A positioning method, positioning tag and positioning engine based on ultra-wideband

Abstract

The present invention provides a positioning method based on ultra-wideband, a positioning tag and a positioning engine, which relate to the field of positioning technology, wherein the positioning method based on ultra-wideband applied to the positioning tag comprises: issuing a positioning request in an initial positioning mode, and cooperating with at least three positioning base stations to perform initial positioning in the initial positioning mode to determine the initial position of the positioning tag, wherein the initial positioning mode is an arrival time difference TDOA positioning mode or a flight time TOF positioning mode; receiving a positioning switching instruction output by the positioning engine, wherein the positioning switching instruction instructs the positioning tag to switch the positioning mode to a target positioning mode; cooperating with the at least three positioning base stations to perform positioning according to the target positioning mode to determine the target position of the positioning tag. The embodiment of the present application can fuse or switch the TDOA positioning mode and the TOF positioning mode to overcome the defect of a single positioning mode.

Description

Technical Field

[0001] The present invention relates to the field of positioning technology, and in particular to a positioning method, a positioning tag and a positioning engine based on ultra-wideband. Background Art

[0002] With the widespread use of smart electronic devices in daily life, indoor location services are gaining more and more attention. Among them, ultra-wideband technology uses nanosecond-wide pulses as wireless communication signals, which is particularly outstanding in terms of time resolution, and the positioning accuracy can be accurate to the centimeter level. In addition, it also has good performance in anti-multipath capability and penetration. Therefore, ultra-wideband (UWB) has become the most commonly used indoor positioning technology.

[0003] UWB technology currently mainly uses two positioning modes, namely Time Difference of Arrival (TDOA) and Time of Flight (TOF).

[0004] In the related art, only one of the TDOA positioning mode and the TOF positioning mode is supported for indoor positioning in a certain area, resulting in the defect of a single positioning mode in the ultra-wideband-based positioning method in the related art. Summary of the invention

[0005] The embodiments of the present invention provide a positioning method, a positioning tag and a positioning engine based on ultra-wideband, which can solve the problem of a single positioning mode existing in the positioning method based on ultra-wideband in the related art.

[0006] To solve the above technical problems, the present invention is achieved as follows:

[0007] In a first aspect, an embodiment of the present invention provides an ultra-wideband-based positioning method, which is applied to a positioning tag in a positioning system, wherein the positioning system further includes: at least three positioning base stations and a positioning engine, and the method includes:

[0008] Sending a positioning request in an initial positioning mode, and cooperating with the at least three positioning base stations to perform initial positioning in the initial positioning mode to determine the initial position of the positioning tag, wherein the initial positioning mode is an arrival time difference TDOA positioning mode or a flight time TOF positioning mode;

[0009] receiving a positioning switching instruction output by the positioning engine, wherein the positioning switching instruction instructs the positioning tag to switch the positioning mode to a target positioning mode;

[0010] Cooperate with the at least three positioning base stations to perform positioning according to the target positioning mode to determine the target position of the positioning tag.

[0011] In a second aspect, an embodiment of the present invention provides an ultra-wideband-based positioning method, which is applied to a positioning engine in a positioning system, wherein the positioning system further includes: a positioning tag and at least three positioning base stations, and the method includes:

[0012] Obtaining a positioning request in an initial positioning mode issued by the positioning tag, and in response to the positioning request, controlling the at least three positioning base stations to perform initial positioning in the initial positioning mode to determine the initial position of the positioning tag, wherein the initial positioning mode is an arrival time difference TDOA positioning mode or a flight time TOF positioning mode;

[0013] Determine a target positioning mode based on target information, wherein the target information includes at least one of the following: a tag density in the positioning system, configuration information of the positioning tag, and the initial position, and the target positioning mode is the TDOA positioning mode or the TOF positioning mode;

[0014] The at least three positioning base stations are controlled to position the positioning tag in the target positioning mode, so as to determine and output the target position of the positioning tag.

[0015] In a third aspect, an embodiment of the present invention provides a positioning tag, wherein the positioning tag is located in a positioning system, and the positioning system further includes: at least three positioning base stations and a positioning engine, and the positioning tag includes:

[0016] A first positioning module is used to issue a positioning request in an initial positioning mode, and cooperate with the at least three positioning base stations to perform initial positioning in the initial positioning mode to determine the initial position of the positioning tag, wherein the initial positioning mode is an arrival time difference TDOA positioning mode or a flight time TOF positioning mode;

[0017] A receiving module, configured to receive a positioning switching instruction output by the positioning engine, wherein the positioning switching instruction instructs the positioning tag to switch the positioning mode to a target positioning mode;

[0018] The second positioning module is used to cooperate with the at least three positioning base stations to perform positioning according to the target positioning mode to determine the target position of the positioning tag.

[0019] In a fourth aspect, an embodiment of the present invention provides a positioning engine, the positioning engine is located in a positioning system, and the positioning system further includes: a positioning tag and at least three positioning base stations, the positioning engine includes:

[0020] A first determination module is used to obtain a positioning request in an initial positioning mode issued by the positioning tag, and in response to the positioning request, control the at least three positioning base stations to perform initial positioning in the initial positioning mode to determine the initial position of the positioning tag, wherein the initial positioning mode is an arrival time difference TDOA positioning mode or a flight time TOF positioning mode;

[0021] A second determination module is used to determine a target positioning mode based on target information, wherein the target information includes at least one of the following: a tag density in the positioning system, configuration information of the positioning tag, and the initial position, and the target positioning mode is the TDOA positioning mode or the TOF positioning mode;

[0022] The third determination module is used to control the at least three positioning base stations to locate the positioning tag in the target positioning mode, so as to determine and output the target position of the positioning tag.

[0023] In a fifth aspect, an embodiment of the present invention provides a positioning system, comprising a processor, a memory, and a computer program stored in the memory and executable on the processor; when the computer program is executed by the processor, the steps of the ultra-wideband based positioning method as described in the first aspect are implemented, and / or the steps of the ultra-wideband based positioning method as described in the second aspect are implemented.

[0024] In a sixth aspect, an embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the ultra-wideband based positioning method as described in the first aspect and / or the steps of the ultra-wideband based positioning method as described in the second aspect are implemented.

[0025] In an embodiment of the present invention, when a positioning tag initiates a positioning request, the initial position of the positioning tag is determined according to the initial positioning mode. At the same time, the positioning engine can also control the positioning tag and the base station to perform positioning detection according to the target positioning mode based on at least one of the target information such as the tag density, the configuration information of the positioning tag and the initial position, thereby realizing the joint positioning of the TDOA positioning mode and the TOF positioning mode or the switching of the positioning mode, so that the adopted positioning mode meets the user needs and has a higher accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative labor.

[0027] Figure 1 is a flow chart of a positioning method based on ultra-wideband provided by an embodiment of the present invention;

[0028] Figure 2 This is the TOF positioning principle diagram;

[0029] Figure 3 This is the TDOA positioning principle diagram;

[0030] Figure 4 is a flow chart of another ultra-wideband based positioning method provided by an embodiment of the present invention;

[0031] Figure 5 is a schematic diagram of a target area in an embodiment of the present invention;

[0032] Figure 6 is a schematic diagram of a judgment process for determining a target positioning mode in an embodiment of the present invention;

[0033] Figure 7 is a structural diagram of a positioning tag provided by an embodiment of the present invention;

[0034] Figure 8 is a structural diagram of a positioning engine provided by an embodiment of the present invention;

[0035] Fig. 9 It is a structural diagram of a positioning system provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0036] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0037] Satellite positioning technology has been deeply applied in outdoor positioning. People are increasingly dependent on location-based services (LBS). With the widespread application of smart electronic devices in daily life, indoor location services are receiving more and more attention.

[0038] In the process of indoor positioning, due to the interference of indoor environmental factors and many obstructions, the satellite signal is greatly weakened, making it difficult to provide accurate indoor positioning services. Therefore, indoor positioning technologies such as WIFI positioning, Bluetooth positioning, RFID positioning, infrared positioning or ultra-wideband (UWB) are commonly used for indoor positioning.

[0039] Among them, ultra-wideband technology uses nanosecond-wide pulses as wireless communication signals, which is particularly outstanding in terms of time resolution, and the positioning accuracy can be accurate to the centimeter level. In addition, UWB also has good performance in anti-multipath capability and penetration, so UWB has become the most commonly used indoor positioning technology. And the UWB technology in related technologies can currently use TOF positioning mode or TDOA positioning mode to locate the positioning tag. Both positioning modes belong to multi-point positioning, and each has its own advantages and disadvantages.

[0040] In an embodiment of the present invention, a positioning method based on ultra-wideband is provided. The method combines the advantages of the TDOA positioning mode and the TOF positioning mode to solve the problems of unstable positioning accuracy of a single mode and limited application scenarios in related technologies. While ensuring the positioning accuracy, the embodiment of the present invention can also increase the tag capacity of the positioning system and reduce the power consumption of the positioning tag to achieve a more stable and reliable location service.

[0041] See also Figure 1 , is a flow chart of a positioning method based on ultra-wideband provided by an embodiment of the present invention, the method can be applied to a positioning tag in a positioning system, the positioning system further comprising: at least three positioning base stations and a positioning engine, such as Figure 1 As shown, an ultra-wideband based positioning method provided by an embodiment of the present invention may include the following steps:

[0042] Step 101: issue a positioning request in an initial positioning mode, and cooperate with the at least three positioning base stations to perform initial positioning in the initial positioning mode to determine the initial position of the positioning tag, wherein the initial positioning mode is an arrival time difference TDOA positioning mode or a flight time TOF positioning mode.

[0043] Step 102: Receive a positioning switch instruction output by the positioning engine, wherein the positioning switch instruction instructs the positioning tag to switch a positioning mode to a target positioning mode.

[0044] In this step, the target positioning mode is determined by the positioning engine based on target information, and the target information includes at least one of the following: tag density in the positioning system, configuration information of the positioning tag, and the initial position.

[0045] Step 103: Cooperate with the at least three positioning base stations to perform positioning according to the target positioning mode to determine the target position of the positioning tag.

[0046] In a specific implementation, the above-mentioned initial positioning mode can be set according to at least one of the user's settings, the device status of the positioning tag, and the network side configuration and other information. For example: when the positioning tag turns on the power saving mode, the initial positioning mode is determined to be the TDOA positioning mode with lower power consumption; or when the user sets the positioning accuracy of the positioning tag to be greater than the priority of power consumption, the initial positioning mode is determined to be the TOF positioning mode.

[0047] Furthermore, the specific process in which the positioning tag cooperates with the at least three positioning base stations to perform initial positioning in the initial positioning mode to determine the initial position of the positioning tag is the same as the specific process of TDOA positioning or TOF positioning in the prior art.

[0048] Specifically, when the initial positioning mode is the TOF positioning mode, the specific process of the TOF positioning mode is:

[0049] The distance is calculated based on the round-trip flight time of the UWB signal between each positioning base station (hereinafter referred to as "base station") and the positioning tag, for example: Figure 2 As shown, it is necessary to determine the distance d1 between the positioning tag and the B1 base station, the distance d2 between the positioning tag and the B2 base station, and the distance d3 between the positioning tag and the B3 base station, so as to jointly determine the position of the positioning base station. In this TOF positioning mode, the positioning tag and the base station need to undergo the following signal interaction:

[0050] The positioning tag sends a positioning message;

[0051] When the base station receives the positioning message, it sends a response after an interval of time t;

[0052] The positioning tag receives the response and records the time interval T between sending the positioning message and receiving the response;

[0053] Finally, the time the signal flies in the air is calculated according to the following formula:

[0054]

[0055] Among them, T tof It indicates the time the signal flies in the air; T indicates the time interval between the positioning tag sending a positioning message and receiving a response; t indicates the time interval between the base station receiving the positioning message and sending a response.

[0056] It should be noted that the signal interaction between the above positioning tag and the base station needs to be repeated many times, and the average value of the signal flight time is calculated to reduce the error.

[0057] In determining the above T tof After that, the distance between the positioning tag and a base station is calculated using the following formula:

[0058] d1=T tof ×c

[0059] Where c represents the propagation speed of electromagnetic waves.

[0060] In this way, after d1, d2 and d3 are calculated respectively, the location information of the positioning tag can be determined based on the known locations of the base stations (B1 / B2 / B3).

[0061] From the above, we can see that in the TOF positioning mode, although it has the advantages of simple positioning process and higher accuracy compared to the TDOA positioning mode, due to the need for multiple interactive communications between the positioning tag and the base station, on the one hand, the power consumption of the positioning tag is greatly increased, thereby shortening the standby time of the positioning tag; on the other hand, due to the high channel occupancy rate, the number of tags that the positioning system can accommodate is relatively small.

[0062] In addition, when the initial positioning mode is the TDOA positioning mode, the specific process of the TDOA positioning mode is:

[0063] Positioning is performed using the time difference between the arrival of positioning messages at different base stations, also known as hyperbolic positioning. When a tag sends a positioning message, two base stations at different distances receive the signal at different times. The distance difference between the tag and the two base stations can be calculated based on the time difference. The tag's position is on a hyperbola with the base station position as the focus. For example: Figure 3 As shown, assuming that the positioning tag is a mobile terminal, the mobile terminal sends a positioning message, and determines the first hyperbola H according to the time difference between the time when the base station A receives the positioning message sent by the mobile terminal and the time when the base station B receives the positioning message sent by the mobile terminal; and determines the second hyperbola I according to the time difference between the time when the base station A receives the positioning message sent by the mobile terminal and the time when the base station C receives the positioning message sent by the mobile terminal. Then, the intersection of the first hyperbola H and the second hyperbola I is determined as the position of the mobile terminal.

[0064] From the above, we can see that in the TDOA positioning mode, the positioning tag only needs to send information to each base station periodically, without multiple interactive communications, which reduces the power consumption of the positioning tag and makes the standby time of the positioning tag longer. The system tag capacity can reach several times that of the TOF method. However, TDOA requires time synchronization between base stations, which increases the complexity of the method and introduces additional errors. Due to algorithm reasons, the positioning accuracy of positioning tags outside the base station encirclement area (i.e., the target area) deteriorates sharply.

[0065] In addition, in a specific implementation, the above-mentioned positioning engine can select one that meets the user needs and the accuracy requirements from the TOF positioning mode and the TDOA positioning mode as the target positioning mode based on the tag density in the positioning system, the configuration information of the positioning tag and at least one of the initial positions, and notify the positioning tag and each positioning base station.

[0066] In addition, the above-mentioned positioning tag cooperates with the at least three positioning base stations to perform positioning according to the target positioning mode to determine the target position of the positioning tag. It can be understood that: the positioning tag sends a positioning message according to the target positioning mode, and each positioning base station records the signal transmission time according to the target positioning mode to realize the positioning of the positioning tag using the target positioning mode.

[0067] It can be seen from the above that in the embodiment of the present invention, the initial positioning mode and the target positioning mode can be the same or different. In the case where the initial positioning mode and the target positioning mode are different, the positioning results of the two positioning modes can be integrated and the switching of the positioning modes can be achieved.

[0068] As an optional implementation manner, before issuing the positioning request in the initial positioning mode, the method further includes:

[0069] receiving a first input;

[0070] In response to the first input, configuration information is determined, and the initial positioning mode associated with the configuration information is determined.

[0071] In implementation, the first input may be an operation input performed by a user on a positioning tag, such as an operation input for turning on a power saving mode, or an input operation for setting the priority of positioning accuracy to be lower than the priority of battery life, etc., which are not exhaustively listed here.

[0072] In this way, the user can independently select the initial positioning mode by inputting on the positioning tag.

[0073] Of course, in a specific implementation, the first input may also be a configuration message of a network side device. In this case, the configuration message may carry the configuration information so that the network side device may configure the initial positioning mode of the positioning tag through the configuration message.

[0074] Furthermore, the configuration information includes at least one of the following:

[0075] The priority of the TDOA positioning mode and the TOF positioning mode, wherein the initial positioning mode is the one with higher priority between the TDOA positioning mode and the TOF positioning mode;

[0076] The priority of accuracy and battery life, wherein, when the priority of accuracy is higher than the priority of battery life, the initial positioning mode is the TOF positioning mode, and when the priority of accuracy is lower than the priority of battery life, the initial positioning mode is the TDOA positioning mode.

[0077] In this implementation manner, the accuracy is specifically the positioning accuracy, and the battery life is specifically the battery life of the positioning tag.

[0078] In this implementation, when the priority of the accuracy is higher than the priority of the battery life, the TOF positioning mode is preferentially used for positioning to prioritize the accuracy of positioning. In addition, when the priority of the accuracy is lower than the priority of the battery life, the TDOA positioning mode is preferentially used for positioning to prioritize reducing the power consumption of the positioning tag during the positioning process, thereby extending the battery life of the positioning tag.

[0079] See also Figure 4 , is a flow chart of another ultra-wideband based positioning method provided by an embodiment of the present invention, the method can be applied to a positioning engine in a positioning system, and the positioning system further includes: a positioning tag and at least three positioning base stations, and another ultra-wideband based positioning method provided by an embodiment of the present invention may include the following steps:

[0080] Step 401: obtain a positioning request in an initial positioning mode issued by the positioning tag, and in response to the positioning request, control the at least three positioning base stations to perform initial positioning in the initial positioning mode to determine the initial position of the positioning tag, wherein the initial positioning mode is an arrival time difference TDOA positioning mode or a flight time TOF positioning mode.

[0081] Step 402: determine a target positioning mode based on the target information, wherein the target information includes at least one of the following: a tag density in the positioning system, configuration information of the positioning tag and the initial position, and the target positioning mode is the TDOA positioning mode or the TOF positioning mode.

[0082] Step 403: Control the at least three positioning base stations to position the positioning tag in the target positioning mode to determine and output the target position of the positioning tag.

[0083] In a specific implementation, positioning requests under different positioning modes have different formats. In this way, during the initial positioning process, when the base station receives the positioning request issued by the positioning tag and transmits the positioning request to the positioning engine, the positioning engine can determine the initial positioning mode of the positioning tag according to the format of the positioning request, and control each base station to perform initial positioning of the positioning tag according to the initial positioning mode.

[0084] In addition, the above-mentioned determination of the target positioning mode based on the target information can select one of the TDOA positioning mode and the TOF positioning mode that meets the user's needs or the accuracy that meets the business needs as the target positioning mode according to at least one of the tag density in the positioning system, the configuration information of the positioning tag and the initial position, and control the at least three positioning base stations to locate the positioning tag in the target positioning mode. In other words, the method embodiment provided in the embodiment of the present invention can switch the positioning mode according to the user's settings, the tag density in the positioning system and the initial position of the positioning tag.

[0085] In addition, when the initial positioning mode and the target positioning mode may be different, during the positioning process, the initial position is first determined by the initial positioning mode, and then the target positioning mode is determined based on the target information including the initial position, and finally the target positioning mode is used to determine the target position of the positioning tag. It can be seen that the two positioning modes are integrated during the tag positioning process.

[0086] In addition, when the above-mentioned target information includes the label density within the positioning system, the above-mentioned determination of the target positioning mode based on the target information can be understood as: taking the label density within the positioning system not exceeding the label density threshold associated with the target positioning mode as the standard. In actual applications, given that the number of positioning tags that the positioning system in the TOF positioning mode can accommodate is less than the number of positioning tags that the positioning system in the TDOA positioning mode can accommodate, the label density threshold associated with the TOF positioning mode is less than the label density threshold associated with the TDOA positioning mode.

[0087] In addition, when the target information includes the initial position, the target positioning mode is determined based on the target information, which can be understood as: determining whether the positioning tag is located in the target area according to the initial position of the positioning tag, for example: Figure 5As shown, the initial position of the positioning tag and the positions of the at least three positioning base stations are constructed through the indoor map, and the area surrounded by the smallest convex polygon that can surround all of the at least three positioning base stations on the indoor map is determined as the target area, so that it can be determined whether the initial position of the positioning tag is located in the target area. In this way, when the initial position of the positioning tag is located in the target area, even if the TDOA positioning mode is used, a high positioning accuracy can be maintained, so that the target positioning mode can be determined to be the TDOA positioning mode; and when the initial position of the positioning tag is located outside the target area, the positioning accuracy of the TDOA positioning mode drops sharply, so that the target positioning mode can be determined to be the TOF positioning mode.

[0088] In addition, in the case where the above-mentioned target information includes the configuration information of the positioning tag, the above-mentioned determination of the target positioning mode based on the target information can be understood as: determining the target positioning mode according to the user's settings for the positioning tag, so that the positioning method performed by the target positioning mode can meet the user's needs. For example: when the user sets the battery life to priority, or the positioning tag turns on the power saving mode, the target positioning mode can be determined to be the TDOA positioning mode to avoid the problem of excessive power consumption caused by the TOF positioning mode being used for positioning and the positioning tag needing to interact with the base station for multiple times during the positioning process.

[0089] It should be noted that, in a specific implementation, the above-mentioned target information may also include: any combination of the label density in the positioning system, the configuration information of the positioning label and the initial position, or may also include other information in addition to the label density in the positioning system, the configuration information of the positioning label and the initial position, which are not exhaustive here.

[0090] As an optional implementation manner, determining the target positioning mode based on the target information includes at least one of the following:

[0091] Calculating a tag density in the positioning system, and determining that a target positioning mode is the TDOA positioning mode when the tag density in the positioning system is greater than or equal to a density threshold;

[0092] Determine the relative position relationship between the positioning tag and the target area based on the indoor map, and when the positioning tag is located in the target area, determine that the target positioning mode is the TDOA positioning mode, and when the positioning tag is located outside the target area, determine that the target positioning mode is the TOF positioning mode, wherein the indoor map includes the location information of the at least three positioning base stations and the location information of the positioning tag, and the target area is the area where the minimum convex polygon that can cover the at least three positioning base stations is located;

[0093] Obtain configuration information of the positioning tag. When the configuration information indicates that the priority of the battery life is higher than the priority of the accuracy, determine that the target positioning mode is the TDOA positioning mode. When the configuration information indicates that the priority of the battery life is lower than the priority of the accuracy, determine that the target positioning mode is the TOF positioning mode.

[0094] Case 1

[0095] The determining the target positioning mode based on the target information includes: calculating the label density in the positioning system, and when the label density in the positioning system is greater than or equal to a density threshold, the calculating the label density in the positioning system may include:

[0096] Obtain a first total number of first positioning tags, a second total number of second positioning tags, a first threshold, and a second threshold; wherein the first positioning tag is located in the positioning system and is in the TDOA positioning mode; the second positioning tag is located in the positioning system and is in the TOF positioning mode; the first threshold is the maximum number of positioning tags that the positioning system can accommodate in the TDOA positioning mode; the second threshold is the maximum number of positioning tags that the positioning system can accommodate in the TOF positioning mode;

[0097] The sum of a first ratio and a second ratio is calculated to obtain a tag density in the positioning system, wherein the first ratio is a ratio of the first total number to the first threshold, and the second ratio is a ratio of the second total number to the second threshold.

[0098] Specifically, the first threshold is negatively correlated with the flashing rate of the ultra-wideband UWB transmitter of the base station and the positioning frame sending period of the positioning tag in the TDOA positioning mode, and is positively correlated with the maximum channel utilization rate of the at least three positioning base stations based on the standard of avoiding signal conflicts;

[0099] The second threshold is negatively correlated with the flashing rate of the ultra-wideband UWB transmitter of the base station and the positioning period of the positioning tag in the TOF positioning mode, and is positively correlated with the maximum channel utilization rate of the at least three positioning base stations based on the standard of avoiding signal conflicts.

[0100] In a specific implementation, the above-mentioned determination of the tag density in the positioning system may include the following process:

[0101] Assuming that there are positioning tags using TDOA positioning mode or TOF positioning mode in a certain area, and the number of positioning tags being positioned in TDOA positioning mode is n1, and the number of positioning tags being positioned in TOF positioning mode (that is, active tags, which will occupy channels to transmit signals with base stations) is n2, the tag density of the current area can be calculated by the following formula:

[0102] ρ=n1 / n MAX +n2 / n MAX2

[0103] Among them, ρ represents the label density of the current area, n MAX1 Indicates the maximum number of tags that can be accommodated in the area in TDOA positioning mode, n MAX2 Indicates the maximum number of tags that can be accommodated in the area in TOF positioning mode.

[0104] Specifically, the above n MA and n MAX2 It can be calculated by the following formula:

[0105]

[0106]

[0107] Among them, f represents the blink rate of the UWB transmitter; r represents the maximum channel utilization rate based on the standard of avoiding signal conflicts (for example, 15%); T1 represents the positioning frame sending period of the positioning tag in the TDOA positioning mode; T2 represents the positioning period of the positioning tag in the TOF positioning mode.

[0108] In addition, the density threshold may be determined according to user settings or business requirements, for example, the density threshold is equal to 0.9.

[0109] In this way, the tag density in the positioning system can be compared with the density threshold to determine whether there are too many active tags in the target area. If it is determined that there are too many active tags in the target area, the target positioning mode is determined to be the TDOA positioning mode, so that some positioning tags in the area are switched to the TDOA positioning mode to increase the number of positioning tags that the positioning system can accommodate, and solve the problem of high channel occupancy and small system tag capacity in the single TOF positioning mode. In this way, on the basis of ensuring positioning accuracy, it can also avoid the defect that the positioning system accommodates too many active tags, resulting in excessive channel occupancy and reduced positioning performance.

[0110] Case 2

[0111] In the method of determining the target positioning mode based on the target information, it includes: judging the relative position relationship between the positioning tag and the target area based on the indoor map, and determining that the target positioning mode is the TDOA positioning mode when the positioning tag is located in the target area, and determining that the target positioning mode is the TOF positioning mode when the positioning tag is located outside the target area. Specifically, it can be judged based on the indoor map whether the positioning tag is located in the target area. In view of the fact that in the TDOA positioning mode, the positioning accuracy of the positioning tag outside the target area drops sharply, the positioning mode of the positioning tag outside the target area is switched to the TOF positioning mode, and the positioning mode of the positioning tag in the target area is switched to the TDOA positioning mode.

[0112] In this way, the accuracy of positioning tags outside the target area can be ensured, and the power consumption of positioning tags in the target area during the positioning process can be reduced, solving the problem of unstable positioning accuracy and poor positioning accuracy for positioning tags outside the target area in a single TDOA positioning mode.

[0113] Case 3

[0114] In the method of determining the target positioning mode based on the target information, it includes: obtaining the configuration information of the positioning tag, and when the configuration information shows that the priority of the battery life is higher than the priority of the accuracy, determining that the target positioning mode is the TDOA positioning mode; when the configuration information shows that the priority of the battery life is lower than the priority of the accuracy, determining that the target positioning mode is the TOF positioning mode, the switching can be performed specifically according to the configuration information of the positioning tag itself to improve the autonomous performance of the positioning tag.

[0115] In implementation, the priority of the battery life is higher than the priority of accuracy, which can be understood as: the positioning tag turns on the power saving mode, or the user selects an option with lower positioning accuracy on the positioning tag.

[0116] For example, when the remaining power of the positioning tag is less than 20%, the positioning tag turns on the power saving mode. At this time, only the TDOA positioning mode is used to locate the positioning tag.

[0117] As an optional implementation manner, determining the target positioning mode based on the target information includes:

[0118] Calculating a tag density within the positioning system;

[0119] When the tag density is greater than or equal to the density threshold, determining that the target positioning mode is the TDOA positioning mode;

[0120] When the tag density is less than the density threshold, determining the relative position relationship between the positioning tag and the target area based on the indoor map, wherein the indoor map includes the location information of the at least three positioning base stations and the location information of the positioning tag, and the target area is the area where the minimum convex polygon that can cover the at least three positioning base stations is located;

[0121] When the positioning tag is located in the target area, determining that the target positioning mode is the TDOA positioning mode;

[0122] When the positioning tag is outside the target area, determining that the target positioning mode is the TOF positioning mode;

[0123] When the positioning tag is outside the target area, obtaining configuration information of the positioning tag;

[0124] In a case where the configuration information indicates that the priority of the endurance time is higher than the priority of the accuracy, determining that the target positioning mode is the TDOA positioning mode;

[0125] When the configuration information indicates that the priority of the flight time is lower than the priority of the accuracy, the target positioning mode is determined to be the TOF positioning mode.

[0126] In this implementation mode, the above three situations of determining the target positioning mode based on the target information are combined, as follows: Figure 6 As shown, the judgment process includes three steps, specifically:

[0127] Step 601: Determine the density of positioning tags.

[0128] In this step, when the judgment result is: ρ≥ρ0, it is determined that the target positioning mode is the TDOA positioning mode, otherwise, step 602 is executed.

[0129] Wherein, ρ represents the density of tags being located in the positioning system, and ρ0 represents the density threshold.

[0130] Step 602: Determine the location of the positioning tag.

[0131] In this step, when the judgment result is that the positioning tag is located in the target area (i.e., (x, y)∈S, where (x, y) represents the position of the positioning tag and S represents the target area), the target positioning mode is determined to be the TDOA positioning mode, otherwise execute step 603.

[0132] Step 603: Determine the positioning tag configuration.

[0133] In this step, the judgment result is: when the configuration information of the positioning tag prioritizes the battery life, the target positioning mode is determined to be the TDOA positioning mode; when the configuration information of the positioning tag prioritizes the accuracy, the target positioning mode is determined to be the TOF positioning mode.

[0134] In this implementation, the above three situations of determining the target positioning mode based on the target information can be combined with key factors such as indoor map information, tag capacity, and positioning tag configuration, so that the final target positioning mode can further increase the tag capacity of the positioning system and reduce the power consumption of the positioning tag on the basis of ensuring the positioning accuracy.

[0135] After the target positioning mode is determined, the positioning tag can be positioned according to the target positioning mode. That is, step 403 may specifically include:

[0136] When the target positioning mode is TOF positioning mode, the location settlement module in the positioning engine can measure the flight time of the UWB signal between the positioning tag and each positioning base station B1, B2...Bn, which are t TOF1 ,t TOF2 ...t TOFn , and then calculate the distances d1, d2…dn between the positioning tag and the positioning base station, so as to calculate the coordinates of the positioning tag according to the distances, wherein n represents the number of positioning base stations included in the positioning system, which can generally be 3, 4 or 5, etc., and is not specifically limited here.

[0137] In addition, when the target positioning mode is TDOA positioning mode, the location settlement module in the positioning engine can measure the time t that each slave base station and the master base station receive the positioning signal sent by the positioning tag. TDOA1 ,t TDOA2 ...t TDOAn , and then calculate the distance difference Δd1, Δd2...Δdn between the positioning tag and the positioning base station, so as to calculate the tag coordinates according to the distance difference. In the positioning process, the slave base station takes the time of the master base station as the standard for time synchronization.

[0138] Furthermore, after determining the target position of the positioning tag, the positioning results of this positioning process can also be input into the label density calculation and analysis module and the label position analysis and judgment module in the positioning engine as a basis for judgment, so that in the next round of positioning process, the label density of the positioning system, the relative position relationship between the target area and the positioning tag, etc. can be updated according to the positioning results of this positioning process, so as to determine the target positioning mode in the next round of positioning process according to the updated label density, the relative position relationship between the target area and the positioning tag, etc., until the positioning is completed.

[0139] In this way, it is possible to avoid the need to recalculate the label density and the relative position relationship between the target area and the positioning label during each positioning process, thereby simplifying the positioning process.

[0140] Furthermore, in the subsequent positioning process after determining the target positioning mode, the target positioning mode can be continuously used to position the positioning tag. That is, the positioning system provided by the embodiment of the present invention can only execute step 403 in the subsequent positioning process of the positioning tag.

[0141] Of course, according to the change of the positioning environment, the positioning system may also re-determine the target positioning mode in the subsequent positioning process of the positioning tag, that is, execute steps 401 to 403, which is not specifically limited here.

[0142] In an embodiment of the present invention, when a positioning tag initiates a positioning request, the initial position of the positioning tag is determined according to the initial positioning mode. At the same time, the positioning engine can also control the positioning tag and the base station to perform positioning detection according to the target positioning mode based on at least one of the target information such as the tag density, the configuration information of the positioning tag and the initial position, thereby realizing the joint positioning of the TDOA positioning mode and the TOF positioning mode or the switching of the positioning mode, so that the adopted positioning mode meets the user needs and has a higher accuracy.

[0143] See also Figure 7 , is a structural diagram of a positioning tag provided by an embodiment of the present invention, the positioning tag is located in a positioning system, and the positioning system further includes: at least three positioning base stations and a positioning engine, such as Figure 7 As shown, the positioning tag 700 includes:

[0144] The first positioning module 701 is used to issue a positioning request in an initial positioning mode, and cooperate with the at least three positioning base stations to perform initial positioning in the initial positioning mode to determine the initial position of the positioning tag, wherein the initial positioning mode is an arrival time difference TDOA positioning mode or a flight time TOF positioning mode;

[0145] The receiving module 702 is configured to receive a positioning switching instruction output by the positioning engine, wherein the positioning switching instruction instructs the positioning tag to switch the positioning mode to a target positioning mode;

[0146] The second positioning module 703 is used to cooperate with the at least three positioning base stations to perform positioning according to the target positioning mode to determine the target position of the positioning tag.

[0147] Optionally, the positioning tag 700 further includes:

[0148] An input module, configured to receive a first input;

[0149] The fourth determination module is used to determine configuration information in response to the first input, and determine the initial positioning mode associated with the configuration information.

[0150] Optionally, the configuration information includes at least one of the following:

[0151] The priority of the TDOA positioning mode and the TOF positioning mode, wherein the initial positioning mode is the one with higher priority between the TDOA positioning mode and the TOF positioning mode;

[0152] The priority of accuracy and battery life, wherein, when the priority of accuracy is higher than the priority of battery life, the initial positioning mode is the TOF positioning mode, and when the priority of accuracy is lower than the priority of battery life, the initial positioning mode is the TDOA positioning mode.

[0153] The positioning tag provided by the embodiment of the present invention can perform the following operations: Figure 1 The various processes performed by the positioning tag in the embodiment of the ultra-wideband based positioning method shown can achieve the same beneficial effects, and will not be described again here to avoid repetition.

[0154] See also Figure 8 , is a structural diagram of a positioning engine provided by an embodiment of the present invention, the positioning engine is located in a positioning system, and the positioning system further includes: a positioning tag and at least three positioning base stations, such as Figure 8 As shown, the positioning engine 800 includes:

[0155] The first determination module 801 is used to obtain a positioning request in an initial positioning mode issued by the positioning tag, and in response to the positioning request, control the at least three positioning base stations to perform initial positioning in the initial positioning mode to determine the initial position of the positioning tag, wherein the initial positioning mode is a time difference of arrival (TDOA) positioning mode or a time of flight (TOF) positioning mode;

[0156] A second determination module 802 is used to determine a target positioning mode based on target information, wherein the target information includes at least one of the following: a tag density in the positioning system, configuration information of the positioning tag, and the initial position, and the target positioning mode is the TDOA positioning mode or the TOF positioning mode;

[0157] The third determination module 803 is used to control the at least three positioning base stations to locate the positioning tag in the target positioning mode, so as to determine and output the target position of the positioning tag.

[0158] Optionally, the second determining module 802 specifically includes at least one of the following:

[0159] A first judgment unit is used to calculate the tag density in the positioning system, and when the tag density is greater than or equal to a density threshold, determine that the target positioning mode is the TDOA positioning mode;

[0160] A second judgment unit is used to judge the relative position relationship between the positioning tag and the target area based on the indoor map, and when the positioning tag is located in the target area, determine that the target positioning mode is the TDOA positioning mode, and when the positioning tag is located outside the target area, determine that the target positioning mode is the TOF positioning mode, wherein the indoor map includes the location information of the at least three positioning base stations and the location information of the positioning tag, and the target area is the area where the minimum convex polygon that can cover the at least three positioning base stations is located;

[0161] The third judgment unit is used to obtain the configuration information of the positioning tag, and when the configuration information indicates that the priority of the battery life is higher than the priority of the accuracy, determine that the target positioning mode is the TDOA positioning mode; when the configuration information indicates that the priority of the battery life is lower than the priority of the accuracy, determine that the target positioning mode is the TOF positioning mode.

[0162] Optionally, the third determining module 803 includes:

[0163] A calculation unit, used to calculate the tag density in the positioning system;

[0164] A tag density calculation and analysis unit, configured to determine that the target positioning mode is the TDOA positioning mode when the tag density is greater than or equal to a density threshold;

[0165] a tag position analysis and determination unit, configured to determine, when the tag density is less than the density threshold, the relative position relationship between the positioning tag and the target area based on an indoor map, wherein the indoor map includes the position information of the at least three positioning base stations and the position information of the positioning tag, and the target area is an area where a minimum convex polygon that can cover the at least three positioning base stations is located;

[0166] A first determining unit, configured to determine that a target positioning mode is the TDOA positioning mode when the positioning tag is located in the target area;

[0167] A second determining unit, configured to determine that the target positioning mode is the TOF positioning mode when the positioning tag is outside the target area;

[0168] an acquiring unit, configured to acquire configuration information of the positioning tag when the positioning tag is outside the target area;

[0169] A third determining unit is used to determine that the target positioning mode is the TDOA positioning mode when the configuration information indicates that the priority of the endurance time is higher than the priority of the accuracy;

[0170] The fourth determining unit is used to determine that the target positioning mode is the TOF positioning mode when the priority of the battery life is lower than the priority of the accuracy in the configuration information.

[0171] Optionally, the computing unit includes:

[0172] An acquisition subunit is used to acquire a first total number of first positioning tags, a second total number of second positioning tags, a first threshold value, and a second threshold value; wherein, the first positioning tag is located in the positioning system and is in the TDOA positioning mode; the second positioning tag is located in the positioning system and is in the TOF positioning mode; the first threshold value is the maximum number of positioning tags that the positioning system can accommodate in the TDOA positioning mode; the second threshold value is the maximum number of positioning tags that the target area can accommodate in the TOF positioning mode;

[0173] A calculation subunit is used to calculate the sum of a first ratio and a second ratio to obtain a label density in the positioning system, wherein the first ratio is a ratio of the first total number to the first threshold, and the second ratio is a ratio of the second total number to the second threshold.

[0174] Optionally, the first threshold is negatively correlated with the flashing rate of the ultra-wideband UWB transmitter of the base station and the positioning frame sending period of the positioning tag in the TDOA positioning mode, and is positively correlated with the maximum channel utilization rate of the at least three positioning base stations based on the standard of avoiding signal conflicts;

[0175] The second threshold is negatively correlated with the flashing rate of the ultra-wideband UWB transmitter of the base station and the positioning period of the positioning tag in the TOF positioning mode, and is positively correlated with the maximum channel utilization rate of the at least three positioning base stations based on the standard of avoiding signal conflicts.

[0176] The positioning engine provided by the embodiment of the present invention can perform the following operations: Figure 4 The various processes performed by the positioning engine in the embodiment of the ultra-wideband-based positioning method shown can achieve the same beneficial effects, and will not be described again here to avoid repetition.

[0177] See also Fig. 9 , is a structural diagram of a positioning system provided by an embodiment of the present invention, such as Fig. 9 As shown, the positioning system 900 includes: a processor 901, a memory 902, and a computer program 9021 stored in the memory 902 and executable on the processor. When the computer program 9021 is executed by the processor 901, the following is achieved: Figure 1 and Figure 4 The steps in the ultra-wideband based positioning method are shown in at least one of the following.

[0178] In a specific implementation, the positioning system provided by an embodiment of the present invention may specifically include: a positioning tag, a positioning base station and a positioning engine. The positioning tag is communicatively connected to the positioning base station, and the positioning engine is connected to the positioning base station to obtain information received by the positioning base station, and the information is analyzed using a relevant positioning algorithm to determine the location information of the positioning tag.

[0179] The positioning system provided in the embodiment of the present application can perform the following operations: Figure 1 and Figure 4 The steps in the ultra-wideband based positioning method shown in at least one of the above can achieve the same beneficial effects. To avoid repetition, they will not be described here.

[0180] The embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, which implements the above-mentioned Figure 1 and Figure 4 The various processes of the ultra-wideband based positioning method embodiment shown in at least one of the above can achieve the same technical effect. To avoid repetition, they will not be described here.

[0181] The computer-readable storage medium is, for example, a ROM, RAM, a magnetic disk or an optical disk.

[0182] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0183] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, a magnetic disk, or an optical disk), and includes a number of instructions for enabling a terminal (which can be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to execute the methods described in each embodiment of the present invention.

[0184] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation modes, which are merely illustrative rather than restrictive. Under the guidance of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the present invention and the claims, all of which are within the protection of the present invention.

Claims

1. A positioning method based on ultra-wideband, applied to a positioning tag in a positioning system, characterized in that: The positioning system further includes: at least three positioning base stations and a positioning engine, and the method includes: Sending a positioning request in an initial positioning mode, and cooperating with the at least three positioning base stations to perform initial positioning in the initial positioning mode to determine the initial position of the positioning tag, wherein the initial positioning mode is an arrival time difference TDOA positioning mode or a flight time TOF positioning mode; receiving a positioning switching instruction output by the positioning engine, wherein the positioning switching instruction instructs the positioning tag to switch the positioning mode to a target positioning mode; Cooperating with the at least three positioning base stations to perform positioning according to the target positioning mode to determine the target position of the positioning tag; The positioning engine calculates the tag density in the positioning system; when the tag density is greater than or equal to a density threshold, determines that the target positioning mode is the TDOA positioning mode; The calculation of the tag density in the positioning system includes: obtaining a first total number of first positioning tags, a second total number of second positioning tags, a first threshold and a second threshold; the first positioning tag is located in the positioning system and is in the TDOA positioning mode; the second positioning tag is located in the positioning system and is in the TOF positioning mode; the first threshold is the maximum number of positioning tags that the positioning system can accommodate in the TDOA positioning mode; the second threshold is the maximum number of positioning tags that the target area can accommodate in the TOF positioning mode; calculating the sum of the first ratio and the second ratio to obtain the tag density in the positioning system, wherein the first ratio is the ratio of the first total number to the first threshold, and the second ratio is the ratio of the second total number to the second threshold.

2. The method according to claim 1, characterized in that Before issuing the positioning request in the initial positioning mode, the method further includes: receiving a first input; In response to the first input, configuration information is determined, and the initial positioning mode associated with the configuration information is determined.

3. The method according to claim 2, characterized in that The configuration information includes at least one of the following: The priority of the TDOA positioning mode and the TOF positioning mode, wherein the initial positioning mode is the one with higher priority between the TDOA positioning mode and the TOF positioning mode; The priority of accuracy and battery life, wherein, when the priority of accuracy is higher than the priority of battery life, the initial positioning mode is the TOF positioning mode, and when the priority of accuracy is lower than the priority of battery life, the initial positioning mode is the TDOA positioning mode.

4. A positioning method based on ultra-wideband, applied to a positioning engine in a positioning system, characterized in that: The positioning system further includes: a positioning tag and at least three positioning base stations, and the method includes: Obtaining a positioning request in an initial positioning mode issued by the positioning tag, and in response to the positioning request, controlling the at least three positioning base stations to perform initial positioning in the initial positioning mode to determine the initial position of the positioning tag, wherein the initial positioning mode is an arrival time difference TDOA positioning mode or a flight time TOF positioning mode; Determine a target positioning mode based on target information, wherein the target information includes at least one of the following: a tag density in the positioning system, configuration information of the positioning tag, and the initial position, and the target positioning mode is the TDOA positioning mode or the TOF positioning mode; Controlling the at least three positioning base stations to position the positioning tag in the target positioning mode to determine and output the target position of the positioning tag; The determining of the target positioning mode based on the target information includes: Calculating a tag density within the positioning system; When the tag density is greater than or equal to the density threshold, determining that the target positioning mode is the TDOA positioning mode; The calculating the tag density in the positioning system includes: Obtain a first total number of first positioning tags, a second total number of second positioning tags, a first threshold, and a second threshold; wherein the first positioning tag is located in the positioning system and is in the TDOA positioning mode; the second positioning tag is located in the positioning system and is in the TOF positioning mode; the first threshold is the maximum number of positioning tags that the positioning system can accommodate in the TDOA positioning mode; the second threshold is the maximum number of positioning tags that the target area can accommodate in the TOF positioning mode; The sum of a first ratio and a second ratio is calculated to obtain a tag density in the positioning system, wherein the first ratio is a ratio of the first total number to the first threshold, and the second ratio is a ratio of the second total number to the second threshold.

5. The method according to claim 4, characterized in that The determining of the target positioning mode based on the target information further includes at least one of the following: Determine the relative position relationship between the positioning tag and the target area based on the indoor map, and when the positioning tag is located in the target area, determine that the target positioning mode is the TDOA positioning mode, and when the positioning tag is located outside the target area, determine that the target positioning mode is the TOF positioning mode, wherein the indoor map includes the location information of the at least three positioning base stations and the location information of the positioning tag, and the target area is the area where the minimum convex polygon that can cover the at least three positioning base stations is located; Obtain configuration information of the positioning tag. When the configuration information indicates that the priority of the battery life is higher than the priority of the accuracy, determine that the target positioning mode is the TDOA positioning mode. When the configuration information indicates that the priority of the battery life is lower than the priority of the accuracy, determine that the target positioning mode is the TOF positioning mode.

6. The method according to claim 4, characterized in that The determining of the target positioning mode based on the target information further includes: When the tag density is less than the density threshold, determining the relative position relationship between the positioning tag and the target area based on the indoor map, wherein the indoor map includes the location information of the at least three positioning base stations and the location information of the positioning tag, and the target area is the area where the minimum convex polygon that can cover the at least three positioning base stations is located; When the positioning tag is located in the target area, determining that the target positioning mode is the TDOA positioning mode; When the positioning tag is outside the target area, determining that the target positioning mode is the TOF positioning mode; When the positioning tag is outside the target area, obtaining configuration information of the positioning tag; In a case where the configuration information indicates that the priority of the endurance time is higher than the priority of the accuracy, determining that the target positioning mode is the TDOA positioning mode; When the configuration information indicates that the priority of the flight time is lower than the priority of the accuracy, the target positioning mode is determined to be the TOF positioning mode.

7. The method according to claim 4, characterized in that: The first threshold is negatively correlated with the flashing rate of the ultra-wideband UWB transmitter of the base station and the positioning frame sending period of the positioning tag in the TDOA positioning mode, and is positively correlated with the maximum channel utilization rate of the at least three positioning base stations based on the standard of avoiding signal conflicts; The second threshold is negatively correlated with the flashing rate of the ultra-wideband UWB transmitter of the base station and the positioning period of the positioning tag in the TOF positioning mode, and is positively correlated with the maximum channel utilization rate of the at least three positioning base stations based on the standard of avoiding signal conflicts.

8. A positioning label, characterized in that: The positioning tag is located in a positioning system, and the positioning system further includes: at least three positioning base stations and a positioning engine, and the positioning tag includes: A first positioning module is used to issue a positioning request in an initial positioning mode, and cooperate with the at least three positioning base stations to perform initial positioning in the initial positioning mode to determine the initial position of the positioning tag, wherein the initial positioning mode is an arrival time difference TDOA positioning mode or a flight time TOF positioning mode; A receiving module, configured to receive a positioning switching instruction output by the positioning engine, wherein the positioning switching instruction instructs the positioning tag to switch the positioning mode to a target positioning mode; A second positioning module, used to cooperate with the at least three positioning base stations to perform positioning according to the target positioning mode to determine the target position of the positioning tag; The positioning engine calculates the tag density in the positioning system; when the tag density is greater than or equal to a density threshold, determines that the target positioning mode is the TDOA positioning mode; The calculation of the tag density in the positioning system includes: obtaining a first total number of first positioning tags, a second total number of second positioning tags, a first threshold and a second threshold; the first positioning tag is located in the positioning system and is in the TDOA positioning mode; the second positioning tag is located in the positioning system and is in the TOF positioning mode; the first threshold is the maximum number of positioning tags that the positioning system can accommodate in the TDOA positioning mode; the second threshold is the maximum number of positioning tags that the target area can accommodate in the TOF positioning mode; calculating the sum of the first ratio and the second ratio to obtain the tag density in the positioning system, wherein the first ratio is the ratio of the first total number to the first threshold, and the second ratio is the ratio of the second total number to the second threshold.

9. A positioning engine, characterized in that: The positioning engine is located in a positioning system, and the positioning system further includes: a positioning tag and at least three positioning base stations, and the positioning engine includes: A first determination module is used to obtain a positioning request in an initial positioning mode issued by the positioning tag, and in response to the positioning request, control the at least three positioning base stations to perform initial positioning in the initial positioning mode to determine the initial position of the positioning tag, wherein the initial positioning mode is an arrival time difference TDOA positioning mode or a flight time TOF positioning mode; A second determination module is used to determine a target positioning mode based on target information, wherein the target information includes at least one of the following: a tag density in the positioning system, configuration information of the positioning tag, and the initial position, and the target positioning mode is the TDOA positioning mode or the TOF positioning mode; A third determination module is used to control the at least three positioning base stations to locate the positioning tag in the target positioning mode, so as to determine and output the target position of the positioning tag; The second determining module comprises: A calculation unit, used to calculate the tag density in the positioning system; A tag density calculation and analysis unit, configured to determine that the target positioning mode is the TDOA positioning mode when the tag density is greater than or equal to a density threshold; The computing unit comprises: An acquisition subunit is used to acquire a first total number of first positioning tags, a second total number of second positioning tags, a first threshold value, and a second threshold value; wherein, the first positioning tag is located in the positioning system and is in the TDOA positioning mode; the second positioning tag is located in the positioning system and is in the TOF positioning mode; the first threshold value is the maximum number of positioning tags that the positioning system can accommodate in the TDOA positioning mode; the second threshold value is the maximum number of positioning tags that the target area can accommodate in the TOF positioning mode; A calculation subunit is used to calculate the sum of a first ratio and a second ratio to obtain a label density in the positioning system, wherein the first ratio is a ratio of the first total number to the first threshold, and the second ratio is a ratio of the second total number to the second threshold.

10. A positioning system, characterized in that: The invention comprises a processor, a memory and a computer program stored in the memory and executable on the processor, wherein when the computer program is executed by the processor, the steps of the ultra-wideband based positioning method as claimed in any one of claims 1 to 3 are implemented, and / or the steps of the ultra-wideband based positioning method as claimed in any one of claims 4 to 7 are implemented.

11. A computer-readable storage medium, characterized in that: A computer program is stored on the computer-readable storage medium. When the computer program is executed by the processor, the steps of the ultra-wideband based positioning method as described in any one of claims 1 to 3 are implemented, and / or the steps of the ultra-wideband based positioning method as described in any one of claims 4 to 7 are implemented.

Images