A label positioning method, device, equipment and system

Abstract

The present application provides a tag positioning method, apparatus, device, and system. The method includes: a first base station sends UWB coupling information to each base station within a communication subnet through a short-range wireless communication technology, where the UWB coupling information includes the pairing relationship between the first base station and a target tag; the first base station determines the base stations belonging to the same synchronization subnet based on the pairing relationship between the target tag and each first base station; the first base station allocates a target time slot for the target tag based on the tag time slot allocation relationship corresponding to each base station within the synchronization subnet, where the tag time slot allocation relationship represents the occupied time slots that have been allocated for tags, and the target time slot is an idle time slot other than the occupied time slots; the first base station interacts with the target tag in the target time slot to send and receive UWB data packets, and locates the target tag based on the timestamp information of the UWB data packets. Through the technical solution of the present application, non-centralized time slot management of the UWB positioning system can be achieved, and there is no need to aggregate all information to the server for unified management.

Description

Technical Field

[0001] This application relates to the field of positioning technology, and in particular, to a tag positioning method, device, equipment and system. Background Art

[0002] UWB (Ultra Wide Band) technology is a wireless carrier communication technology. It does not use a sine carrier, but uses nanosecond-level non-sine wave narrow pulses to transmit data, so the occupied spectrum range is very wide. UWB technology has the advantages of low complexity, low transmit signal power spectral density, insensitivity to channel fading, low interceptability, high positioning accuracy, etc., and is especially suitable for high-speed wireless access in dense multipath places such as indoors.

[0003] UWB positioning technology is a positioning technology implemented using UWB. Multiple base stations can be deployed in the target scenario. For a target object to be positioned (such as a target person, a target vehicle, etc.), a tag (such as a tag card) can be carried, and multiple base stations can position the tag, and the position of the tag is also the position of the target object, so as to determine the position of the target object and be able to obtain the accurate position of the target object in real time.

[0004] In order to achieve tag positioning, in addition to deploying multiple base stations, a server at the central end also needs to be deployed, and the server controls multiple base stations to position the tag. Obviously, the method of deploying a server will make the networking structure more complex, and when the server fails, tag positioning cannot be performed. Summary of the Invention

[0005] This application provides a tag positioning method. A communication subnet includes multiple base stations, and the multiple base stations can communicate through short-range wireless communication technology. The method includes:

[0006] For each first base station that receives a UWB data packet sent by a target tag, the first base station sends UWB coupling information to each base station in the communication subnet through short-range wireless communication technology. The UWB coupling information includes the pairing relationship between the first base station and the target tag;

[0007] The first base station determines the base stations belonging to the same synchronization subnet based on the pairing relationship between the target tag and each first base station. The base stations and tags in the synchronization subnet can communicate through UWB technology;

[0008] The first base station allocates a target time slot for the target tag based on the tag time slot allocation relationship corresponding to each base station in the synchronization subnet; wherein, the tag time slot allocation relationship represents the occupied time slots that have been allocated for the tag, and the target time slot is an idle time slot other than the occupied time slots;

[0009] The first base station interacts with the target tag with UWB data packets in the target time slot, and locates the target tag based on the timestamp information of the UWB data packets.

[0010] This application provides a tag positioning device. A communication subnet includes multiple base stations. The multiple base stations can communicate through short-range wireless communication technologies. The multiple base stations include a first base station that receives UWB data packets sent by a target tag. The device is applied to the first base station. The device includes:

[0011] A sending module, configured to send UWB coupling information to each base station in the communication subnet through short-range wireless communication technologies. The UWB coupling information includes the pairing relationship between the first base station and the target tag;

[0012] A determining module, configured to determine the base stations belonging to the same synchronization subnet based on the pairing relationship between the target tag and each first base station. The base stations and tags in the synchronization subnet can communicate through UWB technologies;

[0013] An allocation module, configured to allocate a target time slot for the target tag based on the tag time slot allocation relationship corresponding to each base station in the synchronization subnet. Wherein, the tag time slot allocation relationship represents the occupied time slots that have been allocated for tags, and the target time slot is an idle time slot other than the occupied time slots;

[0014] A positioning module, configured to interact with the target tag with UWB data packets in the target time slot, and locate the target tag based on the timestamp information of the UWB data packets.

[0015] This application provides a base station device, including: a processor and a machine-readable storage medium. The machine-readable storage medium stores machine-executable instructions that can be executed by the processor. The processor is configured to execute the machine-executable instructions to implement the tag positioning method in the above examples of this application.

[0016] This application provides a UWB positioning system. The UWB positioning system includes at least one communication subnet. For each communication subnet, the communication subnet includes a target tag and multiple base stations. The multiple base stations in the communication subnet can communicate through short-range wireless communication technologies. The multiple base stations include a first base station that can receive UWB data packets sent by the target tag. Wherein:

[0017] The first base station is configured to send UWB coupling information to each base station within the communication subnet through short - range wireless communication technology. The UWB coupling information includes the pairing relationship between the first base station and the target tag. Determine the base stations belonging to the same synchronization subnet based on the pairing relationship between the target tag and each first base station. The base stations and tags within the synchronization subnet can communicate through UWB technology. Based on the tag time - slot allocation relationship corresponding to each base station within the synchronization subnet, allocate a target time - slot for the target tag. Wherein, the tag time - slot allocation relationship represents the occupied time - slots that have been allocated to tags, and the target time - slot is an idle time - slot other than the occupied time - slots. Interact with the target tag with a UWB data packet in the target time - slot, and locate the target tag based on the timestamp information of the UWB data packet.

[0018] The target tag is configured to interact with the first base station with a UWB data packet in the target time - slot.

[0019] As can be seen from the above technical solutions, in the embodiments of the present application, by combining UWB technology and short - range wireless communication technology, it is possible to achieve decentralized time - slot management of the UWB positioning system, ensure the adaptive time - division multiplexing of tag time - slots and the adaptive response of base stations in the scenarios of large - scale deployment of base stations and large - capacity tags, solve the problem of mutual interference of UWB communication in the case of a large number of base stations and tags, be able to complete time - slot management at the base station, without the need to summarize all information to the server at the central end for unified management. In the scenario where information cannot be transmitted to the server, time - slot management can still be carried out normally, without the need to deploy an additional server at the central end, simplifying the network structure. It is possible to use short - range wireless communication technology to transmit UWB coupling information between base stations to achieve time - slot synchronization between base stations, without occupying the UWB channel, and complete base - station synchronization without affecting the UWB positioning capacity. Independent time - slot management can be carried out, reducing the complexity of time - slot management. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments of the present application or the prior art. Obviously, the drawings described below are only some embodiments recorded in the present application. For those of ordinary skill in the art, other drawings can also be obtained according to these drawings of the embodiments of the present application.

[0021] Figure 1 It is a flowchart of a tag positioning method in an embodiment of the present application;

[0022] Figure 2 It is a schematic structural diagram of a UWB positioning system in an embodiment of the present application;

[0023] Figure 3It is a schematic diagram for positioning a tag in an embodiment of the present application;

[0024] Figure 4 It is a schematic diagram of a communication subnet in an embodiment of the present application;

[0025] Figure 5 It is a flowchart of a tag positioning method in an embodiment of the present application;

[0026] Figure 6A and Figure 6B It is a schematic diagram of a synchronization subnet in an embodiment of the present application;

[0027] Figure 7A and Figure 7B It is a schematic diagram of the time slot position relationship in an embodiment of the present application;

[0028] Figure 7C It is a schematic diagram of the tag positioning function in an embodiment of the present application;

[0029] Figure 7D It is a schematic diagram of the time slot time division multiplexing effect in an embodiment of the present application;

[0030] Figure 8 It is a schematic diagram of the structure of a tag positioning device in an embodiment of the present application;

[0031] Figure 9 It is a hardware structure diagram of a base station device in an embodiment of the present application. Specific embodiments

[0032] The terms used in the embodiments of the present application are only for the purpose of describing specific embodiments and do not limit the present application. The singular forms "a", "the" and "said" used in the present application and the claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term "and / or" used herein refers to any and all possible combinations of one or more of the associated listed items.

[0033] It should be understood that although the terms first, second, third, etc. may be used in the embodiments of the present application to describe various information, such information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the present application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, in addition, the word "if" may be interpreted as "when" or "while" or "in response to determining".

[0034] In an embodiment of the present application, a tag positioning method is proposed, which can be applied to a UWB positioning system. The UWB positioning system may include at least one communication subnet. For each communication subnet, the communication subnet may include multiple base stations, and the multiple base stations in the communication subnet can communicate through short-range wireless communication technology.

[0035] See Figure 1 As shown, it is a schematic flowchart of the tag positioning method, and the method may include:

[0036] Step 101: For each first base station that receives a UWB data packet sent by a target tag, the first base station sends UWB coupling information to each base station in the communication subnet through short-range wireless communication technology. The UWB coupling information may include the pairing relationship between the first base station and the target tag.

[0037] Step 102: The first base station determines the base stations belonging to the same synchronization subnet based on the pairing relationship between the target tag and each first base station. The base stations and tags in the synchronization subnet can communicate through UWB technology.

[0038] Exemplarily, the first base station may determine all first base stations corresponding to the target tag based on the pairing relationship between the target tag and each first base station, and use the determined all first base stations as candidate base stations. Based on the pairing relationship between the candidate base stations and the tag, determine all tags corresponding to the candidate base stations, and use the determined all tags as candidate tags. Based on the pairing relationship between the candidate tags and the base stations, determine all base stations corresponding to the candidate tags, and use the determined all base stations as candidate base stations, and return to execute the operation of determining all tags corresponding to the candidate base stations based on the pairing relationship between the candidate base stations and the tag until all candidate base stations are determined. On this basis, all candidate base stations are determined to be the base stations belonging to the synchronization subnet.

[0039] Step 103: The first base station allocates a target time slot for the target tag based on the tag time slot allocation relationship corresponding to each base station in the synchronization subnet; wherein, the tag time slot allocation relationship represents the occupied time slots that have been allocated to the tags, and the target time slot is an idle time slot other than the occupied time slots.

[0040] Step 104: The first base station interacts with the target tag in the target time slot and locates the target tag based on the timestamp information of the UWB data packet.

[0041] In a possible implementation, the UWB coupling information includes the signal quality between the target tag and the first base station; the first base station interacts with the target tag with a UWB data packet in a target time slot, which may include: the first base station determines the interaction order corresponding to the UWB data packet based on the signal quality between the target tag and each first base station, and the interaction order is used to indicate which one the first base station is among all the first base stations to send the UWB data packet; based on this interaction order, the first base station interacts with the target tag with the UWB data packet in the target time slot.

[0042] In a possible implementation, the UWB coupling information includes the signal quality between the target tag and the first base station; the first base station interacts with the target tag with a UWB data packet in a target time slot, which may include: if this first base station is the positioning base station of the target tag, the first base station interacts with the target tag with the UWB data packet in the target time slot; wherein, if the total number of all first base stations is greater than the configured number M, then based on the signal quality between the target tag and each first base station, it is determined whether this first base station is the positioning base station of the target tag; if the total number is not greater than the number M, then it is determined that this first base station is the positioning base station of the target tag.

[0043] In a possible implementation, the UWB coupling information further includes the reception time of the UWB data packet by the first base station. Before the first base station interacts with the target tag with the UWB data packet in the target time slot, the first base station can also correct its local time based on the reception time of the UWB data packet by each first base station, so that the target time slots of all first base stations are synchronized and aligned.

[0044] In a possible implementation, after the first base station assigns a target time slot to the target tag based on the tag time slot allocation relationship corresponding to each base station in the synchronization subnet, the first base station can also record the corresponding relationship between the target tag and the target time slot in the tag time slot allocation relationship, to indicate that the target time slot is an occupied time slot that has been assigned to the target tag, that is, the target time slot will not be assigned to other tags.

[0045] In a possible implementation, the first base station interacts with the target tag with a UWB data packet in the target time slot and locates the target tag based on the timestamp information of the UWB data packet, which may include: in the target time slot, the first base station receives a UWB ranging request data packet sent by the target tag, sends a UWB ranging response data packet to the target tag, and receives a UWB ranging end data packet sent by the target tag. On this basis, the first base station can locate the target tag based on the send timestamp and receive timestamp of the UWB ranging request data packet, the send timestamp and receive timestamp of the UWB ranging response data packet, and the send timestamp and receive timestamp of the UWB ranging end data packet. There is no limitation on this positioning method.

[0046] As can be seen from the above technical solutions, in the embodiments of the present application, by combining the UWB technology and the short-range wireless communication technology, it is possible to achieve decentralized time slot management for the UWB positioning system, ensure the adaptive time division multiplexing of tag time slots and the adaptive response of the base station in the scenarios of large-scale deployment of base stations and large-capacity tags, solve the problem of mutual interference of UWB communications in the case of a large number of base stations and tags, be able to complete time slot management at the base station without aggregating all information to the central server for unified management, and still be able to normally perform time slot management in the scenario where information cannot be transmitted to the server without the need to additionally deploy a central server, thus simplifying the network structure. It is possible to use the short-range wireless communication technology to transmit UWB coupling information between base stations to achieve time slot synchronization between base stations, which does not occupy the UWB channel and can complete base station synchronization without affecting the UWB positioning capacity. Independent time slot management can be carried out to reduce the complexity of time slot management.

[0047] The above technical solutions of the embodiments of the present application will be described below in conjunction with specific application scenarios.

[0048] The UWB positioning technology is a positioning technology implemented using UWB. Multiple base stations can be deployed in the target scenario. The target object to be located can carry a tag, and multiple base stations can locate the tag, and the position of the tag is the position of the target object, thereby locating the position of the target object.

[0049] See Figure 2 As shown, it is a schematic structural diagram of a UWB positioning system. To achieve tag positioning, multiple base stations and a central server need to be deployed in the target scenario, and the server controls multiple base stations to locate the tag. For example, after the tag b1 enters the coverage range of the base station, it can send a UWB data packet. After the base stations a1, a2, and a3 receive the UWB data packet, they can send the pairing relationship between their own base station and the tag b1 to the server. After the server receives the above pairing relationship, it can allocate the first idle time slot (such as time slot 1) to the tag b1, and determine the base stations a1, a2, and a3 as the positioning base stations of the tag b1, and the base stations a1, a2, and a3 locate the tag b1.

[0050] For another example, after the tag b2 enters the coverage range of the base station, it can send a UWB data packet. After the base stations a1 and a3 receive the UWB data packet, they send the pairing relationship between their own base station and the tag b2 to the server. After the server receives the above pairing relationship, it allocates the first idle time slot (such as time slot 2, time slot 1 has been allocated to the tag b1 and is no longer an idle time slot) to the tag b2, and determines the base stations a1 and a3 as the positioning base stations of the tag b2, and the base stations a1 and a3 locate the tag b2.

[0051] Exemplarily, the server may divide each superframe into n time slots. In the first time slot (denoted as time slot 1) of each superframe, base stations a1, a2, and a3 locate tag b1. In the second time slot (denoted as time slot 2) of each superframe, base stations a1 and a3 locate tag b2.

[0052] Exemplarily, in each time slot, a base station can only locate one tag and cannot locate multiple tags simultaneously, thus avoiding UWB communication collision interference among multiple tags. That is to say, one tag corresponds to one time slot, and different tags cannot correspond to the same time slot. To implement the above functions, the server needs to notify each base station of the relationship between tag b1 and time slot 1, and the base station then notifies tag b1 of the relationship between tag b1 and time slot 1. The server needs to notify each base station of the relationship between tag b2 and time slot 2, and the base station then notifies tag b2 of the relationship between tag b2 and time slot 2.

[0053] On this basis, tag b1 and each base station (such as base stations a1, a2, and a3) can perform UWB communication in time slot 1 to locate tag b1. Tag b2 and each base station (such as base stations a1 and a3) can perform UWB communication in time slot 2 to locate tag b2.

[0054] See Figure 3 As shown, it is a schematic diagram for locating tag b1. Tag b1 sends a UWB ranging request data packet at the start time of time slot 1, and base stations a1, a2, and a3 receive the UWB ranging request data packet. After receiving the UWB ranging request data packet, base station a1 sends a UWB ranging response data packet 1 to tag b1, and tag b1 receives the UWB ranging response data packet 1. After base station a1 sends the UWB ranging response data packet 1 to tag b1, base station a2 sends a UWB ranging response data packet 2 to tag b1, and tag b1 receives the UWB ranging response data packet 2. After base station a2 sends the UWB ranging response data packet 2 to tag b1, base station a3 sends a UWB ranging response data packet 3 to tag b1, and tag b1 receives the UWB ranging response data packet 3. After tag b1 receives the UWB ranging response data packet 3, it sends a UWB ranging end data packet, and base stations a1, a2, and a3 receive the UWB ranging end data packet.

[0055] Base station a1 can locate tag b1 based on the transmission timestamp and reception timestamp of the UWB ranging request data packet, the transmission timestamp and reception timestamp of the UWB ranging response data packet 1, and the transmission timestamp and reception timestamp of the UWB ranging end data packet. For example, ranging and angle measurement can be performed on tag b1, and there is no limitation on this positioning method. Base station a2 can locate tag b1 based on the transmission timestamp and reception timestamp of the UWB ranging request data packet, the transmission timestamp and reception timestamp of the UWB ranging response data packet 2, and the transmission timestamp and reception timestamp of the UWB ranging end data packet, and so on.

[0056] In summary, in time slot 1, each base station can locate tag b1. Similarly, in time slot 2, each base station can also locate tag b2, which will not be repeated here.

[0057] In the above method, it is necessary to deploy a server at the central end of the UWB positioning system. Deploying the server will make the networking structure more complex, and when the server fails, it will cause the inability to locate the tag.

[0058] To address the above problems, in the embodiments of the present application, by combining the UWB technology and the short-range wireless communication technology, it is possible to achieve decentralized time slot management for the UWB positioning system, ensure adaptive time division multiplexing of tag time slots and adaptive response of base stations in the scenarios of large-scale base station deployment and large-capacity tags, solve the problem of mutual interference of UWB communications in the case of a large number of base stations and tags, that is, there is no need to deploy an additional central server, and there is no need to aggregate all information to the central server for unified management. In scenarios where information cannot be transmitted to the server, time slot management can still be carried out normally, simplifying the networking structure of the UWB positioning system.

[0059] Exemplarily, the short-range wireless communication technology can be a short-range wireless communication technology with a relay forwarding function. The short-range wireless communication technology can include, but is not limited to: Bluetooth mesh technology, Wi-Fi technology, Bluetooth technology, ZigBee technology, etc. Of course, the above are just a few examples and there is no limitation on this.

[0060] Exemplarily, for the base station in the UWB positioning system, the base station can have a UWB communication unit and a short-range wireless communication unit. The UWB communication unit is used to perform UWB communication with the tag to complete tag positioning through UWB communication. The short-range wireless communication unit is used to perform short-range wireless communication with the base station to complete data interaction. For the tag in the UWB positioning system, it can have a UWB communication unit, and the UWB communication unit is used to perform UWB communication with the base station to complete tag positioning through UWB communication.

[0061] Exemplarily, after the large-scale deployment of base stations is completed, all base stations can be divided into at least one communication subnet. Base stations without communication isolation form a communication subnet. For each communication subnet, there are multiple base stations included in the communication subnet. For example, multiple base stations within the same communication subnet can communicate through short-range wireless communication technology, while base stations in different communication subnets cannot communicate through short-range wireless communication technology.

[0062] See Figure 4 As shown, it is a schematic diagram of a communication subnet. Base stations within the same communication subnet can achieve data transmission between any two base stations through the relay forwarding function, while there is communication isolation between different communication subnets and they cannot communicate with each other, without mutual collision interference and without coupling relationship.

[0063] Obviously, by dividing all base stations into different communication subnets, independent device time slot management can be performed for each communication subnet respectively, thereby reducing the complexity of device time slot management.

[0064] See Figure 4 As shown, all base stations are divided into communication subnet 1, communication subnet 2,..., communication subnet n. For each base station within communication subnet 1, this base station can communicate with at least one base station within communication subnet 1 through short-range wireless communication technology. Based on the relay forwarding function of each base station, this base station can also communicate with each base station within communication subnet 1 through short-range wireless communication technology, and this base station cannot communicate with base stations in other communication subnets (such as communication subnet 2) through short-range wireless communication technology, that is, there is communication isolation.

[0065] In the above application scenario, an embodiment of the present application proposes a tag positioning method, which is a non-centralized time slot management scheme for a UWB positioning system. This method can be applied to a UWB positioning system. See Figure 5 As shown, it is a schematic flow diagram of the tag positioning method. This method may include:

[0066] Step 501: For each first base station that receives a UWB data packet sent by a target tag, this first base station sends UWB coupling information to each base station within the communication subnet through short-range wireless communication technology.

[0067] For example, assume that the communication subnet 1 includes base stations a1, a2, a3, a4, a5, and a6 (here, six base stations are taken as an example, and the total number of base stations in actual applications can be greater than 6). After the tag b1 (i.e., the target tag) enters the coverage range of the base stations in the communication subnet 1, the tag b1 can send UWB data packets. Assume that base stations a1, a2, and a3 receive the UWB data packets, while base stations a4, a5, and a6 do not receive the UWB data packets. Then, base stations a1, a2, and a3 can be recorded as the first base stations, and base stations a4, a5, and a6 can be recorded as the second base stations.

[0068] For each first base station, UWB coupling information can be sent to each base station in the communication subnet 1 through short-range wireless communication technology. For example, base station a1 sends UWB coupling information 1 through short-range wireless communication technology, and all of base stations a2 - a6 can receive UWB coupling information 1; base station a2 sends UWB coupling information 2 through short-range wireless communication technology, and all of base stations a1, a3 - a6 can receive UWB coupling information 2; base station a3 sends UWB coupling information 3 through short-range wireless communication technology, and all of base stations a1, a2, a4 - a6 can receive UWB coupling information 3.

[0069] In a possible implementation manner, the UWB coupling information may include, but is not limited to, at least one of the following: the pairing relationship between the first base station and the target tag (such as the unique base station identifier of the first base station and the unique tag identifier of the target tag), the signal quality between the target tag and the first base station (such as the signal quality when the first base station receives the UWB data packet sent by the target tag), the reception time of the first base station for the UWB data packet (such as the time when the first base station receives the UWB data packet sent by the target tag). Of course, the above are only several examples of the UWB coupling information, and the content of the UWB coupling information is not limited. For example, the UWB coupling information may also include content such as the superframe start time, and this is not limited.

[0070] Obviously, in the above example, the UWB coupling information 1 may include the unique base station identifier of base station a1, the unique tag identifier of tag b1, the signal quality c1 when base station a1 receives the UWB data packet, and the reception time d1 when base station a1 receives the UWB data packet. The UWB coupling information 2 may include the unique base station identifier of base station a2, the unique tag identifier of tag b1, the signal quality c2 when base station a2 receives the UWB data packet, and the reception time d2 when base station a2 receives the UWB data packet. The UWB coupling information 3 may include the unique base station identifier of base station a3, the unique tag identifier of tag b1, the signal quality c3 when base station a3 receives the UWB data packet, and the reception time d3 when base station a3 receives the UWB data packet.

[0071] Step 502: The first base station determines the base stations belonging to the same synchronization subnet based on the pairing relationship between the target tag and each first base station. The base stations and tags within this synchronization subnet can communicate via UWB technology.

[0072] Exemplarily, for each first base station, the first base station parses the pairing relationship between the target tag and the first base station from the UWB coupling information. Based on the pairing relationship between the target tag and each first base station, it determines all the first base stations corresponding to the target tag and uses the determined first base stations as candidate base stations. Then, based on the pairing relationship between the candidate base stations and the tags, it determines all the tags corresponding to the candidate base stations (i.e., each candidate base station) and uses the determined tags as candidate tags. Based on the pairing relationship between the candidate tags and the base stations, it determines all the base stations corresponding to the candidate tags (i.e., each candidate tag) and uses the determined base stations as candidate base stations, and then returns to execute the operation of determining all the tags corresponding to the candidate base stations based on the pairing relationship between the candidate base stations and the tags until all candidate base stations are determined. On this basis, the first base station can determine that all the candidate base stations belong to the same synchronization subnet.

[0073] For example, base station a1 can parse the pairing relationship between tag b1 and base station a2 from UWB coupling information 2, and can parse the pairing relationship between tag b1 and base station a3 from UWB coupling information 3, and base station a1 has a pairing relationship with tag b1. Therefore, base station a1 determines that the first base stations corresponding to tag b1 are base station a1, base station a2, and base station a3, and uses base station a1, base station a2, and base station a3 as candidate base stations. Base station a1 determines that base station a1, base station a2, and base station a3 belong to the same synchronization subnet. Similarly, base station a2 determines that base station a1, base station a2, and base station a3 belong to the same synchronization subnet, and base station a3 determines that base station a1, base station a2, and base station a3 belong to the same synchronization subnet.

[0074] Exemplarily, for each first base station (such as base station a1, base station a2, and base station a3), it is also necessary to record the pairing relationship between tag b1 and each first base station (such as base station a1, base station a2, and base station a3).

[0075] Exemplarily, for each second base station (such as base station a4, base station a5, and base station a6), it is also necessary to record the pairing relationship between tag b1 and each first base station (such as base station a1, base station a2, and base station a3).

[0076] For another example, assume that before tag b1 enters the coverage of the base station of communication subnet 1, tag b2 and tag b3 have already entered the coverage of the base station of communication subnet 1, and each base station (such as base station a1-base station a6) has recorded the pairing relationship between tag b2 and base station a2 and base station a4, and the pairing relationship between tag b3 and base station a4 and base station a5, and this process will not be repeated. Based on this, after tag b1 enters the coverage of the base station of communication subnet 1, base station a1 can determine that the first base station corresponding to tag b1 is base station a1, base station a2 and base station a3, and use base station a1, base station a2 and base station a3 as candidate base stations.

[0077] Then, based on the pairing relationship between the candidate base stations and the labels, base station a1 determines the label b2 corresponding to base station a2, and uses label b2 as a candidate label. Then, based on the pairing relationship between the candidate labels and the base stations, base station a1 determines the base station a4 corresponding to label b2, and uses base station a4 as a candidate base station. Then, based on the pairing relationship between the candidate base stations and the labels, base station a1 determines the label b3 corresponding to base station a4, and uses label b3 as a candidate label. Then, based on the pairing relationship between the candidate labels and the base stations, base station a1 determines the base station a5 corresponding to label b3, and uses base station a5 as a candidate base station. At this point, base station a1 has successfully determined all candidate base stations.

[0078] Then, base station a1 determines base station a1, base station a2, base station a3, base station a4 and base station a5 as base stations belonging to the same synchronization subnet. Similarly, base station a2 determines base station a1, base station a2, base station a3, base station a4 and base station a5 as base stations belonging to the same synchronization subnet. Base station a3 determines base station a1, base station a2, base station a3, base station a4 and base station a5 as base stations belonging to the same synchronization subnet. Base station a4 determines base station a1, base station a2, base station a3, base station a4 and base station a5 as base stations belonging to the same synchronization subnet. Base station a5 determines base station a1, base station a2, base station a3, base station a4 and base station a5 as base stations belonging to the same synchronization subnet.

[0079] From the above, it can be seen that for each first base station, the base stations belonging to the same synchronization subnet can be determined based on the pairing relationship in the UWB coupling information (the pairing relationship between the target tag and the first base station).

[0080] In one possible implementation, when there is a tag in the communication subnet, the tag will perform UWB communication with multiple base stations at the same time. When there are multiple tags in the communication subnet, each tag will perform UWB communication with multiple base stations at the same time. On this basis, when UWB communication is possible between the base station and the tag, it is defined that there is a path between the base station and the tag. When there is a path between two different base stations in the communication subnet (i.e., the path between the base station and the tag) that can be connected, it is defined that the two base stations belong to the same synchronization subnet.

[0081] According to the above networking principle, all base stations within the communication subnet can be divided into different synchronization subnets. That is to say, based on the pairing relationship between tags and base stations (there is a path between the paired tags and base stations, and then all base stations with known paths can be obtained), all base stations within the communication subnet can be divided into different synchronization subnets. Base stations and tags within the same synchronization subnet can communicate via UWB technology.

[0082] See Figure 6A As shown, it is a schematic diagram of a synchronization subnet. All base stations within communication subnet 1 are divided into synchronization subnet 1, synchronization subnet 2, and synchronization subnet 3. Base stations within synchronization subnet 1 and tags within synchronization subnet 1 can communicate via UWB technology. Base stations within synchronization subnet 1 and tags within synchronization subnet 2 cannot communicate via UWB technology. Base stations within synchronization subnet 1 and tags within synchronization subnet 3 cannot communicate via UWB technology. Similarly, base stations within synchronization subnet 2 and tags within synchronization subnet 2 can communicate via UWB technology, and base stations within synchronization subnet 3 and tags within synchronization subnet 3 can communicate via UWB technology.

[0083] Exemplarily, the time slots of base stations within the same synchronization subnet are coupled, and there will be collision interference in UWB communication, so base station synchronization is required, and the tag time slots are managed as a whole. There is no coupling relationship between different synchronization subnets, and independent time slot management can be carried out separately, reducing the complexity of time slot management. For example, when base stations within the same synchronization subnet allocate time slots for tags, different time slots need to be allocated for different tags, and the same time slot cannot be allocated for different tags. However, when base stations within different synchronization subnets allocate time slots for tags, the same time slot can be allocated for different tags.

[0084] For example, when base station a1 within synchronization subnet 1 allocates time slot 1 for tag b1, when base station a2 within synchronization subnet 1 allocates a time slot for tag b2, time slot 1 cannot be allocated for tag b2, that is, tag b2 and tag b1 cannot use the same time slot. However, when base station a6 within synchronization subnet 2 allocates a time slot for tag b5, time slot 1 can be allocated for tag b5, that is, tag b5 and tag b1 can use the same time slot.

[0085] In a possible implementation, since the tags are in a moving state, that is, in each superframe period, new tags may enter the coverage range of a certain base station, existing tags may leave the coverage range of a certain base station, and existing tags may move from the coverage range of one base station to the coverage range of another base station. Therefore, the division of synchronization subnets within the communication subnet will change, such as the splitting and / or merging of synchronization subnets. See Figure 6B As shown, due to tag movement, resulting in Figure 6AThe synchronization subnet 1 in it is split into two synchronization subnets, Figure 6A and the synchronization subnet 2 and the synchronization subnet 3 in it are merged into one synchronization subnet.

[0086] Based on the above principle, in this embodiment, the synchronization subnet is dynamically changing. Therefore, in each positioning process of each tag, it is necessary to re-determine the base stations belonging to the same synchronization subnet, that is, in each positioning process of each tag, it is necessary to execute Figure 5 the processing flow shown, that is to say, in each positioning process of each tag, it is necessary to re-divide the synchronization subnet, rather than the synchronization subnet remaining unchanged after division.

[0087] In step 502, each base station generates a connected path graph according to the UWB communication relationship between the base station and the tag. Refer to Figure 6A and Figure 6B shown. When there is a path connection between other base stations and this base station, it is determined that the other base stations and this base station belong to the same synchronization subnet. Each base station within the same communication subnet can obtain the information of all other base stations within the communication subnet, so as to ensure that the synchronization subnets determined by each base station are the same. For example, base station 1 determines that base station 2 and base station 3 belong to the same synchronization subnet as base station 1, and base station 2 will also determine that base station 1 and base station 3 belong to the same synchronization subnet as base station 2.

[0088] Step 503, the first base station allocates a target time slot for the target tag based on the tag time slot allocation relationship corresponding to each base station within the synchronization subnet; wherein, the tag time slot allocation relationship represents the occupied time slots that have been allocated to the tag, and the target time slot is an idle time slot other than the occupied time slots.

[0089] Exemplarily, after the first base station allocates a target time slot for the target tag, it can also record the corresponding relationship between the target tag and the target time slot in the tag time slot allocation relationship, so as to indicate that the target time slot is an occupied time slot that has been allocated to the target tag, that is, the target time slot will not be allocated to other tags.

[0090] In a possible implementation manner, for each base station (such as each first base station and each second base station) within the synchronization subnet, it is necessary to allocate a target time slot for the target tag and record the corresponding relationship between the target tag and the target time slot in the tag time slot allocation relationship, so that in the subsequent use process, it can be known which time slots are occupied time slots and which time slots are idle time slots based on the tag time slot allocation relationship.

[0091] For example, assume that before tag b1 enters the coverage area of the base station in communication subnet 1, tags b2 and b3 have already entered the coverage area of the base station in communication subnet 1. Then, when tag b2 enters the coverage area of the base station in communication subnet 1, although tag b2 has a pairing relationship with base stations a2 and a4, each base station in the synchronization subnet will allocate a target time slot for tag b2. Since the tag time slot allocation relationship is empty, each base station allocates the first available time slot (i.e., time slot 1) to tag b2 and records the corresponding relationship between tag b2 and time slot 1 in the tag time slot allocation relationship.

[0092] When tag b3 enters the coverage area of the base station in communication subnet 1, although tag b3 has a pairing relationship with base stations a4 and a5, each base station in the synchronization subnet will allocate a target time slot for tag b3. Since the corresponding relationship between tag b2 and time slot 1 has been recorded in the tag time slot allocation relationship, that is, time slot 1 is an occupied time slot, each base station allocates the first available time slot (i.e., time slot 2) outside the occupied time slots to tag b3 and records the corresponding relationship between tag b3 and time slot 2 in the tag time slot allocation relationship.

[0093] On this basis, when tag b1 enters the coverage area of the base station in communication subnet 1, although tag b1 has a pairing relationship with base stations a1, a2, and a3, each base station in the synchronization subnet will allocate a target time slot for tag b1. Since the corresponding relationships between tag b2 and time slot 1 and between tag b3 and time slot 2 have been recorded in the tag time slot allocation relationship, that is, time slot 1 and time slot 2 are occupied time slots, each base station can allocate the first available time slot (i.e., time slot 3) outside the occupied time slots to tag b1 and records the corresponding relationship between tag b1 and time slot 3 in the tag time slot allocation relationship.

[0094] In summary, for each first base station (such as base stations a1, a2, and a3), the target time slot can be allocated to the target tag based on the tag time slot allocation relationship corresponding to each base station in the synchronization subnet.

[0095] Step 504: For each first base station, determine whether this first base station is the positioning base station for the target tag. If so, execute step 505, that is, this first base station needs to locate the target tag. If not, this first base station ends the process and no longer locates the target tag.

[0096] Exemplarily, the quantity M can be pre-configured. M represents the maximum number of responding base stations and can be configured according to experience without any restrictions. For example, M can be 3, etc. For instance, each tag can communicate with multiple base stations via UWB to achieve tag positioning. The quantity M of multiple base stations depends on the maximum number of received responding base stations. Positioning the tag through multiple base stations can save the occupancy of time slices and increase the tag capacity.

[0097] Exemplarily, for each first base station, the first base station can count the total quantity of all first base stations, that is, count the total quantity of all first base stations based on the UWB coupling information. If the total quantity of all first base stations is not greater than the quantity M, the first base station determines itself as the positioning base station of the target tag.

[0098] If the total quantity of all first base stations is greater than the quantity M, the first base station determines whether itself is the positioning base station of the target tag based on the signal quality between the target tag and each first base station. For example, the first base station can parse the signal quality between the target tag and the first base station from the UWB coupling information, so as to know the signal quality between the target tag and each first base station. Then, all first base stations can be sorted in descending order according to the signal quality. If this first base station is among the top M first base stations, it is determined that this first base station is the positioning base station of the target tag; if this first base station is not among the top M first base stations, it is determined that this first base station is not the positioning base station of the target tag.

[0099] Of course, the above method for determining the positioning base station is just an example and there are no restrictions on this determination method. As long as M first base stations with high signal quality can be selected as the positioning base stations of the target tag.

[0100] Step 505: The first base station determines the interaction order corresponding to the UWB data packet (i.e., the UWB data packet sent by this first base station) based on the signal quality between the target tag and each first base station. This interaction order is used to indicate which one this first base station is among all first base stations to send the UWB data packet.

[0101] For example, the first base station can parse the signal quality between the target tag and the first base station from the UWB coupling information, so as to know the signal quality between the target tag and each first base station. Then, all the first base stations can be sorted in descending order of signal quality. If this first base station is in the Nth position, where N is greater than or equal to 1 and less than or equal to M, it is determined that the interaction order corresponding to the UWB data packet is N, indicating that this first base station is the Nth to send the UWB data packet among all the first base stations. Alternatively, all the first base stations can be sorted in ascending order of signal quality. If this first base station is in the Nth position, where N is greater than or equal to 1 and less than or equal to M, it is determined that the interaction order corresponding to the UWB data packet is N, indicating that this first base station is the Nth to send the UWB data packet among all the first base stations.

[0102] Step 506: Based on the interaction order corresponding to the UWB data packet, the first base station interacts with the target tag with the UWB data packet in the target time slot, and locates the target tag based on the timestamp information of the UWB data packet.

[0103] For example, in the target time slot, the first base station receives the UWB ranging request data packet sent by the target tag. After receiving the UWB ranging request data packet, it determines the sending moment of the UWB ranging response data packet based on the interaction order corresponding to the UWB data packet. At this sending moment, the first base station sends the UWB ranging response data packet to the target tag. Also, the first base station can receive the UWB ranging end data packet sent by the target tag. Based on this, the first base station can locate the target tag based on the sending timestamp and receiving timestamp of the UWB ranging request data packet, the sending timestamp and receiving timestamp of the UWB ranging response data packet, and the sending timestamp and receiving timestamp of the UWB ranging end data packet.

[0104] For example, assume that the interaction order corresponding to the UWB data packet of base station a1 is 2, the interaction order corresponding to the UWB data packet of base station a2 is 1, the interaction order corresponding to the UWB data packet of base station a3 is 3, and assume that the label b1 corresponds to time slot 3. Based on this, the positioning process of label b1 can include:

[0105] Divide time slot 3 into 5 moments. Moment 1 is the start moment of time slot 3. Moment 2 is after moment 1, and the duration between moment 2 and moment 1 needs to ensure that the UWB ranging request data packet can be completely transmitted. Moment 3 is after moment 2, and the duration between moment 3 and moment 2 needs to ensure that the UWB ranging response data packet can be completely transmitted. Moment 4 is after moment 3, and the duration between moment 4 and moment 3 needs to ensure that the UWB ranging response data packet can be completely transmitted. Moment 5 is after moment 4, and the duration between moment 5 and moment 4 needs to ensure that the UWB ranging response data packet can be completely transmitted.

[0106] At time 1, tag b1 sends a UWB ranging request data packet to each base station, and the UWB ranging request data packet is received by base stations a1, a2, and a3. After receiving the UWB ranging request data packet, since the interaction sequence corresponding to the UWB data packet of base station a1 is 2, at the second moment after time 1, that is, at time 3, base station a1 sends a UWB ranging response data packet 1 to tag b1, and tag b1 receives the UWB ranging response data packet 1. After receiving the UWB ranging request data packet, since the interaction sequence corresponding to the UWB data packet of base station a2 is 1, at the first moment after time 1, that is, at time 2, base station a2 sends a UWB ranging response data packet 2 to tag b1, and tag b1 receives the UWB ranging response data packet 2. After receiving the UWB ranging request data packet, since the interaction sequence corresponding to the UWB data packet of base station a3 is 3, at the third moment after time 1, that is, at time 4, base station a3 sends a UWB ranging response data packet 3 to tag b1, and tag b1 receives the UWB ranging response data packet 3. Then, at time 5, tag b1 sends a UWB ranging end data packet to each base station, and the UWB ranging end data packet is received by base stations a1, a2, and a3.

[0107] On this basis, base station a1 can locate tag b1 based on the send timestamp and receive timestamp of the UWB ranging request data packet, the send timestamp and receive timestamp of the UWB ranging response data packet 1, and the send timestamp and receive timestamp of the UWB ranging end data packet. Base station a2 can locate tag b1 based on the send timestamp and receive timestamp of the UWB ranging request data packet, the send timestamp and receive timestamp of the UWB ranging response data packet 2, and the send timestamp and receive timestamp of the UWB ranging end data packet. Base station a3 can locate tag b1 based on the send timestamp and receive timestamp of the UWB ranging request data packet, the send timestamp and receive timestamp of the UWB ranging response data packet 3, and the send timestamp and receive timestamp of the UWB ranging end data packet.

[0108] In a possible implementation, since multiple base stations will locate a certain tag simultaneously, the start times of the time slots allocated by these base stations for the tag should be the same to ensure that this tag will not be interfered by other tags. If it is necessary to ensure that the start times of the time slots allocated by these base stations for the tag are the same, it is necessary to ensure that the timers of different base stations are under the same benchmark. However, since the power-on times of different base stations cannot be guaranteed to be the same, the start times of the timers of each base station are different, so there are deviations in the timers of different base stations. For example, see Figure 7AAs shown, base station a1 assigns time slot 1 to tag b1 respectively, and base station a2 assigns time slot 1 to tag b1 respectively. Obviously, there is a deviation between the start time of time slot 1 of base station a1 and the start time of time slot 1 of base station a2, resulting in the inability of base station a1 and base station a2 to correctly locate tag b1.

[0109] In view of the above discovery, in this embodiment, it is necessary to correct the local time of the base stations so that there is no deviation in the timers of different base stations, ensuring that the timers of different base stations are under the same benchmark, so that the start times of the time slots assigned by the base stations to the tags are the same, thus ensuring that the tags will not be interfered by other tags.

[0110] For example, referring to Figure 7B As shown, base station a1 assigns time slot 1 to tag b1 respectively, and base station a2 assigns time slot 1 to tag b1 respectively. Obviously, there is no deviation between the start time of time slot 1 of base station a1 and the start time of time slot 1 of base station a2, so that base station a1 and base station a2 can correctly locate tag b1.

[0111] In this embodiment, after tag b1 enters the coverage range of the base stations in communication subnet 1, tag b1 can send UWB data packets. Considering that the time when each first base station receives the UWB data packet should be the same, therefore, when each first base station sends UWB coupling information, it can carry the reception time of this first base station for the UWB data packet (i.e., the time when the UWB data packet is received) in the UWB coupling information.

[0112] In this way, for each first base station, after receiving the UWB coupling information, it can parse out the reception time of the first base station for the UWB data packet from the UWB coupling information, so as to know the reception time of each first base station for the UWB data packet. On this basis, the first base station can correct the local time of this first base station based on the reception time of each first base station for the UWB data packet, so that the target time slots of all first base stations are synchronized and aligned, that is, the start times of the target time slots of all first base stations are the same.

[0113] For example, based on the reception time of each first base station for the UWB data packet, select the maximum reception time from these reception times, and correct the local time of this first base station based on the deviation value between the maximum reception time and the corresponding reception time of this first base station. For example, increase the deviation value on the basis of the local time of this first base station to obtain the updated local time of this first base station. After all first base stations perform the above processing, the target time slots of all first base stations can be synchronized and aligned.

[0114] Alternatively, based on the reception time of the UWB data packet for each first base station, the minimum reception time is selected from these reception times. Based on the deviation value between the minimum reception time and the corresponding reception time of this first base station, the local time of this first base station is corrected. For example, this deviation value is subtracted from the local time of this first base station to obtain the updated local time of this first base station. After the above processing is performed on each first base station, the target time slots of all first base stations can be synchronized and aligned.

[0115] Of course, the above method is only an example and is not limited thereto. As long as the local time of each first base station can be corrected based on the reception time of the UWB data packet for each first base station.

[0116] In summary, it can be seen that in this embodiment, as shown in Figure 7C it can achieve the following functions:

[0117] Inter-base station time slot synchronization function: Using the principle that the times when different base stations receive UWB data packets should be the same, the base stations in the synchronization subnet are time slot synchronized, and the local times of each base station are corrected, so that the time slots of each base station are synchronized and aligned, that is, there is no deviation between the timers of different base stations, ensuring that the timers of different base stations are under the same reference, so that the start times of the time slots allocated by the base stations to the tags are the same.

[0118] Tag time slot allocation function: According to the principle that the time slots allocated to a tag by different base stations in the synchronization subnet that receive the same tag are the same, and the time slots allocated to different tags received by each base station are different, the tags received by the base stations in the synchronization subnet are time slot allocated, that is, a target time slot is allocated to each tag.

[0119] Base station response order allocation function: Based on the signal quality corresponding to different base stations, sorting is performed, and the M base stations with high signal quality are selected as the positioning base stations for the tag to perform positioning on the tag. And, based on the signal quality corresponding to different base stations, sorting is performed, and based on the sorting result, the interaction order corresponding to the UWB data packet of each base station is determined, and the UWB data packet is interacted with the tag based on the interaction order corresponding to the UWB data packet.

[0120] Exemplarily, based on the inter-base station time slot synchronization function, different base stations can be calibrated to the same time reference system. Select one base station as the reference base station, and calibrate the times of other base stations based on its time. Perform inter-base station time slot synchronization for each synchronization subnet to complete the correction of the base station timer deviation and the time slot start time. As shown in Figure 7D it is a schematic diagram of the time division multiplexing effect after the time slot management is completed.

[0121] As can be seen from the above technical solutions, in the embodiments of the present application, by combining the UWB technology and the short-range wireless communication technology, it is possible to achieve decentralized time slot management for the UWB positioning system, ensure the adaptive time division multiplexing of tag time slots and the adaptive response of the base station in the scenarios of large-scale base station deployment and large-capacity tags, solve the problem of mutual interference of UWB communications in the case of a large number of base stations and tags, be able to complete time slot management at the base station without aggregating all information to the central server for unified management, and still be able to normally perform time slot management in scenarios where information cannot be transmitted to the server, without the need to additionally deploy a central server, thus simplifying the networking structure. It is possible to use the short-range wireless communication technology to transmit UWB coupling information between base stations to achieve time slot synchronization between base stations, which does not occupy the UWB channel and can complete base station synchronization without affecting the UWB positioning capacity. Independent time slot management can be performed to reduce the complexity of time slot management. The base station generates a communication subnet through the short-range wireless communication technology, and the base stations within the communication subnet exchange UWB coupling information with each other. Each base station dynamically divides a synchronization subnet using the UWB coupling information, and performs time slot management with the synchronization subnet as the management unit to achieve time slot synchronization between base stations, the adaptive time division multiplexing of tag time slots, and the adaptive response of the base station.

[0122] Based on the same application concept as the above method, in the embodiments of the present application, a tag positioning device is proposed. A communication subnet includes multiple base stations, and the multiple base stations can communicate through short-range wireless communication technology. The multiple base stations include a first base station that receives a UWB data packet sent by a target tag. The device is applied to the first base station. Refer to Figure 8 As shown, for the structural schematic diagram of the device, the device includes:

[0123] A sending module 81, configured to send UWB coupling information to each base station in the communication subnet through short-range wireless communication technology. The UWB coupling information includes the pairing relationship between the first base station and the target tag;

[0124] A determining module 82, configured to determine the base stations belonging to the same synchronization subnet based on the pairing relationship between the target tag and each first base station. The base stations and tags within the synchronization subnet can communicate through the UWB technology;

[0125] An allocation module 83, configured to allocate a target time slot for the target tag based on the tag time slot allocation relationship corresponding to each base station in the synchronization subnet. Wherein, the tag time slot allocation relationship represents the occupied time slots that have been allocated to tags, and the target time slot is an idle time slot other than the occupied time slots;

[0126] A positioning module 84, configured to interact with the target tag with a UWB data packet in the target time slot, and position the target tag based on the timestamp information of the UWB data packet.

[0127] Exemplarily, the UWB coupling information includes the signal quality between the target tag and the first base station; when the positioning module 84 interacts with the target tag with UWB data packets in the target time slot, it is specifically configured to: based on the signal quality between the target tag and each first base station, determine the interaction order corresponding to the UWB data packet, where the interaction order is used to indicate which one the first base station is to send the UWB data packet; based on the interaction order, interact with the target tag with the UWB data packet in the target time slot.

[0128] Exemplarily, the UWB coupling information includes the signal quality between the target tag and the first base station; when the positioning module 84 interacts with the target tag with UWB data packets in the target time slot, it is specifically configured to: if the first base station is the positioning base station of the target tag, interact with the target tag with the UWB data packet in the target time slot; where, if the total number of all first base stations is greater than the configured number M, then based on the signal quality between the target tag and each first base station, determine whether the first base station is the positioning base station of the target tag; or, if the total number is not greater than the number M, then determine that the first base station is the positioning base station of the target tag.

[0129] Exemplarily, the UWB coupling information includes the receiving moment of the first base station for the UWB data packet, and the determining module 82 is further configured to correct the local time based on the receiving moment of each first base station for the UWB data packet, so that the target time slots of all first base stations are synchronized and aligned.

[0130] Exemplarily, the allocating module 83 is further configured to, after allocating the target time slot for the target tag, record the corresponding relationship between the target tag and the target time slot in the tag time slot allocation relationship, to indicate that the target time slot is an occupied time slot that has been allocated for the target tag.

[0131] Exemplarily, when the determining module 82 determines the base stations belonging to the same synchronization subnet based on the pairing relationship between the target tag and each first base station, it is specifically configured to: based on the pairing relationship between the target tag and each first base station, determine all first base stations corresponding to the target tag, and use the determined all first base stations as candidate base stations; based on the pairing relationship between the candidate base stations and the tag, determine all tags corresponding to the candidate base stations, and use the determined all tags as candidate tags; based on the pairing relationship between the candidate tags and the base stations, determine all base stations corresponding to the candidate tags, and use the determined all base stations as candidate base stations, and return to execute the operation of determining all tags corresponding to the candidate base stations based on the pairing relationship between the candidate base stations and the tag, until all candidate base stations are determined; determine all candidate base stations as the base stations belonging to the synchronization subnet.

[0132] Exemplarily, the positioning module 84 is specifically configured to: in the target time slot, receive the UWB ranging request data packet sent by the target tag, send a UWB ranging response data packet to the target tag, and receive the UWB ranging end data packet sent by the target tag; and perform positioning on the target tag based on the sending timestamp and receiving timestamp of the UWB ranging request data packet, the sending timestamp and receiving timestamp of the UWB ranging response data packet, and the sending timestamp and receiving timestamp of the UWB ranging end data packet.

[0133] Based on the same inventive concept as the above method, in an embodiment of the present application, a base station device is proposed. Refer to Figure 9 As shown, the base station device may include a processor 91 and a machine-readable storage medium 92. The machine-readable storage medium 92 stores machine-executable instructions that can be executed by the processor 91. The processor 91 is configured to execute the machine-executable instructions to implement the tag positioning method disclosed in the above examples of the present application.

[0134] Based on the same inventive concept as the above method, an embodiment of the present application further provides a machine-readable storage medium. A number of computer instructions are stored on the machine-readable storage medium. When the computer instructions are executed by a processor, the tag positioning method disclosed in the above examples of the present application can be implemented.

[0135] Wherein, the above machine-readable storage medium may be any electronic, magnetic, optical or other physical storage device that can contain or store information, such as executable instructions, data, etc. For example, the machine-readable storage medium may be: RAM (Random Access Memory), volatile memory, non-volatile memory, flash memory, storage drives (such as hard disk drives), solid state drives, any type of storage disk (such as optical disks, DVDs, etc.), or similar storage media, or a combination thereof.

[0136] Based on the same inventive concept as the above method, a UWB positioning system is proposed in an embodiment of the present application. The UWB positioning system includes at least one communication subnet. For each communication subnet, the communication subnet includes a target tag and multiple base stations. The multiple base stations within the communication subnet can communicate through short-range wireless communication technology. The multiple base stations include a first base station that can receive the UWB data packet sent by the target tag, wherein:

[0137] The first base station is configured to send UWB coupling information to each base station within the communication subnet through short-range wireless communication technology, where the UWB coupling information includes the pairing relationship between the first base station and the target tag; determine the base stations belonging to the same synchronization subnet based on the pairing relationship between the target tag and each first base station, and the base stations and tags within the synchronization subnet can communicate through UWB technology; allocate a target time slot for the target tag based on the tag time slot allocation relationship corresponding to each base station within the synchronization subnet, where the tag time slot allocation relationship represents the occupied time slots that have been allocated to tags, and the target time slot is an idle time slot other than the occupied time slots; interact with the target tag with a UWB data packet in the target time slot, and locate the target tag based on the timestamp information of the UWB data packet.

[0138] The target tag is configured to interact with the first base station with a UWB data packet in the target time slot.

[0139] The systems, devices, modules, or units illustrated in the above embodiments can be specifically implemented by computer chips or entities, or by products with certain functions. A typical implementation device is a computer, and the specific form of the computer can be a personal computer, a laptop computer, a cellular phone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email transceiver device, a game console, a tablet computer, a wearable device, or a combination of any several of these devices.

[0140] For the convenience of description, the above devices are described by dividing them into various units according to functions. Of course, when implementing the present application, the functions of each unit can be implemented in the same or multiple software and / or hardware.

[0141] Those skilled in the art should understand that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the embodiments of the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk memories, CD-ROMs, optical memories, etc.) containing computer-usable program codes.

[0142] This application is described with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to embodiments of the present application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and the combination of flows and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, such that the instructions executed by the processor of the computer or other programmable data processing device generate a means for implementing the specified functions in one or more of the flows Figure 1 one or more flows and / or blocks Figure 1 or a means for implementing the specified functions in one or more of the blocks.

[0143] Moreover, these computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, such that the instructions stored in the computer-readable memory generate a manufactured article including an instruction means that implements the specified functions in one or more of the flows Figure 1 one or more flows and / or blocks Figure 1 or a means for implementing the specified functions in one or more of the blocks.

[0144] These computer program instructions can also be loaded onto a computer or other programmable data processing device, such that a series of operation steps are executed on the computer or other programmable device to generate a computer-implemented process, so that the instructions executed on the computer or other programmable device provide steps for implementing the specified functions in one or more of the flows Figure 1 one or more flows and / or blocks Figure 1 or a means for implementing the specified functions in one or more of the blocks.

[0145] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, various changes and modifications can be made to the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included within the scope of the claims of the present application.

Claims

1. A label positioning method, characterized in that, The communication subnet includes multiple base stations, and the multiple base stations can communicate through short-range wireless communication technology. The method includes: For each first base station that receives a UWB data packet sent by a target tag, the first base station sends UWB coupling information to each base station in the communication subnet through short-range wireless communication technology. The UWB coupling information includes the pairing relationship between the first base station and the target tag; The first base station determines the base stations belonging to the same synchronization subnet based on the pairing relationship between the target tag and each first base station. The base stations and tags in the synchronization subnet can communicate through UWB technology; The first base station allocates a target time slot for the target tag based on the tag time slot allocation relationship corresponding to each base station in the synchronization subnet. The tag time slot allocation relationship represents the occupied time slots that have been allocated to tags, and the target time slot is an idle time slot other than the occupied time slots; The first base station interacts with the target tag with a UWB data packet in the target time slot and locates the target tag based on the timestamp information of the UWB data packet.

2. The method according to claim 1, wherein The UWB coupling information includes the signal quality between the target tag and the first base station; The first base station interacting with the target tag with a UWB data packet in the target time slot includes: The first base station determines the interaction order corresponding to the UWB data packet based on the signal quality between the target tag and each first base station. The interaction order is used to indicate which one the first base station is among all the first base stations to send the UWB data packet. Based on the interaction order, the first base station interacts with the target tag with a UWB data packet in the target time slot.

3. The method according to claim 1, wherein The UWB coupling information includes the signal quality between the target tag and the first base station; The first base station interacting with the target tag with a UWB data packet in the target time slot includes: If this first base station is the positioning base station of the target tag, then the first base station interacts with the target tag with a UWB data packet in the target time slot. Among them, if the total number of all first base stations is greater than the configured number M, then based on the signal quality between the target tag and each first base station, it is determined whether this first base station is the positioning base station of the target tag; or, if the total number is not greater than the number M, then it is determined that this first base station is the positioning base station of the target tag.

4. The method according to claim 1, wherein The UWB coupling information further includes the reception time of the first base station for the UWB data packet. Before the first base station interacts with the target tag with a UWB data packet in the target time slot, the method further includes: The first base station corrects its local time based on the reception time of each first base station for the UWB data packet, so that the target time slots of all first base stations are synchronized and aligned.

5. The method according to claim 1, wherein After the first base station allocates a target time slot for the target tag based on the tag time slot allocation relationships corresponding to the base stations within the synchronization subnet, the method further includes: The first base station records the correspondence between the target tag and the target time slot in the tag time slot allocation relationship to indicate that the target time slot is an occupied time slot that has been allocated for the target tag.

6. The method according to claim 1, wherein The first base station determines the base stations belonging to the same synchronization subnet based on the pairing relationship between the target tag and each first base station, including: Based on the pairing relationship between the target tag and each first base station, determine all the first base stations corresponding to the target tag, and use the determined all first base stations as candidate base stations; Based on the pairing relationship between the candidate base stations and the tags, determine all the tags corresponding to the candidate base stations, and use the determined all tags as candidate tags; based on the pairing relationship between the candidate tags and the base stations, determine all the base stations corresponding to the candidate tags, and use the determined all base stations as candidate base stations, and return to execute the operation of determining all the tags corresponding to the candidate base stations based on the pairing relationship between the candidate base stations and the tags, until all candidate base stations are determined; Determine all the candidate base stations as the base stations belonging to the synchronization subnet.

7. The method according to claim 1, wherein The first base station interacts with the target tag with UWB data packets in the target time slot and locates the target tag based on the timestamp information of the UWB data packets, including: in the target time slot, the first base station receives a UWB ranging request data packet sent by the target tag, sends a UWB ranging response data packet to the target tag, and receives a UWB ranging end data packet sent by the target tag; The first base station locates the target tag based on the transmission timestamp and reception timestamp of the UWB ranging request data packet, the transmission timestamp and reception timestamp of the UWB ranging response data packet, and the transmission timestamp and reception timestamp of the UWB ranging end data packet.

8. A label positioning device, characterized in that, The communication subnet includes multiple base stations, and the multiple base stations can communicate through short-range wireless communication technology. The multiple base stations include the first base station that receives the UWB data packet sent by the target tag. The device is applied to the first base station, and the device includes: A sending module, configured to send UWB coupling information to each base station in the communication subnet through short-range wireless communication technology, where the UWB coupling information includes the pairing relationship between the first base station and the target tag; A determining module, configured to determine the base stations belonging to the same synchronization subnet based on the pairing relationship between the target tag and each first base station, and the base stations and tags within the synchronization subnet can communicate through UWB technology; An allocation module, configured to allocate a target time slot for the target tag based on the tag time slot allocation relationships corresponding to the base stations within the synchronization subnet; wherein, the tag time slot allocation relationship represents the occupied time slots that have been allocated for the tags, and the target time slot is an idle time slot other than the occupied time slots; A positioning module, configured to interact with the target tag for UWB data packets in the target time slot, and position the target tag based on the timestamp information of the UWB data packets.

9. The apparatus according to claim 8, wherein Among them, the UWB coupling information includes the signal quality between the target tag and the first base station; when the positioning module interacts with the target tag for UWB data packets in the target time slot, it is specifically configured to: determine the interaction order corresponding to the UWB data packets based on the signal quality between the target tag and each first base station, where the interaction order is used to indicate which first base station sends the UWB data packet; and interact with the target tag for UWB data packets in the target time slot based on the interaction order. wherein the UWB coupling information includes the signal quality between the target tag and the first base station; when the positioning module interacts with the target tag for UWB data packets in the target time slot, it is specifically configured to: if the first base station is the positioning base station of the target tag, then interact with the target tag for UWB data packets in the target time slot; wherein, if the total number of all first base stations is greater than the configured number M, then determine whether the first base station is the positioning base station of the target tag based on the signal quality between the target tag and each first base station; or, if the total number is not greater than the number M, then determine that the first base station is the positioning base station of the target tag. wherein the UWB coupling information includes the reception time of the UWB data packet by the first base station, and the determination module is further configured to correct the local time based on the reception time of the UWB data packet by each first base station, so that the target time slots of all first base stations are synchronized and aligned. wherein the allocation module is further configured to record the correspondence between the target tag and the target time slot in the tag time slot allocation relationship after allocating the target time slot for the target tag, to indicate that the target time slot is an occupied time slot that has been allocated for the target tag. wherein when the determination module determines the base stations belonging to the same synchronization subnet based on the pairing relationship between the target tag and each first base station, it is specifically configured to: determine all first base stations corresponding to the target tag based on the pairing relationship between the target tag and each first base station, and use the determined all first base stations as candidate base stations; determine all tags corresponding to the candidate base stations based on the pairing relationship between the candidate base stations and the tags, and use the determined all tags as candidate tags; determine all base stations corresponding to the candidate tags based on the pairing relationship between the candidate tags and the base stations, and use the determined all base stations as candidate base stations, and return to execute the operation of determining all tags corresponding to the candidate base stations based on the pairing relationship between the candidate base stations and the tags, until all candidate base stations are determined; and determine all candidate base stations as the base stations belonging to the synchronization subnet. Among them, the positioning module is specifically configured to: receive a UWB ranging request data packet sent by the target tag in the target time slot, send a UWB ranging response data packet to the target tag, and receive a UWB ranging end data packet sent by the target tag; based on the transmission timestamp and reception timestamp of the UWB ranging request data packet, the transmission timestamp and reception timestamp of the UWB ranging response data packet, and the transmission timestamp and reception timestamp of the UWB ranging end data packet, perform positioning on the target tag.

10. A base station device, characterized in that, including: a processor and a machine-readable storage medium, the machine-readable storage medium storing machine-executable instructions that can be executed by the processor; the processor is configured to execute the machine-executable instructions to implement the method steps described in any one of claims 1-7.

11. A UWB positioning system, characterized in that, The UWB positioning system includes at least one communication subnet. For each communication subnet, the communication subnet includes a target tag and multiple base stations. The multiple base stations within the communication subnet can communicate through short-range wireless communication technology. The multiple base stations include a first base station, and the first base station can receive a UWB data packet sent by the target tag, where: The first base station is configured to send UWB coupling information to each base station within the communication subnet through short-range wireless communication technology. The UWB coupling information includes the pairing relationship between the first base station and the target tag; determine the base stations belonging to the same synchronization subnet based on the pairing relationship between the target tag and each first base station. The base stations and tags within the synchronization subnet can communicate through UWB technology; based on the tag time slot allocation relationship corresponding to each base station within the synchronization subnet, allocate a target time slot for the target tag; where the tag time slot allocation relationship represents the occupied time slots that have been allocated to tags, and the target time slot is an idle time slot other than the occupied time slots; interact with the target tag with UWB data packets in the target time slot, and perform positioning on the target tag based on the timestamp information of the UWB data packets; The target tag is configured to interact with the first base station with UWB data packets in the target time slot.

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