Positioning method and device based on wireless tag, equipment and storage medium

Abstract

The invention discloses a positioning method and device based on a wireless tag, equipment and a storage medium, and belongs to the technical field of space positioning. The method comprises the following steps: performing label initialization on to-be-positioned equipment; generating real-time motion data based on the current motion state of the to-be-positioned equipment; performing data calibration on the real-time motion data based on a label constraint condition to obtain standard motion data; and carrying out real-time positioning on the to-be-positioned equipment based on the standard motion data to obtain a label positioning result. According to the invention, the to-be-positioned device is effectively positioned through the label, the real-time motion data of the to-be-positioned device is obtained, then the real-time motion data is subjected to data precision, finally, the to-be-positioned device is accurately positioned, and the spatial positioning requirement in a base-station-free environment is met.

Description

Technical Field

[0001] The present invention relates to the field of space positioning technology, and in particular to a positioning method, device, equipment and storage medium based on wireless tags. Background Art

[0002] In certain scenarios such as emergency or confined space operations, the location information of people or valuables is particularly important. Therefore, timely understanding the location of people or objects in these scenarios or timely understanding the dynamic information of people in danger can effectively help deal with emergency situations.

[0003] However, when encountering an environment where GNSS signals are denied, such as tunnels, underground spaces, and inside buildings, if there is no stable communication base station, existing positioning technology usually cannot provide accurate positioning. Therefore, there is an urgent need for a positioning method that does not require the advance setting of a communication base station but can still achieve a stable positioning function.

[0004] The above contents are only used to assist in understanding the technical solution of the present invention and do not constitute an admission that the above contents are prior art. Summary of the invention

[0005] The main purpose of the present invention is to provide a positioning method, device, equipment and storage medium based on wireless tags, aiming to solve the technical problem of how to achieve device positioning in a GNSS signal denial environment in the prior art.

[0006] To achieve the above object, the present invention provides a positioning method based on wireless tags, the method comprising the following steps:

[0007] Initialize the tag of the device to be located;

[0008] Generate real-time motion data based on the current motion state of the device to be located;

[0009] Performing data calibration on the real-time motion data based on preset tag constraints to obtain standard motion data;

[0010] The device to be located is located in real time based on the standard motion data to obtain a tag positioning result.

[0011] Optionally, a tag is initialized for the device to be located, specifically including:

[0012] Get the initial positioning instruction;

[0013] Setting a coordinate system based on the initial posture data of the device to be positioned to obtain a corresponding reference coordinate system;

[0014] The initial position coordinates are generated according to the reference coordinate system and the initial position data of the device to be positioned.

[0015] Optionally, setting a coordinate system based on the initial posture data of the device to be positioned to obtain a corresponding reference coordinate system specifically includes:

[0016] Parsing the initial positioning instruction to obtain coordinate origin information;

[0017] Performing initial state recognition on the device to be positioned, and parsing the initial posture data of the device to be positioned obtained by recognition to obtain coordinate axis information;

[0018] The coordinate origin information and the coordinate axis information are integrated to obtain a corresponding reference coordinate system.

[0019] Optionally, generating real-time motion data based on the current motion state of the device to be located specifically includes:

[0020] Identify the current motion state of the device to be located in real time to obtain real-time state data;

[0021] Calculate the movement speed based on the real-time state data to obtain real-time speed data;

[0022] Perform motion displacement calculation based on the real-time state data to obtain real-time displacement data;

[0023] The real-time velocity data and the real-time displacement data are integrated to obtain the real-time motion data.

[0024] Optionally, data calibration is performed on the real-time motion data based on preset tag constraints to obtain standard motion data, specifically including:

[0025] Acquire reference tag information based on the tag constraint condition;

[0026] Acquire motion data of each reference tag based on the reference tag information to obtain a reference tag motion data set;

[0027] The real-time motion data is calibrated based on the reference tag motion data set to obtain the standard motion data.

[0028] Optionally, performing data calibration on the real-time motion data based on the reference tag motion data set to obtain the standard motion data specifically includes:

[0029] Acquire historical motion data of the device to be located;

[0030] Generate calibration data based on the historical motion data of the device to be positioned and the reference tag motion data set;

[0031] The real-time motion data is calibrated using the historical motion data of the device to be positioned and the calibration data to obtain the standard motion data.

[0032] Optionally, generating calibration data based on the historical motion data of the device to be positioned and the reference tag motion data set specifically includes:

[0033] Generate a historical constraint distance data set based on the historical motion data of the device to be positioned and the reference tag motion data set;

[0034] The calibration data is obtained according to the historical constraint distance data set.

[0035] In addition, to achieve the above-mentioned purpose, the present invention also proposes a positioning device based on a wireless tag, and the positioning device based on a wireless tag comprises:

[0036] Initialization module: initialize the tag of the device to be located;

[0037] Motion detection module: generates real-time motion data based on the current motion state of the device to be located;

[0038] Data calibration module: calibrating the real-time motion data based on tag constraints to obtain standard motion data;

[0039] Real-time positioning module: based on the preset standard motion data, the device to be positioned is positioned in real time to obtain a tag positioning result.

[0040] In addition, to achieve the above-mentioned purpose, the present invention also proposes a wireless tag-based positioning device, which includes: a memory, a processor, and a wireless tag-based positioning program stored in the memory and executable on the processor, and the wireless tag-based positioning program is configured to implement the steps of the wireless tag-based positioning method described above.

[0041] In addition, to achieve the above-mentioned purpose, the present invention also proposes a computer-readable storage medium storing a computer program, wherein a wireless tag-based positioning program is stored on the storage medium, and when the wireless tag-based positioning program is executed by a processor, the steps of the wireless tag-based positioning method described above are implemented.

[0042] The present invention performs tag initialization on the device to be located; generates real-time motion data based on the current motion state of the device to be located; performs data calibration on the real-time motion data based on preset tag constraints to obtain standard motion data; performs real-time positioning of the device to be located based on the standard motion data to obtain tag positioning results. The present invention effectively locates the device to be located through tags, obtains the real-time motion data of the device to be located, and then performs data precision on the real-time motion data, and finally realizes accurate positioning of the device to be located, meeting the spatial positioning requirements in a base station-free environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 It is a structural diagram of a wireless tag-based positioning device in a hardware operating environment involved in an embodiment of the present invention;

[0044] Figure 2 It is a flow chart of the first embodiment of the positioning method based on wireless tags of the present invention;

[0045] Figure 3 It is a flow chart of the second embodiment of the positioning method based on wireless tags of the present invention;

[0046] Figure 4 It is a flow chart of a third embodiment of a positioning method based on wireless tags of the present invention;

[0047] Figure 5 It is a flowchart of a fourth embodiment of a positioning method based on wireless tags of the present invention;

[0048] Figure 6 It is a structural block diagram of the first embodiment of the positioning device based on wireless tags of the present invention.

[0049] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0050] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0051] Reference Figure 1 , Figure 1 The figure is a schematic diagram of the structure of a positioning device based on a wireless tag in the hardware operating environment involved in the embodiment of the present invention.

[0052] like Figure 1As shown, the wireless tag-based positioning device may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a wireless fidelity (Wireless-Fidelity, Wi-Fi) interface). The memory 1005 may be a high-speed random access memory (Random Access Memory, RAM), or a stable non-volatile memory (Non-Volatile Memory, NVM), such as a disk storage. The memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0053] Those skilled in the art will understand that Figure 1 The structure shown in the figure does not constitute a limitation on the positioning device based on wireless tags, and may include more or less components than those shown in the figure, or combine certain components, or arrange the components differently.

[0054] like Figure 1 As shown, the memory 1005 as a storage medium may include an operating system, a network communication module, a user interface module, and a positioning program based on a wireless tag.

[0055] exist Figure 1 In the wireless tag-based positioning device shown, the network interface 1004 is mainly used for data communication with the network server; the user interface 1003 is mainly used for data interaction with the user; the processor 1001 and the memory 1005 in the wireless tag-based positioning device of the present invention can be set in the wireless tag-based positioning device, and the wireless tag-based positioning device calls the wireless tag-based positioning program stored in the memory 1005 through the processor 1001, and executes the wireless tag-based positioning method provided by the embodiment of the present invention.

[0056] The embodiment of the present invention provides a positioning method based on a wireless tag. Figure 2 , Figure 2 The figure is a flow chart of a first embodiment of a positioning method based on wireless tags of the present invention.

[0057] In this embodiment, the positioning method based on wireless tags includes the following steps:

[0058] Step S10: Initialize the tag of the device to be located;

[0059] It should be noted that, in a specific implementation, when a device without base station positioning requirements uses the positioning method of this embodiment, it is necessary to first set a tag on the device to be positioned and initialize the tag to prepare for subsequent real-time positioning.

[0060] It should also be noted that, in a specific implementation, the tag can actually be a positioning device, so the specific role of tag initialization is to bind the device to be positioned with the tag thereon, and to make subsequent positioning preparations based on the relevant data of the device to be positioned.

[0061] Step S20: generating real-time motion data based on the current motion state of the device to be located;

[0062] It is understandable that, in a specific implementation, a variety of detection function components (such as acceleration sensors, gyroscopes, and compasses, etc.) are provided in the tag device, so that the current motion state of the device to be located can be monitored along with the device to be located, and corresponding real-time motion data can be obtained.

[0063] Step S30: calibrating the real-time motion data based on preset tag constraints to obtain standard motion data;

[0064] It should be noted that, in a specific implementation, the preset tag constraint condition substantially refers to the relationship between other devices that have a rigid connection with the device to be located, wherein the rigid connection specifically refers to the fixed relative positions between tags.

[0065] Step S40: positioning the device to be positioned in real time based on the standard motion data to obtain a tag positioning result.

[0066] It can be understood that, in a specific implementation, the real-time movement of the device to be positioned will generate corresponding real-time movement data, thereby obtaining a tag positioning result and realizing real-time positioning of the device.

[0067] This embodiment initializes the tag of the device to be located; generates real-time motion data based on the current motion state of the device to be located; performs data calibration on the real-time motion data based on preset tag constraints to obtain standard motion data; performs real-time positioning of the device to be located based on the standard motion data to obtain the tag positioning result. This embodiment effectively locates the device to be located through the tag, obtains the real-time motion data of the device to be located, and then performs data precision on the real-time motion data, and finally achieves accurate positioning of the device to be located, meeting the spatial positioning requirements in a base station-free environment.

[0068] refer to Figure 3 , Figure 3The figure is a flow chart of a second embodiment of a positioning method based on wireless tags of the present invention.

[0069] Based on the above first embodiment, in this embodiment, step S10 specifically includes:

[0070] Step S11: obtaining an initial positioning instruction;

[0071] It should be noted that, in a specific implementation, the initial positioning instruction is a positioning start instruction issued by the user to the device tag to be positioned according to needs. After the device tag to be positioned obtains the initial positioning instruction, it can make subsequent positioning preparations.

[0072] Step S12: setting a coordinate system based on the initial posture data of the device to be positioned to obtain a corresponding reference coordinate system;

[0073] It can be understood that, in a specific implementation, the initial posture data of the device to be positioned specifically refers to the initial position data of the device to be positioned, the gravity data of the device to be positioned, and the compass data on the device to be positioned.

[0074] It should also be noted that in the specific implementation, the coordinate system is set based on the initial posture data of the device to be positioned. The specific process may be that the label uses the initialization position of the device to be positioned as the origin, the north direction of the compass on the device to be positioned as the X-axis, and the direction of gravity acceleration of the device to be positioned as the Z-axis, and finally determines the Y-axis of the coordinate system by the right-hand rule.

[0075] Step S13: generating initial position coordinates according to the reference coordinate system and the initial position data of the device to be positioned.

[0076] It should be noted that in the specific implementation, since the origin of the reference coordinate system can be set by the user, the initial position of the device to be positioned is not necessarily the origin of the reference coordinate system. If the initial position of the device to be positioned is not the origin of the reference coordinate system, the corresponding coordinates need to be generated according to the distance between the initial position of the device to be positioned and the origin of the coordinates; if the initial position of the device to be positioned is the origin of the reference coordinate system, the initial position coordinates of the device to be positioned are (0, 0, 0).

[0077] After obtaining the initial positioning instruction, this embodiment first sets the coordinate system based on the initial posture data of the device to be positioned, and then generates the initial position coordinates according to the reference coordinate system and the initial position data of the device to be positioned, thereby finally completing the positioning preparation and preparing for subsequent real-time positioning.

[0078] refer to Figure 4 , Figure 4 The figure is a flow chart of a third embodiment of a positioning method based on wireless tags of the present invention.

[0079] Based on the above second embodiment, in this embodiment, step S12 specifically includes:

[0080] Step S121: parse the initial positioning instruction to obtain coordinate origin information;

[0081] It should be noted that, in a specific implementation, the initial positioning instruction includes coordinate origin information, which can be pre-set by the user according to his or her own needs. For example, the coordinate origin can be set to the starting point of the device to be positioned; or the coordinate origin can be set to other positions that are a certain distance away from the starting point of the device to be positioned.

[0082] Step S122: performing initial state recognition on the device to be positioned, and parsing the initial posture data of the device to be positioned obtained by recognition to obtain coordinate axis information;

[0083] It can be understood that, in a specific implementation, the initial posture data of the device to be positioned specifically refers to the initial position data of the device to be positioned, the gravity data of the device to be positioned, and the compass data on the device to be positioned.

[0084] It should also be noted that in the specific implementation, the coordinate system is set based on the initial posture data of the device to be positioned. The specific process may be that the label uses the initialization position of the device to be positioned as the origin, the north direction of the compass on the device to be positioned as the X-axis, and the direction of gravity acceleration of the device to be positioned as the Z-axis, and finally determines the Y-axis of the coordinate system by the right-hand rule.

[0085] Step S123: Integrate the coordinate origin information and the coordinate axis information to obtain a corresponding reference coordinate system.

[0086] It should be noted that, in a specific implementation, the coordinate origin information and the coordinate axis information need to be integrated and constructed so that the tag on the device to be positioned can exist in a complete motion coordinate system, thereby achieving self-positioning without the need for a base station.

[0087] It should also be noted that, in a specific implementation, the device to be positioned corresponding to each reference coordinate system is associated, that is, each device to be positioned has its own corresponding reference coordinate system.

[0088] This embodiment first parses the initial positioning instruction to obtain the coordinate origin information, then obtains the coordinate axis information based on the initial posture data of the device to be positioned, and finally integrates the coordinate origin information and the coordinate axis information to obtain the corresponding reference coordinate system.

[0089] Furthermore, real-time motion data is generated based on the current motion state of the device to be positioned, specifically including: real-time identification of the current motion state of the device to be positioned to obtain real-time state data; calculation of motion speed based on the real-time state data to obtain real-time speed data; calculation of motion displacement based on the real-time state data to obtain real-time displacement data; integration of real-time speed data and real-time displacement data to obtain real-time motion data.

[0090] It can be understood that in a specific implementation, the tag on the device to be located can monitor the movement state of the device to be located in real time, so real-time status data can be obtained, and real-time speed data can be obtained from the acceleration sensor data in the real-time status data through calculation, and then combined with the gyroscope data and compass data in the real-time status data, real-time displacement data can be further obtained.

[0091] refer to Figure 5 , Figure 5 It is a flow chart of a fourth embodiment of a positioning method based on wireless tags of the present invention.

[0092] Based on the above first embodiment, in this embodiment, step S30 specifically includes:

[0093] Step S31: obtaining reference tag information based on preset tag constraint conditions;

[0094] It should be noted that in the specific implementation, each tag on the device to be located has a corresponding tag constraint condition, where the tag constraint condition specifically refers to the remaining tags that have a rigid connection relationship with the tag. Rigid connection means that the relative positions between tags are fixed. For example, another tag rigidly connected to a certain tag means that the tag is always located 500 meters in front of the position of the other tag.

[0095] Step S32: acquiring motion data of each reference tag based on the reference tag information to obtain a reference tag motion data set;

[0096] It should be noted that, in a specific implementation, the reference tag information actually refers to the identity information of each tag with a rigid connection. Therefore, the reference tag motion data corresponding to each associated tag can be obtained based on the reference tag information, and then a reference tag motion data set can be obtained.

[0097] Step S33: calibrate the real-time motion data based on the reference tag motion data set to obtain standard motion data.

[0098] It can be understood that in a specific implementation, since the real-time motion data obtained by the tag on the device to be positioned contains noise and integrated cumulative errors when monitoring the real-time motion state of the device, the coordinate values ​​calculated based on the real-time motion data will drift over time. At this time, in order to improve the positioning accuracy of the device, it is necessary to calibrate the real-time motion data by referring to the tag motion data set, so as to finally obtain standard motion data (precise positioning).

[0099] This embodiment first obtains reference tag information, then obtains motion data corresponding to each reference tag, and finally calibrates the real-time motion data to obtain standard motion data, ultimately providing a basis for subsequent real-time positioning.

[0100] Furthermore, the real-time motion data is calibrated based on the reference tag motion data set to obtain the standard motion data, which specifically includes: acquiring historical motion data of the device to be located; generating calibration data based on the historical motion data of the device to be located and the reference tag motion data set; and calibrating the real-time motion data through the historical motion data of the device to be located and the calibration data to obtain the standard motion data.

[0101] It can be understood that, in a specific implementation, the historical motion data essentially refers to the motion data recorded before the device to be positioned calibrates the real-time motion data; the reference tag motion data essentially refers to the motion data corresponding to each reference tag, which includes the reference tag historical motion data and the reference note real-time motion data.

[0102] Furthermore, generating calibration data based on the historical motion data of the device to be positioned and the reference tag motion data set specifically includes: generating a historical constraint distance data set based on the historical motion data of the device to be positioned and the reference tag motion data set; and obtaining calibration data based on the historical constraint distance data set.

[0103] It should be noted that in the specific implementation, the real-time motion data will be used as the basis, and the distance between tags will be used as a constraint to design a nonlinear filter, and then the real-time motion data will be corrected with the constraint conditions to remove the accumulated errors of the real-time motion data.

[0104] In addition, an embodiment of the present invention further proposes a computer-readable storage medium storing a computer program, wherein a wireless tag-based positioning program is stored on the storage medium, and when the wireless tag-based positioning program is executed by a processor, the steps of the wireless tag-based positioning method described above are implemented.

[0105] Since the storage medium adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought by the technical solutions of the above embodiments, which will not be described one by one here.

[0106] Reference Figure 6 , Figure 6 It is a structural block diagram of the first embodiment of the positioning device based on wireless tags of the present invention.

[0107] like Figure 6 As shown, the wireless tag-based positioning device proposed in the embodiment of the present invention includes:

[0108] Initialization module 10: Initialize the tag of the device to be located;

[0109] Motion detection module 20: generates real-time motion data based on the current motion state of the device to be located;

[0110] Data calibration module 30: performs data calibration on real-time motion data based on preset label constraints to obtain standard motion data;

[0111] Real-time positioning module 40: performs real-time positioning of the device to be positioned based on standard motion data to obtain a tag positioning result.

[0112] This embodiment initializes the tag of the device to be located; generates real-time motion data based on the current motion state of the device to be located; performs data calibration on the real-time motion data based on the tag constraint conditions to obtain standard motion data; performs real-time positioning of the device to be located based on the standard motion data to obtain the tag positioning result. This embodiment effectively locates the device to be located through the tag, obtains the real-time motion data of the device to be located, and then performs data precision on the real-time motion data, and finally achieves accurate positioning of the device to be located, meeting the spatial positioning requirements in a base station-free environment.

[0113] It should be understood that the above is only an example and does not constitute any limitation on the technical solution of the present invention. In specific applications, technicians in this field can make settings as needed, and the present invention does not limit this.

[0114] It should be noted that the workflow described above is merely illustrative and does not limit the scope of protection of the present invention. In practical applications, technicians in this field can select part or all of them according to actual needs to achieve the purpose of the present embodiment, and no limitation is made here.

[0115] In addition, for technical details not fully described in this embodiment, reference may be made to the wireless tag-based positioning method provided in any embodiment of the present invention, and will not be repeated here.

[0116] In addition, it should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or system including the element.

[0117] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0118] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as a read-only memory (ROM) / RAM, a magnetic disk, or an optical disk), and includes a number of instructions for a terminal device (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present invention.

[0119] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A positioning method based on wireless tags, characterized in that: include: Initialize the tag of the device to be located; Generate real-time motion data based on the current motion state of the device to be located; Performing data calibration on the real-time motion data based on preset tag constraints to obtain standard motion data; The device to be located is located in real time based on the standard motion data to obtain a tag positioning result.

2. The wireless tag-based positioning method according to claim 1, characterized in that: Initialize the tag of the device to be located, including: Get the initial positioning instruction; Setting a coordinate system based on the initial posture data of the device to be positioned to obtain a corresponding reference coordinate system; The initial position coordinates are generated according to the reference coordinate system and the initial position data of the device to be positioned.

3. The wireless tag-based positioning method according to claim 2, characterized in that: The coordinate system is set based on the initial posture data of the device to be positioned to obtain a corresponding reference coordinate system, specifically including: Parsing the initial positioning instruction to obtain coordinate origin information; Performing initial state recognition on the device to be positioned, and parsing the initial posture data of the device to be positioned obtained by recognition to obtain coordinate axis information; The coordinate origin information and the coordinate axis information are integrated to obtain a corresponding reference coordinate system.

4. The wireless tag-based positioning method according to claim 1, characterized in that: Generating real-time motion data based on the current motion state of the device to be located specifically includes: Identify the current motion state of the device to be located in real time to obtain real-time state data; Calculate the movement speed based on the real-time state data to obtain real-time speed data; Perform motion displacement calculation based on the real-time state data to obtain real-time displacement data; The real-time velocity data and the real-time displacement data are integrated to obtain the real-time motion data.

5. The wireless tag-based positioning method according to claim 1, characterized in that: The real-time motion data is calibrated based on preset tag constraints to obtain standard motion data, specifically including: Acquire reference tag information based on the preset tag constraint; Acquire motion data of each reference tag based on the reference tag information to obtain a reference tag motion data set; The real-time motion data is calibrated based on the reference tag motion data set to obtain the standard motion data.

6. The wireless tag-based positioning method according to claim 5, characterized in that: The real-time motion data is calibrated based on the reference tag motion data set to obtain the standard motion data, specifically including: Acquire historical motion data of the device to be located; Generate calibration data based on the historical motion data of the device to be positioned and the reference tag motion data set; The real-time motion data is calibrated using the historical motion data of the device to be positioned and the calibration data to obtain the standard motion data.

7. The wireless tag-based positioning method according to claim 6, characterized in that: Generating calibration data based on the historical motion data of the device to be positioned and the reference tag motion data set specifically includes: Generate a historical constraint distance data set based on the historical motion data of the device to be positioned and the reference tag motion data set; The calibration data is obtained according to the historical constraint distance data set.

8. A positioning device based on a wireless tag, characterized in that: The wireless tag-based positioning device comprises: Initialization module: initialize the tag of the device to be located; Motion detection module: generates real-time motion data based on the current motion state of the device to be located; Data calibration module: calibrating the real-time motion data based on preset label constraints to obtain standard motion data; Real-time positioning module: based on the standard motion data, the device to be positioned is positioned in real time to obtain a tag positioning result.

9. A positioning device based on a wireless tag, characterized in that: The wireless tag-based positioning device includes: a memory, a processor, and a wireless tag-based positioning program stored in the memory and executable on the processor, wherein the wireless tag-based positioning program is configured to implement the wireless tag-based positioning method according to any one of claims 1 to 7.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps in the wireless tag-based positioning method described in any one of claims 1 to 7 can be implemented.

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