Battery-powered high-precision positioning method and system

Abstract

The invention discloses a battery-powered high-precision positioning method and a battery-powered high-precision positioning system. The system is characterized by comprising a positioning base station, a wireless communication base station, a positioning server and positioning label equipment, under the condition that the positioning base station and the wireless communication base station finish time synchronization, the positioning base station uploads base station identification information to the positioning server through the wireless communication base station; the positioning server issues base station positioning configuration information to the positioning base station according to the base station identification information; and the positioning base station positions the at least one positioning label device according to the positioning time slot information in the positioning time block of the positioning base station, determines distance measurement result information of each positioning label device, and determines device positioning information according to the distance measurement result information. In the positioning time block, the positioning base station is awakened to carry out distance measurement in the positioning time slot, so that the working time of the positioning base station can be effectively reduced, and meanwhile, high-precision and high-capacity positioning is guaranteed.

Description

Technical Field

[0001] The present invention relates to the field of wireless positioning, and in particular to a battery-powered high-precision positioning method and system. Background Art

[0002] Existing high-precision wireless positioning methods are mainly based on UWB (Ultra Wide Band) technology, Bluetooth AOA (Angle of Arrival), Bluetooth ranging, etc. In actual project applications, these base stations / anchor points are usually deployed by power supply so that the equipment can be continuously and stably online; however, for some on-site environments such as chemical and electric power, due to explosion-proof requirements or deployment location restrictions, wired deployment with power supply cannot be carried out, and battery self-powered deployment solutions must be adopted. At this time, the power consumption of these base stations has become a key consideration. How to reduce the power consumption of base stations as much as possible and increase system capacity under self-powered conditions is a key research issue. As for the power supply solution, since the power consumption of the base station is not mainly considered, the base station adopts a long listening mode to continuously listen to the signal from the positioning tag and respond. If the battery-powered base station also listens for a long time, the power consumption will be very high and cannot meet the standby requirements of several years. Its standby time may not exceed 1 month. For this reason, how to make the anchor point listen as short as possible, and how to make the anchor point and the tag communicate efficiently in a short time. Summary of the invention

[0003] The present invention provides a battery-powered high-precision positioning device to solve the technical problem of how to reduce the power consumption of a battery-powered positioning base station while ensuring high-precision and high-capacity positioning.

[0004] According to one aspect of the present invention, a battery-powered high-precision positioning method is provided, comprising: a positioning base station, a wireless communication base station, a positioning server and a positioning tag device; wherein: When the positioning base station and the wireless communication base station complete time synchronization, the positioning base station uploads base station identification information to the positioning server through the wireless communication base station; The positioning server sends base station positioning configuration information to the positioning base station according to the base station identification information; wherein the base station positioning configuration information includes positioning time block and positioning time slot information; The positioning base station locates at least one positioning tag device according to the positioning time slot information in the positioning time block of the positioning base station, determines the ranging result information of each positioning tag device, and determines the device positioning information according to the ranging result information.

[0005] According to another aspect of the present invention, a battery-powered high-precision positioning device is provided, comprising: a positioning base station, a wireless communication base station, a positioning server and a positioning tag device; wherein, A base station startup module, configured to enable the positioning base station to upload base station identification information to the positioning server through the wireless communication base station when the positioning base station and the wireless communication base station complete time synchronization; A base station initialization module, used for the positioning server to send base station positioning configuration information to the positioning base station according to the base station identification information; wherein the base station positioning configuration information includes positioning time block and positioning time slot information; The device positioning module locates at least one of the positioning tag devices according to the positioning time slot information in the positioning time block of the positioning base station, determines the ranging result information of each positioning tag device, and determines the device positioning information according to the ranging result information.

[0006] According to another aspect of the present invention, a battery-powered high-precision positioning system is provided, comprising: a positioning base station, a wireless communication base station, a positioning server and a positioning tag device; wherein: The positioning base station and the wireless communication base station are connected to each other through low-power radio; wherein the positioning base station is a battery-powered low-power base station; The positioning tag device and the wireless communication base station are connected to each other through low-power radio communication; The positioning base station and the positioning tag device are connected to each other through Bluetooth and ultra-wideband signals; The wireless communication base station and the positioning server are communicatively connected to each other via low power consumption radio.

[0007] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the battery-powered high-precision positioning method described in any embodiment of the present invention.

[0008] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the battery-powered high-precision positioning method described in any embodiment of the present invention when executed.

[0009] According to the technical solution of the embodiment of the present invention, when the positioning base station and the wireless communication base station complete time synchronization, the positioning base station uploads the base station identification information to the positioning server through the wireless communication base station, and connects the positioning base station and the wireless communication base station through Lora, so as to realize the time synchronization of the wireless communication base station, reduce the time synchronization in the ranging process, effectively reduce the power consumption of the positioning base station, improve the working efficiency of the positioning base station, effectively reduce the unnecessary communication connection of the positioning base station, further reduce the working time of the positioning base station, and improve the power consumption of the positioning base station; the positioning server sends the base station positioning configuration information to the positioning base station according to the base station identification information, and uses the positioning server to uniformly manage the positioning base station, so as to clarify the working time of the positioning base station, control the effective working interval of the positioning base station, further reduce the energy waste of the positioning base station, and improve the power consumption of the positioning base station; the positioning base station locates at least one of the positioning tag devices according to the positioning time slot information in the positioning time block of the positioning base station, determines the ranging result information of each of the positioning tag devices, determines the device positioning information according to the ranging result information, and reduces the power consumption in the positioning process by low-power positioning while ensuring the positioning accuracy. The technical problem that the existing technology cannot reduce the power consumption of battery-powered positioning base stations while ensuring high-precision positioning is solved. The Lora channel is used by the wireless communication base station to synchronize the time of the positioning base station and the positioning tag device, and the positioning server and the positioning base station are connected through the Lora channel to configure the positioning base station, thereby realizing low-power positioning of the positioning base station and the positioning tag device.

[0010] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0012] Figure 1 A flowchart of a battery-powered high-precision positioning method is provided for an embodiment of the present invention; Figure 2 A schematic structural diagram of a battery-powered high-precision positioning system is disclosed; Figure 3 A flowchart of another battery-powered high-precision positioning method provided by an embodiment of the present invention; Figure 4 A flowchart of another battery-powered high-precision positioning method provided by an embodiment of the present invention; Figure 5 A flowchart of another battery-powered high-precision positioning method provided by an embodiment of the present invention; Figure 6 A schematic diagram of the allocation of base station unit groups in a positioning space provided by an embodiment of the present invention; Figure 7 A schematic diagram of the structure of a base station unit group corresponding to a positioning cycle is disclosed; Figure 8 A structural schematic diagram of a positioning time slot corresponding to a positioning base station is disclosed; Fig. 9 A schematic diagram of an arrangement of positioning base stations of a base station unit group provided by an embodiment of the present invention; Fig.10 A schematic diagram of sequential arrangement of positioning base stations of a base station unit group provided by an embodiment of the present invention; Fig.11 A schematic structural diagram of a battery-powered high-precision positioning device provided in an embodiment of the present invention; Fig.12 A schematic structural diagram of an electronic device 10 that can be used to implement an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0013] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0014] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0015] Figure 1A flowchart of a battery-powered high-precision positioning method is provided for an embodiment of the present invention. This embodiment is applicable to the case where a battery-powered positioning base station is used to perform high-precision positioning of a positioning tag device. The method can be executed by a battery-powered high-precision positioning device, which can be implemented in the form of hardware and / or software. The battery-powered high-precision positioning device can be configured in a battery-powered high-precision positioning system. Figure 1 As shown, the method includes: S110: When the positioning base station and the wireless communication base station complete time synchronization, the positioning base station uploads base station identification information to the positioning server via the wireless communication base station.

[0016] Optionally, after the positioning base station is started, the positioning base station prioritizes time synchronization with the wireless communication base station. After the positioning base station and the wireless communication base station complete time synchronization, the positioning base station requests the base station positioning configuration information from the positioning server, and performs device configuration on the positioning base station, so that the positioning base station enters a low-power ranging state to realize the ranging function.

[0017] Optionally, after the positioning base station is started, it is in an unsynchronized and unconfigured mode. The positioning base station waits for the wireless communication base station to perform time synchronization for the positioning base station. After the positioning base station and the wireless communication base station complete time synchronization, the positioning base station sends base station identification information to the wireless communication base station, and the wireless communication base station forwards the base station identification information to the positioning server.

[0018] Figure 2 A schematic diagram of a battery-powered high-precision positioning system is disclosed. Figure 2As shown, multiple battery-powered positioning base stations are set in the positioning space. For example, the positioning base station can be UBeacon; a wireless communication base station is set outside the positioning base station. The positioning base station and the wireless communication base station communicate with each other through low-power radio. For example, the low-power radio can select Lora communication, the wireless communication base station can be a Lora gateway, the low-power radio can select Bluetooth, and the wireless communication base station can be a Bluetooth base station. When the positioning base station is started, the positioning base station is in an unsynchronized and unconfigured mode. At this time, the positioning base station needs to perform time synchronization and base station configuration. The positioning base station first waits for the wireless communication base station. After the wireless communication base station goes online, it is in a time synchronization mode. Every 1S, a GPS second pulse time (1Pulse Per Second, 1PPS) is sent through Lora communication to synchronize the positioning base station and the positioning tag device. After the positioning base station receives the signal, the time synchronization is completed. After the positioning tag device receives the signal, the time synchronization is realized. After the positioning tag device and the wireless communication base station enter the positioning range of the positioning base station, the positioning base station and the positioning tag device establish a communication connection through Bluetooth, and the positioning base station performs high-precision positioning of the positioning tag device through UWB (Ultra Wide Band). The positioning server can be set in the positioning space or in other locations, and the positioning server communicates with the wireless communication base station through low-power radio. Among them, each positioning base station can also communicate with each other through Bluetooth.

[0019] The base station identification information may be identification information that uniquely identifies a positioning base station in the positioning server. Optionally, the base station identification information may be pre-set in the positioning base station and the positioning server, and each positioning base station and the positioning server perform identity authentication through the base station identification information, so that each positioning base station can establish a communication connection with the positioning server through the wireless communication base station to transmit positioning-related information.

[0020] Specifically, after the positioning base station is started, the positioning base station performs time synchronization with the wireless communication base station. After the positioning base station and the wireless communication base station complete time synchronization, the positioning base station sends base station identification information to the wireless communication base station, and the wireless communication base station forwards the base station identification information to the positioning server.

[0021] S120: The positioning server sends base station positioning configuration information to the positioning base station according to the base station identification information.

[0022] Among them, the base station positioning configuration information may be information used to configure the positioning base station to enter a low-power ranging state. Optionally, the base station positioning configuration information includes positioning time blocks and positioning time slot information. The positioning time block may be a positioning time block allocated by the positioning base station in a ranging time or ranging cycle. After the ranging time or ranging cycle enters the positioning time block of the positioning base station, the positioning base station enters a low-power ranging state. When the ranging time or ranging cycle leaves the positioning time block of the positioning base station, the positioning base station may exit the low-power ranging state and enter a dormant state, only retaining time synchronization with the wireless communication base station and detecting time changes in the ranging time or ranging cycle, which can effectively reduce its own power consumption and improve battery life; exemplarily, the positioning time block may be represented by "Block".

[0023] Optionally, in an embodiment of the present invention, a ranging cycle is composed of multiple positioning base stations, and each positioning base station has an allocated positioning time block in the ranging cycle. The time length of the positioning time block of each positioning base station can be set by the positioning server, and the time length of the positioning time block does not exceed the ranging cycle. It should be noted that the ranging cycle can be adjusted in real time by the positioning server according to the positioning measurement requirements, and the positioning time block can also be adjusted in real time by the positioning server according to the measurement requirements of the positioning base station. After adjusting the test cycle and the positioning time block, the positioning server will broadcast the positioning time block and ranging cycle of each positioning base station to each positioning base station through the wireless communication base station.

[0024] Optionally, the positioning time block has corresponding positioning time slot information, there is at least one positioning time slot in the positioning time block, each positioning time slot occupies the time length of the positioning time block, and the positioning time slot can be a communication time window for positioning between the positioning tag device and the positioning base station. In the positioning time slot corresponding to the positioning time block, each positioning time slot of the positioning base station corresponds to a positioning tag device, and in the positioning time slot of a positioning tag device, the positioning base station only communicates with this positioning tag device; a positioning tag device can have a positioning time slot in each positioning base station, and the positioning tag device can communicate with multiple positioning base stations in one positioning time slot, or communicate with different positioning base stations in different positioning time slots. The positioning time slot information can be the time slot allocation information of the positioning base station, and the positioning time slot information includes the positioning time slot and the positioning time slot list; the positioning time slot list can be the list information of the positioning base station recording the occupancy of each positioning time slot, and the positioning time slot list can clearly display the number of positioning time slots of the positioning base station and the occupied positioning time slots, and record the positioning tag devices occupying the positioning time slots and the unoccupied positioning time slots in the occupied positioning time slots. It should be noted that the positioning time slot information can be sent by the positioning server to the positioning base station, or the positioning base station can update the positioning time slot information in the low-power ranging state. After the positioning base station updates the positioning time slot information, the positioning time slot information needs to be uploaded to the positioning server through the wireless communication base station.

[0025] Specifically, the positioning base station connects to the wireless communication base station to upload the base station identification information to the positioning server. The positioning server receives the base station identification information, determines the positioning configuration information according to the base station identification information, and sends the positioning configuration information to the positioning base station through the wireless communication base station.

[0026] Optionally, the base station positioning configuration information is received at the positioning base station, the base station positioning configuration information is identified, and the positioning time block and timing time slot information of the positioning base station are obtained.

[0027] S130: The positioning base station locates at least one positioning tag device according to the positioning time slot information in the positioning time block of the positioning base station, determines the ranging result information of each positioning tag device, and determines the device positioning information according to the ranging result information.

[0028] The ranging result information may be UWB communication ranging timestamp information obtained after the positioning tag device and the positioning base station perform UWB communication ranging.

[0029] Optionally, the specific process of UWB communication ranging by the positioning base station and the positioning tag device corresponding to the positioning time slot is as follows: UWB communication ranging is mainly based on the time of flight (ToF) measurement method. The positioning base station and the positioning tag device directly calculate the signal propagation time by sending and receiving extremely short pulse signals, and then realize positioning based on the signal propagation time. In the positioning process, the signal propagation time between multiple positioning base stations and a positioning tag device is usually selected for positioning. The distance between the positioning tag device and each positioning base station is calculated by the time difference of the signal propagation time to obtain the distance data. The position calculation is performed based on multiple distance data to obtain the device positioning information of the positioning tag device. Among them, for the distance data of three positioning base stations, the trilateral measurement method can be used for position calculation; for the clustering data of more than three positioning base stations, the least squares method can be used for position calculation.

[0030] The device positioning information may be the location information of the positioning tag device in the positioning space.

[0031] Optionally, in the embodiment of the present invention, in order to prevent the positioning base station from skipping its corresponding positioning time block, the positioning base station needs to maintain time synchronization with the wireless communication base station. Optionally, when each positioning base station detects the positioning time block corresponding to the time change value positioning base station itself, at least one positioning tag device is positioned based on the positioning time slot information, the ranging result information of each positioning tag device is determined, and the device positioning information is determined based on the ranging result information.

[0032] Optionally, after the positioning base station and / or positioning tag device obtains the ranging result information, the positioning base station may associate the ranging result information with the positioning tag device and upload it to the wireless communication base station. The wireless communication base station receives the ranging result information uploaded by each positioning base station, performs positioning calculations for each positioning tag device, and determines the device positioning information of each positioning tag device.

[0033] According to the technical solution of the embodiment of the present invention, when the positioning base station and the wireless communication base station complete time synchronization, the positioning base station uploads the base station identification information to the positioning server through the wireless communication base station, and connects the positioning base station and the wireless communication base station through Lora, so as to realize the time synchronization of the wireless communication base station, reduce the time synchronization in the ranging process, effectively reduce the power consumption of the positioning base station, improve the working efficiency of the positioning base station, effectively reduce the unnecessary communication connection of the positioning base station, further reduce the working time of the positioning base station, and improve the power consumption of the positioning base station; the positioning server sends the base station positioning configuration information to the positioning base station according to the base station identification information, and uses the positioning server to uniformly manage the positioning base station, so as to clarify the working time of the positioning base station, control the effective working interval of the positioning base station, further reduce the energy waste of the positioning base station, and improve the power consumption of the positioning base station; the positioning base station locates at least one of the positioning tag devices according to the positioning time slot information in the positioning time block of the positioning base station, determines the ranging result information of each of the positioning tag devices, determines the device positioning information according to the ranging result information, and reduces the power consumption in the positioning process by low-power positioning while ensuring the positioning accuracy. The technical problem that the existing technology cannot reduce the power consumption of battery-powered positioning base stations while ensuring high-precision positioning is solved. The Lora channel is used by the wireless communication base station to synchronize the time of the positioning base station and the positioning tag device, and the positioning server and the positioning base station are connected through the Lora channel to configure the positioning base station, thereby realizing low-power positioning of the positioning base station and the positioning tag device.

[0034] Figure 3 This is a flowchart of another battery-powered high-precision positioning method provided by an embodiment of the present invention. The relationship between this embodiment and the above embodiment is that the specific method for positioning by the positioning base station and the positioning tag device within the time range of the positioning time block is described in detail. Figure 3 As shown, the method includes: S310: When the positioning base station and the wireless communication base station complete time synchronization, the positioning base station uploads base station identification information to the positioning server via the wireless communication base station.

[0035] S320: The positioning server sends base station positioning configuration information to the positioning base station according to the base station identification information.

[0036] S330: The positioning base station performs Bluetooth broadcasting according to the positioning time slot list in the roll call time slot, and updates the positioning time slot list according to the Bluetooth response signal corresponding to the Bluetooth broadcast received from the positioning tag device, and determines the target time slot list.

[0037] Among them, the roll-call time slot can be a time slot time range pre-set in the positioning time block. It should be noted that in the positioning time block, a positioning time block is composed of multiple time slots, and the positioning time slot information records the location and occupied time range of each time slot through the positioning time slot list. The positioning time slot information also includes the roll-call time slot. In the roll-call time slot, the positioning base station broadcasts the positioning time slot list through low-power Bluetooth and updates the positioning time slot list.

[0038] Optionally, when broadcasting the positioning time slot list via low-power Bluetooth in the roll-call time slot, you can choose to broadcast Bluetooth randomly with a variable period to prevent collision with the surrounding environment signal, and inform the positioning tag device in the positioning space of the allocation of the positioning time slot through the Bluetooth broadcast positioning time slot list. After the broadcast, the positioning base station enters the receiving phase in the roll-call time slot and receives the Bluetooth response signal of the positioning tag device to update the positioning time slot list. Among them, the Bluetooth response information can be a Bluetooth signal of the positioning tag device requesting the positioning base station to allocate a positioning time slot.

[0039] Optionally, since the position of the positioning tag device in the positioning space changes all the time, and the positioning range of the positioning base station in a positioning unit group is limited, the positioning tag devices corresponding to each positioning time slot in the positioning time slot list of the positioning base station are not time-effective, and there is a positioning tag device corresponding to a positioning time slot that is not within the positioning range. Therefore, the positioning base station determines the positioning tag devices existing within the positioning range of the positioning base station within the time range corresponding to the positioning time block, and broadcasts the positioning time slot list within the time range corresponding to the roll call time slot, and receives the reply signal of each positioning tag device within the positioning range of the positioning base station to update the positioning time slot list and determine the target time slot list corresponding to each positioning tag device. Among them, the target time slot list can be a record of the positioning tag devices that the positioning base station needs to perform ranging and positioning in a positioning time block. The positioning tag devices existing within the positioning range of the positioning base station are determined by the target time slot list to achieve one-to-one positioning of the positioning tag devices.

[0040] Specifically, when entering the roll call time slot, the positioning base station broadcasts the positioning time slot list to the positioning space through low-power Bluetooth. After receiving the positioning time slot list, the positioning tag device sends a response Bluetooth response signal. After receiving the Bluetooth response signal, the positioning base station updates the positioning time slot list and determines the target time slot list.

[0041] Optionally, in another optional embodiment of the present invention, the positioning time slot list includes an occupied time slot list and a remaining time slot list; The positioning base station performs Bluetooth broadcasting according to the positioning time slot list in the roll call time slot, and updates the positioning time slot list according to the Bluetooth response signal corresponding to the Bluetooth broadcast received from the positioning tag device, and determines the target time slot list, including: The positioning base station performs Bluetooth broadcasting to the positioning tag devices corresponding to the occupied time slot list according to the occupied time slot list within the roll call time slot, broadcasting the Bluetooth roll call signal; The positioning tag device corresponding to the occupied time slot list responds to the Bluetooth roll call signal and replies with a time slot confirmation signal to the positioning base station; The positioning base station updates the positioning time slot list according to the time slot confirmation signal, and determines an updated remaining time slot list and an updated occupied time slot list; The positioning base station performs Bluetooth broadcasting according to the updated positioning time slot list in the roll call time slot, broadcasting the Bluetooth time slot invitation signal; The positioning tag device that does not exist in the occupied time slot list responds to the Bluetooth time slot invitation signal and replies to the positioning base station with a time slot application signal according to the updated remaining time slot list; The positioning base station updates the updated occupied time slot list according to the time slot application signal and determines the target time slot list.

[0042] Among them, the Bluetooth roll call signal can be a Bluetooth signal containing an occupied time slot list broadcast by the positioning base station to the positioning space. The occupied time slot list can be a data list storing the occupancy status of the positioning time slots in the positioning base station; the remaining time slot list can be a data list storing unoccupied positioning time slots in the positioning base station. It should be noted that in the positioning base station, the positioning time slot list consists of an occupied time slot list and a remaining time slot list. In the occupied time slot list, each positioning time slot corresponds to a positioning tag device, while in the remaining time slot list, the positioning time slot is blank.

[0043] Among them, the time slot confirmation signal can be a confirmation response signal of the positioning tag device to the positioning base station. Exemplarily, the time slot confirmation signal can be a response signal (Acknowledgment, ACK) optional, within the time range of the roll call time slot, divided into two parts: broadcast roll call and broadcast remaining list access to new positioning tag devices. In the broadcast roll call part, the positioning tag devices in the positioning space are broadcasted and called through low-power Bluetooth, and the positioning tag devices corresponding to each positioning time slot in the occupied time slot list are read in turn. The positioning tag devices in the positioning space are randomly called at least once with a variable period through Bluetooth to inform the positioning tag device of the current occupied time slot list. After the broadcast is completed, the positioning tag device called in the positioning space replies to the positioning base station and replies to confirm the time slot (ACK, Acknowledgment). When the positioning base station receives the time slot confirmation signal, the time slot confirmation signal updates the positioning time slot list and determines the updated remaining time slot list and the updated occupied time slot list.

[0044] Among them, the Bluetooth time slot invitation signal can be a signal of the remaining time slot list updated by broadcasting low-power Bluetooth, and the Bluetooth time slot invitation signal can be used to enable the positioning tag device that has not been named to join the remaining time slot list of the positioning base station. The positioning tag device that does not exist in the occupied time slot list can be the positioning tag device that has not been named in the positioning space; the time slot application signal can be a Bluetooth signal of the positioning tag device that has not been named to apply to the positioning base station to join the positioning time slot. Optionally, after receiving the named time slot, the positioning base station enters the part of the broadcast remaining list to access the new positioning tag device. The positioning base station broadcasts the Bluetooth time slot invitation signal through Bluetooth to inform the positioning tag device of the updated remaining time slot list for the positioning tag device that has not been named in the positioning space to apply for the positioning time slot. After receiving the Bluetooth time slot invitation signal, the positioning tag device sends a time slot application signal to the positioning base station to apply to join the updated remaining time slot list. The positioning base station receives the time slot application signal and updates the updated occupied time slot list in the positioning tag device based on the time slot application signal again to determine the target time slot list.

[0045] Optionally, when the positioning tag device sends a time slot application signal to the positioning base station, the positioning base station can competitively access the positioning tag device according to the priority of the positioning tag device and allocate the corresponding positioning time slot to the positioning tag device. The positioning base station will allocate the corresponding priority to the positioning tag device according to the order in which the positioning tag device sends the time slot application signal, and the positioning tag device with an earlier sending time has a higher priority.

[0046] Optionally, after the positioning base station receives the time slot application signal, the positioning tag device that sends the time slot application signal is added to the positioning time slot, and the positioning time slot is updated from the updated positioning time slot list to the occupied time slot list. After the positioning tag device is added to the positioning time slot, the updated positioning time slot list is obtained, that is, the target time slot list.

[0047] Specifically, the positioning base station performs Bluetooth broadcasting on the positioning tag devices corresponding to the occupied time slot list according to the occupied time slot list within the roll-call time slot, and broadcasts the Bluetooth roll-call signal into the positioning space. The positioning tag devices corresponding to the occupied time slot list in the positioning space scan the Bluetooth roll-call signal within a preset fixed time window, respond to the Bluetooth roll-call signal, and reply with a time slot confirmation signal to the positioning base station. The positioning base station receives the time slot confirmation signal, updates the positioning time slot list according to the time slot confirmation signal, determines the updated remaining time slot list and the updated occupied time slot list, and the positioning base station continues to broadcast the updated positioning time slot list through Bluetooth within the roll-call time slot, and broadcasts the Bluetooth time slot invitation signal into the positioning space. The positioning tag devices that do not exist in the occupied time slot list in the positioning space respond to the Bluetooth time slot invitation signal, and reply with a time slot application signal to the positioning base station according to the updated remaining time slot list. The positioning base station receives the time slot application signal, and updates the updated occupied time slot list according to the time slot application signal to determine the target time slot list.

[0048] Optionally, in another optional embodiment of the present invention, the positioning base station updates the positioning time slot list according to the time slot confirmation signal, and determines an updated remaining time slot list and an updated occupied time slot list, including: If the positioning base station receives a time slot confirmation signal from a positioning tag device in the occupied time slot list within a preset time range, the positioning tag device corresponding to the time slot confirmation signal is retained in the occupied time slot list; If the positioning base station does not receive the time slot confirmation signal of the positioning tag device in the occupied time slot list within the preset time range, it removes the positioning tag device from the occupied time slot list, updates the positioning time slot list, and determines the updated remaining time slot list and the updated occupied time slot list.

[0049] Among them, the preset time range can be pre-set in the time period for updating the positioning time slot list in the roll call time slot. Optionally, within the roll call time slot, in the broadcast roll call part, the positioning tag devices in the positioning space are broadcast and called via low-power Bluetooth, and the positioning tag devices corresponding to each positioning time slot in the occupied time slot list are read in turn. The positioning tag devices in the positioning space are randomly called via Bluetooth with a variable period at least once to inform the positioning tag devices of the current occupied time slot list. After the broadcast roll call, the positioning base station enters the receiving phase, and the named positioning tag device scans the Bluetooth roll call signal in the preset time window, responds to the Bluetooth roll call signal, and sends a time slot confirmation signal to the positioning base station. The positioning base station receives the time slot confirmation signal of the named positioning tag device. If the positioning tag device in the occupied time slot list is received within the preset time range, If a time slot confirmation signal of the tag device is received, it means that the positioning tag device is still within the positioning range of the positioning base station, and the positioning tag device corresponding to the time slot confirmation signal needs to be retained in the occupied time slot list; if the time slot confirmation signal of the positioning tag device in the occupied time slot list is not received within the preset time range, it means that the positioning tag device does not exist within the positioning range of the positioning base station, and the positioning tag device needs to be aged, and the positioning tag device is removed from the occupied time slot list, and the positioning time slot list is updated, and the positioning time slot corresponding to the positioning tag device is added to the updated remaining time slot list to update the remaining time slot list and the occupied time slot list, and determine the updated remaining time slot list and the updated occupied time slot list.

[0050] Optionally, the positioning tag device listens to the Bluetooth roll call signal of the positioning base station within a preset time window. It should be noted that this time window can be of fixed length or can be adjusted according to the needs of specific applications. The positioning tag device is usually in low power mode to save power, and the signal scanning function of the positioning tag device is activated only when the preset time window is opened.

[0051] S340: The positioning base station locates at least one positioning tag device according to the target time slot list, determines ranging result information of each positioning tag device, and determines device positioning information according to the ranging result information.

[0052] Specifically, after the roll call time slot ends, the positioning base station locates at least one positioning tag device according to the target time slot list, determines the ranging result information of each positioning tag device, and determines the device positioning information according to the ranging result information.

[0053] In the embodiment of the present invention, the positioning base station broadcasts the positioning time slot list via low-power Bluetooth in the roll-call time slot, updates the positioning time slot list via low-power Bluetooth broadcast and the positioning tag device, determines the target time slot list, and the positioning base station locates with the positioning tag device via the positioning time slot in the updated target time slot list to determine the device positioning information of each positioning tag device. The positioning time slot can be communicated with the positioning tag device via low-power Bluetooth to determine the positioning time slot corresponding to each positioning tag device. After entering the positioning time slot, the positioning base station locates with the positioning tag device, effectively reducing the power consumption during the positioning process and ensuring positioning accuracy.

[0054] Figure 4 This is a flowchart of another battery-powered high-precision positioning method provided by an embodiment of the present invention. The relationship between this embodiment and the above embodiment is that the specific method for positioning by the positioning base station and the positioning tag device within the time range of the positioning time slot is described in detail. Figure 4 As shown, the method includes: S410: When the positioning base station and the wireless communication base station complete time synchronization, the positioning base station uploads base station identification information to the positioning server via the wireless communication base station.

[0055] S420: The positioning server sends base station positioning configuration information to the positioning base station according to the base station identification information.

[0056] S430: The positioning base station performs Bluetooth broadcasting according to the positioning time slot list in the roll call time slot, and updates the positioning time slot list according to the Bluetooth response signal corresponding to the Bluetooth broadcast received from the positioning tag device, and determines the target time slot list.

[0057] S440: The positioning base station broadcasts the target time slot list via Bluetooth in the roll call time slot, and broadcasts the Bluetooth ranging signal corresponding to the target time slot list.

[0058] Optionally, within the time range of the roll call timeslot, the two parts of broadcasting the roll call and broadcasting the remaining list to access a new positioning tag device also include a ranging roll call part. In the ranging roll call part, the positioning base station performs Bluetooth roll calls to the positioning tag devices corresponding to each roll call timeslot in the target time slot list based on the target time slot list to inform each positioning tag device of the corresponding positioning time window, so that when the positioning tag device detects the positioning time window, it can perform ranging positioning with the positioning base station.

[0059] The Bluetooth ranging signal may be Bluetooth roll call information broadcast by the positioning base station to the positioning space. The Bluetooth ranging signal may be a Bluetooth signal generated based on the target time slot list, corresponding to each positioning tag device in the target time slot list.

[0060] Optionally, before performing ranging, the positioning base station performs Bluetooth broadcasting to the positioning tag devices in the positioning space based on the target time slot list, broadcasting the Bluetooth ranging signal corresponding to the target time slot list to inform each positioning tag device of the corresponding positioning time window.

[0061] The positioning time window may be the time range corresponding to the positioning time slot in the positioning time block. It should be noted that when the positioning base station and the positioning tag device are positioning, the positioning base station will perform positioning with a positioning tag device in turn according to the positioning time slot, and the actual range corresponding to the positioning time slot may be the positioning time window corresponding to the positioning tag device.

[0062] S450: Each positioning tag device parses the Bluetooth ranging signal to obtain a positioning time window corresponding to each positioning tag device.

[0063] Optionally, within a positioning time slot, a positioning tag device and at least one positioning base station perform ranging and positioning. The positioning tag device scans the Bluetooth ranging signal of the positioning base station in a fixed window and receives the Bluetooth ranging signal. After receiving the Bluetooth ranging signal, the positioning tag device in the Bluetooth ranging signal corresponds to the positioning time slot. Based on the time synchronization between the positioning tag device and the wireless communication base station, the positioning tag device determines the positioning time window with the positioning base station within this positioning cycle. It should be noted that within a positioning cycle, the positioning time windows corresponding to different positioning base stations of a positioning tag device may be the same or different. For the same positioning time window, the positioning tag device can perform ranging and positioning with multiple positioning base stations at the same time. In different positioning time windows, the positioning tag device performs ranging and positioning with the corresponding positioning base stations.

[0064] S460: When each positioning tag device detects that the time has entered the positioning time window, it performs positioning at at least one positioning base station, determines the distance measurement result information of each positioning tag device, and determines the device positioning information according to the distance measurement result information.

[0065] Optionally, for a positioning tag device in a positioning cycle, the positioning tag device preferentially maintains time synchronization with the wireless communication base station. On the basis of maintaining time synchronization, when the positioning tag device detects that the time of the positioning cycle enters the positioning time window corresponding to the positioning time slot, the positioning tag device performs positioning with at least one positioning base station in the positioning time window, determines the ranging result information of the positioning tag device, and determines the device positioning information based on the ranging result information.

[0066] Optionally, in another optional embodiment of the present invention, positioning is performed at the positioning base station respectively, ranging result information of each positioning tag device is determined, and device positioning information is determined according to the ranging result information, including: The positioning tag device establishes a ranging connection with at least one positioning base station, and the positioning tag device and at least one positioning base station perform positioning ranging; After completing the positioning and ranging, each positioning base station generates ranging result information and broadcasts the ranging result information to the positioning tag device via Bluetooth; The positioning tag device transmits at least one received ranging result information back to the positioning server; The positioning server calculates the position of each positioning tag device according to at least one ranging result information returned by each positioning tag device, and obtains the device positioning information of each positioning tag device.

[0067] The ranging result information may be UWB communication ranging timestamp information obtained after the positioning tag device and the positioning base station perform UWB ranging.

[0068] Optionally, when the positioning tag device detects that the time of the positioning cycle enters the positioning time window corresponding to the positioning time slot, the positioning tag device requests ranging from the positioning base station via Bluetooth, the positioning tag device and at least one positioning base station establish a ranging connection, the positioning tag device and the positioning base station perform UWB communication ranging, and after completing the ranging, the positioning base station returns the ranging result information to the positioning tag device via Bluetooth broadcast. After receiving at least one ranging result information, the positioning tag device sends the ranging result information to the positioning server via Lora communication. For each positioning tag device, the positioning server receives at least one ranging result information returned by the positioning tag device, calculates the position of the positioning tag device based on the ranging result information, and obtains the device positioning information corresponding to each positioning tag device.

[0069] Optionally, after the positioning base station completes positioning and ranging, the positioning base station sends the target time slot list to the positioning server through Lora communication. After receiving the target time slot list, the positioning server associates and stores the target time slot list with the base station identification information of the positioning base station.

[0070] In an embodiment of the present invention, the positioning base station broadcasts the positioning time slot list via low-power Bluetooth in the roll-call time slot, updates the positioning time slot list via low-power Bluetooth broadcast and the positioning tag device, determines the target time slot list, and the positioning base station performs positioning ranging with the positioning tag device via the positioning time slot in the updated target time slot list, determines the ranging result information between each positioning tag device and a positioning base station, sends the ranging result information to the positioning server, and the positioning server performs the positioning position calculation based on at least one ranging result information of the positioning tag device to obtain the device positioning information of each positioning tag device. The positioning time slot can be communicated with the positioning tag device via low-power Bluetooth to determine the positioning time slot corresponding to each positioning tag device. When entering the positioning time slot, the positioning base station and the positioning tag device perform positioning, which effectively reduces the power consumption during the positioning process and ensures the positioning accuracy.

[0071] Figure 5 This is a flowchart of another battery-powered high-precision positioning method provided by an embodiment of the present invention. The relationship between this embodiment and the above embodiment is that the specific method of allocating positioning configuration information from the positioning server to the positioning base station is described in detail. Figure 5 As shown, the method includes: S510: When the positioning base station and the wireless communication base station complete time synchronization, the positioning base station uploads base station identification information to the positioning server via the wireless communication base station.

[0072] S520: The positioning server determines base station configuration information according to the base station identification information and a preset spatial positioning map.

[0073] The preset spatial positioning map may be a spatial map of the space where the positioning server is located, which is pre-set by the positioning server. It should be noted that the positioning server is associated with at least one wireless communication base station and at least one positioning base station, and the spatial positioning map may be a map that can accurately display the location of the positioning base station in the positioning space, and the spatial positioning map can provide accurate positioning indoors.

[0074] Optionally, in an optional embodiment of the present invention, the positioning server may pre-enter the precise location information of the positioning base station, and associate the precise location information with the base station identification information of the positioning base station. Then, in the positioning server, the precise location information of the positioning base station may be directly queried based on the base station identification information, and the precise location information of other positioning base stations in the positioning server may be obtained. The base station configuration information of the positioning base station may be determined based on the precise location information of each positioning base station.

[0075] Optionally, before the positioning base station is started, the positioning server pre-sets a display mark corresponding to the positioning base station in a preset spatial positioning map, and associates it with the base station identification information of the positioning base station. Based on the base station identification information, the position of the positioning base station can be determined in the preset spatial positioning map.

[0076] Specifically, the positioning server receives the base station identification information forwarded by the wireless communication base station, and determines the base station configuration information corresponding to the positioning base station in the spatial positioning map based on the base station identification information.

[0077] Optionally, in another optional implementation of the present invention, the positioning server determines the base station configuration information according to the base station identification information and a preset spatial positioning map, including: The positioning server determines the base station spatial information of the positioning base station in the spatial positioning map according to the base station identification information; the positioning server determines the base station configuration information according to the base station spatial information.

[0078] The base station spatial information may be the coordinate information of the positioning base station in the spatial positioning map. It should be noted that the positioning server pre-sets the display mark of each positioning base station in the spatial positioning map, and determines the coordinate information corresponding to the display mark, associates the display mark and the coordinate information with the base station identification information, and stores them in a database pre-set by the positioning server. After the positioning base station uploads the base station identification information, the positioning server performs data query in the database based on the base station identification information to determine the base station spatial information.

[0079] Specifically, the positioning server performs data query based on the base station identification information, determines the display mark of the spatial positioning map, and obtains the base station spatial information through query. The positioning server determines the base station configuration information based on the base station spatial information.

[0080] Optionally, in another optional embodiment of the present invention, the positioning server determines the base station configuration information according to the base station spatial information, including: The positioning server groups and matches the positioning base stations according to the base station spatial information, and determines the base station unit group corresponding to the positioning base station; the positioning server determines the positioning time block and positioning time slot information of the positioning base station according to the base station unit group.

[0081] Among them, the base station unit group can be the information of the positioning unit assigned by the positioning server to the positioning base station. It should be noted that, in the positioning space of the embodiment of the present invention, when the ranging performance of the positioning base station is certain, several positioning base stations need to be grouped into a base station unit group as a positioning unit, and the principle of dividing the base station unit group is to locate several positioning base stations together within a certain range in the positioning space, and if the positioning space is separated by obstacles, resulting in the positioning base stations not being within a spatial range, the positioning base stations are not divided into a positioning unit. Optionally, after the positioning server obtains the base station spatial information of the positioning base station, it identifies the position of the positioning base station in the spatial positioning map based on the base station spatial information, and determines the positioning space where the base station spatial information is located, and divides several positioning base stations within a certain range into a base station unit group based on the positioning space where the base station spatial information is located, and determines the base station unit group corresponding to the positioning base station.

[0082] For example, Figure 6 Schematic diagram of the allocation of base station unit groups in the positioning space provided by an embodiment of the present invention. Figure 6 As shown, in a positioning space, positioning base station 1, positioning base station 2, positioning base station 3, positioning base station 4, positioning base station 5, positioning base station 6, positioning base station 7, positioning base station 8 and positioning base station 9 are respectively set up, and the 9 positioning base stations are allocated in a base station unit group. The 9 positioning base stations are respectively connected to the wireless communication base station for communication.

[0083] Optionally, after the positioning server assigns the positioning base station to the base station unit group, the positioning server determines the positioning time block and positioning time slot information corresponding to the base station unit group based on the base station unit group, and uses the positioning time block and positioning time slot information as the positioning time block and positioning time slot information of the positioning base station.

[0084] Specifically, the positioning server obtains the base station spatial information of the positioning base station, performs a query based on the base station spatial information of the positioning base station, identifies the position of the positioning base station in the spatial positioning map based on the base station spatial information, determines the positioning space where the base station spatial information is located, performs group matching for the positioning base stations, determines the base station unit group corresponding to the positioning base station, and determines the positioning time block and positioning time slot information of the positioning base station based on the base station unit group.

[0085] For example, Figure 7 A schematic diagram of a base station unit group corresponding to a positioning cycle is disclosed. Figure 7As shown in the figure: There are two base station unit groups in a positioning space, which are represented by RG1 and RG2 respectively. T1 and T2 represent the positioning period corresponding to the base station unit group. 1, 2, 3, 4, 5, 6 represent the positioning base stations corresponding to RG1 respectively. 11, 12, 13, 14, 15, 16 represent the positioning base stations corresponding to RG2 respectively. Block represents a positioning time block. In RG1, the positioning period is divided into 6 blocks, and in RG2, the positioning period is divided into 5 blocks. In the 6 blocks corresponding to the base station unit group, the corresponding positioning time blocks are allocated to the positioning base stations, and the positioning time slot information is allocated to the positioning base stations in one positioning time block. Figure 8 A schematic diagram of the structure of the positioning time slot corresponding to a positioning base station is disclosed, such as Figure 8 As shown in the figure, the time range corresponding to a Block is divided into 10 time slots, namely S1, S2, S3, S4, S5, S6, S7, S8, S9, and S10. The first time slot S1 is the roll call time slot, and the 9 time slots from S2 to S10 are positioning time slots. The roll call time slot corresponding to S1 is divided into 7 time slots of S0.1, S0.2, S0.3, S0.4, S0.5, Bluetooth broadcast and gap. The positioning time slot corresponding to S2 is divided into 3 time slots of UWB ranging time, Bluetooth broadcast time and gap.

[0086] Optionally, in another optional embodiment of the present invention, the positioning server performs group matching on the positioning base stations according to the base station spatial information to determine the base station unit group corresponding to the positioning base station, including: The positioning server performs a positioning base station query according to the base station spatial information, and queries at least one positioning base station corresponding to the base station spatial information; The positioning server calculates the base station distance between every two positioning base stations respectively; The positioning base stations are grouped according to the distance between the positioning server base stations and the preset signal interference distance, and the base station unit group corresponding to the positioning base stations is determined.

[0087] The base station distance may be the spatial distance between every two positioning base stations. It should be noted that the base station distance between two positioning base stations may be obtained by performing distance calculation based on the positioning spatial information between every two positioning base stations.

[0088] Among them, the preset signal interference distance can be the minimum distance between two positioning base stations that is not subject to signal interference and is calculated in advance. It should be noted that since the signals of at least two positioning base stations will interfere with each other when they overlap in space, affecting the positioning accuracy and stability of the base station, within the signal interference distance, the signals of the positioning base stations will interfere with each other, while outside the signal interference distance of the two positioning base stations, the signal interference can be ignored. Exemplarily, the signal interference distance can be calculated by the positioning server through a free space path loss model.

[0089] Optionally, in the positioning space, when allocating a positioning base station group to a positioning base station, first remove the influence of obstacles on the allocation of positioning base stations based on the positioning space information, determine the positioning space of the positioning base station in the positioning space map, query other positioning space information in the positioning space based on the positioning space in the positioning space map, query the positioning base station based on other positioning space information, determine other positioning base stations in the same positioning space of the positioning base station, and after obtaining other positioning base stations corresponding to the positioning space, calculate the base station distance between every two positioning base stations based on the positioning space information. If the base station distance between the two base stations is outside the preset signal interference distance, it means that the two positioning base stations can be allocated to two base station unit groups. If the base station distance between the two positioning base stations is within the preset signal interference distance, it means that the two positioning base stations must be allocated to one base station unit group to prevent the signal interference generated when the two positioning base stations work at the same time. Then, the positioning base stations in the positioning space are allocated to the corresponding base station unit groups.

[0090] Optionally, in another optional embodiment of the present invention, the positioning server performs a positioning base station query according to the base station spatial information, and queries at least one positioning base station corresponding to the base station spatial information, including: The positioning server performs a spatial range query on the spatial positioning map according to the base station spatial information to determine the closed space information associated with the base station spatial information; the positioning server obtains at least one positioning base station associated with the closed space information.

[0091] The closed space information may be a coordinate range of a closed positioning space surrounded by obstacles in a space positioning map. For example, the closed space information may be a room composed of walls.

[0092] Optionally, when the positioning server pre-sets the spatial positioning map, the closed space of the spatial positioning map is identified, and the coordinate range corresponding to the closed space is determined as the closed space information of the closed space, and the closed space information is used as the associated information of the spatial positioning map and stored in the server of the positioning server.

[0093] Optionally, the positioning server performs coordinate matching on at least one closed space information based on the base station spatial information to obtain the closed space information corresponding to the base station spatial information. After obtaining the closed space information associated with the base station spatial information, the positioning server obtains at least one positioning base station associated with the positioning server based on the closed space information.

[0094] Optionally, in another optional embodiment of the present invention, the positioning server determines the positioning time block and positioning time slot information of the positioning base station according to the base station unit group, including: The positioning server queries the positioning time period and positioning time slot information of the base station unit group corresponding to the base station unit group; the positioning server arranges the positioning base stations in a positioning order according to a preset positioning time block division method and base station space information, and determines the base station positioning order of the positioning base stations; and allocates positioning time blocks to the positioning time period of the base station unit group according to the base station positioning order, and determines the positioning time blocks.

[0095] Optionally, for the positioning base station corresponding to a base station unit group, when the positioning time period of the positioning base station is updated, the positioning time period of the positioning base station is uploaded to the positioning server. After receiving the positioning time period, the positioning server associates the positioning time period with the positioning base station group. After the positioning base station obtains the target time slot table and updates the positioning time slot information of the positioning base station, the positioning time slot information of the positioning base station is uploaded to the positioning server. The positioning server selects the positioning time slot information uploaded by the positioning base station that is closest to the positioning distance of the positioning base station as the positioning time slot information of the positioning base station.

[0096] Optionally, when dividing the positioning time blocks, you can refer to the positioning time slot information corresponding to the positioning base station, determine the positioning time range that the positioning base station needs to measure based on the positioning time slot information allocated to the positioning base station, and set the positioning time blocks of the corresponding time range for the positioning base station to obtain the positioning time blocks.

[0097] Optionally, in an embodiment of the present invention, when allocating positioning time blocks for positioning base stations, the base station spatial information of the positioning base stations is referred to, and in a base station unit group, the base station spatial information corresponding to each positioning base station is identified, and in adjacent base station unit groups, adjacent base station unit groups activate the positioning base stations in the same order for testing, which can effectively avoid signal interference between each positioning base station and the positioning base stations of the adjacent base station unit groups, and then determine the position of each positioning base station in the spatial positioning map through the base station spatial information, arrange the positioning order for the positioning base stations of the base station unit group, and determine the base station positioning order of the positioning base stations. Among them, the base station positioning order can be the arrangement order of the positioning time blocks of the positioning base stations in the positioning time period corresponding to the base station unit group.

[0098] For example, Fig. 9A schematic diagram of the arrangement of positioning base stations of a base station unit group provided by an embodiment of the present invention. Fig. 9 As shown in the figure, 9 base station unit groups in a positioning space are shown, namely RG (Region Group) 1, RG2, RG3, RG4, RG5, RG6, RG7, RG8 and RG9; for RG1, the positioning base stations are represented by 1, 2, 3, 4, 5, 6, 7, 8, and 9 respectively; for RG2, the positioning base stations are represented by 10, 11, 12, 13, 14, 15, 16, 17, and 18 respectively; for RG3, the positioning base stations are represented by 19, 20, 21, 22, 23, 24, 25, 26, and 27 respectively; for RG4, the positioning base stations are represented by 28, 29, 30, 31, 32, 33, 34, 35, and 36 respectively; for RG5 , the positioning base stations are represented by 37, 38, 39, 40, 41, 42, 43, 44, and 45 respectively; for RG6, the positioning base stations are represented by 46, 47, 48, 49, 50, 51, 52, 53, and 54 respectively; for RG7, the positioning base stations are represented by 55, 56, 57, 58, 59, 60, 61, 62, and 63 respectively; for RG8, the positioning base stations are represented by 64, 65, 66, 67, 68, 69, 70, 71, and 72 respectively; for RG9, the positioning base stations are represented by 73, 74, 75, 76, 77, 78, 79, 80, and 81 respectively.

[0099] Fig.10 A schematic diagram of sequential arrangement of positioning base stations of a base station unit group provided by an embodiment of the present invention, such as Fig.10As shown in the figure: when arranging the positioning base stations in RG1, RG2, RG3, RG4, RG5, RG6, RG7, RG8 and RG9 in positioning order, a zigzag or G-shaped order can be used. For example, in the zigzag order, the base station positioning order of the positioning base stations in RG1 is 1 to 9, and the base station positioning order of the positioning base stations in RG2 is 10 to 18, and so on. The base station positioning order of the positioning base stations in RG9 is 73 to 81. It can be understood that when the No. 1 positioning base station in RG1 enters the low-power positioning state, the No. 10 positioning base station in RG2 synchronously enters the low-power positioning state, the No. 19 positioning base station in RG3 synchronously enters the low-power positioning state, the No. 28 positioning base station in RG4 synchronously enters the low-power positioning state, the No. 37 positioning base station in RG5 synchronously enters the low-power positioning state, and the No. 46 positioning base station in RG6 synchronously enters the low-power positioning state. Power consumption positioning state, No. 55 positioning base station in RG7 synchronously enters the low power consumption positioning state, No. 64 positioning base station in RG8 synchronously enters the low power consumption positioning state, No. 73 positioning base station in RG9 synchronously enters the low power consumption positioning state, and so on. When No. 9 positioning base station in RG1 enters the low power consumption positioning state, No. 18 positioning base station in RG2 synchronously enters the low power consumption positioning state, No. 27 positioning base station in RG3 synchronously enters the low power consumption positioning state, No. 36 positioning base station in RG4 synchronously enters the low power consumption positioning state, No. 45 positioning base station in RG5 synchronously enters the low power consumption positioning state, No. 54 positioning base station in RG6 synchronously enters the low power consumption positioning state, No. 63 positioning base station in RG7 synchronously enters the low power consumption positioning state, No. 72 positioning base station in RG8 synchronously enters the low power consumption positioning state, and No. 81 positioning base station in RG9 synchronously enters the low power consumption positioning state.

[0100] Optionally, in an embodiment of the present invention, when the positioning server allocates positioning time blocks to two adjacent base station unit groups, if the base station distance between the two positioning base stations is too far and there is no conflict between the two positioning base stations in the time slot, the same positioning time block can be used; if the base station distance between the two positioning base stations is too close, even if there is no conflict between the two positioning base stations in the time slot, the same positioning time block cannot be used.

[0101] Optionally, in an embodiment of the present invention, the positioning server obtains the base station positioning order corresponding to the positioning base station in the base station unit group, re-allocates the positioning time blocks for the positioning base stations based on the positioning time period of the base station unit group, determines the positioning time range corresponding to each positioning base station, and allocates positioning time blocks to each positioning base station in turn according to the base station positioning time order to obtain the positioning time block of each positioning base station.

[0102] S530: Send the base station configuration information to the positioning base station via the wireless communication base station.

[0103] Specifically, the positioning server obtains the base station ranging configuration information of the positioning base station, and sends the base station configuration information to the positioning base station through the wireless communication base station.

[0104] S540: The positioning base station performs Bluetooth broadcasting according to the positioning time slot list in the roll call time slot, and updates the positioning time slot list according to the Bluetooth response signal corresponding to the Bluetooth broadcast received from the positioning tag device, and determines the target time slot list.

[0105] S550: The positioning base station broadcasts the target time slot list via Bluetooth in the roll call time slot, and broadcasts the Bluetooth ranging signal corresponding to the target time slot list.

[0106] S560: Each positioning tag device parses the Bluetooth ranging signal to obtain a positioning time window corresponding to each positioning tag device.

[0107] S570: When each positioning tag device detects that the time has entered the positioning time window, it performs positioning at at least one positioning base station, determines the distance measurement result information of each positioning tag device, and determines the device positioning information according to the distance measurement result information.

[0108] According to the technical solution of the embodiment of the present invention, the positioning server sends base station positioning configuration information to the positioning base station according to the base station identification information uploaded by the positioning base station based on the wireless communication base station. The positioning base station and the wireless communication base station are connected through Lora, so that the time synchronization of the wireless communication base station can be realized, the time synchronization in the ranging process is reduced, the power consumption of the positioning base station is effectively reduced, and the working efficiency of the positioning base station is improved. The positioning server is used to uniformly manage the positioning base station, which can effectively reduce unnecessary communication connections of the positioning base station, further reduce the working time of the positioning base station, and improve the power consumption of the positioning base station; the positioning base station joins the base station unit group according to the base station positioning configuration information, and obtains the positioning time block allocated in the base station unit group, configures the positioning base station based on the position of the positioning base station in space, can clarify the working time of the positioning base station, control the effective working range of the positioning base station, further reduce the energy waste of the positioning base station, and improve the power consumption of the positioning base station; when each positioning base station detects that the positioning time period of the base station unit group switches to the corresponding positioning time block of the positioning base station, at least one positioning tag device is positioned based on the base station positioning configuration information, and the device positioning information of each positioning tag device is determined, and the power consumption during the positioning process is reduced when the positioning accuracy can be guaranteed by low-power positioning. The technical problem that the existing technology cannot reduce the power consumption of battery-powered positioning base stations while ensuring high-precision positioning is solved. The Lora channel is used by the wireless communication base station to synchronize the time of the positioning base station and the positioning tag device, and the positioning server and the positioning base station are connected through the Lora channel to configure the positioning base station, thereby realizing low-power positioning of the positioning base station and the positioning tag device.

[0109] Fig.11 A schematic diagram of the structure of a battery-powered high-precision positioning device provided in an embodiment of the present invention. Fig.11 As shown, the device includes: a base station startup module 1110, a base station initialization module 1120 and a device positioning module 1130; wherein, A base station starting module 1110, configured to, when the positioning base station and the wireless communication base station complete time synchronization, enable the positioning base station to upload base station identification information to the positioning server via the wireless communication base station; The base station initialization module 1120 is used for the positioning server to send base station positioning configuration information to the positioning base station according to the base station identification information; wherein the base station positioning configuration information includes positioning time block and positioning time slot information; The device positioning module 1130 locates at least one of the positioning tag devices according to the positioning time slot information in the positioning time block of the positioning base station, determines the ranging result information of each of the positioning tag devices, and determines the device positioning information according to the ranging result information.

[0110] According to the technical solution of the embodiment of the present invention, when the positioning base station and the wireless communication base station complete time synchronization, the positioning base station uploads the base station identification information to the positioning server through the wireless communication base station, and connects the positioning base station and the wireless communication base station through Lora, so as to realize the time synchronization of the wireless communication base station, reduce the time synchronization in the ranging process, effectively reduce the power consumption of the positioning base station, improve the working efficiency of the positioning base station, effectively reduce the unnecessary communication connection of the positioning base station, further reduce the working time of the positioning base station, and improve the power consumption of the positioning base station; the positioning server sends the base station positioning configuration information to the positioning base station according to the base station identification information, and uses the positioning server to uniformly manage the positioning base station, so as to clarify the working time of the positioning base station, control the effective working interval of the positioning base station, further reduce the energy waste of the positioning base station, and improve the power consumption of the positioning base station; the positioning base station locates at least one of the positioning tag devices according to the positioning time slot information in the positioning time block of the positioning base station, determines the ranging result information of each of the positioning tag devices, determines the device positioning information according to the ranging result information, and reduces the power consumption in the positioning process by low-power positioning while ensuring the positioning accuracy. The technical problem that the existing technology cannot reduce the power consumption of battery-powered positioning base stations while ensuring high-precision positioning is solved. The Lora channel is used by the wireless communication base station to synchronize the time of the positioning base station and the positioning tag device, and the positioning server and the positioning base station are connected through the Lora channel to configure the positioning base station, thereby realizing low-power positioning of the positioning base station and the positioning tag device.

[0111] Optionally, the device positioning module is specifically used for: the positioning base station performs Bluetooth broadcasting according to the positioning time slot list within the roll call time slot, and updates the positioning time slot list according to a Bluetooth response signal corresponding to the Bluetooth broadcast received from the positioning tag device, to determine the target time slot list; The positioning base station locates at least one of the positioning tag devices according to the target time slot list, determines the ranging result information of each of the positioning tag devices, and determines the device positioning information according to the ranging result information.

[0112] Optionally, the device positioning module is further specifically used for: the positioning base station performs Bluetooth broadcasting on the positioning tag devices corresponding to the occupied time slot list according to the occupied time slot list within the roll call time slot, broadcasting a Bluetooth roll call signal; The positioning tag device corresponding to the occupied time slot list responds to the Bluetooth roll call signal and replies a time slot confirmation signal to the positioning base station; The positioning base station updates the positioning time slot list according to the time slot confirmation signal, and determines an updated remaining time slot list and an updated occupied time slot list; The positioning base station performs Bluetooth broadcasting according to the updated positioning time slot list in the roll call time slot, broadcasting a Bluetooth time slot invitation signal; The positioning tag device that does not exist in the occupied time slot list responds to the Bluetooth time slot invitation signal and replies a time slot application signal to the positioning base station according to the updated remaining time slot list; The positioning base station updates the updated occupied time slot list according to the time slot application signal to determine the target time slot list.

[0113] Optionally, the device positioning module is further specifically used for: the positioning base station broadcasts the target time slot list via Bluetooth within the roll-call time slot, and broadcasts the Bluetooth ranging signal corresponding to the target time slot list; Each of the positioning tag devices parses the Bluetooth ranging signal to obtain a positioning time window corresponding to each of the positioning tag devices; When each positioning tag device detects that the time enters the positioning time window, it performs positioning at at least one positioning base station, determines the distance measurement result information of each positioning tag device, and determines the device positioning information according to the distance measurement result information.

[0114] Optionally, the device positioning module is further specifically used for: if the positioning base station receives a time slot confirmation signal of the positioning tag device in the occupied time slot list within a preset time range, then retaining the positioning tag device corresponding to the time slot confirmation signal in the occupied time slot list; If the positioning base station does not receive the time slot confirmation signal of the positioning tag device in the occupied time slot list within a preset time range, the positioning tag device is removed from the occupied time slot list, and the positioning time slot list is updated to determine the updated remaining time slot list and the updated occupied time slot list.

[0115] Optionally, the device positioning module is further specifically used for: the positioning tag device and at least one of the positioning base stations establish a ranging connection, and the positioning tag device and at least one of the positioning base stations perform positioning and ranging; After the positioning and ranging is completed, each of the positioning base stations generates ranging result information, and transmits the ranging result information to the positioning tag device via the Bluetooth broadcast; The positioning tag device transmits the received at least one ranging result information back to the positioning server; The positioning server calculates the position of each positioning tag device according to at least one ranging result information returned by each positioning tag device, and obtains the device positioning information of each positioning tag device.

[0116] Optionally, the base station initialization module is specifically used for: the positioning server determining the base station configuration information according to the base station identification information and a preset spatial positioning map; The base station configuration information is sent to the positioning base station through the wireless communication base station.

[0117] Optionally, the base station initialization module is further specifically used for: the positioning server determines the base station spatial information of the positioning base station in the spatial positioning map according to the base station identification information; The positioning server determines the base station configuration information according to the base station spatial information.

[0118] Optionally, the base station initialization module is further specifically used for: the positioning server performs group matching on the positioning base stations according to the base station spatial information, and determines the base station unit group corresponding to the positioning base station; The positioning server determines the positioning time block and positioning time slot information of the positioning base station according to the base station unit group.

[0119] Optionally, the base station initialization module is further specifically used for: the positioning server to perform a positioning base station query according to the base station spatial information, and query at least one positioning base station corresponding to the base station spatial information; The positioning server respectively calculates the base station distance between every two positioning base stations; The positioning server groups the positioning base stations according to the base station distances and preset signal interference distances, and determines a base station unit group corresponding to the positioning base stations.

[0120] Optionally, the base station initialization module is further specifically used for: the positioning server performs a spatial range query on the spatial positioning map according to the base station spatial information to determine the closed space information associated with the base station spatial information; The positioning server obtains at least one of the positioning base stations associated with the closed space information.

[0121] Optionally, the base station initialization module is further configured to: The positioning server queries the positioning time period and positioning time slot information of the base station unit group corresponding to the base station unit group; The positioning server arranges the positioning base stations in a positioning order according to the base station spatial information, and determines a base station positioning order of the positioning base stations; The positioning time block is allocated to the positioning time period of the base station unit group according to the base station positioning sequence to determine the positioning time block.

[0122] The battery-powered high-precision positioning device provided in the embodiment of the present invention can execute the battery-powered high-precision positioning method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0123] Fig.12 A schematic diagram of the structure of an electronic device 10 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their modes are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0124] like Fig.12As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. The input / output (I / O) interface 15 is also connected to the bus 14.

[0125] A number of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer grid such as the Internet and / or various telecommunication grids.

[0126] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 performs the various methods and processes described above, such as a battery-powered high-precision positioning method.

[0127] In some embodiments, the battery-powered high-precision positioning method may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the battery-powered high-precision positioning method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the battery-powered high-precision positioning method in any other appropriate manner (e.g., by means of firmware).

[0128] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0129] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the modes / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0130] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, device, or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0131] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0132] The systems and techniques described herein may be implemented in a computing system that includes a backend component (e.g., as a data server), or a computing system that includes a middleware component (e.g., an application server), or a computing system that includes a frontend component (e.g., a user computer with a graphical user interface or a grid browser through which a user can interact with an implementation of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication grid). Examples of communication grids include: a local area network (LAN), a wide area network (WAN), a blockchain grid, and the Internet.

[0133] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication grid. The client and server relationship is generated by computer programs running on the respective computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0134] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0135] This embodiment provides a computer-readable storage medium having a computer program stored thereon. When the program is executed by a processor, the steps of the battery-powered high-precision positioning method provided by any embodiment of the present invention are implemented. The method includes: a positioning base station, a wireless communication base station, a positioning server, and a positioning tag device; wherein, When the positioning base station and the wireless communication base station complete time synchronization, the positioning base station uploads base station identification information to the positioning server through the wireless communication base station; The positioning server sends base station positioning configuration information to the positioning base station according to the base station identification information; wherein the base station positioning configuration information includes positioning time block and positioning time slot information; The positioning base station locates at least one positioning tag device according to the positioning time slot information in the positioning time block of the positioning base station, determines the ranging result information of each positioning tag device, and determines the device positioning information according to the ranging result information.

[0136] The computer storage medium of the embodiment of the present invention can adopt any combination of one or more computer-readable media. The computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium can be, for example, but not limited to: an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples (non-exhaustive list) of computer-readable storage media include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this document, a computer-readable storage medium can be any tangible medium containing or storing a program, which can be used by an instruction execution system, device or device or used in combination with it.

[0137] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, which carry computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0138] The program code embodied on the computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0139] Computer program code for performing the operation of the present invention may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer via any type of grid, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0140] It should be understood by those skilled in the art that the above modules or steps of the present invention can be implemented by a general-purpose computing device, they can be concentrated on a single computing device, or distributed on a grid composed of multiple computing devices, optionally, they can be implemented by a program code executable by a computer device, so that they can be stored in a storage device and executed by the computing device, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. Thus, the present invention is not limited to any specific combination of hardware and software.

[0141] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0142] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A battery-powered high-precision positioning method, characterized in that: include: Positioning base station, wireless communication base station, positioning server and positioning tag device; wherein, When the positioning base station and the wireless communication base station complete time synchronization, the positioning base station uploads base station identification information to the positioning server through the wireless communication base station; The positioning server sends base station positioning configuration information to the positioning base station according to the base station identification information; wherein the base station positioning configuration information includes positioning time block and positioning time slot information; The positioning base station locates at least one positioning tag device according to the positioning time slot information in the positioning time block of the positioning base station, determines the ranging result information of each positioning tag device, and determines the device positioning information according to the ranging result information.

2. The method according to claim 1, characterized in that The positioning time slot information includes a roll call time slot and a positioning time slot list; The positioning base station locates at least one of the positioning tag devices according to the positioning time slot information in the positioning time block of the positioning base station, determines the ranging result information of each of the positioning tag devices, and determines the device positioning information according to the ranging result information, including: The positioning base station performs Bluetooth broadcasting according to the positioning time slot list in the roll call time slot, and updates the positioning time slot list according to the Bluetooth response signal corresponding to the Bluetooth broadcast received from the positioning tag device, and determines the target time slot list; The positioning base station locates at least one of the positioning tag devices according to the target time slot list, determines the ranging result information of each of the positioning tag devices, and determines the device positioning information according to the ranging result information.

3. The method according to claim 2, characterized in that The positioning time slot list includes an occupied time slot list and a remaining time slot list; The positioning base station performs Bluetooth broadcasting according to the positioning time slot list in the roll call time slot, and updates the positioning time slot list according to the Bluetooth response signal corresponding to the Bluetooth broadcast received from the positioning tag device, and determines the target time slot list, including: The positioning base station performs Bluetooth broadcasting to the positioning tag devices corresponding to the occupied time slot list according to the occupied time slot list within the roll call time slot, broadcasting a Bluetooth roll call signal; The positioning tag device corresponding to the occupied time slot list responds to the Bluetooth roll call signal and replies a time slot confirmation signal to the positioning base station; The positioning base station updates the positioning time slot list according to the time slot confirmation signal, and determines an updated remaining time slot list and an updated occupied time slot list; The positioning base station performs Bluetooth broadcasting according to the updated positioning time slot list in the roll call time slot, broadcasting a Bluetooth time slot invitation signal; The positioning tag device that does not exist in the occupied time slot list responds to the Bluetooth time slot invitation signal and replies a time slot application signal to the positioning base station according to the updated remaining time slot list; The positioning base station updates the updated occupied time slot list according to the time slot application signal to determine the target time slot list.

4. The method according to claim 3, characterized in that The positioning base station locates at least one of the positioning tag devices according to the target time slot list, determines the ranging result information of each of the positioning tag devices, and determines the device positioning information according to the ranging result information, including: The positioning base station broadcasts the target time slot list via Bluetooth in the roll-call time slot, and broadcasts the Bluetooth ranging signal corresponding to the target time slot list; Each of the positioning tag devices parses the Bluetooth ranging signal to obtain a positioning time window corresponding to each of the positioning tag devices; When each positioning tag device detects that the time enters the positioning time window, it performs positioning at at least one positioning base station, determines the distance measurement result information of each positioning tag device, and determines the device positioning information according to the distance measurement result information.

5. The method according to claim 3, characterized in that: The positioning base station updates the positioning time slot list according to the time slot confirmation signal, and determines an updated remaining time slot list and an updated occupied time slot list, including: If the positioning base station receives a time slot confirmation signal from the positioning tag device in the occupied time slot list within a preset time range, the positioning tag device corresponding to the time slot confirmation signal is retained in the occupied time slot list; If the positioning base station does not receive the time slot confirmation signal of the positioning tag device in the occupied time slot list within a preset time range, the positioning tag device is removed from the occupied time slot list, and the positioning time slot list is updated to determine the updated remaining time slot list and the updated occupied time slot list.

6. The method according to claim 4, characterized in that Performing positioning at the positioning base station respectively, determining the distance measurement result information of each positioning tag device, and determining the device positioning information according to the distance measurement result information, including: The positioning tag device establishes a ranging connection with at least one positioning base station, and the positioning tag device performs positioning and ranging with at least one positioning base station; After the positioning and ranging is completed, each of the positioning base stations generates ranging result information, and transmits the ranging result information to the positioning tag device via the Bluetooth broadcast; The positioning tag device transmits the received at least one ranging result information back to the positioning server; The positioning server calculates the position of each positioning tag device according to at least one ranging result information returned by each positioning tag device, and obtains the device positioning information of each positioning tag device.

7. The method according to claim 1, characterized in that The positioning server sends the base station positioning configuration information to the positioning base station according to the base station identification information, including: The positioning server determines the base station configuration information according to the base station identification information and a preset spatial positioning map; The base station configuration information is sent to the positioning base station through the wireless communication base station.

8. The method according to claim 7, characterized in that The positioning server determines the base station configuration information according to the base station identification information and a preset spatial positioning map, including: The positioning server determines the base station spatial information of the positioning base station in the spatial positioning map according to the base station identification information; The positioning server determines the base station configuration information according to the base station spatial information.

9. The method according to claim 8, characterized in that The positioning server determines the base station configuration information according to the base station spatial information, including: The positioning server performs group matching on the positioning base stations according to the base station spatial information, and determines a base station unit group corresponding to the positioning base station; The positioning server determines the positioning time block and positioning time slot information of the positioning base station according to the base station unit group.

10. The method according to claim 9, characterized in that The positioning server performs group matching on the positioning base stations according to the base station spatial information to determine a base station unit group corresponding to the positioning base station, including: The positioning server performs a positioning base station query according to the base station spatial information, and queries at least one of the positioning base stations corresponding to the base station spatial information; The positioning server respectively calculates the base station distance between every two positioning base stations; The positioning server groups the positioning base stations according to the base station distances and preset signal interference distances, and determines a base station unit group corresponding to the positioning base stations.

11. The method according to claim 10, characterized in that The positioning server performs a positioning base station query according to the base station spatial information, and queries at least one positioning base station corresponding to the base station spatial information, including: The positioning server performs a spatial range query on the spatial positioning map according to the base station spatial information to determine the closed space information associated with the base station spatial information; The positioning server obtains at least one of the positioning base stations associated with the closed space information.

12. The method according to claim 10, characterized in that The positioning server determines the positioning time block and positioning time slot information of the positioning base station according to the base station unit group, including: The positioning server queries the positioning time period and positioning time slot information of the base station unit group corresponding to the base station unit group; The positioning server arranges the positioning base stations in a positioning order according to the base station spatial information, and determines a base station positioning order of the positioning base stations; The positioning time block is allocated to the positioning time period of the base station unit group according to the base station positioning sequence to determine the positioning time block.

13. A battery-powered high-precision positioning device, characterized in that: include: Positioning base station, wireless communication base station, positioning server and positioning tag device; wherein, A base station startup module, configured to enable the positioning base station to upload base station identification information to the positioning server through the wireless communication base station when the positioning base station and the wireless communication base station complete time synchronization; A base station initialization module, used for the positioning server to send base station positioning configuration information to the positioning base station according to the base station identification information; wherein the base station positioning configuration information includes positioning time block and positioning time slot information; The device positioning module locates at least one of the positioning tag devices according to the positioning time slot information in the positioning time block of the positioning base station, determines the ranging result information of each positioning tag device, and determines the device positioning information according to the ranging result information.

14. A battery-powered high-precision positioning system, characterized in that: include: Positioning base station, wireless communication base station, positioning server and positioning tag device; wherein, The positioning base station and the wireless communication base station are connected to each other through low-power radio; wherein the positioning base station is a battery-powered low-power base station; The positioning tag device and the wireless communication base station are connected to each other through low-power radio communication; The positioning base station and the positioning tag device are connected to each other through Bluetooth and ultra-wideband signals; The wireless communication base station and the positioning server are connected to each other through low-power radio communication; The system is used to execute the battery-powered high-precision positioning method described in any one of claims 1-11.

15. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can perform the battery-powered high-precision positioning method described in any one of claims 1-11.

16. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the battery-powered high-precision positioning method according to any one of claims 1 to 11 when executed.

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