Battery powered high accuracy positioning method and system

Abstract

The application discloses a kind of battery-powered high-precision positioning method and system.The features include: positioning base station, wireless communication base station, positioning server and positioning tag device;In the case where positioning base station and wireless communication base station complete time synchronization, positioning base station uploads base station identification information to positioning server through wireless communication base station;Positioning server issues base station positioning configuration information to positioning base station according to base station identification information;Positioning base station determines the ranging result information of each positioning tag device in the positioning time block of positioning base station according to positioning time slot information, and determines device positioning information according to ranging result information.Positioning base station is awakened in positioning time slot in positioning time block to carry out ranging, which can effectively reduce the working time of positioning base station, while ensuring high-precision and high-capacity positioning.

Description

Technical Field

[0001] This invention relates to the field of wireless positioning, and more particularly to a battery-powered high-precision positioning method and system. Background Technology

[0002] Existing high-precision wireless positioning methods are mainly based on UWB (Ultra Wide Band) technology, Bluetooth AOA (Angle of Arrival), and Bluetooth ranging. In practical applications, these base stations / anchors are usually deployed using power supplies to ensure continuous and stable online operation. However, in environments such as chemical plants and power plants, due to explosion-proof requirements or deployment location limitations, wired deployment with power supplies is not feasible, necessitating battery-powered deployment solutions. In these cases, the power consumption of these base stations becomes a critical consideration. How to minimize base station power consumption and maximize system capacity under self-powered conditions is a key research issue. Power-supply solutions, since they do not primarily consider base station power consumption, employ a long-term listening mode, continuously monitoring signals from positioning tags and responding accordingly. If battery-powered base stations also engage in long-term listening, power consumption will be extremely high, failing to meet the standby requirements of several years; their standby time may not even exceed one month. Therefore, the challenge lies in enabling anchors to listen for as short a time as possible and achieving efficient communication between anchors and tags within a short period. Summary of the Invention

[0003] This invention provides a battery-powered high-precision positioning and device to solve the technical problem of reducing the power consumption of battery-powered positioning base stations 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,

[0005] When the positioning base station and the wireless communication base station achieve time synchronization, the positioning base station uploads base station identification information to the positioning server through the wireless communication base station;

[0006] The positioning server sends base station positioning configuration information to the positioning base station based on the base station identification information; wherein, the base station positioning configuration information includes positioning time block and positioning time slot information;

[0007] 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.

[0008] 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,

[0009] A base station startup module is used to, when the positioning base station and the wireless communication base station have completed time synchronization, have the positioning base station upload base station identification information to the positioning server through the wireless communication base station.

[0010] A base station initialization module is used by 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;

[0011] The device positioning module, in the positioning time block of the positioning base station, positions at least one of the positioning tag devices according to the positioning time slot information, determines the ranging result information of each of the positioning tag devices, and determines the device positioning information based on the ranging result information.

[0012] 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,

[0013] The positioning base station and the wireless communication base station are interconnected via low-power radio; wherein, the positioning base station is a battery-powered low-power base station.

[0014] The positioning tag device and the wireless communication base station are interconnected via low-power radio communication.

[0015] The positioning base station and the positioning tag device communicate with each other via Bluetooth and ultra-wideband signals.

[0016] The wireless communication base station and the positioning server are interconnected via low-power radio.

[0017] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0018] At least one processor; and

[0019] A memory communicatively connected to the at least one processor; wherein,

[0020] The memory stores a computer program that can be executed by the at least one processor, which enables the at least one processor to perform the battery-powered high-precision positioning method according to any embodiment of the present invention.

[0021] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to execute and implement the battery-powered high-precision positioning method according to any embodiment of the present invention.

[0022] The technical solution of this invention, when the positioning base station and the wireless communication base station achieve time synchronization, allows the positioning base station to upload base station identification information to the positioning server through the wireless communication base station. Connecting the positioning base station and the wireless communication base station via LoRa enables time synchronization of the wireless communication base station, reducing time synchronization during ranging, effectively reducing the power consumption of the positioning base station, improving its working efficiency, and effectively reducing unnecessary communication connections, further reducing the working time of the positioning base station and improving its power consumption. The positioning server sends base station positioning configuration information to the positioning base station based on the base station identification information. Using the positioning server to uniformly manage the positioning base station clarifies the working time of the positioning base station, controls its effective working range, further reduces energy waste, and improves its power consumption. Within the positioning time block of the positioning base station, the positioning base station locates at least one positioning tag device based on the positioning time slot information, determines the ranging result information of each positioning tag device, and determines the device positioning information based on the ranging result information. Low-power positioning ensures positioning accuracy while reducing power consumption during the positioning process. To address the technical challenge of reducing power consumption of battery-powered positioning base stations while ensuring high-precision positioning in existing technologies, a LoRa channel is used by a wireless communication base station to synchronize the time between the positioning base station and the positioning tag device. The LoRa channel is also used to connect the positioning server and the positioning base station for configuration, thus achieving low-power positioning for both the positioning base station and the positioning tag device.

[0023] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 A flowchart of a battery-powered high-precision positioning method is provided as an embodiment of the present invention;

[0026] Figure 2 A schematic diagram of a battery-powered high-precision positioning system is disclosed.

[0027] Figure 3 A flowchart illustrating another battery-powered high-precision positioning method provided in an embodiment of the present invention;

[0028] Figure 4 A flowchart illustrating another battery-powered high-precision positioning method provided in an embodiment of the present invention;

[0029] Figure 5 A flowchart illustrating another battery-powered high-precision positioning method provided in an embodiment of the present invention;

[0030] Figure 6 This is a schematic diagram illustrating the allocation of base station unit groups in the positioning space provided in an embodiment of the present invention;

[0031] Figure 7 A schematic diagram of the structure of a base station unit group corresponding to a positioning period is disclosed.

[0032] Figure 8 A schematic diagram of the structure of a positioning time slot corresponding to a positioning base station has been disclosed.

[0033] Figure 9 This is a schematic diagram of the arrangement of positioning base stations in a base station unit group provided by an embodiment of the present invention;

[0034] Figure 10 This is a schematic diagram of the sequential arrangement of positioning base stations in a base station unit group provided by an embodiment of the present invention;

[0035] Figure 11 This is a schematic diagram of the structure of a battery-powered high-precision positioning device provided in an embodiment of the present invention;

[0036] Figure 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. Detailed Implementation

[0037] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0038] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0039] Figure 1 This invention provides a flowchart of a battery-powered high-precision positioning method. This embodiment is applicable to situations where a battery-powered positioning base station is used to perform high-precision positioning of positioning tag devices. The method can be executed by a battery-powered high-precision positioning device, which can be implemented in hardware and / or software and can be configured within a battery-powered high-precision positioning system. Figure 1 As shown, the method includes:

[0040] S110. When the positioning base station and the wireless communication base station have completed time synchronization, the positioning base station uploads the base station identification information to the positioning server through the wireless communication base station.

[0041] 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 base station positioning configuration information from the positioning server to configure the positioning base station and enable the positioning base station to enter a low-power ranging state to realize the ranging function.

[0042] 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.

[0043] Figure 2 A schematic diagram of a battery-powered high-precision positioning system is disclosed, such as... Figure 2As shown, multiple battery-powered positioning base stations are set up in the positioning space. For example, a positioning base station can be a UBeacon. A wireless communication base station is set up outside the positioning base stations. The positioning base stations and the wireless communication base station communicate with each other via low-power radio. For example, the low-power radio can be LoRa communication, and the wireless communication base station can be a LoRa gateway. Alternatively, the low-power radio can be Bluetooth, and the wireless communication base station can be a Bluetooth base station. When a positioning base station starts up, it 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 comes online, it enters time synchronization mode and sends a GPS pulse per second (1 Pulse Per Second, 1 PPS) every 1 second via LoRa communication to synchronize the time of the positioning base station and the positioning tag device. After receiving the signal, the positioning base station completes time synchronization, and the positioning tag device completes time synchronization after receiving the signal. 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 via Bluetooth. The positioning base station performs high-precision positioning of the positioning tag device through UWB (Ultra Wide Band). The positioning server can be located in the positioning space or elsewhere. It communicates with wireless communication base stations via low-power radio. Furthermore, the positioning base stations can communicate with each other via Bluetooth.

[0044] The base station identification information can be a unique identifier for a positioning base station within the positioning server. Optionally, the base station identification information can be pre-set in the positioning base station and the positioning server, with each positioning base station and the positioning server using the base station identification information for authentication, enabling each positioning base station to establish a communication connection with the positioning server via a wireless communication base station to transmit positioning-related information.

[0045] Specifically, after the positioning base station is activated, it synchronizes its time with the wireless communication base station. After the positioning base station and the wireless communication base station complete the time synchronization, the positioning base station sends the 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.

[0046] S120. The positioning server sends the base station positioning configuration information to the positioning base station based on the base station identification information.

[0047] The base station positioning configuration information can be 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. A positioning time block can be a time block allocated by the positioning base station within a ranging time or ranging cycle. After entering the positioning time block of the positioning base station during the ranging time or ranging cycle, the positioning base station enters a low-power ranging state. When leaving the positioning time block of the positioning base station during the ranging time or ranging cycle, the positioning base station can exit the low-power ranging state and enter a sleep state, retaining only time synchronization with the wireless communication base station and detection of time changes in the ranging time or ranging cycle. This effectively reduces its own power consumption and improves battery life. For example, a positioning time block can be represented by "Block".

[0048] Optionally, in this embodiment of the invention, a ranging cycle is constituted by multiple positioning base stations. Each positioning base station has an allocated positioning time block within the ranging cycle. The duration of the positioning time block for each positioning base station can be set by the positioning server, and the duration 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 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 stations. After adjusting the testing cycle and 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 a wireless communication base station.

[0049] Optionally, the positioning time block contains corresponding positioning time slot information. Each positioning time block contains at least one positioning time slot, and each time slot occupies the time length of the positioning time block. A positioning time slot can be a communication time window for positioning between the positioning tag device and the positioning base station. Within the positioning time slots corresponding to the positioning time block, each positioning time slot of the positioning base station corresponds to one positioning tag device. Within the positioning time slot of a positioning tag device, the positioning base station only communicates with that positioning tag device. A positioning tag device can have one positioning time slot at each positioning base station. The positioning tag device can communicate with multiple positioning base stations in one positioning time slot, or 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, including positioning time slots and a positioning time slot list. The positioning time slot list can be a list of information recorded by the positioning base station regarding the occupancy of each positioning time slot. 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 occupied positioning time slots and the unoccupied positioning time slots. It should be noted that the positioning time slot information can be sent from the positioning server to the positioning base station, or the positioning base station can update the positioning time slot information in low-power ranging mode. After the positioning base station updates the positioning time slot information, it needs to upload the positioning time slot information to the positioning server through the wireless communication base station.

[0050] Specifically, the positioning base station connects to the wireless communication base station and uploads base station identification information to the positioning server. The positioning server receives the base station identification information, determines the positioning configuration information based on the base station identification information, and sends the positioning configuration information to the positioning base station through the wireless communication base station.

[0051] Optionally, after receiving the base station positioning configuration information, the positioning base station identifies the base station positioning configuration information and obtains the positioning time block and timing time slot information of the positioning base station.

[0052] S130. In the positioning time block of the positioning base station, the positioning base station locates at least one positioning tag device according to the positioning time slot information, determines the ranging result information of each positioning tag device, and determines the device positioning information based on the ranging result information.

[0053] Among them, the ranging result information can be the UWB communication ranging timestamp information obtained after the positioning tag device and the positioning base station perform UWB communication ranging.

[0054] Optionally, the specific process of UWB communication ranging for the positioning tag device corresponding to the positioning base station and 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 positioning tag device directly calculate the signal propagation time by sending and receiving extremely short pulse signals, and then achieve positioning based on the signal propagation time. In the positioning process, the propagation time of signals between multiple positioning base stations and one 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, and the distance data is obtained. Based on multiple distance data, the location is calculated to obtain the device positioning information of the positioning tag device. Among them, for the distance data of three positioning base stations, the trilateration method can be used for location calculation; for the clustered data of more than three positioning base stations, the least squares method can be used for location calculation.

[0055] Among them, the device positioning information can be the location information of the positioning tag device in the positioning space.

[0056] Optionally, in this embodiment of the invention, in order to prevent skipping its corresponding positioning time block, the positioning base station needs to maintain time synchronization with the wireless communication base station.

[0057] Optionally, when a positioning base station detects a time change value, it locates the positioning time block corresponding to the positioning base station itself, locates at least one positioning tag device based on the positioning time slot information, determines the ranging result information of each positioning tag device, and determines the device positioning information based on the ranging result information.

[0058] Optionally, after obtaining ranging results from the positioning base station and / or positioning tag device, the positioning base station can associate the ranging results with the positioning tag device and upload it to the wireless communication base station. After receiving the ranging results uploaded by each positioning base station, the wireless communication base station performs positioning calculations for each positioning tag device to determine the device positioning information of each positioning tag device.

[0059] The technical solution of this invention, when the positioning base station and the wireless communication base station achieve time synchronization, allows the positioning base station to upload base station identification information to the positioning server through the wireless communication base station. Connecting the positioning base station and the wireless communication base station via LoRa enables time synchronization of the wireless communication base station, reducing time synchronization during ranging, effectively reducing the power consumption of the positioning base station, improving its working efficiency, and effectively reducing unnecessary communication connections, further reducing the working time of the positioning base station and improving its power consumption. The positioning server sends base station positioning configuration information to the positioning base station based on the base station identification information. Using the positioning server to uniformly manage the positioning base station clarifies the working time of the positioning base station, controls its effective working range, further reduces energy waste, and improves its power consumption. Within the positioning time block of the positioning base station, the positioning base station locates at least one positioning tag device based on the positioning time slot information, determines the ranging result information of each positioning tag device, and determines the device positioning information based on the ranging result information. Low-power positioning ensures positioning accuracy while reducing power consumption during the positioning process. To address the technical challenge of reducing power consumption of battery-powered positioning base stations while ensuring high-precision positioning in existing technologies, a LoRa channel is used by a wireless communication base station to synchronize the time between the positioning base station and the positioning tag device. The LoRa channel is also used to connect the positioning server and the positioning base station for configuration, thus achieving low-power positioning for both the positioning base station and the positioning tag device.

[0060] Figure 3 This is a flowchart illustrating another battery-powered high-precision positioning method provided by an embodiment of the present invention. The relationship between this embodiment and the above embodiments is that this embodiment details the specific method by which the positioning base station and the positioning tag device perform positioning within a positioning time block. For example... Figure 3 As shown, the method includes:

[0061] S310. When the positioning base station and the wireless communication base station have completed time synchronization, the positioning base station uploads the base station identification information to the positioning server through the wireless communication base station.

[0062] S320: The positioning server sends base station positioning configuration information to the positioning base station based on the base station identification information.

[0063] S330: The positioning base station broadcasts via Bluetooth according to the positioning time slot list within the designated time slot, and updates the positioning time slot list based on the Bluetooth response signal received from the positioning tag device based on the Bluetooth broadcast, thereby determining the target time slot list.

[0064] The naming slot can be a pre-set time range within a positioning time block. It should be noted that a positioning time block consists of multiple slots. The positioning slot information, recorded in a positioning slot list, includes the location and time range of each slot. The naming slot information also includes the positioning base station broadcasts and updates the positioning slot list via Bluetooth Low Energy during the naming slot.

[0065] Optionally, when broadcasting the location time slot list via Bluetooth Low Energy during the roll call time slot, a variable-period random Bluetooth broadcast can be selected to prevent collisions with surrounding environmental signals. The Bluetooth broadcast of the location time slot list informs the location tag devices within the location space of the time slot allocation. After the broadcast ends, the location base station enters the receiving phase within the roll call time slot to receive Bluetooth response signals from the location tag devices to update the location time slot list. The Bluetooth response information can be a Bluetooth signal from the location tag device requesting the allocation of a location time slot from the location base station.

[0066] Optionally, since the location of the positioning tag device in the positioning space changes constantly, 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-sensitive. There may be a positioning tag device outside the positioning range corresponding to a positioning time slot. Therefore, within the time range corresponding to the positioning time block, the positioning base station determines the positioning tag devices present within its positioning range. It then broadcasts the positioning time slot list within the time range corresponding to the designated time slot, receives response signals from each positioning tag device within the positioning range of the positioning base station, updates the positioning time slot list, and determines the target time slot list corresponding to each positioning tag device. The target time slot list can record the positioning tag devices that the positioning base station needs to perform ranging and positioning within a positioning time block. By determining the positioning tag devices present within the positioning range of the positioning base station through the target time slot list, one-to-one positioning of the positioning tag devices is achieved.

[0067] Specifically, when the positioning base station enters the designated time slot, it broadcasts a list of positioning time slots to the positioning space via Bluetooth Low Energy. After receiving the list of positioning time slots, the positioning tag device sends a corresponding Bluetooth response signal. After receiving the Bluetooth response signal, the positioning base station updates the list of positioning time slots and determines the target time slot list.

[0068] Optionally, in another optional embodiment of the present invention, the location time slot list includes an occupied time slot list and a remaining time slot list;

[0069] The positioning base station broadcasts via Bluetooth according to the positioning time slot list within the designated time slot, and updates the positioning time slot list based on the Bluetooth response signal received from the positioning tag device corresponding to the Bluetooth broadcast, thus determining the target time slot list, including:

[0070] During the designated time slot, the positioning base station broadcasts a Bluetooth name signal to the positioning tag devices corresponding to the occupied time slot list based on the occupied time slot list.

[0071] The location tag device corresponding to the occupied time slot list responds to the Bluetooth name signal and replies with a time slot confirmation signal to the positioning base station;

[0072] The positioning base station updates the positioning time slot list based on the time slot confirmation signal to determine the updated remaining time slot list and the updated occupied time slot list;

[0073] During the designated time slot, the positioning base station broadcasts a Bluetooth time slot invitation signal based on the updated positioning time slot list.

[0074] Location tag devices that are not in the occupied time slot list respond to the Bluetooth time slot invitation signal and reply to the location base station with a time slot request signal according to the updated remaining time slot list;

[0075] The positioning base station updates the updated list of occupied time slots based on the time slot request signal to determine the target time slot list.

[0076] The Bluetooth tagging signal can be a Bluetooth signal broadcast by the positioning base station to the positioning space, containing a list of occupied time slots. The occupied time slot list can be a data list stored in the positioning base station indicating the occupancy status of positioning time slots; the remaining time slot list can be a data list stored in the positioning base station indicating unoccupied positioning time slots. 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 one positioning tag device, while in the remaining time slot list, positioning time slots are empty.

[0077] The time slot confirmation signal can be an acknowledgment response signal from the positioning tag device to the positioning base station. For example, the time slot confirmation signal can be an acknowledgment (ACK) signal, which is optional. Within the time range of the naming time slot, it consists of two parts: broadcasting the naming and broadcasting the remaining list to allow new positioning tag devices to join. In the broadcast naming part, the positioning tag devices in the positioning space are broadcasted via Bluetooth Low Energy. The positioning tag devices corresponding to each positioning time slot in the occupied time slot list are read sequentially. The positioning tag devices in the positioning space are randomly named at least once via Bluetooth with a variable period, informing the positioning tag devices of the current occupied time slot list. After the broadcast ends, the named positioning tag devices in the positioning space reply to the positioning base station with an acknowledgment (ACK). Upon receiving the time slot confirmation signal, the positioning base station updates the positioning time slot list, determining the updated remaining time slot list and the updated occupied time slot list.

[0078] The Bluetooth slot invitation signal can be a signal broadcasting an updated list of remaining slots via Bluetooth Low Energy. This signal can be used to add unnamed location tag devices to the location base station's remaining slot list. Location tag devices not present in the occupied slot list can be unnamed location tag devices in the location space. The slot request signal can be a Bluetooth signal from an unnamed location tag device requesting to join a location slot from the location base station. Optionally, after receiving the named slot, the location base station enters the part where it broadcasts the remaining list to access new location tag devices. The location base station broadcasts the Bluetooth slot invitation signal to inform the location tag devices of the updated remaining slot list, allowing unnamed location tag devices in the location space to request location slots. Upon receiving the Bluetooth slot invitation signal, the location tag device sends a slot request signal to the location base station to request to join the updated remaining slot list. Upon receiving the slot request signal, the location base station updates the updated occupied slot list for the location tag devices again based on the slot request signal to determine the target slot list.

[0079] Optionally, when a positioning tag sends a time slot request signal to a positioning base station, the base station can competitively access the tag based on its priority and allocate a corresponding positioning time slot. Specifically, the base station allocates priority based on the order in which the tag sends its time slot request signal, with tags that send their signals earlier having higher priority.

[0080] Optionally, after the positioning base station receives the time slot request signal, it adds the positioning tag device that issued the time slot request signal to the positioning time slot, and updates the positioning time slot 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, i.e. the target time slot list, is obtained again.

[0081] Specifically, within the designated time slot, the positioning base station broadcasts a Bluetooth name signal to the corresponding positioning tag devices in the occupied time slot list via Bluetooth. Positioning tag devices in the occupied time slot list scan for the Bluetooth name signal within a pre-set fixed time window, respond to the Bluetooth name signal, and reply with a time slot confirmation signal to the positioning base station. Upon receiving the time slot confirmation signal, the positioning base station updates the positioning time slot list to determine the updated remaining time slot list and the updated occupied time slot list. Within the designated time slot, the positioning base station continues to broadcast the updated positioning time slot list via Bluetooth, broadcasting a Bluetooth time slot invitation signal to the positioning space. Positioning tag devices not in the occupied time slot list respond to the Bluetooth time slot invitation signal and reply with a time slot request signal to the positioning base station based on the updated remaining time slot list. Upon receiving the time slot request signal, the positioning base station updates the updated occupied time slot list to determine the target time slot list.

[0082] 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 the updated remaining time slot list and the updated occupied time slot list, including:

[0083] If a 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, it will retain the positioning tag device corresponding to the time slot confirmation signal in the occupied time slot list.

[0084] If the positioning base station does not receive a time slot confirmation signal from the positioning tag device in the occupied time slot list within a preset time range, it removes the positioning tag device from the occupied time slot list and updates the positioning time slot list to determine the updated remaining time slot list and the updated occupied time slot list.

[0085] The preset time range can be pre-set to the time period during which the location time slot list is updated in the naming time slot. Optionally, within the naming time slot, in the broadcast naming part, the location tag devices in the location space are broadcast named via Bluetooth Low Energy. The location tag devices corresponding to each location time slot in the occupied time slot list are read sequentially, and the location tag devices in the location space are randomly named at least once via Bluetooth with a variable period, informing the location tag devices of the current occupied time slot list. After the broadcast naming, the location base station enters the receiving phase. The named location tag device scans for the Bluetooth naming signal within the preset time window, responds to the Bluetooth naming signal, and sends a time slot confirmation signal to the location base station. The location base station receives the time slot confirmation signal from the named location tag device. If the location tag device in the occupied time slot list is received within the preset time range, the location tag device will be considered as having a location slot in the occupied time slot list. If a time slot confirmation signal is received from a tag device, it indicates 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 no time slot confirmation signal is received from a positioning tag device in the occupied time slot list within a preset time range, it indicates that the positioning tag device is not within the positioning range of the positioning base station, and the positioning tag device needs to be aged out. The positioning tag device should be removed from the occupied time slot list, and the positioning time slot list should be updated. The positioning time slot corresponding to the positioning tag device should be added to the updated remaining time slot list to update the remaining time slot list and the occupied time slot list, and the updated remaining time slot list and the updated occupied time slot list should be determined.

[0086] Optionally, the positioning tag device listens for the Bluetooth name signal from the positioning base station within a preset time window. It should be noted that this time window can be of fixed length or adjusted according to specific application requirements. The positioning tag device is typically in low-power mode to conserve power, and its signal scanning function is only activated when the preset time window is open.

[0087] S340. 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 based on the ranging result information.

[0088] Specifically, after the location base station finishes the roll call time slot, it locates at least one location tag device according to the target time slot list, determines the ranging result information of each location tag device, and determines the device location information based on the ranging result information.

[0089] In this embodiment of the invention, the positioning base station broadcasts a list of positioning time slots via Bluetooth Low Energy (BLE) during the designated time slots. This BLE broadcast, combined with updates to the positioning time slot list by the positioning tag devices, determines the target time slot list. The positioning base station then uses the updated target time slots to perform positioning with the positioning tag devices, thus determining the device positioning information for each tag device. By communicating with the positioning tag devices via BLE to establish positioning time slots, the positioning base station can effectively reduce power consumption during the positioning process and ensure positioning accuracy.

[0090] Figure 4 This is a flowchart illustrating another battery-powered high-precision positioning method provided by an embodiment of the present invention. The relationship between this embodiment and the above embodiments is that this embodiment details the specific method by which the positioning base station and the positioning tag device perform positioning within the time range of the positioning time slot. Figure 4 As shown, the method includes:

[0091] S410. When the positioning base station and the wireless communication base station have completed time synchronization, the positioning base station uploads the base station identification information to the positioning server through the wireless communication base station.

[0092] S420: The positioning server sends base station positioning configuration information to the positioning base station based on the base station identification information.

[0093] S430: The positioning base station broadcasts via Bluetooth according to the positioning time slot list within the designated time slot, and updates the positioning time slot list based on the Bluetooth response signal received from the positioning tag device based on the Bluetooth broadcast, thereby determining the target time slot list.

[0094] S440 and the positioning base station broadcast the target time slot list via Bluetooth within the designated time slot, and broadcast the Bluetooth ranging signal corresponding to the target time slot list.

[0095] Optionally, within the time range of the naming time slot, the two parts of broadcasting the naming and broadcasting the remaining list to access new positioning tag devices also include a ranging naming part. In the ranging naming part, the positioning base station performs Bluetooth naming to the positioning tag devices corresponding to each naming time slot in the target time slot list based on the target time slot list, so as 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.

[0096] The Bluetooth ranging signal can be Bluetooth point name information broadcast by the positioning base station to the positioning space. The Bluetooth ranging signal can also be a Bluetooth signal generated based on a target timeslot list, corresponding to each positioning tag device in the target timeslot list.

[0097] Optionally, before ranging, the positioning base station broadcasts the Bluetooth ranging signal corresponding to the target time slot list to the positioning tag devices in the positioning space via Bluetooth, based on the target time slot list, so as to inform each positioning tag device of the corresponding positioning time window.

[0098] The positioning time window can be the time range corresponding to the positioning time slot within the positioning time block. It should be noted that when the positioning base station and positioning tag device perform positioning, the positioning base station will sequentially perform positioning with one positioning tag device according to the positioning time slot. The actual range corresponding to this positioning time slot can be the positioning time window corresponding to that positioning tag device.

[0099] S450: Each positioning tag device parses the Bluetooth ranging signal to obtain the positioning time window corresponding to each positioning tag device.

[0100] Optionally, within a positioning time slot, a positioning tag device performs ranging and positioning with at least one positioning base station. The positioning tag device scans the Bluetooth ranging signal of the positioning base station within a fixed window, receives the Bluetooth ranging signal, and after receiving the Bluetooth ranging signal, parses the positioning time slot corresponding to the positioning tag device in the Bluetooth ranging signal. 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 window corresponding to a positioning tag device with different positioning base stations can 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 simultaneously. In different positioning time windows, the positioning tag device performs ranging and positioning with the corresponding positioning base station.

[0101] 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 ranging result information of each positioning tag device, and determines the device positioning information based on the ranging result information.

[0102] Optionally, for a positioning tag device in a positioning cycle, the positioning tag device prioritizes maintaining time synchronization with the wireless communication base station. While 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.

[0103] Optionally, in another optional embodiment of the present invention, positioning is performed at the positioning base station respectively, the ranging result information of each positioning tag device is determined, and the device positioning information is determined based on the ranging result information, including:

[0104] 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 and ranging;

[0105] After each positioning base station completes the positioning and ranging, it generates ranging result information and transmits the ranging result information to the positioning tag device via Bluetooth broadcast;

[0106] The positioning tag device will receive at least one ranging result and send it back to the positioning server;

[0107] The positioning server calculates the location of each positioning tag device based on at least one ranging result information received from each positioning tag device, and obtains the device positioning information of each positioning tag device.

[0108] Among them, the ranging result information can be the UWB communication ranging timestamp information obtained after the positioning tag device and the positioning base station perform UWB ranging.

[0109] Optionally, when the positioning tag device detects that the positioning cycle time 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 establishes a ranging connection with at least one positioning base station, and the positioning tag device performs UWB communication ranging with the positioning base station. After completing the ranging, the positioning base station broadcasts the ranging result information back to the positioning tag device via Bluetooth. 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.

[0110] Optionally, after the positioning base station completes the positioning and ranging, the positioning base station sends the target time slot list to the positioning server via 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.

[0111] In this embodiment of the invention, the positioning base station broadcasts a list of positioning time slots via Bluetooth Low Energy (BLE) within the designated time slots. This BLE broadcast, combined with updates to the positioning time slot list by the positioning tag devices, determines the target time slot list. The positioning base station then uses the positioning time slots in the updated target time slot list to perform positioning and ranging with the positioning tag devices, determining the ranging result information between each positioning tag device and one positioning base station. This ranging result information is then sent to the positioning server. The positioning server calculates the location based on at least one ranging result information from the positioning tag devices, obtaining the device positioning information for each positioning tag device. By using BLE to communicate with the positioning tag devices regarding positioning time slots, the positioning base station can determine the corresponding positioning time slot for each tag device. Upon entering a positioning time slot, the positioning base station performs positioning with the positioning tag device, effectively reducing power consumption during the positioning process and ensuring positioning accuracy.

[0112] Figure 5 This is a flowchart illustrating another battery-powered high-precision positioning method provided by an embodiment of the present invention. The relationship between this embodiment and the above embodiments is that this method details the specific method by which a positioning server allocates positioning configuration information to a positioning base station. Figure 5 As shown, the method includes:

[0113] S510. When the positioning base station and the wireless communication base station have completed time synchronization, the positioning base station uploads the base station identification information to the positioning server through the wireless communication base station.

[0114] S520: The positioning server determines the base station configuration information based on the base station identification information and the preset spatial positioning map.

[0115] The preset spatial positioning map can be a spatial map of the space where the positioning server is located, 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 can accurately display the location of the positioning base station within the positioning space, providing accurate positioning indoors.

[0116] Optionally, in an optional embodiment of the present invention, the positioning server can pre-enter the precise location information of the positioning base station, associate the precise location information with the base station identification information of the positioning base station, and then directly query the precise location information of the positioning base station based on the base station identification information in the positioning server, obtain the precise location information of other positioning base stations in the positioning server, and determine the base station configuration information of the positioning base station based on the precise location information of each positioning base station.

[0117] Optionally, before the positioning base station is activated, 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 location of the positioning base station can be determined in the preset spatial positioning map.

[0118] Specifically, after the positioning server receives the base station identification information forwarded by the wireless communication base station, it determines the base station configuration information corresponding to the positioning base station on the spatial positioning map based on the base station identification information.

[0119] Optionally, in another optional embodiment of the present invention, the positioning server determines the base station configuration information based on the base station identification information and a preset spatial positioning map, including:

[0120] The positioning server determines the spatial information of the positioning base station on the spatial positioning map based on the base station identification information; the positioning server determines the base station configuration information based on the base station spatial information.

[0121] The base station spatial information can be the coordinates of the positioning base station on a spatial positioning map. It should be noted that the positioning server pre-sets a display marker for each positioning base station on the spatial positioning map, determines the corresponding coordinate information of the display marker, associates the display marker and coordinate information with the base station identification information, and stores this information in a pre-set database on the positioning server. After the positioning base station uploads its identification information, the positioning server queries the database based on the base station identification information to determine the base station spatial information.

[0122] Specifically, the positioning server queries data based on base station identification information to determine the display markers on the spatial positioning map and retrieves base station spatial information. The positioning server then determines base station configuration information based on the base station spatial information.

[0123] Optionally, in another optional embodiment of the present invention, the positioning server determines the base station configuration information based on the base station spatial information, including:

[0124] The positioning server groups and matches positioning base stations based on their spatial information to determine the corresponding base station unit group; the positioning server then determines the positioning time block and positioning time slot information of the positioning base station based on the base station unit group.

[0125] The base station unit group can be information about the positioning units allocated by the positioning server to the positioning base station. It should be noted that, within the positioning space of this embodiment, given a certain ranging performance of the positioning base station, several positioning base stations need to be grouped into a base station unit group to form a single positioning unit. The principle for dividing the base station unit group is that several positioning base stations located together within a certain range in the positioning space are grouped together. If the positioning space is separated by obstacles, causing the positioning base stations to be outside the same spatial range, then the positioning base stations are not assigned to a single positioning unit. Optionally, after obtaining the base station spatial information of the positioning base station, the positioning server identifies the location of the positioning base station on the spatial positioning map based on the base station spatial information, 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, thus determining the base station unit group corresponding to the positioning base station.

[0126] For example, Figure 6 This is a schematic diagram illustrating 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 set up respectively. The nine positioning base stations are allocated in a base station unit group, and the nine positioning base stations are respectively connected to the wireless communication base station.

[0127] Optionally, after the positioning server assigns a positioning base station to a 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.

[0128] Specifically, after obtaining the base station spatial information of the positioning base station, the positioning server queries based on the base station spatial information, identifies the location of the positioning base station on 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 station, 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.

[0129] For example, Figure 7 A schematic diagram of the structure of a base station unit group corresponding to a positioning period is disclosed. For example... Figure 7As shown: Two base station unit groups, RG1 and RG2, exist in a positioning space. T1 and T2 represent the positioning period corresponding to each base station unit group. Numbers 1, 2, 3, 4, 5, and 6 represent the positioning base stations corresponding to RG1, and numbers 11, 12, 13, 14, 15, and 16 represent the positioning base stations corresponding to RG2. A Block represents a positioning time block. In RG1, the positioning period is divided into 6 Blocks, and in RG2, it is divided into 5 Blocks. Within the 6 Blocks corresponding to each base station unit group, corresponding positioning time blocks are allocated to the positioning base stations, and positioning time slot information is allocated to each positioning base station within a single positioning time block. Figure 8 A schematic diagram of the structure of a positioning time slot corresponding to a positioning base station has been published, as follows: Figure 8 As shown, the time range corresponding to a block is divided into 10 time slots: S1, S2, S3, S4, S5, S6, S7, S8, S9, and S10. The first time slot, S1, is the point-of-sale time slot. The nine time slots from S2 to S10 are the positioning time slots. The point-of-sale time slot corresponding to S1 is divided into seven time slots: S0.1, S0.2, S0.3, S0.4, S0.5, Bluetooth broadcast, and gap. The positioning time slot corresponding to S2 is divided into three time slots: UWB ranging time, Bluetooth broadcast time, and gap.

[0130] Optionally, in another optional embodiment of the present invention, the positioning server performs group matching of positioning base stations based on base station spatial information to determine the base station unit group corresponding to the positioning base station, including:

[0131] The positioning server performs a positioning base station query based on the base station spatial information, and queries at least one positioning base station corresponding to the base station spatial information.

[0132] The positioning server calculates the distance between each pair of positioning base stations;

[0133] The positioning server base station distance and the preset signal interference distance are used to group the positioning base stations and determine the base station unit group corresponding to the positioning base station.

[0134] The base station distance can be the spatial distance between any two positioning base stations. It should be noted that the base station distance between two positioning base stations can be calculated using the positioning spatial information between each pair of base stations.

[0135] The preset signal interference distance can be a pre-calculated minimum distance between two positioning base stations to avoid signal interference. It should be noted that when the signals of at least two positioning base stations overlap in space, they will interfere with each other, affecting positioning accuracy and base station stability. Within the signal interference distance, the signals of the positioning base stations will interfere with each other, while outside the signal interference distance, the signal interference can be ignored. For example, the signal interference distance can be calculated by the positioning server using a free space path loss model.

[0136] Optionally, when allocating a positioning base station group within the positioning space, the process begins by removing the influence of obstacles on the allocation of positioning base stations based on the positioning space information. This determines the positioning space of each base station on the positioning space map. Then, other positioning space information within that space is queried based on the positioning space map. Based on this other positioning space information, positioning base stations are queried to identify other positioning base stations in the same positioning space as the first base station. After obtaining the other positioning base stations corresponding to the positioning space, the base station distance between each pair of base stations is calculated based on the positioning space information. If the base station distance between two base stations is outside a preset signal interference distance, then the two base stations can be allocated to two different base station unit groups. If the base station distance is within the preset signal interference distance, then the two base stations must be allocated to one base station unit group to prevent signal interference when both base stations are operating simultaneously. Finally, the positioning base stations within the positioning space are allocated to the corresponding base station unit groups.

[0137] Optionally, in another optional embodiment of the present invention, the positioning server performs a positioning base station query based on the base station spatial information, querying at least one positioning base station corresponding to the base station spatial information, including:

[0138] The positioning server queries the spatial range on the spatial positioning map based on the base station spatial information to determine the closed spatial information associated with the base station spatial information; the positioning server obtains at least one positioning base station associated with the closed spatial information.

[0139] The enclosed space information can be the coordinate range of an enclosed positioning space surrounded by obstacles in a spatial positioning map. For example, the enclosed space information can be a room composed of walls.

[0140] Optionally, when the positioning server pre-sets the spatial positioning map, the closed space of the spatial positioning map is identified, 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 positioning server.

[0141] Optionally, the positioning server performs coordinate matching in at least one closed space 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, it obtains at least one positioning base station associated with the positioning server based on the closed space information.

[0142] 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:

[0143] 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 positioning order according to the preset positioning time block division method and base station spatial information to determine the positioning order of the base stations; and allocates positioning time blocks according to the positioning order of the base stations to determine the positioning time blocks.

[0144] Optionally, for a 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, it uploads the positioning time slot information of the positioning base station to the positioning server. The positioning server selects the positioning time slot information uploaded by the positioning base station with the closest positioning distance to the positioning base station as the positioning time slot information of that positioning base station.

[0145] Optionally, when dividing the positioning time block, the positioning time slot information corresponding to the positioning base station can be referenced. Based on the positioning time slot information allocated to the positioning base station, the positioning time range that the positioning base station needs to measure can be determined, and positioning time blocks of the corresponding time range can be set for the positioning base station to obtain the positioning time block.

[0146] Optionally, in this embodiment of the invention, when allocating positioning time blocks for positioning base stations, the spatial information of the base stations is referenced. Within a base station unit group, the spatial information of each positioning base station is identified. In adjacent base station unit groups, the positioning base stations are activated for testing in the same order. This effectively avoids signal interference between each positioning base station and the positioning base stations in adjacent base station unit groups. Furthermore, the position of each positioning base station on the spatial positioning map is determined using the spatial information, and the positioning order of the positioning base stations in the base station unit group is arranged to determine the positioning order of the base stations. The positioning order can be the arrangement order of the positioning time blocks within the positioning time period corresponding to the base station unit group.

[0147] For example, Figure 9This is a schematic diagram of the arrangement of positioning base stations in a base station unit group provided by an embodiment of the present invention. Figure 9 The diagram shows nine base station units within a positioning space, designated RG (Region Group) 1, RG2, RG3, RG4, RG5, RG6, RG7, RG8, and RG9. For RG1, the base stations are represented by 1, 2, 3, 4, 5, 6, 7, 8, and 9; for RG2, they are represented by 10, 11, 12, 13, 14, 15, 16, 17, and 18; for RG3, they are represented by 19, 20, 21, 22, 23, 24, 25, 26, and 27; for RG4, they are represented by 28, 29, 30, 31, 32, 33, 34, 35, and 36; and 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; and for RG9, the positioning base stations are represented by 73, 74, 75, 76, 77, 78, 79, 80, and 81 respectively.

[0148] Figure 10 This is a schematic diagram of the sequential arrangement of positioning base stations in a base station unit group provided by an embodiment of the present invention, as shown below. Figure 10As shown: When arranging the positioning sequence of the base stations in RG1, RG2, RG3, RG4, RG5, RG6, RG7, RG8, and RG9, a zigzag or G-shaped sequence can be used. Taking the zigzag pattern, the positioning sequence of the base stations in RG1 is 1 to 9, while the positioning sequence of the base stations in RG2 is 10 to 18, and so on. The positioning sequence of the base stations in RG9 is 73 to 81. This can be understood as follows: when base station 1 in RG1 enters low-power positioning mode, base station 10 in RG2 simultaneously enters low-power positioning mode, base station 19 in RG3 simultaneously enters low-power positioning mode, base station 28 in RG4 simultaneously enters low-power positioning mode, base station 37 in RG5 simultaneously enters low-power positioning mode, and base station 46 in RG6 simultaneously enters low-power positioning mode. In terms of power consumption positioning status, positioning base station 55 in RG7 simultaneously enters low-power positioning status, positioning base station 64 in RG8 simultaneously enters low-power positioning status, positioning base station 73 in RG9 simultaneously enters low-power positioning status, and so on. When positioning base station 9 in RG1 enters low-power positioning status, positioning base station 18 in RG2 simultaneously enters low-power positioning status, positioning base station 27 in RG3 simultaneously enters low-power positioning status, positioning base station 36 in RG4 simultaneously enters low-power positioning status, positioning base station 45 in RG5 simultaneously enters low-power positioning status, positioning base station 54 in RG6 simultaneously enters low-power positioning status, positioning base station 63 in RG7 simultaneously enters low-power positioning status, positioning base station 72 in RG8 simultaneously enters low-power positioning status, and positioning base station 81 in RG9 simultaneously enters low-power positioning status.

[0149] Optionally, in this embodiment of the invention, when the positioning server allocates a positioning time block for two adjacent base station units, if the 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 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.

[0150] Optionally, in this embodiment of the invention, the positioning server obtains the positioning order of the positioning base stations 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 for each positioning base station in sequence according to the positioning time order of the base stations to obtain the positioning time block of each positioning base station.

[0151] S530: The base station configuration information is sent to the positioning base station through the wireless communication base station.

[0152] Specifically, the positioning server obtains the base station ranging configuration information of the positioning base station and then sends the base station configuration information to the positioning base station through the wireless communication base station.

[0153] S540: The positioning base station broadcasts via Bluetooth according to the positioning time slot list within the designated time slot, and updates the positioning time slot list based on the Bluetooth response signal received from the positioning tag device based on the Bluetooth broadcast, thereby determining the target time slot list.

[0154] The S550 and positioning base station broadcast the target time slot list via Bluetooth within the designated time slot, and broadcast the Bluetooth ranging signal corresponding to the target time slot list.

[0155] S560: Each positioning tag device parses the Bluetooth ranging signal to obtain the positioning time window corresponding to each positioning tag device.

[0156] 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 ranging result information of each positioning tag device, and determines the device positioning information based on the ranging result information.

[0157] The technical solution of this invention involves a positioning server sending base station positioning configuration information to the positioning base station based on the base station identification information uploaded by the positioning base station from the wireless communication base station. By connecting the positioning base station and the wireless communication base station via LoRa, time synchronization with the wireless communication base station can be achieved, reducing time synchronization during ranging and effectively lowering the power consumption of the positioning base station, thus improving its working efficiency. Using a positioning server to uniformly manage the positioning base station effectively reduces unnecessary communication connections, further reducing the working time and power consumption of the positioning base station. The positioning base station joins a base station unit group based on the base station positioning configuration information and obtains the positioning time block allocated within the base station unit group. Configuring the positioning base station based on its spatial location clarifies its working time and controls its effective working range, further reducing energy waste and improving power consumption. When each positioning base station detects that the positioning time cycle of the base station unit group has switched to the corresponding positioning time block, it locates at least one positioning tag device based on the base station positioning configuration information, determining the device positioning information of each positioning tag device. Low-power positioning ensures positioning accuracy while reducing power consumption during the positioning process. To address the technical challenge of reducing power consumption of battery-powered positioning base stations while ensuring high-precision positioning in existing technologies, a LoRa channel is used by a wireless communication base station to synchronize the time between the positioning base station and the positioning tag device. The LoRa channel is also used to connect the positioning server and the positioning base station for configuration, thus achieving low-power positioning for both the positioning base station and the positioning tag device.

[0158] Figure 11 This is a schematic diagram of a battery-powered high-precision positioning device provided in an embodiment of the present invention. Figure 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,

[0159] The base station startup module 1110 is used to, when the positioning base station and the wireless communication base station have completed time synchronization, upload base station identification information to the positioning server through the wireless communication base station;

[0160] The base station initialization module 1120 is used by 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;

[0161] The device positioning module 1130, in the positioning time block of the positioning base station, positions at least one of the positioning tag devices according to the positioning time slot information, determines the ranging result information of each of the positioning tag devices, and determines the device positioning information according to the ranging result information.

[0162] The technical solution of this invention, when the positioning base station and the wireless communication base station achieve time synchronization, allows the positioning base station to upload base station identification information to the positioning server through the wireless communication base station. Connecting the positioning base station and the wireless communication base station via LoRa enables time synchronization of the wireless communication base station, reducing time synchronization during ranging, effectively reducing the power consumption of the positioning base station, improving its working efficiency, and effectively reducing unnecessary communication connections, further reducing the working time of the positioning base station and improving its power consumption. The positioning server sends base station positioning configuration information to the positioning base station based on the base station identification information. Using the positioning server to uniformly manage the positioning base station clarifies the working time of the positioning base station, controls its effective working range, further reduces energy waste, and improves its power consumption. Within the positioning time block of the positioning base station, the positioning base station locates at least one positioning tag device based on the positioning time slot information, determines the ranging result information of each positioning tag device, and determines the device positioning information based on the ranging result information. Low-power positioning ensures positioning accuracy while reducing power consumption during the positioning process. To address the technical challenge of reducing power consumption of battery-powered positioning base stations while ensuring high-precision positioning in existing technologies, a LoRa channel is used by a wireless communication base station to synchronize the time between the positioning base station and the positioning tag device. The LoRa channel is also used to connect the positioning server and the positioning base station for configuration, thus achieving low-power positioning for both the positioning base station and the positioning tag device.

[0163] Optionally, the device positioning module is specifically used for: the positioning base station broadcasting via Bluetooth according to the positioning time slot list within the designated time slot, and updating the positioning time slot list based on the Bluetooth response signal received from the positioning tag device corresponding to the Bluetooth broadcast, thereby determining the target time slot list;

[0164] 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 positioning tag device, and determines the device positioning information based on the ranging result information.

[0165] Optionally, the device positioning module is further configured to: the positioning base station broadcasts Bluetooth signals to the positioning tag devices corresponding to the occupied time slot list according to the occupied time slot list within the time slot;

[0166] The location tag device corresponding to the occupied time slot list responds to the Bluetooth name signal and replies with a time slot confirmation signal to the location base station;

[0167] The positioning base station updates the positioning time slot list based on the time slot confirmation signal to determine the updated remaining time slot list and the updated occupied time slot list.

[0168] The positioning base station broadcasts a Bluetooth time slot invitation signal according to the updated positioning time slot list within the designated time slot.

[0169] Location tag devices that are not in the occupied time slot list respond to the Bluetooth time slot invitation signal and reply to the location base station with a time slot request signal according to the updated remaining time slot list;

[0170] The positioning base station updates the updated list of occupied time slots based on the time slot request signal to determine the target time slot list.

[0171] Optionally, the device positioning module is further configured to: the positioning base station broadcasts the target time slot list via Bluetooth within the designated time slot, and broadcasts the Bluetooth ranging signal corresponding to the target time slot list;

[0172] 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;

[0173] When each of the positioning tag devices detects that the time has entered the positioning time window, it performs positioning at at least one of the positioning base stations, determines the ranging result information of each positioning tag device, and determines the device positioning information based on the ranging result information.

[0174] Optionally, the device positioning module is further configured to: 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 retain the positioning tag device corresponding to the time slot confirmation signal in the occupied time slot list;

[0175] If the positioning base station does not receive a time slot confirmation signal from the positioning tag device in the occupied time slot list within a preset time range, it removes the positioning tag device from the occupied time slot list and updates the positioning time slot list to determine the updated remaining time slot list and the updated occupied time slot list.

[0176] Optionally, the device positioning module is further configured to: establish a ranging connection between the positioning tag device and at least one of the positioning base stations, and perform positioning and ranging between the positioning tag device and at least one of the positioning base stations;

[0177] Each of the positioning base stations generates ranging result information after the positioning and ranging is completed, and transmits the ranging result information to the positioning tag device via Bluetooth broadcast;

[0178] The positioning tag device will receive at least one of the ranging result information and send it back to the positioning server;

[0179] The positioning server calculates the location of each positioning tag device based on at least one ranging result information received from each positioning tag device, thereby obtaining the device positioning information of each positioning tag device.

[0180] Optionally, the base station initialization module is specifically used for: the positioning server determining base station configuration information based on the base station identification information and a preset spatial positioning map;

[0181] The base station configuration information is sent to the positioning base station through the wireless communication base station.

[0182] Optionally, the base station initialization module is further configured to: the positioning server determine the base station spatial information of the positioning base station on the spatial positioning map based on the base station identification information;

[0183] The positioning server determines the base station configuration information based on the base station spatial information.

[0184] Optionally, the base station initialization module is further configured to: the positioning server perform 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;

[0185] The positioning server determines the positioning time block and positioning time slot information of the positioning base station based on the base station unit group.

[0186] Optionally, the base station initialization module is further configured to: the positioning server perform a positioning base station query based on the base station spatial information, and query at least one positioning base station corresponding to the base station spatial information;

[0187] The positioning server calculates the base station distance between each pair of positioning base stations;

[0188] The positioning server groups the positioning base stations based on the base station distance and a preset signal interference distance, and determines the base station unit group corresponding to each positioning base station.

[0189] Optionally, the base station initialization module is further configured to: the positioning server performs a spatial range query on the spatial positioning map based on the base station spatial information to determine the closed spatial information associated with the base station spatial information;

[0190] The positioning server obtains at least one positioning base station associated with the information of the enclosed space.

[0191] Optionally, the base station initialization module is further configured to:

[0192] 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;

[0193] The positioning server arranges the positioning order of the positioning base stations according to the spatial information of the base stations, and determines the positioning order of the positioning base stations.

[0194] The positioning time period of the base station unit group is allocated according to the positioning sequence of the base station to determine the positioning time block.

[0195] The battery-powered high-precision positioning device provided in the embodiments 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 method.

[0196] Figure 12 A schematic diagram of an electronic device 10 that can be used to implement embodiments 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 processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their patterns are merely examples and are not intended to limit the implementation of the invention described and / or claimed herein.

[0197] like Figure 12 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 can also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0198] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of monitors, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer grids such as the Internet and / or various telecommunications grids.

[0199] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, digital signal processors (DSPs), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as battery-powered high-precision positioning methods.

[0200] In some embodiments, the battery-powered high-precision positioning method can be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the battery-powered high-precision positioning method described above can be performed. Alternatively, in other embodiments, processor 11 can be configured to perform the battery-powered high-precision positioning method by any other suitable means (e.g., by means of firmware).

[0201] Various embodiments 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-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0202] Computer programs used to implement the methods of the present invention can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the patterns / operations specified in the flowcharts and / or block diagrams to be implemented. The computer programs can be executed entirely on a machine, partially on a machine, as a standalone software package partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0203] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0204] To provide interaction with a user, the systems and techniques described herein can 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 pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0205] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or middleware components (e.g., application servers), or frontend components (e.g., user computers with graphical user interfaces or grid browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., a communication grid). Examples of communication grids include local area networks (LANs), wide area networks (WANs), blockchain grids, and the Internet.

[0206] A computing system can include clients and servers. Clients and servers are generally geographically separated and typically interact through a communication mesh. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0207] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0208] This embodiment provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the battery-powered high-precision positioning method steps provided in any embodiment of the present invention. The method includes: a positioning base station, a wireless communication base station, a positioning server, and a positioning tag device; wherein...

[0209] When the positioning base station and the wireless communication base station achieve time synchronization, the positioning base station uploads base station identification information to the positioning server through the wireless communication base station;

[0210] The positioning server sends base station positioning configuration information to the positioning base station based on the base station identification information; wherein, the base station positioning configuration information includes positioning time block and positioning time slot information;

[0211] 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.

[0212] The computer storage medium of this invention can be any combination of one or more computer-readable media. A computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. A computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of computer-readable storage media (a non-exhaustive list) include: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this document, a computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0213] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, capable of sending, propagating, or transmitting programs for use by or in connection with an instruction execution system, apparatus, or device.

[0214] Program code contained on a computer-readable medium may be transmitted using any suitable medium, including but not limited to: wireless, wire, optical fiber, RF, etc., or any suitable combination thereof.

[0215] Computer program code for performing the operations of this invention can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages—such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of mesh, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0216] Those skilled in the art will understand that the modules or steps of the present invention described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a grid of multiple computing devices. Optionally, they can be implemented using computer-executable program code, thereby allowing them to be stored in a storage device for execution by a computing device, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, the present invention is not limited to any particular combination of hardware and software.

[0217] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0218] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A battery-powered high-precision positioning method, characterized in that, include: Positioning base stations, wireless communication base stations, positioning servers, and positioning tag devices; among them, When the positioning base station and the wireless communication base station achieve 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 based on the base station identification information; wherein, the base station positioning configuration information includes positioning time blocks and positioning time slot information, and the positioning time slot information includes point-name time slots 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; The positioning base station, within its positioning time block, locates at least one of the positioning tag devices based on the positioning time slot information, determines the ranging result information for each positioning tag device, and determines device positioning information based on the ranging result information, including: The positioning base station broadcasts via Bluetooth according to the positioning time slot list within the designated time slot, and updates the positioning time slot list based on the Bluetooth response signal received from the positioning tag device based on the Bluetooth broadcast, thereby determining 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 positioning tag device, and determines the device positioning information based on the ranging result information; The positioning time slot list includes an occupied time slot list and a remaining time slot list; The positioning base station broadcasts via Bluetooth according to the positioning time slot list within the designated time slot, and updates the positioning time slot list based on the Bluetooth response signal received from the positioning tag device based on the Bluetooth broadcast, thereby determining the target time slot list, including: The positioning base station broadcasts a Bluetooth name signal to the positioning tag devices corresponding to the occupied time slot list within the name slot; The location tag device corresponding to the occupied time slot list responds to the Bluetooth name signal and replies with a time slot confirmation signal to the location base station; The positioning base station updates the positioning time slot list based on the time slot confirmation signal to determine the updated remaining time slot list and the updated occupied time slot list. The positioning base station broadcasts a Bluetooth time slot invitation signal according to the updated positioning time slot list within the designated time slot. Location tag devices that are not in the occupied time slot list respond to the Bluetooth time slot invitation signal and reply to the location base station with a time slot request signal according to the updated remaining time slot list; The positioning base station updates the updated list of occupied time slots according to the time slot request signal 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 positioning tag device, and determines the device positioning information based on the ranging result information, including: The positioning base station broadcasts the target time slot list via Bluetooth within the designated 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 of the positioning tag devices detects that the time has entered the positioning time window, positioning is performed at at least one of the positioning base stations to determine the ranging result information of each positioning tag device, and the device positioning information is determined based on the ranging result information. The positioning base station updates the positioning time slot list based on the time slot confirmation signal, and determines the updated remaining time slot list and the 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, it retains 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 a time slot confirmation signal from the positioning tag device in the occupied time slot list within a preset time range, it removes the positioning tag device from the occupied time slot list and updates the positioning time slot list to determine the updated remaining time slot list and the updated occupied time slot list.

2. The method according to claim 1, characterized in that, Positioning is performed at the positioning base station respectively, and the ranging result information of each positioning tag device is determined. Based on the ranging result information, the device positioning information is determined, including: The positioning tag device establishes a ranging connection with at least one of the positioning base stations, and the positioning tag device and at least one of the positioning base stations perform positioning and ranging; Each of the positioning base stations generates ranging result information after the positioning and ranging is completed, and transmits the ranging result information to the positioning tag device via Bluetooth broadcast; The positioning tag device will receive at least one of the ranging result information and send it back to the positioning server; The positioning server calculates the location of each positioning tag device based on at least one ranging result information received from each positioning tag device, thereby obtaining the device positioning information of each positioning tag device.

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

4. The method according to claim 3, characterized in that, The positioning server determines the base station configuration information based on 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 on the spatial positioning map based on the base station identification information; The positioning server determines the base station configuration information based on the base station spatial information.

5. The method according to claim 4, characterized in that, The positioning server determines the base station configuration information based on the base station spatial information, including: 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. The positioning server determines the positioning time block and positioning time slot information of the positioning base station based on the base station unit group.

6. The method according to claim 5, characterized in that, The positioning server performs group matching on the positioning base stations based on 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 based on 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 calculates the base station distance between each pair of positioning base stations; The positioning server groups the positioning base stations according to the base station distance and a preset signal interference distance, and determines the base station unit group corresponding to the positioning base station.

7. The method according to claim 6, characterized in that, The positioning server performs a positioning base station query based on the base station spatial information, querying at least one of the positioning base stations corresponding to the base station spatial information, including: The positioning server performs a spatial range query on the spatial positioning map based on the base station spatial information to determine the closed spatial information associated with the base station spatial information; The positioning server obtains at least one positioning base station associated with the information of the enclosed space.

8. The method according to claim 7, characterized in that, The positioning server determines the positioning time block and positioning time slot information of the positioning base station based on 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 order of the positioning base stations according to the spatial information of the base stations, and determines the positioning order of the positioning base stations. The positioning time period of the base station unit group is allocated according to the positioning sequence of the base station to determine the positioning time block.

9. A battery-powered high-precision positioning system, characterized in that, include: Positioning base stations, wireless communication base stations, positioning servers, and positioning tag devices; among them, The positioning base station and the wireless communication base station are interconnected via 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 interconnected via low-power radio. The positioning base station and the positioning tag device communicate with each other via Bluetooth and ultra-wideband signals. The wireless communication base station and the positioning server are interconnected via low-power radio. The system is used to perform the battery-powered high-precision positioning method according to any one of claims 1-8.

10. An electronic device, characterized in that, The electronic device includes: 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, the computer program being executed by the at least one processor to enable the at least one processor to perform the battery-powered high-precision positioning method according to any one of claims 1-8.

11. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that, when executed by a processor, implement the battery-powered high-precision positioning method according to any one of claims 1-8.

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