Positioning method, apparatus, device, and storage medium

Abstract

The application provides a positioning method, device, equipment and storage medium. The positioning method comprises the following steps: a positioning tag acquires a height change value of the positioning tag detected by a height detection device in a first time period, and determines a target positioning mode, the target positioning mode being determined based on the height change value, and then a positioning signal is transmitted to a positioning base station according to the target positioning mode; the positioning base station determines positioning data of the positioning tag based on the target positioning mode and the positioning signal, and sends the positioning data to a positioning platform; and the positioning platform determines position information of the positioning tag according to the target positioning mode and the positioning data. That is, the application determines the target positioning mode based on the height change value of the positioning tag, realizes adaptive selection of the positioning mode, avoids the positioning tag being in the high-power-consumption positioning mode all the time on the basis of ensuring the positioning accuracy, and thus improves the service life of the positioning tag.

Description

Technical Field

[0001] This application relates to the field of positioning technology, and in particular to a positioning method, apparatus, device, and storage medium. Background Technology

[0002] With the rapid development of IoT technology, the era of interconnected everything has arrived. Accurate positioning of objects within the IoT is a core element of IoT technology. Ultra-wideband (UWB) positioning technology, due to its high positioning accuracy, is widely used in indoor positioning.

[0003] In UWB positioning, one method is to use time-of-flight (ToF) ranging for angle of arrival (AOA) positioning. ToF positioning requires at least three data exchanges: the tag transmits signal 1 to the base station, the tag receives signal 2 from the base station, and the tag transmits signal 3 to the base station. Through these three signal exchanges, the round-trip time difference is determined, and the distance between the tag and the base station is calculated based on this time difference. ToF positioning can obtain the precise planar and altitude position of the tag.

[0004] Although ToF positioning can achieve accurate positioning, as mentioned above, ToF positioning requires multiple data exchanges and consumes a lot of power. If the positioning tag is in ToF positioning mode for a long time, it will affect the lifespan of the positioning tag. Summary of the Invention

[0005] This application provides a positioning method, apparatus, device, and storage medium to reduce the power consumption of positioning tags and extend their service life.

[0006] In a first aspect, embodiments of this application provide a positioning method applied to a positioning tag, the positioning tag including a height detection device, the method comprising:

[0007] The height change value of the positioning tag detected by the height detection device within a first time period is obtained;

[0008] Based on the height change value, the target positioning mode is determined;

[0009] According to the target positioning mode, a positioning signal is transmitted to the positioning base station.

[0010] Secondly, embodiments of this application provide a positioning method applied to a positioning base station, the method comprising:

[0011] A target positioning mode is determined, which is based on an altitude change value. The altitude change value is obtained by detecting the altitude change of the positioning tag within a first time period using an altitude detection device located in the positioning tag.

[0012] Receive the positioning signal transmitted by the positioning tag, the positioning signal being transmitted by the positioning tag based on the target positioning mode;

[0013] Based on the target positioning mode and the positioning signal, the positioning data of the positioning tag is determined, and the positioning data is sent to the positioning platform so that the positioning platform can determine the location information of the positioning tag based on the positioning data.

[0014] Thirdly, embodiments of this application provide a positioning method applied to a positioning platform, the method comprising:

[0015] A target positioning mode is determined, which is based on an altitude change value. The altitude change value is obtained by detecting the altitude change of the positioning tag within a first time period using an altitude detection device located in the positioning tag.

[0016] Receive location data sent by the positioning base station;

[0017] The location information of the positioning tag is determined based on the target positioning mode and the positioning data.

[0018] Fourthly, embodiments of this application provide a positioning device applied to a positioning tag, the positioning tag including a height detection device, the device comprising:

[0019] The acquisition unit is used to acquire the height change value of the positioning tag detected by the height detection device within a first time period;

[0020] A pattern determination unit is used to determine a target positioning pattern, wherein the target positioning pattern is determined based on the height change value;

[0021] The transmitting unit is used to transmit a positioning signal to the positioning base station according to the target positioning mode.

[0022] Fifthly, embodiments of this application provide a positioning device applied to a positioning base station, the device comprising:

[0023] A pattern determination unit is used to determine a target positioning pattern, which is determined based on an altitude change value. The altitude change value is obtained by detecting the altitude change of the positioning tag within a first time period using an altitude detection device located in the positioning tag.

[0024] A receiving unit is configured to receive a positioning signal transmitted by the positioning tag, wherein the positioning signal is transmitted by the positioning tag based on the target positioning mode;

[0025] The processing unit is configured to determine the positioning data of the positioning tag based on the target positioning mode and the positioning signal;

[0026] The sending unit is used to send the positioning data to the positioning platform so that the positioning platform can determine the location information of the positioning tag based on the positioning data.

[0027] Sixthly, embodiments of this application provide a positioning device applied to a positioning platform, the device comprising:

[0028] A pattern determination unit is used to determine a target positioning pattern, which is determined based on an altitude change value. The altitude change value is obtained by detecting the altitude change of the positioning tag within a first time period using an altitude detection device located in the positioning tag.

[0029] The transceiver unit is used to receive positioning data sent by the positioning base station;

[0030] The processing unit is used to determine the location information of the positioning tag based on the target positioning mode and the positioning data.

[0031] In a seventh aspect, embodiments of this application provide an electronic device, including a processor and a memory. The memory is used to store a computer program, and the processor is used to call and run the computer program stored in the memory to perform the methods described in the first, second, or third aspects above.

[0032] Eighthly, embodiments of this application provide a chip for implementing the methods of any one of the first, second, or third aspects or their respective implementations. Specifically, the chip includes a processor for calling and running a computer program from a memory, causing a device on which the chip is installed to perform the methods of any one of the first, second, or third aspects or their respective implementations.

[0033] Ninthly, embodiments of this application provide a computer-readable storage medium for storing a computer program that causes a computer to perform the methods in any one of the first, second, or third aspects or their implementations described above.

[0034] In a tenth aspect, embodiments of this application provide a computer program product, including computer program instructions that cause a computer to perform the methods in any one of the first, second, or third aspects or their respective implementations.

[0035] In one aspect, embodiments of this application provide a computer program that, when run on a computer, causes the computer to execute the methods in any one of the first, second, or third aspects or their respective implementations.

[0036] In summary, this application incorporates a height detection device into the positioning tag. This device detects the height change of the positioning tag within a first time period and determines the target positioning mode based on this height change. The positioning tag then transmits a positioning signal to the positioning base station based on the target positioning mode. The positioning base station determines the positioning data of the positioning tag based on the target positioning mode and the positioning signal, and sends the positioning data to the positioning platform. The positioning platform determines the location information of the positioning tag based on the target positioning mode and the positioning data. Specifically, this embodiment uses a height detection device to detect the height change of the positioning tag and determines the target positioning mode based on the height change value. For example, if the height change value is greater than or equal to a preset value, the first positioning mode is determined as the target positioning mode; if the height change value is less than the preset value, the second positioning mode is determined as the target positioning mode. This achieves adaptive selection of the positioning mode, ensuring positioning accuracy while avoiding the positioning tag remaining in a high-power positioning mode, thereby improving the lifespan of the positioning tag. Attached Figure Description

[0037] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0038] Figure 1 A schematic diagram illustrating the ToF positioning principle;

[0039] Figure 2 A schematic diagram of the AOA positioning principle;

[0040] Figure 3 This is a schematic diagram of a system architecture according to an embodiment of this application;

[0041] Figure 4 A schematic flowchart illustrating a positioning method provided in an embodiment of this application;

[0042] Figure 5 A schematic flowchart illustrating a positioning method provided in an embodiment of this application;

[0043] Figure 6 A schematic flowchart illustrating a positioning method provided in an embodiment of this application;

[0044] Figure 7 A flowchart illustrating a positioning method provided in an embodiment of this application.

[0045] Figure 8 This is a schematic block diagram of a positioning device provided in an embodiment of this application;

[0046] Figure 9 This is a schematic block diagram of a positioning device provided in an embodiment of this application;

[0047] Figure 10 This is a schematic block diagram of a positioning device provided in an embodiment of this application;

[0048] Figure 11 This is a schematic block diagram of the electronic device provided in the embodiments of this application. Detailed Implementation

[0049] The technical solutions in the embodiments of this application will now be described with reference to the accompanying drawings.

[0050] It should be understood that, in the embodiments of the present invention, "B corresponding to A" means that B is associated with A. In one implementation, B can be determined based on A. However, it should also be understood that determining B based on A does not mean determining B solely based on A; B can also be determined based on A and / or other information.

[0051] In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0052] Furthermore, to facilitate a clear description of the technical solutions in the embodiments of this application, the terms "first" and "second" are used in the embodiments of this application to distinguish identical or similar items with substantially the same function and effect. Those skilled in the art will understand that the terms "first" and "second" do not limit the quantity or execution order, and the terms "first" and "second" are not necessarily different.

[0053] To facilitate understanding of the embodiments of this application, the relevant concepts involved in the embodiments of this application will be briefly introduced as follows:

[0054] The Internet of Things (IoT) refers to the use of various information sensors, radio frequency identification (RFID) technology, global positioning systems (GPS), infrared sensors, laser scanners, and other devices and technologies to collect real-time information on any object or process that needs to be connected or interacted with. This information includes sound, light, heat, electricity, mechanics, chemistry, biology, location, and other necessary data. Through various possible network access methods, it enables ubiquitous connectivity between things and between things and people, achieving intelligent perception, identification, and management of objects and processes.

[0055] Ultra-wide wave (UWB) is a low-power radio technology used in wireless communication, employing nanosecond or sub-nanosecond pulses to achieve wireless communication. UWB has an extremely wide communication bandwidth, making it suitable for short-range, high-speed communication, and possesses considerable penetration capability, making it suitable for most indoor positioning applications.

[0056] UWB positioning actually uses Time-of-Flight (ToF) to measure distance, mainly utilizing the time it takes for a signal to travel between two asynchronous transceivers to measure the distance between nodes.

[0057] For example, such as Figure 1 As shown, module A transmits pulse signal 1 at its timestamp Ta1, and module B receives pulse signal 1 at its timestamp Tb1. After processing pulse signal 1, module B transmits a responsive pulse signal 2 at its timestamp Tb2, and module A receives pulse signal 2 at its own timestamp Ta2. Then, after processing pulse signal 2, module A transmits pulse signal 3 at its timestamp Ta3, and module B receives pulse signal 3 at its own timestamp Tb3.

[0058] Based on the time Ta1 when module A transmits pulse signal 1 and the time Ta2 when module A receives pulse signal 2, the first time difference T is determined. round1 Based on the time Tb1 when module B receives pulse signal 1 and the time Tb2 when module B sends pulse signal 2, the second time difference T is determined. reply1 Based on the time Ta2 when module A receives pulse signal 2 and the time Ta3 when module A sends pulse signal 3, determine the third time difference T. reply2 Based on the time Tb2 when module B sends pulse signal 2 and the time Tb3 when module B receives pulse signal 3, determine the fourth time difference T. round2 .

[0059] Based on the first time difference T round1 Second time difference T reply1 Third time difference T reply2 and the fourth time difference T round2 The flight time of the pulse signal between the two modules can be calculated.

[0060] Determine the flight time between the two modules Then, multiplying by the speed of light c, the distance between the two modules can be determined.

[0061] The AOA (Area of ​​Arrival) positioning method primarily measures the angle of arrival (α) between the signal positioning tag (MS) and the base station (BS). A ray originating from the base station must pass through the positioning tag, and the intersection of the two rays indicates the tag's location. When the base station is equipped with an antenna array, the array determines the angle of arrival based on the signal transmitted by the positioning tag. Figure 2 As shown, the incident angles of the two base stations (BS1 and BS2) are α1 and α2, respectively. The intersection of the straight lines constructed with each base station as the starting point and the direction of the incident angle is the location of the positioning tag MS.

[0062] The above describes the relevant concepts involved in the embodiments of this application. The following describes the system architecture involved in the embodiments of this application.

[0063] Figure 3 This is a schematic diagram of a system architecture involved in an embodiment of this application, including a positioning tag 101, a positioning base station 102, and a positioning platform 103.

[0064] The positioning tag 101 can communicate with the positioning base station 102, and the positioning base station 102 can communicate with the positioning platform 103.

[0065] In some embodiments, the location tag 101 is a UWB tag.

[0066] In some embodiments, the positioning base station 102 is a UWB AOA base station.

[0067] In practical use, the positioning tag 101 is usually set on the object that needs to be located, such as on an IoT device. The positioning tag 101 can be used to locate the IoT device.

[0068] During actual positioning, the positioning tag 101 transmits a positioning signal to the positioning base station 102. Based on the positioning signal transmitted by the positioning tag 101, the positioning base station 102 determines the positioning data of the positioning tag 101 and sends the positioning data to the positioning platform 103 for processing to obtain the location information of the positioning tag 101.

[0069] In some embodiments, the positioning platform 103 can send the location information of the positioning tag 101 to the positioning tag 101. For example, the positioning platform 103 sends the location information of the positioning tag 101 to the positioning tag 101 through the positioning base station 102.

[0070] The specific number of positioning base stations 102 in this application embodiment is not limited, and can be set according to actual needs.

[0071] In some embodiments, for indoor positioning, the positioning base station 102 can be installed on different floors of a building to locate objects on different floors.

[0072] In some embodiments, the positioning tag 101 of this application can be installed on a terminal device, which may include, but is not limited to, a PC (Personal Computer), a PDA (Tablet PC), a mobile phone, a wearable smart device, a smart voice interaction device, a smart home appliance, an in-vehicle terminal, etc. The device is often equipped with a display device, which may also be a monitor, a display screen, a touch screen, etc. The touch screen may also be a touch screen, a touch panel, etc. The display device can be used to display positioning results, etc.

[0073] In some embodiments, the positioning platform 103 of this application can be a server, which can be one or more servers. If there are multiple servers, at least two servers are used to provide different services, and / or at least two servers are used to provide the same service, such as providing the same service in a load-balanced manner. This application does not limit this. The aforementioned server can be an independent physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server providing basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, CDN (Content Delivery Network), and big data and artificial intelligence platforms. The server can also be a node in a blockchain.

[0074] It should be noted that the application scenarios of this application embodiment include, but are not limited to, those of other applications. Figure 3 As shown.

[0075] While the current UWB AOA positioning method can achieve accurate positioning, as mentioned above, the ToF positioning method requires multiple data exchanges and consumes a lot of power. If the positioning tag is in ToF positioning mode for a long time, it will affect the lifespan of the positioning tag.

[0076] To address the aforementioned technical problems, this application embodiment incorporates a height detection device in the positioning tag. This device detects changes in the tag's height and determines a target positioning mode based on these changes. For example, if the height change is greater than or equal to a preset value, the first positioning mode is selected as the target positioning mode; if the height change is less than the preset value, the second positioning mode is selected as the target positioning mode. This allows for selection of the positioning mode, ensuring positioning accuracy while preventing the tag from constantly operating in a high-power positioning mode, thereby extending the tag's lifespan.

[0077] The technical solutions of the embodiments of this application will be described in detail below through some examples. The following embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments.

[0078] Figure 4 This is a flowchart illustrating a positioning method provided in one embodiment of this application. Figure 4 As shown, the method in this application embodiment includes:

[0079] S401. The positioning tag acquires the height change value of the positioning tag detected by the height detection device within the first time period.

[0080] In this embodiment, a height detection device is installed in the positioning tag. This device detects changes in the tag's height, for example, within a preset time period. Based on these height changes, a positioning mode can be determined. For instance, if the tag's height changes, a first positioning mode with higher accuracy is used, which can determine both the tag's horizontal and vertical positions. If the tag's height remains unchanged or changes only slightly, a second positioning mode with lower power consumption is used. This avoids the tag being constantly in a high-power positioning mode, thus extending its lifespan.

[0081] This application does not limit the specific type of height detection device.

[0082] In some embodiments, the height detection device may be a barometer module, which determines the height change value of the positioning tag by detecting the air pressure change of the positioning tag.

[0083] In this embodiment of the application, in order to improve the accuracy of height detection, the height detection device detects the height change value of the positioning tag within a first time period.

[0084] The embodiments of this application do not impose restrictions on the specific value of the first time period.

[0085] In some embodiments, the first time period is 5 seconds.

[0086] S402. The positioning tag determines the target positioning mode based on the height change value.

[0087] The target positioning mode is determined based on the altitude change value.

[0088] In this embodiment of the application, the number of times the positioning tag transmits positioning signals varies depending on the positioning mode. Therefore, the positioning tag needs to determine the target positioning mode before transmitting positioning signals.

[0089] The methods by which location tags determine the target location pattern include, but are not limited to, the following:

[0090] Method 1: The positioning tag determines the target positioning mode itself, that is, the positioning tag determines the target positioning mode based on the height change value of the positioning tag within the first time period.

[0091] This application does not limit the method by which the positioning tag determines the target positioning mode based on the height change value.

[0092] In one possible implementation, the embodiments of this application can set different positioning modes for different height change value ranges, and the power consumption corresponding to different positioning modes can be different.

[0093] For example, the correspondence between the altitude change value range and the positioning mode is shown in Table 1:

[0094] Table 1

[0095] [a1, a2] Positioning Mode 1 [a2, a3] Positioning Mode 2 [a3, a4] Positioning Mode 3 …… ……

[0096] Based on Table 1 above, the positioning tag can look up the height change value of the positioning tag detected by the height detection device within the first time period in Table 1 to obtain the positioning mode corresponding to the height change value, and determine the positioning mode as the target positioning mode. For example, if the height positioning value of the positioning tag within the first time period is a23, which is within the interval [a2, a3], then positioning mode 2 is determined as the target positioning mode.

[0097] In another possible implementation, the embodiments of this application include two preset positioning modes, namely a first positioning mode and a second positioning mode. The power consumption of the first positioning mode and the second positioning mode is different. For example, the power consumption of the second positioning mode is less than that of the first positioning mode.

[0098] Based on this, in this implementation, the location tag determines the target location mode based on the height change value, including the following two examples:

[0099] Example 1: If the height change value is greater than or equal to the preset value, then the first positioning mode will be determined as the target positioning mode.

[0100] Example 2: If the height change value is less than the preset value, then the second positioning mode is determined as the target positioning mode.

[0101] In other words, in this implementation, the positioning tag compares the height change value detected by the height detection device within a first time period with a preset value. If the height change value is greater than or equal to the preset value, it indicates that the height of the positioning tag has changed, and at this time, the positioning tag determines the first positioning mode as the target positioning mode. This first positioning mode can not only locate the horizontal position of the positioning tag, but also its vertical position.

[0102] If the height change is less than the preset value, it means that the height of the positioning tag has not changed, or the change is small. In this case, the positioning tag will determine the second positioning mode as the target positioning mode. This second positioning mode has lower power consumption.

[0103] The embodiments of this application do not impose restrictions on the specific values ​​of the preset values.

[0104] In some embodiments, the preset value is 1 meter. For example, if the height change of the positioning tag within 5 seconds is greater than or equal to 1 meter, the first positioning mode is determined as the target positioning mode; if the height change of the positioning tag within 5 seconds is less than 1 meter, the second positioning mode is determined as the target positioning mode.

[0105] This application does not limit the specific types of the first positioning mode and the second positioning mode, wherein the power consumption of the positioning tag corresponding to the first positioning mode is less than the power consumption of the positioning tag corresponding to the second positioning mode. That is to say, when the positioning tag uses the first positioning mode for positioning, that is, when transmitting the positioning signal, it consumes more power, while when the positioning tag uses the second positioning mode for positioning, that is, when transmitting the positioning signal, it consumes less power.

[0106] In some embodiments, after the positioning tag determines the target positioning mode based on the above method, it sends the determined target positioning mode to the positioning base station, and the positioning base station generates positioning data based on the target positioning mode.

[0107] Method 1 above describes the specific method by which the positioning tag determines the target positioning mode based on the height change value.

[0108] Method 2: The positioning base station determines the target positioning mode. In this case, S402 includes the following steps S402-A1 and S402-A2:

[0109] S402-A1, the positioning tag sends the altitude change value to the positioning base station;

[0110] S402-A2, The positioning tag receives the target positioning mode sent by the positioning base station. This target positioning mode is determined by the positioning base station based on the altitude change value.

[0111] In this method 2, the positioning tag sends the altitude change value detected by the altitude detection device within a first time period to the positioning base station. Based on this altitude change value, the positioning base station determines the target positioning mode. Then, the positioning base station sends the determined target positioning mode to the positioning tag, so that the positioning tag transmits positioning signals based on the target positioning mode.

[0112] This application does not limit the method by which the positioning base station sends the target positioning mode to the positioning tag. For example, the positioning base station sends first information to the positioning tag, which includes a positioning mode identifier. For example, if the positioning mode identifier carried in the first information is 0, it indicates that the target positioning mode is the first positioning mode; if the positioning mode identifier carried in the first information is 1, it indicates that the target positioning mode is the second positioning mode.

[0113] The method by which the positioning base station determines the target positioning mode based on the altitude change value of the positioning tag within the first time period is the same as the method by which the positioning tag determines the target positioning mode based on the altitude change value of the positioning tag within the first time period, as described in Method 1 above, and will not be repeated here. For example, if the altitude change value of the positioning tag within the first time period is greater than or equal to a preset value, the positioning base station determines the first positioning mode as the target positioning mode; if the altitude change value of the positioning tag within the first time period is less than the preset value, the positioning base station determines the second positioning mode as the target positioning mode.

[0114] In this method 2, the target positioning mode is determined by the positioning base station, and the positioning tag does not need to determine the target positioning mode itself, thereby further reducing the power consumption of the positioning tag.

[0115] Method 3: The positioning platform determines the target positioning mode. In this case, S402 above includes the following steps S402-B1 and S402-B2:

[0116] S402-B1: The positioning tag sends the altitude change value to the positioning platform;

[0117] S402-B2, The positioning tag receives the target positioning mode sent by the positioning platform. This target positioning mode is determined by the positioning platform based on the altitude change value.

[0118] In this method 2, the positioning tag sends the height change value detected by the height detection device within a first time period to the positioning platform. Based on this height change value, the positioning platform determines the target positioning mode. Then, the positioning platform sends the determined target positioning mode to the positioning tag, so that the positioning tag transmits positioning signals based on the target positioning mode.

[0119] In some embodiments, if the positioning tag and the positioning platform can directly communicate data, the positioning tag can directly send its altitude change value within a first time period to the positioning platform. Additionally, the positioning platform can directly send the determined target positioning pattern to the positioning tag.

[0120] In some embodiments, if the positioning tag and the positioning platform cannot communicate directly and require conversion through a positioning base station, the positioning tag first sends its altitude change value within a first time period to the positioning base station, which then forwards this altitude change value to the positioning screen. Additionally, the positioning platform sends the determined target positioning mode to the positioning base station, which then forwards the target positioning mode to the positioning tag.

[0121] This application does not limit the method by which the positioning platform sends the target positioning mode to the positioning tag. For example, the positioning platform sends second information to the positioning tag, which includes a positioning mode identifier. For example, if the positioning mode identifier carried by the second information is 0, it indicates that the target positioning mode is the first positioning mode; if the positioning mode identifier carried by the second information is 1, it indicates that the target positioning mode is the second positioning mode.

[0122] The method by which the positioning platform determines the target positioning mode based on the altitude change value of the positioning tag within the first time period is the same as the method by which the positioning tag determines the target positioning mode based on the altitude change value of the positioning tag within the first time period, as described in Method 1 above, and will not be repeated here. For example, if the altitude change value of the positioning tag within the first time period is greater than or equal to a preset value, the positioning platform determines the first positioning mode as the target positioning mode; if the altitude change value of the positioning tag within the first time period is less than the preset value, the positioning platform determines the second positioning mode as the target positioning mode.

[0123] In this method 3, the positioning platform has strong data processing capabilities. The positioning platform determines the target positioning mode, which can quickly determine the target positioning mode and further reduce the power consumption of the positioning tag.

[0124] In this method 3, the positioning platform determines the target positioning mode based on the altitude change value of the positioning tag within the first time period, and then sends the determined target positioning mode to the positioning base station and the positioning tag, so that the positioning tag can transmit positioning signals based on the target positioning mode, and the positioning base station can generate positioning data of the positioning tag based on the target positioning mode.

[0125] In some embodiments, if the positioning platform and the positioning tag communicate through a positioning base station, the positioning platform sends the determined target positioning mode to the positioning base station, the positioning base station saves the target positioning mode, and sends the target positioning mode to the positioning tag.

[0126] S403, The positioning base station determines the target positioning mode.

[0127] It should be noted that there is no strict order relationship between S403 and S402 during execution. S403 can be executed before S402, after S402, or simultaneously with S402. This application embodiment does not impose any restrictions on this.

[0128] In this embodiment of the application, the method by which the positioning base station determines the target positioning mode is basically the same as the method by which the positioning tag determines the target positioning mode.

[0129] Method 1: The positioning base station determines the target positioning mode itself. In this case, S403 above includes the following steps S403-A1 and S403-A2:

[0130] S403-A1, The positioning base station receives the altitude change value sent by the positioning tag;

[0131] S403-A2: The positioning base station determines the target positioning mode based on the altitude change value.

[0132] In this method 1, the positioning tag sends the height change value of the positioning tag detected by the height detection device within a first time period to the positioning base station, and the positioning base station determines the target positioning mode based on the height change value.

[0133] This application does not limit the method by which the positioning base station determines the target positioning mode based on the altitude change value.

[0134] In one possible implementation, the positioning base station stores different altitude change value ranges and corresponding positioning modes, where different positioning modes may have different power consumption.

[0135] For example, the correspondence between altitude change value ranges and positioning modes is shown in Table 1. Thus, the positioning base station can query Table 1 based on the altitude change value of the positioning tag sent by the positioning tag within the first time period to obtain the positioning mode corresponding to that altitude change value, and determine that positioning mode as the target positioning mode.

[0136] In another possible implementation, the positioning base station includes two preset positioning modes, namely a first positioning mode and a second positioning mode. The power consumption of the first positioning mode and the second positioning mode are different. For example, the power consumption of the second positioning mode is less than that of the first positioning mode. That is, when the positioning tag uses the second positioning mode for positioning, the power consumption of the positioning tag is smaller, and when the positioning tag uses the first positioning mode for positioning, the power consumption of the positioning tag is larger.

[0137] Based on this, in this implementation, the positioning base station determines the target positioning mode based on the altitude change value, including the following two examples:

[0138] Example 1: If the change in altitude is greater than or equal to a preset value, the positioning base station will determine the first positioning mode as the target positioning mode.

[0139] Example 2: If the height change value is less than the preset value, the positioning base station will determine the second positioning mode as the target positioning mode.

[0140] In some embodiments, after determining the target positioning mode based on the above method, the positioning base station sends the determined target positioning mode to the positioning tag, and the positioning tag transmits a positioning signal based on the target positioning mode. Optionally, the positioning base station also sends the target positioning mode to the positioning platform.

[0141] Method 2: The positioning tag determines the target positioning mode based on the height change value of the positioning tag within a first time period. In this case, S403 above includes the following steps:

[0142] S403-B, The positioning base station receives the target positioning mode sent by the positioning tag, which is determined by the positioning tag based on the altitude change value.

[0143] In other words, in this method 2, after determining the target positioning mode based on the height change value of the positioning tag within the first time period, the positioning tag sends the target positioning mode to the positioning base station so that the positioning base station can generate positioning data of the positioning tag according to the target positioning mode.

[0144] This application does not limit the method by which the positioning tag sends the target positioning mode to the positioning base station. For example, the positioning tag sends third information to the positioning base station, which includes a positioning mode identifier. For example, if the positioning mode identifier carried by the third information is 0, it indicates that the target positioning mode is the first positioning mode; if the positioning mode identifier carried by the third information is 1, it indicates that the target positioning mode is the second positioning mode.

[0145] Method 3: The positioning platform determines the target positioning mode based on the altitude change value of the positioning tag within the first time period. In this case, S403 above includes the following steps:

[0146] S403-C: The positioning base station receives the target positioning mode sent by the positioning platform. This target positioning mode is determined by the positioning platform based on the altitude change value.

[0147] In this method 3, if the positioning tag and the positioning platform communicate through the positioning base station, the positioning tag will first send the height change value of the positioning tag within the first time period to the positioning base station, and the positioning base station will then send the height change value to the positioning platform.

[0148] In some embodiments, if the positioning tag and the positioning platform can communicate directly, the positioning platform can directly send the determined target positioning pattern to the positioning tag.

[0149] In some embodiments, if the positioning tag and the positioning platform cannot communicate directly and need to be converted through the positioning base station, the positioning platform sends the determined target positioning mode to the positioning base station, the positioning base station saves the target positioning mode, and at the same time, sends the target positioning mode to the positioning tag.

[0150] This application does not limit the method by which the positioning platform sends the target positioning mode to the positioning base station. For example, the positioning platform sends fourth information to the positioning base station, which includes a positioning mode identifier. For example, if the positioning mode identifier carried by the fourth information is 0, it indicates that the target positioning mode is the first positioning mode; if the positioning mode identifier carried by the fourth information is 1, it indicates that the target positioning mode is the second positioning mode.

[0151] S404. The positioning tag transmits positioning signals to the positioning base station according to the target positioning mode.

[0152] After determining the target positioning mode based on the above method, the positioning tag transmits a positioning signal to the positioning base station based on the target positioning mode.

[0153] In actual positioning, the positioning tag transmits positioning signals to at least one positioning base station. For ease of description, this application uses one positioning base station as an example for illustration. The process of the positioning tag transmitting positioning signals to each positioning base station is the same, and can be referred to this positioning base station.

[0154] In this embodiment, the positioning tag transmits a positioning signal to the positioning base station based on the positioning signal required by the target positioning mode. For example, if the target positioning mode requires the positioning tag to transmit two positioning signals to the positioning base station, then the positioning tag transmits two positioning signals to the positioning base station.

[0155] In some embodiments, if the target positioning mode is one of the first positioning mode and the second positioning mode, then the above S404 includes the following two cases.

[0156] Scenario 1: If the target positioning mode is the first positioning mode, the positioning tag transmits a first positioning signal to the positioning base station and receives a second positioning signal transmitted by the positioning base station based on the first positioning signal. Then, based on the received second positioning signal, the positioning tag transmits a third positioning signal to the positioning base station. In other words, the positioning tag transmits the first and third positioning signals to the positioning base station and receives the second positioning signal transmitted by the positioning base station.

[0157] For example, the first positioning mode mentioned above can be understood as a ToF positioning mode.

[0158] In this embodiment, since the positioning base station determines the positioning data of the positioning tag, the first positioning signal transmitted by the positioning tag includes the time when the positioning tag transmitted the first positioning signal, for example, Ta1. The third positioning signal sent by the positioning tag to the positioning base station includes the time when the positioning tag received the second positioning signal, for example, Ta2, and the time when the positioning tag transmitted the third positioning signal, for example, Ta3. In this way, the positioning base station can obtain the time when the positioning tag transmitted each positioning signal and the time when it received the positioning signal from the positioning signals transmitted by the positioning tag. Then, based on its own time of receiving the positioning signal and time of transmitting the positioning signal, the positioning base station can determine the flight time of the positioning signal between the positioning tag and the positioning base station, and then determine the distance between the positioning tag and the positioning base station based on the flight time.

[0159] Scenario 2: If the target positioning mode is the second positioning mode, the positioning tag will transmit the first positioning signal to the positioning base station and then no longer transmit other positioning signals to the positioning base station, thereby reducing the power consumption of the positioning tag.

[0160] For example, the second positioning mode is a single-signal mode, that is, the positioning tag sends a positioning signal to the positioning base station once.

[0161] In some embodiments, the positioning tag includes a motion module that, upon detecting movement of the positioning tag, transmits a first positioning signal to the positioning base station. The timing of the positioning tag transmitting the first positioning signal is not strictly related to the timing of the positioning tag determining the target positioning mode. For example, if the positioning tag determines the target positioning mode based on its altitude change value within a first time period, the positioning tag can determine the target positioning mode first and then transmit the first positioning signal to the positioning base station, or it can transmit the first positioning signal to the positioning base station first and then determine the target positioning mode, or the positioning tag can determine the target positioning mode simultaneously with transmitting the first positioning signal. However, when transmitting subsequent positioning signals, the positioning tag determines the target positioning mode based on the target positioning mode. For example, if the target positioning mode is the first positioning mode, the positioning tag also needs to receive a second positioning signal transmitted by the positioning base station and transmit a third positioning signal to the positioning base station. If the target positioning mode is the second positioning mode, the positioning tag only sends the first positioning signal to the positioning base station and does not transmit other positioning signals.

[0162] S405. The positioning base station determines the positioning data of the positioning tag based on the target positioning mode and positioning signal.

[0163] The positioning tag sends a positioning signal to the positioning base station based on the target positioning mode. The positioning base station receives the positioning signal transmitted by the positioning tag and determines the positioning data of the positioning tag based on the target positioning mode and the positioning signal.

[0164] In this embodiment, the positioning signal may differ depending on the target positioning mode, leading to different determined positioning data. Specifically, the positioning base station processes the positioning signal based on the positioning data determination method corresponding to the target positioning mode to obtain the positioning data of the positioning tag.

[0165] In some embodiments, if the target positioning mode is one of the first positioning mode and the second positioning mode, then the implementation of S405 above includes the following two cases:

[0166] Case 1: If the target positioning mode is the first positioning mode, the positioning base station receives the first positioning signal sent by the positioning tag, sends a second positioning signal to the positioning tag based on the received first positioning signal, and receives the third positioning signal transmitted by the positioning tag based on the second positioning signal. In this case, S405 includes the following steps S405-A1 and S405-A2:

[0167] S405-A1: The positioning base station determines the timestamp information and AOA information corresponding to the positioning tag based on the first positioning signal, the second positioning signal and the third positioning signal;

[0168] S405-A2. Determine the location data of the location tag based on the timestamp information and AOA information.

[0169] Specifically, the first positioning signal includes the time Ta1 when the positioning tag transmits the first positioning signal, and the third positioning signal includes the time Ta2 when the positioning tag receives the second positioning signal and the time Ta3 when it transmits the third positioning signal. Additionally, the positioning base station receives the first positioning signal at time Tb1, transmits the second positioning signal at time Tb2, and receives the third positioning signal at time Tb3.

[0170] In this way, the positioning base station determines the first time difference T based on the time Ta1 when the positioning tag transmits the first positioning signal and the time Ta2 when the positioning tag receives the second positioning signal. round1 Based on the time Tb1 when the positioning base station receives the first positioning signal and the time Tb2 when the positioning base station sends the second positioning signal, the second time difference T is determined. reply1 The third time difference T is determined based on the time Ta2 when the positioning tag receives the second positioning signal and the time Ta3 when the positioning tag sends the third positioning signal. reply2Based on the time Tb2 when the positioning base station sends the second positioning signal and the time Tb3 when the positioning base station receives the third positioning signal, the fourth time difference T is determined. round2 The positioning base station will use the aforementioned first time difference T round1 Second time difference T reply1 Third time difference T reply2 and the fourth time difference T round2 This is determined to be the timestamp information corresponding to the location tag.

[0171] The timestamp information corresponding to the above-mentioned positioning tag is used to calculate the distance between the positioning tag and the positioning base station.

[0172] At the same time, the positioning base station determines the AOA information of the positioning tag based on the first positioning signal and / or the third positioning signal.

[0173] Optionally, the AOA information includes pitch angle and horizontal angle, where the pitch angle is used to indicate the position of the positioning tag in the vertical direction, and the horizontal angle is used to indicate the angle of the positioning tag in the horizontal direction.

[0174] In other words, if the target positioning mode is the first positioning mode, the positioning data generated by the positioning base station includes: timestamp information and AOA information, wherein the timestamp information includes T round1 T reply1 T round2 and T reply2 The AOA information includes the pitch and horizontal angles of the positioning tag detected by the positioning base station.

[0175] In some embodiments, if the target positioning mode is the first positioning mode, the positioning data may include, in addition to the timestamp information and AOA information mentioned above, at least one of the following: the identifier of the positioning tag, the identifier of the positioning base station, the target positioning mode, and the altitude change value.

[0176] Case 2: If the target positioning mode is the second positioning mode, the positioning base station only receives the first positioning signal sent by the positioning tag. In this case, S405 includes the following step S405-B1:

[0177] S405-B1, the first positioning signal of the positioning base station, determines the AOA information corresponding to the positioning tag;

[0178] S405-B2. Determine the location data of the location tag based on the timestamp information.

[0179] Specifically, the positioning base station receives the first positioning signal and determines the AOA information corresponding to the positioning tag based on the direction of the first positioning signal.

[0180] Optionally, the AOA information includes pitch angle and horizontal angle, where the pitch angle is used to indicate the position of the positioning tag in the vertical direction, and the horizontal angle is used to indicate the angle of the positioning tag in the horizontal direction.

[0181] In some embodiments, if the target positioning mode is the second positioning mode, the positioning data may include, in addition to the above-mentioned AOA information, at least one of the following: the identifier of the positioning tag, the identifier of the positioning base station, the target positioning mode, and the altitude change value.

[0182] S406. The positioning base station sends the positioning data to the positioning platform.

[0183] After determining the location data of the positioning tag according to the above steps, the positioning base station sends the location data to the positioning platform so that the positioning platform can determine the location information of the positioning tag based on the location data.

[0184] S407. The positioning platform determines the target positioning mode and, based on the target positioning mode and positioning data, determines the location information of the positioning tag.

[0185] It should be noted that the steps in S407 above for determining the target positioning mode of the fixed platform are not strictly sequential with those in S406 above.

[0186] For example, a location tag determines a target positioning pattern based on its altitude change values ​​within a first time period. If the location tag does not send the determined target positioning pattern to the positioning platform, but instead includes the target positioning pattern in the positioning data, the positioning platform parses the positioning data and retrieves the target positioning pattern from it. If the location tag sends the determined target positioning pattern to the positioning platform, the positioning platform obtains the target positioning pattern before receiving the positioning data.

[0187] For example, a positioning base station determines the target positioning pattern based on the altitude change value of the positioning tag within a first time period. If the positioning base station does not send the determined target positioning pattern to the positioning platform, but instead includes the target positioning pattern in the positioning data, the positioning platform parses the positioning data and retrieves the target positioning pattern from it. If the positioning base station sends the determined target positioning pattern to the positioning platform, the positioning platform obtains the target positioning pattern before receiving the positioning data.

[0188] For example, the positioning platform determines the target positioning pattern based on the height change value of the positioning tag within the first time period. In this case, the positioning platform has already obtained the target positioning pattern before receiving the positioning data.

[0189] As can be seen from the above, in this step, the positioning platform determines the target positioning mode in at least the following ways:

[0190] Method 1: The positioning platform itself determines the target positioning mode. In this case, S407 above includes the following steps S407-A1 and S407-A2:

[0191] S407-A1, The positioning platform receives altitude change values ​​sent by the positioning tag;

[0192] S407-A2, the positioning platform determines the target positioning mode based on the altitude change value.

[0193] In this method 1, the positioning tag sends the height change value of the positioning tag detected by the height detection device within the first time period to the positioning platform, and the positioning platform determines the target positioning mode based on the height change value.

[0194] In this method 1, if the positioning tag and the positioning platform communicate through the positioning base station, the positioning tag first sends the height change value of the positioning tag within the first time period to the positioning base station, and the positioning base station then sends the height change value to the positioning platform.

[0195] In some embodiments, if the positioning tag and the positioning platform can communicate directly, the positioning platform can directly send the determined target positioning pattern to the positioning tag.

[0196] This application does not limit the method by which the positioning platform determines the target positioning mode based on the altitude change value.

[0197] In one possible implementation, the positioning platform stores different ranges of altitude change values ​​and corresponding positioning modes, where different positioning modes may have different power consumption.

[0198] For example, the correspondence between altitude change value ranges and positioning modes is shown in Table 1. Thus, the positioning platform can query Table 1 based on the altitude change values ​​sent by the positioning tags within the first time period to obtain the positioning mode corresponding to that altitude change value, and then determine that positioning mode as the target positioning mode.

[0199] In another possible implementation, the positioning platform includes two preset positioning modes, namely a first positioning mode and a second positioning mode. The power consumption of the first positioning mode and the second positioning mode is different. For example, the power consumption of the second positioning mode is less than that of the first positioning mode. That is, when the positioning tag uses the second positioning mode for positioning, the power consumption of the positioning tag is less, and when the positioning tag uses the first positioning mode for positioning, the power consumption of the positioning tag is greater.

[0200] Based on this, in this implementation, the positioning platform determines the target positioning mode based on the altitude change value, including the following two examples:

[0201] Example 1: If the change in height is greater than or equal to the preset value, the positioning platform will determine the first positioning mode as the target positioning mode.

[0202] Example 2: If the height change value is less than the preset value, the positioning platform will determine the second positioning mode as the target positioning mode.

[0203] In some embodiments, after determining the target positioning pattern based on the above method, the positioning platform sends the determined target positioning pattern to the positioning tag, and the positioning tag transmits a positioning signal based on the target positioning pattern. Optionally, the positioning platform also sends the target positioning pattern to the positioning base station.

[0204] Method 2: The positioning tag determines the target positioning mode based on the height change value of the positioning tag within a first time period. In this case, S407 above includes the following steps:

[0205] S407-B, The positioning platform receives the target positioning mode sent by the positioning tag, which is determined by the positioning tag based on the altitude change value.

[0206] In other words, in this method 2, after determining the target positioning pattern based on the height change value of the positioning tag within the first time period, the positioning tag sends the target positioning pattern to the positioning platform so that the positioning platform can generate positioning data of the positioning tag according to the target positioning pattern.

[0207] In this method 2, if the positioning tag and the positioning platform communicate through the positioning base station, the positioning tag sends the target positioning mode to the positioning base station, and the positioning base station sends the target positioning mode to the positioning platform.

[0208] In some embodiments, if the positioning tag and the positioning platform can communicate directly, the positioning tag can directly send the determined target positioning pattern to the positioning platform.

[0209] This application does not limit the method by which the positioning tag sends the target positioning mode to the positioning platform. For example, the positioning tag sends fifth information to the positioning platform, which includes a positioning mode identifier. For example, if the positioning mode identifier carried by the fifth information is 0, it indicates that the target positioning mode is the first positioning mode; if the positioning mode identifier carried by the fifth information is 1, it indicates that the target positioning mode is the second positioning mode.

[0210] Method 3: The positioning base station determines the target positioning mode based on the altitude change value of the positioning tag within the first time period. In this case, S407 above includes the following steps:

[0211] S407-C: The positioning platform receives the target positioning mode sent by the positioning base station. This target positioning mode is determined by the positioning base station based on the altitude change value.

[0212] In one possible implementation of this method 3, the positioning tag first sends the height change value of the positioning tag within a first time period to the positioning base station. Based on the height change value, the positioning base station determines the target positioning mode and sends the target positioning mode to the positioning tag and the positioning platform.

[0213] This application does not limit the method by which the positioning base station sends the target positioning mode to the positioning platform. For example, the positioning base station sends sixth information to the positioning platform, which includes a positioning mode identifier. For example, if the positioning mode identifier carried by the sixth information is 0, it indicates that the target positioning mode is the first positioning mode; if the positioning mode identifier carried by the sixth information is 1, it indicates that the target positioning mode is the second positioning mode.

[0214] In another possible implementation of this method 3, the positioning base station determines the target positioning mode based on the altitude change value and sends the target positioning mode to the positioning tag, but does not send it to the positioning platform immediately. Instead, it sends it to the positioning platform in the positioning data. In this way, the positioning platform obtains the target positioning mode by parsing the positioning data.

[0215] After determining the target positioning mode based on the above steps, the positioning platform determines the location information of the positioning tag according to the target positioning mode and positioning data. The method by which the positioning platform determines the location information of the positioning tag based on the positioning data varies depending on the target positioning mode; this embodiment does not impose any limitations on this.

[0216] In some embodiments, if the target positioning mode is one of the first positioning mode and the second positioning mode, then in S407 above, the positioning platform determines the location information of the positioning tag based on the target positioning mode and the positioning data, including the following two cases:

[0217] Case 1: If the target positioning mode is the first positioning mode, the positioning platform determines the three-dimensional coordinates of the positioning tag based on the timestamp information and AOA information in the positioning data.

[0218] For example, timestamp information includes T round1 T reply1 T round2 and Treply2 Then, based on the time difference T round1 T reply1 T round2 and T reply2 Determine the distance between the positioning tag and the positioning base station.

[0219] For example, the flight time between the location tag and the location base station is determined by the following formula (1).

[0220]

[0221] Among them, T round1 Let T be the time difference between Ta2 and Ta1. reply1 T is the time difference between Tb2 and Tb1. round2 T is the time difference between Tb3 and Tb2. reply2 This represents the time difference between Ta3 and Ta2.

[0222] Next, the distance D from the positioning tag to the positioning base station is calculated based on the following formula (2):

[0223]

[0224] Where c is the speed of light.

[0225] Based on the distance D between the positioning tag and the positioning base station, and the AOA information of the positioning tag observed by the positioning base station, the positioning platform can uniquely determine the three-dimensional coordinates of the positioning tag, namely the XYZ coordinates.

[0226] Scenario 2: If the target positioning mode is the second positioning mode, the positioning platform determines the horizontal coordinates of the positioning tag based on the AOA information in the positioning data, and determines the height coordinates of the positioning base station based on the identifier of the positioning base station in the positioning data, and uses the height coordinates of the positioning base station as the height coordinates of the positioning tag.

[0227] In scenario 2, if the target positioning mode is the second positioning mode, the positioning data includes the AOA information of the positioning tag observed by the positioning base station, as well as the identifier of the positioning base station. Thus, the positioning platform can determine the horizontal coordinates (XY coordinates) of the positioning tag based on its AOA information, i.e., the horizontal angle and pitch angle.

[0228] In a building, positioning base stations can be installed on each floor. Base stations on different floors can locate positioning tags on that floor. In this second positioning mode, the height of the positioning tag remains unchanged or changes only slightly. In this case, the height of the positioning base station can be determined as the height of the positioning tag. That is, when the height of the positioning tag does not change, it can be understood that the positioning tag is located on the same floor as the positioning base station. Therefore, the positioning platform, based on the identifier of the positioning base station, queries the floor where the positioning base station is located and then uses the height coordinates of the positioning base station as the height coordinates of the positioning tag.

[0229] As described above, in this embodiment, a height detection device is integrated into the positioning tag to sense relative changes in height and achieve adaptive positioning mode switching. For example, if a certain degree of height change is detected, a first positioning mode (e.g., TOF mode) is activated; if no change in height is detected, a low-power second positioning mode (e.g., single-transmission signal mode) is activated, and floor information is used instead of height information. This adaptive positioning mode selection method can obtain accurate height information in scenarios such as stairs and slopes, while minimizing power consumption when positioning in conventional planar areas, effectively balancing height location information and low power consumption requirements, and improving overall positioning performance.

[0230] In some embodiments, if the positioning data also includes the height change value of the positioning tag within a first time period, the positioning platform can further correct the position information of the positioning tag based on the height change value. For example, if the target positioning mode is the second positioning mode, the positioning platform determines the floor position of the positioning tag as the height coordinate of the positioning tag. Simultaneously, the positioning platform uses the height change value to correct the determined height coordinate of the positioning tag. For example, by adding the height change value to the determined height coordinate, the final height coordinate of the positioning tag is obtained. Another example is by adding half of the height change value to the determined height coordinate to obtain the final height coordinate of the positioning tag. This application does not limit the specific method by which the positioning platform corrects the position information of the positioning tag based on the height change value.

[0231] The positioning method provided in this application embodiment includes a height detection device in the positioning tag. This height detection device detects the height change value of the positioning tag within a first time period and determines the target positioning mode based on the height change value. The positioning tag then transmits a positioning signal to the positioning base station based on the target positioning mode. The positioning base station determines the positioning data of the positioning tag based on the target positioning mode and the positioning signal, and sends the positioning data to the positioning platform. The positioning platform determines the location information of the positioning tag based on the target positioning mode and the positioning data. In other words, this application embodiment uses a height detection device to detect the height change of the positioning tag and then determines the target positioning mode based on the height change value. For example, if the height change value of the positioning tag is greater than or equal to a preset value, then the first positioning mode is determined as the target positioning mode; if the height change value of the positioning tag is less than the preset value, then the second positioning mode is determined as the target positioning mode. This achieves the selection of the positioning mode, ensuring positioning accuracy while avoiding the positioning tag being constantly in a high-power positioning mode, thereby improving the service life of the positioning tag.

[0232] The above embodiments provide an overall overview of the positioning method of this application. The following detailed description, using several specific embodiments, further illustrates the positioning method provided by this application.

[0233] Figure 5 This is a flowchart illustrating a positioning method provided in an embodiment of this application. Figure 5 In the illustrated embodiment, the target positioning pattern is determined by the positioning tag. In this case, such as... Figure 5 As shown, the method in this application embodiment includes:

[0234] S501, The positioning tag acquires the height change value of the positioning tag detected by the height detection device within the first time period.

[0235] The specific implementation process of S501 is described in S401 above, and will not be repeated here.

[0236] S502. The positioning tag determines the target positioning mode based on the height change value.

[0237] For example, if the change in height is greater than or equal to a preset value, then the first positioning mode will be determined as the target positioning mode.

[0238] For example, if the change in altitude is less than the preset value, then the second positioning mode will be determined as the target positioning mode.

[0239] The specific description of S502 above is the same as the specific description of mode 1 in S402 above, and will not be repeated here.

[0240] S503, The positioning tag sends the target positioning mode to the positioning base station.

[0241] S504. The positioning tag transmits positioning signals to the positioning base station according to the target positioning mode.

[0242] For example, if the target positioning mode is the first positioning mode, the positioning tag transmits a first positioning signal to the positioning base station, receives a second positioning signal transmitted by the positioning base station based on the first positioning signal, and transmits a third positioning signal to the positioning base station based on the second positioning signal.

[0243] For example, if the target positioning mode is the second positioning mode, the positioning tag will transmit the first positioning signal to the positioning base station.

[0244] The specific description of S504 above is the same as the specific description of S404 above, and will not be repeated here.

[0245] S505. The positioning base station determines the positioning data of the positioning tag based on the target positioning mode and positioning signal.

[0246] For example, if the target positioning mode is the first positioning mode, the positioning base station determines the timestamp information and AOA information corresponding to the positioning tag based on the first positioning signal, the second positioning signal and the third positioning signal; and determines the positioning data of the positioning tag based on the timestamp information and the AOA information.

[0247] For example, if the target positioning mode is the second positioning mode, the positioning base station uses the first positioning signal to determine the AOA information corresponding to the positioning tag; and based on the timestamp information, the positioning data of the positioning tag is determined.

[0248] The specific description of S505 above is the same as the specific description of S405 above, and will not be repeated here.

[0249] S506, The positioning base station sends the positioning data to the positioning platform.

[0250] Optionally, the location data may include the target location pattern.

[0251] S507. The positioning platform determines the location information of the positioning tag based on the target positioning mode and positioning data.

[0252] Optionally, the positioning platform parses the positioning data to obtain the target positioning pattern.

[0253] For example, if the target positioning mode is the first positioning mode, the positioning platform determines the three-dimensional coordinates of the positioning tag based on the timestamp information and AOA information in the positioning data.

[0254] For example, if the target positioning mode is the second positioning mode, the positioning platform determines the horizontal coordinates of the positioning tag based on the AOA information in the positioning data, and determines the height coordinates of the positioning base station based on the identifier of the positioning base station in the positioning data, and uses the height coordinates of the positioning base station as the height coordinates of the positioning tag.

[0255] In this embodiment, the positioning tag determines the target positioning mode based on the height change value of the positioning tag. For example, if the height change value of the positioning tag is greater than or equal to a preset value, the first positioning mode is determined as the target positioning mode; if the height change value of the positioning tag is less than the preset value, the second positioning mode is determined as the target positioning mode. This enables the selection of the positioning mode, ensuring positioning accuracy while avoiding the positioning tag being in a high-power positioning mode, thereby improving the service life of the positioning tag.

[0256] Figure 6 This is a flowchart illustrating a positioning method provided in an embodiment of this application. Figure 6 In the illustrated embodiment, the target positioning mode is determined by the positioning base station. In this case, such as... Figure 6 As shown, the method in this application embodiment includes:

[0257] S601. The positioning tag acquires the height change value of the positioning tag detected by the height detection device within the first time period.

[0258] The specific implementation process of S601 is described in S401 above, and will not be repeated here.

[0259] S602, The positioning tag sends the altitude change value to the positioning base station.

[0260] S603. The positioning base station determines the target positioning mode based on the altitude change value.

[0261] For example, if the change in height is greater than or equal to a preset value, the first positioning mode will be determined as the target positioning mode.

[0262] For example, if the change in altitude is less than the preset value, then the second positioning mode will be determined as the target positioning mode.

[0263] The specific description of S603 above is the same as the specific description of mode 1 in S403 above, and will not be repeated here.

[0264] S604. The positioning base station sends the target positioning mode to the positioning tag.

[0265] S605. The positioning tag transmits positioning signals to the positioning base station according to the target positioning mode.

[0266] For example, if the target positioning mode is the first positioning mode, the positioning tag transmits a first positioning signal to the positioning base station, receives a second positioning signal transmitted by the positioning base station based on the first positioning signal, and transmits a third positioning signal to the positioning base station based on the second positioning signal.

[0267] For example, if the target positioning mode is the second positioning mode, the positioning tag transmits the first positioning signal to the positioning base station.

[0268] The specific description of S605 above is the same as the specific description of S404 above, and will not be repeated here.

[0269] S606. The positioning base station determines the positioning data of the positioning tag based on the target positioning mode and positioning signal.

[0270] For example, if the target positioning mode is the first positioning mode, the positioning base station determines the timestamp information and AOA information corresponding to the positioning tag based on the first positioning signal, the second positioning signal and the third positioning signal; and determines the positioning data of the positioning tag based on the timestamp information and the AOA information.

[0271] For example, if the target positioning mode is the second positioning mode, the positioning base station uses the first positioning signal to determine the AOA information corresponding to the positioning tag; and based on the timestamp information, the positioning data of the positioning tag is determined.

[0272] The specific description of S606 above refers to the specific description of S405 above, and will not be repeated here.

[0273] S607, The positioning base station sends the positioning data to the positioning platform.

[0274] Optionally, the location data may include the target location pattern.

[0275] S608 The positioning platform determines the location information of the positioning tag based on the target positioning mode and positioning data.

[0276] Optionally, the positioning platform parses the positioning data to obtain the target positioning pattern.

[0277] For example, if the target positioning mode is the first positioning mode, the positioning platform determines the three-dimensional coordinates of the positioning tag based on the timestamp information and AOA information in the positioning data.

[0278] For example, if the target positioning mode is the second positioning mode, the positioning platform determines the horizontal coordinates of the positioning tag based on the AOA information in the positioning data, and determines the height coordinates of the positioning base station based on the identifier of the positioning base station in the positioning data, and uses the height coordinates of the positioning base station as the height coordinates of the positioning tag.

[0279] In this embodiment, the positioning tag sends its height change value to the positioning base station. The positioning base station determines the target positioning mode based on the height change value. For example, if the height change value is greater than or equal to a preset value, the first positioning mode is determined as the target positioning mode; if the height change value is less than the preset value, the second positioning mode is determined as the target positioning mode. This allows for the selection of the positioning mode, ensuring positioning accuracy while avoiding the positioning tag being in a high-power positioning mode, thereby improving the lifespan of the positioning tag.

[0280] Figure 7 This is a flowchart illustrating a positioning method provided in an embodiment of this application. Figure 7 In the illustrated embodiment, the target positioning pattern is determined by the positioning platform. In this case, such as... Figure 7 As shown, the method in this application embodiment includes:

[0281] S701, The positioning tag acquires the height change value of the positioning tag detected by the height detection device within the first time period.

[0282] The specific implementation process of S701 is described in S401 above, and will not be repeated here.

[0283] S702, The positioning tag sends the altitude change value to the positioning platform.

[0284] S703, the positioning platform determines the target positioning mode based on the altitude change value.

[0285] For example, if the change in height is greater than or equal to a preset value, the first positioning mode will be determined as the target positioning mode.

[0286] For example, if the change in altitude is less than the preset value, then the second positioning mode will be determined as the target positioning mode.

[0287] The specific description of S703 above is the same as the specific description of Method 1 in S407 above, and will not be repeated here.

[0288] S704, The positioning platform sends the target positioning mode to the positioning tag and the positioning base station.

[0289] S705: The positioning tag transmits positioning signals to the positioning base station according to the target positioning mode.

[0290] For example, if the target positioning mode is the first positioning mode, the positioning tag transmits a first positioning signal to the positioning base station, receives a second positioning signal transmitted by the positioning base station based on the first positioning signal, and transmits a third positioning signal to the positioning base station based on the second positioning signal.

[0291] For example, if the target positioning mode is the second positioning mode, the positioning tag transmits the first positioning signal to the positioning base station.

[0292] The specific description of S705 above refers to the specific description of S404 above, and will not be repeated here.

[0293] S706. The positioning base station determines the positioning data of the positioning tag based on the target positioning mode and positioning signal.

[0294] For example, if the target positioning mode is the first positioning mode, the positioning base station determines the timestamp information and AOA information corresponding to the positioning tag based on the first positioning signal, the second positioning signal and the third positioning signal; and determines the positioning data of the positioning tag based on the timestamp information and the AOA information.

[0295] For example, if the target positioning mode is the second positioning mode, the positioning base station uses the first positioning signal to determine the AOA information corresponding to the positioning tag; and based on the timestamp information, the positioning data of the positioning tag is determined.

[0296] The specific description of S706 above refers to the specific description of S405 above, and will not be repeated here.

[0297] S707: The positioning base station sends positioning data to the positioning platform.

[0298] Optionally, the location data may include the target location pattern.

[0299] S708 The positioning platform determines the location information of the positioning tag based on the target positioning mode and positioning data.

[0300] Optionally, the positioning platform parses the positioning data to obtain the target positioning pattern.

[0301] For example, if the target positioning mode is the first positioning mode, the positioning platform determines the three-dimensional coordinates of the positioning tag based on the timestamp information and AOA information in the positioning data.

[0302] For example, if the target positioning mode is the second positioning mode, the positioning platform determines the horizontal coordinates of the positioning tag based on the AOA information in the positioning data, and determines the height coordinates of the positioning base station based on the identifier of the positioning base station in the positioning data, and uses the height coordinates of the positioning base station as the height coordinates of the positioning tag.

[0303] In this embodiment, the positioning tag sends its height change value to the positioning platform. The positioning platform determines the target positioning mode based on the height change value. For example, if the height change value is greater than or equal to a preset value, the first positioning mode is determined as the target positioning mode; if the height change value is less than the preset value, the second positioning mode is determined as the target positioning mode. This allows for the selection of the positioning mode, ensuring positioning accuracy while avoiding the positioning tag being in a high-power positioning mode, thereby improving the lifespan of the positioning tag.

[0304] The above text combined Figures 4 to 7 The method embodiments of this application are described in detail below, in conjunction with... Figures 8 to 10 The following describes in detail the device embodiments of this application.

[0305] Figure 8 This is a schematic block diagram of a positioning device provided in one embodiment of this application. The device 10 is applied to a positioning tag, which includes a height detection device.

[0306] like Figure 8 As shown, the positioning device 10 includes:

[0307] The acquisition unit 11 is used to acquire the height change value of the positioning tag detected by the height detection device within a first time period;

[0308] The pattern determination unit 12 is used to determine a target positioning pattern based on the height change value, wherein the target positioning pattern is determined based on the height change value;

[0309] The transmitting unit 13 is used to transmit a positioning signal to the positioning base station according to the target positioning mode.

[0310] In some embodiments, the pattern determination unit 12 is specifically used to determine the target positioning pattern based on the height change value.

[0311] In some embodiments, the mode determination unit 12 is specifically used to determine the first positioning mode as the target positioning mode if the height change value is greater than or equal to a preset value; and to determine the second positioning mode as the target positioning mode if the height change value is less than the preset value.

[0312] In some embodiments, the transmitting unit 13 is further configured to transmit the target positioning mode to the positioning base station.

[0313] In some embodiments, the transmitting unit 13 is further configured to send the altitude change value to the positioning platform.

[0314] In some embodiments, the mode determination unit 12 is specifically used to send the altitude change value to the positioning base station and receive the target positioning mode sent by the positioning base station, the target positioning mode being determined by the positioning base station based on the altitude change value; or, to send the altitude change value to the positioning platform and receive the target positioning mode sent by the positioning platform, the target positioning mode being determined by the positioning platform based on the altitude change value.

[0315] In some embodiments, the transmitting unit 13 is specifically configured to transmit a first positioning signal to the positioning base station if the target positioning mode is a first positioning mode, and receive a second positioning signal transmitted by the positioning base station based on the first positioning signal, and transmit a third positioning signal to the positioning base station based on the second positioning signal; or, if the target positioning mode is a second positioning mode, transmit a first positioning signal to the positioning base station.

[0316] It should be understood that the device embodiments and method embodiments can correspond to each other, and similar descriptions can be referred to the method embodiments. To avoid repetition, further details will not be provided here. Specifically, Figure 8 The apparatus shown can perform the positioning tag comparison embodiment in the above positioning method, and the foregoing and other operations and / or functions of each module in the apparatus are for implementing the above method embodiment, which will not be described in detail here for the sake of brevity.

[0317] Figure 9This is a schematic block diagram of a positioning device provided in one embodiment of this application. The device 20 is used to locate a base station.

[0318] like Figure 9 As shown, the positioning device 20 includes:

[0319] The mode determination unit 21 is used to determine the target positioning mode, which is determined based on the height change value. The height change value is obtained by detecting the height change of the positioning tag within a first time period through a height detection device located in the positioning tag.

[0320] The receiving unit 22 is used to receive the positioning signal emitted by the positioning tag, wherein the positioning signal is emitted by the positioning tag based on the target positioning mode;

[0321] Processing unit 23 is used to determine the positioning data of the positioning tag based on the target positioning mode and the positioning signal;

[0322] The sending unit 24 is used to send the positioning data to the positioning platform so that the positioning platform can determine the location information of the positioning tag based on the positioning data.

[0323] In some embodiments, the mode determination unit 21 is specifically used to receive the height change value sent by the positioning tag; and to determine the target positioning mode based on the height change value.

[0324] In some embodiments, the mode determination unit 21 is specifically used to determine the first positioning mode as the target positioning mode if the height change value is greater than or equal to a preset value; and to determine the second positioning mode as the target positioning mode if the height change value is less than the preset value.

[0325] In some embodiments, the sending unit 24 is further configured to send the target positioning mode to the positioning tag.

[0326] In some embodiments, the pattern determination unit 21 is specifically used to receive the target positioning pattern sent by the positioning tag through the receiving unit 22, the target positioning pattern being determined by the positioning tag based on the altitude change value; or, to receive the target positioning pattern sent by the positioning platform through the receiving unit 22, the target positioning pattern being determined by the positioning platform based on the altitude change value.

[0327] In some embodiments, the receiving unit 22 is specifically configured to, if the target positioning mode is a first positioning mode, receive a first positioning signal sent by the positioning tag, and based on the first positioning signal, send a second positioning signal to the positioning tag through the sending unit 24, and receive a third positioning signal transmitted by the positioning tag based on the second positioning signal; or, if the target positioning mode is a second positioning mode, receive the first positioning signal sent by the positioning tag.

[0328] In some embodiments, the processing unit 23 is specifically configured to: if the target positioning mode is the first positioning mode, determine the timestamp information and AOA information corresponding to the positioning tag based on the first positioning signal, the second positioning signal, and the third positioning signal, and determine the positioning data of the positioning tag based on the timestamp information and the AOA information; or, if the target positioning mode is the second positioning mode, determine the AOA information corresponding to the positioning tag based on the first positioning signal, and determine the positioning data of the positioning tag based on the AOA information.

[0329] In some embodiments, the positioning data of the positioning tag may further include at least one of the following: the identifier of the positioning tag, the identifier of the positioning base station, the target positioning mode, and the altitude change value.

[0330] It should be understood that the device embodiments and method embodiments can correspond to each other, and similar descriptions can be referred to the method embodiments. To avoid repetition, further details will not be provided here. Specifically, Figure 9 The apparatus shown can perform the embodiment of the positioning method corresponding to the positioning base station described above, and the aforementioned and other operations and / or functions of each module in the apparatus are for implementing the above method embodiment, which will not be described in detail here for the sake of brevity.

[0331] Figure 10 This is a schematic block diagram of a positioning device provided in one embodiment of this application. The device 30 is applied to a positioning platform.

[0332] like Figure 10 As shown, the positioning device 30 includes:

[0333] The mode determination unit 31 is used to determine the target positioning mode, which is determined based on the height change value. The height change value is obtained by detecting the height change of the positioning tag within a first time period through a height detection device located in the positioning tag.

[0334] The transceiver unit 32 is used to receive positioning data sent by the positioning base station;

[0335] The processing unit 33 is used to determine the location information of the positioning tag based on the target positioning mode and the positioning data.

[0336] In some embodiments, the mode determination unit 31 is specifically used to receive the height change value sent by the positioning tag through the transceiver unit 32; and determine the target positioning mode based on the height change value.

[0337] In some embodiments, the mode determination unit 31 is specifically used to determine the first positioning mode as the target positioning mode if the height change value is greater than or equal to a preset value; and to determine the second positioning mode as the target positioning mode if the height change value is less than the preset value.

[0338] In some embodiments, the transceiver unit 32 is further configured to send the target positioning mode to the positioning tag and the positioning base station.

[0339] In some embodiments, the mode determination unit 31 is specifically used to receive the target positioning mode sent by the positioning tag through the transceiver unit 32, the target positioning mode being determined by the positioning tag based on the altitude change value; or, to receive the target positioning mode sent by the positioning base station, the target positioning mode being determined by the positioning base station based on the altitude change value.

[0340] In some embodiments, the processing unit 33 is specifically configured to: if the target positioning mode is a first positioning mode, determine the three-dimensional coordinates of the positioning tag based on the timestamp information and AOA information in the positioning data; if the target positioning mode is a second positioning mode, determine the horizontal coordinates of the positioning tag based on the AOA information in the positioning data, and determine the height coordinates of the positioning base station based on the identifier of the positioning base station in the positioning data, and determine the height coordinates of the positioning base station as the height coordinates of the positioning tag.

[0341] In some embodiments, if the positioning data also includes the height change value of the positioning tag in the first time period, the processing unit 33 is further configured to correct the position information of the positioning tag based on the height change value.

[0342] It should be understood that the device embodiments and method embodiments can correspond to each other, and similar descriptions can be referred to the method embodiments. To avoid repetition, further details will not be provided here. Specifically, Figure 10 The apparatus shown can execute the embodiment of the positioning platform in the above positioning method, and the aforementioned and other operations and / or functions of each module in the apparatus are for implementing the above method embodiment, which will not be described in detail here for the sake of brevity.

[0343] The apparatus of this application embodiment has been described above from the perspective of functional modules in conjunction with the accompanying drawings. It should be understood that this functional module can be implemented in hardware, in software instructions, or in a combination of hardware and software modules. Specifically, the steps of the method embodiments in this application can be completed by integrated logic circuits in the processor's hardware and / or by software instructions. The steps of the method disclosed in this application embodiment can be directly embodied as being executed by a hardware decoding processor, or by a combination of hardware and software modules in the decoding processor. Optionally, the software module can reside in a mature storage medium in the art, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, etc. This storage medium is located in memory, and the processor reads information from the memory and, in conjunction with its hardware, completes the steps in the above method embodiments.

[0344] Figure 11 This is a schematic block diagram of an electronic device provided in an embodiment of this application, which is used to perform the above-described positioning method embodiment.

[0345] like Figure 11 As shown, the electronic device 30 may include:

[0346] The system includes a memory 31 and a processor 32. The memory 31 stores a computer program 33 and transfers the program code 33 to the processor 32. In other words, the processor 32 can retrieve and run the computer program 33 from the memory 31 to implement the methods described in the embodiments of this application.

[0347] For example, the processor 32 can be used to execute the above method steps according to the instructions in the computer program 33.

[0348] In some embodiments of this application, the processor 32 may include, but is not limited to:

[0349] General-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.

[0350] In some embodiments of this application, the memory 31 includes, but is not limited to:

[0351] Volatile memory and / or non-volatile memory. Non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. Volatile memory can be random access memory (RAM), which is used as an external cache. By way of example, but not limitation, many forms of RAM are available, such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDR SDRAM), Enhanced Synchronous DRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), and Direct Rambus RAM (DR RAM).

[0352] In some embodiments of this application, the computer program 33 may be divided into one or more modules, which are stored in the memory 31 and executed by the processor 32 to complete the page recording method provided in this application. The one or more modules may be a series of computer program instruction segments capable of performing specific functions, which describe the execution process of the computer program 33 in the electronic device.

[0353] like Figure 11 As shown, the electronic device 30 may further include:

[0354] Transceiver 34, which can be connected to processor 32 or memory 31.

[0355] The processor 32 can control the transceiver 34 to communicate with other devices; specifically, it can send information or data to other devices or receive information or data sent by other devices. The transceiver 34 may include a transmitter and a receiver. The transceiver 34 may further include antennas, and the number of antennas may be one or more.

[0356] It should be understood that the various components in the electronic device 30 are connected through a bus system, which includes a data bus, a power bus, a control bus, and a status signal bus.

[0357] According to one aspect of this application, a computer storage medium is provided that stores a computer program thereon, which, when executed by a computer, enables the computer to perform the methods of the above-described method embodiments.

[0358] This application also provides a computer program product containing instructions that, when executed by a computer, cause the computer to perform the method described in the above method embodiments.

[0359] According to another aspect of this application, a computer program product or computer program is provided, comprising computer instructions stored in a computer-readable storage medium. A processor of an electronic device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the electronic device to perform the method described in the above-described method embodiments.

[0360] In other words, when implemented using software, it can be implemented wholly or partially in the form of a computer program product. This computer program product includes one or more computer instructions. When these computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., digital video disc (DVD)), or a semiconductor medium (e.g., solid-state disk (SSD)).

[0361] Those skilled in the art will recognize that the modules and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0362] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple modules or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or modules may be electrical, mechanical, or other forms.

[0363] The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical modules; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. For example, the functional modules in the various embodiments of this application may be integrated into one processing module, or each module may exist physically separately, or two or more modules may be integrated into one module.

[0364] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A positioning method, characterized in that, Applied to a positioning tag, the positioning tag including a height detection device, the method includes: The height change value of the positioning tag detected by the height detection device within a first time period is obtained; Based on the height change value, the target positioning mode is determined; According to the target positioning mode, a positioning signal is transmitted to the positioning base station; The step of transmitting a positioning signal to a positioning base station according to the target positioning mode includes: If the target positioning mode is the first positioning mode, then a first positioning signal is transmitted to the positioning base station, and a second positioning signal is received from the positioning base station based on the first positioning signal, and a third positioning signal is transmitted to the positioning base station based on the second positioning signal; If the target positioning mode is the second positioning mode, then a first positioning signal is transmitted to the positioning base station, and the power consumption of the second positioning mode is less than that of the first positioning mode.

2. The method according to claim 1, characterized in that, Determining the target positioning mode based on the height change value includes: If the height change value is greater than or equal to the preset value, then the first positioning mode is determined as the target positioning mode; If the height change value is less than the preset value, then the second positioning mode is determined as the target positioning mode.

3. The method according to claim 1, characterized in that, The step of determining the target positioning mode based on the height change value includes: The altitude change value is sent to the positioning base station, and the target positioning mode is received from the positioning base station, wherein the target positioning mode is determined by the positioning base station based on the altitude change value; or, The altitude change value is sent to the positioning platform, and the target positioning mode is received from the positioning platform, which is determined by the positioning platform based on the altitude change value.

4. A positioning method, characterized in that, Applied to a positioning base station, the method includes: A target positioning mode is determined, which is based on an altitude change value. The altitude change value is obtained by detecting the altitude change of the positioning tag within a first time period using an altitude detection device located in the positioning tag. Receive the positioning signal transmitted by the positioning tag, the positioning signal being transmitted by the positioning tag based on the target positioning mode; Based on the target positioning mode and the positioning signal, the positioning data of the positioning tag is determined, and the positioning data is sent to the positioning platform so that the positioning platform can determine the location information of the positioning tag based on the positioning data; The step of receiving the positioning signal transmitted by the positioning tag includes: If the target positioning mode is the first positioning mode, then the first positioning signal sent by the positioning tag is received, and a second positioning signal is sent to the positioning tag based on the first positioning signal, and a third positioning signal is received from the positioning tag based on the second positioning signal. If the target positioning mode is the second positioning mode, then the first positioning signal sent by the positioning tag is received, and the power consumption of the second positioning mode is less than that of the first positioning mode.

5. The method according to claim 4, characterized in that, The determination of the target positioning mode includes: Receive the height change value sent by the positioning tag; The target positioning mode is determined based on the height change value.

6. The method according to claim 5, characterized in that, Determining the target positioning mode based on the height change value includes: If the height change value is greater than or equal to the preset value, then the first positioning mode is determined as the target positioning mode; If the height change value is less than the preset value, then the second positioning mode is determined as the target positioning mode.

7. The method according to claim 4, characterized in that, The determination of the target positioning mode includes: Receive the target positioning mode sent by the positioning tag, the target positioning mode being determined by the positioning tag based on the altitude change value; or, The system receives the target positioning mode sent by the positioning platform, the target positioning mode being determined by the positioning platform based on the altitude change value.

8. The method according to claim 4, characterized in that, Determining the positioning data of the positioning tag based on the target positioning mode and the positioning signal includes: If the target positioning mode is the first positioning mode, then based on the first positioning signal, the second positioning signal, and the third positioning signal, the timestamp information and angle of arrival (AOA) information corresponding to the positioning tag are determined, and the positioning data of the positioning tag is determined based on the timestamp information and AOA information; or, If the target positioning mode is the second positioning mode, then the AOA information corresponding to the positioning tag is determined according to the first positioning signal, and the positioning data of the positioning tag is determined according to the AOA information.

9. A positioning method, characterized in that, Applied to a positioning platform, the method includes: A target positioning mode is determined, which is based on an altitude change value. The altitude change value is obtained by detecting the altitude change of the positioning tag within a first time period using an altitude detection device located in the positioning tag. Receive location data sent by the positioning base station; The location information of the positioning tag is determined based on the target positioning mode and the positioning data; The step of determining the location information of the positioning tag based on the target positioning mode and the positioning data includes: If the target positioning mode is the first positioning mode, then the three-dimensional coordinates of the positioning tag are determined according to the timestamp information and angle of arrival (AOA) information in the positioning data; If the target positioning mode is the second positioning mode, then the horizontal coordinates of the positioning tag are determined according to the AOA information in the positioning data, and the height coordinates of the positioning base station are determined according to the identifier of the positioning base station in the positioning data, and the height coordinates of the positioning base station are determined as the height coordinates of the positioning tag. The power consumption of the second positioning mode is less than that of the first positioning mode.

10. The method according to claim 9, characterized in that, The determination of the target positioning mode includes: Receive the height change value sent by the positioning tag; The target positioning mode is determined based on the height change value.

11. The method according to claim 10, characterized in that, Determining the target positioning mode based on the height change value includes: If the height change value is greater than or equal to the preset value, then the first positioning mode is determined as the target positioning mode; If the height change value is less than the preset value, then the second positioning mode is determined as the target positioning mode.

12. The method according to claim 9, characterized in that, The determination of the target positioning mode includes: Receive the target positioning mode sent by the positioning tag, the target positioning mode being determined by the positioning tag based on the altitude change value; or, The system receives the target positioning mode sent by the positioning base station, the target positioning mode being determined by the positioning base station based on the altitude change value.

13. A positioning device, characterized in that, Applied to a positioning tag, the positioning tag including a height detection device, the device comprising: The acquisition unit is used to acquire the height change value of the positioning tag detected by the height detection device within a first time period; A determining unit is used to determine a target positioning mode, the target positioning mode being determined based on the height change value; The transmitting unit is used to transmit a positioning signal to the positioning base station according to the target positioning mode; The step of transmitting a positioning signal to a positioning base station according to the target positioning mode includes: The transmitting unit is specifically configured to transmit a first positioning signal to the positioning base station if the target positioning mode is a first positioning mode, and receive a second positioning signal transmitted by the positioning base station based on the first positioning signal, and transmit a third positioning signal to the positioning base station based on the second positioning signal; if the target positioning mode is a second positioning mode, transmit a first positioning signal to the positioning base station, wherein the power consumption of the second positioning mode is less than the power consumption of the first positioning mode.

14. A positioning device, characterized in that, The device, used for positioning base stations, includes: A determining unit is used to determine a target positioning mode, which is determined based on an altitude change value. The altitude change value is obtained by detecting the altitude change of the positioning tag within a first time period using an altitude detection device located in the positioning tag. A receiving unit is configured to receive a positioning signal transmitted by the positioning tag, wherein the positioning signal is transmitted by the positioning tag based on the target positioning mode; The processing unit is configured to determine the positioning data of the positioning tag based on the target positioning mode and the positioning signal; A sending unit is configured to send the positioning data to a positioning platform, so that the positioning platform can determine the location information of the positioning tag based on the positioning data; Specifically, the receiving unit is configured to: if the target positioning mode is a first positioning mode, receive a first positioning signal sent by the positioning tag, and based on the first positioning signal, send a second positioning signal to the positioning tag through the sending unit, and receive a third positioning signal transmitted by the positioning tag based on the second positioning signal; if the target positioning mode is a second positioning mode, receive the first positioning signal sent by the positioning tag, wherein the power consumption of the second positioning mode is less than that of the first positioning mode.

15. A positioning device, characterized in that, The device, used in a positioning platform, includes: A determining unit is used to determine a target positioning mode, which is determined based on an altitude change value. The altitude change value is obtained by detecting the altitude change of the positioning tag within a first time period using an altitude detection device located in the positioning tag. The transceiver unit is used to receive positioning data sent by the positioning base station; The processing unit is configured to determine the location information of the positioning tag based on the target positioning mode and the positioning data; Specifically, the processing unit is configured to: if the target positioning mode is a first positioning mode, determine the three-dimensional coordinates of the positioning tag based on the timestamp information and AOA information in the positioning data; if the target positioning mode is a second positioning mode, determine the horizontal coordinates of the positioning tag based on the AOA information in the positioning data, and determine the height coordinates of the positioning base station based on the identifier of the positioning base station in the positioning data, and set the height coordinates of the positioning base station as the height coordinates of the positioning tag; wherein the power consumption of the second positioning mode is less than that of the first positioning mode.

16. An electronic device, characterized in that, Including processor and memory; The memory is used to store computer programs; The processor is configured to execute the computer program to implement the method as described in any one of claims 1 to 12.

17. A computer-readable storage medium, characterized in that, Used to store computer programs that cause a computer to perform the method as described in any one of claims 1 to 12.

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