Wireless communication method and apparatus, base station, and tag device

Abstract

Embodiments of this application disclose a wireless communication method and apparatus, a base station, and a tag device. The method includes: The base station X obtains a first time frame for UWB wireless communication between communication devices in a positioning service system. Among them, the communication devices in the positioning service system include at least three base stations and tag devices, and the first time frame includes a time slot for providing base station synchronization operations and at least one time slot for providing positioning services to tag devices through a preset positioning algorithm. The base station X interacts with communication devices in the positioning service system within the current time slot of the first time frame to implement UWB wireless communication. It can be seen that by dividing the first time frame into different time slots and having communication devices interact UWB signals within the corresponding time slots, UWB signals are prevented from conflicting and interfering with each other in the UWB channel, and base station synchronization operations and positioning services are provided to communication devices through time slot allocation.

Description

Technical Field

[0001] The present application relates to the field of wireless communication technologies, and particularly to wireless communication methods and devices, base stations, and tag devices. Background Art

[0002] Ultra Wide Band (UWB) technology is a wireless carrier communication technology, which is characterized by transmitting UWB signals encoded by pulse modulation within a short distance with relatively low power and a relatively wide frequency band range.

[0003] In an indoor positioning scenario based on UWB technology, whether it is the synchronization operation between base stations or the base stations providing positioning services for tag devices, UWB signals need to be frequently exchanged in the UWB channel. However, how to avoid the mutual conflict and interference of UWB signals in the UWB channel between base stations and tag devices has become an urgent problem to be solved. Summary of the Invention

[0004] Embodiments of the present application provide wireless communication methods and devices, base stations, and tag devices, in order to avoid the mutual conflict and interference of UWB signals in the UWB channel, and to achieve providing base station synchronization operations and positioning services for communication devices through time slot allocation.

[0005] In a first aspect, an embodiment of the present application provides a wireless communication method, including:

[0006] Base station X obtains a first time frame for ultra-wideband (UWB) wireless communication between communication devices in a positioning service system; wherein, the communication devices in the positioning service system include at least three base stations and a tag device, and the first time frame includes a time slot for providing base station synchronization operations and at least one time slot for providing positioning services for the tag device through a preset positioning algorithm;

[0007] The base station X exchanges UWB signals with the communication devices in the positioning service system within the current time slot of the first time frame to implement UWB wireless communication.

[0008] In a second aspect, an embodiment of the present application provides a wireless communication method, including:

[0009] The tag device obtains a first time frame for ultra-wideband (UWB) wireless communication between communication devices in a positioning service system; wherein, the communication devices in the positioning service system include the tag device and at least three base stations, and the first time frame includes a time slot for providing base station synchronization operations and at least one time slot for providing positioning services for the tag device through a preset positioning algorithm;

[0010] The label device interacts with a communication device in the positioning service system via UWB signals within the current time slot of the first time frame to achieve UWB wireless communication.

[0011] In a third aspect, an embodiment of the present application provides a wireless communication device applied to base station X. The device includes a processing unit and a communication unit. The processing unit is configured to:

[0012] Obtain, via the communication unit, a first time frame for ultra-wideband (UWB) wireless communication between communication devices in a positioning service system. Among them, the communication devices in the positioning service system include at least three base stations and a label device. The first time frame includes a time slot for providing base station synchronization operations and at least one time slot for providing positioning services to the label device through a preset positioning algorithm;

[0013] Interact with a communication device in the positioning service system via UWB signals within the current time slot of the first time frame to achieve UWB wireless communication.

[0014] In a fourth aspect, an embodiment of the present application provides a wireless communication device applied to a label device. The device includes a processing unit and a communication unit. The processing unit is configured to:

[0015] Obtain, via the communication unit, a first time frame for ultra-wideband (UWB) wireless communication between communication devices in a positioning service system. Among them, the communication devices in the positioning service system include the label device and at least three base stations. The first time frame includes a time slot for providing base station synchronization operations and at least one time slot for providing positioning services to the label device through a preset positioning algorithm;

[0016] Interact with a communication device in the positioning service system via UWB signals within the current time slot of the first time frame to achieve UWB wireless communication.

[0017] In a fifth aspect, an embodiment of the present application provides a base station, which is base station X and includes a processor, a memory, and a communication interface. The memory stores one or more programs, and the one or more programs are executed by the processor. The one or more programs are used to execute the instructions of the steps in the first aspect of the embodiments of the present application.

[0018] In a sixth aspect, an embodiment of the present application provides a label device, which includes a processor, a memory, and a communication interface. The memory stores one or more programs, and the one or more programs are executed by the processor. The one or more programs are used to execute the instructions of the steps in the second aspect of the embodiments of the present application.

[0019] In a seventh aspect, an embodiment of the present application provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program for electronic data exchange, and the computer program is operable to cause a computer to execute some or all of the steps described in the first and second aspects of the embodiments of the present application.

[0020] In an eighth aspect, an embodiment of the present application provides a computer program product, where the computer program product includes a computer program, and the computer program is operable to cause a computer to execute some or all of the steps described in the first and second aspects of the embodiments of the present application. The computer program product may be a software installation package.

[0021] It can be seen that in the embodiment of the present application, base station X interacts with at least three base stations and tag devices in the positioning service system in the current time slot of the first time frame to implement UWB wireless communication. Since base stations need to interact UWB signals with each other to perform base station synchronization operations and provide positioning services to tag devices through a preset positioning algorithm, different time slots, that is, different UWB channels, are divided from the first time frame according to the differences in base station synchronization operations and positioning services among communication devices in the positioning service system. And UWB signals are interacted between base stations, between a base station and a tag device, and between tag devices in the corresponding time slots, which is beneficial to avoiding mutual conflict and interference of UWB signals in the UWB channels, and implementing base station synchronization operations and positioning services for communication devices in the positioning service system through time slot allocation. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] To more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings described below are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0023] Figure 1A is a schematic diagram of an application scenario for positioning based on UWB technology provided by an embodiment of the present application;

[0024] Figure 1B is a schematic diagram of signal interaction of a SS-TWR positioning method provided by an embodiment of the present application;

[0025] Figure 1C is a schematic diagram of signal interaction of a DS TWR positioning method provided by an embodiment of the present application;

[0026] Figure 1D is a schematic diagram of signal interaction of a TDOA positioning method provided by an embodiment of the present application;

[0027] Figure 1E It is a schematic diagram of an AOA / PDOA positioning method provided by an embodiment of the present application;

[0028] Figure 1F It is a schematic diagram of the structure of a superframe provided by an embodiment of the present application;

[0029] Figure 1G It is another schematic diagram of the structure of a superframe provided by an embodiment of the present application;

[0030] Figure 1H It is a schematic diagram of the architecture of a positioning service system provided by an embodiment of the present application;

[0031] Figure 1I It is a schematic diagram of the structure of a base station provided by an embodiment of the present application;

[0032] Figure 1J It is a schematic diagram of the structure of a tag device provided by an embodiment of the present application;

[0033] Figure 2A It is a schematic diagram of the process of a wireless communication method provided by an embodiment of the present application;

[0034] Figure 2B It is a schematic diagram of the structure of a first time frame provided by an embodiment of the present application;

[0035] Figure 2C It is a schematic diagram of the structure of a UWB signal provided by an embodiment of the present application;

[0036] Figure 2D It is a schematic diagram of signal interaction in the first time slot of a first time frame provided by an embodiment of the present application;

[0037] Figure 2E It is another schematic diagram of signal interaction in the first time slot of a first time frame provided by an embodiment of the present application;

[0038] Figure 2F It is a schematic diagram of determining the position information of a base station through a hyperbola provided by an embodiment of the present application;

[0039] Figure 2G It is another schematic diagram of the architecture of a positioning service system provided by an embodiment of the present application;

[0040] Figure 2H It is another schematic diagram of signal interaction in the second time slot of a first time frame provided by an embodiment of the present application;

[0041] Figure 2I It is a schematic diagram of signal interaction in the third time slot of a first time frame provided by an embodiment of the present application;

[0042] Figure 3 It is a schematic flowchart of another wireless communication method provided by an embodiment of the present application;

[0043] Figure 4 It is a block diagram of the functional units of a wireless communication device provided by an embodiment of the present application;

[0044] Figure 5 It is a block diagram of the functional units of another wireless communication device provided by an embodiment of the present application;

[0045] Figure 6 It is a schematic structural diagram of another base station provided by an embodiment of the present application;

[0046] Figure 7 It is a schematic structural diagram of another tag device provided by an embodiment of the present application. Detailed implementation manners

[0047] The embodiments of the present application will be introduced in detail below with reference to the accompanying drawings.

[0048] To better understand the solutions of the embodiments of the present application, the related terms and concepts that may be involved in the embodiments of the present application will be introduced below.

[0049] 1. Ultra Wide Band (UWB)

[0050] UWB technology is a wireless carrier communication technology. Its characteristic is to transmit UWB signals encoded by pulse modulation with relatively low power and a relatively wide frequency band range within a short distance. According to the standard of the Federal Communications Commission of the United States, the working frequency band of UWB occupies a bandwidth of more than 500 MHz within the spectrum range of 3.1 to 10.6 GHz, and uses non-sinusoidal narrow pulses in the nanosecond to microsecond level to transmit data. Traditional UWB technology positioning is used in industrial places such as mines and warehouses. Its main application scenario is to monitor the real-time positions of employees and goods indoors. Among them, the base stations have been calibrated in indoor places and are interconnected through wired or Wi-Fi methods for synchronization. In the example application scenario as shown in Figure 1A , A represents a base station supporting UWB technology, the central location engine personal computer (CLE PC) can uniformly manage the base stations, Ehternet LAN-TCP / IP represents the Transmission Control Protocol / Internet Protocol supporting Ethernet local area network between the base stations, and the position monitoring of users wearing tag devices is realized by setting at least one base station in each area.

[0051] 2. UWB Technology-based Tag Localization Method

[0052] The UWB technology-based tag localization method can include the Time of Flight (TOF), Time Difference of Arrival (TDOA), Angle of Arrival (AOA) / Phase Difference of Arrival (PDOA).

[0053] (1) TOF Localization Method

[0054] TOF is a two-way ranging technology that calculates the distance by measuring the round-trip flight time of the UWB signal between the base station and the tag. According to the different transmission methods of the UWB signal, the TOF localization method can be divided into one-way ranging and two-way ranging. Among them, the UWB signal in one-way ranging only propagates unidirectionally. To obtain the flight time between the base station and the tag, the base station and the tag devices need to maintain precise clock synchronization, resulting in higher system implementation complexity and cost. Two-way ranging has no strict requirement for clock synchronization between the base station and the tag, with lower system implementation complexity and cost. Two-way ranging can include Single-Sided Two-Way Ranging (SS-TWR) and Double-Sided Two-Way Ranging (DS-TWR).

[0055] In the SS-TWR localization method, SS-TWR is a simple measurement of the time of a single outgoing signal. Device A actively sends a signal to Device B, and Device B returns a signal in response to Device A. As Figure 1B shown, Device A actively sends (TX) signal A and records the transmission timestamp; after Device B receives (RX) signal A, it records the reception timestamp, and RMARKER represents the time node when the signal completes transmission (reception or transmission); after a delay of T reply Device B sends signal B and records the transmission timestamp; after Device A receives signal B, it records the reception timestamp. Since T round represents the time difference between Device A receiving signal B and sending signal A, and T reply represents the delay time between Device B receiving signal A and sending signal B, the flight time T of the wireless signal between Device A and Device B can be calculated through the following formula prop :

[0056]

[0057] Tround and T reply are both calculated based on the local synchronized clock, and the error of the local synchronized clock can be cancelled out. However, there will be a slight clock offset between different devices. Assume the clock offsets of devices A and B are e A and e B , respectively. Therefore, T prop will increase as T reply increases. The equation for the ranging error is as follows:

[0058]

[0059] In the DS-TWR positioning method, DS-TWR is an extended ranging method for one-way two-way ranging, which records the timestamps of two round-trip signals. Among them, DS TWR is based on 3 signal transmissions between the initiating node and the responding node to obtain two round-trip delays, and measures the distance at the responding end. As Figure 1C shown, during the signal interaction process between device A and the device, the following four time differences can be obtained: the time difference T round1 between device A sending signal A and receiving signal B, the delay time T reply1 between device B receiving signal A and sending signal B, the delay time T reply2 between device A receiving signal B and sending signal C, and the time difference T round2 between device B sending signal B and receiving signal C. Finally, the flight time of the wireless signal between device A and device B is calculated through the following formula:

[0060]

[0061] In addition, the error formula in the DS-TWR positioning method is as follows:

[0062]

[0063] where k a and k b are the ratios of the actual frequency to the nominal frequency of the crystal oscillator. Therefore, k a and k b are very close to 1.

[0064] (2) TDOA positioning method

[0065] TDOA is an improvement over TOA. Instead of directly using the arrival time of the UWB signal, it calculates the position of the tag by detecting the time difference of arrival of the UWB signal between multiple base stations with strictly clock synchronization, without the need for the tag and the base stations to maintain clock synchronization. Clock synchronization can be divided into wired clock synchronization and wireless clock synchronization. Among them, wired clock synchronization distributes clocks through a dedicated wired clock synchronizer, but the deployment and maintenance costs of the clock network are relatively high; wireless time synchronization does not require special synchronization equipment, and its accuracy is lower than that of wired clock synchronization, but the deployment, maintenance, and cost of the system are relatively low. As Figure 1D shown, when base station A, base station B, base station C, and base station D are fully clock synchronized, the tag device broadcasts a UWB signal to base station A, base station B, base station C, and base station D. The flight time of this UWB signal to base station A is t1, the flight time of this UWB signal to base station B is t2, the flight time of this UWB signal to base station C is t3, and the flight time of this UWB signal to base station D is t4. Then, the distance differences between the base stations are calculated through the following formula:

[0066]

[0067] where d 12 represents the distance difference between the distance from the tag device to base station A and the distance from the tag device to base station B; d 23 represents the distance difference between the distance from the tag device to base station B and base station C; d 34 d34 represents the distance difference between the distance from the tag device to base station C and base station D; d 14 represents the distance difference between the distance from the tag device to base station A and base station D.

[0068] Finally, by calculating the following hyperbola equations, the coordinates (x, y, z) of the tag device are obtained:

[0069]

[0070] (3) AOA / PDOA positioning method

[0071] AOA / PDOA determines the angle and distance of an object from itself based on the phase difference of the same signal received by multiple antennas at different positions. As Figure 1E shown, based on the phase difference of the same signal sent by the identified object received by antenna A and antenna B and the distance d between antenna A and antenna B, antenna A obtains the angle α and distance r between itself and the identified object; antenna B obtains the angle β and distance r - p between itself and the identified object.

[0072] 3. Superframe

[0073] There are multiple tags in the indoor scenario, and a superframe needs to be set on the entire timeline for periodic repetition. Among them, each tag needs to be assigned a time slot (slot) to interact signals within its respective time slot. As Figure 1F shown in the schematic diagram of the superframe structure, where in superframe k, a time slot is assigned to N tags, and tag i can interact signals with the surrounding base stations X, Y, and X within the time slot of tag i.

[0074] If the clock synchronization between base stations is also achieved through the ultra-wideband UWB technology, a beacon frame (Beacon, BCN) time slot needs to be added before the time slot when the tag interacts with the base station, and the tags interact signals within the beacon time slot to determine their respective orders. As Figure 1G shown, Superframe(n) represents superframe n, Idle Time is the idle time, BCN is the time slot carrying the beacon frame, SVC represents the reserved time slot, TWR Slot represents the time slot carrying the two-way ranging signal, wake up is the wake-up time slot, and RX represents the receiving state.

[0075] Next, a specific introduction to the positioning service system that the embodiments of the present application may involve will be given. Please refer to Figure 1H , Figure 1H which is a positioning service system 100 provided by the embodiments of the present application. The communication devices in the positioning service system 100 may include at least three base stations 110 and tag devices 120, and the tag devices 120 may include electronic devices 130 and at least one Internet of Things tag device 140. Among them, at least three base stations 110 can interact UWB signals with each other, at least three base stations 110 and tag devices 120 can interact UWB signals, electronic devices 130 and at least one Internet of Things tag device 140 can interact UWB signals, and at least one Internet of Things tag device 140 can also interact UWB signals. At the same time, at least three base stations 110 can provide positioning services for tag devices 120, and electronic devices 130 can find their own Internet of Things tag devices from at least one Internet of Things tag device 140, etc. In addition, at least three base stations 110 may include base stations 111, 112, 113, and 114, and each of the at least three base stations 110 interacts UWB signals to achieve clock synchronization; at least one Internet of Things tag device 140 may include Internet of Things tag devices 141 and 142, etc. It should be noted that Figure 1H this is only an example of the positioning service system in the embodiments of the present application, and the positioning service system may also include other base stations, tag devices, electronic devices, and Internet of Things tag devices, and no specific restrictions are imposed thereon.

[0076] Specifically, the base station 110 in the embodiments of the present application may be a server device supporting UWB technology, such as a UWB base station, a UWB anchor device, etc.; the tag device 120 may be a client device or an Internet of Things device supporting UWB technology, etc.; among them, the electronic device 130 may be a client device supporting UWB technology, such as a user equipment (UE), a terminal device, a mobile terminal (MT), an intelligent terminal (IT), a personal digital assistant (PDA), or a personal computer (PC), etc.; the Internet of Things tag device 140 may be an Internet of Things device supporting UWB technology, such as a key, a wallet, a camera, a household device, an office device, etc.

[0077] The following is a specific description of the base station 110 in the embodiments of the present application. Please refer to Figure 1I . Figure 1I FIG. is a structural example diagram of a base station 110 provided by an embodiment of the present application. The base station 110 may include a processing unit 1101, a communication unit 1102, a power management unit 1103, and a general interface unit 1104.

[0078] Specifically, the processing unit 1101 may include a processor and a memory. The processor may include one or more processing cores. The processor is connected to various parts within the entire base station 110 through various interfaces and lines. By running or executing instructions, programs, code sets, or instruction sets stored in the memory, and by calling data stored in the memory, it performs various functions of the base station 110 and processes data. The processor may include a central processing unit (CPU), a modem processor, a graphics processing unit (GPU), an image signal processor (ISP), a video codec, a digital signal processor (DSP), a baseband processor, and / or a neural-network processing unit (NPU), etc. The memory may include a random access memory (RAM), a read-only memory, and a non-transitory computer-readable storage medium. The memory can be used to store instructions, programs, code, code sets, or instruction sets. The memory may include a program storage area and a data storage area. Among them, the program storage area may store instructions for implementing the operating system and instructions for implementing at least one function (such as a touch function, a sound playback function, an image playback function, etc.). The data storage area may store data created during the use of the base station 110 (such as calibrated position data), etc.

[0079] Specifically, the communication unit 1102 can implement functions such as Ultra-Wideband (UWB) communication, 2G mobile communication technology network, 3G mobile communication technology network, 4G mobile communication technology network, and 5G mobile communication technology network to receive and send wireless mobile network data, and can provide channel spectrum resources of 2.4 GHz and 5 GHz to receive and send network data. That is to say, the communication unit 1102 may specifically include a UWB module and may also include one or more of Bluetooth, Wi-Fi, Zigbee, 2G / 3G / 4G / 5G communication modules; the power management unit 1103 may include, for example, but not limited to, a battery, a DC-DC module, a filter circuit, and an undervoltage detection circuit, etc.; the general interface unit 1104 can be used to access various sensors, including but not limited to indicator lights, vibration sensors, and other sensors. It should be noted that the above structural schematic diagram of the base station 110 is only an example, and the specific components included may be more or less, and there is no unique limitation here.

[0080] The following specifically describes the tag device 120 in the embodiments of the present application. Please refer to Figure 1J . Figure 1J It is a schematic structural diagram of a tag device provided in the embodiments of the present application. The tag device 120 may include a processor 1201, a communication module 1202, a positioning module 1203, a storage module 1204, and a power management module 1205. The processor 1201 is connected to and controls the communication module 1202, the positioning module 1203, the storage module 1204, and the power management module 1205 in the form of a corresponding bus. Among them, the processor 1201 is the control center of the tag device 120 and is connected to various parts of the tag device 120 through various interfaces and lines.

[0081] Specifically, the processor 1201 runs or executes the software programs and / or modules in the storage module 1204, calls the stored data in the memory, to execute various functions of the tag device 120 and process data, and monitors the overall operation of the tag device 120. Optionally, the processor 1201 may include a CPU, ISP, GPU, DSP, ASIC, NPU, and / or FPGA, etc.

[0082] Specifically, the communication unit 1102 can implement functions such as UWB communication, the second-generation 2G mobile communication technology network, the third-generation 3G mobile communication technology network, the fourth-generation 4G mobile communication technology network, and the fifth-generation 5G mobile communication technology network to receive and send wireless mobile network data, and can provide channel spectrum resources of 2.4 GHz and 5 GHz to receive and send network data.

[0083] Specifically, the positioning module 1203 can be used to perform UWB positioning.

[0084] Specifically, the storage module 1204 can be used to store software programs and / or modules, and may include a storage program area and a storage data area. Among them, the storage program area can be used to store an operating system or software programs required for at least one function, and the software programs required for the at least one function can be used to perform the UWB positioning function and the like in the embodiments of the present application.

[0085] Specifically, the power management module 1205 may include a power management chip and can provide management functions such as power conversion, distribution, and detection for the tag device 120.

[0086] The following will introduce the steps for the base station 110 in the positioning service system 100 to perform UWB wireless communication from the perspective of method examples. Please refer to Figure 2A . Figure 2A It is a schematic flowchart of a wireless communication method provided in the embodiments of the present application. The method includes:

[0087] S210. The base station X obtains a first time frame for ultra-wideband (UWB) wireless communication between communication devices in the positioning service system.

[0088] Among them, the communication devices in the positioning service system may include at least three base station tag devices; the first time frame may include a time slot for providing base station synchronization operations and at least one time slot for providing positioning services to the tag devices through a preset positioning algorithm.

[0089] It should be noted that the positioning service system in this example may be the positioning service system 100 mentioned above, the at least three base stations may be the at least three base stations 110 mentioned above, and the tag device may be the tag device 120 mentioned above. In addition, the base station X may obtain the first time frame from the configuration information sent by a central location engine (CLE) device (also known as a positioning server, such as a position calculation device), or from the configuration information sent by the master base station or the reference base station in the positioning service system.

[0090] Specifically, the base station X may be a base station to be connected to the positioning service system, or a base station in the positioning service system, that is, one of the at least three base stations.

[0091] Specifically, the first time frame may represent a time interval periodically divided at the application layer, and multiple time slots may be divided on the first time frame, and each time slot may be a UWB channel for communication devices in the positioning service system to interact UWB signals. At the same time, the time interval periodically divided at the application layer and the time interval (such as a superframe) periodically divided at the media access control layer (MAC) satisfy a certain mapping relationship.

[0092] Specifically, the base station synchronization operations may include at least one of the following: position positioning operations between every two of the at least three base stations, position update operations between every two of the at least three base stations, access operations for the base station X to access the positioning service system, or removal operations for removing the base station X from the positioning service system. It can be understood that within the first time frame, the base stations in the positioning service system may perform position positioning or position update operations with each other, as well as operations such as new base stations accessing the positioning service system or removing base stations from the positioning service system.

[0093] Specifically, the preset positioning algorithms may include the SS-TWR algorithm, the DS-TWR algorithm, the TDOA algorithm, the AOA / PDOA algorithm, and may further include the TDOA improved algorithm combining the second time slot and the TDOA algorithm, and the DS-TWR improved algorithm combining the third time slot and the DS-TWR algorithm mentioned later in the embodiments of the present application.

[0094] In a possible example, a time slot for providing base station synchronization operation is the first time slot, and at least one time slot for providing positioning services to tag devices through preset positioning algorithms includes the second time slot, the third time slot, and the fourth time slot. The preset positioning algorithms include the first positioning algorithm, the second positioning algorithm, and the third positioning algorithm. The tag devices may include electronic devices and at least one Internet of Things tag device.

[0095] Among them, the second time slot may be used to provide positioning services to the electronic device through the first positioning algorithm, the third time slot may be used to provide positioning services to at least one Internet of Things tag device through the second positioning algorithm, and the fourth time slot may be used to locate the target Internet of Things tag device for the electronic device from at least one Internet of Things tag device through the third positioning algorithm.

[0096] It should be noted that in the embodiments of the present application, the first time frame may include the first time slot, the second time slot, the third time slot, and the fourth time slot. Since the fourth time slot is mainly used to locate the target Internet of Things tag device for the electronic device from at least one Internet of Things tag device through the third positioning algorithm, when the base station X interacts with the communication device in the positioning service system to implement UWB wireless communication within the current time slot of the first time frame, the current time slot at this time can only be one of the first time slot, the second time slot, or the third time slot.

[0097] Illustrate with an example. Please refer to Figure 2B , Figure 2B is a schematic structural diagram of a first time frame provided by the embodiments of the present application. Among them, the first time frame is a periodic time interval, and in each first time frame, it is divided into the first time slot, the second time slot, the third time slot, and the fourth time slot, and the first time slot can be further divided into multiple sub-time slots. Specifically, the first positioning algorithm may be one of the SS-TWR algorithm, the DS-TWR algorithm, the TDOA algorithm, and the TDOA improved algorithm; the second positioning algorithm may be one of the SS-TWR algorithm, the DS-TWR algorithm, the TDOA algorithm, and the DS-TWR improved algorithm; the third positioning algorithm may be the AOA / PDOA algorithm.

[0098] Furthermore, the embodiments of the present application also consider providing different positioning authorities and positioning accuracies for the positioning service level of the electronic device 130 in the second time slot of the first time frame. That is to say, the corresponding first positioning algorithm is selected according to the positioning service level of the electronic device 130. Similarly, in the third time slot of the first time frame, different positioning authorities and positioning accuracies are provided for the positioning service level of at least one Internet of Things tag device 140. For example, please refer to Table 1. The positioning service levels of the electronic device 130 include three levels: low, medium, and high, and the positioning service level can be judged according to whether the user pays to become a VIP, etc. At the same time, the number of positioning services that the positioning service system 100 can provide for the electronic device 130 is limited, that is, the device accommodation number is limited. In addition, the positioning service system 100 can select from the SS-TWR algorithm, the improved TDOA algorithm, and the DS-TWR algorithm according to the positioning service level of the electronic device 130 to provide different positioning authorities and positioning accuracies.

[0099] Table 1

[0100]

[0101] S220. The base station X interacts with the communication device in the positioning service system through UWB signals in the current time slot of the first time frame to achieve UWB wireless communication.

[0102] Specifically, the current time slot can be the first time slot, the second time slot, or the third time slot.

[0103] Specifically, the UWB signal can include a media access control protocol data unit (MPDU), or can also include a beacon frame or a data frame. Among them, the frame control field in the MAC frame header of the UWB signal (for example, the frame control field in the MAC frame header of the beacon frame or the frame control field in the MAC frame header of the data frame) carries valid information of the base station or the tag device, such as the identifier of the base station itself, the sub-time slot number occupied by the base station for sending the UWB signal, the location information of the base station, the start timestamp of the base station for sending the UWB signal, the identifier of the tag device itself, the location information of the tag device, or the start timestamp of the tag device for sending the UWB signal, etc.

[0104] For example, please refer to Figure 2C , Figure 2CIt is a schematic structural diagram of a UWB signal provided by an embodiment of the present application. Among them, the UWB signal may include a Media Access Control layer header (MAC Header, MHR), a Media Access Control layer service data unit (MAC Service Data Unit, MSDU), and a Media Access Control layer footer (MAC Footer, MFR), and the MHR may include a frame control field, a sequence code field, and an addressing information field.

[0105] Next, embodiments of the present application will respectively introduce the specific steps for Base Station X to interact with a communication device in the positioning service system to implement UWB wireless communication within the current time slot when the current time slot is the first time slot, the second time slot, or the third time slot.

[0106] In a possible example, if the current time slot is the first time slot, the first time slot includes at least three sub - time slots, and Base Station X is a base station to be connected to the positioning service system, then for Base Station X to interact with a communication device in the positioning service system within the current time slot of the first time frame to implement UWB wireless communication, it may include the following operations: Base Station X listens to the UWB signals broadcast by each of at least three base stations within at least three sub - time slots; Base Station X determines the sub - time slot number occupied by its own broadcast UWB signal according to the sub - time slot occupancy of the UWB signals broadcast by each of at least three base stations; Base Station X determines its own position information in the positioning service system according to the time difference between the UWB signals broadcast by each of at least three base stations it listens to and the time interval between sub - time slots among at least three sub - time slots; Base Station X broadcasts UWB signal X to the communication device in the positioning service system according to the sub - time slot number occupied by its own broadcast UWB signal and its own position information in the positioning service system to access the positioning service system.

[0107] It should be noted that in this example, first, since Base Station X is a new base station that needs to access the positioning service system, before Base Station X accesses the positioning service system, it is necessary to configure the sub - time slot occupancy of Base Station X within the first time slot of the first time frame, and it is necessary to determine the position information of Base Station X, so as to ensure that the communication device in the positioning service system knows the time slot occupancy of Base Station X in the first time frame and the position information of Base Station X in the positioning service system after Base Station X accesses the positioning service system.

[0108] Secondly, the first time slot may include at least three sub - time slots, and one of at least three base stations in the positioning service system may broadcast a UWB signal within one of at least three sub - time slots. Since the numbers of sub - time slots occupied by each base station are different, interference between UWB signals is avoided. For example, please refer to Figure 2D, first, there are n sub-slots configured in the first time slot of the first time frame, and each of the n sub-slots is numbered in sequence, namely sub-slot 1, sub-slot 2, sub-slot 3, sub-slot 4, ……, sub-slot n; second, the communication devices in the positioning service system include base station 1, base station 2, and base station 3, and base station X is a base station to be connected to the positioning service system; then, base station 1 broadcasts (Tx) UWB signals in sub-slot 1, base station 2 broadcasts UWB signals in sub-slot 3, and base station 3 broadcasts UWB signals in sub-slot 4; finally, base station X listens (Rx) to the UWB signals broadcast by base station 1 in sub-slot 1, base station X listens to the UWB signals broadcast by base station 2 in sub-slot 3, and base station X listens to the UWB signals broadcast by base station 3 in sub-slot 4.

[0109] Then, the purpose of base station X's listening is to obtain as accurately as possible the occupancy of sub-slots in at least three sub-slots by each base station in the positioning service system in the first time slot. Among them, base station X can determine that a base station occupies a sub-slot by listening to the UWB signal of the base station in a certain sub-slot. For example, in Figure 2D , if base station X listens to the UWB signal broadcast by base station 1 in sub-slot 1, then base station X knows that base station 1 occupies sub-slot 1; or, base station X can determine the occupancy of the sub-slot of the base station by listening to the valid information of the base station carried in the frame control field of the MAC frame header of the UWB signal. For example, in Figure 2D , base station X listens to the UWB signal broadcast by base station 1, and the frame control field of the MAC frame header of this UWB signal carries the information that base station 1 occupies sub-slot 1.

[0110] Finally, for the UWB signal X broadcast by base station X to the communication devices in the positioning service system, when a communication device in the positioning service system listens to the UWB signal X in a certain sub-slot, the communication device in the positioning service system can know that base station X has occupied this sub-slot, and the communication device in the positioning service system can determine the position information of base station X in the positioning service system through the flight time of the UWB signal X; or, when the MAC frame header of the UWB signal X carries the sub-slot number occupied by base station X when sending the UWB signal and the position information of base station X in the positioning service system, the communication device in the positioning service system successfully listens to the UWB signal X, so that base station X successfully accesses the positioning service system.

[0111] Specifically, the base station X determines the sub - slot number occupied by its own broadcast UWB signal according to the sub - slot occupancy of the UWB signals broadcast by each of at least three base stations in at least three sub - slots, which may include the following operations: The base station X selects a sub - slot from the unoccupied sub - slots among at least three sub - slots according to the sub - slot occupancy of the UWB signals broadcast by each of at least three base stations in at least three sub - slots according to a preset rule; wherein, the preset rule may include sequentially selecting unoccupied sub - slots starting from the starting number in the order of numbers or randomly selecting sub - slots from the unoccupied sub - slots.

[0112] It should be noted that since the base station X can select a sub - slot from the unoccupied sub - slots, it can avoid conflicts and interference between the UWB signal broadcast by the base station X and the UWB signals broadcast by other base stations.

[0113] For example, in Figure 2D , the positioning service system includes base station 1, base station 2, and base station 3, and the base station X is a base station to be connected to the positioning service system. Since base station 1 occupies sub - slot 1, base station 2 occupies sub - slot 3, and base station 3 occupies sub - slot 4, the base station X can select a sub - slot from sub - slot 2 and sub - slots 5 to sub - slot n. When sequentially selecting unoccupied sub - slots starting from the starting number in the order of numbers, the base station X can select sub - slot 2; when randomly selecting a sub - slot from the unoccupied sub - slots, the base station X can randomly select a sub - slot from sub - slot 2 or sub - slots 5 to sub - slot n.

[0114] Specifically, if at least three base stations include base station Y, base station Z, and base station H, and at least three sub - time - slots include a first sub - time - slot, a second sub - time - slot, and a third sub - time - slot, where the second sub - time - slot is a sub - time - slot after the first sub - time - slot, and the third sub - time - slot is a sub - time - slot after the second sub - time - slot, then base station X determines its position information in the positioning service system based on the time differences of the UWB signals broadcast by each of the at least three base stations it detects and the time intervals between the sub - time - slots in the at least three sub - time - slots. This can include the following operations: Base station X detects the UWB signal Y broadcast by base station Y at the start time of the first sub - time - slot at the time - stamp X of the first sub - time - slot; Base station X detects the UWB signal Z broadcast by base station Z at the start time of the second sub - time - slot at the time - stamp Y of the second sub - time - slot, and calculates the time interval from the start time of the first sub - time - slot to the start time of the second sub - time - slot to obtain a first time interval; Base station X detects the UWB signal H broadcast by base station H at the start time of the third sub - time - slot at the time - stamp Z of the third sub - time - slot, and calculates the time interval from the start time of the second sub - time - slot to the start time of the third sub - time - slot to obtain a second time interval; Base station X calculates the time difference between detecting the UWB signal Y and detecting the UWB signal Z based on the time - stamp X and the time - stamp Y to obtain a first time difference; Base station X calculates the time difference between detecting the UWB signal Y and detecting the UWB signal H based on the time - stamp X and the time - stamp Z to obtain a second time difference; Base station X determines its position information in the positioning service system based on the first time difference, the second time difference, the first time interval, and the second time interval.

[0115] It should be noted that since base station X detects the UWB signals broadcast by each base station in the positioning service system and the time intervals between the sub - time - slots within the first time - slot during the first time - slot of the first time - frame, the position of base station X is located within the first time - slot of the first time - frame.

[0116] For example, please refer to Figure 2E and Figure 2F, first, n sub - time - slots are configured in the first time - slot of the first time - frame, and each of the n sub - time - slots is numbered in sequence, that is, sub - time - slot 1, sub - time - slot 2, sub - time - slot 3, …, sub - time - slot n. At the same time, the time - length of each of the n sub - time - slots is T. Secondly, the communication devices in the positioning service system include base - station Y, base - station Z, and base - station H, and base - station X is a base - station to be connected to the positioning service system. Thirdly, base - station Y broadcasts UWB signal Y at the start - time t0 of sub - time - slot 1, base - station Z broadcasts UWB signal Z at the start - time (t0 + 2T) of sub - time - slot 3, and base - station H broadcasts UWB signal H at the start - time (t0+3T) of sub - time - slot 4. Then, base - station X hears UWB signal Y at the time - stamp X of sub - time - slot 1, base - station X hears UWB signal Z at the time - stamp Y of sub - time - slot 3, and base - station X hears UWB signal H at the time - stamp Z of sub - time - slot 4. Next, the time when base - station X hears UWB signal Y is equal to the time when base - station Y broadcasts UWB signal Y plus the distance (d1) from base - station X to base - station Y divided by the speed of light (c), that is, time - stamp X=t0 + d1 / c; similarly, the time when base - station X hears UWB signal Z is equal to the time when base - station Z broadcasts UWB signal Z plus the distance (d2) from base - station X to base - station Z divided by the speed of light (c), that is, time - stamp Y=t0 + 2T + d2 / c; and the time when base - station X hears UWB signal H is equal to the time when base - station H broadcasts UWB signal H plus the distance (d3) from base - station X to base - station H divided by the speed of light (c), that is, time - stamp Z=t0 + 3T + d3 / c. Finally, the distance difference between the distance from base - station X to base - station Y and the distance from base - station X to base - station Z is equal to the time - difference between the time when base - station X hears UWB signal Y and hears UWB signal Z multiplied by the speed of light minus the time - difference between the broadcast time of UWB signal Z and the broadcast time of UWB signal Y multiplied by the speed of light, that is, |d1 - d2| = |(time - stamp X - t0)c-(time - stamp Y - t0 - 2T)c|; the distance difference between the distance from base - station X to base - station Y and the distance from base - station X to base - station H is equal to the time - difference between the time when base - station X hears UWB signal Y and hears UWB signal H multiplied by the speed of light minus the time - difference between the broadcast time of UWB signal H and the broadcast time of UWB signal Y multiplied by the speed of light, that is, |d1 - d3| = |(time - stamp X - t0)c-(time - stamp Z - t0 - 3T)c|. Since |d1 - d2| and |d1 - d3| can construct two hyperbolas, the position information of base - station X can be obtained through the intersection of these two hyperbolas.

[0117] In a possible example, if the current time slot is the first time slot and base station X is one of at least three base stations, then base station X interacts with a communication device in the positioning service system to implement UWB wireless communication within the current time slot of the first time frame, which may include the following operations: Base station X broadcasts indication information X to the communication device in the positioning service system within the fourth sub - time slot of the first time slot. The indication information X is used to indicate the location information of base station X in the positioning service system; Base station X hears the indication information Y sent by base station J within the fifth sub - time slot of the first time slot. The indication information Y is used to indicate the location information of base station J in the positioning service system, and base station J is one of the at least three base stations other than base station X.

[0118] It should be noted that since base station X is a base station in the positioning service system, base station X can directly broadcast its own location information within the sub - time slot of the first time slot and listen for the location information broadcast by other base stations in the positioning service system, so as to realize the location update between the base stations in the positioning service system within the first time slot of the first time frame.

[0119] Specifically, the indication information X can be carried in the frame control field in the MAC frame header of the UWB signal; the indication information Y can be carried in the frame control field in the MAC frame header of the UWB signal.

[0120] In a possible example, if the current time slot is the second time slot and base station X is one of at least three base stations, then base station X interacts with a communication device in the positioning service system to implement UWB wireless communication within the current time slot of the first time frame, which may include the following operations: Base station X interacts with the communication device in the positioning service system according to the first positioning algorithm within the second time slot to determine the location information of the electronic device in the positioning service system.

[0121] It should be noted that since communication devices in the positioning service system can broadcast UWB signals at any time within the second time slot of the first time frame, unlike in the first time slot of the first time frame where sub-slot numbers for broadcasting UWB signals need to be configured for each base station, in order to avoid conflicts caused by communication devices in the positioning service system broadcasting UWB signals simultaneously within the second time slot, carrier sense multiple access with collision avoidance (CSMA / CA) mechanism can be adopted for UWB wireless communication within the second time slot. In addition, base station X can be regarded as the master base station (reference base station or initiating base station) that provides positioning services for the electronic device, and other base stations that provide positioning services for the electronic device are slave base stations. At the same time, in the embodiments of the present application, it is considered that the base station that receives the positioning service request sent by the electronic device within the second time slot is the master base station, and the positioning service request is used to request a base station that provides positioning services for the electronic device from the positioning service system. When there are multiple base stations in the positioning service system that receive the positioning service request sent by the electronic device or at least one Internet of Things tag device, the base station that receives the positioning service request forwards the positioning service request to the positioning server, and the positioning server selects the master base station.

[0122] For example, please refer to Figure 2G , the electronic device broadcasts a positioning service request within the second time slot; then, base stations A, B, C, and D all receive the positioning service request; finally, base stations A, B, C, and D forward the positioning service request to the positioning server, and the positioning server selects base station A as the master base station, while base stations B, C, and D are slave base stations.

[0123] Specifically, if at least three base stations include base station X, base station K, and base station L, with a first distance between base station X and base station K, a second distance between base station X and base station L, and a third distance between base station K and base station L, then base station X may interact with a communication device in the positioning service system according to a first positioning algorithm in the second time slot to determine the position information of the electronic device in the positioning service system, which may include the following operations: Base station X broadcasts a UWB signal J to the communication device in the positioning service system at the timestamp H of the second time slot, and the UWB signal J is used to detect the position information of the electronic device in the positioning service system; Base station X hears a UWB signal K at the timestamp J of the second time slot, where the timestamp J is after the timestamp H, and the UWB signal K is broadcast by base station K to the communication device in the positioning service system after hearing the UWB signal J; Base station X hears a UWB signal L at the timestamp K of the second time slot, where the timestamp K is after the timestamp J, and the UWB signal L is broadcast by base station L to the communication device in the positioning service system after hearing the UWB signal K; Base station X determines a first transmission time difference according to the timestamp H, the timestamp J, and the first distance, and the first transmission time difference is the transmission time difference between base station X broadcasting the UWB signal J and base station K broadcasting the UWB signal K; Base station X determines a second transmission time difference according to the timestamp H, the timestamp K, and the second distance, and the second transmission time difference is the transmission time difference between base station X broadcasting the UWB signal J and base station L broadcasting the UWB signal L; Base station X sends an indication message Z to the electronic device at the timestamp L of the second time slot, where the timestamp L is after the timestamp K, and the indication message Z is used to indicate the first transmission time difference and the second transmission time difference.

[0124] It should be noted that, first, base station X, base station K, and base station L may interact UWB signals in the first time slot of the first time frame to determine the distances between them, as described in the above example, which will not be elaborated here. Second, base station X is the main base station providing positioning services to the electronic device, and base station K and base station L are the slave base stations providing positioning services to the electronic device. Then, since base station K needs to broadcast the UWB signal K after hearing the UWB signal J broadcast by base station X, and base station L needs to broadcast the UWB signal L after hearing the UWB signal K broadcast by base station K, it is beneficial to avoid interference between signals caused by base stations broadcasting UWB signals simultaneously in the second time slot. Finally, the indication message Z sent by base station X to the electronic device may be carried in the frame control field in the MAC frame header of the UWB signal. Since the electronic device cannot know the time when the base station broadcasts the UWB signal and the distances between the base stations, this example considers that base station X calculates the time difference between the base stations sending the UWB signals, and then base station X informs the electronic device. Finally, the electronic device calculates its own position information according to the time difference between the base stations sending the UWB signals and the time when it hears the UWB signal.

[0125] For example, please refer to Figure 2H , first, the communication devices in the positioning service system include base station X, base station K, base station L, and an electronic device. Base station X, base station K, and base station L interact UWB signals within the first time slot to learn the distance between base station X and base station K is d1, the distance between base station X and base station L is d2, and the distance between base station K and base station L is d3. Then, base station X, base station K, and base station L provide positioning services to the electronic device within the second time slot. Secondly, base station X broadcasts UWB signal J at time stamp t4 within the second time slot. After base station K detects UWB signal J, it broadcasts UWB signal K. And after base station L detects UWB signal K, it broadcasts UWB signal L. Thirdly, base station X detects UWB signal K at time stamp t5 within the second time slot, and base station X detects UWB signal L at time stamp t6 within the second time slot. Then, since base station X knows the distance d1 from itself to base station K, base station X can calculate the flight time T1 of UWB signal K to itself, and thus calculate the transmission time difference T2 between the broadcast of UWB signal 1 by base station X and the broadcast of UWB signal K by base station K according to t4, t5, and T1. Similarly, base station X can calculate the transmission time difference T3 between the broadcast of UWB signal 1 by base station X and the broadcast of UWB signal L by base station L. Then, base station X sends indication information to the electronic device at time stamp t7 within the second time slot, and this indication information is used to indicate T2 and T3. Finally, the electronic device receives this indication information to learn T2 and T3. Since the electronic device already knows the time stamps when it receives UWB signal J, UWB signal K, and UWB signal L, the electronic device can calculate the distance difference D1 between its distance to base station X and its distance to base station 2, and the distance difference D2 between its distance to base station X and its distance to base station 3, and thus construct two hyperbolas based on D1 and D2, and learn its own position information according to the intersection of these two hyperbolas.

[0126] In a possible example, if the current time slot is the third time slot and base station X is one of at least three base stations, base station X interacting with the communication devices in the positioning service system with UWB signals within the current time slot of the first time frame to achieve UWB wireless communication may include the following operations: Base station X interacts with the communication devices in the positioning service system with UWB signals according to the second positioning algorithm within the third time slot to determine the position information of the target Internet of Things tag device among at least one Internet of Things tag device in the positioning service system.

[0127] It should be noted that since communication devices in the positioning service system can broadcast UWB signals at any time within the third time slot of the first time frame, unlike in the first time slot of the first time frame where sub - time slot numbers for broadcasting UWB signals need to be configured for each base station, in order to avoid conflicts caused by communication devices in the positioning service system broadcasting UWB signals simultaneously within the third time slot, CSMA / CA mechanism can be adopted for UWB wireless communication within the third time slot. In addition, base station X can be regarded as the main base station (reference base station or initiating base station) that provides positioning services to the target Internet of Things tag device. The selection of the main base station is the same as in the above example, that is, the base station that receives the positioning service request sent by the target Internet of Things device within the third time slot is used as the main base station. This positioning service request is used to request a base station that provides positioning services to the target Internet of Things device from the positioning service system, and details are not elaborated here.

[0128] Specifically, if at least three base stations include base station X, base station M, base station N, and base station P, then base station X can interact with communication devices in the positioning service system according to the second positioning algorithm within the third time slot to determine the position information of the target Internet of Things tag device in the positioning service system, which may include the following operations: Base station X detects UWB signal M broadcast by the target Internet of Things device at timestamp M within the third time slot. UWB signal M is used to request to detect the position information of the target Internet of Things tag device in the positioning service system; Base station X broadcasts UWB signal N to communication devices in the positioning service system at timestamp N within the third time slot, and timestamp N is after timestamp M; Base station X detects indication information H at timestamp P within the third time slot, and timestamp P is after timestamp N. Indication information H is broadcast by the target Internet of Things tag device to communication devices in the positioning service system after detecting UWB signal N, UWB signal P, and UWB signal Q. UWB signal P is broadcast by base station M to communication devices in the positioning service system after detecting UWB signal N, and UWB signal Q is broadcast by base station N to communication devices in the positioning service system after detecting UWB signal P. Indication information H carries the timestamp of its own broadcasting UWB signal M within the third time slot, the timestamp of its own detecting UWB signal N within the third time slot, the timestamp of its own detecting UWB signal P within the third time slot, and the timestamp of its own detecting UWB signal Q within the third time slot; Base station X determines the distance between itself and the target Internet of Things tag device according to indication information H, timestamp M, timestamp N, and timestamp P.

[0129] It should be noted that, first, base station X, base station M, and base station N can interact UWB signals within the first time slot of the first time frame to perform synchronization operations. Second, base station X serves as the master base station that provides positioning services to the target Internet of Things (IoT) tag device, and base stations M and N serve as slave base stations that provide positioning services to the target IoT tag device. Then, since base station M needs to broadcast UWB signal P after detecting the UWB signal N broadcast by base station X, and base station N needs to broadcast UWB signal Q after detecting the UWB signal P broadcast by base station M, it is beneficial to avoid interference between signals caused by base stations broadcasting UWB signals simultaneously in the third time slot. Finally, the indication information H broadcast by the target IoT device can be carried in the frame control field of the MAC frame header of the UWB signal. Compared with electronic devices, since the IoT tag device itself has a low power storage capacity and data calculation and processing capabilities, in this example, it is considered that the IoT tag device sends the timestamps of its own broadcast and the detected UWB signal to the base station, and then the base station calculates the position information of the IoT tag device based on the timestamps of the IoT tag device's broadcast and the detected UWB signal, as well as the timestamps of the base station's own broadcast and the detected UWB signal, and finally the base station informs the IoT tag device of the position information.

[0130] For example, please refer to Figure 2I , first, the communication devices in the positioning service system include base station X, base station M, base station N, and IoT tag device 1, and base stations X, M, and N provide positioning services to IoT tag device 1 in the third time slot. Second, IoT tag device 1 broadcasts UWB signal M at timestamp U in the third time slot, and base station XX detects UWB signal M at timestamp M in the third time slot and broadcasts UWB signal N at timestamp N in the third time slot. Third, base station M broadcasts UWB signal P after detecting UWB signal N, and base station N broadcasts UWB signal Q after detecting UWB signal P. Then, IoT tag device 1 detects UWB signal N, UWB signal P, and UWB signal Q at timestamps V, W, and F respectively in the third time slot, and broadcasts indication information at timestamp G in the third time slot, which is used to indicate timestamps U, V, W, F, and G. Finally, base station XX detects this indication information to obtain timestamps U, V, and G, and calculates the distance r1 between base station XX and IoT tag device 1 based on timestamps U, V, G, M, N, and P. Similarly, base station M can calculate the distance r2 between base station M and IoT tag device 1, and base station N can calculate the distance r3 between base station N and IoT tag device 1, and thus construct the intersection of three circles with the position information of base stations XX, M, and N as the origin and r1, r2, and r3 as the radii as the position information of IoT tag device 1.

[0131] It can be seen that in the embodiments of the present application, base station X interacts with at least three base stations, electronic devices, or at least one Internet of Things (IoT) tag device in the positioning service system within the current time slot of the first time frame to implement Ultra-Wideband (UWB) wireless communication. Since base stations need to interact UWB signals with each other to perform the synchronization operation of the base stations, and to determine the location information of the electronic device and the location information of at least one IoT tag device through a preset positioning algorithm, the first time frame is divided into different time slots, that is, different UWB channels, according to the differences in the synchronization operation and positioning service executed between the communication devices in the positioning service system. And the communication devices interact UWB signals within the corresponding time slots, which is conducive to avoiding mutual conflict and interference of UWB signals in the UWB channels, and providing different synchronization operations and positioning services for the communication devices through time slot allocation.

[0132] Consistent with the above embodiments, the steps for the tag device 120 in the positioning service system 100 to perform UWB wireless communication will be introduced from the perspective of method examples below. Please refer to Figure 3 . Figure 3 FIG. is a schematic flowchart of another wireless communication method provided by the embodiments of the present application. The method includes:

[0133] S310. The tag device acquires a first time frame for Ultra-Wideband (UWB) wireless communication between communication devices in the positioning service system.

[0134] Among them, the communication devices in the positioning service system may include at least three base station tag devices; the first time frame may include a time slot for providing base station synchronization operation and at least one time slot for providing positioning service for the tag device through a preset positioning algorithm.

[0135] It should be noted that the positioning service system in this example may be the positioning service system 100 mentioned above, at least three base stations may be the at least three base stations 110 mentioned above, and the tag device may be the tag device 120 mentioned above. In addition, the tag device may acquire the first time frame from the configuration information sent by a central location engine (CLE) device (also known as a positioning server, such as a location calculation device), or may acquire the first time frame from the configuration information sent by the master base station or the reference base station in the positioning service system.

[0136] Specifically, the tag device may be an electronic device or at least one IoT tag device.

[0137] Specifically, the first time frame may represent a time interval periodically divided at the application layer, and multiple time slots may be divided on the first time frame. Each time slot may be a UWB channel for communication devices in the positioning service system to interact with UWB signals. Meanwhile, the time interval periodically divided at the application layer and the time interval (such as a superframe) periodically divided at the media access control layer (MAC) satisfy a certain mapping relationship.

[0138] Specifically, the preset positioning algorithms may include the SS-TWR algorithm, the DS-TWR algorithm, the TDOA algorithm, the AOA / PDOA algorithm, and may also include the TDOA improved algorithm combining the second time slot and the TDOA algorithm, and the DS-TWR improved algorithm combining the third time slot and the DS-TWR algorithm mentioned later in the embodiments of the present application.

[0139] Specifically, the preset positioning algorithms may include the SS-TWR algorithm, the DS-TWR algorithm, the TDOA algorithm, the AOA / PDOA algorithm, and may also include the TDOA improved algorithm combining the second time slot and the TDOA algorithm, and the DS-TWR improved algorithm combining the third time slot and the DS-TWR algorithm mentioned later in the embodiments of the present application.

[0140] In a possible example, a time slot for providing base station synchronization operation is the first time slot. At least one time slot for providing positioning services to the tag device through the preset positioning algorithms includes the second time slot, the third time slot, and the fourth time slot. The preset positioning algorithms include the first positioning algorithm, the second positioning algorithm, and the third positioning algorithm. The tag device may include an electronic device and at least one Internet of Things tag device.

[0141] Among them, the second time slot may be used to provide positioning services to the electronic device through the first positioning algorithm. The third time slot may be used to provide positioning services to at least one Internet of Things tag device through the second positioning algorithm. The fourth time slot may be used to locate the target Internet of Things tag device from at least one Internet of Things tag device to the electronic device through the third positioning algorithm.

[0142] It should be noted that in the embodiments of the present application, the first time frame may include the first time slot, the second time slot, the third time slot, and the fourth time slot. Since the first time slot is mainly used to provide base station synchronization operation, when the tag device interacts with the communication device in the positioning service system within the current time slot on the first time frame to implement UWB wireless communication, the current time slot at this time can only be one of the second time slot, the third time slot, or the fourth time slot.

[0143] S320. The label device interacts with the communication device in the positioning service system within the current time slot of the first time frame to implement UWB wireless communication by exchanging UWB signals.

[0144] Specifically, the current time slot can be the second time slot, the third time slot, or the fourth time slot.

[0145] Specifically, the UWB signal can include a media access control protocol data unit (MPDU), or can also include a beacon frame or a data frame. Among them, in the frame control field in the MAC frame header of the UWB signal (for example, the frame control field in the MAC frame header of the beacon frame or the frame control field in the MAC frame header of the data frame), there is carried valid information of the base station or the label device, such as the identifier of the base station itself, the sub - time slot number occupied by the base station to send the UWB signal, the location information of the base station, the start timestamp of the base station sending the UWB signal, the identifier of the label device itself, the location information of the label device, or the start timestamp of the label device sending the UWB signal, etc.

[0146] Next, the embodiments of the present application will respectively introduce the specific steps for the label device to interact with the communication device in the positioning service system within the current time slot to implement UWB wireless communication when the current time slot is the second time slot, the third time slot, or the fourth time slot.

[0147] In a possible example, if the current time slot is the second time slot and the label device is an electronic device, then for the label device to interact with the communication device in the positioning service system within the current time slot of the first time frame to implement UWB wireless communication, it can include the following operations: The label device determines its own location information in the positioning service system by interacting with the communication device in the positioning service system within the second time slot according to the first positioning algorithm.

[0148] It should be noted that since the communication devices in the positioning service system can broadcast UWB signals at any time within the second time slot of the first time frame, unlike in the first time slot of the first time frame where a sub - time slot number for each base station to broadcast the UWB signal needs to be configured, in order to avoid conflicts caused by the communication devices in the positioning service system broadcasting UWB signals simultaneously within the second time slot, the UWB wireless communication within the second time slot can adopt the Carrier Sense Multiple Access with Collision Avoidance (CSMA / CA) mechanism.

[0149] Specifically, if at least three base stations include base station X, base station K, and base station L, with a first distance between base station X and base station K, a second distance between base station X and base station L, and a third distance between base station K and base station L, then the tag device interacting with the communication device in the positioning service system via UWB signals according to the first positioning algorithm within the second time slot to determine its own position information in the positioning service system may include the following operations: The tag device detects UWB signal J at timestamp Q of the second time slot. UWB signal J is broadcast by base station X to the communication device in the positioning service system at timestamp H of the second time slot, and UWB signal J is used to detect the position information of the tag device in the positioning service system; The tag device detects UWB signal K at timestamp R of the second time slot, where timestamp R is after timestamp Q. UWB signal K is broadcast by base station K to the communication device in the positioning service system after detecting UWB signal J; The tag device detects UWB signal L at timestamp S of the second time slot, where timestamp S is after timestamp R. UWB signal L is broadcast by base station L to the communication device in the positioning service system after detecting UWB signal K; The tag device receives indication information Z at timestamp T of the second time slot; where timestamp T is after timestamp S, and indication information Z is used to indicate a first transmission time difference and a second transmission time difference. The first transmission time difference is the transmission time difference between base station X broadcasting UWB signal J and base station K broadcasting UWB signal K, and the second transmission time difference is the transmission time difference between base station X broadcasting UWB signal J and base station L broadcasting UWB signal L; The tag device determines its own position information in the positioning service system based on timestamp Q, timestamp R, timestamp S, the first transmission time difference, and the second transmission time difference.

[0150] Illustrated by way of example, for details, see Figure 2H , which will not be elaborated here.

[0151] In a possible example, if the current time slot is the third time slot and the tag device is one of at least one Internet of Things tag device, then the tag device interacting with the communication device in the positioning service system via UWB signals within the current time slot of the first time frame to achieve UWB wireless communication may include the following operations: The tag device interacts with the communication device in the positioning service system via UWB signals according to the second positioning algorithm within the third time slot to determine its own position information in the positioning service system.

[0152] It should be noted that since communication devices in the positioning service system can broadcast UWB signals at any time in the third time slot of the first time frame, unlike in the first time slot of the first time frame where sub-slot numbers for broadcasting UWB signals need to be configured for each base station, in order to avoid conflicts caused by communication devices in the positioning service system broadcasting UWB signals simultaneously in the third time slot, CSMA / CA mechanism can be adopted for UWB wireless communication in the third time slot.

[0153] Specifically, if at least three base stations include base station X, base station M, and base station N, the tag device interacts with communication devices in the positioning service system according to the second positioning algorithm in the second time slot to determine its own position information in the positioning service system, which may include the following operations: The tag device broadcasts UWB signal M to communication devices in the positioning service system at timestamp U in the third time slot, and UWB signal M is used to request detection of the position information of the tag device in the positioning service system; The tag device hears UWB signal N at timestamp V in the third time slot, timestamp V is after timestamp U, and UWB signal N is broadcast by base station X to communication devices in the positioning service system after hearing UWB signal M; The tag device hears UWB signal P at timestamp W in the third time slot, timestamp W is after timestamp V, and UWB signal P is broadcast by base station M to communication devices in the positioning service system after hearing UWB signal N; The tag device hears UWB signal Q at timestamp F in the third time slot, and UWB signal Q is broadcast by base station N to communication devices in the positioning service system after hearing UWB signal P; The tag device broadcasts indication information H to communication devices in the positioning service system at timestamp G in the third time slot, timestamp G is after timestamp F, and indication information H is used to indicate timestamp U, timestamp V, timestamp W, timestamp F, and timestamp G.

[0154] For example, for details, see Figure 2I , which will not be elaborated here.

[0155] In a possible example, if the current time slot is the fourth time slot and the tag device is an electronic device, the tag device interacts with communication devices in the positioning service system in the current time slot on the first time frame to implement UWB wireless communication, which may include the following operations: The tag device interacts with communication devices in the positioning service system according to the third positioning algorithm in the fourth time slot to determine its own position information in the positioning service system.

[0156] Specifically, the third positioning algorithm is the AOA / PDOA algorithm.

[0157] It should be noted that the relevant technical solutions and beneficial effects involved in this example are the same as those Figure 2A involved above, which will not be elaborated here.

[0158] It can be seen that in the embodiments of the present application, the tag device interacts with at least three base stations or other tag devices in the positioning service system within the current time slot of the first time frame to implement UWB wireless communication. Since the tag device requires the base station to provide positioning services for it, or the tag devices provide positioning services for each other, the first time frame is divided into different time slots, that is, different UWB channels, according to the different executions of positioning services among the communication devices in the positioning service system. The base station and the tag device, and the tag device and the tag device interact with UWB signals within the corresponding time slots, which helps to avoid mutual conflicts and interferences of UWB signals in the UWB channels, and to provide positioning services for the communication devices in the positioning service system by time slot allocation.

[0159] The above mainly introduces the solution of the embodiments of the present application from the perspective of the execution process on the method side. It can be understood that in order to implement the above functions, base station X includes the corresponding hardware structure and / or software module for executing each function. Those skilled in the art should easily realize that, in combination with the units and algorithm steps of each example described in the embodiments provided herein, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a certain function is executed in the way of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present application.

[0160] The embodiments of the present application can divide the functional units of base station X according to the above method examples. For example, each functional unit can be divided corresponding to each function, or two or more functions can be integrated into one processing unit. The above integrated unit can be implemented in the form of hardware or in the form of a software functional unit. It should be noted that the division of units in the embodiments of the present application is illustrative, only a logical function division, and there can be other division methods in actual implementation.

[0161] In the case of adopting an integrated unit, Figure 4 A block diagram of the functional unit composition of a wireless communication device is shown. The wireless communication device 400 is applied to base station X and specifically includes: a processing unit 420 and a communication unit 430. The processing unit 420 is used to control and manage the actions of base station X. For example, the processing unit 420 is used to support base station X to execute Figure 2ASome or all of the steps therein, as well as other processes for the technologies described herein. The communication unit 430 is used to support UWB wireless communication between base station X and communication devices in the positioning service system. The wireless communication device 400 may also include a storage unit 410 for storing program codes and data of the terminal.

[0162] Specifically, the processing unit 420 may be a processor or a controller. For example, it may be a CPU, a general-purpose processor, a DSP, an ASIC, an FPGA, or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It can implement or execute various exemplary logical blocks, modules, and circuits described in connection with the disclosure of this application. The processing unit 420 may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc. The communication unit 430 may be a communication interface, a transceiver, a transceiver circuit, etc., and the storage unit 410 may be a memory. When the processing unit 420 is a processor, the communication unit 430 is a communication interface, and the storage unit 410 is a memory, the wireless communication device 400 involved in the embodiments of this application may be Figure 6 the base station 600 shown.

[0163] In specific implementation, the processing unit 420 is used to execute any step performed by base station X in the above method embodiments, and when performing UWB signal transmissions such as sending, it can optionally call the communication unit 430 to complete the corresponding operations. Details are described below.

[0164] The processing unit 420 is used to: obtain a first time frame for ultra-wideband UWB wireless communication between communication devices in the positioning service system; wherein, the communication devices in the positioning service system include at least three base stations and tag devices; the first time frame includes a time slot for providing base station synchronization operations and at least one time slot for providing positioning services to tag devices through a preset positioning algorithm; interact with communication devices in the positioning service system within the current time slot on the first time frame to implement UWB wireless communication.

[0165] It can be seen that the wireless communication device 400 interacts with at least three base stations and tag devices in the positioning service system within the current time slot of the first time frame to implement UWB wireless communication. Since the base stations need to interact with each other using UWB signals to perform the synchronization operation of the base stations and provide positioning services to the tag devices through a preset positioning algorithm, the first time frame is divided into different time slots, that is, different UWB channels, according to the differences in performing the base station synchronization operation and positioning services among the communication devices in the positioning service system. And the UWB signals are interacted among the base stations, between the base stations and the tag devices, and between the tag devices within the corresponding time slots, which is beneficial to avoiding the mutual conflict and interference of the UWB signals in the UWB channels and realizing the provision of the base station synchronization operation and positioning services for the communication devices in the positioning service system by the time slot allocation.

[0166] It should be noted that since the method embodiment and the device embodiment are different presentation forms of the same technical concept, the content of the method embodiment part in this application should be synchronously adapted to the device embodiment part, and will not be elaborated here.

[0167] Consistent with the above embodiments, in order for the tag device 120 to implement the above functions, it includes the corresponding hardware structure and / or software module for performing each function. The embodiment of the present application can divide the functional units of the tag device 120 according to the above method examples.

[0168] In the case of adopting an integrated unit, Figure 5 a functional unit composition block diagram of another wireless communication device is proposed. The wireless communication device 500 is applied to the in-vehicle terminal tag device 120 and specifically includes: a processing unit 520 and a communication unit 530. The processing unit 520 is used to control and manage the actions of the tag device 120. For example, the processing unit 520 is used to support the tag device 120 to execute Figure 3 some or all of the steps in, and for other processes of the technologies described herein. The communication unit 530 is used to support the wireless communication between the tag device 120 and other devices. The wireless communication device 500 may further include a storage unit 510 for storing the program code and data of the tag device 120.

[0169] Among them, the processing unit 520 can be a processor or a controller. For example, it can be a CPU, a general-purpose processor, a DSP, an ASIC, an FPGA, or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It can implement or execute various exemplary logical blocks, modules, and circuits described in connection with the disclosure of this application. The processing unit 520 can also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc. The communication unit 530 can be a communication interface, a transceiver, a transceiver circuit, etc., and the storage unit 510 can be a memory. When the processing unit 520 is a processor, the communication unit 530 is a communication interface, and the storage unit 510 is a memory, the wireless communication device 500 involved in the embodiments of this application can be Figure 7 the tag device 700 shown in

[0170] Specifically, the processing unit 520 is used to execute any step performed by the vehicle-mounted terminal 120 in the above method embodiment, and when performing data transmission such as sending, it can optionally call the communication unit 1030 to complete the corresponding operation. The following is a detailed description.

[0171] The processing unit 520 is used to obtain a first time frame for ultra-wideband (UWB) wireless communication between communication devices in a positioning service system; wherein, the communication devices in the positioning service system include at least three base stations and a tag device; the first time frame includes a time slot for providing base station synchronization operations and at least one time slot for providing positioning services to the tag device through a preset positioning algorithm; and interact with the communication devices in the positioning service system within the current time slot on the first time frame to implement UWB wireless communication.

[0172] It can be seen that the wireless communication device 500 interacts with at least three base stations or other tag devices in the positioning service system within the current time slot on the first time frame to implement UWB wireless communication. Since the tag device needs the base station to provide positioning services for it, or the tag devices provide positioning services for each other, the first time frame is divided into different time slots, that is, different UWB channels, according to the different positioning services performed by the communication devices in the positioning service system. And the base station and the tag device, and the tag device and the tag device interact with UWB signals within the corresponding time slots, which is beneficial to avoiding mutual conflict and interference of UWB signals in the UWB channels, and realizing providing positioning services for the communication devices in the positioning service system by time slot allocation.

[0173] It should be noted that since the method embodiment and the device embodiment are different presentation forms of the same technical concept, the content of the method embodiment part in this application should be synchronously adapted to the device embodiment part, and will not be elaborated here.

[0174] The following introduces another structural schematic diagram of a base station provided by an embodiment of the present application, as shown in Figure 6 shown. Among them, the base station 600 includes a processor 610, a memory 620, a communication interface 630, and at least one communication bus for connecting the processor 610, the memory 620, and the communication interface 630.

[0175] The processor 610 can be one or more central processing units CPU. When the processor 610 is a single CPU, the CPU can be a single-core CPU or a multi-core CPU. The memory 620 includes, but is not limited to, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), or compact disc read-only memory (CD-ROM), and the memory 620 is used for relevant instructions and data. The communication interface 630 is used to receive and send data.

[0176] The processor 610 in the base station 600 is used to read one or more program codes 621 stored in the memory 620 and perform the following operations: obtaining a first time frame for ultra-wideband UWB wireless communication between communication devices in a positioning service system; wherein, the communication devices in the positioning service system include at least three base stations and tag devices; wherein, the first time frame includes a time slot for providing base station synchronization operations and at least one time slot for providing positioning services to tag devices through a preset positioning algorithm; interacting with communication devices in the positioning service system within the current time slot on the first time frame to implement UWB wireless communication.

[0177] It can be seen that the base station interacts with at least three base stations and tag devices in the positioning service system within the current time slot on the first time frame to implement UWB wireless communication. Since the base stations need to interact with each other through UWB signals to perform base station synchronization operations and provide positioning services to tag devices through a preset positioning algorithm, the first time frame is divided into different time slots, that is, different UWB channels, according to the differences in base station synchronization operations and positioning services performed between communication devices in the positioning service system. And the base stations interact with each other, the base stations interact with tag devices, and the tag devices interact with each other through UWB signals within the corresponding time slots, which is beneficial to avoiding mutual conflict and interference of UWB signals in UWB channels, and realizing the provision of base station synchronization operations and positioning services for communication devices in the positioning service system by time slot allocation.

[0178] The following introduces a schematic structural diagram of another label device provided by the embodiments of the present application, as shown in Figure 7 shown. Among them, the label device 700 includes a processor 710, a memory 720, a communication interface 730, and at least one communication bus for connecting the processor 710, the memory 720, and the communication interface 730.

[0179] The processor 710 may be one or more central processing units CPU. When the processor 710 is a single CPU, the CPU may be a single-core CPU or a multi-core CPU. The memory 720 includes, but is not limited to, RAM, ROM, EPROM, or CD-ROM, and the memory 720 is used for related instructions and data. The communication interface 730 is used to receive and send data.

[0180] The processor 710 in the label device 700 is used to read one or more program codes 721 stored in the memory 720 and perform the following operations: obtaining a first time frame for ultra-wideband UWB wireless communication between communication devices in a positioning service system; wherein, the communication devices in the positioning service system include at least three base stations and the label device; wherein, the first time frame includes a time slot for providing base station synchronization operation and at least one time slot for providing positioning service for the label device through a preset positioning algorithm; interacting with the communication devices in the positioning service system within the current time slot on the first time frame to implement UWB wireless communication.

[0181] It can be seen that the label device interacts with at least three base stations or other label devices in the positioning service system within the current time slot on the first time frame to implement UWB wireless communication. Since the label device needs the base station to provide positioning service for it, or the label devices provide positioning service for each other, the first time frame is divided into different time slots, that is, different UWB channels, according to the different positioning services executed between the communication devices in the positioning service system, and the base station and the label device, and the label device and the label device interact with UWB signals within the corresponding time slots, which is beneficial to avoid mutual conflict and interference of UWB signals in the UWB channels, and to implement the positioning service provided for the communication devices in the positioning service system by time slot allocation.

[0182] The embodiments of the present application further provide a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program for electronic data exchange, and the computer program can be operated to enable a computer to execute part or all of the steps of any method described in the above method embodiments.

[0183] An embodiment of the present application further provides a computer program product, where the computer program product includes a computer program that is operable to cause a computer to execute some or all of the steps of any of the methods described in the above method embodiments. The computer program product may be a software installation package.

[0184] It should be noted that, for the above method embodiments, for the sake of simple description, they are all expressed as a series of action combinations. Those skilled in the art should know that the present application is not limited by the described action sequence, because some steps in the embodiments of the present application may be performed in other sequences or simultaneously. In addition, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily essential to the embodiments of the present application.

[0185] In the above embodiments, the descriptions of the respective embodiments have their own emphases. For the parts not detailed in a certain embodiment, reference may be made to the relevant descriptions of other embodiments.

[0186] In several embodiments provided by the present application, those skilled in the art should know that the described device may be implemented in other ways. It can be understood that the described device embodiments are merely illustrative. For example, the above unit division is only a logical function division, and there may be other division methods in practice. That is to say, multiple units or components may be combined or integrated into another software, and some features may be ignored or not executed. In addition, the coupling, direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interfaces, devices or units, or may be in an electrical or other form.

[0187] The units described above as separate components may or may not be physically separated. In addition, the components shown as units may or may not be physical units, that is, they may be located on one network unit or distributed to multiple network units. Therefore, the above respective embodiments may select some or all of the units according to actual needs to implement.

[0188] In addition, each of the functional units in the above respective embodiments may be integrated in one processing unit, may exist in different physical units, or two or more functional units may be integrated in one physical unit. The above units may be implemented in the form of hardware or in the form of software functional units.

[0189] If the above-mentioned units are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable memory. It is understandable that the technical solution of the present application (the part of the technical solution that contributes to the prior art or all or part of the technical solution) can be embodied in the form of a computer software product. The computer software product is stored in a memory, including several instructions for a computer device (a personal computer, a server or a network device, etc.) to perform all or part of the steps of the embodiment of the present application. In addition, the above-mentioned memory includes various media that can store program codes, such as a USB flash drive, ROM, RAM, a mobile hard disk, a magnetic disk or an optical disk.

[0190] Those skilled in the art should be aware that all or part of the steps of the embodiments of the present application can be completed by a program to instruct related hardware, and the program can be stored in a memory, which can include a flash drive, ROM, RAM, a magnetic disk or an optical disk, etc.

[0191] The embodiments of the present application are described in detail above, and the description in the embodiments of the present application is only used to help understand the method and core idea of ​​the present application. Those skilled in the art should know that the embodiments of the present application may be changed in specific implementation and application scope, and the content of this specification should not be construed as limiting the present application.

Claims

1. A wireless communication method, It is characterized in that include: Base station X obtains a first time frame for ultra-wideband UWB wireless communication between communication devices in a positioning service system; wherein the communication devices in the positioning service system include at least three base stations and tag devices, and the first time frame includes a time slot for providing base station synchronization operation and at least one time slot for providing positioning services to the tag device through a preset positioning algorithm; The base station X exchanges UWB signals with the communication device in the positioning service system in the current time slot on the first time frame to implement UWB wireless communication; The one time slot for providing base station synchronization operation is a first time slot, the at least one time slot for providing positioning services to the tag device through a preset positioning algorithm includes a second time slot, a third time slot and a fourth time slot, the preset positioning algorithm includes a first positioning algorithm, a second positioning algorithm and a third positioning algorithm, and the tag device includes an electronic device and at least one Internet of Things tag device; Among them, the second time slot is used to provide positioning services to the electronic device through the first positioning algorithm, the third time slot is used to provide positioning services to the at least one Internet of Things tag device through the second positioning algorithm, and the fourth time slot is used to locate the target Internet of Things tag device from the at least one Internet of Things tag device for the electronic device through the third positioning algorithm.

2. The method according to claim 1, It is characterized in that The current time slot is the first time slot, the first time slot includes at least three sub-time slots, and the base station X is a base station to be accessed to the positioning service system; The base station X exchanges UWB signals with the communication device in the positioning service system in the current time slot on the first time frame to implement UWB wireless communication, including: The base station X detects the UWB signal broadcast by each of the at least three base stations in the at least three sub-time slots; The base station X determines the sub-time slot number occupied by the UWB signal broadcast by itself according to the sub-time slot occupancy of the UWB signal broadcast by each of the at least three base stations in the at least three sub-time slots; The base station X determines its own location information in the positioning service system according to the time difference of the UWB signal broadcast by each of the at least three base stations detected by the base station X and the time interval between the sub-time slots in the at least three sub-time slots; The base station X broadcasts the UWB signal X to the communication devices in the positioning service system according to the sub-slot number occupied by the UWB signal broadcast by itself and the location information of itself in the positioning service system so as to access the positioning service system.

3. The method according to claim 2, It is characterized in that The base station X determines the sub-time slot number occupied by the UWB signal broadcast by itself according to the sub-time slot occupancy of the UWB signal broadcast by each of the at least three base stations in the at least three sub-time slots, including: The base station X selects a sub-timeslot from unoccupied sub-timeslots of the at least three sub-timeslots according to a preset rule based on the sub-timeslot occupancy status of the UWB signal broadcast by each of the at least three base stations in the at least three sub-timeslots.

4. The method according to claim 2, It is characterized in that The at least three base stations include base station Y, base station Z and base station H, the at least three sub-timeslots include a first sub-timeslot, a second sub-timeslot and a third sub-timeslot, the second sub-timeslot is a sub-timeslot after the first sub-timeslot, and the third sub-timeslot is a sub-timeslot after the second sub-timeslot; The base station X determines its own position information in the positioning service system according to the time difference of the UWB signal broadcast by each of the at least three base stations detected by the base station X and the time interval between the sub-time slots in the at least three sub-time slots, including: The base station X detects the UWB signal Y broadcast by the base station Y at the start time of the first sub-time slot at the timestamp X of the first sub-time slot; The base station X detects the UWB signal Z broadcast by the base station Z at the start time of the second sub-time slot at the timestamp Y of the second sub-time slot, and calculates the time interval between the start time of the first sub-time slot and the start time of the second sub-time slot to obtain a first time interval; The base station X detects the UWB signal H broadcast by the base station H at the start time of the third sub-time slot at the timestamp Z of the third sub-time slot, and calculates the time interval between the start time of the second sub-time slot and the start time of the third sub-time slot to obtain a second time interval; The base station X calculates the time difference between when the base station detects the UWB signal Y and when the base station detects the UWB signal Z according to the timestamp X and the timestamp Y to obtain a first time difference; The base station X calculates the time difference between the time when the base station detects the UWB signal Y and the time when the base station detects the UWB signal H according to the timestamp X and the timestamp Z to obtain a second time difference; The base station X determines its own location information in the positioning service system according to the first time difference, the second time difference, the first time interval and the second time interval.

5. The method according to claim 1, It is characterized in that The current time slot is the first time slot, and the base station X is one of the at least three base stations; The base station X exchanges UWB signals with the communication device in the positioning service system in the current time slot on the first time frame to implement UWB wireless communication, including: The base station X broadcasts indication information X to the communication device in the positioning service system in the fourth sub-time slot of the first time slot, where the indication information X is used to indicate the location information of the base station X in the positioning service system; The base station X detects indication information Y sent by the base station J in the fifth sub-time slot of the first time slot, where the indication information Y is used to indicate the location information of the base station J in the positioning service system, and the base station J is a base station among the at least three base stations except the base station X.

6. The method according to claim 1, It is characterized in that The current time slot is the second time slot, and the base station X is one of the at least three base stations; The base station X exchanges UWB signals with the communication device in the positioning service system in the current time slot on the first time frame to implement UWB wireless communication, including: The base station X exchanges UWB signals with the communication device in the positioning service system according to the first positioning algorithm in the second time slot to determine the location information of the electronic device in the positioning service system.

7. The method according to claim 6, It is characterized in that The at least three base stations include the base station X, the base station K and the base station L, the base station X and the base station K have a first distance, the base station X and the base station L have a second distance, and the base station K and the base station L have a third distance; The base station X exchanges UWB signals with the communication device in the positioning service system according to the first positioning algorithm in the second time slot to determine the location information of the electronic device in the positioning service system, including: The base station X broadcasts a UWB signal J to the communication device in the positioning service system at the timestamp H of the second time slot, and the UWB signal J is used to detect the location information of the electronic device in the positioning service system; The base station X detects a UWB signal K at a timestamp J of the second time slot, the timestamp J is after the timestamp H, and the UWB signal K is broadcast by the base station K to the communication device in the positioning service system after detecting the UWB signal J; The base station X detects a UWB signal L at a timestamp K of the second time slot, the timestamp K is after the timestamp J, and the UWB signal L is broadcast by the base station L to the communication device in the positioning service system after detecting the UWB signal K; The base station X determines a first sending time difference according to the timestamp H, the timestamp J and the first distance, where the first sending time difference is a sending time difference between the base station X broadcasting the UWB signal J and the base station K broadcasting the UWB signal K; The base station X determines a second sending time difference according to the timestamp H, the timestamp K and the second distance, where the second sending time difference is a sending time difference between the base station X broadcasting the UWB signal J and the base station L broadcasting the UWB signal L; The base station X sends indication information Z to the electronic device or the at least one Internet of Things tag device at the timestamp L of the second time slot, the timestamp L is after the timestamp K, and the indication information Z is used to indicate the first sending time difference and the second sending time difference.

8. The method according to claim 1, It is characterized in that The current time slot is the third time slot, and the base station X is one of the at least three base stations; The base station X exchanges UWB signals with the communication device in the positioning service system in the current time slot on the first time frame to implement UWB wireless communication, including: The base station X interacts with the communication device in the positioning service system via UWB signals according to the second positioning algorithm within the third time slot to determine the location information of the target IoT tag device in the at least one IoT tag device in the positioning service system.

9. The method according to claim 8, It is characterized in that The at least three base stations include the base station X, the base station M and the base station N; The base station X interacts with the communication device in the positioning service system with a UWB signal according to the second positioning algorithm in the third time slot to determine the location information of the target Internet of Things tag device in the at least one Internet of Things tag device in the positioning service system, including: The base station X detects the UWB signal M broadcast by the target IoT tag device at the timestamp M of the third time slot, and the UWB signal M is used to request detection of the location information of the target IoT tag device in the positioning service system; The base station X broadcasts a UWB signal N to the communication device in the positioning service system at a timestamp N of the third time slot, and the timestamp N is after the timestamp M; The base station X detects indication information H at the timestamp P of the third time slot, and the timestamp P is after the timestamp N. The indication information H is broadcast by the target IoT tag device to the communication device in the positioning service system after detecting the UWB signal N, the UWB signal P, and the UWB signal Q. The UWB signal P is broadcast by the base station M to the communication device in the positioning service system after detecting the UWB signal N. The UWB signal Q is broadcast by the base station N to the communication device in the positioning service system after detecting the UWB signal P. The indication information H is used to indicate the timestamp of broadcasting the UWB signal M by itself in the third time slot, the timestamp of detecting the UWB signal N by itself in the third time slot, the timestamp of detecting the UWB signal P by itself in the third time slot, the timestamp of detecting the UWB signal Q by itself in the third time slot, and the timestamp of broadcasting the indication information H by itself in the third time slot; The base station X determines the distance between itself and the target Internet of Things tag device according to the indication information H, the timestamp M, the timestamp N and the timestamp P.

10. A wireless communication method, It is characterized in that include: The tag device acquires a first time frame for ultra-wideband UWB wireless communication between communication devices in a positioning service system; wherein the communication devices in the positioning service system include the tag device and at least three base stations, and the first time frame includes a time slot for providing base station synchronization operation and at least one time slot for providing positioning services to the tag device through a preset positioning algorithm; The tag device exchanges UWB signals with the communication device in the positioning service system in the current time slot on the first time frame to implement UWB wireless communication; The one time slot for providing base station synchronization operation is a first time slot, the at least one time slot for providing positioning services to the tag device through a preset positioning algorithm includes a second time slot, a third time slot and a fourth time slot, the preset positioning algorithm includes a first positioning algorithm, a second positioning algorithm and a third positioning algorithm, and the tag device includes an electronic device and at least one Internet of Things tag device; Among them, the second time slot is used to provide positioning services to the electronic device through the first positioning algorithm, the third time slot is used to provide positioning services to the at least one Internet of Things tag device through the second positioning algorithm, and the fourth time slot is used to locate the target Internet of Things tag device from the at least one Internet of Things tag device for the electronic device through the third positioning algorithm.

11. The method according to claim 10, It is characterized in that The current time slot is the second time slot, and the tag device is the electronic device; The tag device exchanges UWB signals with the communication device in the positioning service system in the current time slot on the first time frame to implement UWB wireless communication, including: The tag device exchanges UWB signals with the communication device in the positioning service system according to the first positioning algorithm in the second time slot to determine its own location information in the positioning service system.

12. The method according to claim 11, It is characterized in that The at least three base stations include a base station X, a base station K and a base station L, the base station X and the base station K have a first distance, the base station X and the base station L have a second distance, and the base station K and the base station L have a third distance; The tag device exchanges UWB signals with the communication device in the positioning service system according to the first positioning algorithm in the second time slot to determine its own location information in the positioning service system, including: The tag device detects a UWB signal J at a timestamp Q of the second time slot, the UWB signal J is broadcast by the base station X to a communication device in the positioning service system at a timestamp H of the second time slot, and the UWB signal J is used to detect location information of the tag device in the positioning service system; The tag device detects a UWB signal K at a timestamp R of the second time slot, the timestamp R is after the timestamp Q, and the UWB signal K is broadcast by the base station K to the communication device in the positioning service system after detecting the UWB signal J; The tag device detects the UWB signal L at the timestamp S of the second time slot, the timestamp S is after the timestamp R, and the UWB signal L is broadcasted by the base station L to the communication device in the positioning service system after detecting the UWB signal K; The tag device receives indication information Z at the timestamp T of the second time slot; wherein the timestamp T is after the timestamp S, and the indication information Z is used to indicate a first transmission time difference and a second transmission time difference, the first transmission time difference being the transmission time difference between the base station X broadcasting the UWB signal J and the base station K broadcasting the UWB signal K, and the second transmission time difference being the transmission time difference between the base station X broadcasting the UWB signal J and the base station L broadcasting the UWB signal L; The tag device determines its own location information in the positioning service system according to the timestamp Q, the timestamp R, the timestamp S, the first sending time difference and the second sending time difference.

13. The method according to claim 10, It is characterized in that The current time slot is the third time slot, and the tag device is one of the at least one Internet of Things tag devices; The tag device exchanges UWB signals with the communication device in the positioning service system in the current time slot on the first time frame to implement UWB wireless communication, including: The tag device exchanges UWB signals with the communication device in the positioning service system according to the second positioning algorithm in the third time slot to determine its own location information in the positioning service system.

14. The method according to claim 13, It is characterized in that The at least three base stations include the base station X, the base station M and the base station N; The tag device exchanges UWB signals with the communication device in the positioning service system according to the second positioning algorithm in the third time slot to determine its own location information in the positioning service system, including: The tag device broadcasts a UWB signal M to the communication device in the positioning service system at the timestamp U of the third time slot, wherein the UWB signal M is used to request detection of the location information of the tag device in the positioning service system; The tag device detects a UWB signal N at a timestamp V of the third time slot, the timestamp V is after the timestamp U, and the UWB signal N is broadcast by the base station X to the communication device in the positioning service system after detecting the UWB signal M; The tag device detects the UWB signal P at the timestamp W of the third time slot, the timestamp W is after the timestamp V, and the UWB signal P is broadcasted by the base station M to the communication device in the positioning service system after detecting the UWB signal N; The tag device detects a UWB signal Q at a timestamp F of the third time slot, and the UWB signal Q is broadcast by the base station N to the communication device in the positioning service system after detecting the UWB signal P; The tag device broadcasts indication information H to the communication device in the positioning service system at timestamp G of the third time slot, where timestamp G is after timestamp F, and indication information H is used to indicate timestamp U, timestamp V, timestamp W, timestamp F and timestamp G.

15. A wireless communication device, It is characterized in that Applied to base station X; the device comprises a processing unit and a communication unit, and the processing unit is used to: Acquire, by the communication unit, a first time frame for ultra-wideband UWB wireless communication between communication devices in a positioning service system; wherein the communication devices in the positioning service system include at least three base stations and tag devices; the first time frame includes a time slot for providing base station synchronization operation and at least one time slot for providing positioning services to the tag device through a preset positioning algorithm; Interacting UWB signals with a communication device in the positioning service system through the communication unit in a current time slot on the first time frame to implement UWB wireless communication; The one time slot for providing base station synchronization operation is a first time slot, the at least one time slot for providing positioning services to the tag device through a preset positioning algorithm includes a second time slot, a third time slot and a fourth time slot, the preset positioning algorithm includes a first positioning algorithm, a second positioning algorithm and a third positioning algorithm, and the tag device includes an electronic device and at least one Internet of Things tag device; Among them, the second time slot is used to provide positioning services to the electronic device through the first positioning algorithm, the third time slot is used to provide positioning services to the at least one Internet of Things tag device through the second positioning algorithm, and the fourth time slot is used to locate the target Internet of Things tag device from the at least one Internet of Things tag device for the electronic device through the third positioning algorithm.

16. A wireless communication device, It is characterized in that Applied to a label device; the device comprises a processing unit and a communication unit, and the processing unit is used to: Acquire, by the communication unit, a first time frame for ultra-wideband UWB wireless communication between communication devices in a positioning service system; wherein the communication devices in the positioning service system include the tag device and at least three base stations, and the first time frame includes a time slot for providing base station synchronization operation and at least one time slot for providing positioning services to the tag device through a preset positioning algorithm; Interacting UWB signals with a communication device in the positioning service system through the communication unit in a current time slot on the first time frame to implement UWB wireless communication; The one time slot for providing base station synchronization operation is a first time slot, the at least one time slot for providing positioning services to the tag device through a preset positioning algorithm includes a second time slot, a third time slot and a fourth time slot, the preset positioning algorithm includes a first positioning algorithm, a second positioning algorithm and a third positioning algorithm, and the tag device includes an electronic device and at least one Internet of Things tag device; Among them, the second time slot is used to provide positioning services to the electronic device through the first positioning algorithm, the third time slot is used to provide positioning services to the at least one Internet of Things tag device through the second positioning algorithm, and the fourth time slot is used to locate the target Internet of Things tag device from the at least one Internet of Things tag device for the electronic device through the third positioning algorithm.

17. A base station, the base station being base station X, It is characterized in that The method comprises a processor, a memory and a communication interface, wherein the memory stores one or more programs, and the one or more programs are executed by the processor, and the one or more programs include instructions for executing the steps in the method according to any one of claims 1 to 9.

18. A labeling device, It is characterized in that The method comprises a processor, a memory and a communication interface, wherein the memory stores one or more programs, and the one or more programs are executed by the processor, and the one or more programs include instructions for executing the steps in the method according to any one of claims 10 to 14.

19. A computer-readable storage medium, It is characterized in that The computer-readable storage medium stores a computer program for electronic data exchange, wherein the computer program is operable to cause a computer to execute the method according to any one of claims 1-14.

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