Positioning control method, device and electronic equipment of Internet of Things terminal

Abstract

The present application provides a positioning control method, device, electronic device and computer-readable storage medium for an Internet of Things terminal; the method includes: obtaining positioning configuration information from an Internet of Things gateway device; wherein the positioning configuration information is sent by a server to the Internet of Things gateway device via a satellite communication system; performing positioning processing according to the positioning configuration information; and sending the positioning data obtained by the positioning processing to the Internet of Things gateway device, so that the Internet of Things gateway device sends it to the server via the satellite communication system. Through this application, various areas (such as areas with a lack of ground communication) can be covered to achieve positioning control of Internet of Things terminals, effectively supporting the application of Internet of Things terminals in various areas.

Description

Technical Field

[0001] The present application relates to the Internet of Things and positioning technology, and in particular to a positioning control method, device, electronic device and computer-readable storage medium for an Internet of Things terminal. Background Art

[0002] The Internet of Things (IoT) is an extension and expansion of the Internet. It combines various information sensing devices with the Internet to form a huge network. Through various possible network accesses, it realizes ubiquitous connection between things and things, and things and people. With the development of IoT technology, related applications of IoT are becoming more and more common.

[0003] In some application scenarios of the Internet of Things, such as drone power line inspections and oil pipeline inspections, the location of the Internet of Things terminal is an important piece of information. For example, when an Internet of Things terminal is damaged, knowing its location can help find it quickly. In the solutions provided by related technologies, a satellite communication module is usually deployed in the terminal to send the terminal's positioning data to the satellite communication system. However, the number of Internet of Things terminals is usually large and they are more sensitive to cost, and the cost of satellite communication modules is high, so the solutions provided by related technologies are not suitable for Internet of Things scenarios. Summary of the invention

[0004] The embodiments of the present application provide a positioning control method, device, electronic device and computer-readable storage medium for an Internet of Things terminal, which can expand the positioning control area of ​​the Internet of Things terminal, thereby supporting the application of the Internet of Things terminal in various areas.

[0005] The technical solution of the embodiment of the present application is implemented as follows:

[0006] The present application provides a positioning control method for an Internet of Things terminal, including:

[0007] Acquire positioning configuration information from an Internet of Things gateway device; wherein the positioning configuration information is sent by a server to the Internet of Things gateway device via a satellite communication system;

[0008] Performing positioning processing according to the positioning configuration information;

[0009] The positioning data obtained by the positioning processing is sent to the IoT gateway device so that

[0010] The Internet of Things gateway device is sent to the server via the satellite communication system.

[0011] The present application provides a positioning control device for an Internet of Things terminal, including:

[0012] An acquisition module is used to acquire positioning configuration information from an Internet of Things gateway device; wherein the positioning configuration information is sent by a server to the Internet of Things gateway device via a satellite communication system;

[0013] A positioning module, used to perform positioning processing according to the positioning configuration information;

[0014] The data sending module is used to send the positioning data obtained by the positioning processing to the Internet of Things gateway device so that

[0015] The Internet of Things gateway device is sent to the server via the satellite communication system.

[0016] An embodiment of the present application provides an electronic device, including:

[0017] A memory for storing executable instructions;

[0018] The processor is used to implement the positioning control method of the Internet of Things terminal provided in the embodiment of the present application when executing the executable instructions stored in the memory.

[0019] An embodiment of the present application provides a computer-readable storage medium storing executable instructions for causing a processor to execute instructions to implement the positioning control method of an Internet of Things terminal provided in the embodiment of the present application.

[0020] The embodiments of the present application have the following beneficial effects:

[0021] By using the IoT gateway device and the satellite communication system as the communication medium between the IoT terminal and the server to transmit positioning configuration information and positioning data, and relying on the characteristics of the IoT gateway device that can cover a large number of IoT terminals, it can effectively cover remote areas that lack ground communication facilities. It can not only achieve extensive positioning control of the IoT terminal, but also reduce the implementation cost, thereby supporting the development of various applications of the IoT terminal. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of an optional architecture of satellite communications provided by the related technology;

[0023] Figure 2 This is an optional architecture diagram of a positioning control system for an Internet of Things terminal provided in an embodiment of the present application;

[0024] Figure 3 This is an optional architecture diagram of an Internet of Things terminal provided in an embodiment of the present application;

[0025] Figure 4 This is an optional flow chart of the positioning control method of the Internet of Things terminal provided in the embodiment of the present application;

[0026] Figure 5A This is an optional flow chart of the positioning control method of the Internet of Things terminal provided in the embodiment of the present application;

[0027] Figure 5B This is an optional flow chart of the positioning control method of the Internet of Things terminal provided in the embodiment of the present application;

[0028] Figure 6 is an optional schematic diagram of a data link provided in an embodiment of the present application;

[0029] Fig. 7A This is an optional flow chart of the positioning control method of the Internet of Things terminal provided in the embodiment of the present application;

[0030] Figure 7B This is an optional flow chart of the positioning control method of the Internet of Things terminal provided in the embodiment of the present application;

[0031] Figure 7C This is an optional flow chart of the positioning control method of the Internet of Things terminal provided in the embodiment of the present application;

[0032] Figure 8 is an optional schematic diagram of a satellite frame structure provided in an embodiment of the present application;

[0033] Fig. 9 It is an optional schematic diagram of the frame structure of the long-distance radio protocol provided in an embodiment of the present application. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings. The described embodiments should not be regarded as limiting the present application. All other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of this application.

[0035] In the following description, reference is made to “some embodiments”, which describe a subset of all possible embodiments, but it can be understood that “some embodiments” may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.

[0036] In the following description, the terms "first\second" are only used to distinguish similar objects and do not represent a specific order for the objects. It is understandable that "first\second" can be interchanged with a specific order or sequence where permitted, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein. In the following description, the term "plurality" refers to at least two.

[0037] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein are only for the purpose of describing the embodiments of this application and are not intended to limit this application.

[0038] Before further describing the embodiments of the present application in detail, the nouns and terms involved in the embodiments of the present application are explained. The nouns and terms involved in the embodiments of the present application are subject to the following interpretations.

[0039] 1) Internet of Things: A huge network formed by combining various information sensing devices with the Internet, in which the information sensing devices are the IoT terminals. For example, in the IoT application of drone power line inspection, the drone is the IoT terminal.

[0040] 2) Gateway device: also known as an internetwork connector and protocol converter, it is a computer system or device that provides data (protocol) conversion services between multiple networks. In the embodiment of the present application, the IoT gateway device is used to provide data (protocol) conversion services between the satellite communication system and the IoT terminal, that is, it is the communication medium between the satellite communication system and the IoT terminal.

[0041] 3) Satellite communication system: refers to a radio communication system built based on artificial communication satellites in space, which can provide a wide range of signal coverage on the ground. In the embodiment of the present application, the satellite communication system is used to forward data between the Internet of Things gateway device and the server.

[0042] 4) Server: used to generate positioning configuration information based on human operations or set logic, thereby performing positioning control on IoT terminals.

[0043] 5) Long Range Radio (LoRa): A low-power LAN wireless standard with low power consumption and long range, which is well suited for IoT scenarios.

[0044] With the development of IoT technology, IoT-related applications are becoming more and more common. In busy areas such as cities, various communication networks can keep various IoT terminals connected anytime and anywhere. In remote areas such as mountains and deserts, there are also more and more IoT needs, such as drone power line inspections and oil pipeline inspections. However, in these remote areas, ground communication networks are usually scarce. For IoT, the location of IoT terminals is very important information. It is very helpful to master and control the positioning of IoT terminals, such as adjusting the positioning frequency according to different work requirements; for example, if a drone (IoT terminal) is damaged, knowing its location can quickly find it.

[0045] In the solutions provided by related technologies, when there is a lack of ground communication networks, satellite communications are usually used to meet communication needs. Figure 1 As shown in the figure, the satellite terminal is deployed with a satellite communication module, through which the satellite terminal can connect to the satellite in the sky and send data directly to the satellite. After receiving the data from the satellite terminal, the satellite sends the data to the satellite ground station on the ground without any ground infrastructure in between. However, the cost of the satellite communication module that can send and receive data is high, which is very unfavorable for the large number of IoT terminals that are extremely sensitive to cost. That is, the cost of positioning and controlling the IoT terminals is high, and it cannot support the application of IoT terminals in these areas.

[0046] The embodiments of the present application provide a positioning control method, device, electronic device and computer-readable storage medium for an Internet of Things terminal, which can not only realize extensive control of the Internet of Things terminal, but also reduce the implementation cost and effectively support various applications of the Internet of Things terminal. The following describes an exemplary application of the electronic device provided by the embodiment of the present application. The electronic device provided by the embodiment of the present application can be implemented as various types of Internet of Things terminals, such as drones, water meters, vending machines, smart trash cans and gas monitors. Below, an exemplary application of the electronic device will be described.

[0047] See also Figure 2 , Figure 2 It is an optional architectural diagram of the positioning control system 100 of the Internet of Things terminal provided in an embodiment of the present application. In order to realize the positioning control application supporting an Internet of Things terminal, the positioning control system 100 of the Internet of Things terminal includes a server 200, a satellite communication system 300, an Internet of Things gateway device 400, an Internet of Things terminal 500 (Internet of Things terminals 500-1 and 500-2 are shown as examples) and a user terminal 700, wherein the user terminal 700 is connected to the server 200 via a network 600, and the network 600 can be a wide area network or a local area network, or a combination of the two.

[0048] In the embodiment of the present application, data transmission is divided into an uplink process and a downlink process, wherein the uplink process refers to the Internet of Things terminal 500 sending data to the server 200 through a specific link, and the downlink process refers to the server 200 sending data to the Internet of Things terminal 500 through a specific link. Below, the downlink process is first described.

[0049] exist Figure 2In the embodiment of the present application, the server 200 may generate positioning configuration information according to a pre-set logic or a manual instruction sent by the user terminal 700, and send the positioning configuration information to the satellite communication system 300. In the embodiment of the present application, the satellite communication system 300 may include a satellite ground station 300-1 and a satellite 300-2. The server 200 sends the positioning configuration information to the satellite communication system 300, which may refer to sending the positioning configuration information to the satellite ground station 300-1, and then the satellite ground station 300-1 sends it to the satellite 300-2, wherein the communication between the server 200 and the satellite ground station 300-1 may be achieved by wired or wireless means. For example, the server 200 may encapsulate the positioning configuration information into an Internet Protocol (IP) data packet, and send the IP data packet to the satellite ground station 300-1. The satellite ground station 300-1 extracts the positioning configuration information in the received IP data packet, encapsulates the positioning configuration information according to the satellite frame structure, and sends the encapsulated data frame to the satellite 300-2.

[0050] Then, the satellite communication system 300 sends the positioning configuration information to the Internet of Things gateway device 400, which performs data protocol conversion. For example, when the Internet of Things gateway device 400 receives the data frame sent by the satellite 300-2, it extracts the positioning configuration information in the data frame according to the satellite frame structure, encapsulates the positioning configuration information according to the frame structure of the Internet of Things communication protocol, and sends the encapsulated data frame to the Internet of Things terminal 500. Among them, the Internet of Things gateway device 400 can achieve communication with the satellite 300-2 by deploying a satellite communication module. In addition, the embodiment of the present application does not limit the type of Internet of Things communication protocol, for example, it can be a LoRa protocol or a narrowband Internet of Things (NB-IoT) protocol.

[0051] The IoT terminal 500 receives the positioning configuration information sent by the IoT gateway device 400. For example, the IoT terminal 500 extracts the positioning configuration information in the data frame sent by the IoT gateway device 400 according to the frame structure of the IoT communication protocol. Then, the IoT terminal 500 performs positioning processing according to the obtained positioning configuration information to obtain positioning data. Of course, when the positioning configuration information indicates to stop positioning, the IoT terminal 500 can stop the positioning processing.

[0052] The embodiments of the present application do not limit the method of positioning processing, for example, it can be global positioning system (GPS) positioning, base station positioning or Wi-Fi positioning, etc. It is worth noting that the Internet of Things terminal 500 can rely on the satellite communication system 300 to achieve GPS positioning. For example, a GPS module can be deployed in the Internet of Things terminal 500 to receive the signal sent by the satellite communication system 300 to achieve positioning of its own location. Since the GPS module only needs to have the function of receiving signals, compared with the satellite communication module that also has the function of sending and receiving data (that is, sending data to the satellite communication system 300 and receiving data from the satellite communication system 300), the cost is relatively low, so it can be deployed in the Internet of Things terminal 500 for positioning. In addition, the embodiment of the present application also does not limit the network topology between the IoT terminal 500 and the IoT gateway device 400. For example, it can be a star topology, that is, multiple IoT terminals 500 are connected to an IoT gateway device 400 in a point-to-point manner. The IoT gateway device 400 executes a centralized communication control strategy, and any communication between any two IoT terminals 500 must be controlled by the IoT gateway device 400.

[0053] After completing the downlink process of the positioning configuration information, the IoT terminal 500 can send the positioning data obtained by the positioning processing uplink to the server 200, for example, uplink through the link of the IoT gateway device 400-satellite communication system 300-server 200, which will not be described in detail here. Of course, the IoT terminal 500 can also send the detected parameters uplink to the server 200 through the link, and the detected parameters and positioning data can be sent at the same time or separately. The type of the detected parameter can be determined according to the function to be realized by the IoT terminal 500. For example, if the IoT terminal 500 is a drone used for forest fire survey, the IoT terminal 500 can detect the surrounding temperature through the built-in temperature sensor as the detected parameter; for another example, if the IoT terminal 500 is a robot used for oil pipeline inspection, the IoT terminal 500 can detect the oil and gas content in the air through the built-in sensor as the detected parameter; for another example, if the IoT terminal 500 is a device for detecting the condition of goods in warehousing and logistics (such as a label device attached to the goods or in the container), the IoT terminal 500 can detect the surrounding temperature and humidity through the built-in sensor as the detected parameter, so that the relevant personnel can take corresponding measures when they know the detected parameters to avoid the goods from being overheated or damp, etc. Of course, the detected parameters are not necessarily obtained through sensors, for example, they can also be obtained by taking images, etc., and there is no limitation on this.

[0054] After acquiring the positioning data and detected parameters of the IoT terminal 500, the server 200 may send the positioning data and detected parameters to the user terminal 700 so that the user terminal 700 displays them in the graphical interface 710. Figure 2 , the position (positioning data) and return parameters (detected parameters) of the Internet of Things terminal A are exemplarily shown, and the position and return parameters of the Internet of Things terminal B are also shown. In this way, the user of the user terminal 700 can perform corresponding operations according to the content displayed in the graphical interface 710, such as adjusting the positioning configuration information sent to the server 200.

[0055] In some embodiments, the server 200 may be an independent physical server, or a server cluster or distributed system composed of multiple physical servers, or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, CDN, and big data and artificial intelligence platforms. The user terminal 700 may be a smart phone, a tablet computer, a laptop computer, a desktop computer, a smart speaker, a smart watch, etc., but is not limited thereto. The user terminal and the server may be directly or indirectly connected via wired or wireless communication, which is not limited in the embodiments of the present application.

[0056] See also Figure 3 , Figure 3 The Internet of Things terminal provided in the embodiment of the present application (for example, it can be Figure 2 The schematic diagram of the architecture of the Internet of Things terminal 500 shown in FIG. Figure 3 The IoT terminal 500 shown includes: at least one processor 510, a memory 540 and at least one network interface 520. The various components in the IoT terminal 500 are coupled together via a bus system 530. It is understood that the bus system 530 is used to achieve connection and communication between these components. In addition to the data bus, the bus system 530 also includes a power bus, a control bus and a status signal bus. However, for the sake of clarity, the bus system 530 is not described in detail. Figure 3 Various buses are labeled as bus system 530 .

[0057] The processor 510 can be an integrated circuit chip with signal processing capabilities, such as a general-purpose processor, a digital signal processor (DSP), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc., where the general-purpose processor can be a microprocessor or any conventional processor, etc.

[0058] The memory 540 may be removable, non-removable, or a combination thereof. Exemplary hardware devices include solid-state memory, hard drives, optical drives, etc. The memory 540 may optionally include one or more storage devices that are physically remote from the processor 510.

[0059] The memory 540 includes a volatile memory or a non-volatile memory, and may also include both volatile and non-volatile memories. The non-volatile memory may be a read-only memory (ROM), and the volatile memory may be a random access memory (RAM). The memory 540 described in the embodiments of the present application is intended to include any suitable type of memory.

[0060] In some embodiments, memory 540 is capable of storing data to support various operations, examples of which include programs, modules, and data structures, or a subset or superset thereof, as exemplarily described below.

[0061] Operating system 541, including system programs for processing various basic system services and performing hardware-related tasks, such as a framework layer, a core library layer, a driver layer, etc., for implementing various basic services and processing hardware-based tasks;

[0062] The network communication module 542 is used to reach other computing devices via one or more (wired or wireless) network interfaces 520. Exemplary network interfaces 520 include: Bluetooth, Wireless LAN (WiFi), and Universal Serial Bus (USB).

[0063] In some embodiments, the positioning control device of the Internet of Things terminal provided in the embodiments of the present application can be implemented in a software manner. Figure 3 The positioning control device 543 of the Internet of Things terminal stored in the memory 540 is shown, which can be software in the form of a program and a plug-in, including the following software modules: an acquisition module 5431, a positioning module 5432 and a data sending module 5433. These modules are logical, so they can be arbitrarily combined or further split according to the functions implemented. The functions of each module will be described below.

[0064] In other embodiments, the positioning control device of the Internet of Things terminal provided in the embodiments of the present application can be implemented in hardware. As an example, the positioning control device of the Internet of Things terminal provided in the embodiments of the present application can be a processor in the form of a hardware decoding processor, which is programmed to execute the positioning control method of the Internet of Things terminal provided in the embodiments of the present application. For example, the processor in the form of a hardware decoding processor can adopt one or more application-specific integrated circuits (ASICs), DSPs, programmable logic devices (PLDs), complex programmable logic devices (CPLDs), field programmable gate arrays (FPGAs) or other electronic components.

[0065] The positioning control method of the Internet of Things terminal provided in the embodiment of the present application will be explained in combination with the exemplary application and implementation of the Internet of Things terminal provided in the embodiment of the present application.

[0066] See also Figure 4 , Figure 4 This is an optional flow chart of the positioning control method of the Internet of Things terminal provided in the embodiment of the present application, which will be combined with Figure 4 The steps shown are explained.

[0067] In step 101, the IoT terminal obtains positioning configuration information from the IoT gateway device; wherein the positioning configuration information is sent by the server to the IoT gateway device via a satellite communication system.

[0068] Here, the server generates positioning configuration information according to the set logic or manual instructions, and sends the positioning configuration information to the satellite communication system via wired or wireless means. Then, the satellite communication system sends the obtained positioning configuration information to the IoT gateway device, which is forwarded to the IoT terminal by the IoT gateway device. Among them, the satellite communication system may include satellites and satellite ground stations.

[0069] In actual application scenarios, there may be multiple IoT gateway devices, each of which manages several IoT terminals. In the case where the positioning configuration information includes the device identifier of the device that needs to be positioned, the satellite communication system can send the positioning configuration information to the IoT gateway device that manages the IoT terminal corresponding to the device identifier, and then the IoT gateway device sends the positioning configuration information to the IoT terminal corresponding to the device identifier, wherein the satellite communication system can pre-store the device identifiers of the IoT terminals managed by each IoT gateway device, and the IoT gateway device can pre-store the device identifiers of each IoT terminal managed by the IoT gateway device, so as to facilitate targeted sending and reduce resource consumption during data transmission. The device identifier can be a Media Access Control (MAC) address or DevEUI, etc., depending on the type of IoT terminal.

[0070] For example, IoT gateway device A manages IoT terminals A1, A2, and A3, and IoT gateway device B manages IoT terminals B1, B2, and B3. If the device identifier in the positioning configuration information received by the satellite communication system is the device identifier of B1, the satellite communication system can send the positioning configuration information to IoT gateway device B, and IoT gateway device B sends the positioning configuration information to IoT terminal B1. Of course, the satellite communication system and IoT gateway device can also send the positioning configuration information by broadcasting, which is not limited here.

[0071] In some embodiments, the above-mentioned acquisition of positioning configuration information from the IoT gateway device can be achieved in the following manner: performing one of the following processing: the IoT terminal turns on the data acquisition state within a set time after sending positioning data to the IoT gateway device to obtain the positioning configuration information from the IoT gateway device; when the set acquisition cycle arrives, the IoT terminal turns on the data acquisition state to obtain the positioning configuration information from the IoT gateway device; the IoT terminal continuously turns on the data acquisition state to obtain the positioning configuration information from the IoT gateway device.

[0072] The embodiments of the present application provide three methods for an IoT terminal to obtain positioning configuration information from an IoT gateway device. The first method is that the IoT terminal turns on the data acquisition state within a set time after sending positioning data to the IoT gateway device to obtain positioning configuration information from the IoT gateway device, wherein the set time can be specifically set according to the actual application scenario, such as 2 seconds. In addition, in this method, the IoT gateway device is also configured so that when the IoT gateway device receives the positioning data sent by the IoT terminal, it sends the latest positioning configuration information to the IoT terminal. This method is limited to receiving downlink data (i.e., positioning configuration information) within a period of time after the IoT terminal sends uplink data, and cannot receive it at other times, so the power consumption of this method is lower.

[0073] The second method is that when the set acquisition cycle arrives, the IoT terminal turns on the data acquisition state to obtain the positioning configuration information from the IoT gateway device. The acquisition cycle can be set in advance, for example, set to 24 hours, and the duration of each data acquisition state can also be pre-set, such as 10 minutes, so that the IoT terminal can successfully obtain the positioning configuration information within the opening time. It is worth noting that for the IoT gateway device, the acquisition cycle also needs to be configured, that is, when the acquisition cycle arrives, the IoT gateway device sends data to the IoT terminal, and the IoT terminal turns on the data acquisition state to obtain the data sent by the IoT gateway device. In addition, in actual application scenarios, the second method is also compatible with the first method, that is, the two methods are used together for positioning control.

[0074] The third method is that the IoT terminal keeps the data acquisition state on and turns off the data acquisition state only when sending data to the IoT gateway device. This method can ensure that the IoT terminal can obtain the positioning configuration information in a timely manner, but at the same time, the power consumption of this method is relatively high.

[0075] In step 102, the IoT terminal performs positioning processing according to the positioning configuration information.

[0076] When the positioning configuration information received by the IoT terminal indicates that positioning is to be performed, the IoT terminal performs positioning processing according to the positioning configuration information to obtain its own positioning data. The embodiment of the present application does not limit the method of positioning processing, for example, it can be GPS positioning, base station positioning or Wi-Fi positioning, among which GPS positioning can be implemented by relying on a satellite communication system, that is, by receiving signals sent by a satellite communication system to achieve its own positioning.

[0077] In step 103, the IoT terminal sends the positioning data obtained by the positioning processing to the IoT gateway device, so that the IoT gateway device sends it to the server via the satellite communication system.

[0078] Here, the IoT terminal sends the obtained positioning data to the IoT gateway device, and the IoT gateway device sends the positioning data to the server via the satellite communication system. In addition, the IoT terminal can also send the detected parameters to the IoT gateway device. The type of the detected parameters can be determined according to the built-in modules of the IoT terminal and the functions to be implemented, for example, it can be at least one of air parameters, number of steps and distance. The IoT terminal can send the positioning data and the detected parameters to the IoT gateway device at the same time, or send them separately, depending on the actual application scenario. It is worth noting that the communication between the IoT terminal and the IoT gateway device can be implemented by relying on the frame structure of the IoT communication protocol, and the communication between the IoT gateway device and the satellite communication system can be implemented by relying on the satellite frame structure.

[0079] After receiving the positioning data, the server can store the positioning data, process the positioning data according to the set logic, adjust the positioning configuration information sent subsequently according to the processing results, and send the positioning data to the user terminal to display it on the display interface of the user terminal, so that the user can understand the location of the IoT terminal. Of course, the positioning data can also have more applications, which are not limited. The same applies to the parameters detected by the IoT terminal.

[0080] In some embodiments, the positioning configuration information includes a target positioning period and a target reporting period; the above-mentioned positioning processing according to the positioning configuration information can also be implemented in the following manner: when the target positioning period arrives, the Internet of Things terminal performs positioning processing to obtain positioning data; the above-mentioned sending of the positioning data obtained by the positioning processing to the Internet of Things gateway device can also be implemented in the following manner: when the target reporting period arrives, the Internet of Things terminal sends the positioning data obtained by positioning processing within the target reporting period to the Internet of Things gateway device.

[0081] Here, the positioning configuration information generated by the server may include a target positioning period and a target reporting period. After receiving the positioning configuration information, the IoT terminal performs positioning processing according to the target positioning period in the positioning configuration information, and also sends all positioning data obtained within the target reporting period to the IoT gateway device according to the target reporting period in the positioning configuration information. In order to save power of the IoT terminal, the target reporting period can be set to be greater than the target positioning period.

[0082] For example, if the target positioning cycle and target reporting cycle in the positioning configuration information are 1 hour and 24 hours respectively, then after receiving the positioning configuration information, the IoT terminal will locate once every hour and obtain a positioning data. At the same time, the IoT terminal sends the positioning data obtained within these 24 hours (i.e., 24 positioning data) to the IoT gateway device every 24 hours. In this way, the IoT terminal sends multiple positioning data each time, which can save a lot of power. In the above manner, effective positioning control is achieved by combining the target positioning cycle and the target reporting cycle, and the values ​​of the target positioning cycle and the target reporting cycle can be adjusted according to the actual application scenario.

[0083] In some embodiments, the positioning configuration information includes a positioning level identifier and a reporting level identifier; the above-mentioned positioning processing based on the positioning configuration information can also be implemented in the following manner: the Internet of Things terminal searches for the positioning period associated with the positioning level identifier in the positioning configuration information in the positioning period pre-associated with multiple positioning level identifiers as the target positioning period; when the target positioning period arrives, positioning processing is performed to obtain positioning data; the above-mentioned sending of the positioning data obtained by the positioning processing to the Internet of Things gateway device can also be implemented in the following manner: the Internet of Things terminal searches for the reporting period associated with the reporting level identifier in the positioning configuration information in the reporting period pre-associated with multiple reporting level identifiers as the target reporting period; when the target reporting period arrives, the positioning data obtained by positioning processing within the target reporting period is sent to the Internet of Things gateway device.

[0084] In addition to directly setting the specific values ​​of the target positioning period and the target reporting period in the positioning configuration information, in the embodiment of the present application, the positioning configuration information can also be set to include a positioning level identifier and a reporting level identifier. After receiving the positioning configuration information, the IoT terminal searches for the positioning period associated with the positioning level identifier in the positioning configuration information in the pre-stored positioning periods associated with multiple positioning level identifiers as the target positioning period, and then performs positioning processing according to the target positioning period.

[0085] At the same time, in the pre-stored reporting cycles associated with multiple reporting level identifiers, the reporting cycle associated with the reporting level identifier in the positioning configuration information is searched as the target reporting cycle. When the target reporting cycle arrives, the positioning data obtained by positioning processing within the target reporting cycle is sent to the Internet of Things gateway device. For example, the positioning level identifiers stored in the Internet of Things terminal include 1, 2, and 3, corresponding to positioning cycles of 10 minutes, 20 minutes, and 30 minutes, respectively; the reporting level identifiers stored in the Internet of Things terminal include 1, 2, and 3, corresponding to reporting cycles of 1 hour, 2 hours, and 3 hours, respectively. Since the amount of data occupied by the identifier is usually small, compared with directly transmitting the target positioning cycle and the target reporting cycle, the above-mentioned method of transmitting the identifier can reduce the amount of data in the positioning configuration information and reduce the pressure of data transmission.

[0086] In some embodiments, the positioning configuration information includes parameter conditions; the above-mentioned positioning processing based on the positioning configuration information can be implemented in the following manner: when the detected parameters meet the parameter conditions, the Internet of Things terminal performs positioning processing to obtain positioning data; wherein the detected parameters include at least one of air parameters, number of steps and distance; the above-mentioned sending of the positioning data obtained by the positioning processing to the Internet of Things gateway device can be implemented in the following manner: the Internet of Things terminal sends the positioning data obtained by the positioning processing to the Internet of Things gateway device in real time.

[0087] In addition to positioning the IoT terminal by setting a period, in the embodiment of the present application, positioning control can also be achieved by setting parameter conditions in the positioning configuration information. After receiving the positioning configuration information, the IoT terminal determines whether the parameters detected by itself meet the parameter conditions. If the parameter conditions are met, the IoT terminal performs positioning processing and sends the obtained positioning data to the IoT gateway device in real time; if the parameter conditions are not met, the IoT terminal does not perform positioning processing. Among them, the detected parameters include at least one of air parameters, number of steps and distance, and of course, more types of parameters. In addition, the timing of the IoT terminal detecting parameters can be agreed upon separately, and the embodiment of the present application does not limit it. For example, it is set to detect parameters once every 1 second.

[0088] For example, if the IoT terminal is a drone used for forest fire survey, the parameter condition in the positioning configuration information can be that the temperature reaches the set temperature threshold. After receiving the positioning configuration information, the IoT terminal determines whether the ambient temperature detected by the built-in sensor reaches the temperature threshold. If the temperature threshold is reached, the IoT terminal performs positioning processing and sends the obtained positioning data to the IoT gateway device in real time, which is forwarded to the server via the satellite communication system. In this way, relevant personnel can query the positioning data in the server and take countermeasures, such as quickly rushing to the location corresponding to the positioning data to check or extinguish the fire.

[0089] In some embodiments, after step 101, it also includes: when the positioning configuration information indicates to stop positioning, the Internet of Things terminal stops performing positioning processing and stops sending positioning data to the Internet of Things gateway device.

[0090] The above describes some situations in which the positioning configuration information indicates that positioning is to be performed. In the embodiment of the present application, if the positioning configuration information received by the IoT terminal indicates that positioning is to be stopped, such as the positioning configuration information includes a parameter indicating that positioning is to be stopped, the IoT terminal stops performing positioning processing and stops sending positioning data to the IoT gateway device. In the above manner, effective positioning control is achieved from the perspective of stopping positioning.

[0091] In some embodiments, the positioning configuration information includes the device identification of the device that needs to be positioned; after step 101, it also includes: the Internet of Things terminal obtains the device identification of the Internet of Things terminal; when the device identification of the Internet of Things terminal is different from the device identification in the positioning configuration information, the positioning configuration information is discarded.

[0092] Here, the positioning configuration information may include the device identifier of the device that needs to be positioned and processed as specified by the server. After receiving the positioning configuration information, the IoT terminal determines whether its own device identifier is the same as the device identifier in the positioning configuration information. If they are different, the positioning configuration information is discarded; if they are the same, subsequent processing is performed based on the positioning configuration information. The above method is applicable to the scenario where the IoT gateway device sends the positioning configuration information in the form of broadcast, which effectively avoids the IoT terminal from performing erroneous operations based on the positioning configuration information that does not correspond to itself.

[0093] By applying the embodiment Figure 4 It can be seen from the above exemplary implementation that by constructing a data link including a server, a satellite communication system, an IoT gateway device and an IoT terminal, it is possible to achieve extensive control of the IoT terminal and reduce the implementation cost. It is suitable for remote areas such as mountains and deserts that lack ground facilities, and effectively supports the application of IoT terminals in various environments.

[0094] In some embodiments, see Figure 5A , Figure 5A This is an optional flow chart of the positioning control method of the Internet of Things terminal provided in the embodiment of the present application, which will be combined with Figure 5A Each step shown is described.

[0095] In step 201, the IoT terminal obtains a downlink data frame from the IoT gateway device, and obtains positioning configuration information in a setting field of the downlink data frame.

[0096] like Figure 5AAs shown, the server encapsulates the positioning configuration information into an IP data packet and sends the IP data packet to the satellite communication system. The satellite communication system extracts the positioning configuration information in the IP data packet, encapsulates the positioning configuration information according to the satellite frame structure, and sends the obtained downlink data frame that conforms to the satellite frame structure to the Internet of Things gateway device. The Internet of Things gateway device extracts the positioning configuration information from the setting field of the downlink data frame that conforms to the satellite frame structure, encapsulates the positioning configuration information according to the frame structure of the Internet of Things communication protocol, and sends the obtained downlink data frame that conforms to the frame structure of the Internet of Things communication protocol to the Internet of Things terminal, wherein the positioning configuration information is located in the setting field of the downlink data frame. When the Internet of Things terminal obtains the downlink data frame that conforms to the frame structure of the Internet of Things communication protocol, it extracts the positioning configuration information located in its setting field. Of course, for the downlink data frame that conforms to the satellite frame structure, the positioning configuration information is also located in the setting field of the downlink data frame. The satellite frame structure and the frame structure of the Internet of Things communication protocol are usually different, so the setting fields corresponding to the two are usually also different.

[0097] In step 202, the IoT terminal performs positioning processing according to the positioning configuration information.

[0098] For step 202, reference may be made to the above description of step 102, which will not be elaborated here.

[0099] In step 203, the IoT terminal generates an uplink data frame, and adds the positioning data obtained by the positioning processing to a set field in the uplink data frame.

[0100] After obtaining the positioning data through positioning processing, the IoT terminal generates an uplink data frame in accordance with the frame structure of the IoT communication protocol, and adds the positioning data to the setting field in the uplink data frame. In addition to the positioning data, the IoT terminal can also add the detected parameters to the setting field in the uplink data frame.

[0101] In step 204, the IoT terminal sends the uplink data frame to the IoT gateway device.

[0102] Here, the IoT terminal sends the uplink data frame including the positioning data to the IoT gateway device, and finally sends the positioning data to the server via the communication link of the IoT gateway device-satellite communication system-server.

[0103] In some embodiments, before step 204, it also includes: the Internet of Things terminal performs cyclic redundancy processing on the positioning data to obtain a first check code, and adds the first check code to the uplink data frame; after step 204, it also includes: the Internet of Things terminal obtains a retransmission request from the Internet of Things gateway device, and sends the uplink data frame to the Internet of Things gateway device again.

[0104] In the embodiment of the present application, the integrity of the data can be verified. For example, the IoT terminal performs cyclic redundancy processing on the positioning data obtained by positioning processing to obtain a first check code, adds the first check code to a field dedicated to storing the check code in the uplink data frame, and sends the uplink data frame to the IoT gateway device. The IoT gateway device forwards the positioning data and the first check code to the server via the satellite communication system.

[0105] The server performs the same cyclic redundancy processing on the received positioning data to obtain a second check code, and compares the second check code with the received first check code. If the first check code is the same as the second check code, it proves that the received positioning data is accurate, and the server can perform subsequent operations on the positioning data, such as storage operations; if the first check code is different from the second check code, it proves that an error has occurred in the positioning data during the data transmission process, and the server forwards the retransmission request to the Internet of Things gateway device through the satellite communication system, and forwards it to the Internet of Things terminal via the Internet of Things gateway device. When the Internet of Things terminal receives the retransmission request sent by the Internet of Things gateway device, it will send the uplink data frame that conforms to the frame structure of the Internet of Things communication protocol to the Internet of Things gateway device again, so as to forward the uplink data frame to the server. In the above manner, the robustness of the positioning control process can be improved and the fault tolerance capability can be improved.

[0106] By applying the embodiment Figure 5A It can be seen from the above exemplary implementation that the frame structure of the Internet Protocol, the satellite frame structure and the Internet of Things communication protocol is combined to realize data uplink and downlink, thereby improving the effectiveness of positioning control.

[0107] In some embodiments, see Figure 5B , Figure 5B is an optional flow chart of the positioning control method of the Internet of Things terminal provided in the embodiment of the present application, based on Figure 5A After step 201, in step 205, when the downlink data frame includes a confirmation mark, the Internet of Things terminal sends the confirmation information to the Internet of Things gateway device.

[0108] When the downlink data frame received by the IoT terminal includes a confirmation mark, the IoT terminal sends a confirmation message to the IoT gateway device, which indicates that the IoT terminal has successfully received the downlink data frame. If the IoT gateway device has not received the confirmation message sent by the IoT terminal within the set time after sending the downlink data frame to the IoT terminal, the IoT gateway device can send the downlink data frame to the IoT terminal again. In this way, in the case of failure to send the downlink data frame, the success rate of positioning control is improved through the retransmission mechanism.

[0109] based on Figure 5ABefore step 204, in step 206, the IoT terminal may add a confirmation mark in the uplink data frame; wherein the confirmation mark is used to enable the IoT gateway device to return confirmation information when receiving the uplink data frame.

[0110] Correspondingly, the Internet of Things terminal may also add a confirmation mark in the uplink data frame, and the confirmation mark is used to enable the Internet of Things gateway device to return confirmation information when receiving the uplink data frame.

[0111] exist Figure 5B middle, Figure 5A The illustrated step 204 may be updated to step 207, in which the IoT terminal sends the uplink data frame to the IoT gateway device according to the first data transmission rate.

[0112] Here, the IoT terminal sends the uplink data frame to the IoT gateway device according to the set first data transmission rate. It is worth noting that the data transmission rate is negatively correlated with the data transmission distance, that is, the smaller the data transmission rate, the larger the data transmission distance.

[0113] exist Figure 5B In step 208, after step 207, when the number of unconfirmed data frames reaches a set number, the IoT terminal updates the first data transmission rate to a second data transmission rate; wherein the unconfirmed data frame is an uplink data frame sent to the IoT gateway device and has not received corresponding confirmation information; the second data transmission rate is less than the first data transmission rate.

[0114] After the IoT terminal sends the uplink data frame to the IoT gateway device, if the corresponding confirmation information is not received, the uplink data frame is treated as an unconfirmed data frame. When the number of unconfirmed data frames accumulates to the set number, it proves that the IoT terminal and the IoT gateway device are far apart. The IoT terminal reduces the first data transmission rate to the set second data transmission rate, and sends the uplink data frame according to the second data transmission rate to increase the data transmission distance. It is worth noting that in the process of accumulating the number of unconfirmed data frames, if the IoT terminal receives confirmation information corresponding to any unconfirmed data frame, the number of unconfirmed data frames is cleared. In actual application scenarios, multiple data transmission rates can also be set, not limited to the first data transmission rate and the second data transmission rate here. Each time the data transmission rate is reduced, the number of unconfirmed data frames is cleared. In the above manner, the data transmission rate can be adjusted in time according to the data transmission situation between the IoT terminal and the IoT gateway device, thereby improving the success rate of sending uplink data frames.

[0115] In some embodiments, after step 207, it also includes: when confirmation information corresponding to the uplink data frame is not received within the set time length, the Internet of Things terminal re-sends the uplink data frame to the Internet of Things gateway device according to the first data transmission rate; wherein the re-sent uplink data frame is not counted as an unconfirmed data frame.

[0116] Here, for the IoT terminal, a retransmission mechanism can also be implemented. For example, after the IoT terminal sends an uplink data frame to the IoT gateway device according to the first data transmission rate, if the confirmation information corresponding to the uplink data frame is not received within the set time, the uplink data frame is sent to the IoT gateway device again according to the first data transmission rate. Among them, the uplink data frame sent again is not counted as the unconfirmed data frame, that is, it is guaranteed that the unconfirmed data frames are different. In this way, the success rate of sending uplink data frames is improved through the retransmission mechanism.

[0117] By applying the embodiment Figure 5B It can be seen from the above exemplary implementation that whether to reduce the data transmission rate is determined by the number of unconfirmed data frames, thereby improving the success rate of sending uplink data frames. This is suitable for scenarios where the IoT terminal is constantly moving, such as scenarios where the IoT terminal is a drone or a robot.

[0118] The following will describe an exemplary application of the present application embodiment in a practical application scenario. Figure 6 An optional schematic diagram of a data link shown in FIG. 1 , in which a LoRa terminal, a LoRa gateway, a satellite communication system and a LoRa server are included, which are described separately below:

[0119] 1) LoRa terminal: receives the positioning configuration information sent by the LoRa server through the LoRa network, and reports the positioning data obtained through the built-in GPS module. Among them, the LoRa terminal corresponds to the IoT terminal mentioned above.

[0120] 2) LoRa Gateway: It has a built-in satellite communication module and can send data to or receive data from a satellite communication system. The LoRa Gateway corresponds to the IoT gateway device mentioned above.

[0121] 3) Satellite communication system: including satellites and satellite ground stations. Satellites are used to wirelessly connect to the satellite communication module in the LoRa gateway, and satellite ground stations are used to communicate with satellites in the sky. The satellite communication system is equivalent to an intermediary system that transmits data between the LoRa gateway and the LoRa server.

[0122] 4) LoRa server: LoRa core network platform, used to generate positioning configuration information and send the positioning configuration information to the satellite through the satellite ground station. The satellite sends the positioning configuration information to the LoRa gateway, and the LoRa gateway sends the positioning configuration information to the LoRa terminal, thereby realizing positioning control of the LoRa terminal.

[0123] In the embodiment of the present application, the positioning configuration information can be divided into three categories. The following describes the process of positioning control of the LoRa terminal based on each category of positioning configuration information.

[0124] The present application embodiment provides Fig. 7A An optional flow chart of the positioning control method of the Internet of Things terminal shown in FIG. Fig. 7A The steps shown are explained:

[0125] 1) The LoRa server generates periodic positioning configuration information and sends it to the satellite ground station in the form of IP data packets. The periodic positioning configuration information may include the following:

[0126] ①DevEUI: In the LoRa network, this field is used to uniquely represent the LoRa terminal, which indicates which LoRa terminal is positioned and controlled.

[0127] ②posCycle: This parameter indicates the target positioning cycle. The value range of the target positioning cycle can be from 1 second to 24 hours. Since the LoRa network is mainly for low-power applications, the default value of the target positioning cycle can be configured as 24 hours. posCycle can be assigned directly or in a hierarchical manner. For the hierarchical division, for example, the value of posCycle (corresponding to the positioning level identifier above) is pre-set to 1, indicating that the target positioning cycle is 10 minutes; the value of posCycle is 2, indicating that the target positioning cycle is 20 minutes.

[0128] ③reportCycle: This parameter indicates the target reporting cycle. Here, the target reporting cycle can be set to be greater than the target positioning cycle to save the power consumed by the LoRa terminal for reporting data. Similarly, reportCycle can be directly assigned or in a hierarchical manner.

[0129] The LoRa server sends periodic positioning configuration information to the satellite ground station in the form of IP data packets, for example, by wired means.

[0130] 2) The satellite ground station encapsulates the positioning configuration information according to the satellite frame structure and sends it to the satellite.

[0131] Here, the satellite ground station sends the encapsulated data frame to the satellite.

[0132] 3) The satellite encapsulates the positioning configuration information according to the satellite frame structure and sends it to the LoRa gateway.

[0133] Here, when the satellite receives the data frame sent by the satellite ground station, it extracts the positioning configuration information from the data frame, encapsulates the positioning configuration information according to the satellite frame structure, and sends the obtained data frame to the LoRa gateway.

[0134] 4) The LoRa gateway encapsulates the positioning configuration information according to the LoRa frame structure and sends it to the LoRa terminal.

[0135] The LoRa gateway communicates with the satellite through the satellite communication module, receives the data frame corresponding to the satellite frame structure, and extracts the positioning configuration information from it. Then, the LoRa gateway encapsulates the positioning configuration information according to the LoRa frame structure and sends the obtained data frame to the LoRa terminal. Among them, the LoRa gateway can send the positioning configuration information to the LoRa terminal corresponding to the DevEUI according to the DevEUI in the positioning configuration information.

[0136] 5) The LoRa terminal performs corresponding operations based on the positioning configuration information.

[0137] The LoRa terminal receives the data frame corresponding to the LoRa frame structure, extracts the positioning configuration information from it, and performs positioning processing and data reporting according to the target positioning period and target reporting period in the positioning configuration information.

[0138] The present application embodiment provides Figure 7B An optional flow chart of the positioning control method of the Internet of Things terminal shown in FIG. Figure 7B The steps shown are explained:

[0139] 1) The LoRa server generates event-based positioning configuration information and sends it to the satellite ground station in the form of an IP data packet. The event-based positioning configuration information may include the following:

[0140] ①DevEUI: Same meaning as above, no further elaboration is given here.

[0141] ② Parameter conditions: When the parameters detected by the LoRa terminal meet the parameter conditions, positioning processing is performed to obtain positioning data, and the positioning data is reported to the LoRa gateway in real time. The specific parameters here are determined according to the actual IoT application, such as temperature, air pressure, humidity, or oil and gas content in the air. For example, the parameter condition can be to start positioning when the temperature is greater than the temperature threshold. The temperature threshold, such as 50 degrees Celsius, can be applied to forest fire surveys; for another example, for LoRa terminals that are constantly moving, such as drones and robots, the parameter condition can be to start positioning every step threshold, or every distance threshold. Among them, the number of steps and distance of the LoRa terminal movement can be obtained through inertial navigation equipment, such as accelerometers. In addition, the step threshold and distance threshold in the parameter conditions can be directly assigned or graded.

[0142] 2) The satellite ground station encapsulates the positioning configuration information according to the satellite frame structure and sends it to the satellite.

[0143] 3) The satellite encapsulates the positioning configuration information according to the satellite frame structure and sends it to the LoRa gateway.

[0144] 4) The LoRa gateway encapsulates the positioning configuration information according to the LoRa frame structure and sends it to the LoRa terminal.

[0145] 5) The LoRa terminal performs corresponding operations based on the positioning configuration information.

[0146] The LoRa terminal performs positioning processing and data reporting according to the parameter conditions in the positioning configuration information.

[0147] The present application embodiment provides Figure 7C An optional flow chart of the positioning control method of the Internet of Things terminal shown in FIG. Figure 7C The steps shown are explained:

[0148] 1) The LoRa server generates positioning configuration information indicating stop positioning and sends it to the satellite ground station in the form of an IP data packet. The positioning configuration information indicating stop positioning may include DevEUI and parameters indicating stop positioning.

[0149] 2) The satellite ground station encapsulates the positioning configuration information according to the satellite frame structure and sends it to the satellite.

[0150] 3) The satellite encapsulates the positioning configuration information according to the satellite frame structure and sends it to the LoRa gateway.

[0151] 4) The LoRa gateway encapsulates the positioning configuration information according to the LoRa frame structure and sends it to the LoRa terminal.

[0152] 5) The LoRa terminal performs corresponding operations based on the positioning configuration information.

[0153] After receiving the positioning configuration information indicating to stop positioning, the LoRa terminal stops positioning processing and data reporting.

[0154] The present application embodiment provides Figure 8 An optional schematic diagram of a satellite frame structure shown in FIG. 1 includes a plurality of fields including a pilot code (unique code), a frame type, a frame count, a frame length, a source address, a destination address, a signal-to-noise ratio, a frame valid data, a Doppler, and a cyclic redundancy check (CRC), wherein: Figure 8 The bit in is a data measurement unit, and CRC corresponds to the cyclic redundancy processing mentioned above.

[0155] The satellite can encapsulate the positioning configuration information according to the satellite frame structure. For each field of the satellite frame structure, the corresponding data can be filled in according to the following table:

[0156]

[0157]

[0158] Among them, the field of frame valid data corresponds to the setting field in the satellite frame structure mentioned above. The data carried in this field is the actual business data, that is, the positioning configuration information, and other fields can be considered as control-related fields. In addition, the forwarding uplink in this table has a different meaning from the uplink data sent by the IoT terminal. It means that the satellite fills the corresponding fields in the data frame generated by the satellite itself according to the content in the data frame sent by the satellite ground station. For example, if the source address in the data frame sent by the satellite ground station to the satellite is A, then when the satellite encapsulates the positioning configuration information according to the satellite frame structure, the source address in the generated data frame is also set to A. When the LoRa gateway receives the data frame sent by the satellite, it takes out the positioning configuration information from the frame valid data field of the data frame.

[0159] The present application embodiment provides Fig. 9 An optional schematic diagram of the LoRa frame structure is shown in Fig. 9In the radio PHY layer of the LoRa frame structure, the radio PHY layer includes a preamble, a physical frame header (PHDR), a frame header check code (PHDR_CRC), a first load data segment (PHYPayload), and a load data segment check code, wherein the load data segment check code corresponds to the first check code above. For the MAC layer, i.e., PHYPayload, it includes a MAC layer frame header (MHDR), a MAC layer load (MACPayload), and a message consistency code (Message Integrity Code, MIC). For the MAC layer load, it includes a MAC layer load frame header (FHDR), a data channel number (FPort), and a second load data segment (FRMPayload). For the MAC layer load frame header, it includes the terminal address (DevAddr) of the LoRa terminal, the control word (FCtrl) of the frame, the sequence number (FCnt) of the frame, and the frame configuration (FOpts). Among them, the first load data segment and the second load data segment correspond to the setting fields in the frame structure of the Internet of Things communication protocol mentioned above. When the LoRa gateway encapsulates the positioning configuration information according to the LoRa frame structure, it first encapsulates the positioning configuration information into the FRMPayload field, and then further encapsulates it into the MACPayload in the MAC layer, and finally encapsulates it into the PHYPayload in the physical layer to complete the encapsulation.

[0160] Through the embodiments of the present application, satellite communication and LoRa communication are combined to realize the positioning control of the LoRa terminal, which is suitable for remote areas lacking infrastructure, facilitates the management of such terminals, and effectively expands the application of the Internet of Things.

[0161] The following is an exemplary structure of the positioning control device 543 of the Internet of Things terminal provided by the embodiment of the present application implemented as a software module. In some embodiments, Figure 3 As shown, the software modules in the positioning control device 543 of the Internet of Things terminal stored in the memory 540 may include: an acquisition module 5431, used to obtain positioning configuration information from the Internet of Things gateway device; wherein the positioning configuration information is sent by the server to the Internet of Things gateway device via a satellite communication system; a positioning module 5432, used to perform positioning processing according to the positioning configuration information; and a data sending module 5433, used to send the positioning data obtained by the positioning processing to the Internet of Things gateway device, so that the Internet of Things gateway device sends it to the server via the satellite communication system.

[0162] In some embodiments, the positioning configuration information includes a target positioning period and a target reporting period; the positioning module 5432 is also used to: when the target positioning period arrives, perform positioning processing to obtain positioning data; the data sending module 5433 is also used to: when the target reporting period arrives, send the positioning data obtained by positioning processing within the target reporting period to the Internet of Things gateway device.

[0163] In some embodiments, the positioning configuration information includes a positioning level identifier and a reporting level identifier; the positioning module 5432 is also used to: in a positioning period pre-associated with multiple positioning level identifiers, search for a positioning period associated with the positioning level identifier in the positioning configuration information as a target positioning period; when the target positioning period arrives, perform positioning processing to obtain positioning data; the data sending module 5433 is also used to: in a reporting period pre-associated with multiple reporting level identifiers, search for a reporting period associated with the reporting level identifier in the positioning configuration information as a target reporting period; when the target reporting period arrives, send the positioning data obtained through positioning processing within the target reporting period to the Internet of Things gateway device.

[0164] In some embodiments, the positioning configuration information includes parameter conditions; the positioning module 5432 is also used to: when the detected parameters meet the parameter conditions, perform positioning processing to obtain positioning data; wherein the detected parameters include at least one of air parameters, number of steps and distance; the data sending module 5433 is also used to: send the positioning data obtained by the positioning processing to the Internet of Things gateway device in real time.

[0165] In some embodiments, the positioning control device 543 of the Internet of Things terminal also includes: a stop module, which is used to stop positioning processing and stop sending positioning data to the Internet of Things gateway device when the positioning configuration information indicates to stop positioning.

[0166] In some embodiments, the positioning configuration information includes the device identification of the device that needs to be positioned; the positioning control device 543 of the Internet of Things terminal also includes: an identification acquisition module, used to obtain the device identification of the Internet of Things terminal; a discarding module, used to discard the positioning configuration information when the device identification of the Internet of Things terminal is different from the device identification in the positioning configuration information.

[0167] In some embodiments, the acquisition module 5431 is also used to: obtain a downlink data frame from the Internet of Things gateway device, and obtain the positioning configuration information located in a set field of the downlink data frame; the data sending module 5433 is also used to: generate an uplink data frame, add the positioning data obtained by the positioning processing to the set field in the uplink data frame, and send the uplink data frame to the Internet of Things gateway device.

[0168] In some embodiments, the data sending module 5433 is also used to: perform cyclic redundancy processing on the positioning data to obtain a first check code, and add the first check code to the uplink data frame; the positioning control device 543 of the Internet of Things terminal also includes: a retransmission request acquisition module, used to obtain a retransmission request from the Internet of Things gateway device; wherein the retransmission request is sent by the server to the Internet of Things gateway device through the satellite communication system when the first check code is different from the second check code, and the second check code is obtained by the server performing cyclic redundancy processing on the received positioning data; a first re-sending module is used to re-send the uplink data frame to the Internet of Things gateway device.

[0169] In some embodiments, the positioning control device 543 of the Internet of Things terminal also includes: a confirmation module, which is used to send confirmation information to the Internet of Things gateway device when the downlink data frame includes a confirmation identifier.

[0170] In some embodiments, the data sending module 5433 is also used to: add a confirmation mark in the uplink data frame; wherein the confirmation mark is used to enable the Internet of Things gateway device to return confirmation information when receiving the uplink data frame.

[0171] In some embodiments, the data sending module 5433 is also used to: send the uplink data frame to the Internet of Things gateway device according to the first data transmission rate; the positioning control device 543 of the Internet of Things terminal also includes: a rate update module, which is used to update the first data transmission rate to a second data transmission rate when the number of unconfirmed data frames reaches a set number; wherein the unconfirmed data frame is an uplink data frame that is sent to the Internet of Things gateway device and has not received the corresponding confirmation information; the second data transmission rate is less than the first data transmission rate.

[0172] In some embodiments, a second re-sending module is used to re-send the uplink data frame to the Internet of Things gateway device according to the first data transmission rate when confirmation information corresponding to the uplink data frame is not received within a set time period; wherein the uplink data frame re-sent is not counted as an unconfirmed data frame.

[0173] In some embodiments, the acquisition module 5431 is also used to: perform one of the following processing: within a set time after sending the positioning data to the Internet of Things gateway device, start the data acquisition state to obtain the positioning configuration information from the Internet of Things gateway device; when the set acquisition cycle arrives, start the data acquisition state to obtain the positioning configuration information from the Internet of Things gateway device; continue to turn on the data acquisition state to obtain the positioning configuration information from the Internet of Things gateway device.

[0174] The present application embodiment provides a computer-readable storage medium storing executable instructions, wherein the executable instructions are stored. When the executable instructions are executed by a processor, the processor will be caused to execute the method provided by the present application embodiment, for example, Figure 4 , Figure 5A , Figure 5B , Fig. 7A , Figure 7B and Figure 7C The positioning control method of the Internet of Things terminal is shown. It is worth noting that the computer includes various computing devices including terminal devices and servers.

[0175] In some embodiments, the computer-readable storage medium may be a memory such as FRAM, ROM, PROM, EPROM, EEPROM, flash memory, magnetic surface storage, optical disk, or CD-ROM; or it may be various devices including one or any combination of the above memories.

[0176] In some embodiments, executable instructions may be in the form of a program, software, software module, script or code, written in any form of programming language (including compiled or interpreted languages, or declarative or procedural languages), and may be deployed in any form, including as a stand-alone program or as a module, component, subroutine or other unit suitable for use in a computing environment.

[0177] As an example, executable instructions may, but need not, correspond to a file in a file system, may be stored as part of a file storing other programs or data, for example, in one or more scripts in a HyperText Markup Language (HTML) document, in a single file dedicated to the program in question, or in multiple coordinated files (for example, files storing one or more modules, subroutines, or code portions).

[0178] By way of example, executable instructions may be deployed to be executed on one computing device, or on multiple computing devices located at one site, or on multiple computing devices distributed across multiple sites and interconnected by a communication network.

[0179] In summary, the following technical effects can be achieved through the embodiments of the present application:

[0180] 1) By building a data link including servers, satellite communication systems, IoT gateway devices and IoT terminals, it is possible to achieve extensive positioning control of IoT terminals and reduce implementation costs. It is suitable for remote areas such as mountains and deserts that lack ground facilities and supports the application of IoT terminals in various environments.

[0181] 2) It provides three types of positioning configuration information: periodic, event-based and stop positioning, which improves the flexibility of positioning control. At the same time, it provides multiple ways for IoT terminals to obtain positioning configuration information from IoT gateway devices, which can be selected according to the power consumption requirements of actual application scenarios, with strong flexibility.

[0182] 3) Whether to reduce the data transmission rate is determined by the number of unconfirmed data frames, which improves the success rate of sending uplink data frames and is suitable for scenarios where IoT terminals are constantly moving. At the same time, the retransmission mechanism improves the success rate of data transmission from another perspective.

[0183] 4) The integrity of the positioning data is verified by comparing the check code, which improves the validity of the received positioning data.

[0184] The above is only an embodiment of the present application and is not intended to limit the protection scope of the present application. Any modifications, equivalent substitutions and improvements made within the spirit and scope of the present application are included in the protection scope of the present application.

Claims

1. A positioning control method for an Internet of Things terminal, characterized in that: include: Acquire positioning configuration information from a target IoT gateway device that manages the device identification of the IoT terminal, wherein the positioning configuration information is sent by a server to the target IoT gateway device via a satellite communication system, the satellite communication system pre-stores the device identifications of the IoT terminals respectively managed by each IoT gateway device, and each IoT gateway device pre-stores the device identifications of each IoT terminal managed by the IoT terminal; In the positioning cycles pre-associated with the plurality of positioning level identifiers, searching for the positioning cycle associated with the positioning level identifier in the positioning configuration information as the target positioning cycle; When the target positioning period arrives, or when the detected parameters meet the parameter conditions in the positioning configuration information, positioning processing is performed to obtain positioning data, wherein the detected parameters include at least one of air parameters, number of steps and distance; Searching for a reporting period associated with the reporting level identifier in the positioning configuration information among the reporting periods pre-associated with the multiple reporting level identifiers, as a target reporting period, wherein the target reporting period is greater than the target positioning period; When the target reporting period arrives, the plurality of positioning data obtained by positioning processing within the target reporting period and the detected parameters are sent to the target Internet of Things gateway device, so that The target Internet of Things gateway device is sent to the server via the satellite communication system.

2. The positioning control method according to claim 1, characterized in that: Also includes: When the positioning configuration information indicates to stop positioning, the positioning process is stopped, and Stop sending the positioning data and the detected parameters to the target Internet of Things gateway device.

3. The positioning control method according to any one of claims 1 to 2, characterized in that: The positioning configuration information also includes a device identifier of a device that needs to be positioned; After acquiring the positioning configuration information from the target Internet of Things gateway device that manages the device identification of the Internet of Things terminal, the method further includes: Obtaining a device identification of the IoT terminal; When the device identifier of the Internet of Things terminal is different from the device identifier in the positioning configuration information, the positioning configuration information is discarded.

4. The positioning control method according to any one of claims 1 to 2, characterized in that: The acquiring positioning configuration information from the target Internet of Things gateway device that manages the device identification of the Internet of Things terminal includes: Obtain a downlink data frame from the target IoT gateway device, and obtain positioning configuration information located in a setting field of the downlink data frame; The sending the positioning data and the detected parameters to the target Internet of Things gateway device includes: generating an uplink data frame, adding the positioning data and the detected parameters to the setting field in the uplink data frame, and The uplink data frame is sent to the target Internet of Things gateway device.

5. The positioning control method according to claim 4, characterized in that: Before sending the uplink data frame to the target Internet of Things gateway device, the method further includes: Performing cyclic redundancy processing on the positioning data to obtain a first check code, and adding the first check code to the uplink data frame; After sending the uplink data frame to the target Internet of Things gateway device, the method further includes: Obtain a resend request from the target IoT gateway device; The resend request is sent by the server to the target IoT gateway device through the satellite communication system when the first verification code is different from the second verification code, and the second verification code is obtained by the server performing cyclic redundancy processing on the received positioning data; The uplink data frame is sent again to the target Internet of Things gateway device.

6. The positioning control method according to claim 4, characterized in that: After obtaining the downlink data frame from the target Internet of Things gateway device, the method further includes: When the downlink data frame includes a confirmation identifier, sending confirmation information to the target Internet of Things gateway device; Before sending the uplink data frame to the target Internet of Things gateway device, the method further includes: The confirmation mark is added to the uplink data frame; wherein the confirmation mark is used to enable the target Internet of Things gateway device to return confirmation information when receiving the uplink data frame.

7. The positioning control method according to claim 6, characterized in that: The sending of the uplink data frame to the target Internet of Things gateway device includes: According to a first data transmission rate, the uplink data frame is sent to the target Internet of Things gateway device; The positioning control method further includes: When the number of unconfirmed data frames reaches a set number, updating the first data transmission rate to a second data transmission rate; Among them, the unconfirmed data frame is an uplink data frame sent to the target Internet of Things gateway device and has not received corresponding confirmation information; the second data transmission rate is less than the first data transmission rate.

8. The positioning control method according to claim 7, characterized in that: After sending the uplink data frame to the target Internet of Things gateway device according to the first data transmission rate, the method further includes: When confirmation information corresponding to the uplink data frame is not received within the set time period, the uplink data frame is sent to the target Internet of Things gateway device again according to the first data transmission rate; The re-sent uplink data frame is not counted in the unconfirmed data frame.

9. The positioning control method according to any one of claims 1 to 2, characterized in that: The acquiring positioning configuration information from the target Internet of Things gateway device that manages the device identification of the Internet of Things terminal includes: Perform one of the following actions: Within a set time period after sending the positioning data to the target IoT gateway device, starting a data acquisition state to acquire the positioning configuration information from the target IoT gateway device; When the set acquisition cycle arrives, the data acquisition state is turned on to obtain the positioning configuration information from the target IoT gateway device; The data acquisition state is continuously turned on to obtain the positioning configuration information from the target IoT gateway device.

10. A positioning control device for an Internet of Things terminal, characterized in that: include: An acquisition module is used to acquire positioning configuration information from a target IoT gateway device that manages the device identification of the IoT terminal, wherein the positioning configuration information is sent by a server to the target IoT gateway device via a satellite communication system, the satellite communication system pre-stores the device identifications of the IoT terminals respectively managed by each IoT gateway device, and each IoT gateway device pre-stores the device identifications of each IoT terminal managed by it; A positioning module, used to search for a positioning period associated with the positioning level identifier in the positioning configuration information among the positioning periods pre-associated with a plurality of positioning level identifiers, as a target positioning period; The positioning module is further configured to perform positioning processing to obtain positioning data when the target positioning period arrives or when the detected parameters meet the parameter conditions in the positioning configuration information, wherein the detected parameters include at least one of air parameters, number of steps and distance; A data sending module, configured to search for a reporting period associated with the reporting level identifier in the positioning configuration information among the reporting periods pre-associated with the multiple reporting level identifiers, as a target reporting period, wherein the target reporting period is greater than the target positioning period; The data sending module is also used to send the multiple positioning data obtained by positioning processing within the target reporting period and the detected parameters to the target Internet of Things gateway device when the target reporting period arrives, so that The target Internet of Things gateway device is sent to the server via the satellite communication system.

11. An electronic device, characterized in that: include: A memory for storing executable instructions; The processor is used to implement the positioning control method of the Internet of Things terminal as described in any one of claims 1 to 9 when executing the executable instructions stored in the memory.

12. A computer-readable storage medium, characterized in that: Executable instructions are stored, which are used to implement the positioning control method of the Internet of Things terminal described in any one of claims 1 to 9 when executed by a processor.

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