device can obtain the first time frame from the configuration information sent by a central location engine (central location engine, CLE) device (also known as a location server, such as a location computing device), or it can be obtained from the main base station in the location service system. Or obtain the first time frame by referring to the configuration information sent by the base station.
  • a central location engine central location engine, CLE
  • CLE central location engine
  • the labeling device may be an electronic device, or may be at least one IoT labeling device.
  • the first time frame may represent a time interval periodically divided on the application layer, and the first time frame may be divided into multiple time slots, and each time slot may be a communication in the positioning service system
  • the device interacts with the UWB channel of the UWB signal.
  • the time interval periodically divided on the application layer and the time interval (for example, superframe) periodically divided on the media access control layer (MAC) satisfy a certain mapping relationship.
  • the preset positioning algorithm may include an SS-TWR algorithm, a DS-TWR algorithm, a TDOA algorithm, and an AOA/PDOA algorithm, and may also include an improved TDOA algorithm combining the second time slot and the TDOA algorithm mentioned later in the embodiments of the present application , and the improved DS-TWR algorithm combining the third time slot and the DS-TWR algorithm mentioned later in the embodiments of this application.
  • the preset positioning algorithm may include an SS-TWR algorithm, a DS-TWR algorithm, a TDOA algorithm, and an AOA/PDOA algorithm, and may also include an improved TDOA algorithm combining the second time slot and the TDOA algorithm mentioned later in the embodiments of the present application , and the improved DS-TWR algorithm combining the third time slot and the DS-TWR algorithm mentioned later in the embodiments of this application.
  • a time slot for providing the base station synchronization operation is a first time slot
  • at least one time slot for providing a positioning service to a tag device through a preset positioning algorithm includes a second time slot, a third time slot slot and the fourth time slot
  • the preset positioning algorithm includes a first positioning algorithm, a second positioning algorithm and a third positioning algorithm
  • the tag device may include an electronic device and at least one IoT tag device.
  • the second time slot can be used to provide positioning services to electronic devices through the first positioning algorithm
  • the third time slot can be used to provide positioning services to at least one IoT tag device through the second positioning algorithm
  • the fourth time slot can be used
  • the third positioning algorithm is used to locate the target IoT tag device from the at least one IoT tag device for the electronic device.
  • the first time frame may include a first time slot, a second time slot, a third time slot, and a fourth time slot. Since the first time slot can be mainly used to provide the base station synchronization operation, when the tag device exchanges UWB signals with the communication device in the positioning service system in the current time slot on the first time frame to realize UWB wireless communication, the The current time slot can only be one of the second time slot, the third time slot or the fourth time slot.
  • the tag device exchanges UWB signals with the communication device in the positioning service system in the current time slot on the first time frame to implement UWB wireless communication.
  • the current time slot may be the second time slot, the third time slot or the fourth time slot.
  • the UWB signal may include a media access control protocol data unit (media access control protocol data unit, MPDU), and may also include a beacon (beacon) frame or a data frame.
  • the frame control field in the MAC frame header of the UWB signal (for example, the frame control field in the MAC frame header of the beacon frame or the frame control field in the MAC frame header of the data frame) carries the valid information or label of the base station Valid information of the device, such as the identifier of the base station itself, the sub-slot number occupied by the base station to send the UWB signal, the location information of the base station, the starting time stamp of the base station to send the UWB signal, the identifier of the tag device itself, the location of the tag device Information or the starting timestamp of the UWB signal sent by the tag device, etc.
  • the tag device exchanges UWB signals with the communication device in the positioning service system in the current time slot to The specific steps to realize UWB wireless communication.
  • the tag device exchanges UWB signals with the communication device in the positioning service system in the current time slot on the first time frame to achieve UWB wireless communication may include the following operations: the tag device exchanges UWB signals with the communication device in the positioning service system according to the first positioning algorithm in the second time slot to determine its own position information in the positioning service system.
  • the communication devices in the positioning service system can broadcast UWB signals in the second time slot of the first time frame at any time, unlike the need for each
  • the base station is configured to broadcast the sub-slot number of the UWB signal. Therefore, in order to avoid conflicts caused by the communication equipment in the positioning service system broadcasting the UWB signal at the same time in the second time slot, the UWB wireless communication in the second time slot can use the carrier sense multiplexing method. Road access/collision avoidance (Carrier Sense Multiple Access with Collision Avoid, CSMA/CA) mechanism.
  • Road access/collision avoidance Carrier Sense Multiple Access with Collision Avoid, CSMA/CA
  • the tag device exchanges UWB signals with the communication device in the positioning service system according to the first positioning algorithm in the second time slot to determine its own position information in the positioning service system, which may include the following operations:
  • the UWB signal J is detected at the time stamp Q of the second time slot.
  • the UWB signal J is broadcast by the base station X to the communication equipment in the positioning service system at the time stamp H of the second time slot.
  • the UWB signal J is used to detect the tag.
  • the location information of the device in the positioning service system the tag device hears the UWB signal K on the timestamp R of the second time slot, the timestamp R is after the timestamp Q, and the UWB signal K is detected by the base station K when the UWB signal K is detected.
  • the signal J is broadcast to the communication equipment in the positioning service system; the tag device senses the UWB signal L at the time stamp S of the second time slot, the time stamp S is after the time stamp R, and the UWB signal L is detected by the base station L.
  • the tag device After hearing the UWB signal K, it is broadcast to the communication device in the positioning service system; the tag device receives the indication information Z at the time stamp T of the second time slot; wherein the time stamp T is after the time stamp S, and the indication information Z is used for Indicates the first sending time difference and the second sending time difference, the first sending time difference is the sending time difference between base station X broadcasting UWB signal J and base station K broadcasting UWB signal K, and the second sending time difference is base station X broadcasting UWB signal J and base station L broadcasting The transmission time difference between the UWB signals L; the tag device determines its position information in the positioning service system according to the timestamp Q, the timestamp R, the timestamp S, the first transmission time difference and the second transmission time difference.
  • the tag device if the current time slot is the third time slot, and the tag device is an IoT tag device among at least one IoT tag device, the tag device is connected to the location within the current time slot on the first time frame.
  • the communication device in the service system exchanges UWB signals to realize UWB wireless communication, which may include the following operations: the tag device exchanges UWB signals with the communication device in the positioning service system according to the second positioning algorithm in the third time slot to determine that it is in the positioning service system. Location information in the system.
  • each The base station is configured to broadcast the sub-slot number of the UWB signal. Therefore, in order to avoid conflicts caused by the communication equipment in the positioning service system broadcasting the UWB signal at the same time in the third time slot, the UWB wireless communication in the third time slot can use the CSMA/CA mechanism .
  • the tag device exchanges UWB signals with the communication device in the positioning service system according to the second positioning algorithm in the second time slot to determine that it is in the positioning service system
  • the location information in the location information may include the following operations: the tag device broadcasts the UWB signal M to the communication device in the location service system on the timestamp U of the third time slot, and the UWB signal M is used to request to detect the location of the tag device in the location service system.
  • the tag device senses the UWB signal N at the time stamp V of the third time slot, the time stamp V is after the time stamp U, and the UWB signal N is sent to the positioning service system by the base station X after it senses the UWB signal M. broadcast by the communication equipment; the tag device senses the UWB signal P at the time stamp W of the third time slot, the time stamp W is after the time stamp V, and the UWB signal P is located by the base station M after it senses the UWB signal N.
  • the communication device in the service system broadcasts; the tag device senses the UWB signal Q at the timestamp F of the third time slot, and the UWB signal Q is located by the base station N to the communication device in the service system after it senses the UWB signal P. Broadcast; the tag device broadcasts indication information H to the communication equipment in the positioning service system at the time stamp G of the third time slot, the time stamp G is after the time stamp F, and the indication information H is used to indicate the time stamp U, time stamp V, Timestamp W, Timestamp F, and Timestamp G.
  • the tag device exchanges UWB signals with the communication device in the positioning service system in the current time slot on the first time frame to achieve UWB wireless communication may include the following operations: the tag device exchanges UWB signals with the communication device in the positioning service system according to the third positioning algorithm in the fourth time slot to determine its own position information in the positioning service system.
  • the third positioning algorithm is an AOA/PDOA algorithm.
  • the tag device exchanges UWB signals with at least three base stations or other tag devices in the positioning service system in the current time slot on the first time frame to implement UWB wireless communication. Since the tag device needs the base station to provide positioning services for it, or the tag devices provide positioning services to each other, the first time frame is divided into different time slots according to the difference in the positioning services performed between the communication devices in the positioning service system.
  • the base station X includes corresponding hardware structures and/or software modules for performing each function.
  • the present application can be implemented in hardware or in the form of a combination of hardware and computer software, in combination with the units and algorithm steps of each example described in the embodiments provided herein. Whether a function is performed by hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Skilled artisans may implement the described functionality using different methods for each particular application, but such implementations should not be considered beyond the scope of this application.
  • the base station X may be divided into functional units according to the foregoing method examples.
  • each functional unit may be divided corresponding to each function, or two or more functions may be integrated into one processing unit.
  • the above-mentioned integrated units may be implemented in the form of hardware, or may be implemented in the form of software functional units. It should be noted that, the division of units in the embodiments of the present application is illustrative, and is only a logical function division, and there may be other division manners in actual implementation.
  • FIG. 4 shows a block diagram of functional units of a wireless communication device.
  • the wireless communication apparatus 400 is applied to the base station X, and specifically includes: a processing unit 420 and a communication unit 430 .
  • the processing unit 420 is used to control and manage the actions of the base station X, for example, the processing unit 420 is used to support the base station X to perform some or all of the steps in FIG. 2A, as well as other processes for the techniques described herein.
  • the communication unit 430 is used for supporting UWB wireless communication between the base station X and the communication device in the positioning service system.
  • the wireless communication apparatus 400 may further include a storage unit 410 for storing program codes and data of the terminal.
  • the processing unit 420 may be a processor or a controller, such as a CPU, a general-purpose processor, a DSP, an ASIC, an FPGA, or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It may implement or execute the various exemplary logical blocks, modules and circuits described in connection with this disclosure.
  • the processing unit 420 may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, and the like.
  • the communication unit 430 may be a communication interface, a transceiver, a transceiver circuit, etc., and the storage unit 410 may be a memory. When the processing unit 420 is a processor, the communication unit 430 is a communication interface, and the storage unit 410 is a memory, the wireless communication apparatus 400 involved in this embodiment of the present application may be the base station 600 shown in FIG. 6 .
  • the processing unit 420 is configured to perform any step performed by the base station X in the above method embodiments, and when performing UWB signal transmission such as sending, the communication unit 430 can be selectively invoked to complete corresponding operations. A detailed description will be given below.
  • the processing unit 420 is configured to: obtain a first time frame for ultra-bandwidth UWB wireless communication between communication devices in the positioning service system; wherein, the communication devices in the positioning service system include at least three base stations and tag devices; the first time frame The time frame includes a time slot for providing the synchronization operation of the base station and at least one time slot for providing positioning services to the tag device through a preset positioning algorithm; the current time slot on the first time frame is the same as the time slot in the positioning service system. Communication devices interact with UWB signals to implement UWB wireless communication.
  • the wireless communication apparatus 400 exchanges UWB signals with at least three base stations and tag devices in the positioning service system in the current time slot on the first time frame to implement UWB wireless communication. Since the base station and the base station need to exchange UWB signals to perform the synchronization operation of the base station, and provide positioning services to the tag device through a preset positioning algorithm, the synchronization operation of the base station and the positioning service are performed between the communication devices in the positioning service system.
  • the first time frame into different time slots, that is, different UWB channels, and exchange UWB signals between the base station and the base station, between the base station and the tag device, and between the tag device and the tag device in the corresponding time slots , so as to avoid the collision and interference of UWB signals in the UWB channel, and realize the synchronization operation and positioning service of the base station between the communication devices in the positioning service system by time slot allocation.
  • the label device 120 in order to realize the above-mentioned functions, includes corresponding hardware structures and/or software modules for executing each function.
  • the label device 120 may be divided into functional units according to the foregoing method examples.
  • FIG. 5 presents a block diagram of functional units of another wireless communication device.
  • the wireless communication apparatus 500 is applied to the vehicle terminal tag device 120 , and specifically includes: a processing unit 520 and a communication unit 530 .
  • the processing unit 520 is used to control and manage the actions of the label device 120, eg, the processing unit 520 is used to support the label device 120 to perform some or all of the steps in FIG. 3, as well as other processes for the techniques described herein.
  • the communication unit 530 is used to support wireless communication between the tag device 120 and other devices.
  • the wireless communication apparatus 500 may further include a storage unit 510 for storing program codes and data of the tag device 120 .
  • the processing unit 520 may be a processor or a controller, such as a CPU, a general-purpose processor, a DSP, an ASIC, an FPGA, or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It may implement or execute the various exemplary logical blocks, modules and circuits described in connection with this disclosure.
  • the processing unit 520 may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, and the like.
  • the communication unit 530 may be a communication interface, a transceiver, a transceiver circuit, etc., and the storage unit 510 may be a memory. When the processing unit 520 is a processor, the communication unit 530 is a communication interface, and the storage unit 510 is a memory, the wireless communication apparatus 500 involved in this embodiment of the present application may be the tag device 700 shown in FIG. 7 .
  • the processing unit 520 is configured to perform any step performed by the vehicle terminal 120 in the above method embodiments, and when performing data transmission such as sending, the communication unit 1030 can be selectively invoked to complete corresponding operations. A detailed description will be given below.
  • the processing unit 520 is configured to obtain a first time frame for ultra-bandwidth UWB wireless communication between communication devices in the positioning service system; wherein, the communication devices in the positioning service system include at least three base stations and tag devices; the first time frame The time frame includes a time slot for providing the synchronization operation of the base station and at least one time slot for providing positioning services to the tag device through a preset positioning algorithm; the current time slot on the first time frame is the same as the time slot in the positioning service system. Communication devices interact with UWB signals to implement UWB wireless communication.
  • the wireless communication apparatus 500 exchanges UWB signals with at least three base stations or other tag devices in the positioning service system in the current time slot on the first time frame to implement UWB wireless communication. Since the tag device needs the base station to provide positioning services for it, or the tag devices provide positioning services to each other, the first time frame is divided into different time slots according to the difference in the positioning services performed between the communication devices in the positioning service system. That is, different UWB channels, and the UWB signals are exchanged between the base station and the tag device, and between the tag device and the tag device in the corresponding time slot, so as to help avoid the conflict and interference of the UWB signals in the UWB channel, and realize the The time slot allocation provides positioning services between communication devices in the positioning service system.
  • the base station 600 includes a processor 610 , a memory 620 , a communication interface 630 and at least one communication bus for connecting the processor 610 , the memory 620 , and the communication interface 630 .
  • Processor 610 may be one or more central processing units (CPUs). In the case where the processor 610 is a CPU, the CPU may be a single-core CPU or a multi-core CPU.
  • the memory 620 includes but is not limited to a random access memory (Random Access Memory, RAM), a read-only memory (Read-Only Memory, ROM), an erasable programmable read-only memory (Erasable Programmable Read Only Memory, EPROM) or a portable Read-only memory (Compact Disc Read-Only Memory, CD-ROM), and the memory 620 is used for related instructions and data.
  • Communication interface 630 is used to receive and transmit data.
  • the processor 610 in the base station 600 is configured to read one or more program codes 621 stored in the memory 620 to perform the following operations: obtain the first data for ultra-bandwidth UWB wireless communication between communication devices in the location service system time frame; wherein, the communication equipment in the positioning service system includes at least three base stations and tag equipment; wherein, the first time frame includes a time slot for providing base station synchronous operation and at least one time slot for providing a preset positioning algorithm to the tag
  • the device provides the time slot of the positioning service; exchanges UWB signals with the communication device in the positioning service system in the current time slot on the first time frame to realize UWB wireless communication.
  • the base station exchanges UWB signals with at least three base stations and tag devices in the positioning service system in the current time slot on the first time frame to implement UWB wireless communication. Since the base station and the base station need to exchange UWB signals to perform the synchronization operation of the base station, and provide positioning services to the tag device through a preset positioning algorithm, the synchronization operation of the base station and the positioning service are performed between the communication devices in the positioning service system.
  • the first time frame into different time slots, that is, different UWB channels, and exchange UWB signals between the base station and the base station, between the base station and the tag device, and between the tag device and the tag device in the corresponding time slots , so as to avoid the collision and interference of UWB signals in the UWB channel, and realize the synchronization operation and positioning service of the base station between the communication devices in the positioning service system by time slot allocation.
  • the tag device 700 includes a processor 710, a memory 720, a communication interface 730, and at least one communication bus for connecting the processor 710, the memory 720, and the communication interface 730.
  • Processor 710 may be one or more central processing units (CPUs). In the case where the processor 710 is a CPU, the CPU may be a single-core CPU or a multi-core CPU.
  • Memory 720 includes, but is not limited to, RAM, ROM, EPROM, or CD-ROM, and is used for related instructions and data.
  • Communication interface 730 is used to receive and transmit data.
  • the processor 710 in the tag device 700 is configured to read one or more program codes 721 stored in the memory 720 to perform the following operations: obtain the first data for ultra-bandwidth UWB wireless communication between communication devices in the location service system A time frame; wherein, the communication device in the positioning service system includes at least three base stations and tag devices; wherein, the first time frame includes a time slot for providing synchronization operation of base stations and at least one time slot for providing a preset positioning algorithm to The tag device provides the time slot of the positioning service; exchanges UWB signals with the communication device in the positioning service system in the current time slot on the first time frame to realize UWB wireless communication.
  • the tag device exchanges UWB signals with at least three base stations or other tag devices in the positioning service system in the current time slot on the first time frame to implement UWB wireless communication. Since the tag device needs the base station to provide positioning services for it, or the tag devices provide positioning services to each other, the first time frame is divided into different time slots according to the difference in the positioning services performed between the communication devices in the positioning service system. That is, different UWB channels, and the UWB signals are exchanged between the base station and the tag device, and between the tag device and the tag device in the corresponding time slot, so as to help avoid the conflict and interference of the UWB signals in the UWB channel, and realize the The time slot allocation provides positioning services between communication devices in the positioning service system.
  • Embodiments of the present application further provide a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program for electronic data exchange, and the computer program is operable to cause a computer to execute any of the methods described in the foregoing method embodiments. some or all of the steps of a method.
  • Embodiments of the present application further provide a computer program product, wherein the computer program product includes a computer program, and the computer program is operable to cause a computer to execute part or all of the steps of any method described in the above method embodiments.
  • the computer program product may be a software installation package.
  • the units described above as separate components may or may not be physically separate.
  • the above-mentioned components shown as units may or may not be physical units, that is, they may be located on one network unit, or may be distributed to multiple network units. Therefore, the above embodiments may be implemented by selecting some or all of the units according to actual needs.
  • each functional unit in each of the above embodiments may be integrated in one processing unit, or may exist in different physical units, or two or more functional units may be integrated in one physical unit.
  • the above-mentioned units may be implemented in the form of hardware, or may be implemented in the form of software functional units.
  • the above-mentioned units are implemented in the form of software functional units and sold or used as independent products, they may be stored in a computer-readable memory.
  • the technical solution of the present application (the part of the technical solution that contributes to the prior art or the whole or part of the technical solution) can be embodied in the form of a computer software product.
  • the computer software product is stored in a memory, and includes several instructions for causing a computer device (personal computer, server, or network device, etc.) to execute all or part of the steps of the embodiments of the present application.
  • the above-mentioned memory includes various media that can store program codes, such as U disk, ROM, RAM, mobile hard disk, magnetic disk or optical disk.

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Abstract

本申请实施例公开了一种无线通信方法与装置、基站和标签设备，该方法包括：基站X获取用于定位服务***中的通信设备之间进行UWB无线通信的第一时间帧；其中，定位服务***中的通信设备包括至少三个基站和标签设备，第一时间帧包含一个用于提供基站同步操作的时隙和至少一个用于通过预设定位算法给标签设备提供定位服务的时隙；基站X在第一时间帧上的当前时隙内与定位服务***中的通信设备交互UWB信号以实现UWB无线通信。可见，由于将第一时间帧划分为不同时隙，并由通信设备之间在对应的时隙内交互UWB信号，从而避免UWB信号在UWB信道中相互冲突与干扰，以及实现由时隙分配为通信设备之间提供基站同步操作和定位服务。

Description

无线通信方法与装置、基站和标签设备 技术领域
本申请涉及无线通信技术领域，具体涉及无线通信方法与装置、基站和标签设备。
背景技术
超带宽(Ultra Wide Band，UWB)技术是一种无线载波通信技术，其特点是在短距离内以较低的功率和较宽的频带范围发射由脉冲调制编码的UWB信号。
基于UWB技术的室内定位场景中，无论是基站与基站之间的同步操作，还是基站为标签设备提供定位服务，都需要在UWB信道中频繁交互UWB信号。
发明内容
本申请实施例提供了无线通信方法与装置、基站和标签设备，以期望避免UWB信号在UWB信道中相互冲突与干扰，以及实现由时隙分配为通信设备之间提供基站同步操作和定位服务。
第一方面，本申请实施例提供一种无线通信方法，包括：
基站X获取用于定位服务***中的通信设备之间进行超带宽UWB无线通信的第一时间帧；其中，所述定位服务***中的通信设备包括至少三个基站和标签设备，所述第一时间帧包含一个用于提供基站同步操作的时隙和至少一个用于通过预设定位算法给所述标签设备提供定位服务的时隙；
所述基站X在所述第一时间帧上的当前时隙内与所述定位服务***中的通信设备交互UWB信号以实现UWB无线通信。
第二方面，本申请实施例提供一种无线通信方法，包括：
标签设备获取用于定位服务***中的通信设备之间进行超带宽UWB无线通信的第一时间帧；其中，所述定位服务***中的通信设备包括所述标签设备和至少三个基站，所述第一时间帧包含一个用于提供基站同步操作的时隙和至少一个用于通过预设定位算法给所述标签设备提供定位服务的时隙；
所述标签设备在所述第一时间帧上的当前时隙内与所述定位服务***中的通信设备交互UWB信号以实现UWB无线通信。
第三方面，本申请实施例提供一种无线通信装置，应用于基站X，所述装置包括处理单元和通信单元，所述处理单元用于：
通过所述通信单元获取用于定位服务***中的通信设备之间进行超带宽UWB无线通信的第一时间帧；其中，所述定位服务***中的通信设备包括至少三个基站和标签设备，所述第一时间帧包含一个用于提供基站同步操作的时隙和至少一个用于通过预设定位算法给所述标签设备提供定位服务的时隙；
通过所述通信单元在所述第一时间帧上的当前时隙内与所述定位服务***中的通信设备交互UWB信号以实现UWB无线通信。
第四方面，本申请实施例提供一种无线通信装置，应用于标签设备，所述装置包括处理单元和通信单元，所述处理单元用于：
通过所述通信单元获取用于定位服务***中的通信设备之间进行超带宽UWB无线通信的第一时间帧；其中，所述定位服务***中的通信设备包括所述标签设备和至少三个基站，所述第一时间帧包含一个用于提供基站同步操作的时隙和至少一个用于通过预设定位算法给所述标签设备提供定位服务的 时隙；
通过所述通信单元在所述第一时间帧上的当前时隙内与所述定位服务***中的通信设备交互UWB信号以实现UWB无线通信。
第五方面，本申请实施例提供一种基站，所述基站为基站X，包括处理器、存储器和通信接口，所述存储器存储有一个或多个程序，并且所述一个或多个程序由所述处理器执行，所述一个或多个程序用于执行本申请实施例第一方面中的步骤的指令。
第六方面，本申请实施例提供一种标签设备，包括处理器、存储器和通信接口，所述存储器存储有一个或多个程序，并且所述一个或多个程序由所述处理器执行，所述一个或多个程序用于执行本申请实施例第二方面中的步骤的指令。
第七方面，本申请实施例提供一种计算机可读存储介质，其中，所述计算机可读存储介质存储用于电子数据交换的计算机程序，所述计算机程序可操作来使得计算机执行本申请实施例第一方面和第二方面中所描述的部分或全部步骤。
第八方面，本申请实施例提供一种计算机程序产品，其中，所述计算机程序产品包括计算机程序，所述计算机程序可操作来使得计算机执行本申请实施例第一方面和第二方面中所描述的部分或全部步骤。所述计算机程序产品可以为一个软件安装包。
附图说明
为了更清楚地说明本申请实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍。显而易见地，下面描述的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1A是本申请实施例提供的基于UWB技术定位的应用场景示意图；
图1B是本申请实施例提供的一种SS-TWR定位方式的信号交互示意图；
图1C是本申请实施例提供的一种DS TWR定位方式的信号交互示意图；
图1D是本申请实施例提供的一种TDOA定位方法的信号交互示意图；
图1E是本申请实施例提供的一种AOA/PDOA定位方式的示意图；
图1F是本申请实施例提供的一种超帧的结构示意图；
图1G是本申请实施例提供的又一种超帧的结构示意图；
图1H是本申请实施例提供的一种定位服务***的架构示意图；
图1I是本申请实施例提供的一种基站的结构示意图；
图1J是本申请实施例提供的一种标签设备的结构示意图；
图2A是本申请实施例提供的一种无线通信方法的流程示意图；
图2B是本申请实施例提供的一种第一时间帧的结构示意图；
图2C是本申请实施例提供的一种UWB信号的结构示意图；
图2D是本申请实施例提供的一种第一时间帧的第一时隙内的信号交互示意图；
图2E是本申请实施例提供的又一种第一时间帧的第一时隙内的信号交互示意图；
图2F是本申请实施例提供的一种通过双曲线确定基站的位置信息的示意图；
图2G是本申请实施例提供的又一种定位服务***的架构示意图；
图2H是本申请实施例提供的又一种第一时间帧的第二时隙内的信号交互示意图；
图2I是本申请实施例提供的一种第一时间帧的第三时隙内的信号交互示意图；
图3是本申请实施例提供的又一种无线通信方法的流程示意图；
图4是本申请实施例提供的一种无线通信装置的功能单元组成框图；
图5是本申请实施例提供的又一种无线通信装置的功能单元组成框图；
图6是本申请实施例提供的又一种基站的结构示意图；
图7是本申请实施例提供的又一种标签设备的结构示意图。
具体实施方式
下面结合附图，对本申请实施例进行详细介绍。
为了更好地理解本申请实施例的方案，下面先对本申请实施例可能涉及的相关术语和概念进行介绍。
1、超宽带(Ultra Wide Band，UWB)
UWB技术是一种无线载波通信技术，其特点是在短距离内以较低的功率和较宽的频带范围发射由脉冲调制编码的UWB信号。根据美国联邦通信委员会(Federal Communications Commission of the United States)的标准，UWB的工作频段为在3.1至10.6GHz频谱范围内占据500MHz以上的带宽，并利用纳秒至微秒级的非正弦波窄脉冲传输数据。传统的UWB技术定位用于矿井、仓库等工业场所，其主要的应用场景是监控员工、货物在室内的实时位置。其中，基站已在室内场所标定好，通过有线或Wi-Fi的方式相互连接进行同步。在如图1A所示的示例应用场景中，A表示支持UWB技术的基站，中央位置引擎个人计算机(central location engine personal computer，CLE PC)可以对基站进行统一的管理，Ehternet LAN-TCP/IP表示基站之间支持以太网局域网的传输控制协议/网际协议，通过在每个区域设置至少一个基站实现针对佩戴标签设备的用户的位置监测。
2、基于UWB技术的标签定位方法
基于UWB技术的标签定位方法可以包括飞行时间法(time of flight，TOF)、到达时间差法(time difference of arrival，TDOA)、到达角度(angle of arrival，AOA)/到达相位差法(phase difference of arrival，PDOA)。
(1)TOF定位方式
TOF是一种双向测距技术，其通过测量UWB信号在基站与标签之间往返的飞行时间来计算距离。根据UWB信号的传输方式不同，TOF定位方式可以分为单向测距和双向测距。其中，单向测距中的UWB信号仅单向传播，而为获得基站与标签之间的飞行时间，需要基站和标签设备保持精确的时钟同步，***实现复杂度和成本较高；双向测距对基站与标签之间的时钟同步没有严格要求，***实现复杂度和成本较低，而双向测距可以包括单边双向测距(single-sided two-way ranging，SS-TWR)和双边双向测距(double-sided two-way ranging，DS-TWR)。
在SS-TWR定位方式中，SS-TWR是对单个往信号时间上的简单测量，设备A主动发送信号到设备B，设备B返回信号响应设备A。如图1B所示，设备A(Device A)主动发送(TX)信号A，并记录发送时间戳；设备B(Device B)接收(RX)到信号A之后记录接收时间戳，而RMARKER表示信号完成传输(接收或发送)的时间节点；在延时T reply之后，设备B发送信号B，并记录发送时间戳；设备A接收到信号B之后记录接收时间戳。由于T round表示设备A接收到信号B与发送信号A之间的 时间差，T reply表示设备B接收到信号A与发送信号B之间的延迟时间，因此通过如下公式可以计算得到设备A与设备B之间无线信号的飞行时间T prop：
Figure PCTCN2021094628-appb-000001
T round和T reply都是基于本地的同步时钟计算得到的，而本地的同步时钟误差可以抵消，但是不同设备之间会存在微小的时钟偏移，假设设备A和B的时钟偏移分别为e A和e B，因此T prop会随着T reply的增加而增加，测距误差的方程如下：
Figure PCTCN2021094628-appb-000002
在DS-TWR定位方式中，DS-TWR是单边双向测距的一种扩展测距方法，记录两个往返信号的时间戳。其中，DS TWR基于发起节点和响应节点之间的3次信号传送，获得两次往返延迟，在响应端测量出距离。如图1C所示，在设备A与设备之间的信号的交互过程中，可以得到如下四个时间差：设备A发送信号A与接收信号B之间的时间差T round1、设备B接收信号A与发送信号B之间的延迟时间T reply1、设备A接收信号B与发送信号C之间的延迟时间T reply2、设备B发送信号B到接收信号C之间的时间差T round2。最终，通过如下公式计算出设备A与设备B之间无线信号的飞行时间：
Figure PCTCN2021094628-appb-000003
此外，DS-TWR定位方式中的误差公式如下：
Figure PCTCN2021094628-appb-000004
其中，k a和k b为晶振实际频率与标称频率之比，因此k a和k b非常接近于1。
(2)TDOA定位方法
TDOA是对TOA的改进，其不是直接利用UWB信号的到达时间，而是通过检测UWB信号到达多个严格时钟同步的基站之间的到达时间差来计算标签的位置，而无需标签和基站保持时钟同步。时钟同步可以分为有线时钟同步和无线时钟同步。其中，有线时钟同步通过专用的有线时钟同步器进行时钟分发，但时钟网络的部署和维护代价以及成本较高；无线时间同步无需特殊同步设备，其精度度低于有线时钟同步，但***的部署、维护和成本相对较低。如图1D所示，在基站A、基站B、基站C和基站D完全时钟同步的情况下，标签设备向基站A、基站B、基站C和基站D广播UWB信号，该UWB信号到基站A的飞行时间为t1、该UWB信号到基站B的飞行时间为t2、该UWB信号到基站C的飞行时间为t3以及该UWB信号到基站D的飞行时间为t4。然后，通过以下公式计算得到基站之间的距离差：
Figure PCTCN2021094628-appb-000005
其中，d 12表示为标签设备到基站A的距离与标签设备到基站B的距离之间的距离差；d 23表示为标签设备到基站B与基站C之间的距离差；d 34d34表示为标签设备到基站C与基站D之间的距离差；d 14表示为标签设备到基站A与基站D之间的距离差。
最后，通过计算以下双曲线方程组以求解得到标签设备的坐标(x,y,z)：
Figure PCTCN2021094628-appb-000006
(3)AOA/PDOA定位方式
AOA/PDOA是根据不同位置的多根天线接收相同信号的相位差来判断识别物体距离自身的角度和距离。如图1E所示，根据天线A和天线B接收识别物体发送的同一信号的相位差和天线A与天线B之间的距离d，天线A获知自身与识别物体的角度α以及距离r；天线B获知自身与识别物体的角度β以及距离r-p。
3、超帧(superframe)
在室内场景中有多个标签，需要在整个时间轴上设置一个超帧进行周期性的重复。其中，每个标签需要分配一个时隙(slot)，在各自的时隙内进行信号之间的交互。如图1F所示的超帧结构示意图，其中，在超帧k上为N个标签分配一个时隙，而标签i可以在标签i的时隙内与其周围的基站X、基站Y和基站X之间交互信号。
如果基站之间的时钟同步也通过超宽带UWB技术实现，则需要在标签与基站交互的时隙前加入信标帧(Beacon，BCN)时隙，并在信标时隙内标签之间交互信号以确定各自的顺序。如图1G所示，Superframe(n)表示超帧n，Idle Time为空闲时间，BCN为承载信标帧的时隙，SVC表示预留时隙，TWR Slot表示承载双向测距信号的时隙，wake up为唤醒时隙，RX表示接收状态。
下面再对本申请实施例可能涉及的定位服务***进行具体介绍。请参阅图1H，图1H是本申请实施例提供的一种定位服务***100。定位服务***100中的通信设备可以包括至少三个基站110和标签设备120，而标签设备120可以包括电子设备130和至少一个物联网标签设备140。其中，至少三个基站110之间可以交互UWB信号，至少三个基站110与标签设备120之间可以交互UWB信号，电子设备130与至少一个物联网标签设备140之间可以交互UWB信号，以及至少一个物联网标签设备140之间也可以交互UWB信号。同时，至少三个基站110可以为标签设备120提供定位服务，电子设备130 可以从至少一个物联网标签设备140中寻找自身的物联网标签设备等。此外，至少三个基站110可以包括基站111、基站112、基站113和基站114，并且至少三个基站110中的每个基站之间交互UWB信号以实现时钟同步；至少一个物联网标签设备140可以包括物联网标签设备141和物联网标签设备142等。需要说明的是，图1H只是对本申请实施例中的定位服务***的一种示例，而定位服务***还可以包括有其他基站、标签设备、电子设备和物联网标签设备，对此不作具体限制。
具体的，本申请实施例中的基站110可以为支持UWB技术的服务端设备，例如UWB基站、UWB锚点设备等；标签设备120可以为支持UWB技术的用户端设备或者物联网设备等；其中，电子设备130可以为支持UWB技术的用户端设备，例如用户设备(user equipment，UE)、终端设备(terminal device)、移动终端(mobile terminal，MT)、智能终端(intelligent terminal，IT)、个人数字助理(personal digital assistant，PDA)或个人计算机(personal computer，PC)等；物联网标签设备140可以为支持UWB技术的物联网设备，例如钥匙、钱包、摄像头、家用设备、办公设备等。
下面对本申请实施例中的基站110进行具体描述，请参与图1I。图1I是本申请实施例提供的一种基站110的结构示例图。基站110可以包括处理单元1101、通信单元1102、电源管理单元1103和通用接口单元1104。
具体的，处理单元1101可以包括处理器和存储器，处理器可以包括一个或者多个处理核心。处理器利用各种接口和线路连接整个基站110内的各个部分，通过运行或执行存储在存储器内的指令、程序、代码集或指令集，以及调用存储在存储器内的数据，执行基站110的各种功能和处理数据。处理器可以包括中央处理器(central processing unit，CPU)、调制解调处理器、图形处理器(graphics processing unit，GPU)、图像信号处理器(image signal processor，ISP)、视频编解码器、数字信号处理器(digital signal processor，DSP)、基带处理器和/或神经网络处理器(neural-network processing unit，NPU)等。存储器可以包括随机存储器(random access memory，RAM)、只读存储器(read-only memory)、非瞬时性计算机可读介质(non-transitory computer-readable storage medium)。存储器可以用于存储指令、程序、代码、代码集或指令集。存储器可以包括存储程序区和存储数据区，其中，存储程序区可以存储用于实现操作***的指令，并实现至少一个功能的指令(比如触控功能、声音播放功能、图像播放功能等)。存储数据区可以存储基站110在使用中所创建的数据(比如标定的位置数据)等。
具体的，通信单元1102可以实现UWB通信、第二代2G移动通信技术网络、第三代3G移动通信技术网络、***4G移动通信技术网络和第五代5G移动通信技术网络等功能以执行无线移动网络数据的接收与发送，以及可以提供2.4GHz和5GHz的信道频谱资源以执行网络数据的接收与发送，也就是说，通信单元1102具体可以包括UWB模块、还可以包括蓝牙、Wi-Fi、Zigbee、2G/3G/4G/5G通信模块中的一种或多种；电源管理单元1103例如可以包括但不限于电池、直流转直流DC-DC模块、滤波电路以及欠压检测电路等；通用接口单元1104可以用于接入各类传感器，包括但不限于指示灯、振动传感器以及其他传感器。需要注意的是，上述基站110的结构示意图仅为示例，具体包含的器件可以更多或更少，此处不做唯一限定。
下面对本申请实施例中的标签设备120进行具体描述，请参阅图1J。图1J是本申请实施例提供的一种标签设备的结构示意图。标签设备120可以包括处理器1201、通信模块1202、定位模块1203、存储模块1204和电源管理模块1205。处理器1201以对应的总线形式连接和控制通信模块1202、定位模 块1203、存储模块1204、电源管理模块1205。其中，处理器1201是标签设备120的控制中心，并通过各种接口和线路连接标签设备120的各个部分。
具体的，处理器1201通过运行或执行存储模块1204内的软体程序和/或模块，调用存储器内的存储数据，以执行标签设备120的各种功能和处理数据，并监控标签设备120的整体运行。可选的，处理器1201可以包括CPU、ISP、GPU、DSP、ASIC、NPU和/或FPGA等。
具体的，通信单元1102可以实现UWB通信、第二代2G移动通信技术网络、第三代3G移动通信技术网络、***4G移动通信技术网络和第五代5G移动通信技术网络等功能以执行无线移动网络数据的接收与发送，以及可以提供2.4GHz和5GHz的信道频谱资源以执行网络数据的接收与发送。
具体的，定位模块1203可以用于执行UWB定位。
具体的，存储模块1204可以用于存储软体程序和/或模块，并且可以包括存储程序区和存储数据区。其中，存储程序区可以用于存储操作***或者至少一个功能所需的软体程序等，并且该至少一个功能所需的软件程序可以用于执行本申请实施例中的UWB定位功能等。
具体的，电源管理模块1205可以包括电源管理芯片，并可以为标签设备120提供电能变换、分配、检测等管理功能。
结合上述描述，基于UWB技术的室内定位场景中，无论是基站与基站之间的同步操作，还是基站为标签设备提供定位服务，都需要在UWB信道中频繁交互UWB信号。然而，如何避免基站、标签设备之间因频繁交互UWB信号而导致UWB信号在UWB信道中相互冲突与干扰，成为亟需解决的问题。
下面将从方法示例的角度介绍定位服务***100中的基站110执行UWB无线通信的步骤，请参阅图2A。图2A是本申请实施例提供的一种无线通信方法的流程示意图，该方法包括：
S210、基站X获取用于定位服务***中的通信设备之间进行超带宽UWB无线通信的第一时间帧。
其中，定位服务***中的通信设备可以包括至少三个基站标签设备；第一时间帧可以包含一个用于提供基站同步操作的时隙和至少一个用于通过预设定位算法给标签设备提供定位服务的时隙。
需要说明的是，本示例中的定位服务***可以为上述提到的定位服务***100，至少三个基站可以为上述提到的至少三个基站110，标签设备可以为上述提到的标签设备120。此外，基站X可以由中央位置引擎(central location engine，CLE)设备(又称为定位服务器，例如位置计算设备)发送的配置信息中获取第一时间帧，也可以由定位服务***中的主基站或者参考基站发送的配置信息中获取第一时间帧。
具体的，基站X可以为待接入定位服务***的一个基站，或者定位服务***中的一个基站，即至少三个基站中的一个基站。
具体的，第一时间帧可以表示在应用层(application layer)上周期性划分的时间间隔，并且第一时间帧上可以划分多个时隙，而每个时隙可以为定位服务***中的通信设备交互UWB信号的UWB信道。同时，在应用层上周期性划分的时间间隔与媒体接入控制层(media access control layer，MAC)上周期性划分的时间间隔(例如超帧)满足一定的映射关系。
具体的，基站同步操作可以包括以下至少一种：至少三个基站中的每两个基站之间的位置定位操作、至少三个基站中的每两个基站之间的位置更新操作、基站X接入定位服务***的接入操作或者从定位服务***中移除基站X的移除操作。可以理解的是，在第一时间帧内，定位服务***中的基站与基站 之间可以相互进行位置定位或者位置更新操作，以及新基站接入定位服务***或者从定位服务***中移除基站等操作。
具体的，预设定位算法可以包括SS-TWR算法、DS-TWR算法、TDOA算法、AOA/PDOA算法，还可以包括本申请实施例后续提到的结合第二时隙与TDOA算法的TDOA改进算法、以及本申请实施例后续提到的结合第三时隙和DS-TWR算法的DS-TWR改进算法。
在一个可能的示例中，一个用于提供基站同步操作的时隙为第一时隙，至少一个用于通过预设定位算法给标签设备提供定位服务的时隙包括第二时隙、第三时隙和第四时隙，预设定位算法包括第一定位算法、第二定位算法和第三定位算法，标签设备可以包括电子设备和至少一个物联网标签设备。
其中，第二时隙可以用于通过第一定位算法给电子设备提供定位服务，第三时隙可以用于通过第二定位算法给至少一个物联网标签设备提供定位服务，第四时隙可以用于通过第三定位算法给电子设备从至少一个物联网标签设备中定位目标物联网标签设备。
需要说明的是，在本申请实施例中，第一时间帧可以包含第一时隙、第二时隙、第三时隙和第四时隙。由于第四时隙主要可以用于通过第三定位算法给电子设备从至少一个物联网标签设备中定位目标物联网标签设备，因此当基站X在第一时间帧上的当前时隙内与定位服务***中的通信设备交互UWB信号以实现UWB无线通信时，此时的当前时隙只能是第一时隙、第二时隙或者第三时隙中的一个时隙。
举例说明，请参阅图2B，图2B是本申请实施例提供的一种第一时间帧的结构示意图。其中，第一时间帧为周期性的时间间隔，并在每个第一时间帧中划分为第一时隙、第二时隙、第三时隙和第四时隙，而第一时隙又可以划分为多个子时隙。具体的，第一定位算法可以为SS-TWR算法、DS-TWR算法、TDOA算法、TDOA改进算法中的一种；第二定位算法可以为SS-TWR算法、DS-TWR算法、TDOA算法、DS-TWR改进算法中的一种；第三定位算法可以为AOA/PDOA算法。
进一步的，本申请实施例还考虑在第一时间帧的第二时隙上，针对电子设备130的定位服务等级提供不同的定位权限和定位精度，也就是说，根据电子设备130的定位服务等级来选择相应的第一定位算法。同理，在第一时间帧的第三时隙上，针对至少一个物联网标签设备140的定位服务等级提供不同的定位权限和定位精度。举例说明，请参阅表1，电子设备130的定位服务等级包括低、中和高三个等级，而定位服务等级可以根据是否付费成为VIP等判断。同时，定位服务***100能够为电子设备130提供定位服务的数量是有限的，即设备容纳数量有限。此外，定位服务***100可以根据电子设备130的定位服务等级从SS-TWR算法、TDOA改进算法和DS-TWR算法中进行选择以提供不同的定位权限和定位精度。
表1
Figure PCTCN2021094628-appb-000007
S220、基站X在第一时间帧上的当前时隙内与定位服务***中的通信设备交互UWB信号以实现 UWB无线通信。
具体的，当前时隙可以为第一时隙、第二时隙或者第三时隙。
具体的，UWB信号可以包括媒体接入控制协议数据单元(media access control protocol data unit，MPDU)，也可以包括信标(beacon)帧或者数据帧。其中，在UWB信号的MAC帧头中的帧控制字段(例如，信标帧的MAC帧头中的帧控制字段或者数据帧的MAC帧头中的帧控制字段)携带有基站的有效信息或者标签设备的有效信息，例如基站自身的标识符、基站发送UWB信号所占用的子时隙编号、基站的位置信息、基站发送UWB信号的起始时间戳、标签设备自身的标识符、标签设备的位置信息或者标签设备发送UWB信号的起始时间戳等。
举例中，请参阅图2C，图2C是本申请实施例提供的一种UWB信号的结构示意图。其中，UWB信号可以包括媒体接入控制层帧头(MAC Header，MHR)、媒体接入控制层服务数据单元(MAC Service Data Unit，MSDU)、媒体接入控制层帧尾(MAC Footer，MFR)，而MHR可以包括帧控制字段、序列码字段和寻址信息字段。
下面本申请实施例将分别介绍当前时隙分别为第一时隙、第二时隙或者第三时隙的情况下，基站X在当前时隙内与定位服务***中的通信设备交互UWB信号以实现UWB无线通信的具体步骤。
在一个可能的示例中，若当前时隙为第一时隙，第一时隙包含至少三个子时隙，基站X为待接入定位服务***的一个基站，则基站X在第一时间帧上的当前时隙内与定位服务***中的通信设备交互UWB信号以实现UWB无线通信，可以包括以下操作：基站X在至少三个子时隙内侦听到至少三个基站中的每个基站广播的UWB信号；基站X根据至少三个基站中的每个基站广播的UWB信号在至少三个子时隙中的子时隙占用情况确定自身广播UWB信号所占用的子时隙编号；基站X根据自身侦听到至少三个基站中的每个基站广播的UWB信号的时间差和至少三个子时隙中的子时隙之间的时间间隔确定自身在所述定位服务***中的位置信息；基站X根据自身广播UWB信号所占用的子时隙编号和自身在定位服务***中的位置信息向定位服务***中的通信设备广播UWB信号X以接入定位服务***。
需要说明的是，在该示例中，首先，由于基站X作为需要接入定位服务***的一个新基站，因此在基站X接入到定位服务***之前需要向基站X配置在第一时间帧的第一时隙内的子时隙占用情况，以及需要确定基站X所处的位置信息，从而在基站X接入到定位服务***之后保证定位服务***中的通信设备获知基站X的在第一时间帧中的时隙占用情况和基站X在定位服务***中的位置信息。
其次，第一时隙可以包含至少三个子时隙，并且定位服务***的至少三个基站中的一个基站可以在至少三个子时隙中的一个子时隙内广播UWB信号。由于每个基站占用的子时隙的编号不同，从而避免UWB信号之间的干扰。举例说明，请参阅图2D，首先，第一时间帧的第一时隙中配置有n个子时隙，并且n个子时隙中的每个子时隙依次编号，即子时隙1、子时隙2、子时隙3、子时隙4、……、子时隙n；其次，定位服务***中的通信设备包含有基站1、基站2和基站3，而基站X作为待接入定位服务***的一个基站；然后，基站1在子时隙1广播(Tx)UWB信号，基站2在子时隙3广播UWB信号，基站3在子时隙4广播UWB信号；最后，基站X在子时隙1内侦听(Rx)到基站1广播的UWB信号，基站X在子时隙3内侦听到基站2广播的UWB信号，以及基站X在子时隙4内侦听到基站3广播的UWB信号。
然后，基站X侦听的目的在于尽可能准确的获取定位服务***中的每个基站在第一时隙中对至少三个子时隙中的子时隙占用情况。其中，基站X可以通过在某个子时隙侦听到基站的UWB信号来确定该基站占用该子时隙，例如在图2D中，基站X在子时隙1内侦听到基站1广播的UWB信号，则基站X获知基站1占用子时隙1；或者，基站X可以通过侦听UWB信号的MAC帧头中的帧控制字段携带的基站的有效信息来确定基站的子时隙占用情况，例如在图2D中，基站X侦听到基站1广播的UWB信号，并且该UWB信号的MAC帧头中的帧控制字段携带有基站1占用子时隙1的信息。
最后，对于基站X向定位服务***中的通信设备广播的UWB信号X，当定位服务***中的通信设备在某个子时隙侦听到UWB信号X时，定位服务***中的通信设备可以获知基站X已经占用该子时隙，并且定位服务***中的通信设备可以通过UWB信号X的飞行时间来确定基站X在定位服务***中的位置信息；或者，当UWB信号X的MAC帧头中携带基站X发送UWB信号所占用的子时隙编号和基站X在定位服务***中的位置信息时，定位服务***中的通信设备成功侦听到UWB信号X，从而基站X成功接入定位服务***。
具体的，基站X根据至少三个基站中的每个基站广播的UWB信号在至少三个子时隙中的子时隙占用情况确定自身广播UWB信号所占用的子时隙编号，可以包括以下操作：基站X根据至少三个基站中的每个基站广播的UWB信号在至少三个子时隙中的子时隙占用情况以预设规则从至少三个子时隙中未被占用的子时隙中选择一个子时隙；其中，预设规则可以包括按照编号顺序从起始编号开始依次选择未被占用的子时隙或者按照从未被占用的子时隙中随机选择子时隙。
需要说明的是，由于基站X可以从未被占用的子时隙中选择一个子时隙，从而避免基站X广播的UWB信号与其他基站广播的UWB信号之间产生冲突与干扰。
举例说明，在图2D中，定位服务***中包括基站1、基站2和基站3，而基站X为待接入定位服务***的一个基站。由于基站1占用子时隙1、基站2占用子时隙3以及基站3占用子时隙4，因此基站X可以从子时隙2和子时隙5至子时隙n中选择一个子时隙。当按照编号顺序从起始编号开始依次选择未被占用的子时隙时，基站X可以选择子时隙2；当按照从未被占用的子时隙中随机选择子时隙时，基站X可以选择从子时隙2或子时隙5至子时隙n中随机选择一个子时隙。
具体的，若至少三个基站包括基站Y、基站Z和基站H，至少三个子时隙包括第一子时隙、第二子时隙和第三子时隙，第二子时隙为第一子时隙之后的一个子时隙，第三子时隙为第二子时隙之后的一个子时隙，则基站X根据自身侦听到至少三个基站中的每个基站广播的UWB信号的时间差和至少三个子时隙中的子时隙之间的时间间隔确定自身在定位服务***中的位置信息，可以包括以下操作：基站X在第一子时隙的时间戳X侦听到基站Y在第一子时隙的起始时间广播的UWB信号Y；基站X在第二子时隙的时间戳Y侦听到基站Z在第二子时隙的起始时间广播的UWB信号Z，并计算第一子时隙的起始时间到第二子时隙的起始时间之间的时间间隔以得到第一时间间隔；基站X在第三子时隙的时间戳Z侦听到基站H在第三子时隙的起始时间广播的UWB信号H，并计算第二子时隙的起始时间到第三子时隙的起始时间之间的时间间隔以得到第二时间间隔；基站X根据时间戳X、时间戳Y计算自身侦听到UWB信号Y与自身侦听到UWB信号Z之间的时间差以得到第一时间差；基站X根据时间戳X、时间戳Z计算自身侦听到UWB信号Y与自身侦听到UWB信号H之间的时间差以得到第二时间差；基站X根据第一时间差、第二时间差、第一时间间隔和第二时间间隔确定自身在定位服务***中的位 置信息。
需要说明的是，由于基站X在第一时间帧的第一时隙内通过侦听定位服务***中的每个基站广播的UWB信号，以及第一时隙内的子时隙之间的时间间隔，从而在第一时间帧的第一时隙内实现基站X的位置定位。
举例说明，请参阅图2E和图2F，首先，第一时间帧的第一时隙中配置有n个子时隙，并且n个子时隙中的每个子时隙依次编号，即子时隙1、子时隙2、子时隙3、……、子时隙n，同时，n个子时隙中的每个子时隙的时间长度为T。其次，定位服务***中的通信设备包含有基站Y、基站Z和基站H，而基站X作为待接入定位服务***的一个基站。再次，基站Y在子时隙1的起始时间t0广播UWB信号Y，基站Z在子时隙3的起始时间(t0+2T)广播UWB信号Z，基站H在子时隙4的起始时间(t0+3T)广播UWB信号H。然后，基站X在子时隙1的时间戳X侦听到UWB信号Y，基站X在子时隙3的时间戳Y侦听到UWB信号Z，以及基站X在子时隙4的时间戳Z侦听到UWB信号H。接着，基站X侦听到UWB信号Y的时间等于基站Y广播UWB信号Y的时间加上基站X到基站Y的距离(d1)除于光速(c)，即时间戳X＝t0+d1/c；同理，基站X侦听到UWB信号Z的时间等于基站Z广播UWB信号Z的时间加上基站X到基站Z的距离(d2)除于光速(c)，即时间戳Y＝t0+2T+d2/c；而基站X侦听到UWB信号H的时间等于基站H广播UWB信号H的时间加上基站X到基站H的距离(d3)除于光速(c)，即时间戳Z＝t0+3T+d3/c。最后，基站X到基站Y的距离与基站X到基站Z的距离之间的距离差等于基站X侦听到UWB信号Y与侦听到UWB信号Z之间的时间差乘以光速减去UWB信号Z的广播时间与UWB信号Y的广播时间之间的时间差乘以光速，即|d1-d2|＝|(时间戳X-t0)c-(时间戳Y-t0-2T)c|；基站X到基站Y的距离与基站X到基站H的距离之间的距离差等于基站X侦听到UWB信号Y与侦听到UWB信号H之间的时间差乘以光速减去UWB信号H的广播时间与UWB信号Y的广播时间之间的时间差乘以光速，即|d1-d3|＝|(时间戳X-t0)c-(时间戳Z-t0-3T)c|。由于|d1-d2|和|d1-d3|可以构造2条双曲线，因此通过该2条双曲线的交点即可得知基站X的位置信息。
在一个可能的示例中，若当前时隙为第一时隙，基站X为至少三个基站中的一个基站，则基站X在第一时间帧上的当前时隙内与定位服务***中的通信设备交互UWB信号以实现UWB无线通信，可以包括以下操作：基站X在第一时隙上的第四子时隙内向定位服务***中的通信设备广播指示信息X，指示信息X用于指示基站X在定位服务***中的位置信息；基站X在第一时隙上的第五子时隙内侦听到基站J发送的指示信息Y，指示信息Y用于指示基站J在定位服务***中的位置信息，基站J为至少三个基站中除基站X的一个基站。
需要说明的是，由于基站X为定位服务***中的一个基站，因此基站X可以直接在第一时隙的子时隙内广播自身的位置信息，以及侦听定位服务***中的其他基站广播的位置信息，从而在第一时间帧的第一时隙内实现定位服务***中的基站之间的位置更新。
具体的，指示信息X可以携带在UWB信号的MAC帧头中的帧控制字段；指示信息Y可以携带在UWB信号的MAC帧头中的帧控制字段。
在一个可能的示例中，若当前时隙为第二时隙，基站X为至少三个基站中的一个基站，则基站X在第一时间帧上的当前时隙内与定位服务***中的通信设备交互UWB信号以实现UWB无线通信，可以包括以下操作：基站X在第二时隙内根据第一定位算法与定位服务***中的通信设备交互UWB信 号以确定电子设备在定位服务***中的位置信息。
需要说明的是，由于定位服务***中的通信设备之间可以随时在第一时间帧的第二时隙内广播UWB信号，而不像在第一时间帧的第一时隙内需要为每个基站配置广播UWB信号的子时隙编号，因此为了避免定位服务***中的通信设备在第二时隙内同时广播UWB信号而产生冲突，第二时隙内的UWB无线通信可以采用载波侦听多路访问/冲突避免(Carrier Sense Multiple Access with Collision Avoid，CSMA/CA)机制。此外，基站X可以看作为电子设备提供定位服务的主基站(参考基站或者发起基站)，而其他为电子设备提供定位服务的基站作为从基站。同时，本申请实施例考虑在第二时隙内将接收到电子设备发送的定位服务请求的基站作为主基站，定位服务请求用于从定位服务***中请求向电子设备提供定位服务的基站。当定位服务***中存在多个基站接收到电子设备或者至少一个物联网标签设备发送的定位服务请求时，由接收到该定位服务请求的基站向定位服务器转发该定位服务请求，并由定位服务器选择主基站。
举例说明，请参阅图2G，电子设备在第二时隙内广播定位服务请求；然后，基站A、基站B、基站C和基站D都接收到该定位服务请求；最后，基站A、基站B、基站C和基站D向定位服务器转发该定位服务请求，并由定位服务器选择基站A作为主基站，而基站B、基站C和基站D作为从基站。
具体的，若至少三个基站包括基站X、基站K和基站L，基站X与基站K之间具有第一距离，基站X与基站L之间具有第二距离，基站K与基站L之间具有第三距离，则基站X在第二时隙内根据第一定位算法与定位服务***中的通信设备交互UWB信号以确定电子设备在定位服务***中的位置信息，可以包括以下操作：基站X在第二时隙的时间戳H上向定位服务***中的通信设备广播UWB信号J，UWB信号J用于检测电子设备在定位服务***中的位置信息；基站X在第二时隙的时间戳J上侦听到UWB信号K，时间戳J在时间戳H之后，UWB信号K是由基站K在侦听到UWB信号J后向定位服务***中的通信设备广播的；基站X在第二时隙的时间戳K上侦听到UWB信号L，时间戳K在时间戳J之后，UWB信号L是由基站L在侦听到UWB信号K后向定位服务***中的通信设备广播的；基站X根据时间戳H、时间戳J和第一距离确定第一发送时间差，第一发送时间差为基站X广播UWB信号J与基站K广播UWB信号K之间的发送时间差；基站X根据时间戳H、时间戳K和第二距离确定第二发送时间差，第二发送时间差为基站X广播UWB信号J与基站L广播UWB信号L之间的发送时间差；基站X在第二时隙的时间戳L上向电子设备发送指示信息Z，时间戳L在时间戳K之后，指示信息Z用于指示第一发送时间差和第二发送时间差。
需要说明的是，首先，基站X、基站K和基站L可以在第一时间帧的第一时隙内交互UWB信号以确定彼此之间的距离，具体如上述示例所述，在此不再赘述。其次，基站X作为向电子设备提供定位服务的主基站，基站K和基站L作为向电子设备提供定位服务的从基站。然后，由于基站K需要侦听到基站X广播的UWB信号J后广播UWB信号K，以及基站L需要侦听到基站K广播的UWB信号K后广播UWB信号L，从而有利于避免基站在第二时隙内同时广播UWB信号而造成信号之间的干扰。最后，基站X向电子设备发送的指示信息Z可以携带在UWB信号的MAC帧头中的帧控制字段。而由于电子设备无法获知基站广播UWB信号的时间以及基站之间的距离，因此本示例考虑由基站X计算出基站之间发送UWB信号的时间差，再由基站X告知电子设备，最终电子设备根据基站之间发送UWB信号的时间差和自身侦听到UWB信号的时间计算出自身的位置信息。
举例说明，请参阅图2H，首先，定位服务***中的通信设备包含有基站X、基站K、基站L和电子设备，并且基站X、基站K和基站L通过在第一时隙内交互UWB信号以彼此获知基站X与基站K之间的距离为d1、基站X与基站L之间的距离为d2、基站K与基站L之间的距离为d3，而基站X、基站K和基站L在第二时隙内向电子设备提供定位服务。其次，基站X在第二时隙的时间戳t4上广播UWB信号J，基站K在侦听到UWB信号J后广播UWB信号K，以及基站L在侦听到UWB信号K后广播UWB信号L。再次，基站X在第二时隙的时间戳t5侦听到UWB信号K，基站X在第二时隙的时间戳t6侦听到UWB信号L。接着，由于基站X获知自身到基站K的距离d1，因此基站X可以计算得到UWB信号K到自身的飞行时间T1，从而根据t4、t5和T1计算得到基站X广播UWB信号1与基站K广播UWB信号K之间的发送时间差T2；同理，基站X可以计算得到基站X广播UWB信号1与基站L广播UWB信号L之间的发送时间差T3。然后，基站X在第二时隙的时间戳t7向电子设备发送指示信息，该指示信息用于指示T2和T3。最后，电子设备接收该指示信息以获知T2和T3。由于电子设备已获知自身接收到UWB信号J、UWB信号K和UWB信号L的时间戳，因此电子设备可以计算得到自身到基站X的距离与自身到基站2的距离之间的距离差D1，以及自身到基站X的距离与自身到基站3的距离之间的距离差D2，从而根据构造D1和D2构造2条双曲线，并根据该2条双曲线的交点即可得知自身的位置信息。
在一个可能的示例中，若当前时隙为第三时隙，基站X为至少三个基站中的一个基站，则基站X在第一时间帧上的当前时隙内与定位服务***中的通信设备交互UWB信号以实现UWB无线通信，可以包括以下操作：基站X在第三时隙内根据第二定位算法与定位服务***中的通信设备交互UWB信号以确定至少一个物联网标签设备中的目标物联网标签设备在定位服务***中的位置信息。
需要说明的是，由于定位服务***中的通信设备之间可以随时在第一时间帧的第三时隙内广播UWB信号，而不像在第一时间帧的第一时隙内需要为每个基站配置广播UWB信号的子时隙编号，因此为了避免定位服务***中的通信设备在第三时隙内同时广播UWB信号而产生冲突，第三时隙内的UWB无线通信可以采用CSMA/CA机制。此外，基站X可以看作向目标物联网标签设备提供定位服务的主基站(参考基站或者发起基站)，而如何选择主基站如上述示例一致，由在第三时隙内将接收到目标物联网设备发送的定位服务请求的基站作为主基站，该定位服务请求用于从定位服务***中请求向目标物联网设备提供定位服务的基站，具体不再赘述。
具体的，若至少三个基站包括基站X、基站M、基站N和基站P，则基站X在第三时隙内根据第二定位算法与定位服务***中的通信设备交互UWB信号以确定目标物联网标签设备在定位服务***中的位置信息，可以包括以下操作：基站X在第三时隙的时间戳M上侦听到目标物联网设备广播的UWB信号M，UWB信号M用于请求检测目标物联网标签设备在定位服务***中的位置信息；基站X在第三时隙的时间戳N上向定位服务***中的通信设备广播UWB信号N，时间戳N在时间戳M之后；基站X在第三时隙的时间戳P上侦听到指示信息H，时间戳P在时间戳N之后，指示信息H是由目标物联网标签设备在侦听到UWB信号N、UWB信号P、UWB信号Q之后向定位服务***中的通信设备广播的，UWB信号P是由基站M在侦听到UWB信号N后向定位服务***中的通信设备广播的，UWB信号Q是由基站N在侦听到UWB信号P后向定位服务***中的通信设备广播的，指示信息H携带有自身在第三时隙上广播UWB信号M的时间戳、自身在第三时隙上侦听到UWB信号N的时间戳、自 身在第三时隙上侦听到UWB信号P的时间戳以及自身在第三时隙上侦听到UWB信号Q的时间戳；基站X根据指示信息H、时间戳M、时间戳N和时间戳P确定自身与目标物联网标签设备之间的距离。
需要说明的是，首先，基站X、基站M和基站N可以在第一时间帧的第一时隙内交互UWB信号以执行同步操作。其次，基站X作为向目标物联网标签设备提供定位服务的主基站，基站M和基站N作为向目标物联网标签设备提供定位服务的从基站。然后，由于基站M需要侦听到基站X广播的UWB信号N后广播UWB信号P，以及基站N需要侦听到基站M广播的UWB信号P后广播UWB信号Q，从而有利于避免基站在第三时隙内同时广播UWB信号而造成信号之间的干扰。最后，目标物联网设备广播的指示信息H可以携带在UWB信号的MAC帧头中的帧控制字段。相较于电子设备，由于物联网标签设备本身具有较低的电量存储能力和数据计算处理能力，因此本示例考虑由物联网标签设备向基站发送自身广播与侦听到UWB信号的时间戳，再由基站根据物联网标签设备广播与侦听到UWB信号的时间戳以及基站自身广播与侦听到UWB信号的时间戳来计算物联网标签设备的位置信息，最终由基站告知给物联网标签设备。
举例说明，请参阅图2I，首先，定位服务***中的通信设备包含有基站X、基站M、基站N和物联网标签设备1，而基站X、基站M和基站N在第三时隙内向物联网标签设备1提供定位服务。其次，物联网标签设备1在第三时隙的时间戳U上广播UWB信号M，而基站XX在第三时隙的时间戳M侦听到UWB信号M，并在第三时隙的时间戳N广播UWB信号N。再次，基站M在侦听到UWB信号N后广播UWB信号P，而基站N在侦听到UWB信号P后广播UWB信号Q。接着，物联网标签设备1在第三时隙的时间戳V、时间戳W和时间戳F分别侦听到UWB信号N、UWB信号P和UWB信号Q，并在第三时隙的时间戳G广播指示信息，该指示信息用于指示时间戳U、时间戳V、时间戳W、时间戳F和时间戳G。最后，基站XX侦听到该指示信息以获知时间戳U、时间戳V和时间戳G，并根据时间戳U、时间戳V、时间戳G、时间戳M、时间戳N和时间戳P计算得到基站XX与物联网标签设备1之间的距离r1。同理，基站M可以计算得到基站M与物联网标签设备1之间的距离r2，基站N可以计算得到基站N与物联网标签设备1之间的距离r3，从而根据基站XX、基站M和基站N所在的位置信息为原点，r1、r2和r3为半径构造3个圆形的交点作为物联网标签设备1的位置信息。
可以看出，本申请实施例中，基站X在第一时间帧上的当前时隙内与定位服务***中的至少三个基站、电子设备或者至少一个物联网标签设备交互UWB信号以实现UWB无线通信。由于基站与基站之间需要交互UWB信号以执行基站的同步操作，以及通过预设定位算法确定电子设备的位置信息和至少一个物联网标签设备的位置信息，因此通过定位服务***中的通信设备之间执行同步操作和定位服务的不同，将第一时间帧划分为不同的时隙，即不同的UWB信道，并由通信设备之间在对应的时隙内交互UWB信号，从而有利于避免UWB信号在UWB信道中相互冲突与干扰，以及通过时隙分配为通信设备提供不同的同步操作和定位服务。
与上述实施例一致，下面将从方法示例的角度介绍定位服务***100中的标签设备120执行UWB无线通信的步骤，请参阅图3。图3是本申请实施提供的又一种无线通信方法的流程示意图，该方法包括：
S310、标签设备获取用于定位服务***中的通信设备之间进行超带宽UWB无线通信的第一时间帧。
其中，定位服务***中的通信设备可以包括至少三个基站标签设备；第一时间帧可以包含一个用于 提供基站同步操作的时隙和至少一个用于通过预设定位算法给标签设备提供定位服务的时隙。
需要说明的是，本示例中的定服务***可以为上述提到的定位服务***100，至少三个基站可以为上述提到的至少三个基站110，标签设备可以为上述提到的标签设备120。此外，标签设备可以由中央位置引擎(central location engine，CLE)设备(又称为定位服务器，例如位置计算设备)发送的配置信息中获取第一时间帧，也可以由定位服务***中的主基站或者参考基站发送的配置信息中获取第一时间帧。
具体的，标签设备可以为电子设备，也可以为至少一个物联网标签设备。
具体的，第一时间帧可以表示在应用层(application layer)上周期性划分的时间间隔，并且第一时间帧上可以划分多个时隙，而每个时隙可以为定位服务***中的通信设备交互UWB信号的UWB信道。同时，在应用层上周期性划分的时间间隔与媒体接入控制层(media access control layer，MAC)上周期性划分的时间间隔(例如超帧)满足一定的映射关系。
具体的，预设定位算法可以包括SS-TWR算法、DS-TWR算法、TDOA算法、AOA/PDOA算法，还可以包括本申请实施例后续提到的结合第二时隙与TDOA算法的TDOA改进算法、以及本申请实施例后续提到的结合第三时隙和DS-TWR算法的DS-TWR改进算法。
具体的，预设定位算法可以包括SS-TWR算法、DS-TWR算法、TDOA算法、AOA/PDOA算法，还可以包括本申请实施例后续提到的结合第二时隙与TDOA算法的TDOA改进算法、以及本申请实施例后续提到的结合第三时隙和DS-TWR算法的DS-TWR改进算法。
在一个可能的示例中，一个用于提供基站同步操作的时隙为第一时隙，至少一个用于通过预设定位算法给标签设备提供定位服务的时隙包括第二时隙、第三时隙和第四时隙，预设定位算法包括第一定位算法、第二定位算法和第三定位算法，标签设备可以包括电子设备和至少一个物联网标签设备。
其中，第二时隙可以用于通过第一定位算法给电子设备提供定位服务，第三时隙可以用于通过第二定位算法给至少一个物联网标签设备提供定位服务，第四时隙可以用于通过第三定位算法给电子设备从至少一个物联网标签设备中定位目标物联网标签设备。
需要说明的是，在本申请实施例中，第一时间帧可以包含第一时隙、第二时隙、第三时隙和第四时隙。由于第一时隙主要可以用于提供基站同步操作，因此当标签设备在第一时间帧上的当前时隙内与定位服务***中的通信设备交互UWB信号以实现UWB无线通信时，此时的当前时隙只能是第二时隙、第三时隙或者第四时隙中的一个时隙。
S320、标签设备在第一时间帧上的当前时隙内与定位服务***中的通信设备交互UWB信号以实现UWB无线通信。
具体的，当前时隙可以为第二时隙、第三时隙或者第四时隙。
具体的，UWB信号可以包括媒体接入控制协议数据单元(media access control protocol data unit，MPDU)，也可以包括信标(beacon)帧或者数据帧。其中，在UWB信号的MAC帧头中的帧控制字段(例如，信标帧的MAC帧头中的帧控制字段或者数据帧的MAC帧头中的帧控制字段)携带有基站的有效信息或者标签设备的有效信息，例如基站自身的标识符、基站发送UWB信号所占用的子时隙编号、基站的位置信息、基站发送UWB信号的起始时间戳、标签设备自身的标识符、标签设备的位置信息或者标签设备发送UWB信号的起始时间戳等。
下面本申请实施例将分别介绍当前时隙分别为第二时隙、第三时隙或者第四时隙的情况下，标签设备在当前时隙内与定位服务***中的通信设备交互UWB信号以实现UWB无线通信的具体步骤。
在一个可能的示例中，若当前时隙为第二时隙，标签设备为电子设备，则标签设备在第一时间帧上的当前时隙内与定位服务***中的通信设备交互UWB信号以实现UWB无线通信，可以包括以下操作：标签设备在第二时隙内根据第一定位算法与定位服务***中的通信设备交互UWB信号以确定自身在定位服务***中的位置信息。
需要说明的是，由于定位服务***中的通信设备之间可以随时在第一时间帧的第二时隙内广播UWB信号，而不像在第一时间帧的第一时隙内需要为每个基站配置广播UWB信号的子时隙编号，因此为了避免定位服务***中的通信设备在第二时隙内同时广播UWB信号而产生冲突，第二时隙内的UWB无线通信可以采用载波侦听多路访问/冲突避免(Carrier Sense Multiple Access with Collision Avoid，CSMA/CA)机制。
具体的，若至少三个基站包括基站X、基站K和基站L，基站X与基站K之间具有第一距离，基站X与基站L之间具有第二距离，基站K与基站L之间具有第三距离，则标签设备在第二时隙内根据第一定位算法与定位服务***中的通信设备交互UWB信号以确定自身在定位服务***中的位置信息，可以包括以下操作：标签设备在第二时隙的时间戳Q上侦听到UWB信号J，UWB信号J是由基站X在第二时隙的时间戳H上向定位服务***中的通信设备广播的，UWB信号J用于检测标签设备在定位服务***中的位置信息；标签设备在第二时隙的时间戳R上侦听到UWB信号K，时间戳R在时间戳Q之后，UWB信号K是由基站K在侦听到UWB信号J后向定位服务***中的通信设备广播的；标签设备在第二时隙的时间戳S侦听到UWB信号L，时间戳S在时间戳R之后，UWB信号L是由基站L在侦听到UWB信号K后向定位服务***中的通信设备广播的；标签设备在第二时隙的时间戳T接收到指示信息Z；其中，时间戳T在时间戳S之后，指示信息Z用于指示第一发送时间差和第二发送时间差，第一发送时间差为基站X广播UWB信号J与基站K广播UWB信号K之间的发送时间差，第二发送时间差为基站X广播UWB信号J与基站L广播UWB信号L之间的发送时间差；标签设备根据时间戳Q、时间戳R、时间戳S、第一发送时间差和第二发送时间差确定自身在定位服务***中的位置信息。
举例说明，具体详见图2H，在此不再赘述。
在一个可能的示例中，若当前时隙为第三时隙，标签设备为至少一个物联网标签设备中的一个物联网标签设备，则标签设备在第一时间帧上的当前时隙内与定位服务***中的通信设备交互UWB信号以实现UWB无线通信，可以包括以下操作：标签设备在第三时隙内根据第二定位算法与定位服务***中的通信设备交互UWB信号以确定自身在定位服务***中的位置信息。
需要说明的是，由于定位服务***中的通信设备之间可以随时在第一时间帧的第三时隙内广播UWB信号，而不像在第一时间帧的第一时隙内需要为每个基站配置广播UWB信号的子时隙编号，因此为了避免定位服务***中的通信设备在第三时隙内同时广播UWB信号而产生冲突，第三时隙内的UWB无线通信可以采用CSMA/CA机制。
具体的，若至少三个基站包括基站X、基站M和基站N，则标签设备在第二时隙内根据第二定位算法与定位服务***中的通信设备交互UWB信号以确定自身在定位服务***中的位置信息，可以包括 以下操作：标签设备在第三时隙的时间戳U上向定位服务***中的通信设备广播UWB信号M，UWB信号M用于请求检测标签设备在定位服务***中的位置信息；标签设备在第三时隙的时间戳V侦听到UWB信号N，时间戳V在时间戳U之后，UWB信号N是由基站X在侦听到UWB信号M之后向定位服务***中的通信设备广播的；标签设备在第三时隙的时间戳W侦听到UWB信号P，时间戳W在时间戳V之后，UWB信号P是由基站M在侦听到UWB信号N后向定位服务***中的通信设备广播的；标签设备在第三时隙的时间戳F侦听到UWB信号Q，UWB信号Q是由基站N在侦听到UWB信号P后向定位服务***中的通信设备广播的；标签设备在第三时隙的时间戳G向定位服务***中的通信设备广播指示信息H，时间戳G在时间戳F之后，指示信息H用于指示时间戳U、时间戳V、时间戳W、时间戳F以及时间戳G。
举例说明，具体详见图2I，在此不再赘述。
在一个可能的示例中，若当前时隙为第四时隙，标签设备为电子设备，则标签设备在第一时间帧上的当前时隙内与定位服务***中的通信设备交互UWB信号以实现UWB无线通信，可以包括以下操作：标签设备在第四时隙内根据第三定位算法与定位服务***中的通信设备交互UWB信号以确定自身在定位服务***中的位置信息。
具体的，第三定位算法为AOA/PDOA算法。
需要说明的是，本示例中所涉及的相关技术方案和有益效果与上述图2A中所涉及的相关技术方案和有益效果，在此不再赘述。
可以看出，本申请实施例中，标签设备在第一时间帧上的当前时隙内与定位服务***中的至少三个基站或者其他标签设备交互UWB信号以实现UWB无线通信。由于标签设备需要基站为其提供定位服务，或者标签设备之间相互提供定位服务，因此通过定位服务***中的通信设备之间执行定位服务的不同，将第一时间帧划分为不同的时隙，即不同的UWB信道，并由基站与标签设备之间、标签设备与标签设备之间在对应的时隙内交互UWB信号，从而有利于避免UWB信号在UWB信道中相互冲突与干扰，以及实现由时隙分配为定位服务***中的通信设备之间提供定位服务。
上述主要从方法侧执行过程的角度对本申请实施例的方案进行了介绍。可以理解的是，基站X为了实现上述功能，其包含了执行各个功能相应的硬件结构和/或软件模块。本领域技术人员应该很容易意识到，结合本文中所提供的实施例描述的各示例的单元及算法步骤，本申请能够以硬件或硬件和计算机软件的结合形式来实现。某个功能究竟以硬件还是计算机软件驱动硬件的方式来执行，取决于技术方案的特定应用和设计约束条件。本领域技术人员可以对每个特定的应用使用不同方法来实现所描述的功能，但是这种实现不应认为超出本申请的范围。
本申请实施例可以根据上述方法示例对基站X进行功能单元的划分，例如，可以对应各个功能划分各个功能单元，也可以将两个或两个以上的功能集成在一个处理单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。需要说明的是，本申请实施例中对单元的划分是示意性的，只是一种逻辑功能划分，而实际实现时可以有另外的划分方式。
在采用集成的单元的情况下，图4示出了一种无线通信装置的功能单元组成框图。无线通信装置400应用于基站X，具体包括：处理单元420和通信单元430。处理单元420用于对基站X的动作进行控制管理，例如，处理单元420用于支持基站X执行图2A中的部分或全部步骤，以及用于本文所描述 的技术的其它过程。通信单元430用于支持基站X与定位服务***中的通信设备之间的UWB无线通信。无线通信装置400还可以包括存储单元410，用于存储终端的程序代码和数据。
具体的，处理单元420可以是处理器或控制器，例如可以是CPU、通用处理器、DSP、ASIC、FPGA或者其他可编程逻辑器件、晶体管逻辑器件、硬件部件或者其任意组合。其可以实现或执行结合本申请公开内容所描述的各种示例性的逻辑方框、模块和电路。处理单元420也可以是实现计算功能的组合，例如包含一个或多个微处理器组合、DSP和微处理器的组合等。通信单元430可以是通信接口、收发器、收发电路等，存储单元410可以是存储器。当处理单元420为处理器，通信单元430为通信接口，存储单元410为存储器时，本申请实施例所涉及的无线通信装置400可以为图6所示的基站600。
具体实现时，处理单元420用于执行如上述方法实施例中由基站X执行的任一步骤，且在执行诸如发送等UWB信号传输时，可选择的调用通信单元430来完成相应操作。下面进行详细说明。
处理单元420用于：获取用于定位服务***中的通信设备之间进行超带宽UWB无线通信的第一时间帧；其中，定位服务***中的通信设备包括至少三个基站和标签设备；第一时间帧包含一个用于提供基站同步操作的时隙和至少一个用于通过预设定位算法给标签设备提供定位服务的时隙；在第一时间帧上的当前时隙内与定位服务***中的通信设备交互UWB信号以实现UWB无线通信。
可见，无线通信装置400在第一时间帧上的当前时隙内与定位服务***中的至少三个基站和标签设备交互UWB信号以实现UWB无线通信。由于基站与基站之间需要交互UWB信号以执行基站的同步操作，以及通过预设定位算法给标签设备提供定位服务，因此通过定位服务***中的通信设备之间执行基站同步操作和定位服务的不同，将第一时间帧划分为不同的时隙，即不同的UWB信道，并由基站与基站之间、基站与标签设备之间、标签设备与标签设备之间在对应的时隙内交互UWB信号，从而有利于避免UWB信号在UWB信道中相互冲突与干扰，以及实现由时隙分配为定位服务***中的通信设备之间提供基站同步操作和定位服务。
需要说明的是，由于方法实施例与装置实施例为相同技术构思的不同呈现形式，因此，本申请中方法实施例部分的内容应同步适配于装置实施例部分，在此不再赘述。
与上述实施例一致，标签设备120为了实现上述功能，其包含了执行各个功能相应的硬件结构和/或软件模块。本申请实施例可以根据上述方法示例对标签设备120进行功能单元的划分。
在采用集成的单元的情况下，图5提出了又一种无线通信装置的功能单元组成框图。无线通信装置500应用于车载终端标签设备120，具体包括：处理单元520和通信单元530。处理单元520用于对标签设备120的动作进行控制管理，例如，处理单元520用于支持标签设备120执行图3中的部分或全部步骤，以及用于本文所描述的技术的其它过程。通信单元530用于支持标签设备120与其他设备之间的无线通信。无线通信装置500还可以包括存储单元510，用于存储标签设备120的程序代码和数据。
其中，处理单元520可以是处理器或控制器，例如可以是CPU、通用处理器、DSP、ASIC、FPGA或者其他可编程逻辑器件、晶体管逻辑器件、硬件部件或者其任意组合。其可以实现或执行结合本申请公开内容所描述的各种示例性的逻辑方框、模块和电路。处理单元520也可以是实现计算功能的组合，例如包含一个或多个微处理器组合、DSP和微处理器的组合等。通信单元530可以是通信接口、收发器、收发电路等，存储单元510可以是存储器。当处理单元520为处理器，通信单元530为通信接口，存储单元510为存储器时，本申请实施例所涉及的无线通信装置500可以为图7所示的标签设备700。
具体实现时，处理单元520用于执行如上述方法实施例中由车载终端120执行的任一步骤，且在执行诸如发送等数据传输时，可选择的调用通信单元1030来完成相应操作。下面进行详细说明。
处理单元520用于，获取用于定位服务***中的通信设备之间进行超带宽UWB无线通信的第一时间帧；其中，定位服务***中的通信设备包括至少三个基站和标签设备；第一时间帧包含一个用于提供基站同步操作的时隙和至少一个用于通过预设定位算法给标签设备提供定位服务的时隙；在第一时间帧上的当前时隙内与定位服务***中的通信设备交互UWB信号以实现UWB无线通信。
可见，无线通信装置500在第一时间帧上的当前时隙内与定位服务***中的至少三个基站或者其他标签设备交互UWB信号以实现UWB无线通信。由于标签设备需要基站为其提供定位服务，或者标签设备之间相互提供定位服务，因此通过定位服务***中的通信设备之间执行定位服务的不同，将第一时间帧划分为不同的时隙，即不同的UWB信道，并由基站与标签设备之间、标签设备与标签设备之间在对应的时隙内交互UWB信号，从而有利于避免UWB信号在UWB信道中相互冲突与干扰，以及实现由时隙分配为定位服务***中的通信设备之间提供定位服务。
需要说明的是，由于方法实施例与装置实施例为相同技术构思的不同呈现形式，因此，本申请中方法实施例部分的内容应同步适配于装置实施例部分，在此不再赘述。
下面介绍本申请实施例提供的又一种基站的结构示意图，如图6所示。其中，基站600包括处理器610、存储器620、通信接口630和至少一个用于连接处理器610、存储器620、通信接口630的通信总线。
处理器610可以是一个或多个中央处理器CPU。在处理器610是一个CPU的情况下，该CPU可以是单核CPU，也可以是多核CPU。存储器620包括但不限于是随机存储记忆体(Random Access Memory,RAM)、只读存储器(Read-Only Memory,ROM)、可擦除可编程只读存储器(Erasable Programmable Read Only Memory,EPROM)或便携式只读存储器(Compact Disc Read-Only Memory,CD-ROM)，并且存储器620用于相关指令及数据。通信接口630用于接收和发送数据。
基站600中的处理器610用于读取存储器620中存储的一个或多个程序代码621用于执行以下操作：获取用于定位服务***中的通信设备之间进行超带宽UWB无线通信的第一时间帧；其中，定位服务***中的通信设备包括至少三个基站和标签设备；其中，第一时间帧包含一个用于提供基站同步操作的时隙和至少一个用于通过预设定位算法给标签设备提供定位服务的时隙；在第一时间帧上的当前时隙内与定位服务***中的通信设备交互UWB信号以实现UWB无线通信。
可见，基站在第一时间帧上的当前时隙内与定位服务***中的至少三个基站和标签设备交互UWB信号以实现UWB无线通信。由于基站与基站之间需要交互UWB信号以执行基站的同步操作，以及通过预设定位算法给标签设备提供定位服务，因此通过定位服务***中的通信设备之间执行基站同步操作和定位服务的不同，将第一时间帧划分为不同的时隙，即不同的UWB信道，并由基站与基站之间、基站与标签设备之间、标签设备与标签设备之间在对应的时隙内交互UWB信号，从而有利于避免UWB信号在UWB信道中相互冲突与干扰，以及实现由时隙分配为定位服务***中的通信设备之间提供基站同步操作和定位服务。
下面介绍本申请实施例提供的又一种标签设备的结构示意图，如图7所示。其中，标签设备700包括处理器710、存储器720、通信接口730和至少一个用于连接处理器710、存储器720、通信接口 730的通信总线。
处理器710可以是一个或多个中央处理器CPU。在处理器710是一个CPU的情况下，该CPU可以是单核CPU，也可以是多核CPU。存储器720包括但不限于是RAM、ROM、可EPROM或CD-ROM，并且存储器720用于相关指令及数据。通信接口730用于接收和发送数据。
标签设备700中的处理器710用于读取存储器720中存储的一个或多个程序代码721用于执行以下操作：获取用于定位服务***中的通信设备之间进行超带宽UWB无线通信的第一时间帧；其中，定位服务***中的通信设备包括至少三个基站和标签设备；其中，第一时间帧包含一个用于提供基站同步操作的时隙和至少一个用于通过预设定位算法给标签设备提供定位服务的时隙；在第一时间帧上的当前时隙内与定位服务***中的通信设备交互UWB信号以实现UWB无线通信。
可见，标签设备在第一时间帧上的当前时隙内与定位服务***中的至少三个基站或者其他标签设备交互UWB信号以实现UWB无线通信。由于标签设备需要基站为其提供定位服务，或者标签设备之间相互提供定位服务，因此通过定位服务***中的通信设备之间执行定位服务的不同，将第一时间帧划分为不同的时隙，即不同的UWB信道，并由基站与标签设备之间、标签设备与标签设备之间在对应的时隙内交互UWB信号，从而有利于避免UWB信号在UWB信道中相互冲突与干扰，以及实现由时隙分配为定位服务***中的通信设备之间提供定位服务。
本申请实施例还提供一种计算机可读存储介质，其中，该计算机可读存储介质存储用于电子数据交换的计算机程序，该计算机程序可操作来使得计算机执行如上述方法实施例中记载的任一方法的部分或全部步骤。
本申请实施例还提供一种计算机程序产品，其中，该计算机程序产品包括计算机程序，该计算机程序可操作来使计算机执行如上述方法实施例中记载的任一方法的部分或全部步骤。该计算机程序产品可以为一个软件安装包。
需要说明的是，对于上述的各方法实施例，为了简单描述，将其都表述为一系列的动作组合。本领域技术人员应该知悉，本申请不受所描述的动作顺序的限制，因为本申请实施例中的某些步骤可以采用其他顺序或者同时进行。此外，本领域技术人员也应该知悉，说明书中所描述的实施例均属于优选实施例，所涉及的动作和模块并不一定是本申请实施例所必须的。
在上述实施例中，对各个实施例的描述都各有侧重，某个实施例中没有详述的部分，可以参见其他实施例的相关描述。
在本申请所提供的几个实施例中，本领域技术人员应该知悉，所描述的装置可以通过其它的方式实现。可以理解的是，上述描述的装置实施例仅仅是示意性的。例如，上述单元的划分只是一种逻辑功能划分，实际中可以有另外的划分方式。也就是说，多个单元或组件可以结合或集成到另一个软件，以及一些特征可以忽略或不执行。此外，所显示或讨论的相互之间的耦合、直接耦合或通信连接等方式可以是通过一些接口、装置或单元的间接耦合或通信连接，也可以是电性或其它的形式。
上述作为分离部件说明的单元可以是物理上分开的，也可以不是。此外，上述作为单元显示的部件可以是物理单元，也可以不是，即可以位于一个网络单元上，也可以分布到多个网络单元上。因此，上述各个实施例可以根据实际的需要选择其中的部分或者全部单元来实现。
另外，上述各个实施例中的各个功能单元可以集成在一个处理单元中，也可以存在不同的物理单元 中，还可以两个或两个以上的功能单元集成在一个物理单元中。上述单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。
上述单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储器中。可以理解的是，本申请的技术方案(该技术方案对现有技术做出贡献的部分或者该技术方案的全部或部分)可以通过计算机软件产品的形式体现。该计算机软件产品存储在一个存储器中，包括若干指令用以使得计算机设备(个人计算机、服务器或者网络设备等)执行本申请实施例的全部或部分步骤。此外，上述存储器包括U盘、ROM、RAM、移动硬盘、磁碟或者光盘等各种可以存储程序代码的介质。
本领域技术人员应该知悉，本申请实施例的全部或部分步骤可以通过程序来指令相关的硬件来完成，该程序可以存储于存储器中，该存储器可以包括闪存盘、ROM、RAM、磁盘或光盘等。
以上对本申请实施例进行了详细介绍，本申请实施例中的说明只是用于帮助理解本申请的方法及其核心思想。本领域技术人员应该知悉，本申请实施例在具体实施方式和应用范围上均会有改变之处，至此，本说明书内容不应理解为对本申请的限制。

Claims (35)

  1. 一种无线通信方法，其特征在于，包括：
    基站X获取用于定位服务***中的通信设备之间进行超带宽UWB无线通信的第一时间帧；其中，所述定位服务***中的通信设备包括至少三个基站和标签设备，所述第一时间帧包含一个用于提供基站同步操作的时隙和至少一个用于通过预设定位算法给所述标签设备提供定位服务的时隙；
    所述基站X在所述第一时间帧上的当前时隙内与所述定位服务***中的通信设备交互UWB信号以实现UWB无线通信。
  2. 根据权利要求1所述的方法，其特征在于，所述一个用于提供基站同步操作的时隙为第一时隙，所述至少一个用于通过预设定位算法给所述标签设备提供定位服务的时隙包括第二时隙、第三时隙和第四时隙，所述预设定位算法包括第一定位算法、第二定位算法和第三定位算法，所述标签设备包括电子设备和至少一个物联网标签设备；
    其中，所述第二时隙用于通过所述第一定位算法给所述电子设备提供定位服务，所述第三时隙用于通过所述第二定位算法给所述至少一个物联网标签设备提供定位服务，所述第四时隙用于通过所述第三定位算法给所述电子设备从所述至少一个物联网标签设备中定位目标物联网标签设备。
  3. 根据权利要求2所述的方法，其特征在于，所述当前时隙为所述第一时隙，所述第一时隙包含至少三个子时隙，所述基站X为待接入所述定位服务***的一个基站；
    所述基站X在所述第一时间帧上的当前时隙内与所述定位服务***中的通信设备交互UWB信号以实现UWB无线通信，包括：
    所述基站X在所述至少三个子时隙内侦听到所述至少三个基站中的每个基站广播的UWB信号；
    所述基站X根据所述至少三个基站中的每个基站广播的UWB信号在所述至少三个子时隙中的子时隙占用情况确定自身广播UWB信号所占用的子时隙编号；
    所述基站X根据自身侦听到所述至少三个基站中的每个基站广播的UWB信号的时间差和所述至少三个子时隙中的子时隙之间的时间间隔确定自身在所述定位服务***中的位置信息；
    所述基站X根据所述自身广播UWB信号所占用的子时隙编号和所述自身在所述定位服务***中的位置信息向所述定位服务***中的通信设备广播UWB信号X以接入所述定位服务***。
  4. 根据权利要求3所述的方法，其特征在于，所述基站X根据所述至少三个基站中的每个基站广播的UWB信号在所述至少三个子时隙中的子时隙占用情况确定自身广播UWB信号所占用的子时隙编号，包括：
    所述基站X根据所述至少三个基站中的每个基站广播的UWB信号在所述至少三个子时隙中的子时隙占用情况以预设规则从所述至少三个子时隙中未被占用的子时隙中选择一个子时隙。
  5. 根据权利要求3所述的方法，其特征在于，所述至少三个基站包括基站Y、基站Z和基站H，所述至少三个子时隙包括第一子时隙、第二子时隙和第三子时隙，所述第二子时隙为所述第一子时隙之后的一个子时隙，所述第三子时隙为所述第二子时隙之后的一个子时隙；
    所述基站X根据自身侦听到所述至少三个基站中的每个基站广播的UWB信号的时间差和所述至少三个子时隙中的子时隙之间的时间间隔确定自身在所述定位服务***中的位置信息，包括：
    所述基站X在所述第一子时隙的时间戳X侦听到所述基站Y在所述第一子时隙的起始时间广播的 UWB信号Y；
    所述基站X在所述第二子时隙的时间戳Y侦听到所述基站Z在所述第二子时隙的起始时间广播的UWB信号Z，并计算所述第一子时隙的起始时间到所述第二子时隙的起始时间之间的时间间隔以得到第一时间间隔；
    所述基站X在所述第三子时隙的时间戳Z侦听到所述基站H在所述第三子时隙的起始时间广播的UWB信号H，并计算所述第二子时隙的起始时间到所述第三子时隙的起始时间之间的时间间隔以得到第二时间间隔；
    所述基站X根据所述时间戳X、所述时间戳Y计算自身侦听到所述UWB信号Y与自身侦听到所述UWB信号Z之间的时间差以得到第一时间差；
    所述基站X根据所述时间戳X、所述时间戳Z计算自身侦听到所述UWB信号Y与自身侦听到所述UWB信号H之间的时间差以得到第二时间差；
    所述基站X根据所述第一时间差、所述第二时间差、所述第一时间间隔和所述第二时间间隔确定所述自身在所述定位服务***中的位置信息。
  6. 根据权利要求2所述的方法，其特征在于，所述当前时隙为所述第一时隙，所述基站X为所述至少三个基站中的一个基站；
    所述基站X在所述第一时间帧上的当前时隙内与所述定位服务***中的通信设备交互UWB信号以实现UWB无线通信，包括：
    所述基站X在所述第一时隙上的第四子时隙内向所述定位服务***中的通信设备广播指示信息X，所述指示信息X用于指示所述基站X在所述定位服务***中的位置信息；
    所述基站X在所述第一时隙上的第五子时隙内侦听到基站J发送的指示信息Y，所述指示信息Y用于指示所述基站J在所述定位服务***中的位置信息，所述基站J为所述至少三个基站中除所述基站X的一个基站。
  7. 根据权利要求2所述的方法，其特征在于，所述当前时隙为所述第二时隙，所述基站X为所述至少三个基站中的一个基站；
    所述基站X在所述第一时间帧上的当前时隙内与所述定位服务***中的通信设备交互UWB信号以实现UWB无线通信，包括：
    所述基站X在所述第二时隙内根据所述第一定位算法与所述定位服务***中的通信设备交互UWB信号以确定所述电子设备在所述定位服务***中的位置信息。
  8. 根据权利要求7所述的方法，其特征在于，所述至少三个基站包括所述基站X、基站K和基站L，所述基站X与所述基站K之间具有第一距离，所述基站X与所述基站L之间具有第二距离，所述基站K与所述基站L之间具有第三距离；
    所述基站X在所述第二时隙内根据所述第一定位算法与所述定位服务***中的通信设备交互UWB信号以确定所述电子设备在所述定位服务***中的位置信息，包括：
    所述基站X在所述第二时隙的时间戳H上向所述定位服务***中的通信设备广播UWB信号J，所述UWB信号J用于检测所述电子设备在所述定位服务***中的位置信息；
    所述基站X在所述第二时隙的时间戳J上侦听到UWB信号K，所述时间戳J在所述时间戳H之后， 所述UWB信号K是由所述基站K在侦听到所述UWB信号J后向所述定位服务***中的通信设备广播的；
    所述基站X在所述第二时隙的时间戳K上侦听到UWB信号L，所述时间戳K在所述时间戳J之后，所述UWB信号L是由所述基站L在侦听到所述UWB信号K后向所述定位服务***中的通信设备广播的；
    所述基站X根据所述时间戳H、所述时间戳J和所述第一距离确定第一发送时间差，所述第一发送时间差为所述基站X广播所述UWB信号J与所述基站K广播所述UWB信号K之间的发送时间差；
    所述基站X根据所述时间戳H、所述时间戳K和所述第二距离确定第二发送时间差，所述第二发送时间差为所述基站X广播所述UWB信号J与所述基站L广播所述UWB信号L之间的发送时间差；
    所述基站X在所述第二时隙的时间戳L上向所述电子设备或所述至少一个物联网标签设备发送指示信息Z，所述时间戳L在所述时间戳K之后，所述指示信息Z用于指示所述第一发送时间差和所述第二发送时间差。
  9. 根据权利要求2所述的方法，其特征在于，所述当前时隙为所述第三时隙，所述基站X为所述至少三个基站中的一个基站；
    所述基站X在所述第一时间帧上的当前时隙内与所述定位服务***中的通信设备交互UWB信号以实现UWB无线通信，包括：
    所述基站X在所述第三时隙内根据所述第二定位算法与所述定位服务***中的通信设备交互UWB信号以确定所述至少一个物联网标签设备中的目标物联网标签设备在所述定位服务***中的位置信息。
  10. 根据权利要求9所述的方法，其特征在于，所述至少三个基站包括所述基站X、基站M和基站N；
    所述基站X在所述第三时隙内根据所述第二定位算法与所述定位服务***中的通信设备交互UWB信号以确定所述所述至少一个物联网标签设备中的目标物联网标签设备在所述定位服务***中的位置信息，包括：
    所述基站X在所述第三时隙的时间戳M上侦听到所述目标物联网设备广播的UWB信号M，所述UWB信号M用于请求检测所述目标物联网标签设备在所述定位服务***中的位置信息；
    所述基站X在所述第三时隙的时间戳N上向所述定位服务***中的通信设备广播UWB信号N，所述时间戳N在所述时间戳M之后；
    所述基站X在所述第三时隙的时间戳P上侦听到指示信息H，所述时间戳P在所述时间戳N之后，所述指示信息H是由所述目标物联网标签设备在侦听到所述UWB信号N、UWB信号P、UWB信号Q之后向所述定位服务***中的通信设备广播的，所述UWB信号P是由所述基站M在侦听到所述UWB信号N后向所述定位服务***中的通信设备广播的，所述UWB信号Q是由所述基站N在侦听到所述UWB信号P后向所述定位服务***中的通信设备广播的，所述指示信息H用于指示自身在所述第三时隙上广播所述UWB信号M的时间戳、自身在所述第三时隙上侦听到所述UWB信号N的时间戳、自身在所述第三时隙上侦听到所述UWB信号P的时间戳、自身在所述第三时隙上侦听到所述UWB信号Q的时间戳以及自身在所述第三时隙上广播所述指示信息H的时间戳；
    所述基站X根据所述指示信息H、所述时间戳M、所述时间戳N和所述时间戳P确定自身与所述 目标物联网标签设备之间的距离。
  11. 一种无线通信方法，其特征在于，包括：
    标签设备获取用于定位服务***中的通信设备之间进行超带宽UWB无线通信的第一时间帧；其中，所述定位服务***中的通信设备包括所述标签设备和至少三个基站，所述第一时间帧包含一个用于提供基站同步操作的时隙和至少一个用于通过预设定位算法给所述标签设备提供定位服务的时隙；
    所述标签设备在所述第一时间帧上的当前时隙内与所述定位服务***中的通信设备交互UWB信号以实现UWB无线通信。
  12. 根据权利要求11所述的方法，其特征在于，所述一个用于提供基站同步操作的时隙为第一时隙，所述至少一个用于通过预设定位算法给所述标签设备提供定位服务的时隙包括第二时隙、第三时隙和第四时隙，所述预设定位算法包括第一定位算法、第二定位算法和第三定位算法，所述标签设备包括电子设备和至少一个物联网标签设备；
    其中，所述第二时隙用于通过所述第一定位算法给所述电子设备提供定位服务，所述第三时隙用于通过所述第二定位算法给所述至少一个物联网标签设备提供定位服务，所述第四时隙用于通过所述第三定位算法给所述电子设备从所述至少一个物联网标签设备中定位目标物联网标签设备。
  13. 根据权利要求12所述的方法，其特征在于，所述当前时隙为所述第二时隙，所述标签设备为所述电子设备；
    所述标签设备在所述第一时间帧上的当前时隙内与所述定位服务***中的通信设备交互UWB信号以实现UWB无线通信，包括：
    所述标签设备在所述第二时隙内根据所述第一定位算法与所述定位服务***中的通信设备交互UWB信号以确定自身在所述定位服务***中的位置信息。
  14. 根据权利要求13所述的方法，其特征在于，所述至少三个基站包括基站X、基站K和基站L，所述基站X与所述基站K之间具有第一距离，所述基站X与所述基站L之间具有第二距离，所述基站K与所述基站L之间具有第三距离；
    所述标签设备在所述第二时隙内根据所述第一定位算法与所述定位服务***中的通信设备交互UWB信号以确定自身在所述定位服务***中的位置信息，包括：
    所述标签设备在所述第二时隙的时间戳Q上侦听到UWB信号J，所述UWB信号J是由所述基站X在所述第二时隙的时间戳H上向所述定位服务***中的通信设备广播的，所述UWB信号J用于检测所述标签设备在所述定位服务***中的位置信息；
    所述标签设备在所述第二时隙的时间戳R上侦听到UWB信号K，所述时间戳R在所述时间戳Q之后，所述UWB信号K是由所述基站K在侦听到所述UWB信号J后向所述定位服务***中的通信设备广播的；
    所述标签设备在所述第二时隙的时间戳S侦听到UWB信号L，所述时间戳S在所述时间戳R之后，所述UWB信号L是由所述基站L在侦听到所述UWB信号K后向所述定位服务***中的通信设备广播的；
    所述标签设备在所述第二时隙的时间戳T接收到指示信息Z；其中，所述时间戳T在所述时间戳S之后，所述指示信息Z用于指示第一发送时间差和第二发送时间差，所述第一发送时间差为所述基站X 广播所述UWB信号J与所述基站K广播所述UWB信号K之间的发送时间差，所述第二发送时间差为所述基站X广播所述UWB信号J与所述基站L广播所述UWB信号L之间的发送时间差；
    所述标签设备根据所述时间戳Q、所述时间戳R、所述时间戳S、所述第一发送时间差和所述第二发送时间差确定自身在所述定位服务***中的位置信息。
  15. 根据权利要求12所述的方法，其特征在于，所述当前时隙为所述第三时隙，所述标签设备为所述至少一个物联网标签设备中的一个物联网标签设备；
    所述标签设备在所述第一时间帧上的当前时隙内与所述定位服务***中的通信设备交互UWB信号以实现UWB无线通信，包括：
    所述标签设备在所述第三时隙内根据所述第二定位算法与所述定位服务***中的通信设备交互UWB信号以确定自身在所述定位服务***中的位置信息。
  16. 根据权利要求15所述的方法，其特征在于，所述至少三个基站包括所述基站X、基站M和基站N；
    所述标签设备在所述第三时隙内根据所述第二定位算法与所述定位服务***中的通信设备交互UWB信号以确定自身在所述定位服务***中的位置信息，包括：
    所述标签设备在所述第三时隙的时间戳U上向所述定位服务***中的通信设备广播UWB信号M，所述UWB信号M用于请求检测所述标签设备在所述定位服务***中的位置信息；
    所述标签设备在所述第三时隙的时间戳V侦听到UWB信号N，所述时间戳V在所述时间戳U之后，所述UWB信号N是由所述基站X在侦听到所述UWB信号M之后向所述定位服务***中的通信设备广播的；
    所述标签设备在所述第三时隙的时间戳W侦听到UWB信号P，所述时间戳W在所述时间戳V之后，所述UWB信号P是由所述基站M在侦听到所述UWB信号N后向所述定位服务***中的通信设备广播的；
    所述标签设备在所述第三时隙的时间戳F侦听到UWB信号Q，所述UWB信号Q是由所述基站N在侦听到所述UWB信号P后向所述定位服务***中的通信设备广播的；
    所述标签设备在所述第三时隙的时间戳G向所述定位服务***中的通信设备广播所述指示信息H，所述时间戳G在所述时间戳F之后，所述指示信息H用于指示所述时间戳U、所述时间戳V、所述时间戳W、所述时间戳F以及所述时间戳G。
  17. 一种无线通信装置，其特征在于，应用于基站X；所述装置包括处理单元和通信单元，所述处理单元用于：
    通过所述通信单元获取用于定位服务***中的通信设备之间进行超带宽UWB无线通信的第一时间帧；其中，所述定位服务***中的通信设备包括至少三个基站和标签设备；所述第一时间帧包含一个用于提供基站同步操作的时隙和至少一个用于通过预设定位算法给所述标签设备提供定位服务的时隙；
    通过所述通信单元在所述第一时间帧上的当前时隙内与所述定位服务***中的通信设备交互UWB信号以实现UWB无线通信。
  18. 根据权利要求17所述的装置，其特征在于，所述一个用于提供基站同步操作的时隙为第一时隙，所述至少一个用于通过预设定位算法给所述标签设备提供定位服务的时隙包括第二时隙、第三时隙 和第四时隙，所述预设定位算法包括第一定位算法、第二定位算法和第三定位算法，所述标签设备包括电子设备和至少一个物联网标签设备；
    其中，所述第二时隙用于通过所述第一定位算法给所述电子设备提供定位服务，所述第三时隙用于通过所述第二定位算法给所述至少一个物联网标签设备提供定位服务，所述第四时隙用于通过所述第三定位算法给所述电子设备从所述至少一个物联网标签设备中定位目标物联网标签设备。
  19. 根据权利要求18所述的装置，其特征在于，所述当前时隙为所述第一时隙，所述第一时隙包含至少三个子时隙，所述基站X为待接入所述定位服务***的一个基站；
    在所述第一时间帧上的当前时隙内与所述定位服务***中的通信设备交互UWB信号以实现UWB无线通信方面，所述处理单元具体用于：
    在所述至少三个子时隙内侦听到所述至少三个基站中的每个基站广播的UWB信号；
    根据所述至少三个基站中的每个基站广播的UWB信号在所述至少三个子时隙中的子时隙占用情况确定自身广播UWB信号所占用的子时隙编号；
    根据自身侦听到所述至少三个基站中的每个基站广播的UWB信号的时间差和所述至少三个子时隙中的子时隙之间的时间间隔确定自身在所述定位服务***中的位置信息；
    根据所述自身广播UWB信号所占用的子时隙编号和所述自身在所述定位服务***中的位置信息向所述定位服务***中的通信设备广播UWB信号X以接入所述定位服务***。
  20. 根据权利要求19所述的装置，其特征在于，在根据所述至少三个基站中的每个基站广播的UWB信号在所述至少三个子时隙中的子时隙占用情况确定自身广播UWB信号所占用的子时隙编号方面，所述处理单元具体用于：
    根据所述至少三个基站中的每个基站广播的UWB信号在所述至少三个子时隙中的子时隙占用情况以预设规则从所述至少三个子时隙中未被占用的子时隙中选择一个子时隙。
  21. 根据权利要求19所述的装置，其特征在于，所述至少三个基站包括基站Y、基站Z和基站H，所述至少三个子时隙包括第一子时隙、第二子时隙和第三子时隙，所述第二子时隙为所述第一子时隙之后的一个子时隙，所述第三子时隙为所述第二子时隙之后的一个子时隙；
    在根据自身侦听到所述至少三个基站中的每个基站广播的UWB信号的时间差和所述至少三个子时隙中的子时隙之间的时间间隔确定自身在所述定位服务***中的位置信息方面，所述处理单元具体用于：
    在所述第一子时隙的时间戳X侦听到所述基站Y在所述第一子时隙的起始时间广播的UWB信号Y；
    在所述第二子时隙的时间戳Y侦听到所述基站Z在所述第二子时隙的起始时间广播的UWB信号Z，并计算所述第一子时隙的起始时间到所述第二子时隙的起始时间之间的时间间隔以得到第一时间间隔；
    在所述第三子时隙的时间戳Z侦听到所述基站H在所述第三子时隙的起始时间广播的UWB信号H，并计算所述第二子时隙的起始时间到所述第三子时隙的起始时间之间的时间间隔以得到第二时间间隔；
    根据所述时间戳X、所述时间戳Y计算自身侦听到所述UWB信号Y与自身侦听到所述UWB信号Z之间的时间差以得到第一时间差；
    根据所述时间戳X、所述时间戳Z计算自身侦听到所述UWB信号Y与自身侦听到所述UWB信号 H之间的时间差以得到第二时间差；
    根据所述第一时间差、所述第二时间差、所述第一时间间隔和所述第二时间间隔确定所述自身在所述定位服务***中的位置信息。
  22. 根据权利要求18所述的装置，其特征在于，所述当前时隙为所述第一时隙，所述基站X为所述至少三个基站中的一个基站；
    在所述第一时间帧上的当前时隙内与所述定位服务***中的通信设备交互UWB信号以实现UWB无线通信方面，所述处理单元具体用于：
    在所述第一时隙上的第四子时隙内向所述定位服务***中的通信设备广播指示信息X，所述指示信息X用于指示所述基站X在所述定位服务***中的位置信息；
    在所述第一时隙上的第五子时隙内侦听到基站J发送的指示信息Y，所述指示信息Y用于指示所述基站J在所述定位服务***中的位置信息，所述基站J为所述至少三个基站中除所述基站X的一个基站。
  23. 根据权利要求18所述的装置，其特征在于，所述当前时隙为所述第二时隙，所述基站X为所述至少三个基站中的一个基站；
    在所述第一时间帧上的当前时隙内与所述定位服务***中的通信设备交互UWB信号以实现UWB无线通信方面，所述处理单元具体用于：
    在所述第二时隙内根据所述第一定位算法与所述定位服务***中的通信设备交互UWB信号以确定所述电子设备在所述定位服务***中的位置信息。
  24. 根据权利要求23所述的装置，其特征在于，所述至少三个基站包括所述基站X、基站K和基站L，所述基站X与所述基站K之间具有第一距离，所述基站X与所述基站L之间具有第二距离，所述基站K与所述基站L之间具有第三距离；
    在所述第二时隙内根据所述第一定位算法与所述定位服务***中的通信设备交互UWB信号以确定所述电子设备在所述定位服务***中的位置信息方面，所述处理单元具体用于：
    在所述第二时隙的时间戳H上向所述定位服务***中的通信设备广播UWB信号J，所述UWB信号J用于检测所述电子设备在所述定位服务***中的位置信息；
    在所述第二时隙的时间戳J上侦听到UWB信号K，所述时间戳J在所述时间戳H之后，所述UWB信号K是由所述基站K在侦听到所述UWB信号J后向所述定位服务***中的通信设备广播的；
    在所述第二时隙的时间戳K上侦听到UWB信号L，所述时间戳K在所述时间戳J之后，所述UWB信号L是由所述基站L在侦听到所述UWB信号K后向所述定位服务***中的通信设备广播的；
    根据所述时间戳H、所述时间戳J和所述第一距离确定第一发送时间差，所述第一发送时间差为所述基站X广播所述UWB信号J与所述基站K广播所述UWB信号K之间的发送时间差；
    根据所述时间戳H、所述时间戳K和所述第二距离确定第二发送时间差，所述第二发送时间差为所述基站X广播所述UWB信号J与所述基站L广播所述UWB信号L之间的发送时间差；
    在所述第二时隙的时间戳L上向所述电子设备或所述至少一个物联网标签设备发送指示信息Z，所述时间戳L在所述时间戳K之后，所述指示信息Z用于指示所述第一发送时间差和所述第二发送时间差。
  25. 根据权利要求18所述的装置，其特征在于，所述当前时隙为所述第三时隙，所述基站X为所述至少三个基站中的一个基站；
    在所述第一时间帧上的当前时隙内与所述定位服务***中的通信设备交互UWB信号以实现UWB无线通信方面，所述处理单元具体用于：
    在所述第三时隙内根据所述第二定位算法与所述定位服务***中的通信设备交互UWB信号以确定所述至少一个物联网标签设备中的目标物联网标签设备在所述定位服务***中的位置信息。
  26. 根据权利要求25所述的装置，其特征在于，所述至少三个基站包括所述基站X、基站M和基站N；
    在所述第三时隙内根据所述第二定位算法与所述定位服务***中的通信设备交互UWB信号以确定所述所述至少一个物联网标签设备中的目标物联网标签设备在所述定位服务***中的位置信息方面，所述处理单元具体用于：
    在所述第三时隙的时间戳M上侦听到所述目标物联网设备广播的UWB信号M，所述UWB信号M用于请求检测所述目标物联网标签设备在所述定位服务***中的位置信息；
    在所述第三时隙的时间戳N上向所述定位服务***中的通信设备广播UWB信号N，所述时间戳N在所述时间戳M之后；
    在所述第三时隙的时间戳P上侦听到指示信息H，所述时间戳P在所述时间戳N之后，所述指示信息H是由所述目标物联网标签设备在侦听到所述UWB信号N、UWB信号P、UWB信号Q之后向所述定位服务***中的通信设备广播的，所述UWB信号P是由所述基站M在侦听到所述UWB信号N后向所述定位服务***中的通信设备广播的，所述UWB信号Q是由所述基站N在侦听到所述UWB信号P后向所述定位服务***中的通信设备广播的，所述指示信息H用于指示自身在所述第三时隙上广播所述UWB信号M的时间戳、自身在所述第三时隙上侦听到所述UWB信号N的时间戳、自身在所述第三时隙上侦听到所述UWB信号P的时间戳、自身在所述第三时隙上侦听到所述UWB信号Q的时间戳以及自身在所述第三时隙上广播所述指示信息H的时间戳；
    根据所述指示信息H、所述时间戳M、所述时间戳N和所述时间戳P确定自身与所述目标物联网标签设备之间的距离。
  27. 一种无线通信装置，其特征在于，应用于标签设备；所述装置包括处理单元和通信单元，所述处理单元用于：
    通过所述通信单元获取用于定位服务***中的通信设备之间进行超带宽UWB无线通信的第一时间帧；其中，所述定位服务***中的通信设备包括所述标签设备和至少三个基站，所述第一时间帧包含一个用于提供基站同步操作的时隙和至少一个用于通过预设定位算法给所述标签设备提供定位服务的时隙；
    通过所述通信单元在所述第一时间帧上的当前时隙内与所述定位服务***中的通信设备交互UWB信号以实现UWB无线通信。
  28. 根据权利要求27所述的装置，其特征在于，所述一个用于提供基站同步操作的时隙为第一时隙，所述至少一个用于通过预设定位算法给所述标签设备提供定位服务的时隙包括第二时隙、第三时隙和第四时隙，所述预设定位算法包括第一定位算法、第二定位算法和第三定位算法，所述标签设备包括 电子设备和至少一个物联网标签设备；
    其中，所述第二时隙用于通过所述第一定位算法给所述电子设备提供定位服务，所述第三时隙用于通过所述第二定位算法给所述至少一个物联网标签设备提供定位服务，所述第四时隙用于通过所述第三定位算法给所述电子设备从所述至少一个物联网标签设备中定位目标物联网标签设备。
  29. 根据权利要求28所述的装置，其特征在于，所述当前时隙为所述第二时隙，所述标签设备为所述电子设备；
    在所述第一时间帧上的当前时隙内与所述定位服务***中的通信设备交互UWB信号以实现UWB无线通信方面，所述处理单元具体用于：
    在所述第二时隙内根据所述第一定位算法与所述定位服务***中的通信设备交互UWB信号以确定自身在所述定位服务***中的位置信息。
  30. 根据权利要求29所述的装置，其特征在于，所述至少三个基站包括基站X、基站K和基站L，所述基站X与所述基站K之间具有第一距离，所述基站X与所述基站L之间具有第二距离，所述基站K与所述基站L之间具有第三距离；
    在所述第二时隙内根据所述第一定位算法与所述定位服务***中的通信设备交互UWB信号以确定自身在所述定位服务***中的位置信息方面，所述处理单元具体用于：
    在所述第二时隙的时间戳Q上侦听到UWB信号J，所述UWB信号J是由所述基站X在所述第二时隙的时间戳H上向所述定位服务***中的通信设备广播的，所述UWB信号J用于检测所述标签设备在所述定位服务***中的位置信息；
    在所述第二时隙的时间戳R上侦听到UWB信号K，所述时间戳R在所述时间戳Q之后，所述UWB信号K是由所述基站K在侦听到所述UWB信号J后向所述定位服务***中的通信设备广播的；
    在所述第二时隙的时间戳S侦听到UWB信号L，所述时间戳S在所述时间戳R之后，所述UWB信号L是由所述基站L在侦听到所述UWB信号K后向所述定位服务***中的通信设备广播的；
    在所述第二时隙的时间戳T接收到指示信息Z；其中，所述时间戳T在所述时间戳S之后，所述指示信息Z用于指示第一发送时间差和第二发送时间差，所述第一发送时间差为所述基站X广播所述UWB信号J与所述基站K广播所述UWB信号K之间的发送时间差，所述第二发送时间差为所述基站X广播所述UWB信号J与所述基站L广播所述UWB信号L之间的发送时间差；
    根据所述时间戳Q、所述时间戳R、所述时间戳S、所述第一发送时间差和所述第二发送时间差确定自身在所述定位服务***中的位置信息。
  31. 根据权利要求28所述的装置，其特征在于，所述当前时隙为所述第三时隙，所述标签设备为所述至少一个物联网标签设备中的一个物联网标签设备；
    在所述第一时间帧上的当前时隙内与所述定位服务***中的通信设备交互UWB信号以实现UWB无线通信方面，所述处理单元具体用于：
    在所述第三时隙内根据所述第二定位算法与所述定位服务***中的通信设备交互UWB信号以确定自身在所述定位服务***中的位置信息。
  32. 根据权利要求31所述的装置，其特征在于，所述至少三个基站包括所述基站X、基站M和基站N；
    在所述第三时隙内根据所述第二定位算法与所述定位服务***中的通信设备交互UWB信号以确定自身在所述定位服务***中的位置信息方面，所述处理单元具体用于：
    在所述第三时隙的时间戳U上向所述定位服务***中的通信设备广播UWB信号M，所述UWB信号M用于请求检测所述标签设备在所述定位服务***中的位置信息；
    在所述第三时隙的时间戳V侦听到UWB信号N，所述时间戳V在所述时间戳U之后，所述UWB信号N是由所述基站X在侦听到所述UWB信号M之后向所述定位服务***中的通信设备广播的；
    在所述第三时隙的时间戳W侦听到UWB信号P，所述时间戳W在所述时间戳V之后，所述UWB信号P是由所述基站M在侦听到所述UWB信号N后向所述定位服务***中的通信设备广播的；
    在所述第三时隙的时间戳F侦听到UWB信号Q，所述UWB信号Q是由所述基站N在侦听到所述UWB信号P后向所述定位服务***中的通信设备广播的；
    在所述第三时隙的时间戳G向所述定位服务***中的通信设备广播所述指示信息H，所述时间戳G在所述时间戳F之后，所述指示信息H用于指示所述时间戳U、所述时间戳V、所述时间戳W、所述时间戳F以及所述时间戳G。
  33. 一种基站，所述基站为基站X，其特征在于，包括处理器、存储器和通信接口，所述存储器存储有一个或多个程序，并且所述一个或多个程序由所述处理器执行，所述一个或多个程序包括用于执行如权利要求1-10任一项所述的方法中的步骤的指令。
  34. 一种标签设备，其特征在于，包括处理器、存储器和通信接口，所述存储器存储有一个或多个程序，并且所述一个或多个程序由所述处理器执行，所述一个或多个程序包括用于执行如权利要求11-16任一项所述的方法中的步骤的指令。
  35. 一种计算机可读存储介质，其特征在于，所述计算机可读存储介质存储用于电子数据交换的计算机程序，其中，所述计算机程序可操作来使得计算机执行如权利要求1-16中任一项所述的方法。
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