CN112367621A - Ultra-wideband-based positioning system, method, electronic device and storage medium - Google Patents

The application provides a positioning system method based on ultra wide band, electronic equipment and storage medium, belonging to the technical field of wireless positioning, mainly comprising: a master base station and a plurality of slave base stations; the master base station is always in a receiving state, and the slave base station is in a dormant state by default; the main base station is used for uploading the appointed data to the background after receiving the positioning frame sent by the label, so that the background sends a positioning initiation request to the slave base station based on the appointed data; the slave base station is used for entering an awakening state from a dormant state after determining that the positioning initiation request is received, initiating positioning with the tag in the awakening state, and continuing entering the dormant state after the positioning is finished; and the main base station is also used for receiving the positioning distance data after the positioning distance data is estimated by the tag, and uploading the positioning distance data to the background. The system can reduce the power consumption of the positioning system and also can avoid data collision and network pressure.

Ultra-wideband-based positioning system, method, electronic device and storage medium

Technical Field

The application belongs to the technical field of wireless positioning, and particularly relates to a positioning system, a positioning method, electronic equipment and a storage medium based on an ultra-wideband.

Background

In the field of indoor wireless positioning, UWB (Ultra Wide Band) positioning becomes a hotspot in the positioning field due to its technical characteristics of high precision, good anti-interference performance, low interception capability, and the like. The existing UWB-based positioning system has the following two problems: (1) only the low power consumption of the electronic tag is considered, and the problem of large system power consumption caused by the fact that a base station is always in a receiving state because the base station needs to wait for a UWB data frame is not considered; (2) a plurality of base stations in the positioning system communicate with the background at the same time, which easily causes the problems of data collision and high network pressure.

Disclosure of Invention

In order to overcome the problems in the related art at least to a certain extent, the present application provides a positioning system, a method, an electronic device and a storage medium based on ultra-wideband, which can reduce the power consumption of the positioning system and avoid data collision and network pressure caused by the simultaneous transmission of positioning data by a plurality of base stations.

In order to achieve the purpose, the following technical scheme is adopted in the application:

in a first aspect, the present application provides an ultra-wideband based positioning system, comprising: a master base station and a plurality of slave base stations; the master base station is always in a receiving state, and the slave base station is in a dormant state by default; the master base station is used for uploading appointed data to a background after receiving a positioning frame sent by a label, so that the background sends a positioning initiation request to a slave base station based on the appointed data; the slave base station is used for entering an awakening state from a dormant state after the positioning initiation request is determined to be received, initiating positioning with the tag in the awakening state, and continuing entering the dormant state after the positioning is completed; and the main base station is also used for receiving the positioning distance data after the positioning distance data is estimated by the tag, and uploading the positioning distance data to a background.

Further, the master base station includes: the device comprises a first control module, a first ultra-wideband module, a first power supply module and an Ethernet module.

Further, the slave base station includes: the device comprises a second control module, a second ultra-wideband module and a second power supply module.

Further, first Power module adopts the POE Power supply (Power Over Ethernet ) mode, second Power module adopts non-POE Power supply mode.

Further, the slave base station, before determining that the positioning initiation request is received, is further configured to determine whether the positioning initiation request is received.

Further, the slave base station is further configured to maintain a sleep state after determining that the positioning initiation request is not received.

Further, the first control module and the second control module each include any one of: singlechip, DSP and ARM.

In a second aspect, the present application provides an ultra-wideband-based positioning method, which is applied to the ultra-wideband-based positioning system of the first aspect, and the method includes: after a main base station receives a positioning frame sent by a label, uploading appointed data to a background so that the background sends a positioning initiation request to a slave base station based on the appointed data; after the positioning initiation request is determined to be received, the slave base station is switched into an awakening state from a dormant state, positioning with the tag is initiated in the awakening state, and the slave base station is switched into the dormant state after positioning is completed; after the positioning distance data are estimated by the tag, the positioning distance data are received through the main base station and uploaded to a background.

In a third aspect, the present application provides an electronic device, comprising: a processor and a storage device; the storage means has stored thereon a computer program which, when executed by the processor, performs the method according to the second aspect.

In a fourth aspect, the present application provides a storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the method of the second aspect.

The ultra-wideband-based positioning system, method, electronic device and storage medium provided by the application comprise: a master base station and a plurality of slave base stations; the master base station is always in a receiving state, and the slave base station is in a dormant state by default; the main base station is used for uploading the appointed data to the background after receiving the positioning frame sent by the label, so that the background sends a positioning initiation request to the slave base station based on the appointed data; the slave base station is used for entering an awakening state from a dormant state after determining that the positioning initiation request is received, initiating positioning with the tag in the awakening state, and continuing entering the dormant state after the positioning is finished; and the main base station is also used for receiving the positioning distance data after the positioning distance data is estimated by the tag, and uploading the positioning distance data to the background. On one hand, the power consumption of the positioning system can be reduced by setting the slave base station to be in a low-power-consumption dormant state when the positioning initiation request is not received; on the other hand, by means of the mode that all the positioning distance data are transmitted on the main base station in a centralized mode, data collision and network pressure caused by the fact that a plurality of base stations transmit positioning data at the same time can be avoided.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a schematic diagram illustrating an ultra-wideband based positioning system in accordance with an exemplary embodiment;

fig. 2 is a schematic diagram illustrating a configuration of a master base station in accordance with an exemplary embodiment;

FIG. 3 is a block diagram illustrating a slave base station in accordance with an exemplary embodiment;

FIG. 4 is a UWB positioning flow diagram illustrating an ultra-wideband based positioning system according to an exemplary embodiment;

fig. 5 is a flow chart illustrating an ultra-wideband based positioning method according to an example embodiment.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be described in detail below. It is to be understood that the embodiments described are only a few embodiments of the present application and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the examples given herein without making any creative effort, shall fall within the protection scope of the present application.

In the field of indoor wireless positioning, UWB positioning has become a hotspot in the positioning field due to its technical characteristics of high precision, good anti-interference performance, low interception capability, and the like. The positioning mode realizes positioning by transmitting and receiving nanosecond or below non-sine wave narrow pulses, and has the advantages of low power spectral density of transmitted signals, insensitivity to channel fading and the like. UWB-based positioning systems are generally composed of a positioning base station, an electronic tag, a background, and the like. In the prior art, since the electronic tag is worn on a person or loaded on a vehicle, whether positioning is needed or not can be judged through a motion state, and therefore, only low-power consumption processing is usually performed on the electronic tag. And because the location basic station is fixed on corresponding coordinate point, consequently generally directly adopt POE power supply, this kind of high power consumption problem can't obtain effectual solution. In addition, because the location basic station need in time respond to electronic tags's UWB location frame, consequently all location basic stations all need be in the state of waiting for the receipt always, power consumption is very big, and can stably transmit for the backstage for guaranteeing the location data, the mode that the basic station generally adopted POE direct current power supply through the ethernet, consequently, still need high-power, the switch that has the POE function, because the voltage of POE switch power supply receives the influence of distance, consequently, probably lead to remote location basic station power supply not enough, and the POE power supply is big for the voltage of basic station, can cause danger. The application provides a positioning system based on ultra wide band, a method, electronic equipment and storage medium, through the POE power supply mode of placing low-power consumption state and eliminating from the basic station, can be when guaranteeing that the location is effectively gone on, positioning system's consumption and positioning system's cost can be reduced, eliminate the influence and the security problem that the voltage is not enough that the distance factor leads to, and can avoid data conflict and network pressure because of a plurality of basic stations send the location data simultaneously through the mode of all concentrating on main base station with all location distance data and sending, for easy understanding, the following introduces this application in detail.

Referring first to fig. 1, a schematic structural diagram of an ultra-wideband-based positioning system mainly includes: a master base station and a plurality of slave base stations; the master base station is always in a receiving state, and the slave base station is in a dormant state by default;

the main base station is used for uploading the appointed data to the background after receiving the positioning frame sent by the label, so that the background sends a positioning initiation request to the slave base station based on the appointed data;

the slave base station is used for entering an awakening state from a dormant state after determining that the positioning initiation request is received, initiating positioning with the tag in the awakening state, and continuing entering the dormant state after the positioning is finished;

and the main base station is also used for receiving the positioning distance data after the positioning distance data is estimated by the tag, and uploading the positioning distance data to the background.

In the embodiment of the present invention, since the base station is a positioning base station for short, the master base station may also be referred to as a master positioning base station, and correspondingly, the slave base station may be referred to as a slave positioning base station. The label is short for electronic label, and the positioning frame is short for positioning data frame. The appointment data includes attribute information and a reminder instruction of the main base station itself. Aiming at the problems that only the low power consumption of a tag is considered in the existing UWB positioning system, and the power consumption is large because a base station is always in a receiving state because of waiting for a UWB data frame is not considered, the embodiment of the invention selects a master base station in a UWB positioning system (namely, the positioning system based on the ultra-wideband) by selecting the master/slave base stations, and the other base stations are all used as the slave base stations, and the slave base stations are set in a low power consumption state (namely, a dormant state), thereby reducing the power consumption of the UWB positioning system. Further, in this embodiment, by concentrating all the positioning distance data on the master base station for transmission, data collision and network stress caused by simultaneous transmission of data of multiple network connections in the prior art can be avoided.

The ultra-wideband-based positioning system, method, electronic device and storage medium provided by the application comprise: a master base station and a plurality of slave base stations; the master base station is always in a receiving state, and the slave base station is in a dormant state by default; the main base station is used for uploading the appointed data to the background after receiving the positioning frame sent by the label, so that the background sends a positioning initiation request to the slave base station based on the appointed data; the slave base station is used for entering an awakening state from a dormant state after determining that the positioning initiation request is received, initiating positioning with the tag in the awakening state, and continuing entering the dormant state after the positioning is finished; and the main base station is also used for receiving the positioning distance data after the positioning distance data is estimated by the tag, and uploading the positioning distance data to the background. On one hand, the power consumption of the positioning system can be reduced by setting the slave base station to be in a low-power-consumption dormant state when the positioning initiation request is not received; on the other hand, by means of the mode that all the positioning distance data are transmitted on the main base station in a centralized mode, data collision and network pressure caused by the fact that a plurality of base stations transmit positioning data at the same time can be avoided.

In this embodiment, the master base station and the slave base station may include, but are not limited to: a control module (or MCU module), an ultra wide band module (or UWB module), a power supply module and an Ethernet module. Because the functions of the master base station and the slave base station are different, the slave base station is in a dormant state by default, the power consumption is low, and positioning distance data do not need to be sent to a background, so that the structure of the slave base station can be simplified, and the slave base station is different from the structure of the master base station, and particularly, the structures of the master base station and the slave base station are respectively as follows:

in one embodiment, as shown in fig. 2, the master base station includes: the device comprises a first control module, a first ultra-wideband module, a first power supply module and an Ethernet module.

In one embodiment, as shown in fig. 3, the slave base station includes: the device comprises a second control module, a second ultra-wideband module and a second power supply module.

In an embodiment, the first power module adopts a POE power supply mode, and the second power module adopts a non-POE power supply mode.

In this embodiment, the main base station may communicate with the background by using a POE switch to supply power through POE, and the first UWB module (or referred to as the first UWB module) of the main base station is always in a receiving state. The non-POE power supply mode adopted by the slave base station can mean that the slave base station is powered by a battery or a common power supply, the slave base station does not need to be in a state of waiting for receiving positioning distance data all the time, and the slave base station starts to work only when the slave base station needs to be positioned (or called as a second UWB module).

All base stations in the existing UWB positioning system need POE switches to supply POE power, and because the base stations far away from the POE switches have the possibility of insufficient voltage, and the circuit voltage of the base stations is easy to cause danger when being too large. Therefore, the embodiment can eliminate the influence of insufficient voltage and the safety problem caused by distance factors by canceling the power supply mode of the POE switch of the slave base station.

The embodiment can realize the low power consumption scheme of the base station by canceling the power supply from the base station POE and canceling the receiving state of the slave base station for a long time, and on the basis, the power consumption of the positioning system can be reduced. In addition, the embodiment can also save the cost of the UWB positioning system by simplifying the structure of the slave base station while ensuring the effective positioning.

In one embodiment, the slave base station is further configured to determine whether a positioning initiation request is received before determining that the positioning initiation request is received.

In one embodiment, the slave base station is further configured to maintain the sleep state after determining that the positioning initiation request is not received.

In one embodiment, the first control module and the second control module each include any one of: a single chip microcomputer (MCU module), a DSP (Digital Signal Processing) and an ARM (advanced reduced instruction set Machine). In this embodiment, the MCU module is preferably used.

In the embodiment, the real-time current of any UWB module in the receiving state is up to several hundred mA, but the embodiment does not need to make all base stations in the receiving state, thereby greatly reducing the total power consumption of all base stations. The master base station is in a client mode relative to the background in the network, and the slave base station is in a server mode relative to the background. When the slave base station comprises the second Ethernet module, the second UWB module of the slave base station is in a deep sleep state (and the sleep state) all the time before the second Ethernet module does not receive a response given by the background and is not triggered by the second MCU module to be in the wake-up state, the second MCU module and the second Ethernet module are indirectly dormant and awakened, and if a connection initiating instruction of the background client is received in the wake-up state, the slave base station immediately cancels the next dormancy operation and establishes connection, so that the slave base station responds to positioning, and after the positioning is finished, the slave base station enters the sleep state again according to the command condition of the background, thereby greatly reducing the power consumption of the slave base station, simultaneously reducing the use of POE power supply, and greatly saving the cost of a UWB positioning system.

In this embodiment, the manner of indirectly sleeping and waking up the second MCU module and the second ethernet module in the slave base station is controlled by a timer inside the slave base station, and the timer still runs normally even if the slave base station is in a sleeping state. In this embodiment, the sleep time and the wake-up time are not specifically limited. When the slave base station is in the dormant state, the second Ethernet is also in the dormant state, and the power is not cut off, whether signal activity exists on the network cable can be still detected in a network cable mode, when the signal activity exists on the network cable, the Ethernet is awakened, so that the second MCU module and the second UWB module can be awakened respectively, the awakening time is in the millisecond level, and the positioning real-time performance cannot be influenced.

The following are exemplary:

as shown in fig. 4, the present embodiment provides a UWB positioning flowchart of an ultra-wideband-based positioning system, and the specific steps are as follows:

s11: the tag initiates a positioning frame. Specifically, the master base station is in a receiving state, the slave base station is in a dormant state, and the tag actively initiates a positioning data frame.

S12: the main base station receives the positioning frame of the label, some appointed information (namely the appointed data) is uploaded to the background through the network, the background sends a positioning initiation request to the slave base station after receiving the positioning initiation request, and the distance data between the main base station and the label can be calculated at the moment.

Since the master base station is in a receiving state, the UWB positioning data frame sent by the tag is received soon. After receiving the positioning data frame, the master base station uploads a specific data protocol to the background, and reports the positioning data frame that the background receives the label to enable the background to start positioning the label by the slave base station. The background can automatically send a data message to the slave base station after receiving the specific data protocol, and the slave base station is informed that the second UWB module needs to be awakened and locates the tag.

It should be noted that, since the background knows the distribution of each master base station and each slave base station, a master base station can send its own attribute information to the background after receiving the UWB positioning frame of the tag, and the background can intelligently select several nearby slave base stations to participate in positioning according to its own attribute information of the master base station, without waking up all slave base stations.

S13: and the slave base station judges whether a positioning initiation request sent by the background is received.

S14: if not, the second UWB module of the slave base station is still in a sleep state, and the second MCU module and the second Ethernet module also periodically enter a sleep and wake-up process.

S15: and actively initiating the positioning with the label. That is, after receiving the background-initiated message from the base station through the network, the base station starts to actively initiate the UWB location frame with the tag. The UWB signal is sent from the base station, and the flight time of the electromagnetic wave can be obtained by the tag after one measurement, so that the distance between the tag and the base station can be calculated.

S16: and after the positioning is finished, a dormant state is carried out. Namely, the slave base station automatically enters a sleep state after the second UWB module measurement is finished, and the slave base station always sleeps unless being awakened by the background again.

S17: the tag sends positioning distance data to the main base station after acquiring the positioning distance measurement of the slave base station, and the main base station sends the positioning distance data between the background tag and each base station through the first Ethernet, so that the coordinate of the tag is converted. Because the sending of the positioning distance data is concentrated on the main base station, the background can obtain all the positioning distance data for converting the label coordinate only by receiving the data sent by the main base station, and the problems of server pressure and data collision of the background can be reduced.

It should be noted that the positioning distance data of the tag by the master base station can be calculated in S12, and in step S17, the positioning distance data can be sent to the background together with the positioning distance data of the slave base station, so as to facilitate data processing in the background, and in step S12, the master base station sends attribute information and a reminding instruction of itself to the background, so as to let the background know which master base station initiated the positioning and remind the background to wake up the slave base station, so that the slave base station participates in the positioning, where the attribute information includes, but is not limited to, the number and name of the master base station.

In summary, in this embodiment, the ethernet module of the slave base station may be eliminated, so that the master base station includes the first MCU module, the first UWB module, the first power module, and the ethernet module, and the slave base station includes the second MCU module, the second UWB module, and the second power module. The slave base station actively initiates positioning with the tag in a non-dormant state, so that the tag can acquire positioning data of the slave base station, and then uploads all positioning distance data to the master base station.

The present application further provides an ultra-wideband-based positioning method, which is applied to the foregoing ultra-wideband-based positioning system, and referring to a flowchart of the ultra-wideband-based positioning method shown in fig. 5, the method mainly includes the following steps:

step S101, after receiving a positioning frame sent by a label, uploading appointed data to a background so that the background sends a positioning initiation request to a slave base station based on the appointed data;

step S102, after the positioning initiation request is determined to be received, the slave base station enters an awakening state from a dormant state, initiates positioning with the tag in the awakening state, and continues to enter the dormant state after the positioning is completed;

and step S103, after the positioning distance data is estimated by the tag, receiving the positioning distance data, and uploading the positioning distance data to a background.

According to the positioning method based on the ultra-wideband, after a main base station receives a positioning frame sent by a label, appointed data are uploaded to a background, so that the background sends a positioning initiation request to a slave base station based on the appointed data; then after determining that the positioning initiation request is received, the slave base station enters an awakening state from the dormant state, initiates positioning with the tag in the awakening state, and continues to enter the dormant state after the positioning is completed; and finally, after the positioning distance data are estimated by the tag, receiving the positioning distance data through the main base station, and uploading the positioning distance data to a background. The present embodiment can obtain the following two benefits: on one hand, the power consumption of the positioning system can be reduced by setting the slave base station to be in a low-power-consumption dormant state when the positioning initiation request is not received; on the other hand, by means of the mode that all the positioning distance data are transmitted on the main base station in a centralized mode, data collision and network pressure caused by the fact that a plurality of base stations transmit positioning data at the same time can be avoided.

Further, the present embodiment also provides an electronic device, including: a processor and a storage device; wherein the storage means has stored thereon a computer program which, when executed by the processor, performs the aforementioned ultra-wideband based positioning method.

Further, the present embodiment also provides a storage medium, where a computer program is stored on the storage medium, and when the computer program is executed by a processor, the positioning method based on ultra wide band is executed.

It is understood that the same or similar parts in the above embodiments may be mutually referred to, and the same or similar parts in other embodiments may be referred to for the content which is not described in detail in some embodiments.

It should be noted that, in the description of the present application, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. In addition, in the description of the present application, the meaning of "plurality" means at least two unless otherwise specified.

It will be understood that when an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present, and further, that "connected" as used herein may include wireless connections; the term "and/or" is used to include any and all combinations of one or more of the associated listed items.

Any process or method descriptions in flow charts or otherwise described herein may be understood as: represents modules, segments or portions of code which include one or more executable instructions for implementing specific logical functions or steps of a process, and the scope of the preferred embodiments of the present application includes other implementations in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present application.

It should be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.

It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.

In addition, functional units in the embodiments of the present application may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.

The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc.

In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Although embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application, and that variations, modifications, substitutions and alterations may be made to the above embodiments by those of ordinary skill in the art within the scope of the present application.