A space position positioning method and device of an internet of things terminal and a storage medium

Abstract

The application discloses a space position positioning method and device of an Internet of Things terminal and a storage medium, wherein the method comprises the following steps: respectively establishing wireless connections of fixed detection points and mobile detection points with a to-be-positioned point, and establishing a wireless connection of the fixed detection points and the mobile detection points; calculating a sending process time of the fixed detection points to the to-be-positioned point as a first communication time, controlling the mobile detection points to wander, and calculating a sending process time of the mobile detection points to the to-be-positioned point as a second communication time; when a difference between the first communication time and the second communication time is within a preset threshold range, determining a current position of the mobile detection points as a first positioning auxiliary point position and a second positioning auxiliary point position; and determining two connecting lines of the fixed detection points to the first positioning auxiliary point and the second positioning auxiliary point respectively, and taking a mid-perpendicular intersection of the two connecting lines as a position of the to-be-positioned point. The application can effectively reduce the cost of device deployment and improve the accuracy of physical terminal positioning.

Description

Technical Field

[0001] This invention relates to the field of Internet of Things (IoT) technology, and in particular to a spatial location positioning method, apparatus, and storage medium for an IoT terminal. Background Technology

[0002] Physical security is the foundation of network security. If hackers directly deploy devices into the network and exploit inherent vulnerabilities in TCP / IP, employing attacks such as ARP spoofing, packet flooding, and three-way handshakes, they can bypass security devices, making them difficult to defend against. In the IoT environment, wireless technologies are widely used, including Zigbee, Bluetooth, RFID, Wi-Fi, and 4G / 5G-LTE. These wireless devices, as long as they have sufficient power (lithium battery power), can access the network from any point within the spherical space covered by the gateway. From a network security perspective, this characteristic can be exploited to hide attack devices anywhere within the spherical space covered by the gateway, and even use signal amplifiers to communicate with the gateway over long distances. In terms of management, because IoT terminal devices are inexpensive and easy to deploy, in large IoT areas (factories, large warehouses, etc.), relying solely on documented descriptions of physical locations can lead to misunderstandings and difficulty in locating devices. This problem is becoming increasingly serious as IoT terminal devices continue to miniaturize.

[0003] Existing spatial positioning methods for IoT terminals typically employ three-point positioning via wireless devices, or use three transmitters, or one fixed transmitter and one portable transmitter to communicate with the IoT terminal device. Positioning is then achieved through trigonometric functions, followed by multiple measurements and Kalman filtering to eliminate measurement errors. However, these existing spatial positioning methods require positioning within a relatively short distance and necessitate high-precision clocks, resulting in high equipment costs. Summary of the Invention

[0004] This invention provides a spatial positioning method, apparatus, and storage medium for Internet of Things (IoT) terminals, addressing the technical problem that existing spatial positioning methods for IoT terminals require a high-precision clock for positioning within a relatively short distance, resulting in high equipment costs.

[0005] One embodiment of the present invention provides a spatial location positioning method for an Internet of Things (IoT) terminal, comprising:

[0006] Within the positioning space, wireless connections are established between the fixed detection point and the mobile detection point and the point to be located, respectively, and a wireless connection is established between the fixed detection point and the mobile detection point.

[0007] The transmission time from the fixed detection point to the location point is calculated as the first communication time. The mobile detection point is controlled to move in a circle with the fixed detection point as the center and the distance from the fixed detection point to the mobile detection point as the radius. The transmission time from the mobile detection point to the location point is calculated as the second communication time.

[0008] When the difference between the first communication time and the second communication time is within a preset threshold range, the current position of the moving detection point is determined as the position of the first positioning auxiliary point and the position of the second positioning auxiliary point.

[0009] Two lines are drawn from the fixed detection point to the first positioning auxiliary point and the second positioning auxiliary point, respectively. The intersection of the perpendicular bisectors of the two lines is taken as the position of the point to be located.

[0010] Furthermore, the expression for the first communication time is:

[0011] t 1 =t1 1 +S1 / C+t2 1 +S1 / C+t3 1

[0012] Wherein, the superscript 1 indicates the fixed detection point, t 1 Indicates the first communication time, t1 1 S1 represents the calculation time from when the fixed detection point receives the command to when the signal is transmitted. C represents the distance from the fixed detection point to the point to be located. t2 represents the speed of light. 1 t3 represents the time required for the location to receive the signal, perform calculations, and then retransmit the signal. 1 This indicates the time required for the fixed detection point to receive the signal and for the ranging procedure to stop.

[0013] Furthermore, the expression for the second communication time is:

[0014] t 2 =t1 2 +S2 / C+t2 2 +S2 / C+t3 2

[0015] Wherein, the superscript 2 represents the moving detection point, t 2 Indicates the second communication time, t1 2 S2 represents the calculation time from when the moving detection point receives the instruction to when it completes signal transmission, C represents the distance from the moving detection point to the point to be located, and t2 represents the speed of light. 2 t3 represents the time required for the location to receive the signal, perform calculations, and then retransmit the signal. 2This indicates the time required for the moving detection point to receive the signal and stop the ranging procedure.

[0016] Furthermore, the method also includes: performing time synchronization processing on the fixed detection point and the moving detection point.

[0017] Furthermore, the time synchronization processing for the fixed detection point and the moving detection point includes:

[0018] Calculate the communication time between the fixed detection point and the mobile detection point; the expression for the communication time is: T = T1 + T2*2 + T3 + T4, where T is the communication time, T1 is the time required for wireless signal transmission, T2 is the time required for the wireless signal to travel to and from the mobile detection point, T3 is the time required for the mobile detection point to calculate and send the wireless signal, T4 is the time for receiving and processing the wireless signal, and T2 = S / C, where S is the distance from the fixed detection point to the mobile detection point, and C is the speed of light;

[0019] The time required for the wireless signal to travel to and from the mobile detection point is determined by laser ranging, and the detection point processing time is determined based on the time required for the wireless signal to travel to and from the mobile detection point; the detection point processing time is T1+T2+T3.

[0020] The fixed detection point and the moving detection point are synchronized in time according to the processing time of the detection point.

[0021] One embodiment of the present invention provides a spatial location positioning device for an Internet of Things (IoT) terminal, comprising:

[0022] A wireless connection establishment module is used to establish wireless connections between a fixed detection point and a mobile detection point and the point to be located within the positioning space, and to establish a wireless connection between the fixed detection point and the mobile detection point.

[0023] The communication time calculation module is used to calculate the transmission process time from the fixed detection point to the location point as the first communication time, control the mobile detection point to move in a circle with the fixed detection point as the center and the distance from the fixed detection point to the mobile detection point as the radius, and calculate the transmission process time from the mobile detection point to the location point as the second communication time.

[0024] The positioning auxiliary point determination module is used to determine the current position of the moving detection point as the position of the first positioning auxiliary point and the position of the second positioning auxiliary point when the difference between the first communication time and the second communication time is within a preset threshold range.

[0025] The positioning point location determination module is used to determine two lines connecting the fixed detection point to the first positioning auxiliary point and the second positioning auxiliary point, respectively, and take the intersection of the perpendicular bisectors of the two lines as the position of the point to be positioned.

[0026] Furthermore, the expression for the first communication time is:

[0027] t 1 =t1 1 +S1 / C+t2 1 +S1 / C+t3 1 ,

[0028] Wherein, the superscript 1 indicates the fixed detection point, t 1 Indicates the first communication time, t1 1 S1 represents the calculation time from when the fixed detection point receives the command to when the signal is transmitted. C represents the distance from the fixed detection point to the point to be located. t2 represents the speed of light. 1 t3 represents the time required for the location to receive the signal, perform calculations, and then retransmit the signal. 1 This indicates the time required for the fixed detection point to receive the signal and for the ranging procedure to stop.

[0029] Furthermore, the expression for the second communication time is:

[0030] t 2 =t1 2 +S2 / C+t2 2 +S2 / C+t3 2 ,

[0031] Wherein, the superscript 2 represents the moving detection point, t 2 Indicates the second communication time, t1 2 S2 represents the calculation time from when the moving detection point receives the instruction to when it completes signal transmission, C represents the distance from the moving detection point to the point to be located, and t2 represents the speed of light. 2 t3 represents the time required for the location to receive the signal, perform calculations, and then retransmit the signal. 2 This indicates the time required for the moving detection point to receive the signal and stop the ranging procedure.

[0032] Furthermore, the spatial positioning device also includes:

[0033] Calculate the communication time between the fixed detection point and the mobile detection point; the expression for the communication time is: T = T1 + T2*2 + T3 + T4, where T is the communication time, T1 is the time required for wireless signal transmission, T2 is the time required for the wireless signal to travel to and from the mobile detection point, T3 is the time required for the mobile detection point to calculate and send the wireless signal, T4 is the time for receiving and processing the wireless signal, and T2 = S / C, where S is the distance from the fixed detection point to the mobile detection point, and C is the speed of light;

[0034] The time required for the wireless signal to travel to and from the mobile detection point is determined by laser ranging, and the detection point processing time is determined based on the time required for the wireless signal to travel to and from the mobile detection point; the detection point processing time is T1+T2+T3.

[0035] The fixed detection point and the moving detection point are synchronized in time according to the processing time of the detection point.

[0036] One embodiment of the present invention provides a computer-readable storage medium including a stored computer program, wherein, when the computer program is executed, it controls the device where the computer-readable storage medium is located to perform the spatial location positioning method of an Internet of Things terminal as described above.

[0037] In this embodiment of the invention, the transmission time from the fixed detection point to the location to be located is calculated as the first communication time, and the transmission time from the mobile detection point to the location to be located is calculated as the second communication time. When the difference between the first communication time and the second communication time is within a preset threshold range, the current position of the mobile detection point is determined as the position of the first positioning auxiliary point and the position of the second positioning auxiliary point. Then, the final location of the location to be located is determined based on the first positioning auxiliary point and the second positioning auxiliary point. There is no need to deploy an additional high-precision clock to achieve spatial positioning of the physical terminal, thereby effectively reducing the cost of equipment deployment.

[0038] Furthermore, in this embodiment of the invention, laser positioning is applied from a fixed detection point to a moving detection point, which can further refine the difference between the distance obtained by the time difference of radio signal transmission and reception and the distance obtained by laser positioning. Adjustments can be made based on this difference, thereby further improving the accuracy of the spatial positioning of the physical terminal. Attached Figure Description

[0039] Figure 1 This is a flowchart illustrating the spatial location positioning method for an IoT terminal provided in an embodiment of the present invention.

[0040] Figure 2 This is a schematic diagram of the deployment structure of the detection points provided in the embodiments of the present invention;

[0041] Figure 3 This is a schematic diagram of the detection point positioning provided in an embodiment of the present invention;

[0042] Figure 4 This is a schematic diagram of the transmission process between a fixed detection point and a mobile detection point provided in an embodiment of the present invention;

[0043] Figure 5 This is another flowchart illustrating the spatial location positioning method for IoT terminals provided in this embodiment of the invention.

[0044] Figure 6 This is a schematic diagram of the spatial positioning device for an IoT terminal provided in an embodiment of the present invention. Detailed Implementation

[0045] 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. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0046] In the description of this application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "multiple" means two or more.

[0047] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0048] Please see Figure 1 One embodiment of the present invention provides a spatial location positioning method for an Internet of Things (IoT) terminal, comprising:

[0049] S1. Within the positioning space, establish wireless connections between the fixed detection point and the mobile detection point and the point to be positioned, and establish a wireless connection between the fixed detection point and the mobile detection point.

[0050] Please see Figure 2In this embodiment of the invention, a fixed detection point is fixedly set at a location in the positioning space, while a mobile detection point is set at any location in the positioning space. The positioning space can be a spatial area, such as inside a room. The point to be located within the positioning space is a mobile terminal device.

[0051] S2. Calculate the transmission time from the fixed detection point to the point to be located as the first communication time, control the moving detection point to move in a circle with the fixed detection point as the center and the distance from the fixed detection point to the moving detection point as the radius, and calculate the transmission time from the moving detection point to the point to be located as the second communication time.

[0052] In this embodiment of the invention, when the detection begins, the specific location of the point to be located is unknown. The fixed detection point can determine the transmission time of the fixed detection to the point to be located, i.e., the first communication time, by the signal emitted by the point to be located. The distance S1 from the fixed detection point to the second detection point can be determined based on the first communication time.

[0053] Please see Figure 3 In this embodiment of the invention, since the moving probe point moves around in a circle, it will inevitably reach a point. The communication time between this point and the point to be located is the second communication time. Moreover, when the moving probe point continues to move around in the circle, when the moving probe point reaches the point that is symmetrical about the axis from the fixed probe point to the point to be located, the second communication time from the moving probe point to the point to be located is the same as the second communication time of the previous point.

[0054] In this embodiment of the invention, the mobile detection point can be placed on a drone or unmanned vehicle to move around, thereby performing a full-coverage route scan. Combined with a specific point approach scan, it can achieve automated and high-precision positioning of all points to be located in the positioning space.

[0055] S3. When the difference between the first communication time and the second communication time is within a preset threshold range, the current position of the moving detection point is determined as the position of the first positioning auxiliary point and the position of the second positioning auxiliary point.

[0056] In this embodiment of the invention, when the first communication time and the second communication time are approximately equal, the current position of the current moving detection point can be determined as the position of the auxiliary point. Since the moving detection point moves in a circle, the position of the positioning auxiliary point is two axially symmetric points. The second communication time from these two circumferentially symmetric points to the point to be positioned is approximately the same as the first communication time, so the positions of the first positioning auxiliary point and the second auxiliary point can be determined.

[0057] S4. Determine the two lines connecting the fixed detection point to the first positioning auxiliary point and the second positioning auxiliary point respectively, and take the intersection of the perpendicular bisectors of the two lines as the position of the point to be positioned.

[0058] In this embodiment of the invention, when the second communication time and the first communication time are approximately the same, it can be determined that the distance S1 from the fixed detection point to the positioning point is approximately equal to the distance S2 from the moving detection point to the positioning point.

[0059] Please continue reading. Figure 3 In this embodiment of the invention, after determining the two lines connecting the fixed detection point to the first positioning auxiliary point and the second positioning auxiliary point respectively, the intersection of the perpendicular bisectors of the two lines is taken as the position of the point to be positioned, which can accurately and quickly determine the position of the point to be positioned.

[0060] In one embodiment, the expression for the first communication time is:

[0061] t 1 =t1 1 +S1 / C+t2 1 +S1 / C+t3 1 ,

[0062] Where the superscript 1 indicates a fixed detection point, t 1 Indicates the first communication time, t1 1 The time from when the fixed detection point receives the command to when it completes signal transmission is represented by S1, where S1 represents the distance from the fixed detection point to the point to be located, C represents the speed of light, and t2 represents the distance from the fixed detection point to the point to be located. 1 t3 represents the time required for the positioning point to receive the signal, perform calculations, and then transmit the signal. 1 This indicates the time required for the fixed detection point to receive the signal and for the ranging procedure to stop.

[0063] In this embodiment of the invention, the time required for the entire ranging procedure is the communication time.

[0064] In one embodiment, the expression for the second communication time is:

[0065] t 2 =t1 2 +S2 / C+t2 2 +S2 / C+t3 2 ,

[0066] Where the superscript 2 indicates a moving probe point, t 2 Indicates the second communication time, t1 2 S2 represents the calculation time from when the moving probe receives the command to when it completes signal transmission, C represents the distance from the moving probe to the point to be located, and t2 represents the speed of light. 2 t3 represents the time required for the positioning point to receive the signal, perform calculations, and then transmit the signal. 2 This indicates the time required for the moving probe to receive a signal and for the ranging procedure to stop.

[0067] In one embodiment, the method further includes: performing time synchronization processing on the fixed detection point and the moving detection point.

[0068] In one embodiment, time synchronization processing for fixed and moving detection points includes:

[0069] Calculate the communication time between the fixed detection point and the mobile detection point; the expression for the communication time is: T=T1+T2*2+T3+T4, where T is the communication time, T1 is the time required for wireless signal transmission, T2 is the time required for the wireless signal to travel to and from the mobile detection point, T3 is the time required for the mobile detection point to calculate and send the wireless signal, T4 is the time for receiving and processing the wireless signal, and T2=S / C, where S is the distance from the fixed detection point to the mobile detection point, and C is the speed of light;

[0070] Please see Figure 4 In this embodiment of the invention, programming can be performed at the fixed detection point to send a signal to the moving detection point. After receiving the signal, the moving detection point returns a return signal to the fixed detection point. The fixed detection point receives the return signal, records it, and stops the ranging program.

[0071] The time required for the wireless signal to travel to and from the moving detection point is determined by laser ranging. Based on this time, the processing time at the detection point is determined; the processing time at the detection point is T1+T2+T3.

[0072] In this embodiment of the invention, by introducing laser ranging, detection and calibration can be performed, and statistical methods can be combined to further eliminate measurement statistical errors, thereby effectively improving the accuracy of positioning.

[0073] The fixed and mobile detection points are synchronized based on their processing time.

[0074] In this embodiment of the invention, if a time synchronization signal is generated to synchronize the time between the fixed detection point and the moving detection point, T1+T3+T4 needs to be subtracted to improve the progress of time synchronization.

[0075] In one embodiment, t1 can be obtained through laser positioning correction. 1 +t1 2 An approximation of this is achieved by placing the mobile detection point at any point in the positioning space, measuring the distance between the fixed detection point and the mobile detection point using laser ranging, sending a network signal from the fixed detection point to the mobile detection point, and then having the mobile detection point receive the network signal, perform calculations, and send a return signal back to the fixed detection point. This can be approximated as equivalent to program startup and signal transmission.

[0076] Assume t 0＝ t1 1 +t12 There is no difference in the time it takes for the location point to send back information: t3 1 =t3 2；

[0077] t 1 -t 2 =t1 1 +S1 / C+t2 1 +S1 / C+t3 1 -(t1 2 +S2 / C+t2 2 +S2 / C+t3 2 )

[0078] =(t1) 1 -t1 2 )+2*(S1-S2) / C,

[0079] When t 1 -t 2 When S1 = 0, it can be approximated that S1 = S2.

[0080] On a circle centered at a fixed detection point and with a radius equal to the distance from the fixed detection point to the point to be located, there must exist two points such that the distance from these two points to the point to be located is equal to the distance from these two points to the fixed detection point. That is, S1 = S2, t 1 -t 2 =0.

[0081] By applying laser positioning to the distance between a fixed detection point and a moving detection point, this invention can further refine the difference between the distance obtained from the time difference of radio signal transmission and reception and the distance obtained from laser positioning. Adjustments can then be made based on this difference to further improve the accuracy of positioning.

[0082] Please see Figure 5 This is another flowchart illustrating a spatial location positioning method for an Internet of Things (IoT) terminal provided in one embodiment of the present invention.

[0083] Implementing the embodiments of the present invention has the following beneficial effects:

[0084] In this embodiment of the invention, the transmission time from the fixed detection point to the location to be located is calculated as the first communication time, and the transmission time from the moving detection point to the location to be located is calculated as the second communication time. When the difference between the first communication time and the second communication time is within a preset threshold range, the current position of the moving detection point is determined as the position of the first positioning auxiliary point and the position of the second positioning auxiliary point. Then, the final position of the location to be located is determined based on the first positioning auxiliary point and the second positioning auxiliary point. There is no need to deploy an additional high-precision clock to achieve spatial positioning of the physical terminal, thereby effectively reducing the cost of equipment deployment.

[0085] Furthermore, in this embodiment of the invention, laser positioning is applied from a fixed detection point to a moving detection point, which can further refine the difference between the distance obtained by the time difference of radio signal transmission and reception and the distance obtained by laser positioning. Adjustments can be made based on this difference, thereby further improving the accuracy of the spatial positioning of the physical terminal.

[0086] Please see Figure 6 Based on the same inventive concept as the above embodiments, one embodiment of the present invention provides a spatial location positioning device for an Internet of Things (IoT) terminal, comprising:

[0087] The wireless connection establishment module 10 is used to establish wireless connections between a fixed detection point and a mobile detection point and the point to be located within the positioning space, and to establish a wireless connection between the fixed detection point and the mobile detection point.

[0088] The communication time calculation module 20 is used to calculate the transmission process time from the fixed detection point to the location point as the first communication time, control the mobile detection point to move in a circle with the fixed detection point as the center and the distance from the fixed detection point to the mobile detection point as the radius, and calculate the transmission process time from the mobile detection point to the location point as the second communication time.

[0089] The positioning auxiliary point determination module 30 is used to determine the current position of the moving detection point as the position of the first positioning auxiliary point and the position of the second positioning auxiliary point when the difference between the first communication time and the second communication time is within a preset threshold range.

[0090] The positioning point location determination module 40 is used to determine two lines connecting the fixed detection point to the first positioning auxiliary point and the second positioning auxiliary point, respectively, and to take the intersection of the perpendicular bisectors of the two lines as the position of the point to be positioned.

[0091] In one embodiment, the expression for the first communication time is:

[0092] t 1 =t1 1 +S1 / C+t2 1 +S1 / C+t3 1 ,

[0093] Where the superscript 1 indicates a fixed detection point, t 1 Indicates the first communication time, t1 1 The time from when the fixed detection point receives the command to when it completes signal transmission is represented by S1, where S1 represents the distance from the fixed detection point to the point to be located, C represents the speed of light, and t2 represents the distance from the fixed detection point to the point to be located. 1 t3 represents the time required for the positioning point to receive the signal, perform calculations, and then transmit the signal. 1 This indicates the time required for the fixed detection point to receive the signal and for the ranging procedure to stop.

[0094] In one embodiment, the expression for the second communication time is:

[0095] t 2 =t1 2 +S2 / C+t2 2 +S2 / C+t3 2 ,

[0096] Where the superscript 2 indicates a moving probe point, t 2 Indicates the second communication time, t1 2 S2 represents the calculation time from when the moving probe receives the command to when it completes signal transmission, C represents the distance from the moving probe to the point to be located, and t2 represents the speed of light. 2 t3 represents the time required for the positioning point to receive the signal, perform calculations, and then transmit the signal. 2 This indicates the time required for the moving probe to receive a signal and for the ranging procedure to stop.

[0097] In one embodiment, the spatial positioning device further includes a time synchronization module, used for:

[0098] Calculate the communication time between the fixed detection point and the mobile detection point; the expression for the communication time is: T=T1+T2*2+T3+T4, where T is the communication time, T1 is the time required for wireless signal transmission, T2 is the time required for the wireless signal to travel to and from the mobile detection point, T3 is the time required for the mobile detection point to calculate and send the wireless signal, T4 is the time for receiving and processing the wireless signal, and T2=S / C, where S is the distance from the fixed detection point to the mobile detection point, and C is the speed of light;

[0099] The time required for the wireless signal to travel to and from the moving detection point is determined by laser ranging. Based on this time, the processing time at the detection point is determined; the processing time at the detection point is T1+T2+T3.

[0100] The fixed and mobile detection points are synchronized based on their processing time.

[0101] One embodiment of the present invention provides a computer-readable storage medium including a stored computer program, wherein, when the computer program is executed, it controls the device where the computer-readable storage medium is located to perform the spatial location positioning method of the Internet of Things terminal as described above.

[0102] The above are preferred embodiments of the present invention. It should be noted that, for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A spatial location positioning method for an Internet of Things (IoT) terminal, characterized in that, include: Within the positioning space, wireless connections are established between the fixed detection point and the mobile detection point and the point to be located, respectively, and a wireless connection is established between the fixed detection point and the mobile detection point. The transmission time from the fixed detection point to the location point is calculated as the first communication time. The mobile detection point is controlled to move in a circle with the fixed detection point as the center and the distance from the fixed detection point to the mobile detection point as the radius. The transmission time from the mobile detection point to the location point is calculated as the second communication time. When the difference between the first communication time and the second communication time is within a preset threshold range, the current position of the moving detection point is determined as the position of the first positioning auxiliary point and the position of the second positioning auxiliary point. Determine two lines connecting the fixed detection point to the first positioning auxiliary point and the second positioning auxiliary point respectively, and take the intersection of the perpendicular bisectors of the two lines as the position of the point to be located. The time required for a wireless signal to travel to and from the mobile detection point is determined by laser ranging. Based on this time, the processing time for the detection point is determined. Time synchronization is then performed on the fixed and mobile detection points based on the processing time.

2. The spatial location positioning method for an IoT terminal as described in claim 1, characterized in that, The expression for the first communication time is: t 1 = t1 1 +S1 / C+ t2 1 + S1 / C+ t3 1 Among them, t 1 Indicates the first communication time, t1 1 S1 represents the calculation time from when the fixed detection point receives the command to when the signal is transmitted. C represents the distance from the fixed detection point to the point to be located. t2 represents the speed of light. 1 t3 represents the time required for the location to receive the signal, perform calculations, and then retransmit the signal. 1 This indicates the time required for the fixed detection point to receive the signal and for the ranging procedure to stop.

3. The spatial location positioning method for an IoT terminal as described in claim 1, characterized in that, The expression for the second communication time is: t 2 = t1 2 +S2 / C+ t2 2 + S2 / C+ t3 2 Among them, t 2 Indicates the second communication time, t1 2 S2 represents the calculation time from when the moving detection point receives the instruction to when it completes signal transmission, C represents the distance from the moving detection point to the point to be located, and t2 represents the speed of light. 2 t3 represents the time required for the location to receive the signal, perform calculations, and then retransmit the signal. 2 This indicates the time required for the moving detection point to receive the signal and stop the ranging procedure.

4. A spatial positioning device for an Internet of Things (IoT) terminal, characterized in that, include: A wireless connection establishment module is used to establish wireless connections between a fixed detection point and a mobile detection point and the point to be located within the positioning space, and to establish a wireless connection between the fixed detection point and the mobile detection point. The communication time calculation module is used to calculate the transmission process time from the fixed detection point to the location point as the first communication time, control the mobile detection point to move in a circle with the fixed detection point as the center and the distance from the fixed detection point to the mobile detection point as the radius, and calculate the transmission process time from the mobile detection point to the location point as the second communication time. The positioning auxiliary point determination module is used to determine the current position of the moving detection point as the position of the first positioning auxiliary point and the position of the second positioning auxiliary point when the difference between the first communication time and the second communication time is within a preset threshold range. The positioning point location determination module is used to determine two lines connecting the fixed detection point to the first positioning auxiliary point and the second positioning auxiliary point respectively, and take the intersection of the perpendicular bisectors of the two lines as the position of the point to be positioned. The time required for a wireless signal to travel to and from the mobile detection point is determined by laser ranging. Based on this time, the processing time for the detection point is determined. Time synchronization is then performed on the fixed and mobile detection points based on the processing time.

5. The spatial positioning device for an IoT terminal as described in claim 4, characterized in that, The expression for the first communication time is: t 1 = t1 1 +S1 / C+ t2 1 + S1 / C+ t3 1 Wherein, the superscript 1 indicates the fixed detection point, t 1 Indicates the first communication time, t1 1 S1 represents the calculation time from when the fixed detection point receives the command to when the signal is transmitted. C represents the distance from the fixed detection point to the point to be located. t2 represents the speed of light. 1 t3 represents the time required for the location to receive the signal, perform calculations, and then retransmit the signal. 1 This indicates the time required for the fixed detection point to receive the signal and for the ranging procedure to stop.

6. The spatial positioning device for an IoT terminal as described in claim 4, characterized in that, The expression for the second communication time is: t 2 = t1 2 +S2 / C+ t2 2 + S2 / C+ t3 2 Wherein, the superscript 2 represents the moving detection point, t 2 Indicates the second communication time, t1 2 S2 represents the calculation time from when the moving detection point receives the instruction to when it completes signal transmission, C represents the distance from the moving detection point to the point to be located, and t2 represents the speed of light. 2 t3 represents the time required for the location to receive the signal, perform calculations, and then retransmit the signal. 2 This indicates the time required for the moving detection point to receive the signal and stop the ranging procedure.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored computer program, wherein, when the computer program is executed, it controls the device containing the computer-readable storage medium to perform the spatial location positioning method of the Internet of Things terminal as described in any one of claims 1 to 3.

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