A low-power positioning condition determination method, system and storage medium

Abstract

The application discloses a low-power-consumption positioning condition determination method and system and a storage medium. In the application, a first positioning base station sends a first positioning signal to a tag and a reference base station at a first time of a first clock of the tag, the tag receives the first positioning signal at a second time of the first clock, the reference base station receives the first positioning signal at a third time of a second clock of the reference base station, a second positioning base station sends a second positioning signal to the tag and the reference base station at a fourth time of the first clock, the tag receives the second positioning signal at a fifth time of the first clock, the reference base station sends a reference signal after receiving the second positioning signal, and the tag receives the reference signal at a sixth time of the first clock. The reference base station sends the reference signal to the tag to realize time synchronization and reduce time synchronization complexity. The positioning condition is calculated according to a preset formula. The first positioning base station and the second positioning base station only need to send signals and do not need to receive and process data, so that the energy consumption is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of positioning, in particular to a low-power positioning condition determination method, system and storage medium. BACKGROUND

[0002] Under the background of 5G+industrial internet+safe production, petrochemical industry, smart port, smart mine, intelligent manufacturing and other industries are developing digital modeling of factory sites and important equipment. The whole process of each link and all elements of the whole factory site are presented in the form of visualization and virtual reality. Positioning data and other data are connected to the digital twin system platform to realize the whole process of three-dimensional visualization centralized and unified control for enterprise production and operation process, and to strengthen enterprise information management and service to meet the management needs of safe production.

[0003] Nowadays, positioning data is obtained by using a positioning method of TDOA, and the distance difference between the positioning base station and the tag is determined as the positioning condition by sending data between the positioning base station and the tag, so as to solve the position of the tag. However, in this process, the running time of each positioning base station and tag is different, and each positioning base station needs to send and receive data for time synchronization, so the time synchronization is complicated and the power consumption of the positioning base station is high. SUMMARY

[0004] Therefore, in order to solve at least one of the above technical problems, the purpose of the present application is to provide a low-power positioning condition determination method, system and storage medium to reduce power consumption.

[0005] The embodiment of the present application provides a low-power positioning condition determination method, which comprises the following steps:

[0006] At a first time point of a first clock of a tag, a first positioning base station sends a first positioning signal to the tag and a reference base station; the tag receives the first positioning signal at a second time point of the first clock, and the reference base station receives the first positioning signal at a third time point of a second clock of the reference base station;

[0007] At a fourth time point of the first clock, a second positioning base station sends a second positioning signal to the tag and the reference base station; the tag receives the second positioning signal at a fifth time point of the first clock, and the reference base station sends a reference signal after receiving the second positioning signal, and the tag receives the reference signal at a sixth time point of the first clock; the fourth time point and the first time point have a preset time interval;

[0008] According to the second time point, the third time point, the fifth time point, the sixth time point and a preset formula, a positioning condition is calculated.

[0009] Further, the positioning condition is calculated according to the second time, the third time, the fifth time, the sixth time and a preset formula, and the positioning condition comprises:

[0010] The first distance between the first positioning base station and the reference base station and the second distance between the second positioning base station and the reference base station are obtained.

[0011] The positioning condition is calculated according to the first distance, the second distance, the second time, the third time, the fifth time, the sixth time and the preset formula.

[0012] Further, the positioning condition is calculated according to the first distance, the second distance, the second time, the third time, the fifth time, the sixth time and the preset formula, and the positioning condition comprises:

[0013] The sum of the second time and the sixth time is calculated.

[0014] The first difference value of the sum minus the fifth time and the third time is calculated, and the first product of the first difference value and the speed of light is calculated.

[0015] The second difference value of the first distance and the second distance is calculated.

[0016] The sum of the first product and the second difference value is obtained as the positioning condition.

[0017] Further, the first positioning signal and the second positioning signal are transmitted by ultra-wideband.

[0018] Further, the preset formula is obtained by the following steps:

[0019] The first calculation formula of the second time is obtained according to the sum of the first time and the first elapsed time of the first positioning signal sent to the tag.

[0020] The second calculation formula of the third time is obtained according to the sum of the first time at the seventh time corresponding to the second clock and the second elapsed time of the first positioning signal sent to the reference base station.

[0021] The third calculation formula of the fifth time is obtained according to the sum of the first time, the preset time interval and the third elapsed time of the second positioning signal sent to the tag.

[0022] According to the seventh time, the preset time interval and the sum of the fourth elapsed time of the second positioning signal sent to the reference base station, a fourth calculation formula of the sixth time is obtained; the time interval between the sending of the reference signal and the receiving of the second positioning signal by the reference base station is less than or equal to a time threshold value;

[0023] According to the first calculation formula, the second calculation formula, the third calculation formula and the fourth calculation formula, a derivation process is performed to obtain the preset formula.

[0024] Further, the derivation process according to the first calculation formula, the second calculation formula, the third calculation formula and the fourth calculation formula to obtain the preset formula comprises:

[0025] The second calculation formula is subtracted from the first calculation formula to obtain a fifth calculation formula, and the fourth calculation formula is subtracted from the third calculation formula to obtain a sixth calculation formula;

[0026] According to the product of the subtraction result after the fifth calculation formula is subtracted from the sixth calculation formula and the speed of light, the preset formula is obtained.

[0027] Embodiments of the present application also provide a low-power-consumption positioning condition determination system, comprising:

[0028] A first positioning base station is configured to send a first positioning signal to a tag and a reference base station at a first time of a first clock of the tag;

[0029] A second positioning base station is configured to send a second positioning signal to the tag and the reference base station at a fourth time of the first clock;

[0030] The reference base station is configured to receive the first positioning signal at a third time of a second clock of the reference base station and send a reference signal after receiving the second positioning signal;

[0031] The tag is configured to receive the first positioning signal at a second time of the first clock, receive the second positioning signal at a fifth time of the first clock and receive the reference signal at a sixth time of the first clock;

[0032] The reference base station or the tag calculates a positioning condition according to the second time, the third time, the fifth time, the sixth time and a preset formula; the fourth time and the first time have a preset time interval.

[0033] Further, at least one of the first positioning base station and the second positioning base station is powered by a battery.

[0034] The embodiment of the present application also provides a low-power-consumption positioning condition determination system, which comprises a plurality of processors and a plurality of memories, each of the processors corresponds to one of the memories, and the memories store at least one instruction, at least one program, a code set or an instruction set; all the processors load and execute the at least one instruction, the at least one program, the code set or the instruction set in the corresponding memories to realize the method.

[0035] The embodiment of the present application also provides a computer readable storage medium, which stores at least one instruction, at least one program, a code set or an instruction set; the at least one instruction, the at least one program, the code set or the instruction set are loaded and executed by a processor to realize the method.

[0036] The present application has the following advantages:

[0037] The first positioning base station sends a first positioning signal to the tag and the reference base station at a first time point of a first clock of the tag; the tag receives the first positioning signal at a second time point of the first clock, and the reference base station receives the first positioning signal at a third time point of a second clock of the reference base station; the second positioning base station sends a second positioning signal to the tag and the reference base station at a fourth time point of the first clock, the tag receives the second positioning signal at a fifth time point of the first clock, and the reference base station sends a reference signal after receiving the second positioning signal, and the tag receives the reference signal at a sixth time point of the first clock; the fourth time point and the first time point have a preset time interval; the time synchronization is realized by introducing the reference base station to send the reference signal to the tag, and the complexity of the time synchronization is reduced; the positioning condition is calculated according to the second time point, the third time point, the fifth time point, the sixth time point and a preset formula; the first positioning base station and the second positioning base station only need to send signals and do not need to receive and process data, so that the energy consumption of the first positioning base station and the second positioning base station is reduced.

[0038] In order to better understand and implement the present application, the present application is described in detail below with reference to the drawings. BRIEF DESCRIPTION OF DRAWINGS

[0039] Figure 1 The figure is a flowchart of the steps of the low-power-consumption positioning condition determination method of the present application.

[0040] Figure 2 The figure is a schematic diagram of each time point of the specific embodiment of the present application. DETAILED DESCRIPTION

[0041] In order to make the personnel in the technical field better understand the scheme of the present application, the technical scheme in the embodiments of the present application will be clearly and completely described in the following with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by the person skilled in the art without creative labor should belong to the scope of protection of the present application.

[0042] The terms "first", "second", "third", and "fourth" and the like in the description and claims of the present application and the drawings are used to distinguish different objects, rather than to describe a particular order. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device including a series of steps or units is not limited to the listed steps or units, but can optionally include steps or units not listed, or can optionally include other steps or units inherent to the process, method, product or device.

[0043] Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearance of the phrase in various places in the specification does not necessarily all refer to the same embodiment, nor does it necessarily refer to a particular embodiment in isolation or in preference to other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0044] As Figure 1 , the embodiment of the present application provides a low-power positioning condition determination method, comprising steps S100-S300:

[0045] S100, at the first time of the first clock of the tag, the first positioning base station sends a first positioning signal to the tag and the reference base station.

[0046] As Figure 2 shown, in the embodiment of the present application, it is assumed that at the time P of the time axis, the clock of the corresponding first positioning base station A is the time X, the first clock of the corresponding tag T is the first time T0, and the second clock of the corresponding reference base station M is the time M0. Therefore, the first positioning base station A sends a first positioning signal to the tag T and the reference base station M at the first time T0 of the first clock of the clock of the first positioning base station A.

[0047] As Figure 2 shown, the tag T receives the first positioning signal at the second time T1 of the first clock, and the reference base station M receives the first positioning signal at the third time M1 of the second clock of the reference base station M. It should be noted that the second time T1 and the third time M1 can be obtained by measurement and recording.

[0048] S200, at the fourth moment of the first clock, the second positioning base station sends a second positioning signal to the tag and the reference base station.

[0049] like Figure 2 As shown, at time Q on the timeline, the clock of the corresponding second positioning base station B is time Y, the first clock of the corresponding tag T is time TY, and the second clock of the corresponding reference base station M is time MY. Furthermore, from... Figure 2 As can be seen, there is an interval between times P and Q, that is, there is an interval between the first time T0 and the fourth time TY. This interval is the preset time interval T. 0Y (or T) PQ The preset time interval can be set according to actual needs and is not specifically limited.

[0050] Specifically, at time Y of the clock of the second positioning base station B, which is the fourth time TY of the first clock of tag T, the second positioning base station B sends a second positioning signal to tag T and reference base station M. Then, tag T receives the second positioning signal at the fifth time T3 of the first clock. After the reference base station receives the second positioning signal at time M3, reference base station M sends a reference signal at time M4 of its second clock. Tag T receives the reference signal at the sixth time T4 of the first clock. It should be noted that the reference signal can be the received second positioning signal or any other signal, without specific limitations. The time interval between time M3 and time M4 is less than or equal to a time threshold, so that the time interval between time M3 and time M4 is as short as possible, or even real-time forwarding. Optionally, the time threshold is less than a preset time interval.

[0051] It should be noted that the signal transmission in this embodiment of the invention utilizes Ultra Wide Band (UWB) transmission technology. The first positioning signal, the second positioning signal, and the reference signal are all wirelessly transmitted through UWB, thereby achieving the effect of wireless positioning.

[0052] S300. Based on the second, third, fifth, and sixth time points and the preset formula, the positioning conditions are calculated.

[0053] It should be noted that the positioning conditions are the positioning conditions required for locating tag T, specifically the distance D between the first positioning base station A and tag T. AT The distance D between the second positioning base station B and the tag T BT The difference D between them AT -D BT .

[0054] Optionally, step S300 includes steps S310-S320:

[0055] S310, acquire a first distance between the first positioning base station and the reference base station and a second distance between the second positioning base station and the reference base station.

[0056] Optionally, since the position of the tag T is mobile, but the positions of the first positioning base station, the second positioning base station and the reference base station M are fixed, it can be known that the first distance D AM between the first positioning base station A and the reference base station M and the second distance D BM between the second positioning base station B and the reference base station M.

[0057] S320, calculate a positioning condition according to the first distance, the second distance, the second time, the third time, the fifth time, the sixth time and a preset formula.

[0058] Optionally, step S320 includes steps S3201-S3204:

[0059] S3201, calculate a sum value of the second time and the sixth time.

[0060] Specifically, the sum value is the second time T1+the sixth time T4.

[0061] S3202, calculate a first difference value of the sum value minus the fifth time and the third time, and calculate a first product of the first difference value and the speed of light.

[0062] Specifically, T1+T4-the fifth time T3-the third time M1 is calculated, that is, the first difference value is (T1+T4-T3-M1), and then multiplied by the speed of light c to obtain the first product=(T1+T4-T3-M1)×c.

[0063] S3203, calculate a second difference value of the first distance and the second distance.

[0064] Specifically, the second difference value is D AM -D BM .

[0065] S3204, obtain the positioning condition according to the sum of the first product and the second difference value.

[0066] Specifically, the positioning condition D AT -D BT =(T1+T4-T3-M1)×c+D AM -D BM . Thus, the positioning condition is finally calculated.

[0067] It should be noted that in this embodiment of the invention, the first and second positioning base stations only need to transmit positioning signals. Neither base station needs to receive or process data to ultimately calculate the positioning conditions, thus significantly reducing their energy consumption. Furthermore, the transmission frequencies of the first and second positioning base stations can be controlled. By controlling the transmission frequency, one or more positioning conditions can be determined for tag T positioning. Additionally, this embodiment introduces a reference base station M for time synchronization. By sending the first and second positioning signals to the reference base station M, and the reference base station M sending a reference signal to tag T, time synchronization is achieved. This simplifies the time synchronization process, reduces its complexity, and improves the efficiency of calculating the positioning conditions.

[0068] Optionally, the preset formula in this embodiment of the invention is obtained through steps S301-S305:

[0069] S301. Based on the sum of the first moment and the first elapsed time when the first positioning signal is sent to the tag, the first calculation formula for the second moment is obtained.

[0070] like Figure 2 As shown, based on the first time T0 and the first elapsed time T after the first positioning signal is sent to tag T, AT The sum of these formulas yields the first calculation formula for the second time step T1:

[0071] T0+T AT =T1 (1)

[0072] S302. Based on the first time point and the seventh time point corresponding to the second clock, and the sum of the second elapsed time when the first positioning signal is sent to the reference base station, the second calculation formula for the third time point is obtained.

[0073] Specifically, based on the first time T0 and the seventh time M0 corresponding to the second clock, and the second elapsed time T after the first positioning signal is sent to the reference base station M. AM The sum of these formulas yields the second formula for calculating M1 at the third time step:

[0074] M0+T AM =M1 (2)

[0075] Optionally, after the reference base station M1 receives the first positioning signal at the third time, M2 sends a signal to the tag T at the second clock time, and the tag T receives the signal at the first clock time T2. Similarly, the interval between M1 and M2 is less than or equal to a time threshold.

[0076] S303、According to the sum of the first time, the preset time interval and the third elapsed time of the second positioning signal sent to the tag, a third calculation formula of the fifth time is obtained.

[0077] Specifically, according to the sum of the first time T0, the preset time interval T 0Y (or T PQ ) and the third elapsed time T BT of the second positioning signal sent to the tag T, a third calculation formula of the fifth time T3 is obtained.

[0078] T0+T 0Y +T BT =T3(3)

[0079] S304、According to the sum of the seventh time, the preset time interval and the fourth elapsed time of the second positioning signal sent to the reference base station, a fourth calculation formula of the sixth time is obtained.

[0080] Specifically, according to the sum of the seventh time M0, the preset time interval T 0Y (or T PQ ) and the fourth elapsed time T BM of the second positioning signal sent to the reference base station M, a fourth calculation formula of the sixth time T4 is obtained.

[0081] M0 + T 0Y +T BM =T4(4)

[0082] S305、According to the first calculation formula, the second calculation formula, the third calculation formula and the fourth calculation formula, a preset formula is obtained.

[0083] Optionally, step S305 includes steps S3501-S3502:

[0084] S3501、The second calculation formula is subtracted from the first calculation formula to obtain a fifth calculation formula, and the fourth calculation formula is subtracted from the third calculation formula to obtain a sixth calculation formula.

[0085] Specifically, the second calculation formula (2) is subtracted from the first calculation formula (1) to obtain the fifth calculation formula:

[0086] M0-T0+ T AM -T AT =M1-T1(5)

[0087] The fourth calculation formula (4) is subtracted from the third calculation formula (3) to obtain the sixth calculation formula:

[0088] M0-T0+ T BM -T BT= T4-T3 (6)

[0089] S3502、According to the product of the subtraction result after the fifth calculation formula and the sixth calculation formula are subtracted and the light speed, a preset formula is obtained.

[0090] Specifically, the fifth calculation formula and the sixth calculation formula are subtracted and arranged to obtain:

[0091] T AT -T BT = T4-T3-M1+T1+ T AM -T BM (7)

[0092] Then, the formula (7) is multiplied by the light speed, that is, the preset formula is obtained:

[0093] D AT -D BT = (T4+T1-T3-M1) x c+ D AM -D BM (8)

[0094] It should be noted that when the number of positioning base stations increases, more positioning conditions can also be calculated by the above method.

[0095] The embodiment of the application further provides a low-power positioning condition determination system, comprising:

[0096] The first positioning base station is configured to send a first positioning signal to the tag and the reference base station at a first time of a first clock of the tag;

[0097] The second positioning base station is configured to send a second positioning signal to the tag and the reference base station at a fourth time of the first clock;

[0098] The reference base station is configured to send a reference signal after receiving the first positioning signal and the second positioning signal at a third time of a second clock of the reference base station;

[0099] The tag is configured to receive the first positioning signal at a second time of the first clock, receive the second positioning signal at a fifth time of the first clock, and receive the reference signal at a sixth time of the first clock;

[0100] The reference base station or the tag calculates a positioning condition according to the second time, the third time, the fifth time, the sixth time, and the preset formula; and the fourth time and the first time have a preset time interval.

[0101] Optionally, in some embodiments, the positioning condition can be calculated by the embedded device according to the second time, the third time, the fifth time, the sixth time and a preset formula; the fourth time is a preset time interval from the first time.

[0102] Optionally, since the positioning condition method implemented by the embodiment of the present application, the first positioning base station and the second positioning base station do not need to receive and process data, and the low power consumption of the first positioning base station and the second positioning base station is realized, so that the first positioning base station and the second positioning base station can be powered by a battery, the power consumption is low, the time of battery power supply can be greatly increased, the implementation environment without wiring condition can be met, and the wiring of the positioning base station is reduced in actual engineering deployment and installation, and the installation process is more simple, fast and efficient. For example, in the petroleum, chemical and other industries, the field environment is complex, and the field environment cannot be wired, at this time, only one reference base station needs to be deployed in a super large range outside the field environment, and the reference base station is powered by wiring, which is strong in adaptability and practicality.

[0103] The contents in the above method embodiments are applicable to the system embodiments, the system embodiments specifically implement the same functions as the above method embodiments, and achieve the same beneficial effects as the above method embodiments, and details are not repeated.

[0104] The embodiment of the present application also provides another low-power-consumption positioning condition determination system, which comprises a plurality of processors and a plurality of memories, each processor corresponds to a memory, and the memory stores at least one instruction, at least one program, a code set or an instruction set; all the processors load and execute the at least one instruction, the at least one program, the code set or the instruction set in the corresponding memory to realize the low-power-consumption positioning condition determination method of the foregoing embodiment.

[0105] The contents in the above method embodiments are applicable to the system embodiments, the system embodiments specifically implement the same functions as the above method embodiments, and achieve the same beneficial effects as the above method embodiments, and details are not repeated.

[0106] The embodiment of the present application also provides a computer readable storage medium, which stores at least one instruction, at least one program, a code set or an instruction set; the at least one instruction, the at least one program, the code set or the instruction set is loaded and executed by a processor to realize the low-power-consumption positioning condition determination method of the foregoing embodiment.

[0107] The embodiment of the present application further provides a computer program product or computer program, which comprises computer instructions stored in a computer readable storage medium. A processor of a computer device reads the computer instructions from the computer readable storage medium, and the processor executes the computer instructions, so that the computer device executes the low-power-consumption positioning condition determination method of the foregoing embodiment.

[0108] The terms "first", "second", "third", "fourth" and the like in the description of the application and in the claims of the foregoing drawings, if any, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the use of the terms so construed can be interchanged, such that the embodiments of the application described herein can be carried out in other than the order discussed herein without departing from the scope of the application. Further, the terms "comprise" and "comprising" and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, product or apparatus that comprises a list of steps or elements does not necessarily comprise only those steps or elements but can include other steps or elements not expressly listed or inherent to such process, method, system, product or apparatus.

[0109] It should be understood that, in the present application, "at least one" means one or more, and "multiple" means two or more. "And / or" is used to describe the association relationship of the associated objects, which means that there can be three relationships, for example, "A and / or B" can mean: only A exists, only B exists, and A and B exist at the same time, wherein A and B can be singular or plural. The character " / " generally represents that the associated objects before and after are in an "or" relationship. "At least one of the following" or the like means any combination of these items, including any combination of single or multiple items. For example, at least one of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", wherein a, b, and c can be single or multiple.

[0110] In several embodiments provided in the present application, it should be understood that the disclosed system and method can be implemented in other manners. For example, the system embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There can be another division manner for the actual implementation, for example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual couplings or direct couplings or communication connections between different units, can be indirect couplings or communication connections through some interfaces, and can be in electrical, mechanical or other forms.

[0111] The integrated unit, if implemented in the form of a software functional unit and sold or used as an independent product, can be stored in a computer readable storage medium. Based on such an understanding, the technical solutions of the present application essentially, or the part that contributes to the prior art, or all or a part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, and includes a plurality of instructions that cause a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods in the embodiments of the present application. The foregoing storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), magnetic disk or optical disk, and various other media that can store programs.

[0112] The above, the above embodiments are merely used to describe the technical solutions of the present application, rather than limit them; even though the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacements for some technical features; and these modifications or replacements do not make the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A low-power positioning condition determination method, characterized in that, include: At the first moment of the first clock of the tag, the first positioning base station sends a first positioning signal to the tag and the reference base station; The tag receives the first positioning signal at a second moment of the first clock, and the reference base station receives the first positioning signal at a third moment of the second clock of the reference base station; At the fourth moment of the first clock, the second positioning base station sends a second positioning signal to the tag and the reference base station; the tag receives the second positioning signal at the fifth moment of the first clock, the reference base station sends a reference signal after receiving the second positioning signal, and the tag receives the reference signal at the sixth moment of the first clock; there is a preset time interval between the fourth moment and the first moment; The positioning conditions are calculated based on the second time point, the third time point, the fifth time point, the sixth time point, and the preset formula.

2. The low-power positioning condition determination method according to claim 1, characterized in that: The step of calculating the positioning conditions based on the second time point, the third time point, the fifth time point, the sixth time point, and a preset formula includes: Obtain the first distance between the first positioning base station and the reference base station, and the second distance between the second positioning base station and the reference base station; The positioning conditions are calculated based on the first distance, the second distance, the second time, the third time, the fifth time, the sixth time, and the preset formula.

3. The low-power positioning condition determination method according to claim 2, characterized in that: The step of basing decisions on the first distance, the second distance, the second time, the third time, the fifth time, the sixth time, and the preset formula includes: Calculate the sum of the second time point and the sixth time point; Calculate the sum minus the first difference between the fifth time point and the third time point, and calculate the first product of the first difference and the speed of light; Calculate the second difference between the first distance and the second distance; The positioning conditions are obtained by summing the first product and the second difference.

4. The low-power positioning condition determination method according to any one of claims 1-3, characterized in that: The first positioning signal and the second positioning signal are transmitted via ultra-wideband.

5. The low-power positioning condition determination method according to any one of claims 1-3, characterized in that: The preset formula is obtained through the following steps: The first calculation formula for the second time is obtained based on the sum of the first time and the first elapsed time when the first positioning signal is sent to the tag; The second calculation formula for the third time is obtained by summing the seventh time corresponding to the second clock at the first time and the second elapsed time when the first positioning signal is sent to the reference base station; The third calculation formula for the fifth moment is obtained by summing the first moment, the preset time interval, and the third elapsed time of the second positioning signal being sent to the tag; The fourth calculation formula for the sixth moment is obtained by summing the seventh moment, the preset time interval, and the fourth elapsed time of the second positioning signal being sent to the reference base station; the time interval between sending the reference signal and the reference base station receiving the second positioning signal is less than or equal to a time threshold. The preset formula is obtained by deriving the first calculation formula, the second calculation formula, the third calculation formula, and the fourth calculation formula.

6. The low-power positioning condition determination method according to claim 5, characterized in that: The step of deriving the preset formula based on the first calculation formula, the second calculation formula, the third calculation formula, and the fourth calculation formula includes: Subtracting the second calculation formula from the first calculation formula yields the fifth calculation formula, and subtracting the fourth calculation formula from the third calculation formula yields the sixth calculation formula; The preset formula is obtained by multiplying the product of the subtraction result of the fifth calculation formula and the sixth calculation formula with the speed of light.

7. A low-power positioning condition determination system, characterized in that, include: The first positioning base station is used to send a first positioning signal to the tag and the reference base station at a first moment of the tag's first clock. The second positioning base station is used to send a second positioning signal to the tag and the reference base station at the fourth moment of the first clock. A reference base station is configured to receive the first positioning signal at a third time of a second clock of the reference base station and to transmit a reference signal after receiving the second positioning signal. The tag is used to receive the first positioning signal at a second time of the first clock, receive the second positioning signal at a fifth time of the first clock, and receive the reference signal at a sixth time of the first clock. The reference base station or the tag calculates the positioning conditions based on the second time, the third time, the fifth time, the sixth time and a preset formula; the fourth time has a preset time interval with the first time.

8. The low-power positioning condition determination system according to claim 7, characterized in that: At least one of the first positioning base station and the second positioning base station is powered by a battery.

9. A low-power positioning condition determination system, characterized in that: The low-power location condition determination system includes a plurality of processors and a plurality of memories, each processor corresponding to one memory, the memory storing at least one instruction, at least one program, code set or instruction set, all processors loading and executing the at least one instruction, at least one program, code set or instruction set in the corresponding memory to implement the method as described in any one of claims 1-6.

10. A computer-readable storage medium, characterized in that: The storage medium stores at least one instruction, at least one program, code set, or instruction set, wherein the at least one instruction, the at least one program, the code set, or the instruction set is loaded and executed by a processor to implement the method as described in any one of claims 1-6.

Images