Positioning method, system and electronic device
By synchronizing the base station clock and dividing the time scale interval in the UWB positioning system, the tag coordinates are determined by calculating the base station time difference. This solves the problems of complex tag structure and short battery life, and achieves a simple structure and long battery life.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- CHENGDU JINGWEI TECH CO LTD
- Filing Date
- 2023-03-31
- Publication Date
- 2026-05-12
AI Technical Summary
Existing UWB positioning technologies suffer from problems such as complex tag structures, high costs, and short battery life.
By synchronizing the clocks of multiple base stations, the clock of each base station is divided into multiple equally spaced intervals. The positioning signals fed back by the base stations are received, the time scale difference between the base stations is calculated, and the coordinates of the tag are determined based on the time scale difference and the coordinates of the base stations, thus avoiding the need to integrate the receiver on the tag.
The label structure was simplified, costs were reduced, and battery life was extended.
Smart Images
Figure CN116367302B_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of positioning technology, and more specifically, to a positioning method and system. Background Technology
[0002] Ultra-wideband (UWB) positioning is a rapidly developing wireless positioning technology in recent years. It leads other wireless positioning technologies with its high performance, such as centimeter-level accuracy and thousands of positioning times per second, and has been promoted and popularized in the field of indoor and outdoor precise positioning.
[0003] In UWB positioning technology solutions, especially positioning systems based on TDOA (Time Difference of Arrival) mode, the mainstream is to obtain the time difference of flight of the positioning signal emitted by the same tag to each base station. In TDOA positioning systems, in order to obtain the time difference of flight of the positioning signal emitted by the same tag to each base station, a set of control signal system for the tag and the system is often designed to coordinate the working timing between the positioning receiving base station and the tag, as well as between tags, so as to ensure that the transmission and reception of each positioning signal is orderly and reliable.
[0004] As a result, each tag currently integrates a wireless communication receiver to receive control commands from the system, which leads to problems such as complex structure, high cost, and short battery life. Summary of the Invention
[0005] The purpose of this application is to provide a positioning method, system, and electronic device to solve the problems of complex tag structure, high cost, and short battery life in the prior art.
[0006] To achieve the above objectives, the technical solutions adopted in the embodiments of this application are as follows:
[0007] In a first aspect, embodiments of this application provide a positioning method applied to a controller of a positioning system, the positioning system further including tags and multiple base stations, the positioning method comprising:
[0008] The clocks of the multiple base stations are synchronized, and the clock of each base station is divided into multiple equally spaced intervals, each interval corresponding to a time scale.
[0009] The system receives positioning signals from each base station and determines the time scale at which the same positioning signal is received; wherein the positioning signal is transmitted via a tag.
[0010] Calculate the time scale difference between every two base stations;
[0011] The coordinates of the tag are determined based on the time scale difference between every two base stations and the coordinates of each base station.
[0012] Optionally, the step of receiving the positioning signal fed back by each base station and determining the time scale of receiving the same positioning signal includes:
[0013] The system receives positioning signals fed back from each base station. These positioning signals carry positioning information, ID information, and number information. The system then determines the target time scale based on the positioning information, ID information, and number information.
[0014] The steps for calculating the time scale difference between any two base stations include:
[0015] The time scale difference is determined using the target time scale of each two base stations.
[0016] Optionally, the number of base stations includes at least four, and after the step of receiving the positioning signal fed back by each base station, the positioning method further includes:
[0017] When no positioning signal is received from any base station, the coordinates of the tag are determined using the time scale difference and coordinates of the remaining at least three base stations.
[0018] Optionally, the positioning system includes multiple base station groups. The steps of synchronizing the clocks of the multiple base stations and dividing the clock of each base station into multiple equally spaced intervals include:
[0019] Synchronize the clocks of multiple base stations within each base station group, and divide the clock of each base station into multiple identical intervals with equal spacing.
[0020] Optionally, the step of synchronizing the clocks of the plurality of base stations and dividing the clock of each base station into a plurality of equally spaced intervals includes:
[0021] Send a clock synchronization signal to each base station so that the multiple base stations operate under a unified clock;
[0022] The clocks of each base station after synchronization are divided into multiple equally spaced intervals.
[0023] Secondly, this application embodiment also provides a positioning system, which further includes a controller, a tag and multiple base stations. The controller is used to synchronize the clocks of the multiple base stations and divide the clock of each base station into multiple equally spaced intervals, each interval corresponding to a time scale.
[0024] Each base station is used to receive the positioning signal sent by the tag and to determine the time scale at which the same positioning signal is received;
[0025] The controller is used to calculate the time scale difference between every two base stations;
[0026] The controller is also used to determine the coordinates of the tag based on the time scale difference between every two base stations and the coordinates of each base station.
[0027] Optionally, the controller is integrated into any base station.
[0028] Optionally, the tag is used to randomly send a location signal, wherein the location signal carries location information, ID information, and number information;
[0029] The base station is also used to determine the target time scale based on the location information, ID information, and numbering information;
[0030] The controller is also used to determine the time scale difference using the target time scale of each two base stations.
[0031] The time scale difference is determined using the target time scale of each two base stations.
[0032] Optionally, the number of base stations includes at least four, and the controller is further configured to determine the coordinates of the tag by using the time scale difference and coordinates of the remaining at least three base stations when any base station fails to receive the positioning signal sent by the tag.
[0033] Thirdly, this application also provides an electronic device, the electronic device comprising:
[0034] Memory, used to store one or more programs;
[0035] processor;
[0036] The above method is implemented when the one or more programs are executed by the processor.
[0037] Compared with the prior art, this application has the following advantages:
[0038] This application provides a positioning method, system, and electronic device. The controller for a positioning system includes a tag and multiple base stations. First, the clocks of multiple base stations are synchronized, and the clock of each base station is divided into multiple equally spaced intervals, each interval corresponding to a time scale. Then, positioning signals fed back from each base station are received, and the time scale at which the same positioning signal is received is determined. The positioning signal is emitted through the tag. The time scale difference between any two base stations is calculated. Finally, the coordinates of the tag are determined based on the time scale difference between any two base stations and the coordinates of each base station. Because this application directly divides the clock of each base station into multiple equally spaced intervals, there is no need for communication between the controller and the tag. The controller only needs to control the base stations to synchronize and begin receiving signals. This avoids integrating a receiver onto the tag, resulting in a simpler tag structure, lower cost, and longer battery life.
[0039] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description
[0040] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.
[0041] Figure 1 This is a schematic diagram of the interaction between a base station and a tag in the existing technology.
[0042] Figure 2 This is a schematic diagram illustrating the use of multiple base stations for positioning in existing technologies.
[0043] Figure 3 A schematic diagram of the controller module provided in an embodiment of this application.
[0044] Figure 4 An exemplary flowchart of the positioning method provided in the embodiments of this application.
[0045] Figure 5 A schematic diagram of the modules of the positioning system provided in the embodiments of this application.
[0046] Figure 6 This is another schematic diagram of a positioning system provided in an embodiment of this application.
[0047] icon: Detailed Implementation
[0048] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.
[0049] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.
[0050] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, in the description of this application, terms such as "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.
[0051] It should be noted that in this paper, relational terms such as first and second are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations.
[0052] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.
[0053] TDOA (Time Difference of Arrival) positioning is a method of location that utilizes time differences. By measuring the time it takes for a signal to arrive at a base station, the distance to the signal source can be determined. Using the distances from the signal source to each base station (drawing circles with the base stations as the center and the distances as the radius), the signal's location can be determined. However, absolute time is generally difficult to measure. By comparing the absolute time differences of signal arrival at each base station, a hyperbola can be plotted with the base stations as the foci and the distance differences as the major axis. The intersection of the hyperbola is the signal's location.
[0054] For example, please see Figure 1 , Figure 1 In the diagram, there are base stations A, B, and C. When the tag moves to point X, the distances between point X and each base station are different. Therefore, if the tag sends a test signal at this time, the times it takes for base stations A, B, and C to receive the test signal are a1, b1, and c1, respectively. The time difference between base stations A and B can then be calculated as a1-b1, and the time difference between base stations B and C as b1-c1.
[0055] Since the coordinates of base station A, base station B, and base station C are known, the formula can be used:
[0056] Distance difference = Time difference * Electromagnetic wave speed;
[0057] The distance difference is determined by the coordinates of base station A, base station B, and the tag, with the tag's coordinates being unknown. Based on this, a position curve based on the time difference can be plotted; this position curve is a hyperbola. Similarly, another hyperbola can be determined using the time difference between base station B and base station C and their coordinates. The intersection of the two hyperbolas indicates the tag's location, thus determining the tag's specific position.
[0058] Please see Figure 2 , Figure 2 The diagram illustrates positioning using multiple base stations. Hyperbola 1 can be determined based on the time difference and coordinates between base station A and base station B, and hyperbola 2 can be determined based on the time difference and coordinates between base station B and base station C. The intersection of hyperbola 1 and hyperbola 2 is the coordinate of the tag at point X.
[0059] As can be seen from the above working principle, in a positioning system using the TDOA mode, the key is to obtain the time difference between the arrival of the UWB (Ultra-Wideband) positioning signal emitted by the positioning tag and the arrival of the base stations around the positioning area. The working process of most existing positioning systems is as follows:
[0060] 1. The base stations within the positioning system are connected through certain lines (network cables, optical fibers, wireless communication channels, etc.). High-precision clock synchronization signals are transmitted on these lines, enabling the positioning base stations within the system to operate under a unified clock, thereby providing a unified time base for the high-precision timer of each positioning base station.
[0061] 2. Under the control of the system controller, each positioning is assigned to a unit in the positioning cycle. Within this unit, the designated tag's UWB signal is transmitted; the positioning base station receiver and timer are started. That is, the system controller simultaneously sends signals to both the tag and the base station, enabling the tag to send positioning signals in a specific order. For example, when multiple tags are present, tag 1 is controlled to send its positioning signal first, followed by tag 2. The positioning base station stops timing upon receiving the tag's positioning signal, obtaining the duration measured by each base station. The base station's timing durations are subtracted pairwise to output a time difference data set. Combining the known coordinates of the positioning base station with the time difference data set, the tag's position coordinates can be calculated, completing one positioning operation.
[0062] Understandably, a positioning system needs to accommodate hundreds or thousands of positioning tags. In order to coordinate the positioning order of each tag and effectively complete each positioning, positioning is arranged within a unit of time. Therefore, existing positioning systems often have the system controller send a command to the tag via wireless communication, telling the tag which time unit in a cycle to send positioning signals. At the same time, the system controller also notifies the positioning base station to reset the timer in advance and restart the timing. The tag transmits positioning signals under control upon receiving such a control command, thereby coordinating the work of the positioning base station and the tag.
[0063] In existing positioning systems, tags integrate a wireless communication receiver to receive system control commands. To minimize the length of positioning time units (by configuring more time units within a positioning cycle), short command delays and low signal jitter are required. This inevitably leads to complex tag structures and increased costs. Furthermore, the presence of the receiver significantly increases the tag's energy consumption; for tags operating for extended periods, battery life is a crucial performance indicator.
[0064] Therefore, as described in the background section, the positioning methods provided in the prior art suffer from problems such as complex tag structure, high cost, and short battery life.
[0065] In view of this, in order to solve the above problems, this application provides a positioning method that determines the time difference of receiving the positioning signal sent by the tag by dividing the clock of each base station into multiple equally spaced intervals, thereby eliminating the need for the tag to be equipped with a receiver, making the tag structure simpler, lower in cost and longer in battery life.
[0066] It should be noted that the positioning method described in this application can be applied to the controller of a positioning system, such as in the controller of a base station. Figure 3 This is a schematic block diagram of a controller provided in an embodiment of this application. The controller includes a memory 102, a processor 101, and a communication interface 103. The memory 102, processor 101, and communication interface 103 are electrically connected to each other directly or indirectly to realize data transmission or interaction. For example, these components can be electrically connected to each other through one or more communication buses or signal lines. The memory 102 can be used to store software programs and modules, such as the program instructions / modules corresponding to the positioning device 300 provided in this embodiment of the application. The processor 101 executes the software programs and modules stored in the memory 102 to perform various functional applications and data processing. The communication interface 103 can be used to communicate with other node devices for signaling or data.
[0067] The memory 102 may be, but is not limited to, random access memory (RAM), read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), etc.
[0068] Processor 101 can be an integrated circuit chip with signal processing capabilities. Processor 101 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.
[0069] Understandable. Figure 3 The structure shown is for illustrative purposes only; the controller may also include components such as... Figure 3 The more or fewer components shown, or having the same Figure 3 The different configurations shown. Figure 3 The components shown can be implemented using hardware, software, or a combination thereof.
[0070] The positioning method provided in this application is illustrated below:
[0071] As one implementation method, please refer to Figure 4 The positioning method includes:
[0072] S102 synchronizes the clocks of multiple base stations and divides the clock of each base station into multiple equally spaced intervals, each interval corresponding to a time scale.
[0073] S104, receive the positioning signal fed back by each base station, and determine the time scale of receiving the same positioning signal; wherein, the positioning signal is transmitted through a tag.
[0074] S106, calculate the time scale difference between every two base stations.
[0075] S108 determines the coordinates of the tag based on the time scale difference between every two base stations and the coordinates of each base station.
[0076] As one implementation method, please refer to Figure 5 The controller is a device independent of multiple base stations. It connects to each base station, for example, via network cables, fiber optic cables, or wireless communication channels, and transmits data. Of course, the base stations can also communicate with each other, enabling data exchange.
[0077] It should be noted that, to achieve data reception and timing functions, each base station includes a receiver and a timer. However, due to differences in manufacturing processes, there may be errors between the timers of different base stations. For example, if both base stations use crystal oscillators for timing, and the crystal oscillator error in base station A and substrate B is 1%, then the timers of the two base stations may have errors during timing. Furthermore, the starting times of base station A and substrate B are not synchronized, leading to errors in the recorded time. For instance, when base station A's timer has recorded 10 seconds, base station B's timer may record 9.8 seconds. Therefore, to provide a unified time base, it is necessary to synchronize the clocks of all base stations first.
[0078] Optionally, a clock synchronization signal can be sent to each base station via the controller to enable multiple base stations to operate under a unified clock, thereby providing a unified time base for the high-precision timer of each positioning base station.
[0079] As another implementation method, please refer to Figure 6 The controller can also be integrated into any base station, with the base station that integrates the controller serving as the master base station and the other base stations serving as slave base stations. When it is necessary to synchronize the clocks of the base stations, the master base station sends clock synchronization signals to each slave base station so that all base stations operate under a unified clock.
[0080] Based on this, when each base station receives the tag's positioning signal, it transmits the tag's positioning signal to the master base station. Then, the controller in the master base station determines the tag's coordinates based on the time scale difference between each pair of base stations and the coordinates of each base station. The tag's coordinates can be determined using TDOA positioning, which will not be elaborated upon here.
[0081] By dividing the clock of each base station into multiple equally spaced intervals, the controller and the tag do not need to communicate. The controller only needs to control the base stations to start receiving signals synchronously. Therefore, it avoids integrating the receiver on the tag, which makes the tag simple in structure, low in cost and long in battery life.
[0082] In practical applications, there may be situations where two base stations receive the same positioning signal at significantly different time intervals. For example, if base station A is closer to the tag and base station B is farther away, base station A may have already received the second positioning signal while base station B receives the first, making it difficult to distinguish whether the two base stations are receiving the same positioning signal. Therefore, as an implementation method, to accurately distinguish the time intervals of receiving the same positioning signal, S104 includes:
[0083] Each base station receives a location signal randomly sent by the tag. The location signal carries location information, ID information, and number information, and the target time scale is determined based on the location information, ID information, and number information.
[0084] S106 includes:
[0085] The controller uses the target time scale of each two base stations to determine the time scale difference.
[0086] In this application, the positioning signal transmitted by the tag can carry different information, such as positioning information, ID information, and serial number information. The positioning information specifies the basic information required for the bit position. The ID information refers to the tag's own ID information. Since there may be multiple tags in the same scenario, the ID information allows for the identification of each tag, avoiding signal confusion. The serial number information specifies the serial number carried by the bit position signal. For the same tag, to achieve real-time positioning, the tag will periodically transmit positioning signals, such as once every 1 second or once every 2 seconds. Based on this, the serial number information of the tag can determine which period the positioning signal was transmitted in. For example, when the serial number information is "01", it indicates the positioning signal transmitted in the first period; when the serial number information is "02", it indicates the positioning signal transmitted in the second period, and so on.
[0087] Based on this, it can be understood that when base stations receive the same number information and the same tag ID information, it is determined that each base station has received the same positioning signal. For example, when base station A receives a signal with the number "01" sent by tag a, and base station B also receives a signal with the number "01" sent by tag a, it means that base station A and base station B have received the same positioning signal at this time, and the time scale difference can be determined using this signal.
[0088] As one implementation method, different information can be carried in the form of strings. For example, in the string emitted by the tag, the first 4 characters represent the location information, the middle 4 characters represent the ID information, and the last 4 characters represent the number information.
[0089] Once a base station receives the location information, it can determine the target time scale. Since the base station clocks have been synchronized, each base station can determine the target time scale upon receiving the location information, that is, the time scale corresponding to the location information with a certain number. For example, if base station A receives the first location signal of tag a in the 1st second and the second location signal of tag a in the 2nd second, then its corresponding target time scale is 1 second and 2 seconds; while base station B receives the first location signal of tag a in the 0.5th second and the second location signal of tag a in the 1st second, then its corresponding target time scale is 0.5 seconds and 1 second.
[0090] Since TDOA positioning only requires determining the time difference between the arrival of signals at two base stations, and clock synchronization is ensured, the time difference can be accurately determined by setting a time scale. Understandably, the shorter the interval corresponding to the time scale, the more accurate the determined time difference.
[0091] Furthermore, this application does not limit the number of base stations. When one-dimensional positioning is required, at least two base stations are needed; when two-dimensional positioning is required, at least three base stations are needed; and when three-dimensional positioning is required, at least four base stations are needed.
[0092] As one implementation, the number of base stations provided in this application includes at least four. Following S104, the positioning method further includes:
[0093] S105 When any base station fails to receive the positioning signal sent by the tag, the coordinates of the tag are determined by using the time scale difference and coordinates of the remaining at least three base stations.
[0094] Redundancy can be achieved by setting up at least four base stations. For example, when signal collisions occur, the positioning result may not be accurate. However, by setting up at least four base stations, when signal collisions occur, data from other base stations can be used to achieve positioning, thus making the positioning result more accurate.
[0095] Optionally, the positioning system includes multiple base station groups, and S102 includes:
[0096] Synchronize the clocks of multiple base stations within each base station group, and divide the clock of each base station into multiple identical intervals with equal spacing.
[0097] When there are multiple base station groups, the clock can be divided into intervals to achieve the effect of dividing the time scale into multiple time scales, and then the tag can be located in each base station group.
[0098] S102 includes:
[0099] S1021, send a clock synchronization signal to each base station so that multiple base stations operate under a unified clock;
[0100] S1022 divides the synchronized clock of each base station into multiple equally spaced intervals.
[0101] Based on the above implementation, this application also provides a positioning system, which further includes a controller, a tag and multiple base stations. The controller is used to synchronize the clocks of multiple base stations and divide the clock of each base station into multiple equally spaced intervals, each interval corresponding to a time scale.
[0102] Each base station is used to receive the positioning signal sent by the tag and to determine the time scale at which the same positioning signal is received;
[0103] The controller is used to calculate the time scale difference between every two base stations;
[0104] The controller is also used to determine the coordinates of the tag based on the time scale difference between every two base stations and the coordinates of each base station.
[0105] In one implementation, the controller can be integrated into any base station, with the base station containing the controller serving as the main base station; in another implementation, the controller can be set up independently of the base station and connected to each base station, without any limitation.
[0106] Optionally, the tag is used to randomly send a positioning signal, wherein the positioning signal carries positioning information, ID information, and number information; the base station is also used to determine the target time scale based on the positioning information, ID information, and number information; the controller is also used to determine the time scale difference using the target time scale of every two base stations.
[0107] Optionally, the number of base stations includes at least four, and the controller is also used to determine the coordinates of the tag by using the time scale difference and coordinates of the remaining at least three base stations when any base station does not receive the positioning signal sent by the tag.
[0108] Optionally, the positioning system includes multiple base station groups, and the controller is also used to synchronize the clocks of multiple base stations within each base station group and divide the clock of each base station into multiple identical and equally spaced intervals.
[0109] In summary, this application provides a positioning method, system, and electronic device. The controller for a positioning system includes a tag and multiple base stations. First, the clocks of multiple base stations are synchronized, and the clock of each base station is divided into multiple equally spaced intervals, each interval corresponding to a time scale. Then, positioning signals fed back from each base station are received, and the time scale at which the same positioning signal is received is determined. The positioning signal is emitted through the tag. The time scale difference between any two base stations is calculated, and finally, the coordinates of the tag are determined based on the time scale difference between any two base stations and the coordinates of each base station. Because this application directly divides the clock of each base station into multiple equally spaced intervals, there is no need for communication between the controller and the tag. The controller only needs to control the base stations to synchronize and begin receiving signals, thus avoiding the need to integrate a receiver on the tag. This results in a simple tag structure, low cost, and long battery life.
[0110] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.
[0111] It will be apparent to those skilled in the art that this application is not limited to the details of the exemplary embodiments described above, and that this application can be implemented in other specific forms without departing from the spirit or essential characteristics of this application. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of this application is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within this application. No reference numerals in the claims should be construed as limiting the scope of the claims.
Claims
1. A positioning method, characterized in that, A controller for a positioning system, the positioning system further including tags and multiple base stations, the positioning method comprising: The clocks of the multiple base stations are synchronized, and the clock of each base station is divided into multiple equally spaced intervals, each interval corresponding to a time scale. The system receives positioning signals from each base station and determines the time scale at which the same positioning signal is received; wherein the positioning signal is transmitted via a tag. Calculate the time scale difference between every two base stations; The coordinates of the tag are determined based on the time scale difference between every two base stations and the coordinates of each base station; wherein, the controller and the tag do not need to communicate, and the tag does not integrate a receiver.
2. The positioning method as described in claim 1, characterized in that, The step of receiving the positioning signal fed back by each base station and determining the time scale of receiving the same positioning signal includes: The system receives positioning signals fed back from each base station. These positioning signals carry positioning information, ID information, and number information. The system then determines the target time scale based on the positioning information, ID information, and number information. The steps for calculating the time scale difference between any two base stations include: The time scale difference is determined using the target time scale of each two base stations.
3. The positioning method as described in claim 1, characterized in that, The number of base stations includes at least four, and after the step of receiving the positioning signal fed back by each base station, the positioning method further includes: When no positioning signal is received from any base station, the coordinates of the tag are determined using the time scale difference and coordinates of the remaining at least three base stations.
4. The positioning method as described in claim 1, characterized in that, The positioning system includes multiple base station groups. The steps of synchronizing the clocks of the multiple base stations and dividing the clock of each base station into multiple equally spaced intervals include: Synchronize the clocks of multiple base stations within each base station group, and divide the clock of each base station into multiple identical intervals with equal spacing.
5. The positioning method as described in claim 1, characterized in that, The steps of synchronizing the clocks of the multiple base stations and dividing the clock of each base station into multiple equally spaced intervals include: Send a clock synchronization signal to each base station so that the multiple base stations operate under a unified clock; The clocks of each base station after synchronization are divided into multiple equally spaced intervals.
6. A positioning system, characterized in that, The positioning system also includes a controller, a tag, and multiple base stations. The controller and the tag do not need to communicate. The tag does not have a receiver integrated. The controller is used to synchronize the clocks of the multiple base stations and divide the clock of each base station into multiple equally spaced intervals, each interval corresponding to a time scale. Each base station is used to receive the positioning signal sent by the tag and to determine the time scale at which the same positioning signal is received; The controller is used to calculate the time scale difference between every two base stations; The controller is also used to determine the coordinates of the tag based on the time scale difference between every two base stations and the coordinates of each base station.
7. The positioning system as described in claim 6, characterized in that, The controller is integrated into any base station.
8. The positioning system as described in claim 6, characterized in that, The tag is used to randomly send location signals, wherein the location signals carry location information, ID information, and number information; The base station is also used to determine the target time scale based on the location information, ID information, and numbering information; The controller is also used to determine the time scale difference using the target time scale of each two base stations; The time scale difference is determined using the target time scale of each two base stations.
9. The positioning system as described in claim 6, characterized in that, The number of base stations includes at least four, and the controller is further configured to determine the coordinates of the tag by using the time scale difference and coordinates of the remaining at least three base stations when any base station fails to receive the positioning signal sent by the tag.
10. An electronic device, characterized in that, The electronic device includes: Memory, used to store one or more programs; processor; When the one or more programs are executed by the processor, the method as described in any one of claims 1-5 is implemented.