阅读说明：本技术 基于北斗授时的uwb定位系统时隙同步控制方法、设备、存储介质和程序产品 (UWB positioning system time slot synchronization control method, device, storage medium and program product based on Beidou time service ) 是由 张永欣 王佩光 王志刚 臧志斌 赵建伟 马胜 孙孝波 马琳琳 于 2021-08-24 设计创作，主要内容包括：本发明提供基于北斗授时的UWB定位系统时隙同步控制方法,包括以下步骤：测量基站坐标,在北斗卫星信号低于预设信号强度阈值的区域,进行UWB定位基站坐标的测量；实时授时,将测量的基站坐标输入北斗授时模块,结合收到的北斗卫星信号进行授时；时隙同步控制,UWB基站在北斗授时下进行时隙控制时钟的同步,每个UWB基站根据自身的时隙号分发数据。本发明涉及一种电子设备、存储介质和程序产品。本发明能够实现在北斗信号不满足定位的情况下的授时要求,可以很好的解决UWB定位系统中基站时隙同步控制的问题,降低UWB信号的碰撞概率,提高信道利用率。(The invention provides a time slot synchronous control method of a UWB positioning system based on Beidou time service, which comprises the following steps: measuring the coordinates of the base station, and measuring the coordinates of the UWB positioning base station in an area where the Beidou satellite signal is lower than a preset signal intensity threshold; real-time service, inputting the measured base station coordinates into a Beidou time service module, and carrying out time service by combining the received Beidou satellite signals; and time slot synchronous control is carried out, the UWB base stations carry out time slot control clock synchronization under the Beidou time giving, and each UWB base station distributes data according to the self time slot number. The invention relates to an electronic device, a storage medium, and a program product. The invention can realize the time service requirement under the condition that the Beidou signal does not meet the positioning, can well solve the problem of time slot synchronous control of the base station in the UWB positioning system, reduce the collision probability of the UWB signal and improve the utilization rate of a channel.)

1. The UWB positioning system time slot synchronization control method based on Beidou time service is characterized by comprising the following steps:

measuring the coordinates of the base station, and measuring the coordinates of the UWB positioning base station in an area where the Beidou satellite signal is lower than a preset signal intensity threshold;

real-time service, inputting the measured base station coordinates into a Beidou time service module, and carrying out time service by combining the received Beidou satellite signals;

and time slot synchronous control is carried out, the UWB base stations carry out time slot control clock synchronization under the Beidou time giving, and each UWB base station distributes data according to the self time slot number.

2. The UWB positioning system time slot synchronization control method based on Beidou time service of claim 1, wherein the step of measuring the coordinates of the base station comprises:

acquiring longitude and latitude and altitude information of a reference measuring point, wherein the reference measuring point is arranged in an environment where a satellite signal reaches a signal intensity threshold;

respectively measuring relative coordinate information of the set reference measuring point and a positioning base station distributed by the UWB positioning system;

calculating to obtain relevant parameters of conversion mapping from the relative coordinates to geodetic coordinates according to the measured relative coordinate information of the reference points and the longitude and latitude and altitude information of the reference points;

and converting the relative coordinates of the UWB positioning base station into longitude and latitude and altitude information under a geodetic coordinate system based on the relevant parameters of the coordinate mapping.

3. The UWB positioning system time slot synchronization control method based on Beidou time service of claim 2, characterized in that: the number of the reference measuring points is two.

4. The UWB positioning system time slot synchronization control method based on Beidou time service of claim 3, characterized in that: the number of the positioning base stations distributed by the UWB positioning system is four.

5. The UWB positioning system time slot synchronization control method based on Beidou time service of claim 4, wherein: in the step of measuring the coordinates of the base stations, the total station is used for respectively measuring the relative coordinate information of the two set reference measuring points and the four positioning base stations distributed by the UWB positioning system.

6. The UWB positioning system time slot synchronization control method based on Beidou time service of claim 5, wherein: in the step of measuring the coordinates of the base station, relative coordinate information of two reference points obtained by measuring through a total station and accurate longitude and latitude and altitude information of the reference points are used for calculating to obtain related parameters of conversion mapping from the relative coordinates to geodetic coordinates; and converting the relative coordinates of the four UWB positioning base stations into longitude and latitude and altitude information under a geodetic coordinate system based on relevant parameters of coordinate mapping.

7. The UWB positioning system time slot synchronization control method based on Beidou time service of claim 1, characterized in that: in the time slot synchronization control step, the time division multiplexing of the UWB signals is carried out through the set time slot length and the set time slot number.

8. An electronic device, characterized by comprising: a processor;

a memory; and a program, wherein the program is stored in the memory and configured to be executed by the processor, the program comprising instructions for carrying out the method according to any one of claims 1-7.

9. A computer-readable storage medium having stored thereon a computer program, characterized in that: the computer program is executed by a processor for performing the method according to any of claims 1-7.

10. A computer program product comprising computer programs/instructions, characterized in that the computer programs/instructions, when executed by a processor, implement the method according to any of claims 1-7.

Technical Field

The invention relates to the technical field of wireless communication, in particular to a time slot synchronization control method, equipment, a storage medium and a program product of a UWB positioning system based on Beidou time service.

Background

With the arrival of the world of everything interconnection, the demand of people for position information is increasing, the outdoor positioning based on the Global Positioning System (GPS) is extended to the indoor positioning based on various wireless technologies, and the high-precision position information brings more and more convenience to people. GPS adopts the RTK mode can satisfy the demand of high accuracy location under outdoor open environment, but satellite signal receives the influence of shelters such as building, trees easily, leads to positioning accuracy to descend or even unable location. Therefore, various Wireless positioning technologies, such as Wireless local area network (WIFI), Bluetooth (Bluetooth), Ultra Wide Band (UWB), etc., have been promoted, wherein the Ultra wide band technology uses nanosecond pulses to carry information, has a very high time resolution, can accurately measure and position, and has been widely applied to indoor high-precision positioning. However, in order to ensure the effective utilization of UWB positioning system signals, Time Division Multiplexing (TDMA) techniques are required to improve the channel utilization, and the TDMA techniques require clock synchronization to control the effectiveness of the time slot allocation. According to the traditional Beidou time service, the accurate position of the Beidou satellite is required to be obtained in an area with good satellite receiving performance, then the corrected value of time can be calculated to realize accurate time service, and the satellite signals are weak in the area where a UWB positioning system is arranged, so that the time service effect is directly influenced.

Disclosure of Invention

In order to overcome the defects of the prior art, the invention aims to provide a UWB positioning system time slot synchronization control method based on Beidou time service, which can realize accurate time service in a weak area of a Beidou satellite signal and meet the requirement of UWB positioning system time slot synchronization, thereby reducing the collision probability of positioning signals and improving the utilization rate of channels.

The invention provides a time slot synchronous control method of a UWB positioning system based on Beidou time service, which comprises the following steps:

measuring the coordinates of the base station, and measuring the coordinates of the UWB positioning base station in an area where the Beidou satellite signal is lower than a preset signal intensity threshold;

real-time service, inputting the measured base station coordinates into a Beidou time service module, and carrying out time service by combining the received Beidou satellite signals;

and time slot synchronous control is carried out, the UWB base stations carry out time slot control clock synchronization under the Beidou time giving, and each UWB base station distributes data according to the self time slot number.

Further, the step of measuring the coordinates of the base station includes:

acquiring longitude and latitude and altitude information of a reference measuring point, wherein the reference measuring point is arranged in an environment where a satellite signal reaches a signal intensity threshold;

respectively measuring relative coordinate information of the set reference measuring point and a positioning base station distributed by the UWB positioning system;

calculating to obtain relevant parameters of conversion mapping from the relative coordinates to geodetic coordinates according to the measured relative coordinate information of the reference points and the longitude and latitude and altitude information of the reference points;

and converting the relative coordinates of the UWB positioning base station into longitude and latitude and altitude information under a geodetic coordinate system based on the relevant parameters of the coordinate mapping.

Further, the number of the reference measurement points is two.

Further, the number of the positioning base stations distributed by the UWB positioning system is four.

Further, in the step of measuring the coordinates of the base stations, the total station is used to measure the relative coordinate information of the two reference measuring points and the four positioning base stations arranged in the UWB positioning system.

Further, in the step of measuring the coordinates of the base station, relative coordinate information of two reference points obtained by measuring with a total station and accurate longitude and latitude and altitude information of the reference points are used for calculating to obtain related parameters of conversion mapping from the relative coordinates to the geodetic coordinates; and converting the relative coordinates of the four UWB positioning base stations into longitude and latitude and altitude information under a geodetic coordinate system based on relevant parameters of coordinate mapping.

Further, in the time slot synchronization control step, time division multiplexing of the UWB signal is performed by the set time slot length and time slot number.

An electronic device, comprising: a processor;

a memory; and a program, wherein the program is stored in the memory and configured to be executed by the processor, the program comprising instructions for executing a Beidou time service based UWB positioning system time slot synchronization control method.

A computer-readable storage medium having stored thereon a computer program for execution by a processor of a Beidou time service based UWB positioning system time slot synchronization control method.

A computer program product comprises a computer program/instruction, and the computer program/instruction is executed by a processor to realize the time slot synchronization control method of the UWB positioning system based on Beidou time service.

Compared with the prior art, the invention has the beneficial effects that:

the invention provides a time slot synchronous control method of a UWB positioning system based on Beidou time service, which comprises the following steps: measuring the coordinates of the base station, and measuring the coordinates of the UWB positioning base station in an area where the Beidou satellite signal is lower than a preset signal intensity threshold; real-time service, inputting the measured base station coordinates into a Beidou time service module, and carrying out time service by combining the received Beidou satellite signals; and time slot synchronous control is carried out, the UWB base stations carry out time slot control clock synchronization under the Beidou time giving, and each UWB base station distributes data according to the self time slot number. The invention relates to an electronic device, a storage medium, and a program product. Under the condition that the Beidou satellite receives satellites poorly, accurate time service can be still achieved, meanwhile, the time service is applied to time slot synchronous control of a UWB positioning system, conflict-free transmission in a two-hop communication range is achieved through time slot allocation control, the signal collision probability is reduced, the utilization rate of a channel is improved, and the smoothness and stability of positioning data are guaranteed.

The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical solutions of the present invention more clearly understood and to implement them in accordance with the contents of the description, the following detailed description is given with reference to the preferred embodiments of the present invention and the accompanying drawings. The detailed description of the present invention is given in detail by the following examples and the accompanying drawings.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:

FIG. 1 is a flow chart of a UWB positioning system time slot synchronization control method based on Beidou time service of the invention;

FIG. 2 is a schematic diagram of an embodiment of an accurate measurement of position information of a UWB positioning base station;

fig. 3 is a schematic diagram illustrating UWB signal timeslot control according to an embodiment of the present invention.

In the figure: 1. a first reference measurement point; 2. a second reference measurement point; 3. a total station; 4. a first UWB positioning base station; 5. a second UWB positioning base station; 6. a third UWB positioning base station; 7. a fourth UWB locates base stations.

Detailed Description

The present invention will be further described with reference to the accompanying drawings and the detailed description, and it should be noted that any combination of the embodiments or technical features described below can be used to form a new embodiment without conflict.

A UWB positioning system time slot synchronization control method based on Beidou time service is shown in figure 1 and comprises the following steps:

s1: measuring the coordinates of the base station, and accurately measuring the coordinates of the UWB positioning base station in an area where the Beidou satellite signal is lower than a preset signal intensity threshold value, namely in an area where the Beidou signal is weak;

s2: real-time service, inputting the measured base station coordinates into a Beidou time service module, and carrying out time service by combining the received Beidou satellite signals; beidou time service needs to be realized on the basis of obtaining accurate position information of a UWB positioning base station.

S3: and time slot synchronous control is carried out, the UWB base stations carry out time slot control clock synchronization under the Beidou time giving, and each UWB base station distributes data according to the self time slot number.

Generally, areas where UWB positioning systems are required to be deployed are all areas where satellite signals are not good, so that the traditional beidou time service method is not suitable in the areas, and in combination with the schematic diagram of fig. 2, the accurate measurement method of the coordinates of the UWB positioning base station is as follows:

in an environment where a satellite signal reaches a signal intensity threshold value, namely in an environment where the satellite signal is good, two reference measurement points are arranged, including a first reference measurement point 1 and a second reference measurement point 2, so that longitude and latitude and altitude information of the two reference measurement points can be accurately obtained;

the method comprises the steps that a total station 3 is utilized to measure the relative coordinate information of a first reference measuring point 1, a second reference measuring point 2 and a first UWB positioning base station 4, a second UWB positioning base station 5, a third UWB positioning base station 6 and a fourth UWB positioning base station 7 which are distributed by a UWB positioning system;

calculating to obtain relevant parameters of conversion mapping from the relative coordinates to geodetic coordinates according to the relative coordinate information of the first reference measuring point 1 and the second reference measuring point 2 obtained by measurement and the longitude and latitude and altitude information of the reference points;

and converting relative coordinates of the first UWB positioning base station 4, the second UWB positioning base station 5, the third UWB positioning base station 6 and the fourth UWB positioning base station 7 into longitude and latitude and altitude information under a geodetic coordinate system based on relevant parameters of coordinate mapping.

On the basis of the completion of Beidou time service, namely on the premise that the time reference of all UWB positioning base stations is synchronized, as shown in fig. 3, time division multiplexing of UWB signals is completed by setting a proper time slot length and a proper time slot number, collision is reduced, and the channel utilization rate is improved.

An electronic device, comprising: a processor;

a memory; and a program, wherein the program is stored in the memory and configured to be executed by the processor, the program comprising instructions for executing a Beidou time service based UWB positioning system time slot synchronization control method.

A computer readable storage medium is stored with a computer program, and the computer program is executed by a processor to execute a UWB positioning system time slot synchronization control method based on Beidou time service.

A computer program product comprises a computer program/instruction, and the computer program/instruction is executed by a processor to realize the time slot synchronization control method of the UWB positioning system based on Beidou time service.

The invention provides a time slot synchronous control method of a UWB positioning system based on Beidou time service, which comprises the following steps: measuring the coordinates of the base station, and measuring the coordinates of the UWB positioning base station in an area where the Beidou satellite signal is lower than a preset signal intensity threshold; real-time service, inputting the measured base station coordinates into a Beidou time service module, and carrying out time service by combining the received Beidou satellite signals; and time slot synchronous control is carried out, the UWB base stations carry out time slot control clock synchronization under the Beidou time giving, and each UWB base station distributes data according to the self time slot number. The invention relates to an electronic device, a storage medium, and a program product. Under the condition that the Beidou satellite receives satellites poorly, accurate time service can be still achieved, meanwhile, the time service is applied to time slot synchronous control of a UWB positioning system, conflict-free transmission in a two-hop communication range is achieved through time slot allocation control, the signal collision probability is reduced, the utilization rate of a channel is improved, and the smoothness and stability of positioning data are guaranteed.

The foregoing is merely a preferred embodiment of the invention and is not intended to limit the invention in any manner; those skilled in the art can readily practice the invention as shown and described in the drawings and detailed description herein; however, those skilled in the art should appreciate that they can readily use the disclosed conception and specific embodiments as a basis for designing or modifying other structures for carrying out the same purposes of the present invention without departing from the scope of the invention as defined by the appended claims; meanwhile, any changes, modifications, and evolutions of the equivalent changes of the above embodiments according to the actual techniques of the present invention are still within the protection scope of the technical solution of the present invention.