Ultra-wideband positioning method and terminal

Abstract

The present invention discloses an ultra-wideband positioning method and terminal. The method comprises the following steps: broadcasting a POLL message to surrounding base stations, wherein the POLL message includes a tag default working cycle, and the tag default working cycle is determined according to a tag positioning frequency; receiving a RESPONSE message corresponding to the POLL message, and determining the base station corresponding to the RESPONSE message as a serving base station, wherein the RESPONSE message includes a tag allocation working cycle determined by the serving base station based on the tag default working cycle; performing next positioning with the serving base station according to the tag allocation working cycle, so that the serving base station determines a subsequent working cycle according to the tag positioning frequencies of different tags, the working cycle being the working cycle of the tag positioning request, so that in the same scenario, different tags can be positioned in an orderly manner according to the tag allocation working cycle, avoiding collision when positioning messages are sent, and thus realizing positioning of tags with different positioning frequencies in the same scenario.

Description

Technical Field

[0001] The present invention relates to the field of positioning technology, and in particular to an ultra-wideband positioning method and terminal. Background Art

[0002] Existing ultra-wideband positioning methods primarily target tags with a single positioning frequency. However, in real-world scenarios, tags may be used to locate both people and vehicles, and different tags have different positioning frequencies. Therefore, existing ultra-wideband positioning methods are unable to support the positioning of tags with different positioning frequencies. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide an ultra-wideband positioning method and terminal, which can realize the positioning of tags with different positioning frequencies in the same scene.

[0004] In order to solve the above technical problems, a technical solution adopted by the present invention is:

[0005] An ultra-wideband positioning method comprises the steps of:

[0006] Broadcasting a POLL message to surrounding base stations, wherein the POLL message includes a tag default duty cycle, and the tag default duty cycle is determined according to the tag positioning frequency;

[0007] receiving a RESPONSE message corresponding to the POLL message, and determining the base station corresponding to the RESPONSE message as a serving base station, the RESPONSE message including a label allocation duty cycle determined by the serving base station based on the label default duty cycle;

[0008] Perform next positioning with the serving base station according to the label allocation working cycle.

[0009] In order to solve the above technical problems, another technical solution adopted by the present invention is:

[0010] An ultra-wideband positioning terminal includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the following steps when executing the computer program:

[0011] Broadcasting a POLL message to surrounding base stations, wherein the POLL message includes a tag default duty cycle, and the tag default duty cycle is determined according to the tag positioning frequency;

[0012] receiving a RESPONSE message corresponding to the POLL message, and determining the base station corresponding to the RESPONSE message as a serving base station, the RESPONSE message including a label allocation duty cycle determined by the serving base station based on the label default duty cycle;

[0013] Perform next positioning with the serving base station according to the label allocation working cycle.

[0014] The beneficial effects of the present invention are: broadcasting a POLL message to surrounding base stations, the POLL message includes a tag default working cycle, and the tag default working cycle is determined according to the tag positioning frequency, receiving a RESPONSE message corresponding to the POLL message, and determining the base station corresponding to the RESPONSE message as a service base station, the RESPONSE message includes a tag allocation working cycle determined by the service base station based on the tag default working cycle, performing the next positioning with the service base station according to the tag allocation working cycle, so that the service base station determines the subsequent working cycle according to the tag positioning frequency of different tags, and the working cycle is the working cycle of the tag positioning request, so that in the same scenario, different tags can be positioned in an orderly manner according to the tag allocation working cycle, avoiding collisions when positioning messages are sent, thereby realizing tag positioning with different positioning frequencies in the same scenario. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a flowchart of the steps of an ultra-wideband positioning method according to an embodiment of the present invention;

[0016] Figure 2 This is a structural diagram of an ultra-wideband positioning terminal according to an embodiment of the present invention;

[0017] Figure 3 Schematic diagram of the interaction process between a serving base station and a tag in an ultra-wideband positioning method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0018] To illustrate the technical content, achieved objectives and effects of the present invention in detail, the following description is given in conjunction with the embodiments and accompanying drawings.

[0019] Please refer to Figure 1 , an embodiment of the present invention provides an ultra-wideband positioning method, comprising the steps of:

[0020] Broadcasting a POLL message to surrounding base stations, wherein the POLL message includes a tag default duty cycle, and the tag default duty cycle is determined according to the tag positioning frequency;

[0021] receiving a RESPONSE message corresponding to the POLL message, and determining the base station corresponding to the RESPONSE message as a serving base station, the RESPONSE message including a label allocation duty cycle determined by the serving base station based on the label default duty cycle;

[0022] Perform next positioning with the serving base station according to the label allocation working cycle.

[0023] From the above description, it can be seen that the beneficial effects of the present invention are: broadcasting a POLL message to surrounding base stations, the POLL message includes the tag default working cycle, and the tag default working cycle is determined according to the tag positioning frequency, receiving a RESPONSE message corresponding to the POLL message, and determining the base station corresponding to the RESPONSE message as a service base station, the RESPONSE message includes the tag allocation working cycle determined by the service base station based on the tag default working cycle, and performing the next positioning with the service base station according to the tag allocation working cycle, so that the service base station determines the subsequent working cycle according to the tag positioning frequency of different tags, and the working cycle is the working cycle of the tag positioning request, so that in the same scenario, different tags can be positioned in an orderly manner according to the tag allocation working cycle, avoiding collisions when positioning messages are sent, thereby realizing tag positioning with different positioning frequencies in the same scenario.

[0024] Furthermore, the label allocation working period determined by the serving base station based on the label default working period includes:

[0025] The serving base station obtains network processing capability information, label processing capability information corresponding to the label, and label allocation working cycles corresponding to other labels except the label;

[0026] The label allocation working period is determined according to the network processing capability information, the label processing capability information, the label allocation working periods corresponding to the other labels, and the label default working period.

[0027] From the above description, it can be seen that the service base station determines the assigned working cycle for the tag based on the network processing capability information, tag processing capability information, the tag allocation working cycle corresponding to other tags, and the tag default working cycle to avoid positioning collisions with other tags, thereby supporting tag positioning with different positioning frequencies.

[0028] Furthermore, the POLL message also includes a first label address;

[0029] The RESPONSE message also includes a second label address and a base station address;

[0030] The determining the base station corresponding to the RESPONSE message as a serving base station includes:

[0031] Determine whether the second tag address is the same as the first tag address; if so, determine the base station corresponding to the base station address as the serving base station.

[0032] From the above description, it can be seen that the tag address is used to identify the tag, and the base station address is used to identify the base station. By comparing the tag address in the POLL message with the tag address in the RESPONSE message, it can be ensured that the received RESPONSE message corresponds to the tag. After confirmation, the service base station is determined according to the base station address, which can accurately determine the service base station and improve the reliability of tag positioning.

[0033] Furthermore,

[0034] After determining the base station corresponding to the RESPONSE message as the serving base station and before performing the next positioning with the serving base station according to the label allocation working cycle, the method includes the following steps:

[0035] Determine a sending timestamp corresponding to the POLL message and a receiving timestamp corresponding to the RESPONSE message;

[0036] Generate a FINAL message according to the sending timestamp corresponding to the POLL message and the receiving timestamp corresponding to the RESPONSE message;

[0037] The FINAL message and the sending timestamp corresponding to the FINAL message are sent to the serving base station to complete one positioning.

[0038] From the above description, it can be seen that the final FINAL message includes the timestamps of the tag sending and receiving messages, so that the base station can calculate the location of the tag according to the receiving and sending timestamps of each message, thereby realizing ultra-wideband positioning.

[0039] Further, performing next positioning with the serving base station according to the label allocation working cycle includes:

[0040] After waiting for the label allocation working period, sending a new POLL message to the serving base station;

[0041] Determine whether a new RESPONSE message corresponding to the new POLL message sent by the serving base station is received within a preset time; if not, broadcast the new POLL message to the surrounding base stations.

[0042] From the above description, it can be seen that when performing the next positioning, a message will be sent to the service base station in a targeted manner. If no reply is received within the preset time, it means that the tag has moved and is no longer in its original position. At this time, the message will be broadcast again, and the working cycle and the service base station will be re-determined for positioning, thereby achieving accurate ultra-wideband positioning.

[0043] Please refer to Figure 2An ultra-wideband positioning terminal includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the following steps:

[0044] Broadcasting a POLL message to surrounding base stations, wherein the POLL message includes a tag default duty cycle, and the tag default duty cycle is determined according to the tag positioning frequency;

[0045] receiving a RESPONSE message corresponding to the POLL message, and determining the base station corresponding to the RESPONSE message as a serving base station, the RESPONSE message including a label allocation duty cycle determined by the serving base station based on the label default duty cycle;

[0046] Perform next positioning with the serving base station according to the label allocation working cycle.

[0047] From the above description, it can be seen that the beneficial effects of the present invention are: broadcasting a POLL message to surrounding base stations, the POLL message includes the tag default working cycle, and the tag default working cycle is determined according to the tag positioning frequency, receiving a RESPONSE message corresponding to the POLL message, and determining the base station corresponding to the RESPONSE message as a service base station, the RESPONSE message includes the tag allocation working cycle determined by the service base station based on the tag default working cycle, and performing the next positioning with the service base station according to the tag allocation working cycle, so that the service base station determines the subsequent working cycle according to the tag positioning frequency of different tags, and the working cycle is the working cycle of the tag positioning request, so that in the same scenario, different tags can be positioned in an orderly manner according to the tag allocation working cycle, avoiding collisions when positioning messages are sent, thereby realizing tag positioning with different positioning frequencies in the same scenario.

[0048] Furthermore, the label allocation working period determined by the serving base station based on the label default working period includes:

[0049] The serving base station obtains network processing capability information, label processing capability information corresponding to the label, and label allocation working cycles corresponding to other labels except the label;

[0050] The label allocation working period is determined according to the network processing capability information, the label processing capability information, the label allocation working periods corresponding to the other labels, and the label default working period.

[0051] From the above description, it can be seen that the service base station determines the assigned working cycle for the tag based on the network processing capability information, tag processing capability information, the tag allocation working cycle corresponding to other tags, and the tag default working cycle to avoid positioning collisions with other tags, thereby supporting tag positioning with different positioning frequencies.

[0052] Furthermore, the POLL message also includes a first label address;

[0053] The RESPONSE message also includes a second label address and a base station address;

[0054] The determining the base station corresponding to the RESPONSE message as a serving base station includes:

[0055] Determine whether the second tag address is the same as the first tag address; if so, determine the base station corresponding to the base station address as the serving base station.

[0056] From the above description, it can be seen that the tag address is used to identify the tag, and the base station address is used to identify the base station. By comparing the tag address in the POLL message with the tag address in the RESPONSE message, it can be ensured that the received RESPONSE message corresponds to the tag. After confirmation, the service base station is determined according to the base station address, which can accurately determine the service base station and improve the reliability of tag positioning.

[0057] Furthermore,

[0058] After determining the base station corresponding to the RESPONSE message as the serving base station and before performing the next positioning with the serving base station according to the label allocation working cycle, the method includes the following steps:

[0059] Determine a sending timestamp corresponding to the POLL message and a receiving timestamp corresponding to the RESPONSE message;

[0060] Generate a FINAL message according to the sending timestamp corresponding to the POLL message and the receiving timestamp corresponding to the RESPONSE message;

[0061] The FINAL message and the sending timestamp corresponding to the FINAL message are sent to the serving base station to complete one positioning.

[0062] From the above description, it can be seen that the final FINAL message includes the timestamps of the tag sending and receiving messages, so that the base station can calculate the location of the tag according to the receiving and sending timestamps of each message, thereby realizing ultra-wideband positioning.

[0063] Further, performing next positioning with the serving base station according to the label allocation working cycle includes:

[0064] After waiting for the label allocation working period, sending a new POLL message to the serving base station;

[0065] Determine whether a new RESPONSE message corresponding to the new POLL message sent by the serving base station is received within a preset time; if not, broadcast the new POLL message to the surrounding base stations.

[0066] From the above description, it can be seen that when performing the next positioning, a message will be sent to the service base station in a targeted manner. If no reply is received within the preset time, it means that the tag has moved and is no longer in its original position. At this time, the message will be broadcast again, and the working cycle and the service base station will be re-determined for positioning, thereby achieving accurate ultra-wideband positioning.

[0067] The ultra-wideband positioning method and terminal described above in the present invention can be applied to scenarios where positioning is required, and are described below through specific implementation methods:

[0068] Example 1

[0069] Please refer to Figure 1 and Figure 3 , an ultra-wideband positioning method of this embodiment includes the steps of:

[0070] S1. Broadcast a POLL message to surrounding base stations. The POLL message includes a tag default duty cycle and a first tag address. The tag default duty cycle is determined according to the tag positioning frequency, such as Figure 3 As shown;

[0071] Specifically, after the tag is turned on, it broadcasts a POLL message to surrounding base stations. The POLL message includes the tag default working cycle and the first tag address. The tag default working cycle is determined according to the tag positioning frequency, that is, the tag default working cycle is the inverse of the tag positioning frequency.

[0072] S2. Receive a RESPONSE message corresponding to the POLL message, and determine the base station corresponding to the RESPONSE message as a serving base station, wherein the RESPONSE message includes a label allocation duty cycle, a second label address, and a base station address determined by the serving base station based on the label default duty cycle, specifically including:

[0073] S21. Receive a RESPONSE message corresponding to the POLL message.

[0074] Specifically, such as Figure 3As shown, after the surrounding base stations receive the POLL message of the tag, the base station with the best signal and the least delay will first reply with a RESPONSE message. At this time, the tag receives the RESPONSE message corresponding to the POLL message.

[0075] S22. Determine whether the second tag address is the same as the first tag address. If so, determine the base station corresponding to the base station address as the serving base station, thereby identifying the tag according to the tag address and the base station according to the base station address to ensure the accuracy of positioning.

[0076] The serving base station obtains network processing capability information, label processing capability information corresponding to the label, and label allocation working cycles corresponding to other labels except the label;

[0077] The label allocation working period is determined according to the network processing capability information, the label processing capability information, the label allocation working period corresponding to the other labels, and the label default working period. The label allocation working period is the delay for the label to send a POLL message next time.

[0078] S3. Determine a sending timestamp corresponding to the POLL message and a receiving timestamp corresponding to the RESPONSE message;

[0079] S4. Generate a FINAL message according to the sending timestamp corresponding to the POLL message and the receiving timestamp corresponding to the RESPONSE message;

[0080] S5. Send the FINAL message and the sending timestamp corresponding to the FINAL message to the serving base station to complete a positioning. Figure 3 shown.

[0081] S6. Perform the next positioning with the serving base station according to the label allocation working cycle, such as Figure 3 As shown, specifically including:

[0082] S61, after waiting for the label allocation working cycle, sending a new POLL message to the serving base station;

[0083] S62: Determine whether a new RESPONSE message corresponding to the new POLL message sent by the serving base station is received within a preset time; if not, broadcast the new POLL message to the surrounding base stations; if so, perform this positioning with the serving base station according to steps S2 to S5.

[0084] The above steps S1 to S6 are all executed by the tag.

[0085] Example 2

[0086] Please refer to Figure 2 An ultra-wideband positioning terminal of this embodiment includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, each step of the ultra-wideband positioning method in the first embodiment is implemented.

[0087] In summary, the present invention provides an ultra-wideband positioning method and terminal, which broadcasts a POLL message to surrounding base stations, wherein the POLL message includes a tag default working cycle, and the tag default working cycle is determined according to the tag positioning frequency; receives a RESPONSE message corresponding to the POLL message, and determines the base station corresponding to the RESPONSE message as a serving base station, wherein the RESPONSE message includes a tag allocation working cycle determined by the serving base station based on the tag default working cycle; performs the next positioning with the serving base station according to the tag allocation working cycle, and the serving base station determines the tag allocation working cycle according to the network processing capability information, the tag processing capability information, the tag allocation working cycle corresponding to the other tags, and the tag default working cycle; avoids positioning collisions with other tags, so that the serving base station determines subsequent working cycles according to the tag positioning frequencies of different tags, and the working cycle is the working cycle of the tag positioning request, so that in the same scenario, different tags can be positioned in an orderly manner according to the tag allocation working cycle, avoiding collisions when positioning messages are sent, thereby realizing tag positioning with different positioning frequencies in the same scenario.

[0088] The above descriptions are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent transformations made using the contents of the present invention's description and drawings, or directly or indirectly applied in related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. An ultra-wideband positioning method, characterized in that: Including steps: Broadcasting a POLL message to surrounding base stations, wherein the POLL message includes a tag default duty cycle, and the tag default duty cycle is determined according to the tag positioning frequency; receiving a RESPONSE message corresponding to the POLL message, and determining the base station corresponding to the RESPONSE message as a serving base station, the RESPONSE message including a label allocation duty cycle determined by the serving base station based on the label default duty cycle, the label allocation duty cycle being a delay for the label to send a POLL message next time; Performing next positioning with the serving base station according to the label allocation working cycle; The label allocation working period determined by the serving base station based on the label default working period includes: The serving base station obtains network processing capability information, label processing capability information corresponding to the label, and label allocation working cycles corresponding to other labels except the label; The label allocation working period is determined according to the network processing capability information, the label processing capability information, the label allocation working periods corresponding to the other labels, and the label default working period.

2. The ultra-wideband positioning method according to claim 1, wherein: The POLL message also includes a first label address; The RESPONSE message also includes a second label address and a base station address; The determining the base station corresponding to the RESPONSE message as a serving base station includes: Determine whether the second tag address is the same as the first tag address; if so, determine the base station corresponding to the base station address as the serving base station.

3. The ultra-wideband positioning method according to claim 1, wherein: After determining the base station corresponding to the RESPONSE message as the serving base station and before performing the next positioning with the serving base station according to the label allocation working cycle, the method includes the following steps: Determine a sending timestamp corresponding to the POLL message and a receiving timestamp corresponding to the RESPONSE message; Generate a FINAL message according to the sending timestamp corresponding to the POLL message and the receiving timestamp corresponding to the RESPONSE message; The FINAL message and the sending timestamp corresponding to the FINAL message are sent to the serving base station to complete one positioning.

4. The ultra-wideband positioning method according to claim 1, wherein: The performing next positioning with the serving base station according to the label allocation working cycle includes: After waiting for the label allocation working period, sending a new POLL message to the serving base station; Determine whether a new RESPONSE message corresponding to the new POLL message sent by the serving base station is received within a preset time; if not, broadcast the new POLL message to the surrounding base stations.

5. An ultra-wideband positioning terminal, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the following steps are implemented: Broadcasting a POLL message to surrounding base stations, wherein the POLL message includes a tag default duty cycle, and the tag default duty cycle is determined according to the tag positioning frequency; receiving a RESPONSE message corresponding to the POLL message, and determining the base station corresponding to the RESPONSE message as a serving base station, the RESPONSE message including a label allocation duty cycle determined by the serving base station based on the label default duty cycle, the label allocation duty cycle being a delay for the label to send a POLL message next time; Performing next positioning with the serving base station according to the label allocation working cycle; The label allocation working period determined by the serving base station based on the label default working period includes: The serving base station obtains network processing capability information, label processing capability information corresponding to the label, and label allocation working cycles corresponding to other labels except the label; The label allocation working period is determined according to the network processing capability information, the label processing capability information, the label allocation working periods corresponding to the other labels, and the label default working period.

6. The ultra-wideband positioning terminal according to claim 5, characterized in that: The POLL message also includes a first label address; The RESPONSE message also includes a second label address and a base station address; The determining the base station corresponding to the RESPONSE message as a serving base station includes: Determine whether the second tag address is the same as the first tag address; if so, determine the base station corresponding to the base station address as the serving base station.

7. The ultra-wideband positioning terminal according to claim 5, characterized in that: After determining the base station corresponding to the RESPONSE message as the serving base station and before performing the next positioning with the serving base station according to the label allocation working cycle, the method includes the following steps: Determine a sending timestamp corresponding to the POLL message and a receiving timestamp corresponding to the RESPONSE message; Generate a FINAL message according to the sending timestamp corresponding to the POLL message and the receiving timestamp corresponding to the RESPONSE message; The FINAL message and the sending timestamp corresponding to the FINAL message are sent to the serving base station to complete one positioning.

8. The ultra-wideband positioning terminal according to claim 5, characterized in that: The performing next positioning with the serving base station according to the label allocation working cycle includes: After waiting for the label allocation working period, sending a new POLL message to the serving base station; Determine whether a new RESPONSE message corresponding to the new POLL message sent by the serving base station is received within a preset time; if not, broadcast the new POLL message to the surrounding base stations.

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