Communication method and system for wireless frames, and wireless positioning method and system

Abstract

The present invention discloses a communication method, device and system for wireless frames, a wireless positioning method, device and system, as well as a storage medium and a computer device, which relate to the field of communications. The communication method for wireless frames includes: broadcasting a wireless frame in a time slot corresponding to identification information configured by a current base station, and recording the timestamp information of the wireless frame broadcast by the current base station; receiving wireless frames broadcast by other base stations, and recording the timestamp information of the wireless frames broadcast by other base stations received by the current base station. The above method can enable multiple base stations to send wireless frames in an orderly manner, coordinate the transmission timings of the wireless frames sent by multiple base stations, effectively solve the problems of chaotic wireless frame transmission and frame collision between wireless frames during the communication process of multiple base stations, ensure the orderliness of wireless frame communication, and improve the communication efficiency of wireless frames in the system.

Description

Technical Field

[0001] The present invention relates to the field of communications, and more particularly to a communication method, apparatus, and system for wireless frames, a wireless positioning method, apparatus, and system, as well as a storage medium and a computer device. Background Art

[0002] With the rapid development of communication technologies, the positioning technologies triggered by communication technologies have gradually received more and more attention. Currently, some well-known positioning technologies include UWB (Ultra Wide band), WiFi, Bluetooth, acoustic wave positioning technologies, etc.

[0003] In these positioning methods, multiple communication methods can be used to achieve positioning. However, no matter which communication method is used for positioning, it is necessary for multiple base stations to send wireless frames to achieve it. However, in the existing wireless positioning technology, during the process of multiple base stations sending wireless frames, problems such as chaotic wireless frame sending and frame collision between wireless frames often occur. These problems further lead to problems such as low communication efficiency of base stations and low positioning accuracy. For this problem, there is currently no effective solution. Summary of the Invention

[0004] In view of this, the present application provides a communication method, apparatus, and system for wireless frames, a wireless positioning method, apparatus, and system, as well as a storage medium and a computer device, mainly aiming to solve the technical problems of chaotic wireless frame sending and frame collision between wireless frames during the wireless frame communication process.

[0005] According to a first aspect of the present invention, a communication system for wireless frames is provided. The system includes multiple base stations, each of the base stations is provided with a wireless frame communication module and configured with identification information. The multiple base stations form at least one base station group, and the identification information of each base station in the base station group is different from each other. Among them,

[0006] The multiple base stations broadcast wireless frames in a time slot corresponding to the identification information configured by the current base station, and record the timestamp information of the current base station broadcasting the wireless frame;

[0007] And receive wireless frames broadcast by other base stations, and record the timestamp information of the current base station receiving the wireless frames broadcast by other base stations.

[0008] According to a second aspect of the present invention, a communication method for wireless frames is provided. The method includes:

[0009] Broadcast wireless frames in a time slot corresponding to the identification information configured by the current base station, and record the timestamp information of the current base station broadcasting the wireless frame;

[0010] Receive wireless frames broadcast by other base stations and record the timestamp information of the wireless frames received by the current base station from other base stations.

[0011] According to a third aspect of the present invention, there is provided a wireless positioning method, the method comprising:

[0012] Receive a plurality of wireless frames broadcast by a plurality of base stations and record the timestamp information of the current device receiving the plurality of wireless frames, wherein the plurality of wireless frames carry the timestamp information of the base station broadcasting the wireless frames and the timestamp information of the base station receiving the wireless frames;

[0013] Perform positioning calculation according to the plurality of wireless frames and the timestamp information of the current device receiving the plurality of wireless frames to obtain the location information of the current device.

[0014] According to a fourth aspect of the present invention, there is provided a communication device for wireless frames, the device comprising:

[0015] A wireless frame sending module, configured to broadcast wireless frames in a time slot corresponding to the identification information configured by the current base station and record the timestamp information of the current base station broadcasting the wireless frames;

[0016] A wireless frame receiving module, configured to receive wireless frames broadcast by other base stations and record the timestamp information of the current base station receiving the wireless frames broadcast by other base stations.

[0017] According to a fifth aspect of the present invention, there is provided a wireless positioning device, the device comprising:

[0018] A wireless frame receiving module, configured to receive a plurality of wireless frames broadcast by a plurality of base stations and record the timestamp information of the current device receiving the plurality of wireless frames, wherein the plurality of wireless frames carry the timestamp information of the base station broadcasting the wireless frames and the timestamp information of the base station receiving the wireless frames;

[0019] A positioning calculation module, configured to perform positioning calculation according to the plurality of wireless frames and the timestamp information of the current device receiving the plurality of wireless frames to obtain the location information of the current device.

[0020] According to a sixth aspect of the present invention, there is provided a wireless positioning system, the system comprising a plurality of base stations and a mobile device, each of the base stations and the mobile device is provided with a wireless frame communication module, each of the base stations is further configured with identification information, the plurality of base stations form at least one base station group, and the identification information of each base station in the base station group is different from each other, wherein,

[0021] The multiple base stations broadcast wireless frames in time slots corresponding to the identification information configured by the current base station, and record the time stamp information of the current base station broadcasting the wireless frames; and receive wireless frames broadcast by other base stations, and record the time stamp information of the current base station receiving the wireless frames broadcast by other base stations;

[0022] The mobile device receives multiple wireless frames broadcast by multiple base stations, and records the time stamp information of the current device receiving the multiple wireless frames, wherein the multiple wireless frames carry the time stamp information of the base station broadcasting the wireless frames and the time stamp information of the base station receiving the wireless frames; and performs positioning calculation according to the multiple wireless frames and the time stamp information of the current device receiving the multiple wireless frames to obtain the location information of the current device.

[0023] According to the seventh aspect of the present invention, there is provided a storage medium, on which a computer program is stored, and when the program is executed by a processor, the above-mentioned communication method and wireless positioning method of wireless frames are implemented.

[0024] According to the eighth aspect of the present invention, there is provided a computer device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, and when the processor executes the program, the above-mentioned communication method and wireless positioning method of wireless frames are implemented.

[0025] The communication method, device, system, storage medium and computer device of wireless frames provided by the present invention can enable the base station to broadcast wireless frames in time slots corresponding to the identification information configured by the current base station, and receive wireless frames broadcast by other base stations at times when the base station does not send wireless frames. In addition, the base station can also record the time stamp information of the current base station broadcasting wireless frames and the time stamp information of the current base station receiving wireless frames broadcast by other base stations. By the above method, multiple base stations can send wireless frames in an orderly manner, coordinate the sending timings of multiple base stations sending wireless frames, effectively solve the problems of chaotic wireless frame sending and mutual frame collision of wireless frames during the communication of multiple base stations, ensure the orderliness of wireless frame communication, and improve the communication efficiency of wireless frames in the system.

[0026] The wireless positioning method, device, system, storage medium, and computer device provided by the present invention form a wireless positioning network by multiple base stations broadcasting wireless frames in time slots corresponding to the identification information configured by the current base station. In this wireless positioning network, a mobile device can receive multiple wireless frames broadcast by multiple base stations, record the timestamp information of the current device receiving multiple wireless frames, and then perform positioning calculation based on the multiple wireless frames broadcast by multiple base stations and the timestamp information of the current device receiving multiple wireless frames to obtain the location information of the current device. This embodiment constructs the timing sequence of communication and positioning between the base station and the mobile device, enabling the positioning calculation process to be completed locally on the mobile device. The base station cannot obtain the distance between the mobile device and the base station and the specific location of the mobile device, and even cannot know the existence of the mobile device. Therefore, it can effectively protect the privacy and security of users holding mobile devices. Moreover, since the mobile device does not need to send any data, the wireless positioning system can accommodate an infinite number of mobile devices for positioning simultaneously, greatly improving the system capacity. In addition, since multiple base stations broadcast wireless frames in time slots corresponding to the identification information configured by the current base station, it effectively coordinates the transmission timing of wireless frames sent by multiple base stations, ensuring that the wireless frames sent by multiple base stations in the wireless positioning system do not conflict with each other, ensuring the orderliness of wireless frame communication, and improving the communication efficiency and positioning efficiency of the wireless positioning system.

[0027] The above description is only an overview of the technical solution of this application. In order to be able to understand the technical means of this application more clearly, it can be implemented according to the content of the specification. And in order to make the above and other purposes, features, and advantages of this application more obvious and understandable, the following specifically illustrates the specific implementation manners of this application. Brief Description of the Drawings

[0028] The drawings described herein are used to provide a further understanding of the present invention and form a part of this application. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation to the present invention. In the drawings:

[0029] Figure 1 It shows a schematic diagram of the scenario of a wireless frame communication system provided by an embodiment of the present invention;

[0030] Figure 2 It shows a schematic diagram of the scenario of another wireless frame communication system provided by an embodiment of the present invention;

[0031] Figure 3 It shows a schematic diagram of the scenario of a wireless positioning system provided by an embodiment of the present invention;

[0032] Figure 4 It shows a schematic diagram of the flow of a wireless frame communication method provided by an embodiment of the present invention;

[0033] Figure 5 The flowchart shows another communication method of a wireless frame provided by an embodiment of the present invention;

[0034] Figure 6 The scenario diagram shows a communication method of a wireless frame provided by an embodiment of the present invention;

[0035] Figure 7 The scenario diagram shows a communication method of a wireless frame provided by an embodiment of the present invention;

[0036] Figure 8 The schematic diagram shows a wireless frame structure provided by an embodiment of the present invention;

[0037] Figure 9 The schematic diagram shows another wireless frame structure provided by an embodiment of the present invention;

[0038] Figure 10 The flowchart shows a wireless positioning method provided by an embodiment of the present invention;

[0039] Figure 11 The flowchart shows another wireless positioning method provided by an embodiment of the present invention;

[0040] Figure 12 The scenario diagram shows a wireless positioning method provided by an embodiment of the present invention;

[0041] Figure 13 The scenario diagram shows a wireless positioning method provided by an embodiment of the present invention;

[0042] Figure 14 The schematic diagram shows a communication device of a wireless frame provided by an embodiment of the present invention;

[0043] Figure 15 The schematic diagram shows a positioning device of a wireless frame provided by an embodiment of the present invention. Detailed implementation manners

[0044] The present invention will be described in detail below with reference to the drawings and in conjunction with embodiments. It should be noted that, without conflict, the embodiments in the present application and the features in the embodiments may be combined with each other.

[0045] The communication methods of the wireless frames provided in the embodiments of the present application can be applied to a wireless frame communication system as shown in Figure 1 and Figure 2 and can also be applied to a wireless positioning system as shown in Figure 3 ; the wireless positioning methods provided in the embodiments of the present application can be applied to a wireless positioning system as shown in Figure 3 . As shown in Figures 1 to 3As shown, both the communication system of wireless frames and the wireless positioning system include multiple base stations 101. The wireless positioning system further includes a mobile device 102. In other words, it can also be considered that the wireless positioning system includes the communication system of wireless frames and the mobile device. In the communication system of wireless frames and the wireless positioning system, multiple base stations 101 can communicate with each other through wireless frames. The base stations 101 can be fixedly installed or mobile. The fixedly installed base stations include micro base stations, small base stations, medium base stations, large base stations, etc. equipped with wireless positioning modules and arranged indoors or outdoors. The mobile base stations include mobile nodes or mobile anchors, etc. In the wireless positioning system, the mobile device 102 can receive the wireless frames broadcast by multiple base stations 101 to achieve communication with multiple base stations. Among them, the mobile device 102 can be various personal computers, laptops, mobile phones, tablet computers, portable wearable devices, etc. equipped with wireless positioning modules. Among them, the wireless positioning modules installed in the base stations 101 and the mobile device 102 can include a clock unit, a data sending unit, a data receiving unit, a data processing unit, a data storage unit, etc. Through the wireless positioning module, the base station and the base station, the base station and the mobile device can send and receive wireless frames and record the timestamp information of sending and receiving wireless frames. Specifically, the wireless positioning module can be a UWB wireless positioning module.

[0046] In one embodiment, as Figure 4 shown, this embodiment first provides a method for communicating wireless frames. Taking this method applied to the base station 101 in the communication system of wireless frames as shown in Figure 1 and Figure 2 or taking this method applied to the base station 101 in the wireless positioning system as shown in Figure 3 as an example for illustration, it includes the following steps:

[0047] 101. Broadcast a wireless frame in the time slot corresponding to the identification information configured by the current base station, and record the timestamp information of the current base station broadcasting the wireless frame.

[0048] 102. Receive the wireless frames broadcast by other base stations, and record the timestamp information of the current base station receiving the wireless frames broadcast by other base stations.

[0049] Specifically, in a communication system and a wireless positioning system of wireless frames (hereinafter referred to as the system), both include multiple base stations. Each base station broadcasts wireless frames in the time slot corresponding to the identification information configured by the current base station, and receives wireless frames in the time slot corresponding to the identification information configured by other base stations. In addition, the base station records corresponding timestamp information at the moments of sending and receiving wireless frames. In the wireless frames sent by the base station, the timestamp information at the moment of sending the wireless frame and the timestamp information at the moment of receiving the wireless frames sent by other base stations can be carried. Of course, other information such as the location information of the base station and the synchronization information of the base station can also be carried in the wireless frames sent by the base station.

[0050] In this embodiment, the identification information configured by the base station can be understood as the number information of the base station. Specifically, the identification information configured by the base station is used to refer to the sequence number of the wireless frame sent by the base station. The identification information can be the base station identifier representing the base station identity information, or the time slot identifier only representing the sending sequence number, etc.; the time slot refers to the time period when a base station sends wireless frames. Among them, the length of the time slot must be greater than the time slot time required for sending a wireless frame. For example, if the time slot time required for sending a UWB wireless frame is 1 ms, then in the UWB wireless positioning system, the set time slot must be not less than 1 ms to ensure that the wireless frames sent by a base station in the corresponding time slot do not conflict with the wireless frames sent by other base stations. Further, broadcasting wireless frames in the time slot corresponding to the identification information configured by the current base station means sending wireless frames in the time period corresponding to the sending sequence number configured by the base station, so that multiple base stations in the system send wireless frames in sequence, ensuring the sending order of wireless frames and improving the sending efficiency of wireless frames. In addition, when the base station is not sending wireless frames, it can always be in the receiving state to receive wireless frames sent by other base stations at any time.

[0051] In this embodiment, the identification information configured by multiple base stations in the same base station group in the system is all different from each other, so as to ensure that the sending time sequence of wireless frames will not collide. Specifically, in the system, with a certain base station as the center, all base stations that can communicate with this base station can form a base station group. That is, in a base station group, there is a base station that can communicate with other base stations in the base station group, and the base stations that cannot communicate with this "central base station" are not in the same base station group as this base station. In a system, one or more base station groups can be included, and a base station can also belong to one or more base station groups at the same time. In this case, it is only necessary to ensure that the identification information configured by each base station in each base station group is all different from each other.

[0052] The communication method of the wireless frame provided in this embodiment enables the base station to broadcast the wireless frame in the time slot corresponding to the identification information configured by the current base station, and receive the wireless frame broadcast by other base stations at the moment when the base station does not send the wireless frame. In addition, the base station can also record the timestamp information of the wireless frame broadcast by the current base station and the timestamp information of the wireless frame received by other base stations. Through the above method, multiple base stations can send wireless frames in an orderly manner, coordinate the sending timing of the wireless frames sent by multiple base stations, effectively solve the problems of chaotic wireless frame sending and frame collision between wireless frames during the communication process of multiple base stations, ensure the orderliness of wireless frame communication, and improve the communication efficiency of wireless frames in the system.

[0053] In one embodiment, as a refinement and extension of the specific implementation manner of the above embodiment, in order to fully illustrate the implementation process of this embodiment, a communication method of the wireless frame is also provided. As Figure 5 shown, the method includes the following steps:

[0054] 201. Broadcast the wireless frame in the time slot corresponding to the identification information configured by the current base station, and record the timestamp information of the wireless frame broadcast by the current base station.

[0055] 202. Receive the wireless frame broadcast by other base stations, and record the timestamp information of the wireless frame received by the current base station from other base stations.

[0056] 203. Perform clock synchronization during the process of sending and receiving the wireless frame.

[0057] Specifically, in the wireless frame communication system and the wireless positioning system (hereinafter referred to as the system), there are multiple base stations. Each base station broadcasts the wireless frame in the time slot corresponding to the identification information configured by the current base station, and receives the wireless frame in the time slot corresponding to the identification information configured by other base stations. In addition, the base station records the corresponding timestamp information at the moment of sending and receiving the wireless frame.

[0058] In this embodiment, the multiple base stations include at least three base stations, and at least three base stations form at least one base station group. In addition, each base station in the system belongs to at least one base station group, and the distance between two adjacent base stations in the base station group is 15m - 20m. In this embodiment, the distance of 15m - 20m between two adjacent base stations refers to the communication distance of 15m - 20m between two adjacent base stations. This requires that when arranging the base stations in the actual scenario, the geographical distance between two adjacent base stations should be within the range of the communication distance, that is, within the range of 15m - 20m, so as to ensure that the method described in this embodiment can be fully implemented in the actual scenario. Referring to Figure 1 and Figure 2 , two ideal base station layout methods are shown in the two drawings. In Figure 1Among them, 16 base stations are arranged in a "one" shape, and the geographical distance between two adjacent base stations is within the communication distance of 15m to 20m. Then every three adjacent base stations can form a base station group, that is Figure 1 The 16 base stations in it can form 14 base station groups, and the identification information of each base station in the base station group is different (both the base station identifier and the time slot identifier are different), see Figure 1 , base stations A1, A2, and A3 form a base station group, base stations A2, A3, and A4 form a base station group, and so on; in Figure 2 Among them, 16 base stations are arranged in a matrix, and the geographical distance between two adjacent base stations (including two adjacent base stations on the diagonal) is still within the communication distance of 15m to 20m. Then every nine adjacent base stations can form a base station group, that is Figure 2 The 16 base stations in it can form 4 base station groups, and the identification information of each base station in the base station group is different (both the base station identifier and the time slot identifier are different), see Figure 2 , base stations A1, A2, A3, A5, A6, A7, A9, F10, F11 form a base station group, base stations A2, A3, A4, A6, A7, A8, F10, F11, F12 form another base station group, and so on.

[0059] In this embodiment, the communication distance refers to the maximum distance value at which two base stations can communicate, and the geographical distance refers to the actual distance value when the two base stations are deployed. Taking the communication distance between two base stations as 20m as an example, when the geographical distance between two base stations is less than 20m, the two base stations can communicate with each other, that is, the two base stations can receive the wireless frames broadcast by the other base station; when the geographical distance between two base stations is greater than 20m, the two base stations cannot communicate with each other, that is, the two base stations cannot receive the wireless frames broadcast by the other base station. Refer to Figure 1 , the communication distance of the base station is 20 meters, and the geographical distance between every two base stations is 19 meters. Then base stations A1 and A2 can communicate, and base stations A1 and A3 cannot communicate, and so on; refer to Figure 2 , the base stations are arranged in a 4*4 array, the communication distance of the base station is 20 meters, the geographical distance between two adjacent base stations in the diagonal direction is 19.9 meters, and the geographical distance between two adjacent base stations in the horizontal or vertical direction is about 14 meters. Then base stations A1 and A2 can communicate, base stations A1 and A3 cannot communicate, base stations A1 and A6 can communicate, and base stations A1 and A11 cannot communicate, and so on.

[0060] In an alternative embodiment, the identification information may include a base station identifier and a time slot identifier. Among them, the base station identifier represents the identity information of the base station. The base station identifier can be configured when the base station leaves the factory or when the base station is deployed. Once configured, the base station identifier generally cannot be changed without administrative privileges. The base station identifier is globally unique, that is, the base station identifiers of each base station do not repeat each other and have uniqueness. In this embodiment, Figure 1 and Figure 2 "A1"-"A16" in Figure 1 can be understood as the base station identifier of base station 101; in contrast, the time slot identifier represents the transmission sequence number of the base stations in a base station group. The time slot identifier of the base station can be configured when the base station is deployed. The time slot identifier of the base station can be changed, and the time slot identifier is locally unique in the base station group to which the current base station belongs, that is, in a base station group, the time slot identifiers of the base stations do not repeat each other. However, in multiple base station groups, the time slot identifiers can repeat each other. In addition, a base station can belong to multiple base station groups at the same time. In the case where the system includes multiple base station groups, the number of time slot identifiers of the base station is less than the number of base station identifiers of the base station. In this embodiment, Figure 2 "1"-"3" in

[0061] and "1"-"9" in

[0062] can be understood as the time slot identifier of the base station. In this embodiment, the identification information can refer to either the base station identifier or the time slot identifier. Figure 2 In the specific application scenario of this embodiment, due to indoor environmental factors, such as the obstruction of obstacles such as walls, two base stations with a geographical distance less than the communication distance cannot communicate with each other. Further, a method for dividing base station groups and allocating time slot identifiers is as follows: Multiple base stations in the system broadcast radio frames in sequence. The base station that receives the radio frame returns an acknowledgment frame to the initiator of the radio frame. Based on the acknowledgment frame, it is determined which base stations in the system can communicate with each other, thereby determining the division of the base station groups and the allocation of the time slot identifiers. Through this method, the base station grouping method can be made flexible and suitable for various geographical environments. At the same time, this method can also optimize the allocation of the time slot identifiers and improve the communication efficiency. Figure 2Among them, base stations A1 and A4 have the same time slot identifier 1. However, since base stations A1 and A4 cannot communicate, even if base stations A1 and A4 broadcast radio frames in the same time slot, there will be no problem of radio frame collision.

[0063] In an alternative embodiment, the time slot further includes a sub-time slot and a safety time slot. Among them, the sub-time slot refers to the time slot in which the base station sends radio frames in the time slot, and the safety time slot refers to the time slot in which the base station does not send radio frames in the time slot. The sub-time slot can be configured at any position in the time slot. The safety gap can ensure that radio frames sent by multiple base stations do not conflict with each other even when there is a certain clock synchronization error between multiple base stations. Further, in this embodiment, step 201 can specifically be: broadcasting a radio frame in the sub-time slot of the time slot corresponding to the configured identification information of the current base station. Refer to Figure 6 , in Figure 6 Among them, the number of time slots (slot) and the number of time slot identifiers (SlotId) are both 25. The length of time slot T slot is 8 ms, the length of the sub-time slot (frame duration) is 2 ms, and the total length of the safety time slot (safe gap) is 6 ms. The sub-time slot is located in the middle of the time slot. In this way, the orderliness of the base station sending radio frames is further guaranteed, and the probability of radio frame collision is reduced.

[0064] In an alternative embodiment, the radio frame broadcast by the current base station in the time slot corresponding to the configured identification information carries the timestamp information of the broadcast radio frame and the timestamp information of the radio frame received from other base stations. In this embodiment, the radio frame sent by the base station carries the timestamp information of the radio frame sent by the current base station. For example, if the current base station sends a radio frame at the first moment, the timestamp information of the sent radio frame carried by the radio frame corresponds to the first moment; in addition, the radio frame sent by the base station also carries the timestamp information of the receiving moment of the radio frame sent by other base stations. For example, if the base station receives a radio frame at the second moment before sending a radio frame, the timestamp of the received radio frame carried by the radio frame corresponds to the second moment. It can be understood that the radio frame sent by the base station can only carry the timestamp information of the radio frame received before the moment of sending the radio frame. These timestamp information can be used for the positioning calculation of the mobile device.

[0065] In an alternative embodiment, the wireless frame broadcast by the current base station also carries the location information of the current base station. In this embodiment, the wireless frame carrying the location information of the current base station can be broadcast by the base station at any time. Of course, it can also be broadcast by the base station in the time slot corresponding to the configured identification information. It can be understood that the timeliness requirement for the location information of the base station is lower than that of the timestamp information, and the location information of the base station generally does not change. For example, in the embodiment where the base station is fixedly arranged. Therefore, the mobile device can receive the location information of the base station at any time, and then combine the timestamp information carried in the wireless frame broadcast by the base station in the time slot corresponding to the configured identification information to locate and calculate the current position of the mobile device. Among them, the positioning and calculation process of the mobile device will be described in detail in the following embodiments, and this embodiment will not be specifically expanded.

[0066] In the above embodiment, the location information of the base station can be absolute location information, such as longitude, latitude, altitude and other information, or relative location information, such as the x-axis, y-axis, and z-axis coordinates in a three-dimensional space. It can also be a combination of absolute coordinates and relative coordinates, such as longitude, latitude and floor and other information. Among them, the location information of the base station can be pre-entered into the base station, or can be automatically obtained by the base station according to information such as the orientation and distance between it and other base stations.

[0067] In an alternative embodiment, the wireless frame broadcast by the current base station carries the synchronization information of the current base station, and the wireless frame received by the current base station carries the synchronization information of other base stations. In this embodiment, the wireless frame sent or received by each base station can carry the synchronization information of the base station. The wireless frame carrying the synchronization information can be broadcast by the base station at any time. Of course, it can also be broadcast by the base station in the time slot corresponding to the configured identification information. The synchronization information of the base station can be used for multiple base stations to perform time synchronization. After the time synchronization errors of each base station are controlled within a certain range, multiple base stations can broadcast wireless frames in the time slot corresponding to the configured identification information in an orderly manner.

[0068] In the above embodiment, due to the influence of crystal oscillator drift, multiple base stations need to perform clock synchronization regularly to ensure that the time synchronization error between multiple base stations is controlled within the safe time slot range of the time slot. For example, refer to Figure 6In the example, the total length of the security time slot is 6 ms, and the sub - time slot is in the middle of the time slot, dividing the security time slot into two segments, each segment being 3 ms. At this time, the clock synchronization accuracy between multiple base stations only needs to be no greater than 3 ms. Assume that the crystal oscillator used by the base station is a temperature - compensated crystal oscillator with a time accuracy of about 5 ppm. With a time accuracy of 5 ppm, the time drift in 20 s is 20 s×5 ppm = 0.1 ms. That is, if adjacent base stations communicate once within 20 s, the time synchronization accuracy can be controlled within 0.1 ms, meeting the clock synchronization accuracy requirements. Of course, in the above example, the system synchronizes once every 20 s, which is just a conservative description. In the system, the transmission period of the base station can be set to 1 - 2 s, thereby controlling the clock synchronization error within a very small range. Through the same synchronization method, it is possible to ensure that the wireless frames broadcast by multiple base stations in the time slots corresponding to the configured identification information do not collide, and since the transmitted wireless frames are concentrated in one period, the influence of crystal oscillator drift between multiple base stations can be effectively reduced, making the time when the base station transmits wireless frames more accurate.

[0069] In an alternative embodiment, the wireless frame broadcast by the current base station in the time slot corresponding to the configured identification information carries the synchronization information of the current base station, and the wireless frames broadcast by other base stations received by the current base station carry the synchronization information of other base stations. In this embodiment, the wireless frame carrying the synchronization information is broadcast by the base station in the time slot corresponding to the configured identification information. That is to say, clock synchronization among multiple base stations in the system is achieved during the process of transmitting wireless frames in sequence. In this way, before or during the clock synchronization process, the order of multiple base stations transmitting wireless frames may be rather chaotic. However, after several rounds of clock synchronization, multiple base stations can broadcast wireless frames in sequence in the time slots corresponding to the configured identification information in an orderly manner, and frame collision will no longer occur.

[0070] In an alternative embodiment, the synchronization information of the current base station includes the current time of the current base station and the synchronization order of the current base station, and the synchronization information of other base stations includes the current time of other base stations and the synchronization order of other base stations. In this embodiment, each base station is provided with a timing counter, and the crystal oscillator of the base station can drive the counter to count. Among them, the counting unit of the timing counter can be set to a relatively small value to meet the accuracy requirements for clock synchronization between multiple base stations. For example, if the crystal oscillator of the base station is 10 MHz, it is necessary to divide the crystal oscillator by 1000 and then drive the counter so that each value of the counter reaches 0.1 ms. In addition, each base station is also configured with a synchronization order identifier to record the synchronization order of the current base station. Initially, the synchronization order of the clock source base station is 0, and that of other base stations is undetermined. In this embodiment, the clock source base station is unique locally, that is, within a preset range, only one base station is the clock source base station, and other base stations are not. Within this range, the clocks of other base stations should be synchronized with the clock source base station.

[0071] In an alternative embodiment, before performing clock synchronization, each base station first determines whether the current base station is a clock source base station. If the current base station is a clock source base station, it can periodically broadcast the value of the timing counter of the current base station to other base stations, that is, periodically broadcast the current time of the current base station. In addition, the clock source base station does not need to synchronize its clock with other base stations, that is, the clock source base station does not need to update the current time of the current base station to be the same as the current time of other base stations, and the clock source base station does not need to change the synchronization order. The synchronization order of the clock source base station can always remain 0.

[0072] In an alternative embodiment, the method for determining whether the current base station is a clock source base station may include the following steps: First, compare the synchronization order of the current base station with the synchronization orders of other received base stations in sequence. If the synchronization order of the current base station is less than the synchronization orders of all other received base stations, it is determined that the current base station is a clock source base station. If the synchronization order of the current base station is greater than the synchronization order of any one of the other received base stations, it is determined that the current base station is not a clock source base station. In this embodiment, each base station can perform the above determination process when receiving a radio frame carrying synchronization information to determine whether the current base station is a clock source base station. In other embodiments, a clock source identifier can also be configured for the clock source base station. When the clock source base station determines that the current base station is configured with the clock source identifier, it can be determined that the current base station is a clock source base station, thus omitting the process of comparing and judging the synchronization information between the current base station and other base stations and determining whether it is a clock source base station itself.

[0073] In an alternative embodiment, if a base station determines that it is not a clock source base station, it can perform clock synchronization in the following manner: sequentially determine whether the synchronization level received from other base stations is less than the synchronization level of the current base station. If the synchronization level of other base stations is less than that of the current base station, update the current time of the current base station to be the same as that of the other base station, and update the synchronization level of the current base station to the next level of the synchronization level of the other base station. In this embodiment, after each base station determines that it is not a clock source base station, it can perform the above process of determination after receiving a radio frame carrying synchronization information, thereby completing clock synchronization with other base stations.

[0074] In the above embodiment, referring to Figure 7 , assuming that the system is deployed as a visible system and one base station in the system is set as the clock source base station, then through the above clock synchronization method, the clocks of other base stations in the system can be synchronized to the clock source base station to maintain clock synchronization among all base stations. Specifically, the specific process of clock synchronization is as follows: The clock source base station (Sync-Source Anchor) broadcasts its own synchronization information. After the non-clock source base station (NormalAnchor) receives the radio frame broadcast by the clock source base station, it sets its own timing counter to be the same as that of the clock source base station and sets its own synchronization level to the 1st-degree. The 1st-degree clock source base station also broadcasts the value of its own timing counter and attaches its own level. After other base stations receive it, if they find that their own level is undetermined or greater than 1st-degree, they receive the synchronization from the 1st-degree clock source base station, set their own timing counter to be the same as the received counter value, and set their own synchronization level to the 2nd-degree. Other base stations follow the same pattern and perform synchronization in accordance with the synchronization direction (SyncDirection) until all base stations complete clock synchronization. In this embodiment, base stations with a higher level will be continuously synchronized by base stations with a lower level, ultimately tracing back to the clock source base station. The values of the timing counters of all base stations are incremented synchronously and are continuously adjusted to the timing counter of the clock source base station by the synchronization behavior.

[0075] In an alternative embodiment, each base station in the system can receive a communication configuration frame, where the communication configuration frame carries the length of the wireless frame communication period, the start time of the wireless frame communication period, the number of time slots, and the length of the time slots. Specifically, after receiving the above communication configuration frame, the base station can broadcast wireless frames periodically in the time slots corresponding to the identification information configured by the current base station according to the length of the wireless frame communication period, the start time of the wireless frame communication period, the number of time slots, and the length of the time slots, and receive wireless frames periodically. In other embodiments, the length of the wireless frame communication period, the start time of the wireless frame communication period, the number of time slots, and the length of the time slots can also be set in advance in each base station. With this information, multiple base stations in the system can also send wireless frames periodically and receive wireless frames periodically. In this embodiment, the base station can receive the communication configuration frame broadcast by the base station deployment party through multiple channels, such as 3G / 4G / 5G channels, WIFI channels, Bluetooth channels, and UWB channels, etc.

[0076] In an alternative embodiment, the wireless frame communication period includes a first period and a second period. Among them, the first period includes multiple time slots, and the length of the first period is equal to the product of the number of time slots and the length of the time slots. In addition, the length of the first period can also be adjusted according to the actual scenario. At this time, the specific process of multiple base stations sending wireless frames periodically and receiving wireless frames periodically is as follows: In the first period of the wireless frame communication period, each base station broadcasts wireless frames periodically in the time slots corresponding to the identification information configured by the current base station, and receives wireless frames broadcast by other base stations periodically. Refer to Figure 6 , in Figure 6 , the wireless frame communication period T = 2s, while the first period (T t ) is only 0.2s. Among them, the first period can be adjusted according to the needs of the scenario. The longest the first period can be equal to the communication period T = 2s of the wireless frame, that is, the scenario where the base station is in the working state throughout the period. The advantage of the long first period is that in the case of the wireless frame communication period T = 2s, there can be multiple working periods. For example, there are three working periods, that is, 0.2 * 3 = 0.6s, that is, the length of the first period is 0.6s, and the length of the second period is 1.4s. Then multiple base stations can complete three broadcasts of wireless frames in these three working periods, and the positioning accuracy is higher. In this way, the process of sending and receiving wireless frames can be concentrated in the first period of the wireless frame communication period, greatly improving the efficiency of the base station sending wireless frames, and reducing the influence of crystal oscillator drift between base stations, so that the process of sending and receiving wireless frames can be carried out efficiently and orderly.

[0077] In an alternative embodiment, each time slot in the first period includes a sub-time slot and a safety time slot. The safety gap can ensure that even when there is a certain clock synchronization error between multiple base stations, the wireless frames sent by the multiple base stations do not conflict with each other. In this embodiment, the specific process of periodically broadcasting wireless frames in the time slot corresponding to the identification information configured by the current base station and periodically receiving wireless frames broadcast by other base stations is as follows: In the first period of the communication cycle of the wireless frame, wireless frames are periodically broadcast in the sub-time slot of the time slot corresponding to the identification information configured by the current base station, and wireless frames broadcast by other base stations are periodically received. Refer to Figure 6 , in Figure 6 , each time slot T in the first period slot has a length of 8 ms, the length of the sub-time slot (frame duration) is 2 ms, and the total length of the safety time slot (safe gap) is 6 ms. The sub-time slot is located in the middle of the time slot. Of course, the sub-time slot can also be located at other positions in the time slot. In Figure 6 , multiple base stations all periodically broadcast wireless frames in the sub-time slot of the time slot corresponding to the configured identification information. This method can further ensure the orderliness of the base stations sending wireless frames and reduce the probability of wireless frame collisions.

[0078] In an alternative embodiment, the length of the safety time slot is greater than the time synchronization error of the base station. Referring to the example in Figure 6 , the total length of its safety time slot is 6 ms, and the sub-time slot is in the middle of the time slot. The safety time slot is divided into two segments, each segment being 3 ms. At this time, the clock synchronization accuracy between multiple base stations needs to be no greater than 3 ms. Assume that the crystal oscillator used by the base station is a temperature-compensated crystal oscillator with a time accuracy of about 5 ppm. With a time accuracy of 5 ppm, the time drift in 20 s is 20 s × 5 ppm = 0.1 ms. That is, if adjacent base stations communicate once in 20 s, the time synchronization accuracy can be controlled within 0.1 ms, meeting the accuracy requirements of clock synchronization. Of course, the system in the above example synchronizes once every 20 s, which is just a conservative description. In the system, the transmission period of the base station can be set to 1 - 2 s, thereby controlling the clock synchronization error within a very small range. Through this limitation, the wireless frames broadcast by multiple base stations in the time slot corresponding to the configured identification information will not have frame collision problems, and since the transmitted wireless frames are concentrated in one period, the influence of crystal oscillator drift between multiple base stations can be effectively reduced, making the time for the base station to send wireless frames more accurate.

[0079] In an alternative embodiment, in the second period of the communication cycle of the wireless frame, the transceiver function of the wireless frame can be turned off to save the energy consumption of the base station. Of course, it can also be set that the base station is in a state of only receiving wireless frames in the second period, so as to receive wireless frames sent by other devices. Refer to Figure 6 , inFigure 6 In this case, the communication period T of the wireless frame is 2 s. Among them, only the first period of 0.2 s is the working period, and the remaining second period of 1.8 s is the non-working period. This 1.8-second second period can be used for other communications and applications to avoid collisions with other applications on the wireless communication channel, or the wireless communication function can be paused during the second period to save power consumption.

[0080] In an alternative embodiment, the wireless frame sent by the base station is specifically a UWB wireless frame. This UWB wireless frame may include STS or may not include STS, where the Chinese translation of STS is scrambled time sequence. See Figure 8 , the wireless frame structure without STS includes a SYNC field, an SFD field, a PHR field, and a PHY payload field. Among them, SYNC is also called preamble, and its Chinese translation is preamble. When the sending device sends this wireless frame, when sending the SYNC field, it can record the sending timestamp information locally. When the receiving device receives the wireless frame sent by the sending device, when the receiving device detects the SYNC field, it records the receiving timestamp information of this wireless frame; the Chinese translation of SFD is frame start delimiter; the Chinese translation of PHR is physical layer header, and the PHR can carry information such as frame length and data rate. The PHY payload can also be abbreviated as payload, and its Chinese translation is payload, and the payload can carry some communication information between devices. Of course, in some other embodiments, the wireless frame includes a SYNC field, an SFD field, and a PHR field, and does not include a payload field. See Figure 9 , the wireless frame structure with STS includes a SYNC field, an SFD field, an STS field, a PHR field, and a PHY payload field. Among them, the Chinese translation of STS is scrambled timestamp sequence, and the STS can specifically be an encryption sequence. Then, in the embodiment where the wireless frame includes an STS field, the timestamp information can be obtained when sending and receiving STS, and the timestamp information can be obtained separately through STS or through STS and SYNC. For example, when the timestamp information obtained through STS satisfies the corresponding relationship with the timestamp information obtained through SYNC, this wireless frame is a legal wireless frame. When the timestamp information obtained through STS does not satisfy the corresponding relationship with the timestamp information obtained through SYNC, this wireless frame is an illegal wireless frame. Of course, in some other specific embodiments, the wireless frame includes a SYNC field, an SFD field, an STS field, and a PHR field, and does not include a payload field.

[0081] Further, through the control words in the SFD and PHR in the wireless frame structure, the type of the wireless frame can be specifically indicated. Among them, the types of wireless frames include: beacon frame, data frame, acknowledgement frame, MAC layer command frame, and so on. Each of the above types of wireless frames can adopt the wireless frame structure represented by Figure 8 or Figure 9 , and each type of wireless frame includes a SYNC field. In addition, the beacon frame, data frame, acknowledgement frame, and MAC layer command frame may or may not include a payload field. Generally speaking, the payload field in the data frame including a payload is relatively longer than that of other types of frames, and more data content can be carried.

[0082] In an optional implementation manner, the wireless frame sent by the base station can specifically be any one of a beacon frame, a data frame, an acknowledgement frame, or a MAC layer command frame, and the sending mode of the wireless frame can include two types: direct sending mode and pre-sending mode. The direct sending mode means that the sending device records the sending timestamp information locally when sending the wireless frame, and carries the recorded sending timestamp information in the payload of the wireless frame sent next time or in the wireless frame sent after multiple time slots. The pre-sending mode means that a preset sending moment is set, and the wireless frame is sent at this preset sending moment, and the preset sending moment information can be carried in the payload of the sent wireless frame at the same time. Other information such as location information, identification information, locally recorded sending timestamp information, and received timestamp information can generally be carried in the payload field. In the communication process of some embodiments, it is not necessary for each wireless frame to include a payload. In some other embodiments, it is not necessary for the payload of each wireless frame to carry the above other information. During the positioning process, the mobile device can also obtain the above other information in some of the received wireless frames. In addition, the above other information can also be sent in the payloads of multiple wireless frames.

[0083] In wireless positioning technology, a communication method for a wireless frame is to use the Time Difference of Arrival (TDOA) positioning algorithm to locate the object to be located. In the prior art, the method of using the TDOA algorithm for positioning mostly uses non-public protocols. During positioning, the positioning base station and the object to be located communicate with each other, and then report the timestamp information in the communication signal and the location information of the positioning base station to the host for calculation. After the host calculates the location information of the object to be located, it sends the location information to the device to be located. However, this positioning method has a great risk of exposing the user's location privacy, which makes it difficult for this wireless positioning technology to be effectively applied in open scenarios such as shopping malls and museums. Therefore, how to protect the user's location privacy in the wireless positioning method is also a very important issue.

[0084] In view of the above problems and in coordination with the communication method of the wireless frame of the base station in the above embodiments, this embodiment also proposes a wireless positioning method, as Figure 10 shown. Taking the application of this method to the Figure 3 wireless positioning system shown as an example, the method includes the following steps:

[0085] 301. Multiple base stations broadcast wireless frames in the time slot corresponding to the identification information configured by the current base station, and record the timestamp information of the current base station broadcasting the wireless frames.

[0086] 302. Multiple base stations receive the wireless frames broadcast by other base stations, and record the timestamp information of the current base station receiving the wireless frames broadcast by other base stations.

[0087] Specifically, the wireless positioning system includes multiple base stations. Each base station broadcasts wireless frames in the time slot corresponding to the identification information configured by the current base station and receives wireless frames in the time slot corresponding to the identification information configured by other base stations. In addition, the base station records the corresponding timestamp information at the moment of sending and receiving wireless frames. The wireless frame sent by the base station may carry the timestamp information at the moment of sending the wireless frame and the timestamp information at the moment of receiving the wireless frame sent by other base stations. Of course, the wireless frame sent by the base station may also carry other information, such as the location information of the base station and the synchronization information of the base station, etc.

[0088] In this embodiment, the identification information configured by the base station can be understood as the number information of the base station. Specifically, the identification information configured by the base station is used to represent the sequence number of the wireless frame sent by the base station. The identification information can be the base station identifier representing the base station identity information, or it can be the time slot identifier only representing the transmission sequence number, etc. A time slot refers to the time period during which a base station sends a wireless frame. Among them, the length of the time slot must be greater than the time slot time required for sending a wireless frame. For example, if the time slot time required for sending a UWB wireless frame is 1 ms, then in the UWB wireless positioning system, the set time slot must be not less than 1 ms to ensure that the wireless frames sent by a base station in the corresponding time slot do not conflict with the wireless frames sent by other base stations. Further, broadcasting a wireless frame in the time slot corresponding to the identification information configured by the current base station means sending a wireless frame within the time period corresponding to the transmission sequence number configured by the base station, so that multiple base stations in the system send wireless frames in sequence, ensuring the sending order of the wireless frames and improving the sending efficiency of the wireless frames. In addition, when the base station is not sending a wireless frame, it can always be in the receiving state to receive the wireless frames sent by other base stations at any time.

[0089] In this embodiment, the identification information configured by multiple base stations in the same base station group in the system is all different from each other, so as to ensure that the sending timings of the wireless frames will not collide. Specifically, taking a certain base station as the center in the system, all base stations that can communicate with this base station can form a base station group. That is, in a base station group, there is a base station that can communicate with other base stations in the base station group, and the base stations that cannot communicate with this "central base station" are not in the same base station group as this base station. In a system, there can be one or more base station groups, and a base station can also belong to one or more base station groups at the same time. In this case, it is only necessary to ensure that the identification information configured by each base station in each base station group is all different from each other.

[0090] 303. The mobile device receives multiple wireless frames broadcast by multiple base stations and records the timestamp information of the current device receiving the multiple wireless frames.

[0091] 304. The mobile device performs positioning calculation according to the multiple wireless frames and the timestamp information of the current device receiving the multiple wireless frames to obtain the location information of the current device.

[0092] Specifically, the mobile device can receive multiple wireless frames broadcast by multiple base stations and record and save the timestamp information of the receiving moment of each wireless frame broadcast by each base station received by the current device. In this embodiment, the mobile device only responsible for passively receiving multiple wireless frames broadcast by multiple base stations. The base station cannot obtain the distance between the mobile device and the base station and the specific location of the mobile device, and cannot even obtain the existence of the mobile device. Therefore, the privacy security of the user holding the mobile device can be effectively protected.

[0093] Furthermore, the mobile device can use a positioning calculation algorithm to perform positioning calculations based on multiple wireless frames broadcast by multiple base stations and the timestamp information of the current device receiving the multiple wireless frames, so as to obtain the location information of the current device. In this embodiment, the mobile device can obtain the location information of multiple base stations, the timestamp information of the broadcast time of multiple wireless frames, and the timestamp information of the reception time of multiple wireless frames by receiving multiple wireless frames broadcast by multiple base stations and recording the timestamp information of the current device receiving the multiple wireless frames. Using this information, the mobile device can use a positioning calculation algorithm, such as the TDOA hyperbola positioning algorithm, to obtain the location information of the current device.

[0094] The wireless positioning method provided in this embodiment forms a wireless positioning network by multiple base stations broadcasting wireless frames in the time slots corresponding to the identification information configured by the current base station. In this wireless positioning network, the mobile device can receive multiple wireless frames broadcast by multiple base stations, record the timestamp information of the current device receiving the multiple wireless frames, and then perform positioning calculations based on the multiple wireless frames broadcast by multiple base stations and the timestamp information of the current device receiving the multiple wireless frames to obtain the location information of the current device. By constructing the timing of communication and positioning between the base station and the mobile device in this embodiment, the positioning calculation process can be completed locally on the mobile device. The base station cannot obtain the distance between the mobile device and the base station and the specific location of the mobile device, and cannot even know the existence of the mobile device. Therefore, the privacy and security of the user holding the mobile device can be effectively protected. Moreover, since the mobile device does not need to send any data, the wireless positioning system can accommodate countless mobile devices for positioning simultaneously, greatly improving the system capacity. In addition, since multiple base stations broadcast wireless frames in the time slots corresponding to the identification information configured by the current base station, the transmission timing of the wireless frames sent by multiple base stations is effectively coordinated, so that the wireless frames sent by multiple base stations in the wireless positioning system do not conflict with each other, ensuring the orderliness of wireless frame communication and improving the communication efficiency and positioning efficiency of the wireless positioning system.

[0095] In one embodiment, as Figure 11 shown, as a refinement and extension of the specific implementation manner of the above embodiment, in order to fully illustrate the implementation process of this embodiment, a wireless positioning method is also provided. Taking this method applied to Figure 3 the wireless positioning system described above as an example, the method includes the following steps:

[0096] 401. At least three base stations broadcast wireless frames in the time slots corresponding to the identification information configured by the current base station, and record the timestamp information of the current base station broadcasting the wireless frames.

[0097] 402. At least three base stations receive the wireless frames broadcast by other base stations, and record the timestamp information of the current base station receiving the wireless frames broadcast by other base stations.

[0098] Specifically, a wireless positioning system (hereinafter referred to as the system) includes at least three base stations. The at least three base stations broadcast wireless frames in time slots corresponding to the identification information configured by the current base station and receive wireless frames in time slots corresponding to the identification information configured by other base stations. In addition, the base stations record corresponding timestamp information at the moments of sending and receiving wireless frames.

[0099] In this embodiment, at least three base stations form at least one base station group. In addition, each base station in the system belongs to at least one base station group, and the distance between two adjacent base stations in the base station group is 15 m to 20 m. In this embodiment, the distance of 15 m to 20 m between two adjacent base stations refers to the communication distance of 15 m to 20 m between two adjacent base stations. This requires that when arranging base stations in an actual scenario, the geographical distance between two adjacent base stations should be within the range of the communication distance, that is, within the range of 15 m to 20 m, so as to ensure that the method described in this embodiment can be fully implemented in the actual scenario. Refer to Figure 1 and Figure 2 , two attached drawings show two base station arrangement methods in ideal cases. In Figure 1 , 16 base stations are arranged in a line. The geographical distance between two adjacent base stations is within the communication distance of 15 m to 20 m. Then every three adjacent base stations can form a base station group, that is, Figure 1 the 16 base stations in it can form 14 base station groups. The identification information of each base station in the base station group is different (both the base station identification and the time slot identification are different). See Figure 1 , base stations A1, A2, and A3 form a base station group, base stations A2, A3, and A4 form a base station group, and so on; in Figure 2 , 16 base stations are arranged in a matrix. The geographical distance between two adjacent base stations (including two adjacent base stations on the diagonal) is still within the communication distance of 15 m to 20 m. Then every nine adjacent base stations can form a base station group, that is, Figure 2 the 16 base stations in it can form 4 base station groups. The identification information of each base station in the base station group is different (both the base station identification and the time slot identification are different). See Figure 2 , base stations A1, A2, A3, A5, A6, A7, A9, F10, F11 form a base station group, base stations A2, A3, A4, A6, A7, A8, F10, F11, F12 form another base station group, and so on.

[0100] In this embodiment, the communication distance refers to the maximum distance value at which two base stations can communicate, and the geographical distance refers to the actual distance value when the two base stations are deployed. Taking the communication distance between two base stations as 20m as an example, when the geographical distance between the two base stations is less than 20m, the two base stations can communicate with each other, that is, the two base stations can receive the wireless frames broadcast by the other base station; when the geographical distance between the two base stations is greater than 20m, the two base stations cannot communicate with each other, that is, the two base stations cannot receive the wireless frames broadcast by the other base station. Referring to Figure 1 , if the communication distance of the base station is 20 meters and the geographical distance between every two base stations is 19 meters, then base stations A1 and A2 can communicate, while base stations A1 and A3 cannot communicate, and so on; Referring to Figure 2 , if the base stations are arranged in a 4*4 array, the communication distance of the base station is 20 meters, the geographical distance between two adjacent base stations in the diagonal direction is 19.9 meters, and the geographical distance between two adjacent base stations in the horizontal or vertical direction is about 14 meters, then base stations A1 and A2 can communicate, base stations A1 and A3 cannot communicate, base stations A1 and A6 can communicate, base stations A1 and A11 cannot communicate, and so on.

[0101] In an alternative embodiment, the identification information may include a base station identifier and a time slot identifier. Among them, the base station identifier represents the identity information of the base station. The base station identifier can be configured when the base station leaves the factory or when the base station is deployed. Once the base station identifier is configured, it generally cannot be changed without administrative privileges. The base station identifier is globally unique, that is, the base station identifiers of each base station will not repeat each other and are unique. In this embodiment, Figure 1 and Figure 2 the "A1"-"A16" in Figure 1 can be understood as the base station identifier of base station 101; In contrast, the time slot identifier represents the transmission sequence number of the base stations in a base station group. The time slot identifier of the base station can be configured when the base station is deployed. The time slot identifier of the base station can be changed, and the time slot identifier is locally unique in the base station group to which the current base station belongs, that is, in a base station group, the time slot identifiers of the base stations will not repeat each other, but in multiple base station groups, the time slot identifiers can repeat each other. In addition, a base station can belong to multiple base station groups at the same time. In the case where the system includes multiple base station groups, the number of time slot identifiers of the base station is less than the number of base station identifiers of the base station. In this embodiment, Figure 1 the "1"-"3" in Figure 2 and Figure 2 the "1"-"9" in

[0102] can be understood as the time slot identifier of the base station. In this embodiment, the identification information can refer to either the base station identifier or the time slot identifier.In an alternative embodiment, due to indoor environmental factors, such as the obstruction of obstacles like walls, two base stations with a geographical distance less than the communication distance cannot communicate with each other. Further, a method for dividing base station groups and allocating time slot identifiers is as follows: Multiple base stations in the system broadcast radio frames in sequence, and the base stations that receive the radio frames return response frames to the originator of the radio frame. Based on the response frames, it is determined which base stations in the system can communicate with each other, thereby determining the division of base station groups and the allocation of time slot identifiers. Through this method, the base station grouping method can be made flexible and suitable for various geographical environments. At the same time, this method can also optimize the allocation of time slot identifiers and improve communication efficiency.

[0103] In an alternative embodiment, step 201 can specifically be: Broadcasting a radio frame in the time slot corresponding to the time slot identifier configured by the current base station. Specifically, broadcasting a radio frame in the time slot corresponding to the time slot identifier can effectively reduce the number of time slots. In this way, multiple base stations that cannot communicate with each other, that is, base stations not in the same base station group, can broadcast radio frames in the same time slot. Since two base stations are not in the same base station group, even if they broadcast radio frames in the same time slot, there will be no problem of radio frame collision. Therefore, the communication time of radio frames can be effectively shortened and the communication efficiency of radio frames can be improved. For example, taking Figure 2 the radio frame communication system shown as an example, in Figure 2 , base stations A1 and A4 have the same time slot identifier 1. However, since base stations A1 and A4 cannot communicate, even if base stations A1 and A4 broadcast radio frames in the same time slot, there will be no problem of radio frame collision.

[0104] In an alternative embodiment, the time slot further includes sub-time slots and safety time slots. Among them, the sub-time slot refers to the time slot in which the base station sends a radio frame, and the safety time slot refers to the time slot in which the base station does not send a radio frame. The sub-time slot can be configured at any position in the time slot. The safety gap can ensure that even when there is a certain clock synchronization error between multiple base stations, the radio frames sent by multiple base stations will not conflict with each other. Further, in this embodiment, step 201 can specifically be: Broadcasting a radio frame in the sub-time slot of the time slot corresponding to the identification information configured by the current base station. Referring to Figure 6 , in Figure 6 , the number of time slots (slot) and the number of time slot identifiers (SlotId) are both 25. The length of time slot T slot is 8 ms, the length of the sub-time slot (frame duration) is 2 ms, and the total length of the safety time slot (safe gap) is 6 ms. The sub-time slot is located in the middle of the time slot. Through this method, the orderliness of the base station sending radio frames is further guaranteed and the probability of radio frame collision is reduced.

[0105] In an alternative embodiment, the radio frame broadcast by the current base station in the time slot corresponding to the configured identification information carries the timestamp information of the broadcast radio frame and the timestamp information of the radio frames received from other base stations. In this embodiment, the radio frame sent by the base station carries the timestamp information of the radio frame sent by the current base station. For example, if the current base station sends a radio frame at a first moment, the timestamp information of the sent radio frame carried by this radio frame corresponds to the first moment. In addition, the radio frame sent by the base station also carries the timestamp information of the receiving moment of the radio frames sent by other base stations. For example, if the base station receives a radio frame at a second moment before sending a radio frame, the timestamp of the received radio frame carried by this radio frame corresponds to the second moment. It can be understood that the radio frame sent by the base station can only carry the timestamp information of the radio frames received before the moment of sending the radio frame, and these timestamp information can be used for the positioning calculation of the mobile device.

[0106] In an alternative embodiment, the radio frame broadcast by the current base station also carries the location information of the current base station. In this embodiment, the radio frame carrying the location information of the current base station can be broadcast by the base station at any moment. Of course, it can also be broadcast by the base station in the time slot corresponding to the configured identification information. It can be understood that the timeliness requirement of the location information of the base station is lower than that of the timestamp information, and the location information of the base station generally does not change. For example, in the embodiment where the base station is fixedly arranged. Therefore, the mobile device can receive the location information of the base station at any moment, and then combine the timestamp information carried in the radio frame broadcast by the base station in the time slot corresponding to the configured identification information to position and calculate the current position of the mobile device. Among them, the positioning calculation process of the mobile device will be described in detail in the following embodiments, and this embodiment will not be specifically expanded.

[0107] In the above embodiment, the location information of the base station can be absolute location information, such as longitude, latitude, altitude and other information, or relative location information, such as the x-axis, y-axis, and z-axis coordinates in a three-dimensional space, or a combination of absolute coordinates and relative coordinates, such as longitude, latitude and floor and other information. Among them, the location information of the base station can be pre-entered into the base station, or can be automatically obtained by the base station according to information such as the orientation and distance between it and other base stations.

[0108] In an alternative embodiment, the wireless frame broadcast by the current base station carries the synchronization information of the current base station, and the wireless frame received by the current base station carries the synchronization information of other base stations. In this embodiment, the wireless frame sent or received by each base station may carry the synchronization information of the base station. The wireless frame carrying the synchronization information may be broadcast by the base station at any time, or may be broadcast in the time slot corresponding to the configured identification information. The synchronization information of the base station can be used for multiple base stations to perform time synchronization. After the time synchronization error of each base station is controlled within a certain range, multiple base stations can broadcast wireless frames in the time slot corresponding to the configured identification information in an orderly manner in sequence.

[0109] In the above embodiment, due to the influence of crystal oscillator drift, multiple base stations need to perform clock synchronization regularly to ensure that the time synchronization error between multiple base stations is controlled within the safe time slot range of the time slot. For example, referring to Figure 6 the example in, the total length of the safe time slot is 6 ms, the sub-time slot is in the middle of the time slot, and the safe time slot is divided into two segments, each segment is 3 ms. At this time, the clock synchronization accuracy between multiple base stations is not greater than 3 ms. Assume that the crystal oscillator used by the base station is a temperature-compensated crystal oscillator, and the time accuracy is about 5 ppm. With a time accuracy of 5 ppm, the time drift in 20 s is 20 s × 5 ppm = 0.1 ms. That is, if adjacent base stations communicate once in 20 s, the time synchronization accuracy can be controlled within 0.1 ms, meeting the accuracy requirements of clock synchronization. Of course, in the above example, the system synchronizes once every 20 s, which is just a conservative description. In the system, the transmission period of the base station can be set to 1 - 2 s, so as to control the clock synchronization error within a very small range. Through the same synchronization method, it is possible to ensure that the wireless frames broadcast by multiple base stations in the time slot corresponding to the configured identification information do not collide, and since the transmitted wireless frames are concentrated in one period, the influence of crystal oscillator drift between multiple base stations can be effectively reduced, making the time when the base station sends wireless frames more accurate.

[0110] In an alternative embodiment, the wireless frame broadcast by the current base station in the time slot corresponding to the configured identification information carries the synchronization information of the current base station, and the wireless frames broadcast by other base stations received by the current base station carry the synchronization information of other base stations. In this embodiment, the wireless frame carrying the synchronization information is broadcast by the base station in the time slot corresponding to the configured identification information. That is to say, multiple base stations in the system achieve clock synchronization during the process of sending wireless frames in sequence. In this way, before or during the clock synchronization, the order of multiple base stations sending wireless frames may be relatively chaotic, but after several rounds of clock synchronization, multiple base stations can achieve an orderly broadcast of wireless frames in the time slot corresponding to the configured identification information in sequence, and no longer have the problem of frame collision.

[0111] In an alternative embodiment, the synchronization information of the current base station includes the current time of the current base station and the synchronization order of the current base station, and the synchronization information of other base stations includes the current time of other base stations and the synchronization order of other base stations. In this embodiment, each base station is provided with a timing counter, and the crystal oscillator of the base station can drive the counter to count. Among them, the counting unit of the timing counter can be set to a smaller value to meet the accuracy requirements of clock synchronization between multiple base stations. For example, if the crystal oscillator of the base station is 10 MHz, it is necessary to divide the crystal oscillator by 1000 and then drive the counter so that each value of the counter reaches 0.1 ms. In addition, each base station is also configured with a synchronization order identifier to record the synchronization order of the current base station. Initially, the synchronization order of the clock source base station is 0, and that of other base stations is undetermined. In this embodiment, the clock source base station is locally unique, that is, within a preset range, only one base station is the clock source base station, and other base stations are not. Within this range, the clocks of other base stations should be synchronized with the clock source base station.

[0112] In an alternative embodiment, before each base station performs clock synchronization, it first needs to determine whether the current base station is a clock source base station. If the current base station is a clock source base station, it can periodically broadcast the value of the timing counter of the current base station to other base stations, that is, periodically broadcast the current time of the current base station. In addition, the clock source base station does not need to synchronize its clock with other base stations, that is, the clock source base station does not need to update the current time of the current base station to be the same as the current time of other base stations, and the clock source base station does not need to change the synchronization order. The synchronization order of the clock source base station can always remain 0.

[0113] In an alternative embodiment, the method for determining whether the current base station is a clock source base station may include the following steps: First, compare the synchronization order of the current base station with the synchronization orders of other received base stations in sequence. If the synchronization order of the current base station is less than the synchronization orders of all other received base stations, it is determined that the current base station is a clock source base station. If the synchronization order of the current base station is greater than the synchronization order of any one of the other received base stations, it is determined that the current base station is not a clock source base station. In this embodiment, each base station can perform the above process of determination when receiving a radio frame carrying synchronization information to determine whether the current base station is a clock source base station. In other embodiments, a clock source identifier can also be configured for the clock source base station. When the clock source base station determines that the current base station is configured with the clock source identifier, it can be determined that the current base station is a clock source base station, thus eliminating the process of comparing the synchronization information of the current base station with other base stations and determining whether it is a clock source base station itself.

[0114] In an alternative embodiment, if a base station determines that it is not a clock source base station, it can perform clock synchronization in the following manner: sequentially determine whether the synchronization order of other received base stations is less than that of the current base station. If the synchronization order of other base stations is less than that of the current base station, update the current time of the current base station to be the same as that of the other base station, and update the synchronization order of the current base station to the next order of the synchronization order of the other base station. In this embodiment, after each base station determines that it is not a clock source base station, it can perform the above process of determination after receiving a radio frame carrying synchronization information, thereby completing clock synchronization with other base stations.

[0115] In the above embodiment, referring to Figure 7 , assuming that the system is arranged as a visible system and one base station in the system is set as the clock source base station, then through the above clock synchronization method, the clocks of other base stations in the system can be synchronized to the clock source base station to maintain clock synchronization among all base stations. Specifically, the specific process of clock synchronization is as follows: After other base stations that are not clock source base stations receive the radio frame broadcast by the clock source base station, set their own timing counters to be the same as that of the clock source base station, and set their own synchronization order to the first order. The first-order clock source base station will also broadcast the value of its own timing counter and attach its own order. After other base stations receive it, if they find that their order is undetermined or greater than the first order, they will receive the synchronization of the first-order clock source base station, set their own timing counters to be the same as the received counter value, and set their own synchronization order to the second order. Other base stations follow this pattern until all base stations complete clock synchronization. In this embodiment, base stations with a higher order will be continuously synchronized by base stations with a lower order, ultimately tracing back to the clock source base station. The values of the timing counters of all base stations are incremented synchronously and are continuously adjusted to the timing counter of the clock source base station by the synchronization behavior.

[0116] In an alternative embodiment, each base station in the system can receive a communication configuration frame, where the communication configuration frame carries the length of the wireless frame communication period, the starting time of the wireless frame communication period, the number of time slots, and the length of the time slots. Specifically, after receiving the above communication configuration frame, the base station can broadcast wireless frames periodically in the time slots corresponding to the identification information configured by the current base station according to the length of the wireless frame communication period, the starting time of the wireless frame communication period, the number of time slots, and the length of the time slots, and receive wireless frames periodically. In other embodiments, the length of the wireless frame communication period, the starting time of the wireless frame communication period, the number of time slots, and the length of the time slots can also be set in advance in each base station. With these information, multiple base stations in the system can also send wireless frames periodically and receive wireless frames periodically. In this embodiment, the base station can receive the communication configuration frame broadcast by the base station deployment party through multiple channels, such as 3G / 4G / 5G channels, WIFI channels, Bluetooth channels, and UWB channels, etc.

[0117] In an alternative embodiment, the wireless frame communication period includes a first period and a second period. Among them, the first period includes multiple time slots, and the length of the first period is equal to the product of the number of time slots and the length of the time slots. In addition, the length of the first period can also be adjusted according to the actual scenario. At this time, the specific process for multiple base stations to send wireless frames periodically and receive wireless frames periodically is as follows: In the first period of the wireless frame communication period, each base station broadcasts wireless frames periodically in the time slots corresponding to the identification information configured by the current base station, and receives wireless frames broadcast by other base stations periodically. Refer to Figure 6 , in Figure 6 , the wireless frame communication period T = 2s, while the first period (T t ) is only 0.2s. Among them, the first period can be adjusted according to the needs of the scenario. The longest the first period can be equal to the communication period T = 2s of the wireless frame, that is, the scenario where the base station is in the working state throughout the period. The advantage of the long first period is that in the case of the communication period T = 2s of the wireless frame, there can be multiple working periods. For example, there are three working periods, that is, 0.2 * 3 = 0.6s, that is, the length of the first period is 0.6s, and the length of the second period is 1.4s. Then multiple base stations can complete three broadcasts of wireless frames in these three working periods, and the positioning accuracy is higher. In this way, the process of sending and receiving wireless frames can be concentrated in the first period of the wireless frame communication period, greatly improving the efficiency of the base station sending wireless frames, and reducing the influence of crystal oscillator drift between base stations, so that the process of sending and receiving wireless frames can be carried out efficiently and orderly.

[0118] In an alternative embodiment, each time slot in the first period includes a sub-time slot and a safety time slot. The safety gap can ensure that even when there is a certain clock synchronization error between multiple base stations, the wireless frames sent by the multiple base stations do not conflict with each other. In this embodiment, the specific process of periodically broadcasting wireless frames in the time slot corresponding to the identification information configured by the current base station and periodically receiving wireless frames broadcast by other base stations is as follows: In the first period of the communication cycle of the wireless frame, wireless frames are periodically broadcast in the sub-time slot of the time slot corresponding to the identification information configured by the current base station, and wireless frames broadcast by other base stations are periodically received. Refer to Figure 6 , in Figure 6 , each time slot T in the first period slot has a length of 8 ms, the length of the sub-time slot (frame duration) is 2 ms, and the total length of the safety time slot (safe gap) is 6 ms. The sub-time slot is located in the middle of the time slot. Of course, the sub-time slot can also be located at other positions in the time slot. In Figure 6 , multiple base stations all periodically broadcast wireless frames in the sub-time slot of the time slot corresponding to the configured identification information. This method can further ensure the orderliness of the wireless frames sent by the base stations and reduce the probability of wireless frame collisions.

[0119] In an alternative embodiment, the length of the safety time slot is greater than the time synchronization error of the base station. Referring to the example in Figure 6 , the total length of its safety time slot is 6 ms, the sub-time slot is in the middle of the time slot, and the safety time slot is divided into two segments, each segment being 3 ms. At this time, the clock synchronization accuracy between multiple base stations does not exceed 3 ms. Assuming that the crystal oscillator used by the base station is a temperature-compensated crystal oscillator with a time accuracy of about 5 ppm, with a time accuracy of 5 ppm, the time drift in 20 s is 20 s × 5 ppm = 0.1 ms. That is, if adjacent base stations communicate once every 20 s, the time synchronization accuracy can be controlled within 0.1 ms, meeting the accuracy requirements of clock synchronization. Of course, the system in the above example synchronizes once every 20 s, which is just a conservative description. In the system, the transmission period of the base station can be set to 1 - 2 s, so as to control the clock synchronization error within a very small range. Through this limitation, the wireless frames broadcast by multiple base stations in the time slot corresponding to the configured identification information will not have the problem of frame collision, and since the sent wireless frames are concentrated in one period, the influence of crystal oscillator drift between multiple base stations can be effectively reduced, making the time when the base station sends wireless frames more accurate.

[0120] In an alternative embodiment, in the second period of the communication cycle of the wireless frame, the transceiver function of the wireless frame can be turned off to save the energy consumption of the base station. Of course, it can also be set that the base station is in a state of only receiving wireless frames in the second period, so as to receive wireless frames sent by other devices. Refer to Figure 6 , inFigure 6 Among them, the communication period T of the wireless frame is 2 s. Among this period, only the first period of 0.2 s is the working period, and the remaining second period of 1.8 s is the non - working period. These 1.8 s of the second period can be used for other communications and applications, avoiding collisions with other applications on the wireless communication channel. Also, the wireless communication function can be paused during the second period to save power consumption.

[0121] In an alternative embodiment, the wireless frame sent by the base station is specifically a UWB wireless frame. This UWB wireless frame may include STS or may not include STS, where the Chinese translation of STS is scrambled time sequence. See Figure 8 , the wireless frame structure without STS includes a SYNC field, an SFD field, a PHR field, and a PHY payload field. Among them, SYNC is also called preamble, and its Chinese translation is pre - synchronization code. When the sending device sends this wireless frame, when sending the SYNC field, it can record the sending timestamp information locally. When the receiving device receives the wireless frame sent by the sending device, when the receiving device detects the SYNC field, it records the receiving timestamp information of this wireless frame; the Chinese translation of SFD is frame start delimiter; the Chinese translation of PHR is physical layer header. Information such as frame length and data rate can be carried in PHR. PHY payload can also be abbreviated as payload, and its Chinese translation is payload. Some communication information between devices can be carried in payload. Of course, in some other specific embodiments, the wireless frame includes a SYNC field, an SFD field, and a PHR field, and does not include a payload field. See Figure 9 , the wireless frame structure with STS includes a SYNC field, an SFD field, an STS field, a PHR field, and a PHY payload field. Among them, the Chinese translation of STS is scrambled timestamp sequence. STS can specifically be an encryption sequence. Then, in the embodiment where the wireless frame includes an STS field, the timestamp information can be obtained when sending and receiving STS. The timestamp information can be obtained separately through STS or through both STS and SYNC. For example, when the timestamp information obtained through STS and the timestamp information obtained through SYNC satisfy the corresponding relationship, this wireless frame is a legal wireless frame. When the timestamp information obtained through STS and the timestamp information obtained through SYNC do not satisfy the corresponding relationship, this wireless frame is an illegal wireless frame. Of course, in some other specific embodiments, the wireless frame includes a SYNC field, an SFD field, an STS field, and a PHR field, and does not include a payload field.

[0122] Further, through the control words in the SFD and PHR in the wireless frame structure, it can specifically indicate which type of frame the wireless frame belongs to. Among them, the types of wireless frames include: beacon frame, data frame, acknowledgement frame, MAC layer command frame, and so on. Each of the above types of wireless frames can adopt the wireless frame structure represented by Figure 8 or Figure 9 . And each type of wireless frame includes a SYNC field. In addition, the beacon frame, data frame, acknowledgement frame, and MAC layer command frame may or may not include a payload field. Generally speaking, the payload field in the data frame including a payload is relatively longer than that of other types of frames, and more data content can be carried.

[0123] In an optional implementation manner, the wireless frame sent by the base station can specifically be any one of a beacon frame, data frame, acknowledgement frame, or MAC layer command frame. And the sending mode of the wireless frame can include two types: direct sending mode and pre-sending mode. The direct sending mode means that when the sending device sends a wireless frame, it locally records the sending timestamp information and carries the recorded sending timestamp information in the payload of the wireless frame sent next time or in the wireless frame sent after multiple time slots. The pre-sending mode means that a preset sending moment is set, and the wireless frame is sent at this preset sending moment, and the preset sending moment information can be carried in the payload of the sent wireless frame at the same time. Other information such as location information, identification information, locally recorded sending timestamp information, and received timestamp information can generally be carried in the payload field. In the communication process of some embodiments, it is not necessary for each wireless frame to include a payload. In some other embodiments, it is not necessary for each wireless frame's payload to carry the above other information. During the positioning process, the mobile device can also obtain the above other information in some of the received wireless frames. In addition, the above other information can also be sent in the payloads of multiple wireless frames.

[0124] 403. The mobile device receives a communication configuration frame and determines the activation period of the wireless positioning module according to the communication configuration frame.

[0125] Specifically, the mobile device can receive the communication configuration frame broadcast by the base station deployer. The communication configuration frame carries the length of the wireless frame communication cycle, the starting time of the wireless frame communication cycle, the number of time slots, and the length of the time slots. The mobile device can first determine the activation duration of the wireless positioning module in the mobile device according to the number of time slots and the length of the time slots, and then determine the activation period of the wireless positioning module according to the activation duration of the wireless positioning module, the length of the wireless frame transmission cycle, and the starting time of the wireless frame transmission cycle. Finally, within the activation period of the wireless positioning module, the mobile device receives multiple wireless frames broadcast by multiple base stations. In this way, the power consumption of the mobile device can be effectively reduced. In other embodiments, the wireless positioning module of the mobile device can also be always on to receive the wireless frames broadcast by the base stations and the communication configuration frames broadcast by the base station deployer at any time. In this embodiment, the mobile device can receive the communication configuration frames broadcast by the base station deployer through multiple channels, such as WIFI channels, Bluetooth channels, and UWB channels, etc.

[0126] 404. The mobile device receives multiple wireless frames broadcast by at least three base stations and records the timestamp information of each wireless frame received by the current device from each base station.

[0127] Specifically, the mobile device can receive multiple wireless frames broadcast by at least three base stations and record the timestamp information of the receiving moment of each wireless frame received by the current device from each base station. In this embodiment, at least three base stations can form at least one base station group, and the mobile device also needs to be within the effective communication distance of at least one base station group.

[0128] In one example, as Figure 12 and Figure 13 shown, assume a base station pair includes Base Station A (Anchor A) and Base Station B (Anchor B). The distance between Base Station A and Base Station B is l, the distance between the mobile device (Tag) and Base Station A is a, and the distance between the mobile device and Base Station B is b. Assume that starting from time 0, each of the two base stations sends a wireless frame. Let the speed of light in air be c. The communication process can include the following steps:

[0129] Step 1: Base Station A broadcasts a wireless frame F1 at time 0, where the wireless frame F1 carries the location information of Base Station A.

[0130] Step 2: The mobile device receives the wireless frame F1 at time a / c, and the timestamp information of the mobile device receiving the wireless frame F1 is the first timestamp information T S1 ;

[0131] Step 3: Base Station B receives the wireless frame F1 at time l / c, and the timestamp information of Base Station B receiving the wireless frame F1 is the second timestamp information T S2;

[0132] Step 4: Base station B broadcasts a radio frame F2 at time t. The radio frame F2 carries the location information of base station B, the second timestamp information T of base station B receiving radio frame F1 S2 and the third timestamp information T of base station B broadcasting radio frame F2 S3 ;

[0133] Step 5: The mobile device receives radio frame F2 at time t + b / c. The timestamp information of the mobile device receiving radio frame F2 is the fourth timestamp information T S4 .

[0134] Through the above multiple steps, all the timestamp information of the communication process between base station A and base station B within the time period from 0 to t + b / c can be obtained. It should be noted that the execution order of Step 2 and Step 3 above is not limited, and the reception order of radio frame F1 is determined according to the distances between the mobile device and base station B and base station A respectively.

[0135] 405. The mobile device obtains at least two distance difference information based on multiple radio frames broadcast by at least three base stations and the timestamp information of the mobile device receiving each radio frame broadcast by each base station.

[0136] The distance difference information is the distance difference between two adjacent base stations in a base station group to the current device.

[0137] Specifically, taking the example in Step 403 to illustrate the process of calculating a distance difference, the mobile device can first obtain the location information of base station A and base station B based on radio frame F1 and radio frame F2 respectively, and then obtain the distance l between base station A and base station B according to the location information of base station A and base station B. Finally, according to the difference between the fourth timestamp information T S4 and the first timestamp T S1 information, the difference between the third timestamp information T S3 and the second timestamp information T S2 , and the distance l between base station A and base station B, the distance difference from the mobile device to base station A and base station B is obtained. The specific derivation process of the distance difference from the mobile device to base station A and base station B is as follows:

[0138] T S3 -T S2 = t - l / c;

[0139] T S4 -T S1 = t + b / c - a / c;

[0140] Subtracting the two equations gives:

[0141] (TS4 -T S1 )-(T S3 -T S2 )=(l + b - a) / c;

[0142] Then b - a = [(T S4 -T S1 )-(T S3 -T S2 )]×c - l.

[0143] In the above equation, T S1 , T S2 , T S3 and T S4 can all be directly obtained by the mobile device from the wireless frames broadcast by the base station and the recorded reception timestamps. c is the known speed of light in air, and l is the known distance between base station A and base station B. Therefore, the distance difference between the mobile device and base stations A and B can be calculated through the above equation.

[0144] In the above equation, T S2 and T S3 are the timestamp information locally recorded by base station B. In some embodiments, when there is a certain deviation β between the local clock of base station B and the real time, it does not affect the accuracy of the value of T S3 -T S2 . In other words, when the real time is l / c, the local clock of base station B records it as l / c + β, and when the real time is t, the local clock of base station B records it as t + β. Then T S3 -T S2 =(t + β)-(l / c + β)=t - l / c. Similarly, T S1 and T S4 are the timestamp information locally recorded by the mobile device. In some embodiments, when there is a certain deviation α between the local clock of the mobile device and the real time, it does not affect the accuracy of the value of T S4 -T S1 .

[0145] 406. The mobile device obtains the location information of the current device through the TDOA hyperbola positioning algorithm based on at least two distance difference information and the location information of at least three base stations.

[0146] Specifically, the mobile device can obtain multiple distance difference information through the method of step 304, and then based on at least two distance difference information and the location information of each base station, obtain the location information of the current device through the TDOA hyperbola positioning algorithm. The TDOA hyperbola positioning algorithm is common technical knowledge in the prior art and will not be elaborated here.

[0147] 407. The mobile device displays the location information of the current device.

[0148] Specifically, the mobile device can display the location information of the current device through the display module. In one implementation, the mobile device can only display the relevant information of the current device's location, such as longitude, latitude, and floor information. In another implementation, the mobile device can display the map of the space where it is located, and then mark the location of the mobile device on the map. In this implementation, the mobile device can also display other relevant information in conjunction with the map, such as specific information like room number and floor. In this way, the user holding the mobile device can very intuitively view the location where they are.

[0149] Furthermore, as Figures 1 - 13 a specific implementation of the method shown, this embodiment provides a communication device for wireless frames, as Figure 14 shown. The device includes: a wireless frame sending module 51 and a wireless frame receiving module 52.

[0150] The wireless frame sending module 51 can be used to broadcast wireless frames in the time slot corresponding to the identification information configured by the current base station, and record the timestamp information of the wireless frames broadcast by the current base station.

[0151] The wireless frame receiving module 52 can be used to receive the wireless frames broadcast by other base stations, and record the timestamp information of the wireless frames broadcast by other base stations received by the current base station.

[0152] In a specific application scenario, the identification information includes a base station identifier and a time slot identifier. The base station identifier is globally unique, and the time slot identifier is locally unique within the base station group to which the current base station belongs.

[0153] In a specific application scenario, the wireless frame sending module 51 is specifically used to broadcast wireless frames in the time slot corresponding to the time slot identifier configured by the current base station.

[0154] In a specific application scenario, the time slot includes a sub - time slot and a security time slot; then the wireless frame sending module 51 is specifically used to broadcast wireless frames in the sub - time slot of the time slot corresponding to the identification information configured by the current base station.

[0155] In a specific application scenario, the wireless frame broadcast by the current base station in the time slot corresponding to the configured identification information carries the timestamp information of the broadcast wireless frame and the timestamp information of the wireless frames broadcast by other base stations received.

[0156] In a specific application scenario, the wireless frame broadcast by the current base station carries the location information of the current base station.

[0157] In a specific application scenario, the synchronization information of the current base station is carried in the radio frame broadcast by the current base station, and the synchronization information of other base stations is carried in the radio frame received by the current base station.

[0158] In a specific application scenario, the synchronization information of the current base station is carried in the radio frame broadcast in the time slot corresponding to the configured identification information of the current base station, and the synchronization information of other base stations is carried in the radio frames broadcast by other base stations received by the current base station.

[0159] In a specific application scenario, the synchronization information of the current base station includes the current time of the current base station and the synchronization order of the current base station; the synchronization information of other base stations includes the current time of other base stations and the synchronization order of other base stations.

[0160] In a specific application scenario, the device further includes: a clock source determination module 53, configured to determine whether the current base station is a clock source base station.

[0161] In a specific application scenario, the clock source determination module 53 is specifically configured to compare the synchronization order of the current base station with the synchronization orders of other received base stations in sequence; if the synchronization order of the current base station is less than the synchronization orders of all other received base stations, it is determined that the current base station is a clock source base station; if the synchronization order of the current base station is greater than the synchronization order of any one of the received other base stations, it is determined that the current base station is not a clock source base station.

[0162] In a specific application scenario, the clock source determination module 53 is further configured to, if the current base station is not a clock source base station, sequentially determine whether the synchronization order of the received other base stations is less than the synchronization order of the current base station; if the synchronization order of the other base station is less than the synchronization order of the current base station, update the current time of the current base station to be the same as the current time of the other base station, and update the synchronization order of the current base station to the next order of the synchronization order of the other base station.

[0163] In a specific application scenario, the radio frame receiving module 52 is further configured to receive a communication configuration frame, and the communication configuration frame carries the length of the radio frame communication period, the start time of the radio frame communication period, the number of time slots, and the length of the time slots.

[0164] In a specific application scenario, the radio frame sending module 51 is further configured to periodically broadcast radio frames in the time slot corresponding to the identification information configured by the current base station, and the radio frame receiving module 52 is further configured to periodically receive radio frames broadcast by other base stations.

[0165] In a specific application scenario, a wireless frame communication cycle includes a first period and a second period. The first period includes multiple time slots. The wireless frame sending module 51 is further configured to periodically broadcast a wireless frame in the time slot corresponding to the identification information configured by the current base station during the first period of the wireless frame communication cycle. The wireless frame receiving module 52 is further configured to periodically receive wireless frames broadcast by other base stations.

[0166] In a specific application scenario, each time slot of the first period includes a sub-time slot and a security time slot. The wireless frame sending module 51 is further configured to periodically broadcast a wireless frame in the sub-time slot of the time slot corresponding to the identification information configured by the current base station during the first period of the wireless frame communication cycle. The wireless frame receiving module 52 is further configured to periodically receive wireless frames broadcast by other base stations.

[0167] In a specific application scenario, the length of the security time slot is greater than the time synchronization error of the base station.

[0168] In a specific application scenario, the device further includes: a transceiver function closing module 54, configured to close the transceiver function of the wireless frame during the second period of the wireless frame communication cycle.

[0169] It should be noted that for other corresponding descriptions of each functional unit involved in the wireless frame communication device provided in this embodiment, reference can be made to Figures 1 - 13 the corresponding description therein, which will not be elaborated here.

[0170] Further, as Figures 1 - 13 a specific implementation of the method shown, this embodiment provides a wireless positioning device, as Figure 15 shown, the device includes: a wireless frame receiving module 61 and a positioning calculation module 62.

[0171] The wireless frame receiving module 61 can be configured to receive multiple wireless frames broadcast by multiple base stations and record the timestamp information of the current device receiving the multiple wireless frames. Among them, the multiple wireless frames carry the timestamp information of the base station broadcasting the wireless frame and the timestamp information of the base station receiving the wireless frame.

[0172] The positioning calculation module 62 can be configured to perform positioning calculation based on the multiple wireless frames and the timestamp information of the current device receiving the multiple wireless frames to obtain the location information of the current device.

[0173] In a specific application scenario, the multiple wireless frames also carry the location information of the base station.

[0174] In a specific application scenario, the wireless frame receiving module 61 is further configured to receive a communication configuration frame, which carries the length of the wireless frame communication period, the starting time of the wireless frame communication period, the number of time slots, and the length of the time slots; the positioning and calculation module 62 is further configured to determine the activation period of the wireless positioning module according to the communication configuration frame.

[0175] In a specific application scenario, the positioning and calculation module 62 is specifically configured to determine the activation duration of the wireless positioning module according to the number and length of the time slots; and determine the activation period of the wireless positioning module according to the activation duration of the wireless positioning module, the length of the wireless frame transmission period, and the starting time of the wireless frame transmission period.

[0176] In a specific application scenario, the wireless frame receiving module 61 is further configured to receive multiple wireless frames broadcast by multiple base stations within the activation period of the wireless positioning module.

[0177] In a specific application scenario, the multiple base stations include at least three base stations.

[0178] In a specific application scenario, the wireless frame receiving module 61 is specifically configured to receive multiple wireless frames broadcast by at least three base stations and record the timestamp information of each wireless frame received by the current device from each base station.

[0179] In a specific application scenario, the positioning and calculation module 62 is specifically configured to obtain at least two distance difference information according to multiple wireless frames broadcast by at least three base stations and the timestamp information of each wireless frame received by the current device from each base station, where the distance difference information is the distance difference between the current device and two of the at least three base stations; and obtain the location information of the current device through the TDOA hyperbola positioning algorithm according to the at least two distance difference information and the location information of the at least three base stations.

[0180] In a specific application scenario, two of the at least three base stations include a first base station and a second base station; then the wireless frame receiving module 61 is specifically configured to receive a first wireless frame broadcast by the first base station, where the first wireless frame carries the location information of the first base station; record the first timestamp information of the current device receiving the first wireless frame; receive a second wireless frame broadcast by the second base station, where the second wireless frame carries the location information of the second base station, the second timestamp information of the second base station receiving the first wireless frame, and the third timestamp information of the second base station broadcasting the second wireless frame; and record the fourth timestamp information of the current device receiving the second wireless frame.

[0181] In a specific application scenario, the positioning and calculation module 62 is specifically configured to obtain the distance information between the first base station and the second base station according to the position information of the first base station and the position information of the second base station; and obtain the distance difference between the mobile device and the first base station and the second base station according to the difference between the fourth timestamp information and the first timestamp information, the difference between the third timestamp information and the second timestamp information, and the distance information between the first base station and the second base station.

[0182] In a specific application scenario, the device further includes: a display module 63, configured to display the position information of the current device.

[0183] It should be noted that for other corresponding descriptions of each functional unit involved in the wireless positioning device provided in this embodiment, reference can be made to Figures 1 - 13 the corresponding description in, which will not be elaborated here.

[0184] Further, as Figures 1 - 13 a specific implementation of the method shown, this embodiment provides a wireless frame communication system, which includes multiple base stations. Each base station is provided with a wireless frame communication module and configured with identification information. The multiple base stations form at least one base station group, and the identification information of each base station in the base station group is different from each other. Among them,

[0185] the multiple base stations broadcast wireless frames in the time slot corresponding to the identification information configured by the current base station, and record the timestamp information of the wireless frames broadcast by the current base station;

[0186] and receive the wireless frames broadcast by other base stations, and record the timestamp information of the wireless frames received by the current base station from other base stations.

[0187] In a specific application scenario, the identification information includes a base station identifier and a time slot identifier. The base station identifier is globally unique, and the time slot identifier is locally unique in the base station group.

[0188] In a specific application scenario, the multiple base stations broadcast wireless frames in the time slot corresponding to the identification information configured by the current base station, including: the multiple base stations broadcast wireless frames in the time slot corresponding to the time slot identifier configured by the current base station.

[0189] In a specific application scenario, the time slot includes a sub-time slot and a security time slot; then the multiple base stations broadcast wireless frames in the time slot corresponding to the identification information configured by the current base station, including: the multiple base stations broadcast wireless frames in the sub-time slot of the time slot corresponding to the identification information configured by the current base station.

[0190] In a specific application scenario, the wireless frames broadcast by multiple base stations carry the location information of the base stations, the timestamp information of the broadcast wireless frames, and the timestamp information of receiving the wireless frames broadcast by other base stations. Among them, the location information of the base stations, the timestamp information of the broadcast wireless frames, and the timestamp information of receiving the wireless frames broadcast by other base stations are used by the mobile device to perform positioning calculations based on the wireless frames broadcast by multiple base stations and obtain the location information.

[0191] In a specific application scenario, the wireless frames broadcast by multiple base stations carry the synchronization information of the base stations. Among them, the synchronization information of the base stations is used for time synchronization between multiple base stations.

[0192] In a specific application scenario, multiple base stations periodically broadcast wireless frames and periodically receive the wireless frames broadcast by other base stations.

[0193] In a specific application scenario, the communication cycle of the wireless frame includes a first period and a second period. The first period includes multiple time slots. Then, multiple base stations periodically broadcast wireless frames and periodically receive the wireless frames broadcast by other base stations, including: in the first period of the communication cycle of the wireless frame, multiple base stations sequentially and periodically broadcast wireless frames in the time slots corresponding to the identification information configured by the current base station and periodically receive the wireless frames broadcast by other base stations.

[0194] In a specific application scenario, each time slot in the first period includes a sub-time slot and a safety time slot. Then, multiple base stations periodically broadcast wireless frames and periodically receive the wireless frames broadcast by other base stations, including: in the first period of the communication cycle of the wireless frame, multiple base stations sequentially and periodically broadcast wireless frames in the sub-time slots of the time slots corresponding to the identification information configured by the current base station and periodically receive the wireless frames broadcast by other base stations.

[0195] In a specific application scenario, the length of the safety time slot is greater than the time synchronization error between multiple base stations.

[0196] In a specific application scenario, in the second period of the communication cycle of the wireless frame, multiple base stations turn off the wireless frame transceiver function of the wireless frame communication module.

[0197] In a specific application scenario, multiple base stations include at least three base stations, and at least three base stations form at least one base station group.

[0198] In a specific application scenario, each base station belongs to at least one base station group.

[0199] In a specific application scenario, when at least one base station among multiple base stations belongs to multiple base station groups at the same time, the number of time slot identifiers of multiple base stations is less than the number of base station identifiers of multiple base stations.

[0200] In a specific application scenario, the distance between two adjacent base stations in a base station group is 15m to 20m.

[0201] In a specific application scenario, the wireless frame communication module includes a clock unit, a data sending unit, a data receiving unit, a data processing unit, and a data storage unit.

[0202] In a specific application scenario, the wireless frame communication module is a UWB communication module.

[0203] In a specific application scenario, the division method of the base station group includes: multiple base stations broadcast wireless frames in sequence, and after receiving the wireless frames broadcast by other base stations, return an acknowledgment frame to the sender of the wireless frame; the sender of the wireless frame receives the acknowledgment frame and determines the division method of the base station group according to the sender of the acknowledgment frame.

[0204] It should be noted that for other corresponding descriptions of each functional unit involved in the wireless frame communication system provided in this embodiment, reference can be made to Figures 1 - 13 the corresponding description in, which will not be elaborated here.

[0205] Further, as Figures 1 - 13 a specific implementation of the method shown, this embodiment further provides a wireless positioning system, which includes multiple base stations and a mobile device. Each base station and the mobile device are both provided with a wireless frame communication module. Each base station is further configured with identification information. The multiple base stations form at least one base station group, and the identification information of each base station in the base station group is different from each other. Among them,

[0206] the multiple base stations broadcast wireless frames in the time slot corresponding to the identification information configured by the current base station, and record the timestamp information of the wireless frames broadcast by the current base station; and receive the wireless frames broadcast by other base stations, and record the timestamp information of the wireless frames broadcast by other base stations received by the current base station;

[0207] the mobile device receives multiple wireless frames broadcast by multiple base stations, and records the timestamp information of the multiple wireless frames received by the current device. Among them, the multiple wireless frames carry the timestamp information of the wireless frames broadcast by the base stations and the timestamp information of the wireless frames received by the base stations; and perform positioning calculation according to the multiple wireless frames and the timestamp information of the multiple wireless frames received by the current device to obtain the position information of the current device.

[0208] In a specific application scenario, the identification information includes a base station identifier and a time slot identifier. The base station identifier is globally unique, and the time slot identifier is locally unique in the base station group.

[0209] In a specific application scenario, the multiple base stations broadcast wireless frames in the time slot corresponding to the identification information configured by the current base station, including: the multiple base stations broadcast wireless frames in the time slot corresponding to the time slot identifier configured by the current base station.

[0210] In a specific application scenario, a time slot includes a sub - time slot and a security time slot; then multiple base stations broadcast radio frames in the time slot corresponding to the identification information configured by the current base station, including: multiple base stations broadcast radio frames in the sub - time slot of the time slot corresponding to the identification information configured by the current base station.

[0211] In a specific application scenario, the radio frames broadcast by multiple base stations carry the synchronization information of the base stations, where the synchronization information of the base stations is used for time synchronization among multiple base stations.

[0212] In a specific application scenario, multiple base stations periodically broadcast radio frames and periodically receive radio frames broadcast by other base stations.

[0213] In a specific application scenario, the communication cycle of a radio frame includes a first period and a second period, and the first period includes multiple time slots. Then multiple base stations periodically broadcast radio frames and periodically receive radio frames broadcast by other base stations, including: in the first period of the communication cycle of the radio frame, multiple base stations sequentially and periodically broadcast radio frames in the time slot corresponding to the identification information configured by the current base station and periodically receive radio frames broadcast by other base stations.

[0214] In a specific application scenario, each time slot in the first period includes a sub - time slot and a security time slot. Then multiple base stations periodically broadcast radio frames and periodically receive radio frames broadcast by other base stations, including: in the first period of the communication cycle of the radio frame, multiple base stations sequentially and periodically broadcast radio frames in the sub - time slot of the time slot corresponding to the identification information configured by the current base station and periodically receive radio frames broadcast by other base stations.

[0215] In a specific application scenario, the length of the security time slot is greater than the time synchronization error among multiple base stations.

[0216] In a specific application scenario, in the second period of the communication cycle of the radio frame, multiple base stations turn off the radio frame transceiver function of the radio frame communication module.

[0217] In a specific application scenario, multiple base stations include at least three base stations, and at least three base stations form at least one base station group.

[0218] In a specific application scenario, the radio frames broadcast by multiple base stations carry the location information of the base stations.

[0219] In a specific application scenario, a mobile device is specifically configured to receive multiple wireless frames broadcast by at least three base stations and record the timestamp information of each wireless frame received by the current device from each base station; based on the multiple wireless frames broadcast by at least three base stations and the timestamp information of each wireless frame received by the current device from each base station, at least two distance difference information is obtained, where the distance difference information is the distance difference between the current device and two of the at least three base stations; based on the at least two distance difference information and the location information of the at least three base stations, the location information of the current device is obtained through the TDOA hyperbola positioning algorithm.

[0220] In a specific application scenario, each base station belongs to at least one base station group.

[0221] In a specific application scenario, when at least one of the multiple base stations belongs to multiple base station groups at the same time, the number of time slot identifiers of the multiple base stations is less than the number of base station identifiers of the multiple base stations.

[0222] In a specific application scenario, the distance between two adjacent base stations in a base station group is 15m to 20m.

[0223] In a specific application scenario, the wireless frame communication module includes a clock unit, a data sending unit, a data receiving unit, a data processing unit, and a data storage unit.

[0224] In a specific application scenario, the wireless frame communication module is a UWB communication module.

[0225] In a specific application scenario, the division method of the base station group includes: multiple base stations broadcast wireless frames in sequence, and return an acknowledgment frame to the sender of the wireless frame after receiving the wireless frames broadcast by other base stations; the sender of the wireless frame receives the acknowledgment frame and determines the division method of the base station group according to the sender of the acknowledgment frame.

[0226] It should be noted that for other corresponding descriptions of each functional unit involved in the wireless positioning system provided in this embodiment, reference can be made to the corresponding description in Figures 1 - 13 and will not be elaborated here.

[0227] Based on the method as shown in Figures 1 - 13 above, correspondingly, this embodiment also provides a storage medium on which a computer program is stored, and when the program is executed by a processor, it implements the communication method of the wireless frame as shown in Figures 1 - 7 above and the wireless positioning method as shown in Figures 10 - 13 above.

[0228] Based on such understanding, the technical solution of this application can be embodied in the form of a software product. This software product to be recognized can be stored in a non-volatile storage medium (which can be a CD-ROM, USB flash drive, mobile hard disk, etc.), and includes several instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) to execute the methods of various implementation scenarios of this application.

[0229] Based on the above-mentioned Figures 1 - 13 method as shown, and Figure 14 the communication device embodiment of the wireless frame as shown, and Figure 15 the wireless positioning device as shown, in order to achieve the above object, this embodiment also provides an entity device for wireless positioning, which can specifically be a personal computer, server, smart phone, tablet computer, smart watch, or other network devices, etc. This entity device includes a storage medium and a processor; the storage medium is used to store a computer program; the processor is used to execute the computer program to implement the above-mentioned Figures 1 - 13 method as shown.

[0230] Optionally, this entity device may further include a user interface, a network interface, a camera, a radio frequency (RF) circuit, sensors, an audio circuit, a WI-FI module, etc. The user interface may include a display screen (Display), an input unit such as a keyboard (Keyboard), etc. Optionally, the user interface may further include a USB interface, a card reader interface, etc. The network interface may optionally include a standard wired interface, a wireless interface (such as a WI-FI interface), etc.

[0231] Those skilled in the art can understand that the structure of an entity device for wireless positioning provided in this embodiment does not constitute a limitation to this entity device, and it may include more or fewer components, or combine certain components, or have different component arrangements.

[0232] The storage medium may further include an operating system and a network communication module. The operating system is a program for managing the hardware and software resources of the above entity device, and supports the operation of information processing programs and other software and / or programs to be recognized. The network communication module is used to implement the communication between components inside the storage medium, as well as the communication between other hardware and software in the information processing entity device.

[0233] Through the description of the above embodiments, those skilled in the art can clearly understand that this application can be implemented by means of software plus a necessary general hardware platform, or can also be implemented by hardware.

[0234] Those skilled in the art can understand that the attached drawings are only schematic diagrams of a preferred implementation scenario, and the modules or processes in the drawings are not necessarily essential for implementing the present application. Those skilled in the art can understand that the modules in the devices in the implementation scenario can be distributed in the devices in the implementation scenario according to the description of the implementation scenario, or can be correspondingly changed to be located in one or more devices different from this implementation scenario. The modules in the above implementation scenario can be combined into one module, or can be further split into multiple sub-modules.

[0235] The above serial numbers of the present application are only for description and do not represent the advantages or disadvantages of the implementation scenarios. The above-disclosed are only several specific implementation scenarios of the present application. However, the present application is not limited thereto, and any changes that can be thought of by those skilled in the art should fall within the protection scope of the present application.

[0236] 1. A communication system for wireless frames, the system includes a plurality of base stations, each base station is provided with a wireless frame communication module and configured with identification information, the plurality of base stations form at least one base station group, and the identification information of each base station in the base station group is different from each other. Among them,

[0237] the plurality of base stations broadcast wireless frames in the time slot corresponding to the identification information configured by the current base station, and record the timestamp information of the wireless frames broadcast by the current base station;

[0238] and receive the wireless frames broadcast by other base stations, and record the timestamp information of the wireless frames broadcast by other base stations received by the current base station.

[0239] 2. The system according to clause 1, the identification information includes a base station identifier and a time slot identifier, the base station identifier is globally unique, and the time slot identifier is locally unique in the base station group.

[0240] 3. The system according to clause 2, the plurality of base stations broadcast wireless frames in the time slot corresponding to the identification information configured by the current base station, including: the plurality of base stations broadcast wireless frames in the time slot corresponding to the time slot identifier configured by the current base station.

[0241] 4. The system according to clause 1, the time slot includes a sub-time slot and a security time slot; then the plurality of base stations broadcast wireless frames in the time slot corresponding to the identification information configured by the current base station, including: the plurality of base stations broadcast wireless frames in the sub-time slot of the time slot corresponding to the identification information configured by the current base station.

[0242] 5. The system according to any one of clauses 1-4, the wireless frames broadcast by the plurality of base stations carry the location information of the base station, the timestamp information of the broadcast wireless frames, and the timestamp information of the wireless frames broadcast by other base stations received. Among them, the location information of the base station, the timestamp information of the broadcast wireless frames, and the timestamp information of the wireless frames broadcast by other base stations received are used for the mobile device to perform positioning calculation according to the wireless frames broadcast by the plurality of base stations to obtain the location information.

[0243] 6. The system according to any one of Clauses 1 - 4, wherein the wireless frames broadcast by multiple base stations carry synchronization information of the base stations, and the synchronization information of the base stations is used for time synchronization among the multiple base stations.

[0244] 7. The system according to any one of Clauses 1 - 4, wherein multiple base stations periodically broadcast wireless frames and periodically receive wireless frames broadcast by other base stations.

[0245] 8. The system according to Clause 7, wherein the communication cycle of the wireless frame includes a first period and a second period, and the first period includes multiple time slots. Then, multiple base stations periodically broadcast wireless frames and periodically receive wireless frames broadcast by other base stations, including: in the first period of the communication cycle of the wireless frame, multiple base stations sequentially and periodically broadcast wireless frames in the time slots corresponding to the identification information configured by the current base station, and periodically receive wireless frames broadcast by other base stations.

[0246] 9. The system according to Clause 8, wherein each time slot in the first period includes a sub - time slot and a safety time slot. Then, multiple base stations periodically broadcast wireless frames and periodically receive wireless frames broadcast by other base stations, including: in the first period of the communication cycle of the wireless frame, multiple base stations sequentially and periodically broadcast wireless frames in the sub - time slots of the time slots corresponding to the identification information configured by the current base station, and periodically receive wireless frames broadcast by other base stations.

[0247] 10. The system according to Clause 9, wherein the length of the safety time slot is greater than the time synchronization error among multiple base stations.

[0248] 11. The system according to Clause 8, wherein in the second period of the communication cycle of the wireless frame, multiple base stations turn off the wireless frame transceiver function of the wireless frame communication module.

[0249] 12. The system according to any one of Clauses 1 - 4, wherein multiple base stations include at least three base stations, and at least three base stations form at least one base station group.

[0250] 13. The system according to any one of Clauses 1 - 4, wherein each base station belongs to at least one base station group.

[0251] 14. The system according to Clause 13, when at least one base station among multiple base stations belongs to multiple base station groups simultaneously, the number of time slot identifiers of multiple base stations is less than the number of base station identifiers of multiple base stations.

[0252] 15. The system according to Clause 1, wherein the distance between two adjacent base stations in the base station group is 15m - 20m.

[0253] 16. The system according to Clause 1, wherein the wireless frame communication module includes a clock unit, a data sending unit, a data receiving unit, a data processing unit, and a data storage unit.

[0254] 17. The system according to clause 1 or 16, wherein the wireless frame communication module is a UWB communication module.

[0255] 18. A method for communicating wireless frames, the method comprising:

[0256] Broadcasting a wireless frame in a time slot corresponding to the identification information configured by the current base station, and recording the timestamp information of the wireless frame broadcast by the current base station;

[0257] Receiving wireless frames broadcast by other base stations, and recording the timestamp information of the wireless frames broadcast by other base stations received by the current base station.

[0258] 19. The method according to clause 18, wherein the identification information includes a base station identifier and a time slot identifier, the base station identifier is globally unique, and the time slot identifier is locally unique in the base station group to which the current base station belongs.

[0259] 20. The method according to clause 19, broadcasting a wireless frame in a time slot corresponding to the identification information configured by the current base station includes: broadcasting a wireless frame in a time slot corresponding to the time slot identifier configured by the current base station.

[0260] 21. The method according to clause 18, wherein the time slot includes a sub-time slot and a security time slot; then broadcasting a wireless frame in a time slot corresponding to the identification information configured by the current base station includes: broadcasting a wireless frame in a sub-time slot of the time slot corresponding to the identification information configured by the current base station.

[0261] 22. The method according to any one of clauses 18-21, wherein the wireless frame broadcast by the current base station in the time slot corresponding to the configured identification information carries the timestamp information of the broadcast wireless frame and the timestamp information of the wireless frames broadcast by other base stations received.

[0262] 23. The method according to any one of clauses 18-21, wherein the wireless frame broadcast by the current base station carries the location information of the current base station.

[0263] 24. The method according to clause 18, wherein the wireless frame broadcast by the current base station carries the synchronization information of the current base station, and the wireless frames received by the current base station carry the synchronization information of other base stations.

[0264] 25. The method according to clause 18, wherein the wireless frame broadcast by the current base station in the time slot corresponding to the configured identification information carries the synchronization information of the current base station, and the wireless frames broadcast by other base stations received by the current base station carry the synchronization information of other base stations.

[0265] 26. According to the method described in clause 24 or 25, the synchronization information of the current base station includes the current time of the current base station and the synchronization order of the current base station; the synchronization information of other base stations includes the current time of other base stations and the synchronization order of other base stations.

[0266] 27. According to the method described in clause 26, the method further includes: determining whether the current base station is a clock source base station.

[0267] 28. According to the method described in clause 27, determining whether the current base station is a clock source base station includes:

[0268] Comparing the synchronization order of the current base station with the synchronization orders of other received base stations in sequence;

[0269] If the synchronization order of the current base station is less than the synchronization orders of all other received base stations, it is determined that the current base station is a clock source base station;

[0270] If the synchronization order of the current base station is greater than the synchronization order of any one of the other received base stations, it is determined that the current base station is not a clock source base station.

[0271] 29. According to the method described in clause 27, the method further includes:

[0272] If the current base station is not a clock source base station, then determine in sequence whether the synchronization orders of the other received base stations are less than the synchronization order of the current base station;

[0273] If the synchronization order of the other base station is less than the synchronization order of the current base station, update the current time of the current base station to be the same as the current time of the other base station, and update the synchronization order of the current base station to the next order of the synchronization order of the other base station.

[0274] 30. According to the method described in any one of clauses 18 - 21, the method further includes:

[0275] Receiving a communication configuration frame, which carries the length of the wireless frame communication period, the starting time of the wireless frame communication period, the number of time slots, and the length of the time slots.

[0276] 31. According to the method described in clause 30, broadcasting a wireless frame in the time slot corresponding to the identification information configured by the current base station and receiving the wireless frames broadcast by other base stations includes: periodically broadcasting a wireless frame in the time slot corresponding to the identification information configured by the current base station and periodically receiving the wireless frames broadcast by other base stations.

[0277] 32. The method according to clause 31, wherein the wireless frame communication period includes a first period and a second period, and the first period includes a plurality of time slots; then, wireless frames are periodically broadcast in the time slot corresponding to the identification information configured by the current base station, and wireless frames broadcast by other base stations are periodically received, including: in the first period of the wireless frame communication period, wireless frames are periodically broadcast in the time slot corresponding to the identification information configured by the current base station, and wireless frames broadcast by other base stations are periodically received.

[0278] 33. The method according to clause 32, wherein each time slot in the first period includes a sub-time slot and a security time slot; then, wireless frames are periodically broadcast in the time slot corresponding to the identification information configured by the current base station, and wireless frames broadcast by other base stations are periodically received, including: in the first period of the wireless frame communication period, wireless frames are periodically broadcast in the sub-time slot of the time slot corresponding to the identification information configured by the current base station, and wireless frames broadcast by other base stations are periodically received.

[0279] 34. The method according to clause 33, wherein the length of the security time slot is greater than the time synchronization error of the base station.

[0280] 35. The method according to clause 32, further comprising: in the second period of the wireless frame communication period, turning off the transceiver function of the wireless frame.

[0281] 36. A wireless positioning method, the method comprising:

[0282] Receiving a plurality of wireless frames broadcast by a plurality of base stations, and recording the timestamp information of the current device receiving the plurality of wireless frames, wherein the plurality of wireless frames carry the timestamp information of the base station broadcasting the wireless frame and the timestamp information of the base station receiving the wireless frame;

[0283] Performing positioning calculation according to the plurality of wireless frames and the timestamp information of the current device receiving the plurality of wireless frames to obtain the location information of the current device.

[0284] 37. The method according to clause 36, wherein the plurality of wireless frames further carry the location information of the base station.

[0285] 38. The method according to clause 36, before receiving the plurality of wireless frames broadcast by the plurality of base stations, the method further comprising:

[0286] Receiving a communication configuration frame, wherein the communication configuration frame carries the length of the wireless frame communication period, the start time of the wireless frame communication period, the number of time slots, and the length of the time slots;

[0287] Determining the activation period of the wireless positioning module according to the communication configuration frame.

[0288] 39. The method according to clause 38, determining the activation period of the wireless positioning module according to the communication configuration frame, includes:

[0289] Determine the activation duration of the wireless positioning module according to the number of time slots and the length of each time slot.

[0290] Determine the activation period of the wireless positioning module according to the activation duration of the wireless positioning module, the length of the wireless frame transmission period, and the start time of the wireless frame transmission period.

[0291] 40. The method according to clause 38, receiving multiple wireless frames broadcast by multiple base stations, including: receiving multiple wireless frames broadcast by multiple base stations during the activation period of the wireless positioning module.

[0292] 41. The method according to clause 37, wherein the multiple base stations include at least three base stations.

[0293] 42. The method according to clause 41, receiving multiple wireless frames broadcast by multiple base stations and recording the timestamp information of the current device receiving the multiple wireless frames, including: receiving multiple wireless frames broadcast by at least three base stations and recording the timestamp information of the current device receiving each wireless frame broadcast by each base station.

[0294] 43. The method according to clause 42, performing positioning calculation based on the multiple wireless frames and the timestamp information of the current device receiving the multiple wireless frames to obtain the location information of the current device, including:

[0295] Obtaining at least two distance difference information based on the multiple wireless frames broadcast by at least three base stations and the timestamp information of the current device receiving each wireless frame broadcast by each base station, wherein the distance difference information is the distance difference between the current device and two of the at least three base stations;

[0296] Obtaining the location information of the current device through the TDOA hyperbola positioning algorithm based on the at least two distance difference information and the location information of the at least three base stations.

[0297] 44. The method according to clause 43, wherein two of the at least three base stations include a first base station and a second base station; then receiving multiple wireless frames broadcast by at least three base stations and recording the timestamp information of the current device receiving each wireless frame broadcast by each base station, including:

[0298] Receiving a first wireless frame broadcast by the first base station, where the first wireless frame carries the location information of the first base station;

[0299] Recording the first timestamp information of the current device receiving the first wireless frame;

[0300] Receive a second radio frame broadcast by a second base station, where the second radio frame carries position information of the second base station, second timestamp information of the second base station for receiving the first radio frame, and third timestamp information of the second base station for broadcasting the second radio frame;

[0301] Record fourth timestamp information of the current device for receiving the second radio frame.

[0302] 45. The method according to clause 44, obtaining at least two distance difference information based on multiple radio frames broadcast by at least three base stations and timestamp information of each radio frame received by the current device from each base station for broadcasting, including:

[0303] Obtain distance information between the first base station and the second base station according to the position information of the first base station and the position information of the second base station;

[0304] Obtain the distance difference between the mobile device and the first base station and the second base station according to the difference between the fourth timestamp information and the first timestamp information, the difference between the third timestamp information and the second timestamp information, and the distance information between the first base station and the second base station.

[0305] 46. The method according to clause 36, the method further includes:

[0306] Display the position information where the current device is located.

[0307] 47. A communication device for radio frames, the device includes:

[0308] A radio frame sending module, configured to broadcast a radio frame in a time slot corresponding to the identification information configured by the current base station, and record the timestamp information of the current base station for broadcasting the radio frame;

[0309] A radio frame receiving module, configured to receive radio frames broadcast by other base stations, and record the timestamp information of the current base station for receiving radio frames broadcast by other base stations.

[0310] 48. The device according to clause 47, the identification information includes a base station identifier and a time slot identifier, the base station identifier is globally unique, and the time slot identifier is locally unique in the base station group to which the current base station belongs.

[0311] 49. The device according to clause 48, the radio frame sending module is specifically configured to broadcast a radio frame in a time slot corresponding to the time slot identifier configured by the current base station.

[0312] 50. The device according to clause 47, the time slot includes a sub-time slot and a security time slot; then the radio frame sending module is specifically configured to broadcast a radio frame in the sub-time slot of the time slot corresponding to the identification information configured by the current base station.

[0313] 51. The device according to any one of clauses 47 - 50, wherein the radio frame broadcast by the current base station in the time slot corresponding to the configured identification information carries the time stamp information of the broadcast radio frame and the time stamp information of the radio frames broadcast by other base stations received.

[0314] 52. The device according to any one of clauses 47 - 50, wherein the radio frame broadcast by the current base station carries the location information of the current base station.

[0315] 53. The device according to clause 47, wherein the radio frame broadcast by the current base station carries the synchronization information of the current base station, and the radio frames received by the current base station carry the synchronization information of other base stations.

[0316] 54. The device according to clause 47, wherein the radio frame broadcast by the current base station in the time slot corresponding to the configured identification information carries the synchronization information of the current base station, and the radio frames broadcast by other base stations received by the current base station carry the synchronization information of other base stations.

[0317] 55. The device according to clause 53 or 54, wherein the synchronization information of the current base station includes the current time of the current base station and the synchronization order of the current base station; the synchronization information of other base stations includes the current time of other base stations and the synchronization order of other base stations.

[0318] 56. The device according to clause 55, further comprising: a clock source determination module, configured to determine whether the current base station is a clock source base station.

[0319] 57. The device according to clause 56,

[0320] The clock source determination module is specifically configured to compare the synchronization order of the current base station with the synchronization orders of other base stations received in sequence;

[0321] If the synchronization order of the current base station is less than the synchronization orders of all other base stations received, it is determined that the current base station is a clock source base station;

[0322] If the synchronization order of the current base station is greater than the synchronization order of any one of the other base stations received, it is determined that the current base station is not a clock source base station.

[0323] 58. The device according to clause 56,

[0324] The clock source determination module is further configured to, if the current base station is not a clock source base station, determine in sequence whether the synchronization orders of the other base stations received are less than the synchronization order of the current base station;

[0325] If the synchronization order of other base stations is less than that of the current base station, update the current time of the current base station to be the same as that of other base stations, and update the synchronization order of the current base station to the next order of the synchronization order of other base stations.

[0326] 59. The apparatus according to any one of Clauses 47 - 50,

[0327] The wireless frame receiving module is further configured to receive a communication configuration frame, where the communication configuration frame carries the length of the wireless frame communication period, the starting time of the wireless frame communication period, the number of time slots, and the length of the time slots.

[0328] 60. The apparatus according to Clause 59,

[0329] The wireless frame sending module is further configured to periodically broadcast a wireless frame in the time slot corresponding to the identification information configured by the current base station,

[0330] The wireless frame receiving module is further configured to periodically receive wireless frames broadcast by other base stations.

[0331] 61. The apparatus according to Clause 60, where the wireless frame communication period includes a first period and a second period, and the first period includes a plurality of time slots;

[0332] The wireless frame sending module is further configured to, in the first period of the wireless frame communication period, periodically broadcast a wireless frame in the time slot corresponding to the identification information configured by the current base station,

[0333] The wireless frame receiving module is further configured to periodically receive wireless frames broadcast by other base stations.

[0334] 62. The apparatus according to Clause 61, where each time slot in the first period includes a sub - time slot and a security time slot;

[0335] The wireless frame sending module is further configured to, in the first period of the wireless frame communication period, periodically broadcast a wireless frame in the sub - time slot of the time slot corresponding to the identification information configured by the current base station,

[0336] The wireless frame receiving module is further configured to periodically receive wireless frames broadcast by other base stations.

[0337] 63. The apparatus according to Clause 62, where the length of the security time slot is greater than the time synchronization error of the base station.

[0338] 64. The apparatus according to Clause 61, where the apparatus further includes: a transceiver function shutdown module, configured to shut down the transceiver function of the wireless frame in the second period of the wireless frame communication period.

[0339] 65. A wireless positioning apparatus, the apparatus includes:

[0340] A wireless frame receiving module, which is configured to receive multiple wireless frames broadcast by multiple base stations and record the timestamp information of the current device receiving the multiple wireless frames. Among them, the multiple wireless frames carry the timestamp information of the base station broadcasting the wireless frame and the timestamp information of the base station receiving the wireless frame;

[0341] A positioning calculation module, which is configured to perform positioning calculation based on the multiple wireless frames and the timestamp information of the current device receiving the multiple wireless frames, so as to obtain the location information of the current device.

[0342] 66. The device according to clause 65, wherein the multiple wireless frames further carry the location information of the base station.

[0343] 67. The device according to clause 65,

[0344] The wireless frame receiving module is further configured to receive a communication configuration frame, and the communication configuration frame carries the length of the wireless frame communication period, the start time of the wireless frame communication period, the number of time slots, and the length of the time slots;

[0345] The positioning calculation module is further configured to determine the activation period of the wireless positioning module according to the communication configuration frame.

[0346] 68. The device according to clause 67,

[0347] The positioning calculation module is specifically configured to determine the activation duration of the wireless positioning module according to the number of time slots and the length of the time slots;

[0348] Determine the activation period of the wireless positioning module according to the activation duration of the wireless positioning module, the length of the wireless frame transmission period, and the start time of the wireless frame transmission period.

[0349] 69. The device according to clause 67, the wireless frame receiving module is further configured to receive multiple wireless frames broadcast by multiple base stations within the activation period of the wireless positioning module.

[0350] 70. The device according to clause 66, wherein the multiple base stations include at least three base stations.

[0351] 71. The device according to clause 70, the wireless frame receiving module is specifically configured to receive multiple wireless frames broadcast by at least three base stations and record the timestamp information of the current device receiving each wireless frame broadcast by each base station.

[0352] 72. The device according to clause 71,

[0353] The positioning calculation module is specifically configured to obtain at least two distance difference information according to the multiple wireless frames broadcast by at least three base stations and the timestamp information of the current device receiving each wireless frame broadcast by each base station, wherein the distance difference information is the distance difference between the current device and two base stations among the at least three base stations;

[0354] Based on at least two distance difference information and the location information of at least three base stations, the location information of the current device is obtained through the TDOA hyperbola positioning algorithm.

[0355] 73. For the device according to clause 72, two of the at least three base stations include a first base station and a second base station;

[0356] The wireless frame receiving module is specifically configured to receive a first wireless frame broadcast by the first base station, and the first wireless frame carries the location information of the first base station;

[0357] Record the first timestamp information of the current device receiving the first wireless frame;

[0358] Receive a second wireless frame broadcast by the second base station, and the second wireless frame carries the location information of the second base station, the second timestamp information of the second base station receiving the first wireless frame, and the third timestamp information of the second base station broadcasting the second wireless frame;

[0359] Record the fourth timestamp information of the current device receiving the second wireless frame.

[0360] 74. For the device according to clause 73,

[0361] The positioning calculation module is specifically configured to obtain the distance information between the first base station and the second base station according to the location information of the first base station and the location information of the second base station;

[0362] According to the difference between the fourth timestamp information and the first timestamp information, the difference between the third timestamp information and the second timestamp information, and the distance information between the first base station and the second base station, obtain the distance difference between the mobile device and the first base station and the second base station.

[0363] 75. For the device according to clause 65, the device further includes: a display module for displaying the location information of the current device.

[0364] 76. A wireless positioning system, the system includes multiple base stations and a mobile device, each base station and the mobile device are provided with a wireless frame communication module, each base station is further configured with identification information, the multiple base stations form at least one base station group, and the identification information of each base station in the base station group is different from each other. Among them, the multiple base stations broadcast wireless frames in the time slot corresponding to the identification information configured by the current base station and record the timestamp information of the current base station broadcasting the wireless frame; and receive the wireless frames broadcast by other base stations and record the timestamp information of the current base station receiving the wireless frames broadcast by other base stations;

[0365] A mobile device receives multiple wireless frames broadcast by multiple base stations and records the timestamp information of the current device receiving the multiple wireless frames, where the multiple wireless frames carry the timestamp information of the base station broadcasting the wireless frame and the timestamp information of the base station receiving the wireless frame; and performs positioning calculation based on the multiple wireless frames and the timestamp information of the current device receiving the multiple wireless frames to obtain the location information of the current device.

[0366] 77. The system according to clause 76, wherein the identification information includes a base station identification and a time slot identification, the base station identification is globally unique, and the time slot identification is locally unique within a base station group.

[0367] 78. The system according to clause 77, wherein the multiple base stations broadcast wireless frames in the time slot corresponding to the identification information configured by the current base station, including: the multiple base stations broadcast wireless frames in the time slot corresponding to the time slot identification configured by the current base station.

[0368] 79. The system according to clause 76, wherein the time slot includes a sub-time slot and a security time slot; then the multiple base stations broadcast wireless frames in the time slot corresponding to the identification information configured by the current base station, including: the multiple base stations broadcast wireless frames in the sub-time slot of the time slot corresponding to the identification information configured by the current base station.

[0369] 80. The system according to any one of clauses 76 - 79, wherein the wireless frames broadcast by the multiple base stations carry the synchronization information of the base stations, and the synchronization information of the base stations is used for time synchronization between the multiple base stations.

[0370] 81. The system according to any one of clauses 76 - 79, wherein the multiple base stations broadcast wireless frames periodically and receive the wireless frames broadcast by other base stations periodically.

[0371] 82. The system according to clause 81, wherein the communication cycle of the wireless frame includes a first period and a second period, and the first period includes multiple time slots, then the multiple base stations broadcast wireless frames periodically and receive the wireless frames broadcast by other base stations periodically, including: in the first period of the communication cycle of the wireless frame, the multiple base stations broadcast wireless frames periodically in sequence in the time slot corresponding to the identification information configured by the current base station and receive the wireless frames broadcast by other base stations periodically.

[0372] 83. The system according to clause 82, wherein each time slot in the first period includes a sub-time slot and a security time slot, then the multiple base stations broadcast wireless frames periodically and receive the wireless frames broadcast by other base stations periodically, including: in the first period of the communication cycle of the wireless frame, the multiple base stations broadcast wireless frames periodically in sequence in the sub-time slot of the time slot corresponding to the identification information configured by the current base station and receive the wireless frames broadcast by other base stations periodically.

[0373] 84. The system according to clause 83, wherein the length of the security time slot is greater than the time synchronization error between the multiple base stations.

[0374] 85. The system according to clause 82, in the second period of the communication cycle of the wireless frame, multiple base stations turn off the wireless frame transceiver function of the wireless frame communication module.

[0375] 86. The system according to any one of clauses 76 - 79, the multiple base stations include at least three base stations, and the at least three base stations form at least one base station group.

[0376] 87. The system according to clause 86, the wireless frame broadcast by the multiple base stations carries the location information of the base stations.

[0377] 88. The system according to clause 87,

[0378] The mobile device is specifically configured to receive multiple wireless frames broadcast by at least three base stations, and record the timestamp information of each wireless frame received by the current device from each base station;

[0379] According to the multiple wireless frames broadcast by at least three base stations, and the timestamp information of each wireless frame received by the current device from each base station, at least two distance difference information is obtained, where the distance difference information is the distance difference between the current device and two of the at least three base stations;

[0380] According to the at least two distance difference information, and the location information of the at least three base stations, through the TDOA hyperbola positioning algorithm, the location information of the current device is obtained.

[0381] 89. The system according to any one of clauses 76 - 79, each base station belongs to at least one base station group.

[0382] 90. The system according to clause 89, when at least one of the multiple base stations belongs to multiple base station groups at the same time, the number of time slot identifiers of the multiple base stations is less than the number of base station identifiers of the multiple base stations.

[0383] 91. The system according to clause 76, the distance between two adjacent base stations in the base station group is 15m - 20m.

[0384] 92. The system according to clause 76, the wireless frame communication module includes a clock unit, a data sending unit, a data receiving unit, a data processing unit, and a data storage unit.

[0385] 93. The system according to clause 76 or 92, the wireless frame communication module is a UWB communication module.

[0386] 94. The system according to clause 76, wherein the division method of the base station group includes: multiple base stations broadcast radio frames in sequence, and return an acknowledgment frame to the sender of the radio frame after receiving the radio frames broadcast by other base stations; the sender of the radio frame receives the acknowledgment frame and determines the division method of the base station group according to the sender of the acknowledgment frame.

[0387] 95. A storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the method described in any one of clauses 18 to 46 are implemented.

[0388] 96. A computer device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, and when the computer program is executed by the processor, the steps of the method described in any one of clauses 18 to 46 are implemented.

Claims

1. A communication system for wireless frames, characterized in that, the system includes a plurality of base stations, each of the base stations is provided with a wireless frame communication module and configured with identification information, the plurality of base stations form at least one base station group, and the identification information of each base station in the base station group is different from each other, wherein, the plurality of base stations broadcast wireless frames in the time slot corresponding to the identification information configured by the current base station, and record the time stamp information of the current base station broadcasting the wireless frames. Wherein, the identification information includes a base station identification and a time slot identification, the base station identification is globally unique, the time slot identification is locally unique in the base station group, the time slot includes a sub-time slot and a security time slot, and the security time slot is the time slot in which the base station does not send wireless frames. The plurality of base stations broadcast wireless frames in the sub-time slot of the time slot corresponding to the time slot identification configured by the current base station; and receive wireless frames broadcast by other base stations, and record the time stamp information of the current base station receiving wireless frames broadcast by other base stations.

2. The system according to claim 1, characterized in that, the wireless frames broadcast by the plurality of base stations carry the position information of the base station, the time stamp information of broadcasting the wireless frames, and the time stamp information of receiving wireless frames broadcast by other base stations. Wherein, the position information of the base station, the time stamp information of broadcasting the wireless frames, and the time stamp information of receiving wireless frames broadcast by other base stations are used for a mobile device to perform positioning calculation according to the wireless frames broadcast by the plurality of base stations to obtain position information.

3. The system according to claim 1, characterized in that, the wireless frames broadcast by the plurality of base stations carry the synchronization information of the base stations. Wherein, the synchronization information of the base stations is used for time synchronization between the plurality of base stations.

4. The system according to claim 1, characterized in that, the plurality of base stations broadcast wireless frames periodically and receive wireless frames broadcast by other base stations periodically.

5. The system according to claim 4, characterized in that, the communication period of the wireless frames includes a first period and a second period. The first period includes a plurality of time slots. Then, the plurality of base stations broadcast wireless frames periodically and receive wireless frames broadcast by other base stations periodically, including: in the first period of the communication period of the wireless frames, the plurality of base stations broadcast wireless frames periodically in the time slot corresponding to the identification information configured by the current base station, and receive wireless frames broadcast by other base stations periodically.

6. The system according to claim 5, characterized in that, each of the time slots in the first period includes a sub-time slot and a security time slot. Then, the plurality of base stations broadcast wireless frames periodically and receive wireless frames broadcast by other base stations periodically, including: in the first period of the communication period of the wireless frames, the plurality of base stations broadcast wireless frames periodically in the sub-time slot of the time slot corresponding to the identification information configured by the current base station, and receive wireless frames broadcast by other base stations periodically.

7. The system according to claim 6, characterized in that, the length of the security time slot is greater than the time synchronization error between the plurality of base stations.

8. The system according to claim 5, characterized in that, In the second time period of the communication cycle of the wireless frame, the multiple base stations turn off the wireless frame transceiver function of the wireless frame communication module.

9. The system according to claim 1, wherein, the multiple base stations include at least three base stations, and the at least three base stations form at least one base station group.

10. The system according to claim 1, wherein, each of the base stations belongs to at least one base station group.

11. The system according to claim 10, wherein, when at least one of the multiple base stations belongs to multiple base station groups simultaneously, the number of time slot identifiers of the multiple base stations is less than the number of base station identifiers of the multiple base stations.

12. The system according to claim 1, wherein, the distance between two adjacent base stations in the base station group is 15m to 20m.

13. The system according to claim 1, wherein, the wireless frame communication module includes a clock unit, a data sending unit, a data receiving unit, a data processing unit, and a data storage unit.

14. The system according to claim 1 or 13, wherein, the wireless frame communication module is a UWB communication module.

15. A communication method for a wireless frame, applied to the wireless frame communication system according to any one of claims 1 to 14, wherein, the method includes: broadcasting a wireless frame in a time slot corresponding to the identification information configured by the current base station, and recording the timestamp information of the current base station broadcasting the wireless frame, wherein the identification information includes a base station identifier and a time slot identifier, the base station identifier is globally unique, the time slot identifier is locally unique in the base station group, the time slot includes a sub - time slot and a security time slot, the security time slot is the time slot in which the base station does not send a wireless frame, and the multiple base stations broadcast wireless frames in the sub - time slot of the time slot corresponding to the time slot identifier configured by the current base station; receiving wireless frames broadcast by other base stations, and recording the timestamp information of the current base station receiving wireless frames broadcast by other base stations.

16. The method according to claim 15, wherein, the wireless frame broadcast by the current base station in the time slot corresponding to the configured identification information carries the timestamp information of broadcasting the wireless frame and the timestamp information of receiving wireless frames broadcast by other base stations.

17. The method according to claim 15, wherein, the wireless frame broadcast by the current base station carries the location information of the current base station.

18. The method according to claim 15, wherein, the wireless frame broadcast by the current base station carries the synchronization information of the current base station, and the wireless frame received by the current base station carries the synchronization information of other base stations.

19. The method according to claim 15, wherein, the wireless frame broadcast by the current base station in the time slot corresponding to the configured identification information carries the synchronization information of the current base station, and the wireless frames broadcast by other base stations received by the current base station carry the synchronization information of other base stations.

20. The method according to claim 18 or 19, wherein, The synchronization information of the current base station includes the current time of the current base station and the synchronization order of the current base station; the synchronization information of the other base stations includes the current time of the other base stations and the synchronization order of the other base stations.

21. The method according to claim 20, wherein, the method further includes: judging whether the current base station is a clock source base station.

22. The method according to claim 21, wherein, the judging whether the current base station is a clock source base station includes: comparing the synchronization order of the current base station with the synchronization orders of the other received base stations in sequence; if the synchronization order of the current base station is less than the synchronization orders of all the other received base stations, determining that the current base station is a clock source base station; if the synchronization order of the current base station is greater than the synchronization order of any one of the other received base stations, judging that the current base station is not a clock source base station.

23. The method according to claim 21, wherein, the method further includes: if the current base station is not a clock source base station, judging in sequence whether the synchronization orders of the other received base stations are less than the synchronization order of the current base station; if the synchronization order of the other base station is less than the synchronization order of the current base station, updating the current time of the current base station to be the same as the current time of the other base station, and updating the synchronization order of the current base station to the next order of the synchronization order of the other base station.

24. The method according to claim 15, wherein, the method further includes: receiving a communication configuration frame, where the communication configuration frame carries the length of the wireless frame communication period, the starting time of the wireless frame communication period, the number of time slots, and the length of the time slots.

25. The method according to claim 24, wherein, the broadcasting the wireless frame in the time slot corresponding to the identification information configured in the current base station and receiving the wireless frames broadcast by other base stations includes: periodically broadcasting the wireless frame in the time slot corresponding to the identification information configured in the current base station, and periodically receiving the wireless frames broadcast by other base stations.

26. The method according to claim 25, wherein, the wireless frame communication period includes a first period and a second period, and the first period includes a plurality of time slots; then the periodically broadcasting the wireless frame in the time slot corresponding to the identification information configured in the current base station and periodically receiving the wireless frames broadcast by other base stations includes: in the first period of the wireless frame communication period, periodically broadcasting the wireless frame in the time slot corresponding to the identification information configured in the current base station, and periodically receiving the wireless frames broadcast by other base stations.

27. The method according to claim 26, wherein, each of the time slots in the first period includes a sub-time slot and a safety time slot, then the periodically broadcasting the wireless frame in the time slot corresponding to the identification information configured in the current base station and periodically receiving the wireless frames broadcast by other base stations includes: in the first period of the communication period of the wireless frame, periodically broadcasting the wireless frame in the sub-time slot of the time slot corresponding to the identification information configured in the current base station, and periodically receiving the wireless frames broadcast by other base stations.

28. The method according to claim 27, wherein, The length of the secure time slot is greater than the time synchronization error of the base station.

29. The method according to claim 26, wherein, the method further includes: In the second period of the communication cycle of the wireless frame, turn off the transceiver function of the wireless frame.

30. A wireless positioning method, wherein, the method includes: Receiving multiple wireless frames broadcast by multiple base stations, and recording the timestamp information of the current device receiving the multiple wireless frames, wherein the multiple wireless frames carry the timestamp information of the base station broadcasting the wireless frame and the timestamp information of the base station receiving the wireless frame, and the multiple base stations are arranged in the wireless frame communication system according to any one of claims 1 to 14; Performing positioning calculation according to the multiple wireless frames and the timestamp information of the current device receiving the multiple wireless frames to obtain the position information of the current device.

31. The method according to claim 30, wherein, the multiple wireless frames further carry the position information of the base station.

32. The method according to claim 30, wherein, before receiving the multiple wireless frames broadcast by the multiple base stations, the method further includes: Receiving a communication configuration frame, which carries the length of the wireless frame communication cycle, the starting time of the wireless frame communication cycle, the number of time slots, and the length of the time slots; Determining the activation period of the wireless positioning module according to the communication configuration frame.

33. The method according to claim 32, wherein, the determining the activation period of the wireless positioning module according to the communication configuration frame includes: Determining the activation duration of the wireless positioning module according to the number of the time slots and the length of the time slots; Determining the activation period of the wireless positioning module according to the activation duration of the wireless positioning module, the length of the wireless frame transmission cycle, and the starting time of the wireless frame transmission cycle.

34. The method according to claim 32, wherein, the receiving the multiple wireless frames broadcast by the multiple base stations includes: Receiving the multiple wireless frames broadcast by the multiple base stations within the activation period of the wireless positioning module.

35. The method according to claim 31, wherein, the multiple base stations include at least three base stations.

36. The method according to claim 35, wherein, the receiving the multiple wireless frames broadcast by the multiple base stations and recording the timestamp information of the current device receiving the multiple wireless frames includes: Receiving the multiple wireless frames broadcast by at least three base stations, and recording the timestamp information of the current device receiving each wireless frame broadcast by each base station.

37. The method according to claim 36, wherein, the performing positioning calculation according to the multiple wireless frames and the timestamp information of the current device receiving the multiple wireless frames to obtain the position information of the current device includes: Obtaining at least two distance difference information according to the multiple wireless frames broadcast by the at least three base stations and the timestamp information of the current device receiving each wireless frame broadcast by each base station, wherein the distance difference information is the distance difference between the current device and two base stations among the at least three base stations; Based on the at least two distance difference information and the location information of the at least three base stations, the location information of the current device is obtained through the TDOA hyperbola positioning algorithm.

38. The method according to claim 37, wherein, two of the at least three base stations include a first base station and a second base station; then receiving a plurality of wireless frames broadcast by the at least three base stations and recording the timestamp information of each wireless frame received by the current device from each base station includes: Receiving a first wireless frame broadcast by the first base station, where the first wireless frame carries the location information of the first base station; Recording the first timestamp information of the current device receiving the first wireless frame; Receiving a second wireless frame broadcast by the second base station, where the second wireless frame carries the location information of the second base station, the second timestamp information of the second base station receiving the first wireless frame, and the third timestamp information of the second base station broadcasting the second wireless frame; Recording the fourth timestamp information of the current device receiving the second wireless frame.

39. The method according to claim 38, wherein, obtaining at least two distance difference information based on the plurality of wireless frames broadcast by the at least three base stations and the timestamp information of each wireless frame received by the current device from each base station includes: Obtaining the distance information between the first base station and the second base station according to the location information of the first base station and the location information of the second base station; Obtaining the distance difference between the mobile device and the first base station and the second base station according to the difference between the fourth timestamp information and the first timestamp information, the difference between the third timestamp information and the second timestamp information, and the distance information between the first base station and the second base station.

40. The method according to claim 30, wherein, the method further includes: Displaying the location information of the current device.

41. A communication device for wireless frames, disposed in the communication system for wireless frames according to any one of claims 1 to 14, wherein, the device includes: A wireless frame sending module, configured to broadcast a wireless frame in a time slot corresponding to the identification information configured by the current base station and record the timestamp information of the current base station broadcasting the wireless frame, where the identification information includes a base station identifier and a time slot identifier, the base station identifier is globally unique, the time slot identifier is locally unique in a base station group, the time slot includes a sub-time slot and a security time slot, the security time slot is a time slot in which the base station does not send a wireless frame, and the plurality of base stations broadcast wireless frames in the sub-time slot of the time slot corresponding to the time slot identifier configured by the current base station; A wireless frame receiving module, configured to receive wireless frames broadcast by other base stations and record the timestamp information of the current base station receiving wireless frames broadcast by other base stations.

42. The device according to claim 41, wherein, the wireless frame broadcast by the current base station in the time slot corresponding to the configured identification information carries the timestamp information of broadcasting the wireless frame and the timestamp information of receiving wireless frames broadcast by other base stations.

43. The device according to claim 41, It is characterized in that the wireless frame broadcast by the current base station carries the location information of the current base station.

44. The device according to claim 41, It is characterized in that the wireless frame broadcast by the current base station carries the synchronization information of the current base station, and the wireless frame received by the current base station carries the synchronization information of other base stations.

45. The device according to claim 41, It is characterized in that the wireless frame broadcast by the current base station in the time slot corresponding to the configured identification information carries the synchronization information of the current base station, and the wireless frame broadcast by other base stations received by the current base station carries the synchronization information of other base stations.

46. The device according to claim 44 or 45, It is characterized in that the synchronization information of the current base station includes the current time of the current base station and the synchronization order of the current base station; the synchronization information of other base stations includes the current time of other base stations and the synchronization order of other base stations.

47. The device according to claim 46, It is characterized in that the device further includes: a clock source determination module, configured to determine whether the current base station is a clock source base station.

48. The device according to claim 47, It is characterized in that the clock source determination module is specifically configured to compare the synchronization order of the current base station with the synchronization orders of other received base stations in sequence; if the synchronization order of the current base station is less than the synchronization orders of all other received base stations, it is determined that the current base station is a clock source base station; if the synchronization order of the current base station is greater than the synchronization order of any one of the received other base stations, it is determined that the current base station is not a clock source base station.

49. The device according to claim 47, It is characterized in that the clock source determination module is further configured to, if the current base station is not a clock source base station, sequentially determine whether the synchronization order of any received other base station is less than the synchronization order of the current base station; if the synchronization order of the other base station is less than the synchronization order of the current base station, update the current time of the current base station to be the same as the current time of the other base station, and update the synchronization order of the current base station to the next order of the synchronization order of the other base station.

50. The device according to claim 41, It is characterized in that the wireless frame receiving module is further configured to receive a communication configuration frame, and the communication configuration frame carries the length of the wireless frame communication period, the start time of the wireless frame communication period, the number of time slots, and the length of the time slots.

51. The device according to claim 50, It is characterized in that the wireless frame sending module is further configured to periodically broadcast a wireless frame in the time slot corresponding to the identification information configured by the current base station, the wireless frame receiving module is further configured to periodically receive the wireless frames broadcast by other base stations.

52. The device according to claim 51, It is characterized in that the wireless frame communication period includes a first period and a second period, and the first period includes a plurality of time slots; the wireless frame sending module is further configured to, in the first period of the wireless frame communication period, periodically broadcast a wireless frame in the time slot corresponding to the identification information configured by the current base station, the wireless frame receiving module is further configured to periodically receive the wireless frames broadcast by other base stations.

53. The device according to claim 52, characterized in that, each time slot in the first time period includes a sub-time slot and a security time slot; the wireless frame sending module is further configured to periodically broadcast a wireless frame in the sub-time slot of the time slot corresponding to the identification information configured by the current base station during the first time period of the communication cycle of the wireless frame; the wireless frame receiving module is further configured to periodically receive wireless frames broadcast by other base stations.

54. The device according to claim 53, characterized in that, the length of the security time slot is greater than the time synchronization error of the base station.

55. The device according to claim 52, characterized in that, the device further includes: a transceiver function shutdown module, configured to shut down the transceiver function of the wireless frame during the second time period of the communication cycle of the wireless frame.

56. A wireless positioning device, characterized in that, the device includes: a wireless frame receiving module, configured to receive a plurality of wireless frames broadcast by a plurality of base stations, and record the timestamp information of the current device receiving the plurality of wireless frames, wherein the plurality of wireless frames carry the timestamp information of the base station broadcasting the wireless frame and the timestamp information of the base station receiving the wireless frame, and the plurality of base stations are arranged in the wireless frame communication system according to any one of claims 1 to 14; a positioning calculation module, configured to perform positioning calculation based on the plurality of wireless frames and the timestamp information of the current device receiving the plurality of wireless frames to obtain the position information of the current device.

57. The device according to claim 56, characterized in that, the plurality of wireless frames further carry the position information of the base station.

58. The device according to claim 56, characterized in that, the wireless frame receiving module is further configured to receive a communication configuration frame, and the communication configuration frame carries the length of the wireless frame communication cycle, the start time of the wireless frame communication cycle, the number of time slots, and the length of the time slots; the positioning calculation module is further configured to determine the activation period of the wireless positioning module according to the communication configuration frame.

59. The device according to claim 58, characterized in that, the positioning calculation module is specifically configured to determine the activation duration of the wireless positioning module according to the number of the time slots and the length of the time slots; determine the activation period of the wireless positioning module according to the activation duration of the wireless positioning module, the length of the wireless frame sending cycle, and the start time of the wireless frame sending cycle.

60. The device according to claim 58, characterized in that, the wireless frame receiving module is further configured to receive a plurality of wireless frames broadcast by a plurality of base stations during the activation period of the wireless positioning module.

61. The device according to claim 57, characterized in that, the plurality of base stations include at least three base stations.

62. The device according to claim 61, characterized in that, the wireless frame receiving module is specifically configured to receive a plurality of wireless frames broadcast by at least three base stations, and record the timestamp information of the current device receiving each wireless frame broadcast by each base station.

63. The device according to claim 62, characterized in that, The positioning and calculation module is specifically configured to obtain at least two distance difference information according to multiple wireless frames broadcast by the at least three base stations and the timestamp information of each wireless frame received by the current device from each of the base stations, where the distance difference information is the distance difference between the current device and two of the at least three base stations; According to the at least two distance difference information and the position information of the at least three base stations, the position information of the current device is obtained through the TDOA hyperbola positioning algorithm.

64. The device according to claim 63, wherein, Two of the at least three base stations include a first base station and a second base station; The wireless frame receiving module is specifically configured to receive a first wireless frame broadcast by the first base station, and the first wireless frame carries the position information of the first base station; Record the first timestamp information of the current device receiving the first wireless frame; Receive a second wireless frame broadcast by the second base station, where the second wireless frame carries the position information of the second base station, the second timestamp information of the second base station receiving the first wireless frame, and the third timestamp information of the second base station broadcasting the second wireless frame; Record the fourth timestamp information of the current device receiving the second wireless frame.

65. The device according to claim 64, wherein, The positioning and calculation module is specifically configured to obtain the distance information between the first base station and the second base station according to the position information of the first base station and the position information of the second base station; According to the difference between the fourth timestamp information and the first timestamp information, the difference between the third timestamp information and the second timestamp information, and the distance information between the first base station and the second base station, the distance difference between the mobile device and the first base station and the second base station is obtained.

66. The device according to claim 56, wherein, The device further includes: A display module for displaying the position information of the current device.

67. A wireless positioning system, wherein, The system includes multiple base stations and mobile devices. Each base station and mobile device is provided with a wireless frame communication module. Each base station is further configured with identification information. The multiple base stations form at least one base station group, and the identification information of each base station in the base station group is different from each other. Among them, The multiple base stations broadcast wireless frames in the time slot corresponding to the identification information configured by the current base station and record the timestamp information of the current base station broadcasting the wireless frames; and receive wireless frames broadcast by other base stations and record the timestamp information of the current base station receiving wireless frames broadcast by other base stations; the identification information includes a base station identifier and a time slot identifier. The base station identifier is globally unique, and the time slot identifier is locally unique in the base station group. The time slot includes a sub-time slot and a security time slot. The security time slot is a time slot in which the base station does not send wireless frames. The multiple base stations broadcast wireless frames in the sub-time slot of the time slot corresponding to the time slot identifier configured by the current base station; The mobile device receives multiple wireless frames broadcast by multiple base stations and records the timestamp information of the current device receiving the multiple wireless frames, where the multiple wireless frames carry the timestamp information of the base station broadcasting the wireless frame and the timestamp information of the base station receiving the wireless frame; and performs positioning calculation based on the multiple wireless frames and the timestamp information of the current device receiving the multiple wireless frames to obtain the location information of the current device.

68. The system according to claim 67, wherein, the wireless frames broadcast by the multiple base stations carry the synchronization information of the base stations, where the synchronization information of the base stations is used for time synchronization among the multiple base stations.

69. The system according to claim 67, wherein, the multiple base stations periodically broadcast wireless frames and periodically receive wireless frames broadcast by other base stations.

70. The system according to claim 69, wherein, the communication cycle of the wireless frame includes a first period and a second period, the first period includes multiple time slots, then the multiple base stations periodically broadcast wireless frames and periodically receive wireless frames broadcast by other base stations, including: In the first period of the communication cycle of the wireless frame, the multiple base stations sequentially and periodically broadcast wireless frames in the time slots corresponding to the identification information configured by the current base station and periodically receive wireless frames broadcast by other base stations.

71. The system according to claim 70, wherein, each of the time slots in the first period includes a sub-time slot and a safety time slot, then the multiple base stations periodically broadcast wireless frames and periodically receive wireless frames broadcast by other base stations, including: In the first period of the communication cycle of the wireless frame, the multiple base stations sequentially and periodically broadcast wireless frames in the sub-time slots of the time slots corresponding to the identification information configured by the current base station and periodically receive wireless frames broadcast by other base stations.

72. The system according to claim 71, wherein, the length of the safety time slot is greater than the time synchronization error among the multiple base stations.

73. The system according to claim 70, wherein, In the second period of the communication cycle of the wireless frame, the multiple base stations turn off the wireless frame transceiver function of the wireless frame communication module.

74. The system according to claim 67, wherein, the multiple base stations include at least three base stations, and the at least three base stations form at least one base station group.

75. The system according to claim 74, wherein, the wireless frames broadcast by the multiple base stations carry the location information of the base stations.

76. The system according to claim 75, wherein, the mobile device is specifically configured to receive multiple wireless frames broadcast by at least three base stations and record the timestamp information of the current device receiving each wireless frame broadcast by each base station; Obtain at least two distance difference information according to the multiple wireless frames broadcast by the at least three base stations and the timestamp information of the current device receiving each wireless frame broadcast by each base station, where the distance difference information is the distance difference between the current device and two of the at least three base stations; Based on the at least two distance difference information and the location information of the at least three base stations, the location information of the current device is obtained through the TDOA hyperbola positioning algorithm.

77. The system according to claim 67, wherein, each of the base stations belongs to at least one base station group.

78. The system according to claim 77, wherein, when at least one of the multiple base stations belongs to multiple base station groups at the same time, the number of time slot identifiers of the multiple base stations is less than the number of base station identifiers of the multiple base stations.

79. The system according to claim 67, wherein, the distance between two adjacent base stations in the base station group is 15m to 20m.

80. The system according to claim 67, wherein, the wireless frame communication module includes a clock unit, a data sending unit, a data receiving unit, a data processing unit and a data storage unit.

81. The system according to claim 67 or 80, wherein, the wireless frame communication module is a UWB communication module.

82. The system according to claim 67, wherein, the division method of the base station group includes: the multiple base stations broadcast wireless frames in sequence, and return an acknowledgment frame to the sender of the wireless frame after receiving the wireless frames broadcast by other base stations; the sender of the wireless frame receives the acknowledgment frame and determines the division method of the base station group according to the sender of the acknowledgment frame.

83. A storage medium, on which a computer program is stored, wherein, when the computer program is executed by a processor, the steps of the method according to any one of claims 15 to 40 are implemented.

84. A computer device, including a memory, a processor and a computer program stored on the memory and executable on the processor, wherein, when the computer program is executed by the processor, the steps of the method according to any one of claims 15 to 40 are implemented.

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