Positioning method, positioning system, positioning device and readable storage medium

Abstract

The present application is applicable to the field of positioning technology, and provides a positioning method, a positioning system, a positioning device and a readable storage medium. The positioning method includes: when TOF ranging is required between the Beacon base station and the tag, turning on the Beacon base station UWB module; sending a TOF positioning signal to the tag through the Beacon base station UWB module, and the TOF positioning signal is used to measure the distance between the Beacon base station and the tag; the Beacon base station receives the reply signal returned by the tag based on the TOF positioning signal, and turns off the Beacon base station UWB module. In the prior art, the base station needs to keep the UWB module turned on to receive the positioning signals sent by the tag at different times. In the positioning method of the present application, TOF ranging is actively initiated by the Beacon base station. Therefore, the Beacon base station can turn on the Beacon base station UWB module when it needs to perform TOF ranging, and turn off the Beacon base station UWB module at other times, which greatly reduces the power consumption of the Beacon base station.

Description

Technical Field

[0001] The present application belongs to the field of positioning technology, and in particular relates to a positioning method, a positioning system, a positioning device and a readable storage medium. Background Art

[0002] Ultra Wide Band (UWB) technology is a wireless carrier communication technology that uses non-sinusoidal narrow pulses from nanoseconds to microseconds to transmit data, which makes the spectrum range it occupies very wide, so it is often used in the field of high-precision positioning.

[0003] In the field of high-precision positioning, Time Of Flight (TOF) is a commonly used positioning method. During the positioning process, the tag needs to initiate a TOF positioning signal, and the base station receives the TOF positioning signal and responds. The TOF positioning signal's round-trip flight time between a pair of transceivers is used to measure the distance between the tag and the base station.

[0004] In this traditional positioning method, the base station is uncertain when the tag will initiate the TOF positioning signal, and the UWB module in the base station needs to be turned on all the time to receive the TOF positioning signals sent by the tag at different times. However, common UWB modules consume a lot of power, which results in a high power consumption of the entire base station, and a separate external power supply is usually required in applications. In some complex scenarios, such as industrial scenarios such as chemical and power plants, the construction cost of deploying power supplies is extremely high. Summary of the invention

[0005] In view of this, the embodiments of the present application provide a positioning method, a positioning system, a positioning device and a readable storage medium to solve the problem in the existing positioning method that the base station is not sure when the tag initiates the TOF positioning signal and the UWB module in the base station needs to be turned on all the time, resulting in high power consumption of the entire base station.

[0006] In the first aspect, an embodiment of the present application provides a positioning method, which is applied to a Beacon base station. A Beacon base station UWB module is provided in the Beacon base station. The positioning method includes: when TOF ranging is required between the Beacon base station and the tag, turning on the Beacon base station UWB module; the Beacon base station sends a TOF positioning signal to the tag through the Beacon base station UWB module, and the TOF positioning signal is used to measure the distance between the Beacon base station and the tag; the Beacon base station receives a reply signal returned by the tag based on the TOF positioning signal, and turns off the Beacon base station UWB module.

[0007] In the positioning method provided in the first aspect, the Beacon base station only needs to turn on the Beacon base station UWB module when performing TOF ranging, send a TOF positioning signal to the tag, and immediately turn off the Beacon base station UWB module after receiving the reply signal sent by the tag. That is, the Beacon base station only turns on the Beacon base station UWB module when performing TOF ranging, and turns off the Beacon base station UWB module at other times. There is no need to keep the UWB module turned on as in the prior art, thereby greatly reducing the power consumption of the entire Beacon base station.

[0008] Optionally, before turning on the UWB module of the Beacon base station, the positioning method also includes: the Beacon base station sends a first synchronization request signal to the communication base station through a low-power wireless network, and records the real-time time of the Beacon base station, the first synchronization request signal is used to synchronize the time of the Beacon base station and the communication base station; receiving a first synchronization reply signal returned by the communication base station based on the first synchronization request signal; parsing the first synchronization reply signal to obtain timestamp information corresponding to the real-time time of the Beacon base station.

[0009] Optionally, the positioning method also includes: determining a UWB positioning segment corresponding to the Beacon base station based on the timestamp information, the UWB positioning segment being a positioning time period, and the UWB positioning segment being used for the Beacon base station to send a TOF positioning signal when the Beacon base station is in the UWB positioning segment; determining a time for the Beacon base station to send a TOF positioning signal based on the UWB positioning segment.

[0010] Optionally, the UWB positioning segment corresponding to the Beacon base station is determined based on the timestamp information, including: when the timestamp information is the set BLE synchronization moment, the target time period after the BLE synchronization moment is determined as the BLE synchronization segment, and the BLE synchronization segment is used to send a BLE synchronization signal when the Beacon base station is in the BLE synchronization segment, and the BLE synchronization signal is used to detect tags within the positioning range of the Beacon base station; protection durations are set at both ends of the BLE synchronization segment, and the BLE synchronization segment after the protection duration is set is determined as a BLE synchronization receiving window, and the BLE synchronization receiving window is used for the tag to receive the BLE synchronization signal; the interval between two adjacent BLE synchronization receiving windows is calculated, and the interval is determined as the UWB positioning segment.

[0011] Optionally, according to the UWB positioning segment, the time when the Beacon base station sends the TOF positioning signal is determined, including: determining the positioning period of the Beacon base station; randomly selecting a starting positioning time in the UWB positioning segment, the starting positioning time indicating the time when the Beacon base station sends the TOF positioning signal for the first time; according to the starting positioning time and the positioning period, determining the time when the Beacon base station sends the TOF positioning signal each time.

[0012] Optionally, after receiving the reply signal returned by the tag based on the TOF positioning signal and turning off the Beacon base station UWB module, the positioning method also includes: determining the distance information based on the TOF positioning signal and the reply signal; sending the distance information to the server through the communication base station, and the distance information is used by the server to parse the distance information, and determine the location of the tag based on the parsing result.

[0013] Optionally, there are multiple tags, and the TOF positioning signal includes a list of tags to be tested. The positioning method also includes: sorting each tag according to the reply signal returned by each tag; updating the list of tags to be tested according to the sorting result, and the updated list of tags to be tested is used for the next TOF ranging, and each tag in the updated list of tags to be tested returns the reply signal in order.

[0014] In a second aspect, an embodiment of the present application provides a positioning method applied to a tag, the positioning method comprising: the tag receives a TOF positioning signal sent by a Beacon base station; the tag sends a reply signal to the Beacon base station based on the TOF positioning signal.

[0015] Optionally, a tag UWB module is provided in the tag, and the TOF positioning signal includes the time when the Beacon base station sends the TOF positioning signal next time. The positioning method also includes: the tag determines the opening time and closing time of the tag UWB module according to the time when the Beacon base station sends the TOF positioning signal next time; when it is detected that the current time reaches the opening time, the tag UWB module is turned on, and the turned-on tag UWB module is used to receive the TOF positioning signal sent by the Beacon base station next time; or, when it is detected that the current time reaches the closing time, the tag UWB module is turned off.

[0016] Optionally, before receiving the TOF positioning signal sent by the Beacon base station, the positioning method also includes: the tag sends a second synchronization request signal to the communication base station through a low-power wireless network, and records the real-time time of the tag, the second synchronization request signal is used to synchronize the time of the tag and the communication base station; receiving a second synchronization reply signal returned by the communication base station based on the second synchronization request signal; parsing the second synchronization reply signal to obtain the timestamp information corresponding to the real-time time of the tag.

[0017] Optionally, there are multiple tags, the TOF positioning signal includes a list of tags to be tested, and a reply signal is sent to the Beacon base station based on the TOF positioning signal, including: for each tag, if it is detected that the tag is in the list of tags to be tested, the tag sends a reply signal to the Beacon base station in a preset time slot; or, if it is detected that the tag is not in the list of tags to be tested, the tag sends a reply signal to the Beacon base station in a preset contention segment.

[0018] Optionally, if the tag is detected in the list of tags to be tested, the tag sends a reply signal to the Beacon base station in a preset time slot, including: if the tag is detected in the list of tags to be tested, obtaining the position of the tag in the list of tags to be tested; determining the reply time of the tag in the time slot according to the position; and sending a reply signal to the Beacon base station at the reply time.

[0019] In a third aspect, an embodiment of the present application provides a positioning system, which includes: a Beacon base station and a tag, wherein the Beacon base station is provided with a Beacon base station UWB module, and the Beacon base station is used to turn on the Beacon base station UWB module when TOF ranging is required between the Beacon base station and the tag; a TOF positioning signal is sent to the tag through the Beacon base station UWB module, and the TOF positioning signal is used to measure the distance between the Beacon base station and the tag;

[0020] The tag is used to receive the TOF positioning signal sent by the Beacon base station; send a reply signal to the Beacon base station based on the TOF positioning signal;

[0021] The Beacon base station is also used to receive a reply signal returned by the tag based on the TOF positioning signal and turn off the Beacon base station UWB module.

[0022] Optionally, the positioning system includes a server and a communication base station on the basis of the Beacon base station and the tag. The server is time synchronized with the communication base station. The Beacon base station is also provided with a Beacon base station communication module, through which the Beacon base station can communicate and synchronize with the communication base station and the tag. The tag is also provided with a tag communication module, through which the tag can communicate and synchronize with the communication base station and the Beacon base station.

[0023] The Beacon base station is also used to determine distance information based on the TOF positioning signal and the reply signal; and send the distance information to the communication base station;

[0024] The communication base station is used to forward the distance information to the server;

[0025] The server is used to parse the distance information and determine the location of the tag based on the parsing result.

[0026] In a fourth aspect, an embodiment of the present application provides a positioning device, which is applied to a Beacon base station, including:

[0027] The decision module is used to turn on the UWB module of the Beacon base station when TOF ranging is required between the Beacon base station and the tag;

[0028] The sending module is used to send a TOF positioning signal to the tag through the Beacon base station UWB module. The TOF positioning signal is used to measure the distance between the Beacon base station and the tag;

[0029] The receiving module is used for the Beacon base station to receive the reply signal returned by the tag based on the TOF positioning signal and turn off the Beacon base station UWB module.

[0030] In a fifth aspect, an embodiment of the present application provides a positioning device, applied to a label, comprising:

[0031] Receiving module, used for the tag to receive the TOF positioning signal sent by the Beacon base station;

[0032] The sending module is used for the tag to send a reply signal to the Beacon base station based on the TOF positioning signal.

[0033] In a sixth aspect, an embodiment of the present application provides a Beacon base station, including a memory, a processor, a Beacon base station UWB module, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the positioning method provided in the first aspect is implemented.

[0034] In a seventh aspect, an embodiment of the present application provides a tag, including a memory, a processor, a tag UWB module, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the positioning method provided in the second aspect is implemented.

[0035] In an eighth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program. When the computer program is executed by a processor, the positioning method provided in the first aspect is implemented.

[0036] In a ninth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program. When the computer program is executed by a processor, the positioning method provided in the second aspect is implemented.

[0037] In a tenth aspect, an embodiment of the present application provides a computer program product. When the computer program product runs on a Beacon base station, the Beacon base station executes the positioning method provided in the first aspect above.

[0038] In an eleventh aspect, an embodiment of the present application provides a computer program product. When the computer program product is run on a tag, the tag executes the positioning method provided in the second aspect above.

[0039] In a twelfth aspect, an embodiment of the present application provides a chip system, the chip system includes a memory and a processor, the processor executes a computer program stored in the memory to implement the positioning method provided in the first aspect.

[0040] In a thirteenth aspect, an embodiment of the present application provides a chip system, the chip system includes a memory and a processor, the processor executes a computer program stored in the memory to implement the positioning method provided in the second aspect.

[0041] In the fourteenth aspect, an embodiment of the present application provides a chip system, the chip system includes a processor, the processor is coupled to the computer-readable storage medium provided in the eighth aspect, and the processor executes a computer program stored in the computer-readable storage medium to implement the positioning method provided in the first aspect.

[0042] In the fifteenth aspect, an embodiment of the present application provides a chip system, the chip system includes a processor, the processor is coupled to the computer-readable storage medium provided in the ninth aspect, and the processor executes a computer program stored in the computer-readable storage medium to implement the positioning method provided in the second aspect.

[0043] It can be understood that the beneficial effects of the second to fifteenth aspects mentioned above can be found in the relevant description of the first aspect mentioned above, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0045] Figure 1 is a schematic flow chart of a positioning method provided by an exemplary embodiment of the present application;

[0046] Figure 2 is a schematic flow chart of a positioning method provided by another exemplary embodiment of the present application;

[0047] Figure 3 is a schematic flow chart of a wireless time synchronization method provided by yet another exemplary embodiment of the present application;

[0048] Figure 4 It is a schematic diagram of wireless time synchronization between a Beacon base station or a tag and a communication base station shown in the present application;

[0049] Figure 5 is a schematic flow chart of a positioning method provided by another exemplary embodiment of the present application;

[0050] Figure 6 It is a schematic diagram of BLE positioning synchronization shown in this application;

[0051] Figure 7 is a schematic flow chart of a positioning method provided by another exemplary embodiment of the present application;

[0052] Figure 8 It is a schematic diagram of the downlink TOF process shown in this application;

[0053] Fig. 9 is a schematic diagram of a positioning system provided by an embodiment of the present application;

[0054] Fig.10 This is a structural block diagram of a positioning device applied to a Beacon base station provided in an embodiment of the present application;

[0055] Fig.11 is a structural block diagram of a positioning device applied to a tag provided by an embodiment of the present application;

[0056] Fig.12 This is a structural block diagram of a Beacon base station provided in one embodiment of the present application;

[0057] Fig.13 This is a structural block diagram of a label provided in an embodiment of the present application. DETAILED DESCRIPTION

[0058] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the drawings in the present application only serve the purpose of explanation and description and are not used to limit the scope of protection of the present application. In addition, it should be understood that the schematic drawings are not drawn in real proportion. The flowchart used in this application shows the operations implemented according to some embodiments of the present application. It should be understood that the operations of the flowchart can be implemented out of sequence, and the steps without logical context can be reversed in order or implemented simultaneously. In addition, those skilled in the art can add one or more other operations to the flowchart under the guidance of the content of the present application, or remove one or more operations from the flowchart.

[0059] In addition, the embodiments described in the present application are only a part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

[0060] It should be noted that the term "comprising" will be used in the embodiments of the present application to indicate the existence of the features declared thereafter, but does not exclude the addition of other features. It should also be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. In the description of the present application, it should also be noted that the terms "first", "second", "third", etc. are only used to distinguish descriptions and cannot be understood as indicating or implying relative importance.

[0061] In order to better understand the embodiments of the present application, the terms or concepts that may be involved in the embodiments are introduced below.

[0062] 1. Bluetooth Low Energy (BLE)

[0063] It is a personal area network technology designed and marketed by the Bluetooth SIG. Compared to classic Bluetooth, Bluetooth Low Energy aims to significantly reduce power consumption and cost while maintaining the same communication range.

[0064] 2. Beacon base station

[0065] Also called UWB Beacon base station or UWB beacon base station. The core of Beacon base station is based on clock synchronization and uses UWB ranging to achieve low power consumption and high precision positioning.

[0066] 3. Network Time Protocol (NTP)

[0067] It is a protocol used to synchronize the time of each computer in the network.

[0068] 4.IEEE1588 protocol

[0069] The full name of the IEEE1588 protocol is "Precision Clock Synchronization Protocol Standard for Network Measurement and Control Systems", also known as the Precise Time Protocol (PTP), which is used for timing synchronization and can achieve sub-microsecond time synchronization accuracy.

[0070] 5. ZigBee

[0071] It is a low-speed, short-distance wireless network protocol. The underlying layer is the media access layer and physical layer of the IEEE 802.15.4 standard. It is suitable for a series of electronic components and devices with short transmission range and low data transmission rate. The main features are low speed, low power consumption, low cost, support for a large number of online nodes, support for multiple online topologies, low complexity, fast, reliable, and secure.

[0072] 6. Long Range Radio (LoRa)

[0073] LoRa is a low-power LAN wireless standard. Its biggest feature is that it can transmit farther than other wireless methods under the same power consumption conditions, achieving the unity of low power consumption and long distance. It can extend the communication distance 3 to 5 times that of traditional wireless radio frequency under the same power consumption.

[0074] 7. Narrow Band Internet of Things (NB-IoT)

[0075] NB-IoT is an emerging technology in the IoT field, which supports cellular data connection of low-power devices in wide area networks, also known as low-power wide area networks (LPWAN). NB-IoT supports efficient connection of devices with long standby time and high network connection requirements. It can provide very comprehensive indoor cellular data connection coverage.

[0076] 8. Received Signal Strength Indication (RSSI)

[0077] In this application, RSSI is used to indicate the strength of a received signal.

[0078] 9. Real-Time Clock (RTC)

[0079] RTC is an integrated circuit, usually called a clock chip. It is used to provide accurate real-time time or provide an accurate time reference for electronic systems.

[0080] 10.Unix timestamp

[0081] The Unix timestamp is a representation of time as the number of seconds that have passed since January 1, 1970 (midnight UTC / GMT), excluding leap seconds.

[0082] 11. Crystal Oscillator

[0083] It is generally called a crystal resonator, which is an electromechanical device. Crystal oscillator is the abbreviation of quartz oscillator. It is made of quartz crystal with very low electrical loss, which is precisely cut and ground, plated with electrodes, and welded with leads.

[0084] 12. Wireless communication technology (Wi-Fi)

[0085] Also known as "mobile hotspot", it is a wireless LAN technology created based on the IEEE 802.11 standard and is used to connect network-connectable devices to each other wirelessly.

[0086] 13. Temperature drift

[0087] The change in semiconductor device parameters caused by temperature change is the main cause of zero drift phenomenon, so zero drift is also called temperature drift, or temperature drift for short.

[0088] 14.Time Slot

[0089] Indicates the time period during which the tags in the list of tags to be tested send reply signals to the Beacon base station.

[0090] 15. Competition segment

[0091] Indicates the time period during which tags that are not in the list of tags to be tested send reply signals to the Beacon base station.

[0092] The above is a brief introduction to the terms involved in the embodiments of the present application, which will not be repeated below.

[0093] UWB technology is often used in the field of high-precision positioning, in which TOF is a commonly used positioning method. During the positioning process, the tag needs to initiate a TOF positioning signal, and the base station receives the TOF positioning signal sent by the tag and replies with a positioning signal. The flight time of the TOF positioning signal between a pair of transceivers can be used to measure the distance between the tag and the base station.

[0094] The base station and the tag are equipped with corresponding UWB modules. In the above-mentioned traditional positioning method, the tag can turn on the UWB module in the tag only when it needs to transmit the TOF positioning signal according to the positioning cycle, and turn off the UWB module in the tag at other times, so as to reduce the power consumption of the tag.

[0095] Since the base station is not sure when the tag will send a TOF positioning signal, it needs to keep the UWB module in the base station turned on to receive the TOF positioning signals sent by the tag at different times. However, the common UWB module consumes a lot of power, which leads to a high power consumption of the entire base station.

[0096] For example, the receiving current of the common UWB modules on the market is about 100mA, resulting in the power consumption of the base station being about a few watts. The power consumption of the UWB module in the tag is only a few hundred microwatts, causing the base station power consumption to be tens of thousands times higher than that of the tag.

[0097] In addition, due to the high power consumption of base stations, base stations cannot be powered by batteries and require long-term external power supply. Therefore, when deploying the positioning system, it is necessary to lay power lines for the base stations, which not only increases construction costs and safety risks, but also reduces the flexibility of positioning system deployment. Especially in places with strict wiring requirements such as chemical plants and power plants, the impact of the above problems will be more serious.

[0098] In view of this, an embodiment of the present application provides a positioning method, which is applied to a Beacon base station, and a Beacon base station UWB module is provided in the Beacon base station. The positioning method includes: when TOF ranging is required between the Beacon base station and the tag, turning on the Beacon base station UWB module; sending a TOF positioning signal to the tag through the Beacon base station UWB module, and the TOF positioning signal is used to measure the distance between the Beacon base station and the tag; the Beacon base station receives a reply signal returned by the tag based on the TOF positioning signal, and turns off the Beacon base station UWB module.

[0099] In the prior art, the base station needs to keep the UWB module turned on to receive the positioning signals sent by the tag at different times. In the positioning method provided by this application, the Beacon base station only needs to turn on the Beacon base station UWB module when performing TOF ranging, send the TOF positioning signal to the tag, and immediately turn off the Beacon base station UWB module after receiving the reply signal sent by the tag. That is, the Beacon base station only turns on the Beacon base station UWB module when performing TOF ranging, and turns off the Beacon base station UWB module at other times, which greatly reduces the power consumption of the Beacon base station.

[0100] In addition, the positioning method provided by the present application changes the existing positioning mode (the existing positioning mode is that the tag initiates the TOF positioning signal, the base station receives the TOF positioning signal and replies, and in the present application, the Beacon base station actively initiates TOF ranging, that is, the Beacon base station actively sends a TOF positioning signal to the tag, and the tag returns a reply signal based on the TOF positioning signal), so that the power consumption of the Beacon base station as a whole is significantly reduced, which can be compared with the power consumption of the tag, so that the Beacon base station can be powered by a battery. When supplemented by a large-capacity battery, the Beacon base station can have a battery life of up to several years. In this way, when deploying the positioning system, there is no need to lay power lines for the Beacon base station, which greatly reduces the construction cost, completely avoids the safety risks caused by wiring, and enhances the flexibility of the positioning system deployment.

[0101] The positioning method and positioning system provided in the embodiments of the present application are described in detail below in conjunction with the accompanying drawings of the specification.

[0102] See also Figure 1 , Figure 1 FIG. 1 is a schematic flow chart of a positioning method provided by an exemplary embodiment of the present application. Figure 1 The positioning method shown is applied to a Beacon base station. The positioning method may include: S101 to S103, which are as follows:

[0103] S101: When TOF distance measurement is required between the Beacon base station and the tag, the Beacon base station UWB module is turned on.

[0104] The Beacon base station is provided with a Beacon base station UWB module, a Beacon base station CPU module, etc. Among them, the Beacon base station UWB module includes a first UWB transmitter and a first UWB receiver. When the Beacon base station UWB module is turned on, a TOF positioning signal can be sent to the tag through the first UWB transmitter, and a reply signal sent by the tag can be received through the first UWB receiver.

[0105] The time of TOF ranging, that is, the time when the Beacon base station sends the TOF positioning signal, can be used to determine whether TOF ranging is required between the current Beacon base station and the tag. The time when the Beacon base station sends the TOF positioning signal can include: the time when the current Beacon base station sends the TOF positioning signal, and the time when the Beacon base station sends the TOF positioning signal each time thereafter.

[0106] For example, the time when the Beacon base station sends the TOF positioning signal may include: the time when the current Beacon base station sends the TOF positioning signal, the time when the next Beacon base station sends the TOF positioning signal, and the time when the next Beacon base station sends the TOF positioning signal...etc.

[0107] Exemplarily, if the Beacon base station detects that the current time is the same as the time when the Beacon base station sends the TOF positioning signal, it determines that TOF ranging is required between the current Beacon base station and the tag, that is, the current Beacon base station needs to send a TOF positioning signal to the tag. At this time, the Beacon base station turns on the Beacon base station UWB module.

[0108] If the Beacon base station detects that the current time has not yet reached the time for the Beacon base station to send a TOF positioning signal, it determines that TOF ranging is not required between the current Beacon base station and the tag, that is, the current Beacon base station does not need to send a TOF positioning signal to the tag. At this time, the Beacon base station UWB module is not turned on first. When the current time reaches the time for the Beacon base station to send a TOF positioning signal, the Beacon base station UWB module is turned on.

[0109] Among them, turning on the Beacon base station UWB module can be achieved by waking up the Beacon base station CPU module to turn on the Beacon base station UWB module.

[0110] It is worth noting that when the Beacon base station and the tag perform TOF ranging for the first time, the time when the Beacon base station sends the TOF positioning signal can be randomly determined by the Beacon base station, that is, the Beacon base station randomly initiates TOF ranging for the first time. From the second time onwards, for each TOF ranging, the time when the Beacon base station sends the TOF positioning signal is determined by the time when the TOF positioning signal was sent last time and the positioning cycle.

[0111] S102: Send a TOF positioning signal to the tag through the Beacon base station UWB module.

[0112] The TOF positioning signal is used to measure the distance between the Beacon base station and the tag. Specifically, the Beacon base station sends a TOF positioning signal to the tag. After receiving the TOF positioning signal, the tag sends a reply signal to the Beacon base station, and the Beacon base station receives the reply signal. The time when the Beacon base station sends the TOF positioning signal and the time when the reply signal is received, as well as the time when the tag receives the TOF positioning signal and sends the reply signal are obtained. According to the time when the Beacon base station sends the TOF positioning signal, the time when the Beacon base station receives the reply signal, the time when the tag receives the TOF positioning signal, the time when the tag sends the reply signal, and the speed of electromagnetic wave propagation, the distance between the Beacon base station and the tag can be calculated.

[0113] The TOF positioning signal can include the time when the Beacon base station will send the TOF positioning signal next time. The Beacon base station knows the time when it will send the TOF positioning signal next time, and can more accurately control the opening and closing of the Beacon base station UWB module, further reducing the power consumption of the UWB module.

[0114] Exemplarily, there is no limit on the number of Beacon base stations and tags, that is, in this embodiment, there may be one or more Beacon base stations and one or more tags.

[0115] It is worth noting that in a positioning process, no matter how many tags there are, the Beacon base station only needs to send a TOF positioning signal once, and all tags within the communication coverage of the Beacon base station will receive the TOF positioning signal. For example, the Beacon base station sends a TOF positioning signal to the tag through the first transmitter in the UWB module of the Beacon base station, and the tags within the communication coverage of the Beacon base station receive the TOF positioning signal.

[0116] S103: The Beacon base station receives a reply signal returned by the tag based on the TOF positioning signal, and turns off the Beacon base station UWB module.

[0117] The reply signal may include the time when the tag receives the TOF positioning signal, the time when the reply signal is sent, and the identification information of the tag.

[0118] Exemplarily, whether there is one or more tags, for each tag, when a Beacon base station sends a TOF positioning signal to the tag, the tag sends a reply signal to the Beacon base station after receiving the TOF positioning signal sent by the Beacon base station. When multiple Beacon base stations send TOF positioning signals to the tag, the tag receives the TOF positioning signal sent by each Beacon base station respectively and sends a reply signal to each Beacon base station.

[0119] The Beacon base station receives the reply information sent by the tag through the first UWB receiver in the Beacon base station UWB module. After receiving the reply information sent by the tag, the Beacon base station UWB module is turned off in time until the next time the Beacon base station needs to perform TOF ranging, and then the Beacon base station UWB module is turned on, and the process is repeated continuously.

[0120] In this implementation, the Beacon base station only needs to turn on the Beacon base station UWB module when performing TOF ranging, send a TOF positioning signal to the tag, and immediately turn off the Beacon base station UWB module after receiving the reply signal sent by the tag. That is, the Beacon base station only turns on the Beacon base station UWB module when performing TOF ranging, and turns off the Beacon base station UWB module at other times, which greatly reduces the power consumption of the entire Beacon base station.

[0121] See also Figure 2 , Figure 2 is a schematic flow chart of a positioning method provided by another exemplary embodiment of the present application. Optionally, in some possible implementations of the present application, such as Figure 2 The positioning method shown may include: S201 to S205, which are specifically as follows:

[0122] S201: When TOF distance measurement is required between the Beacon base station and the tag, the Beacon base station UWB module is turned on.

[0123] S202: Send a TOF positioning signal to the tag through the Beacon base station UWB module.

[0124] S203: The Beacon base station receives a reply signal returned by the tag based on the TOF positioning signal, and turns off the Beacon base station UWB module.

[0125] For detailed description of S201 to S203, please refer to Figure 1 The description of S101 to S103 in the corresponding embodiment will not be repeated here.

[0126] In the prior art, the TOF positioning signal is initiated by the tag, and each base station replies. This positioning method is called uplink TOF. In this application, the TOF positioning signal is initiated by the Beacon base station, and each tag replies, which is called downlink TOF. Since downlink TOF is adopted, TOF ranging is actively initiated by the Beacon base station. Therefore, the Beacon base station only needs to turn on the Beacon base station UWB module and Beacon base station CPU module when it needs to perform TOF ranging, and they are turned off at other times, which greatly reduces the power consumption of the Beacon base station.

[0127] For example, assuming that the positioning frequency set by the server is 1Hz, that is, each tag is positioned once every 1s, then for each Beacon base station, the Beacon base station UWB module only needs to be turned on once every 1s to perform TOF distance measurement with each tag, and the duration of each Beacon base station UWB module being turned on is only a few ms, which means that the Beacon base station UWB module is turned off for most of the time within 1s. Therefore, the power consumption of the Beacon base station is extremely low.

[0128] S204: Determine distance information according to the TOF positioning signal and the reply signal.

[0129] The distance information may include information such as the distance between the Beacon base station and the tag, identification information of the Beacon base station, and identification information of the tag.

[0130] Exemplarily, the distance between the Beacon base station and the tag is calculated using the TOF ranging principle. For example, the time when the Beacon base station sends the TOF positioning signal and the time when the reply signal is received are obtained, and the time interval between the time when the Beacon base station sends the TOF positioning signal and the time when the reply signal is received is recorded as Tt. The time when the tag receives the TOF positioning signal and the time when the reply signal is sent is obtained, and the time interval between the time when the tag receives the TOF positioning signal and the time when the reply signal is sent is recorded as Tr. The one-way flight time Tf of the TOF positioning signal between the Beacon base station and the tag is calculated by the following formula (1).

[0131] Tf=(Tt-Tr) / 2, (1)

[0132] The distance d between the Beacon base station and the tag is calculated using the following formula (2).

[0133] d=c*Tf, (2)

[0134] In the above formula (2), d represents the distance between the Beacon base station and the tag, c represents the propagation speed of electromagnetic waves, and Tf represents the one-way flight time.

[0135] S205: Send the distance information to the server via the communication base station.

[0136] The server is connected to the communication base station in advance through Ethernet, wireless communication technology (Wi-Fi), etc. In the process of establishing a connection between the server and the communication base station, some switches and routers will be passed. The specific connection process can be referred to the existing technology and will not be repeated here. Among them, the communication base station requires an external power supply.

[0137] The distance information is used by the server to parse the distance information and determine the location of the tag according to the parsing result.

[0138] Exemplarily, the Beacon base station sends the distance information to the communication base station, and the communication base station forwards the distance information to the server. After receiving the distance information, the server parses the distance information through the positioning engine on the server to obtain the parsing result, and determines the location (such as coordinates) of the tag according to the parsing result.

[0139] In order to ensure the final location of the tag is accurate, multiple Beacon base stations send their distance information to the server through the communication base station. When the server receives multiple distance information related to the tag, it analyzes the distance information together to determine the location of the tag. The specific analysis method can refer to the existing technology and is not limited to this.

[0140] Optionally, in some possible implementations of the present application, the server is also connected to a terminal, and the position of each tag can be displayed in real time on the display interface of the terminal for easy viewing by the user. The terminal may include a mobile phone, a car computer, a tablet computer, a wearable device, an augmented reality (AR) / virtual reality (VR) device, a personal digital assistant (PDA), a computer, etc.

[0141] Optionally, in order to facilitate the subsequent BLE positioning synchronization between the Beacon base station and the tag, before the Beacon base station and the tag perform TOF ranging, the positioning method provided in the present application may also include: the communication base station and the server perform time synchronization.

[0142] It is worth explaining that the "time synchronization" in this application is the time synchronization in the usual sense. Specifically, the "time synchronization" in this application has two meanings. On the one hand, it means the time synchronization between each communication base station and the server. On the other hand, it means the time synchronization between the two positioning devices, the Beacon base station and the tag, and the communication base station. After the time synchronization is completed, the time of each device has been synchronized, but the tag does not know when the Beacon base station initiates TOF, so based on the time synchronization, BLE positioning synchronization is also required.

[0143] BLE positioning synchronization refers to the synchronization of positioning time between Beacon base stations and tags. In layman's terms, BLE positioning synchronization means that each Beacon base station sends a BLE signal, which carries the time when the Beacon base station subsequently initiates TOF. The tag receives the BLE signal, so that the tag can know when each Beacon base station initiates TOF. That is, through BLE positioning synchronization, the Beacon base station will tell the tag when the Beacon base station initiates TOF ranging, so that the tag can turn on the tag UWB module at the corresponding time to perform TOF ranging.

[0144] The number of the communication base stations may be one or more.

[0145] Exemplarily, synchronization methods such as NTP and IEEE 1588 can be used to achieve time synchronization between the communication base station and the server. For example, the principle of using NTP to synchronize the time between each communication base station and the server is that the server and each communication base station exchange messages twice to determine the master-slave time error, each communication base station calibrates the local time, completes time synchronization, and can also calibrate the local clock frequency.

[0146] After each communication base station and the server are synchronized, the error between each communication base station and the server is extremely small, such as an error of less than 1ms (millisecond).

[0147] Since the crystal oscillators of different devices will have a certain temperature drift, even at the same temperature and the same nominal frequency, the frequencies of different crystal oscillators will be different, which will cause time deviation. Therefore, in order to ensure the accuracy of time and thus improve the accuracy of tag positioning, the time synchronization between each communication base station and the server needs to be performed periodically, that is, each communication base station and the server are synchronized once every period of time. The specific period can be set according to the actual situation and is not limited here.

[0148] Optionally, in order to enable the Beacon base station and the tag to detect the surrounding communication base stations in a timely manner and provide a basis for subsequent communication between the communication base station and the Beacon base station and the tag, before the Beacon base station and the tag perform TOF ranging, the positioning method provided in the present application may also include: the communication base station uses a low-power wireless network to cover the entire positioning area, wherein a number of Beacon base stations and tags are deployed in the positioning area.

[0149] The low-power wireless network may include ZigBee, LoRa, NB-IoT, etc. Among them, the physical layer of ZigBee may be 2.4 GHz (Hertz) or Sub-1 GHz. Sub-1 GHz refers to wireless communication with a frequency band below 1 GHz, such as 433 MHz, 915 MHz, etc. Compared with the common 2.4 GHz communication, Sub-1 GHz has better diffraction performance.

[0150] For example, the Beacon base station and the tag scan low-power wireless networks on specific channels, find surrounding communication base stations, and select the communication base station with the largest signal strength RSSI as their respective communication base stations. The specific channel is a channel pre-agreed in the positioning system.

[0151] For example, several channels (such as 3 channels) can be agreed upon in the positioning system in advance, and the channel of each communication base station can be configured as any one of the 3 channels. For each Beacon base station, each time the Beacon base station scans the channel, it will scan the 3 channels in turn, so as to find all the communication base stations within the surrounding signal coverage, and select the communication base station with the largest signal strength RSSI relative to the Beacon base station as the communication base station of the Beacon base station. At this time, the Beacon base station and the communication base station are connected.

[0152] Similarly, for each tag, each time the tag scans the channel, it will scan these three channels in turn to find all the communication base stations within the surrounding signal coverage, and select the communication base station with the largest signal strength RSSI relative to the tag as the communication base station of the tag. At this time, the tag has established a connection with the communication base station.

[0153] In addition, the deployment of communication base stations can also be adjusted according to the size of the positioning area, the number of obstructions, the size of the obstruction area, the transmission power of the positioning device, etc. For example, the larger the area of ​​the positioning area, the more communication base stations there are; the smaller the area of ​​the positioning area, the fewer the number of communication base stations; the more obstructions there are, the more communication base stations there are; the fewer obstructions there are, the fewer communication base stations there are, and so on. Normally, the number of communication base stations is much smaller than the number of Beacon base stations. This is only an example and is not limited to this.

[0154] See also Figure 3 , Figure 3 It is a schematic flow chart of a wireless time synchronization method provided by another exemplary embodiment of the present application. Optionally, in some possible implementations of the present application, before turning on the Beacon base station UWB module, a method for performing wireless time synchronization between the Beacon base station and the communication base station may also be included, which may include: S301 to S303, as follows:

[0155] S301: The Beacon base station sends a first synchronization request signal to the communication base station via a low-power wireless network, and records the real-time time of the Beacon base station.

[0156] The first synchronization request signal is used to synchronize the time of the Beacon base station and the communication base station. The real-time time of the Beacon base station can specifically be the RTC count value of the Beacon base station.

[0157] See also Figure 4 , Figure 4 is a schematic diagram of wireless time synchronization between a Beacon base station or a tag and a communication base station shown in the present application. For example, Figure 4 As shown, the Beacon base station sends a first synchronization request signal to the communication base station and records the RTC count value of the Beacon base station.

[0158] For example, for each Beacon base station, previously, the Beacon base station has established a connection with a communication base station with the largest signal strength RSSI relative to the Beacon base station, and the Beacon base station periodically sends a first synchronization request signal to the communication base station using a low-power wireless network, and records the RTC count value of the Beacon base station while sending the first synchronization request signal. The specific period can be set according to actual conditions, such as once every 1 minute, which is not limited here.

[0159] S302: Receive a first synchronization reply signal returned by the communication base station based on the first synchronization request signal.

[0160] When the communication base station receives the first synchronization request signal sent by the Beacon base station, it immediately records the timestamp information. The timestamp information may specifically be a Unix timestamp. For example, Figure 4 As shown, when the communication base station receives the first synchronization request signal sent by the Beacon base station, it immediately records the Unix timestamp, that is, records the Unix timestamp of the communication base station at the first time. Then the communication base station returns the Unix timestamp, for example, the communication base station replies the recorded Unix timestamp to the Beacon base station through the first synchronization reply signal. The Beacon base station receives the first synchronization reply signal sent by the communication base station.

[0161] For example, for each Beacon base station, when the Beacon base station sends a first synchronization request signal to its corresponding communication base station, the communication base station immediately records the Unix timestamp and replies to the Beacon base station with a first synchronization reply signal. The Beacon base station receives the first synchronization reply signal sent by the communication base station.

[0162] S303: Analyze the first synchronization reply signal to obtain timestamp information corresponding to the real-time time of the Beacon base station.

[0163] The timestamp information corresponding to the real-time time of the Beacon base station can specifically be the Unix timestamp corresponding to the RTC count value of the Beacon base station. For example, after the Beacon base station receives the first synchronization reply signal sent by its corresponding communication base station, it parses the first synchronization reply signal to obtain the Unix timestamp corresponding to the RTC count value of the Beacon base station. The specific parsing process can be referred to the prior art and will not be repeated here.

[0164] From the time when the Beacon base station records the RTC count value to the time when the communication base station records the Unix timestamp, the time that passes in between includes the packaging time of the protocol stack on the Beacon base station, the propagation time of the wireless signal in the air, and the unpacking time of the protocol stack on the communication base station.

[0165] Among these times, the wireless propagation time is in the ns (nanosecond) to us (microsecond) level (electromagnetic waves propagate about 300 meters in 1us), and the packaging and unpacking time is about tens of us to a hundred us. The sum of these times is about a hundred us, which is much less than 1ms and can be completely ignored for this application. After ignoring these times, it can be considered that the moment when the communication base station records the Unix timestamp is the moment when the Beacon base station records the RTC count value. That is, the moment when the Unix timestamp recorded by the communication base station corresponding to the Beacon base station is the moment when the Beacon base station records the RTC count value.

[0166] Therefore, after the Beacon base station receives the first synchronization reply signal, the parsed Unix timestamp is the Unix timestamp corresponding to the RTC count value recorded locally by the Beacon base station. The RTC count value on the Beacon base station is continuously accumulated at a fixed frequency, so the Beacon base station can calculate the corresponding Unix timestamp at any time through the RTC count value recorded locally.

[0167] For example, the clock frequency of the Beacon base station RTC is f (usually f = 32768 Hz). After a synchronization request operation, the RTC count value recorded by the Beacon base station is rtc1, and the parsed Unix timestamp is ts1. After a period of time, the RTC count value of the Beacon base station becomes rtc2. Then the Unix timestamp ts2 at this time can be calculated by the following formula (3).

[0168]

[0169] Since the crystal oscillators of the communication base station and the Beacon base station will have a certain temperature drift, even at the same temperature and the same nominal frequency, the frequencies of different crystal oscillators will be different, which will cause time deviation. Therefore, in order to ensure the accuracy of the synchronized time, the wireless time synchronization between the Beacon base station and the communication base station needs to be performed periodically, that is, the wireless time synchronization between the Beacon base station and the communication base station is performed once every period of time. The specific period can be set according to the actual situation, such as once every 1 minute, which is not limited here.

[0170] Optionally, in some possible implementations of the present application, before receiving the TOF positioning signal sent by the Beacon base station, the tag will also perform wireless time synchronization with the communication base station. The method for performing wireless time synchronization between the tag and the communication base station may include: S401 to S403, as follows:

[0171] S401: The tag sends a second synchronization request signal to the communication base station via the low-power wireless network and records the real-time time of the tag.

[0172] The second synchronization request signal is used to synchronize the time of the tag and the communication base station. The real-time time of the tag can be specifically the RTC count value of the tag. For example, Figure 4 As shown, the tag sends a second synchronization request signal to the communication base station through the low-power wireless network and records the RTC count value of the tag.

[0173] For example, for each tag, before this, the tag has established a connection with a communication base station with the largest signal strength RSSI relative to the tag. The tag uses a low-power wireless network to periodically send a second synchronization request signal to the communication base station, and while sending the second synchronization request signal, it records the RTC count value of the tag.

[0174] S402: The tag receives a second synchronization reply signal returned by the communication base station based on the second synchronization request signal.

[0175] like Figure 4 As shown, when the communication base station receives the second synchronization request signal sent by the tag, it immediately records the timestamp information. The timestamp information can specifically be a Unix timestamp. That is, the Unix timestamp of the communication base station is recorded at the first time. Then the communication base station returns the Unix timestamp, for example, the communication base station replies the recorded Unix timestamp to the tag through the second synchronization reply signal. The tag receives the second synchronization reply signal sent by the communication base station.

[0176] For example, for each tag, when the tag sends a second synchronization request signal to its corresponding communication base station, the communication base station immediately records the Unix timestamp and replies the Unix timestamp to the tag through a second synchronization reply signal, and the tag receives the second synchronization reply signal sent by the communication base station.

[0177] S403: The tag parses the second synchronization reply signal to obtain timestamp information corresponding to the real time of the tag.

[0178] The timestamp information corresponding to the real-time time of the tag can specifically be the Unix timestamp corresponding to the RTC count value of the tag. For example, after the tag receives the second synchronization reply signal sent by its corresponding communication base station, it parses the second synchronization reply signal to obtain the Unix timestamp corresponding to the RTC count value of the tag. The specific parsing process can be referred to the prior art and will not be repeated here.

[0179] The time from when the tag records the RTC count value to when the communication base station records the Unix timestamp includes the packaging time of the protocol stack on the tag, the propagation time of the wireless signal in the air, and the unpacking time of the protocol stack on the communication base station.

[0180] Among these times, the wireless propagation time is in the ns (nanosecond) to us (microsecond) level (electromagnetic waves propagate about 300 meters in 1us), and the packaging and unpacking time is about tens of us to a hundred us. The sum of these times is about a hundred us, which is much less than 1ms and can be completely ignored for this application. After ignoring these times, it can be considered that the moment when the communication base station records the Unix timestamp is the moment when the tag records the RTC count value. That is, the moment when the communication base station corresponding to the tag records the Unix timestamp is the moment when the tag records the RTC count value.

[0181] Therefore, after the tag receives the second synchronization reply signal, the parsed Unix timestamp is the Unix timestamp corresponding to the RTC count value recorded locally by the tag. The RTC count value on the tag is continuously accumulated at a fixed frequency, so the tag can calculate the corresponding Unix timestamp at any time through the RTC count value recorded locally.

[0182] Since the crystal oscillators of the communication base station and the tag will have a certain temperature drift, even at the same temperature and the same nominal frequency, the frequencies of different crystal oscillators will be different, which will cause time deviation. Therefore, in order to ensure the accuracy of the synchronized time, the wireless time synchronization between the tag and the communication base station needs to be performed periodically, that is, the wireless time synchronization between the tag and the communication base station is performed once every period of time. The specific period can be set according to the actual situation, such as once every 1 minute, which is not limited here.

[0183] In this implementation, the Beacon base station, the tag, and the communication base station use the RTC count value and the Unix timestamp to achieve wireless time synchronization between the Beacon base station and the tag and the communication base station, respectively, which provides a basis for the subsequent establishment of positioning synchronization between the Beacon base station and the tag. The wireless time synchronization between the Beacon base station and the tag and the communication base station is performed periodically, which can ensure that the clock error between the communication base station, the Beacon base station, and the tag is extremely small, such as an error of less than 1ms (milliseconds), which is conducive to the subsequent Beacon base station and the tag to turn on or off their respective UWB modules in a timely manner, thereby reducing the power consumption of each device.

[0184] It is worth noting that in some possible implementations of the present application, the Beacon base station, the tag and the communication base station do not perform time synchronization, and the positioning of the tag can also be achieved. That is, when TOF ranging is required between the Beacon base station and the tag, the Beacon base station UWB module is turned on; the Beacon base station sends a TOF positioning signal to the tag through the Beacon base station UWB module, and the TOF positioning signal is used to measure the distance between the Beacon base station and the tag; the Beacon base station receives the reply signal returned by the tag based on the TOF positioning signal, and turns off the Beacon base station UWB module. Since the Beacon base station only turns on the Beacon base station UWB module when performing TOF ranging, the Beacon base station UWB module is turned off at other times, there is no need to keep the UWB module turned on as in the prior art, thereby greatly reducing the power consumption of the entire Beacon base station. Time synchronization in another implementation method can further reduce the power consumption of each device.

[0185] After the above process, a small number of communication base stations use low-power wireless networks to cover the entire positioning area, and the communication base stations and servers periodically perform time synchronization. Each Beacon base station and tag establishes a wireless connection with the communication base station through a low-power wireless network, and periodically performs wireless time synchronization with the communication base station. This allows the time synchronization between the server, communication base station, Beacon base station, and tag, and the time synchronization error between each communication base station, each Beacon base station, and each tag is extremely small (e.g., less than 1ms). It can be understood that the three types of equipment, communication base station, Beacon base station, and tag, have completed time synchronization, which provides a basis for the subsequent realization of BLE positioning synchronization, and is conducive to the subsequent establishment of positioning synchronization between Beacon base stations and tags through BLE.

[0186] See also Figure 5 , Figure 5is a schematic flow chart of a positioning method provided by another exemplary embodiment of the present application. Optionally, in some possible implementations of the present application, the positioning method provided by the present application may also include S501 to S502, as follows:

[0187] S501: Determine the UWB positioning segment corresponding to the Beacon base station according to the timestamp information.

[0188] Exemplarily, the timestamp information may specifically be a Unix timestamp. The UWB positioning segment is a positioning time segment, and the UWB positioning segment is used for the Beacon base station to send a TOF positioning signal when the Beacon base station is in the UWB positioning segment. It can be understood that the UWB positioning segment is used for TOF ranging between the Beacon base station and the tag, that is, the TOF ranging between the Beacon base station and the tag occurs in the UWB positioning segment. For example, within the UWB positioning segment, the Beacon base station sends a TOF positioning signal to the tag, and also within the UWB positioning segment, the Beacon base station receives a reply signal sent by the tag.

[0189] Optionally, in some possible implementations of the present application, the above S501 may include S5011 to S5013, which are specifically as follows:

[0190] S5011: When the timestamp information is a set BLE synchronization moment, a target time period after the BLE synchronization moment is determined as a BLE synchronization segment.

[0191] The BLE synchronization segment is used for the Beacon base station to send a BLE synchronization signal when it is in the BLE synchronization segment. The BLE synchronization signal is used to detect tags within the positioning range of the Beacon base station. It can be understood that tags within the positioning range of the Beacon base station can receive the BLE synchronization signal sent by the Beacon base station.

[0192] The BLE synchronization signal can carry the identification information of the Beacon base station (such as device ID) and the time when the next TOF positioning signal is sent.

[0193] Exemplarily, in one possible implementation, the set BLE synchronization moment can be an integer second moment. For example, for each Beacon base station, if the moment represented by the Unix timestamp of the current Beacon base station is an integer second moment, the target time period after the integer second moment is determined as the BLE synchronization segment. If the moment represented by the Unix timestamp of the current Beacon base station is not an integer second moment, no processing is performed. Specifically, a timer can be pre-defined in the CPU module of the Beacon base station, and the timer can be used to determine whether it is an integer second moment. The duration corresponding to the target time period can be set according to actual conditions. The target time period starts with an integer second moment and ends with the moment corresponding to the duration. For example, the duration corresponding to the target time period can be 10ms, 20ms, 30ms, etc., and there is no limitation on this.

[0194] For example, 20 ms after the full second is determined as the BLE synchronization segment, that is, the start time of the BLE synchronization segment is the full second, and the end time is the time corresponding to 20 ms.

[0195] See also Figure 6 , Figure 6 This is a schematic diagram of BLE positioning synchronization shown in this application. Figure 6 As shown, taking Beacon base station 1 as an example, Figure 6 The BLE synchronization segment is marked after the whole second time in , and the start time of the BLE synchronization segment is the whole second time, and the end time is the time corresponding to 20ms.

[0196] Since each Beacon base station has completed time synchronization with each tag, the whole second time corresponding to each Beacon base station is the same, and the process of determining the BLE synchronization segment corresponding to each Beacon base station is the same. Figure 6 The process of determining the BLE synchronization segment corresponding to Beacon base station 2 is the same as the process of determining the BLE synchronization segment corresponding to Beacon base station 1, and will not be repeated here.

[0197] S5012: Setting protection durations at both ends of the BLE synchronization segment respectively, and determining the BLE synchronization segment after the protection duration is set as the BLE synchronization receiving window.

[0198] The protection time can be set and adjusted according to the actual situation. For example, the protection time can be 5ms, 10ms, etc., and there is no limit on this. For example, 5ms is reserved at both ends of the BLE synchronization segment as the protection time, and the BLE synchronization segment after the protection time is set is determined as the BLE synchronization receiving window, that is, the BLE synchronization segment and the protection time on the left and right sides, a total of 30ms, are determined as the BLE synchronization receiving window. See Figure 6 The BLE synchronous receiving window marked in .

[0199] Since each Beacon base station has completed time synchronization with each tag, the BLE synchronization receiving window can also be the BLE synchronization receiving window of the tag. The BLE synchronization receiving window is used for the tag to receive the BLE synchronization signal sent by the Beacon base station. In other words, the tag within the positioning range of the Beacon base station can receive the BLE synchronization signal sent by the Beacon base station through the BLE synchronization receiving window.

[0200] Exemplarily, the tag is provided with a tag UWB module, a tag CPU module and a BLE receiver. When the BLE receiver is turned on, the tag can receive the BLE synchronization signal sent by the Beacon base station. Specifically, each Beacon base station randomly transmits a BLE synchronization signal in each BLE synchronization segment. The BLE synchronization signal carries the identification information of the Beacon base station (such as the device ID) and the time to send the TOF positioning signal next time.

[0201] The tag can select a BLE synchronization receiving window, and open the BLE receiver in the tag to receive the BLE synchronization signal during the BLE synchronization receiving window. After the tag receives the BLE synchronization signal sent by the Beacon base station, it knows the time when the Beacon base station will send the TOF positioning signal next time, that is, it knows when the Beacon base station will perform the next TOF ranging, so the tag can turn on the tag UWB module and tag CPU module in the tag at the appropriate time, or turn off the tag UWB module and tag CPU module, saving the power consumption of the tag.

[0202] It is worth noting that for the tag, there is no need to turn on the BLE receiver during each BLE synchronization reception window, that is, the tag can ignore some BLE synchronization reception windows, not turn on the BLE receiver, and not receive the BLE synchronization signal, which can reduce the power consumption of the tag.

[0203] After the tag receives the BLE synchronization signal sent by the Beacon base station, it knows the time when the Beacon base station will send the TOF positioning signal next time. Therefore, the tag only needs to receive the BLE synchronization signal once to continue to participate in the subsequent TOF ranging process with the Beacon base station. However, when the tag moves into a new area and needs to perform TOF ranging with a new Beacon base station, the tag needs to receive the BLE synchronization signal to discover the new Beacon base station. Therefore, the tag needs to receive the BLE synchronization signal periodically. In this way, the tag can not only discover new Beacon base stations, but also resynchronize with Beacon base stations that have lost synchronization.

[0204] Optionally, the time interval between two consecutive BLE synchronization signal receptions by the tag is determined as the BLE synchronization reception interval. The larger the BLE synchronization reception interval (such as 10s, 15s, etc.), the lower the real-time performance of the tag in discovering new Beacon base stations, and the lower the power consumption of the tag; conversely, the smaller the BLE synchronization reception interval (such as 1s, 2s, etc.), the higher the real-time performance of the tag in discovering new Beacon base stations, and the higher the power consumption of the tag. Since the power consumption of the BLE receiver is about one order of magnitude smaller than that of the tag UWB module, the power consumption of the BLE receiver has little effect on the battery life of the tag.

[0205] Optionally, the BLE synchronization reception interval can be automatically and dynamically adjusted by the tag to achieve the best power consumption and positioning performance. For example, the dynamic adjustment strategy can be: the BLE synchronization reception interval is equal to the positioning period. The positioning period is the period of each time the Beacon base station sends a TOF positioning signal.

[0206] S5013: Calculate the interval between two adjacent BLE synchronization receiving windows, and determine the interval as the UWB positioning segment.

[0207] Exemplarily, for two adjacent BLE synchronization receiving windows, the interval between the end time of the previous BLE synchronization receiving window and the start time of the next BLE synchronization receiving window is the interval between the two adjacent BLE synchronization receiving windows, and the interval is determined as the UWB positioning segment. That is, the end time of the previous BLE synchronization receiving window is used as the start time of the UWB positioning segment, and the start time of the next BLE synchronization receiving window is used as the end time of the UWB positioning segment.

[0208] For example, except for 30ms between two full seconds, the remaining 970ms is defined as the UWB positioning segment. Figure 6 The UWB positioning segment marked in .

[0209] In this implementation, the BLE synchronization segment and the BLE synchronization receiving window are determined. The Beacon base station randomly transmits a BLE synchronization signal within the BLE synchronization segment. The BLE synchronization signal carries the identification information of the Beacon base station (such as the device ID) and the time of the next TOF positioning signal transmission. The tag selects a BLE synchronization receiving window to receive the BLE synchronization signal transmitted by the Beacon base station. The tag can know the time when the Beacon base station will send the TOF positioning signal next time, that is, when the Beacon base station will perform the next TOF ranging. Therefore, the tag can turn on the tag UWB module and the tag CPU module, or turn off the tag UWB module and the tag CPU module at the appropriate time, thereby saving the power consumption of the tag.

[0210] In this embodiment, the tag periodically receives the BLE synchronization signal, so that the tag can not only discover new Beacon base stations, but also resynchronize with the Beacon base stations that have lost synchronization.

[0211] In addition, the UWB positioning segment is also determined in this implementation, which provides a basis for the subsequent Beacon base station to perform TOF ranging.

[0212] S502: Determine the time when the Beacon base station sends the TOF positioning signal according to the UWB positioning segment.

[0213] The TOF ranging between the Beacon base station and the tag occurs in the UWB positioning segment, so the time when the Beacon base station sends the TOF positioning signal can be determined based on the UWB positioning segment. The time when the Beacon base station sends the TOF positioning signal can include the time when the Beacon base station sends the TOF positioning signal for the first time, and the time when the TOF positioning signal is sent each time thereafter.

[0214] In this implementation, the time when the Beacon base station sends the TOF positioning signal is determined. The Beacon base station can choose to turn on the Beacon base station UWB module and the Beacon base station CPU module, or turn off the Beacon base station UWB module and the Beacon base station CPU module according to the time of sending the TOF positioning signal, thereby greatly reducing the power consumption of the Beacon base station.

[0215] Optionally, in some possible implementations of the present application, the above S502 may include S5021 to S5023, which are specifically as follows:

[0216] S5021: Determine the positioning period of the Beacon base station.

[0217] For example, usually, the positioning period of the Beacon base station (that is, the positioning period of TOF) is configured by the server to the Beacon base station and the tag. After that, the Beacon base station and the tag will always work according to this positioning period.

[0218] It is worth noting that the time interval between two consecutive BLE synchronization signal receptions by the tag, i.e., the BLE synchronization reception interval in the above S5012, can be configured as a multiple of the positioning cycle. For example, if the positioning cycle is configured as 1s, the BLE synchronization reception interval can be configured as 1s, 2s, 3s...10s, etc. Different BLE synchronization reception intervals will affect the real-time performance of the tag in discovering new base stations and the power consumption of the tag, but will not affect the positioning cycle. However, in order to achieve the best power consumption and positioning performance, it can be configured as follows: the BLE synchronization reception interval is equal to the positioning cycle of the Beacon base station.

[0219] S5022: Randomly select a starting positioning time in the UWB positioning segment, where the starting positioning time indicates the time when the Beacon base station sends a TOF positioning signal for the first time.

[0220] Each Beacon base station randomly selects a starting positioning time in its corresponding UWB positioning segment. The starting positioning time indicates the time when the Beacon base station first sends a TOF positioning signal, that is, the time when the Beacon base station first performs TOF ranging.

[0221] For example, the middle moment in the UWB positioning segment is selected as the start positioning moment of the Beacon base station. For another example, the start moment of the UWB positioning segment is selected as the start positioning moment of the Beacon base station. This is only an exemplary description and is not limited to this.

[0222] S5023: Determine the time when the Beacon base station sends the TOF positioning signal each time according to the starting positioning time and the positioning cycle.

[0223] Exemplarily, the starting positioning time plus the positioning period is the time when the Beacon base station sends the TOF positioning signal next time, that is, the time when the Beacon base station performs TOF ranging next time. The time when the Beacon base station sends the TOF positioning signal next time plus the positioning period is the time when the Beacon base station sends the TOF positioning signal next time, that is, the time when the Beacon base station performs TOF ranging next time, and so on, the time when the Beacon base station sends the TOF positioning signal each time can be obtained.

[0224] It is worth noting that all positioning moments (i.e. the time when the Beacon base station sends a TOF positioning signal each time) must be within the UWB positioning segment. If the positioning moment calculated by the Beacon base station is within the BLE synchronization segment or the time period corresponding to the protection duration, then appropriate backoff is required to ensure that the positioning moment is within the UWB positioning segment.

[0225] The Beacon base station can also adjust the positioning time of a certain time according to needs, but it also needs to be adjusted within the UWB positioning segment. No matter how it is adjusted, the Beacon base station will carry the time of the next TOF positioning signal in the TOF positioning signal it sends.

[0226] In this implementation, the time when the Beacon base station sends the TOF positioning signal is determined. The Beacon base station can choose to turn on the Beacon base station UWB module and the Beacon base station CPU module, or turn off the Beacon base station UWB module and the Beacon base station CPU module according to the time of sending the TOF positioning signal, thereby greatly reducing the power consumption of the Beacon base station.

[0227] Optionally, in some possible implementations of the present application, the positioning method provided by the present application may also include:

[0228] S601~S602, S601~S602 can be Figure 1 The corresponding embodiment is then executed, and S601 to S602 are specifically as follows:

[0229] S601: Sort the tags according to the reply signal returned by each tag.

[0230] Exemplarily, the number of tags is multiple. The Beacon base station sends a TOF positioning signal once, and each tag within the communication coverage of the Beacon base station will receive the TOF positioning signal, and each tag returns the reply signal to the Beacon base station. Each tag within the communication coverage of the Beacon base station may include a new tag, that is, a tag newly added to the positioning range of the Beacon base station.

[0231] The Beacon base station can calculate the distance between the Beacon base station and each tag according to the reply signal returned by each tag. The specific calculation method can be referred to the description in S204 and will not be repeated here. The Beacon base station sorts each tag according to the size of each distance to obtain the corresponding sorting result.

[0232] S602: Update the list of tags to be tested according to the sorting result.

[0233] The TOF positioning signal includes a list of tags to be tested. For this TOF ranging process, the list of tags to be tested contains identification information of multiple tags (i.e. tags to be tested) sorted by distance. The list of tags to be tested in the TOF positioning signal is used for the tags corresponding to each identification information in the list of tags to be tested to return reply signals in order.

[0234] The updated list of tags to be tested contains identification information of multiple tags (i.e. tags to be tested) re-sorted by distance. The updated list of tags to be tested is used for the next TOF distance measurement, and the tags corresponding to the identification information in the updated list of tags to be tested return reply signals to the Beacon base station in order.

[0235] It is worth noting that when the Beacon base station performs TOF ranging for the first time, since the distance with the tag has not been measured before, that is, there is no tag information within the communication coverage of the Beacon base station, the list of tags to be measured is empty at this time, and the length of the list of tags to be measured is 0. In other words, when the Beacon base station sends a TOF positioning signal for the first time, the list of tags to be measured in the TOF positioning signal is empty.

[0236] After a TOF distance measurement, the Beacon base station determines the distance between each tag and the Beacon base station within the communication coverage area. It can then sort the tags according to the size of each distance to obtain the corresponding sorting result, and update the list of tags to be tested according to the sorting result.

[0237] For example, the tags are sorted in order from near to far, and according to the sorting result, the tags that are sorted first (i.e., the closest distance) are filled in the front of the list of tags to be tested, and the tags that are sorted last (i.e., the farthest distance) are filled in the back of the list of tags to be tested.

[0238] After that, each time TOF ranging is performed, the Beacon base station can update the list of tags to be measured based on the distance between the tag and it.

[0239] In this implementation, the list of tags to be tested is updated so that each tag can reply to the Beacon base station in order according to its position in the list of tags to be tested. When there are too many tags within the communication coverage of the Beacon base station, the Beacon base station can ensure the ranging success rate and ranging accuracy of nearby tags.

[0240] See also Figure 7 , Figure 7 FIG. 1 is a schematic flow chart of a positioning method provided by another exemplary embodiment of the present application. Figure 7 The positioning method shown is applied to a tag, and the positioning method may include: S701 to S702, which are as follows:

[0241] S701: The tag receives the TOF positioning signal sent by the Beacon base station.

[0242] S702: The tag sends a reply signal to the Beacon base station based on the TOF positioning signal.

[0243] The reply signal may include the time when the tag receives the TOF positioning signal, the time when the reply signal is sent, and the identification information of the tag.

[0244] Exemplarily, during a positioning process, the Beacon base station sends a TOF positioning signal, and all tags within the communication coverage of the Beacon base station will receive the TOF positioning signal. Tags within the communication coverage of the Beacon base station may include new tags, i.e. tags newly added to the positioning range of the Beacon base station. There may be one or more tags within the communication coverage of the Beacon base station, and each tag returns the reply signal to the Beacon base station.

[0245] In this implementation, the tag does not need to actively send a TOF positioning signal, but instead receives a TOF positioning signal sent by the Beacon base station and sends a reply signal to the Beacon base station based on the TOF positioning signal, so that the Beacon base station can immediately turn off the Beacon base station UWB module after receiving the reply signal, thereby greatly reducing the power consumption of the entire Beacon base station.

[0246] Optionally, in a possible implementation, a tag UWB module is provided in the tag, and the TOF positioning signal received by the tag includes the time when the Beacon base station sends the TOF positioning signal next time. The positioning method may also include: the tag determines the start time and the shutdown time of the tag UWB module according to the time when the Beacon base station sends the TOF positioning signal next time; when it is detected that the current time reaches the start time, the tag UWB module is turned on; or, when it is detected that the current time reaches the shutdown time, the tag UWB module is turned off.

[0247] Exemplarily, the turned-on UWB module of the tag is used to receive the TOF positioning signal sent by the Beacon base station next time.

[0248] For example, when the tag receives the TOF positioning signal, it determines the time when the Beacon base station sends the TOF positioning signal next time. It can set a certain time (such as 5ms, 10ms, etc.) before the next time the TOF positioning signal is sent, and the time corresponding to the certain time before the time is set as the start time. When it is detected that the current time reaches the start time, the tag UWB module is turned on. For example, the tag can turn on the tag UWB module 5ms before the Beacon base station sends the TOF positioning signal next time.

[0249] Since the tag sends a reply signal immediately after receiving the TOF positioning signal, the time required is very short, so a certain time length (such as 15ms, 20ms, etc.) can be set after the next time the TOF positioning signal is sent, and the time corresponding to the certain time length after this time is set as the closing time. When it is detected that the current time reaches the closing time, the tag UWB module is turned off. Alternatively, the tag can also turn off the tag UWB module immediately after sending the reply signal.

[0250] In this implementation, the tag can turn on or off the tag UWB module at an appropriate time, thereby saving the power consumption of the tag.

[0251] Optionally, in a possible implementation manner, the above S702 may include: S7021 or S7022, which are specifically as follows:

[0252] S7021: For each tag, if it is detected that the tag is in the list of tags to be tested, the tag sends a reply signal to the Beacon base station in a preset time slot.

[0253] The time slot segment indicates the time period during which the tag in the list of tags to be tested sends a reply signal to the Beacon base station. It can be understood that the time slot segment is used for the tag in the list of tags to be tested to send a reply signal to the Beacon base station in the time slot segment.

[0254] Exemplarily, the TOF positioning signal received by the tag includes a list of tags to be tested. When this TOF ranging is the first TOF ranging, the list of tags to be tested is empty. When this TOF ranging is not the first TOF ranging, the list of tags to be tested is an updated list of tags to be tested. That is, the list of tags to be tested is updated according to the sorting result obtained in the previous TOF ranging. It can be understood that if a new tag is added to the positioning range of the Beacon base station, the identification information of the new tag will be included in the updated list of tags to be tested, so that the new tag can return the reply signal in an orderly manner later.

[0255] Exemplarily, the tag searches for its own identification information in the received list of tags to be tested, and if its own identification information is found in the list of tags to be tested, it is determined that the tag is in the list of tags to be tested. At this time, the tag sends a reply signal to the Beacon base station in a preset time slot.

[0256] Specifically, the TOF positioning signal sent by the Beacon base station may include a POLL frame (also called a UWB TOF ranging frame POLL), and the reply signal sent by the tag may include a CONF frame. The POLL frame carries the time for sending the TOF positioning signal next time and a list of tags to be tested.

[0257] For example, the Beacon base station initiates a POLL frame to the tag. After the tag receives the POLL frame, it detects whether the tag is in the list of tags to be tested according to the list of tags to be tested carried in the POLL frame. When the tag is detected to be in the list of tags to be tested, the tag replies with a CONF frame to the Beacon base station in a preset time slot. This is only an exemplary description and is not limited to this.

[0258] S7022: If it is detected that the tag is not in the list of tags to be tested, the tag sends a reply signal to the Beacon base station in a preset contention segment.

[0259] The contention period indicates the time period during which a tag not in the list of tags to be tested sends a reply signal to the Beacon base station. It can be understood that the contention period is used for tags not in the list of tags to be tested, and the reply signal is sent to the Beacon base station in the contention period.

[0260] The TOF positioning signal received by the tag includes a list of tags to be tested. Exemplarily, the tag searches for its own identification information in the received list of tags to be tested. If its own identification information is not found in the list of tags to be tested, it is determined that the tag is not in the list of tags to be tested. At this time, the tag sends a reply signal to the Beacon base station in the preset contention segment.

[0261] Specifically, the Beacon base station initiates a POLL frame to the tag. After the tag receives the POLL frame, it detects whether the tag is in the list of tags to be tested according to the list of tags to be tested carried in the POLL frame. When it is detected that the tag is not in the list of tags to be tested, the tag replies with a CONF frame to the Beacon base station in the preset contention segment. This is only an exemplary description and is not limited to this.

[0262] In this implementation, each tag chooses to reply to the Beacon base station in the time slot or contention segment according to whether it is in the list of tags to be tested. This orderly reply method allows the Beacon base station to ensure the ranging success rate and ranging accuracy of nearby tags when there are too many tags within the communication coverage of the Beacon base station. The POLL frame sent by the Beacon base station carries the time of the next TOF positioning signal transmission. After receiving the POLL frame, the tag can know when the Beacon base station will perform TOF ranging next time, so that it can continue to measure distance with the Beacon base station.

[0263] Optionally, in some possible implementations of the present application, the above S7021 may include: S70211 to S70213, which are as follows:

[0264] S70211: If it is detected that the tag is in the list of tags to be tested, the position of the tag in the list of tags to be tested is obtained.

[0265] S70212: Determine the tag's reply time in the time slot based on the position.

[0266] S70213: Send a reply signal to the Beacon base station at the reply time.

[0267] For example, each tag in the list of tags to be tested is sorted by the distance between each tag and the Beacon base station, with tags with closer distances being in front and tags with farther distances being in the back. Accordingly, the reply time corresponding to the tags in the front is earlier than that of the tags in the back, and each tag sends a reply signal to the Beacon base station according to its corresponding different reply time.

[0268] For easier understanding, please refer to the attached figure. Figure 8 , Figure 8 It is a schematic diagram of the downlink TOF process shown in this application.

[0269] like Figure 8 As shown in the figure, TOF positioning is divided into two stages, the first stage is the time slot segment, and the second stage is the contention segment. The length of each time slot in the time slot segment is 500us, and the fixed length of the contention segment is 1ms. The time slot segment starts from the first 500us after the POLL frame and lasts for N*500us. Among them, N represents the length of the tag list to be tested, which can be understood as the number of tags in the tag list to be tested.

[0270] The Beacon base station sends a POLL frame to each tag, which carries a list of tags to be tested and the time to send the next TOF positioning signal. The list of tags to be tested contains 4 tags, namely tag 2, tag 3, tag 1, and tag 4. From the order of these 4 tags, it can be seen that tag 2 is the closest to the Beacon base station, and tag 4 is the farthest from the Beacon base station.

[0271] When the POLL frame is sent, assuming that tag 3 is no longer in this positioning area, tag 2, tag 1, and tag 4 have received the list of tags to be tested in this positioning area, and tag 5 and tag 6 are new tags in this positioning area and have also received the list of tags to be tested.

[0272] Each tag that receives the list of tags to be tested checks whether it is in the list of tags to be tested. If it is in the list of tags to be tested, it further detects its position in the list of tags to be tested. For example, tag 2, tag 1, and tag 4 check and find that they are in the list of tags to be tested, and detect that tag 2 is at position 1, tag 1 is at position 3, and tag 4 is at position 4. At the same time, tag 5 and tag 6 detect that they are not in the list of tags to be tested.

[0273] Each tag replies CONF frames to the Beacon base station in order according to whether it is in the list of tags to be tested and its position in the list of tags to be tested. For example, tags in the list of tags to be tested reply CONF frames to the Beacon base station in the time slot segment, and tags not in the list of tags to be tested reply CONF frames to the Beacon base station in the contention segment.

[0274] For example, if tag 2 is at position 1, tag 2 will reply a CONF frame to the Beacon base station in the first 500us after the POLL frame; if tag 1 is at position 3, tag 1 will reply a CONF frame to the Beacon base station in the third 500us after the POLL frame; if tag 4 is at position 4, tag 4 will reply a CONF frame to the Beacon base station in the fourth 500us after the POLL frame.

[0275] In this example, the length of the tag list to be tested is 4, so the length of the time slot is 4*500us=2ms. The contention segment starts after the end of the time slot and its length is fixed at 1ms. Figure 8 As shown in FIG. 1 , the contention segment starts from the fifth 500us after the start of the POLL frame and lasts for 1ms. Since tags 5 and 6 are not in the list of tags to be tested, they randomly select a time to reply in the contention segment.

[0276] It is worth noting that when the Beacon base station initiates the POLL frame for the first time, it cannot update the list of tags to be tested because it has not measured the distance with each tag, that is, the Beacon base station has no information about the surrounding tags. At this time, the list of tags to be tested in the POLL frame is empty, that is, the length of the list of tags to be tested is 0. Correspondingly, at this time, the length of the time slot segment is 0, that is, there is no time slot segment, only a contention segment. Each tag that receives the POLL frame randomly replies to the Beacon base station with a CONF frame within the contention segment.

[0277] After the first TOF ranging, the Beacon base station determines the distance between each tag within the communication coverage and the Beacon base station. Before initiating the second TOF ranging, the Beacon base station sorts the tags with known distances, such as sorting them from near to far, and then updates the list of tags to be tested.

[0278] After that, each time TOF ranging is performed, the Beacon base station can update the list of tags to be measured based on the distance between the tag and it.

[0279] Optionally, the Beacon base station can set the maximum number of ranging tags to M. When the number of tags within the communication coverage of the Beacon base station is greater than M, the Beacon base station sorts the M nearest tags according to distance, and these M tags still reply CONF frames to the Beacon base station through the time slot segment, and the remaining tags reply CONF frames to the Beacon base station through the contention segment. In this way, when there are too many tags within the communication coverage of the Beacon base station, the Beacon base station can ensure the ranging success rate and ranging accuracy of nearby tags.

[0280] For example, in each positioning cycle, each Beacon base station performs a round of TOF ranging with each surrounding tag. After a round of TOF ranging, the Beacon base station transmits the distance between it and each surrounding tag to the server through the communication base station. The positioning engine on the server calculates the coordinates of the tag based on the distance between the tag and different Beacon base stations.

[0281] In summary, in the positioning method provided by the present application, time synchronization is performed between the communication base station and the server; the Beacon base and the tag respectively perform wireless time synchronization with the communication base station, and each Beacon base station transmits a BLE synchronization signal within the synchronization segment 20ms after each full second, which carries the time of the next TOF positioning signal transmission. By receiving the BLE synchronization signal within the BLE synchronization receiving window, the tag can know the time when each Beacon base station will send a TOF positioning signal next time, that is, know the time when each Beacon base station will perform TOF ranging next time.

[0282] During the TOF ranging process, the Beacon base station also carries the time of the next TOF positioning signal in the POLL frame. Each time the tag performs TOF ranging, it can know the time when each Beacon base station will send the TOF positioning signal next time. Therefore, the tag can continuously perform TOF ranging with the Beacon base station. The tag knows when the Beacon base station will perform the next TOF ranging, so it can turn on the tag UWB module, tag CPU module, or turn off the tag UWB module, tag CPU module at the appropriate time, saving the power consumption of the tag.

[0283] TOF ranging is actively initiated by the Beacon base station. Therefore, the Beacon base station only needs to turn on the Beacon base station UWB module and Beacon base station CPU module when it needs to perform TOF ranging, and they are turned off at other times, which greatly reduces the power consumption of the Beacon base station.

[0284] It can be seen that the positioning method provided by this application significantly reduces the power consumption of Beacon base stations while also saving the power consumption of tags. Therefore, the feasibility and practical value of this positioning method are improved when it is applied in various scenarios (such as power plants, chemical plants, tunnels, coal mines, construction sites, airports, companies, nursing homes, basements, business districts, exhibition halls, museums, hospitals, smart factories, etc.).

[0285] In addition, when a new tag enters the positioning area, the new tag can participate in the next TOF ranging competition segment by receiving the BLE synchronization signal transmitted by the Beacon base station. The new tag enters the list of tags to be measured of the Beacon base station through the competition segment, and then enters the time slot segment in the subsequent ranging. This ensures that each tag can be accurately positioned.

[0286] When there are too many tags measuring distance with the Beacon base station, the Beacon base station only retains the M most recent tags to reply in the time slot segment, and the remaining tags reply through the contention segment. In this way, when there are too many tags within the communication coverage area of ​​the Beacon base station, the Beacon base station can ensure the ranging success rate and ranging accuracy of nearby tags.

[0287] It is worth noting that if a Beacon detects the ranging signal of another Beacon during the ranging process, it means that the TOF ranging time of the two Beacon base stations conflicts, and the Beacon base station that detects the conflict will randomly back off. This ensures that each Beacon base station accurately measures the distance between it and the tag.

[0288] The present application also provides a positioning system, which can be used to implement the above positioning method. For the specific implementation process, please refer to the relevant description of the positioning method in the above embodiments, which will not be repeated in this embodiment.

[0289] The positioning system includes: a Beacon base station and a tag, wherein the Beacon base station is provided with a Beacon base station UWB module.

[0290] The Beacon base station is used to turn on the Beacon base station UWB module when TOF distance measurement is required between the Beacon base station and the tag; the Beacon base station UWB module sends a TOF positioning signal to the tag, and the TOF positioning signal is used to measure the distance between the Beacon base station and the tag;

[0291] The tag is used to receive the TOF positioning signal sent by the Beacon base station; based on the TOF positioning signal, it sends a reply signal to the Beacon base station;

[0292] The Beacon base station is also used to receive the reply signal returned by the tag based on the TOF positioning signal and turn off the Beacon base station UWB module.

[0293] Optionally, in a possible implementation, the positioning system may further include a server and a communication base station, wherein the server is time synchronized with the communication base station, and the Beacon base station and the tag are time synchronized with the communication base station through a low-power wireless network.

[0294] For example, the Beacon base station is provided with a Beacon base station communication module, through which the Beacon base station can communicate and synchronize with the communication base station and the tag. The tag is provided with a tag communication module, through which the tag can communicate and synchronize with the communication base station and the Beacon base station.

[0295] The Beacon base station is also used to determine distance information based on the TOF positioning signal and the reply signal; and send the distance information to the communication base station;

[0296] The communication base station is used to forward the distance information to the server;

[0297] The server is used to parse the distance information and determine the location of the tag based on the parsing result.

[0298] See also Fig. 9 , Fig. 9 1 is a schematic diagram of a positioning system provided in an embodiment of the present application. The positioning system can be used to implement the above positioning method. For details, please refer to the relevant description of the positioning method in each of the above embodiments. For ease of explanation, only the parts related to this embodiment are shown. Fig. 9 As shown, the positioning system includes: a server, a communication base station, a Beacon base station and a tag. Fig. 9 The number of Beacon base stations, tags, servers and communication base stations is only for illustrative purposes and is not actually limited thereto.

[0299] For example, before TOF ranging, NTP, IEEE 1588 and other synchronization methods are used to achieve time synchronization between the communication base station and the server; the communication base station uses a low-power wireless network to cover the entire positioning area, and several Beacon base stations and tags are deployed in the positioning area. The Beacon base and the tag are respectively synchronized with the communication base station through a low-power wireless network for wireless time synchronization.

[0300] Each Beacon base station performs BLE synchronization and TOF ranging with the tag. For example, in the synchronization segment after each full second, each Beacon base station transmits a BLE synchronization signal, which carries the time of the next TOF positioning signal. By receiving the BLE synchronization signal in the BLE synchronization receiving window, the tag can know the time when each Beacon base station will send a TOF positioning signal next time, that is, the time when each Beacon base station will perform TOF ranging next time.

[0301] During the TOF ranging process, the Beacon base station also carries the time of the next TOF positioning signal in the POLL frame. Each time the tag performs TOF ranging, it can know the time when each Beacon base station will send the TOF positioning signal next time. Therefore, the tag can continuously perform TOF ranging with the Beacon base station. The tag knows when the Beacon base station will perform the next TOF ranging, so it can turn on the tag UWB module, tag CPU module, or turn off the tag UWB module, tag CPU module at the appropriate time, saving the power consumption of the tag.

[0302] TOF ranging is actively initiated by the Beacon base station. Therefore, the Beacon base station only needs to turn on the Beacon base station UWB module and Beacon base station CPU module when it needs to perform TOF ranging, and they are turned off at other times, which greatly reduces the power consumption of the Beacon base station.

[0303] It can be seen that the above positioning system not only significantly reduces the power consumption of the Beacon base station, but also saves the power consumption of the tag when implementing the positioning method. Therefore, when the positioning system is applied in various scenarios (such as power plants, chemical plants, tunnels, coal mines, construction sites, airports, companies, nursing homes, basements, business districts, exhibition halls, museums, hospitals, smart factories, etc.), it improves feasibility and practical value.

[0304] See also Fig.10 , Fig.10 FIG. 1 is a structural block diagram of a positioning device applied to a Beacon base station provided in an embodiment of the present application. Fig.10 As shown, the positioning device applied to the Beacon base station includes:

[0305] The decision module 810 is used to turn on the UWB module of the Beacon base station when TOF ranging is required between the Beacon base station and the tag;

[0306] The sending module 820 is used to send a TOF positioning signal to the tag through the Beacon base station UWB module, and the TOF positioning signal is used to measure the distance between the Beacon base station and the tag;

[0307] The receiving module 830 is used for the Beacon base station to receive the reply signal returned by the tag based on the TOF positioning signal, and to turn off the UWB module of the Beacon base station.

[0308] Optionally, the positioning device applied to the Beacon base station may also include:

[0309] A recording module, used to send a first synchronization request signal to the communication base station and record the real-time time of the Beacon base station, where the first synchronization request signal is used to synchronize the time of the Beacon base station with the communication base station;

[0310] A receiving module, configured to receive a first synchronization reply signal returned by the communication base station based on the first synchronization request signal;

[0311] The parsing module is used to parse the first synchronization reply signal to obtain the timestamp information corresponding to the real-time time of the Beacon base station.

[0312] Optionally, the positioning device applied to the Beacon base station may also include:

[0313] A timestamp determination module is used to determine the UWB positioning segment corresponding to the Beacon base station according to the timestamp information. The UWB positioning segment is a positioning time period. The UWB positioning segment is used for the Beacon base station to send a TOF positioning signal when it is in the UWB positioning segment.

[0314] The positioning segment determination module is used to determine the time when the Beacon base station sends the TOF positioning signal according to the UWB positioning segment.

[0315] Optionally, the timestamp determination module is specifically used for: when the timestamp information is a set BLE synchronization moment, determining the target time period after the BLE synchronization moment as a BLE synchronization segment, and the BLE synchronization segment is used to send a BLE synchronization signal when the Beacon base station is in the BLE synchronization segment, and the BLE synchronization signal is used to detect tags within the positioning range of the Beacon base station; setting protection durations at both ends of the BLE synchronization segment, and determining the BLE synchronization segment after the protection duration is set as a BLE synchronization receiving window, and the BLE synchronization receiving window is used for tags to receive BLE synchronization signals; calculating the interval between two adjacent BLE synchronization receiving windows, and determining the interval as a UWB positioning segment.

[0316] Optionally, the positioning segment determination module is specifically used to: determine the positioning period of the Beacon base station; randomly select a starting positioning time in the UWB positioning segment, the starting positioning time indicating the time when the Beacon base station sends a TOF positioning signal for the first time; and determine the time when the Beacon base station sends a TOF positioning signal each time based on the starting positioning time and the positioning period.

[0317] Optionally, the positioning device applied to the Beacon base station may also include:

[0318] A distance information determination module, used to determine distance information according to the TOF positioning signal and the reply signal;

[0319] The forwarding module is used to send the distance information to the server through the communication base station. The distance information is used by the server to parse the distance information and determine the location of the tag according to the parsing result.

[0320] Optionally, the positioning device applied to the Beacon base station may also include:

[0321] A sorting module is used to sort each tag according to the reply signal returned by each tag;

[0322] The updating module is used to update the list of tags to be tested according to the sorting result. The updated list of tags to be tested is used for the next TOF ranging. Each tag in the updated list of tags to be tested returns a reply signal in order.

[0323] See also Fig.11 , Fig.11 1 is a structural block diagram of a positioning device for a tag provided in an embodiment of the present application. Fig.11 As shown, the positioning device applied to the label includes:

[0324] Receiving module 910, used for the tag to receive the TOF positioning signal sent by the Beacon base station;

[0325] The sending module 920 is used for the tag to send a reply signal to the Beacon base station based on the TOF positioning signal.

[0326] Optionally, the positioning device applied to the tag also includes a tag UWB module.

[0327] Optionally, the positioning device applied to the label may also include:

[0328] A determination module is used to determine the start and end time of the tag UWB module according to the time when the Beacon base station sends the TOF positioning signal next time;

[0329] The detection module is used to turn on the tag UWB module when it is detected that the current time reaches the turn-on time. The turned-on tag UWB module is used to receive the TOF positioning signal sent by the Beacon base station next time; or, when it is detected that the current time reaches the turn-off time, turn off the tag UWB module.

[0330] Optionally, the positioning device applied to the label may also include:

[0331] A recording module, used to send a second synchronization request signal to the communication base station and record the real-time time of the tag, the second synchronization request signal is used to synchronize the time of the tag with the communication base station;

[0332] A synchronization signal receiving module, used to receive a second synchronization reply signal returned by the communication base station based on the second synchronization request signal;

[0333] The parsing module is used to parse the second synchronous reply signal to obtain the timestamp information corresponding to the real time of the tag.

[0334] Optionally, the sending module 920 is specifically used for: for each tag, if it is detected that the tag is in the list of tags to be tested, the tag sends a reply signal to the Beacon base station in a preset time slot; or, if it is detected that the tag is not in the list of tags to be tested, the tag sends a reply signal to the Beacon base station in a preset contention segment.

[0335] Optionally, the sending module 920 is further used to: if the tag is detected in the list of tags to be tested, obtain the position of the tag in the list of tags to be tested; determine the reply time of the tag in the time slot according to the position; and send a reply signal to the Beacon base station at the reply time.

[0336] It should be noted that the information interaction, execution process and other contents between the above-mentioned modules are based on the same concept as the method embodiment of the present application. Their specific functions and technical effects can be found in the method embodiment part and will not be repeated here.

[0337] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0338] See also Fig.12 , Fig.12 1 is a block diagram of a Beacon base station provided in one embodiment of the present application. Fig.12 As shown, the Beacon base station 11 includes:

[0339] At least one processor 1101 ( Fig.12 Only one is shown in the figure), a processor, a memory 1102, a Beacon base station UWB module 1103, a computer program 1104 stored in the memory 1102 and executable on at least one processor 1101, and a Beacon base station communication module 1105. When the processor 1101 executes the computer program 1104, the steps in the above positioning method embodiment are implemented.

[0340] The Beacon base station 11 can achieve communication and synchronization with the communication base station and the tag through the Beacon base station communication module 1105. For example, a synchronization request signal can be sent to the communication base station using a low-power wireless network based on the Beacon base station communication module 1105, thereby achieving time synchronization between the Beacon base station 11 and the communication base station. Among them, the low-power wireless network may include ZigBee, LoRa, NB-IoT, etc.

[0341] Those skilled in the art will understand that Fig.12 This is only an example of a Beacon base station and does not constitute a limitation on the Beacon base station. The Beacon base station may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, it may also include input and output devices, network access devices, etc.

[0342] The processor 1101 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), SOC, field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0343] In some embodiments, the memory 1102 may be an internal storage unit of the Beacon base station 11, such as a hard disk or memory of the Beacon base station 11. In other embodiments, the memory 1102 may also be an external storage device of the Beacon base station 11, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc., equipped on the Beacon base station 11.

[0344] Furthermore, the memory 1102 may also include both an internal storage unit of the Beacon base station 11 and an external storage device. The memory 1102 is used to store an operating system, an application program, a boot loader (BootLoader), data, and other programs, such as program codes of a computer program, etc. The memory 1102 may also be used to temporarily store data that has been output or is to be output.

[0345] See also Fig.13 , Fig.13 is a structural block diagram of a tag provided by an embodiment of the present application. Fig.13 As shown, the label 12 includes:

[0346] At least one processor 1201 ( Fig.13 Only one is shown in the figure), a processor, a memory 1202, a tag UWB module 1203, a computer program 1204 stored in the memory 1202 and executable on at least one processor 1201, and a tag communication module 1205. When the processor 1201 executes the computer program 1204, the steps in the above positioning method embodiment are implemented.

[0347] The tag 12 can achieve communication and synchronization with the communication base station and the Beacon base station through the tag communication module 1205. For example, based on the tag communication module 1205, a synchronization request signal can be sent to the communication base station using a low-power wireless network to achieve time synchronization between the tag 12 and the communication base station.

[0348] Those skilled in the art will understand that Fig.13 These are merely examples of labels and do not constitute a limitation on the labels. The labels may include more or fewer components than shown in the figure, or a combination of certain components, or different components, for example, input and output devices, network access devices, etc.

[0349] The processor 1201 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), SOC, field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0350] In some embodiments, the memory 1202 may be an internal storage unit of the tag 12, such as a hard disk or memory of the tag 12. In other embodiments, the memory 1202 may also be an external storage device of the tag 12, such as a plug-in hard disk equipped on the tag 12, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc.

[0351] Furthermore, the memory 1202 may include both an internal storage unit of the tag 12 and an external storage device. The memory 1202 is used to store an operating system, an application program, a boot loader, data, and other programs, such as program codes of a computer program, etc. The memory 1202 may also be used to temporarily store data that has been output or is to be output.

[0352] The embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program. When the computer program is executed by a processor, a method applied to a Beacon base station is implemented.

[0353] An embodiment of the present application provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, a method applied to a tag is implemented.

[0354] An embodiment of the present application provides a computer program product. When the computer program product is executed on a first device, the terminal device executes the above-mentioned method applied to a Beacon base station.

[0355] An embodiment of the present application provides a computer program product. When the computer program product is run on a second device, the terminal device executes the above-mentioned method applied to the tag.

[0356] An embodiment of the present application provides a chip system, which includes a memory and a processor. The processor executes a computer program stored in the memory to implement a method applied to a Beacon base station.

[0357] An embodiment of the present application provides a chip system, which includes a memory and a processor, and the processor executes a computer program stored in the memory to implement a method applied to a tag.

[0358] An embodiment of the present application provides a chip system, which includes a processor, the processor is coupled to the computer-readable storage medium provided in the eighth aspect, and the processor executes a computer program stored in the computer-readable storage medium to implement a method applied to a Beacon base station.

[0359] An embodiment of the present application provides a chip system, which includes a processor, the processor is coupled to the computer-readable storage medium provided in the ninth aspect, and the processor executes a computer program stored in the computer-readable storage medium to implement the method applied to the label.

[0360] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, which can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may at least include: any entity or device that can carry the computer program code to the first device or the second device, a recording medium, a computer memory, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, RandomAccess Memory), an electric carrier signal, a telecommunication signal, and a software distribution medium. For example, a USB flash drive, a mobile hard disk, a magnetic disk or an optical disk. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electric carrier signals and telecommunication signals.

[0361] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0362] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0363] In the embodiments provided in the present application, it should be understood that the disclosed methods, devices, systems, Beacon base stations or tags can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0364] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0365] Finally, it should be noted that the above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A positioning method, characterized in that: Applied to a Beacon base station, the Beacon base station is provided with a Beacon base station UWB module, and the positioning method includes: When TOF distance measurement is required between the Beacon base station and the tag, the UWB module of the Beacon base station is turned on; Sending a TOF positioning signal to the tag through the Beacon base station UWB module, wherein the TOF positioning signal is used to measure the distance between the Beacon base station and the tag; The Beacon base station receives a reply signal returned by the tag based on the TOF positioning signal, and turns off the UWB module of the Beacon base station; When TOF distance measurement is required between the Beacon base station and the tag, before the UWB module of the Beacon base station is turned on, the positioning method further includes: The Beacon base station sends a first synchronization request signal to the communication base station through a low-power wireless network and records the real-time time of the Beacon base station. The first synchronization request signal is used to synchronize the The time between the Beacon base station and the communication base station; Receiving a first synchronization reply signal returned by the communication base station based on the first synchronization request signal; Parsing the first synchronization reply signal to obtain timestamp information corresponding to the real-time time of the Beacon base station; Determine, according to the timestamp information, a UWB positioning segment corresponding to the Beacon base station, wherein the UWB positioning segment is a positioning time segment, and the UWB positioning segment is used for the Beacon base station to send the TOF positioning signal when the Beacon base station is in the UWB positioning segment; According to the UWB positioning segment, the time at which the Beacon base station sends the TOF positioning signal is determined.

2. The positioning method according to claim 1, characterized in that: The determining, according to the timestamp information, a UWB positioning segment corresponding to the Beacon base station includes: When the timestamp information is a set BLE synchronization moment, the target time period after the BLE synchronization moment is determined as a BLE synchronization segment, and the BLE synchronization segment is used for the Beacon base station to send a BLE synchronization signal when it is in the BLE synchronization segment, and the BLE synchronization signal is used to detect tags within the positioning range of the Beacon base station; Setting protection durations at both ends of the BLE synchronization segment respectively, and determining the BLE synchronization segment after the protection duration is set as a BLE synchronization receiving window, wherein the BLE synchronization receiving window is used for the tag to receive the BLE synchronization signal; An interval between two adjacent BLE synchronization receiving windows is calculated, and the interval is determined as the UWB positioning segment.

3. The positioning method according to claim 2, characterized in that: The determining of the UWB positioning segment The time when the Beacon base station sends the TOF positioning signal includes: determining the positioning cycle of the Beacon base station; Randomly selecting a starting positioning time in the UWB positioning segment, the starting positioning time indicating the time when the Beacon base station sends the TOF positioning signal for the first time; The time at which the Beacon base station sends the TOF positioning signal each time is determined according to the starting positioning time and the positioning cycle.

4. The positioning method according to any one of claims 1 to 3, characterized in that: After receiving the reply signal returned by the tag based on the TOF positioning signal and turning off the Beacon base station UWB module, the positioning method further includes: Determine distance information according to the TOF positioning signal and the reply signal; The distance information is sent to the server through the communication base station, and the server is used to parse the distance information and determine the location of the tag according to the parsing result.

5. The positioning method according to claim 1, characterized in that: The number of the tags is multiple, the TOF positioning signal includes a list of tags to be tested, and the positioning method further includes: Sort the tags according to the reply signal returned by each tag; The list of tags to be tested is updated according to the sorting result. The updated list of tags to be tested is used for the next TOF ranging. Each of the tags in the updated list of tags to be tested returns a reply signal in order.

6. A positioning method, characterized in that: When TOF distance measurement is required between the Beacon base station and the tag, before the Beacon base station UWB module is turned on, the positioning method further includes: The Beacon base station sends a first synchronization request signal to the communication base station through a low-power wireless network, and records the real-time time of the Beacon base station, where the first synchronization request signal is used to synchronize the time of the Beacon base station with the communication base station; Receiving a first synchronization reply signal returned by the communication base station based on the first synchronization request signal; Parsing the first synchronization reply signal to obtain timestamp information corresponding to the real-time time of the Beacon base station; The positioning method further comprises: Determine, according to the timestamp information, a UWB positioning segment corresponding to the Beacon base station, wherein the UWB positioning segment is a positioning time segment, and the UWB positioning segment is used for the Beacon base station to send a TOF positioning signal when the Beacon base station is in the UWB positioning segment; Determine, according to the UWB positioning segment, the time at which the Beacon base station sends the TOF positioning signal; Before receiving the TOF positioning signal sent by the Beacon base station, the positioning method further includes: The tag sends a second synchronization request signal to the communication base station through the low-power wireless network and records the real-time time of the tag, wherein the second synchronization request signal is used to synchronize the time of the tag with the communication base station; Receiving a second synchronization reply signal returned by the communication base station based on the second synchronization request signal; parsing the second synchronization reply signal to obtain timestamp information corresponding to the real-time time of the tag; Determine, according to the timestamp information, a UWB positioning segment corresponding to the Beacon base station, wherein the UWB positioning segment is a positioning time period, and the UWB positioning segment is used for the Beacon base station to receive the TOF positioning signal when the Beacon base station is in the UWB positioning segment; Determine, according to the UWB positioning segment, the time at which the Beacon base station receives the TOF positioning signal; Applied to a tag, the positioning method comprises: the tag receiving a TOF positioning signal sent by a Beacon base station; The tag sends a reply signal to the Beacon base station based on the TOF positioning signal; The tag is provided with a tag UWB module, the TOF positioning signal includes the time when the Beacon base station sends the TOF positioning signal next time, and the positioning method further includes: The tag determines the start time and the shutdown time of the UWB module of the tag according to the time when the Beacon base station sends the TOF positioning signal next time; When it is detected that the current time reaches the start time, the tag UWB module is turned on, and the turned-on tag UWB module is used to receive the TOF positioning signal sent by the Beacon base station next time; Or, when it is detected that the current time reaches the shutdown time, the tag UWB module is turned off.

7. The positioning method according to claim 6, characterized in that: The number of the tags is multiple, the TOF positioning signal includes a list of tags to be tested, and the sending of a reply signal to the Beacon base station based on the TOF positioning signal includes: For each of the tags, if it is detected that the tag is in the list of tags to be tested, the tag sends the reply signal to the Beacon base station in a preset time slot; Or, if it is detected that the tag is not in the list of tags to be tested, the tag sends the reply signal to the Beacon base station in a preset contention section.

8. The positioning method according to claim 7, characterized in that: If the tag is detected in the list of tags to be tested, the tag sends the reply signal to the Beacon base station in a preset time slot, including: If the tag is detected in the list of tags to be tested, the position of the tag in the list of tags to be tested is obtained; Determine a reply time of the tag in the time slot according to the position; and send the reply signal to the Beacon base station at the reply time.

9. A positioning system, characterized in that: The positioning system includes: a Beacon base station and a tag, wherein the Beacon base station is provided with a Beacon base station UWB module, The Beacon base station is used to turn on the Beacon base station UWB module when TOF distance measurement is required between the Beacon base station and the tag; send a TOF positioning signal to the tag through the Beacon base station UWB module, and the TOF positioning signal is used to measure the distance between the Beacon base station and the tag; The tag is used to receive the TOF positioning signal sent by the Beacon base station; and send a reply signal to the Beacon base station based on the TOF positioning signal; The Beacon base station is also used to receive a reply signal returned by the tag based on the TOF positioning signal, and turn off the UWB module of the Beacon base station; When TOF distance measurement is required between the Beacon base station and the tag, before the Beacon base station UWB module is turned on, the positioning system further includes: The Beacon base station sends a first synchronization request signal to the communication base station through a low-power wireless network and records the real-time time of the Beacon base station. The first synchronization request signal is used to synchronize the The time between the Beacon base station and the communication base station; Receiving a first synchronization reply signal returned by the communication base station based on the first synchronization request signal; Parsing the first synchronization reply signal to obtain timestamp information corresponding to the real-time time of the Beacon base station; Determine, according to the timestamp information, a UWB positioning segment corresponding to the Beacon base station, wherein the UWB positioning segment is a positioning time segment, and the UWB positioning segment is used for the Beacon base station to send the TOF positioning signal when the Beacon base station is in the UWB positioning segment; According to the UWB positioning segment, the time at which the Beacon base station sends the TOF positioning signal is determined.

10. The positioning system according to claim 9, characterized in that: The positioning system further includes a server and a communication base station. The server is time synchronized with the communication base station. The Beacon base station and the tag are time synchronized with the communication base station via a low-power wireless network. The Beacon base station is also used to determine distance information according to the TOF positioning signal and the reply signal; and send the distance information to the communication base station; The communication base station is used to forward the distance information to the server; The server is used to analyze the distance information and determine the location of the tag according to the analysis result. Set.

11. A positioning device, characterized in that: Applied to Beacon base stations, including: A decision module, used to turn on the UWB module of the Beacon base station when TOF ranging is required between the Beacon base station and the tag; A sending module, used to send a TOF positioning signal to the tag through the Beacon base station UWB module, wherein the TOF positioning signal is used to measure the distance between the Beacon base station and the tag; A receiving module, used for the Beacon base station to receive a reply signal returned by the tag based on the TOF positioning signal, and to turn off the UWB module of the Beacon base station; When TOF distance measurement is required between the Beacon base station and the tag, before the Beacon base station UWB module is turned on, the positioning device further includes: The Beacon base station sends a first synchronization request signal to the communication base station through a low-power wireless network and records the real-time time of the Beacon base station. The first synchronization request signal is used to synchronize the The time between the Beacon base station and the communication base station; Receiving a first synchronization reply signal returned by the communication base station based on the first synchronization request signal; Parsing the first synchronization reply signal to obtain timestamp information corresponding to the real-time time of the Beacon base station; Determine, according to the timestamp information, a UWB positioning segment corresponding to the Beacon base station, wherein the UWB positioning segment is a positioning time segment, and the UWB positioning segment is used for the Beacon base station to send the TOF positioning signal when the Beacon base station is in the UWB positioning segment; According to the UWB positioning segment, the time at which the Beacon base station sends the TOF positioning signal is determined.

12. A positioning device, characterized in that: Applied to a tag, comprising: a receiving module for the The tag receives the TOF positioning signal sent by the Beacon base station; A sending module, used for the tag to send a reply signal to the Beacon base station based on the TOF positioning signal; When TOF distance measurement is required between the Beacon base station and the tag, before the Beacon base station UWB module is turned on, the positioning device further includes: The Beacon base station sends a first synchronization request signal to the communication base station through a low-power wireless network and records the real-time time of the Beacon base station. The first synchronization request signal is used to synchronize the The time between the Beacon base station and the communication base station; Receiving a first synchronization reply signal returned by the communication base station based on the first synchronization request signal; Parsing the first synchronization reply signal to obtain timestamp information corresponding to the real-time time of the Beacon base station; Determine, according to the timestamp information, a UWB positioning segment corresponding to the Beacon base station, wherein the UWB positioning segment is a positioning time segment, and the UWB positioning segment is used for the Beacon base station to send the TOF positioning signal when the Beacon base station is in the UWB positioning segment; According to the UWB positioning segment, the time at which the Beacon base station sends the TOF positioning signal is determined.

13. A Beacon base station, comprising a memory, a processor, a Beacon base station UWB module, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the positioning method according to any one of claims 1 to 5 is implemented.

14. A tag, comprising a memory, a processor, a tag UWB module, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the positioning method according to any one of claims 6 to 8 is implemented.

15. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the positioning method according to any one of claims 1 to 5 is implemented.

16. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the positioning method according to any one of claims 6 to 8 is implemented.

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