High-precision positioning method and device based on UWB ultra-wideband technology in IoT devices

Abstract

The present application is applicable to the field of high-precision positioning technology, and in particular, to a high-precision positioning method and device using UWB ultra-wideband technology in an Internet of Things device, the method comprising: monitoring positioning demand information; obtaining adjustment information of a positioning device that is in communication with the Internet of Things device; based on the positioning demand information and the adjustment information, controlling the positioning device to use UWB ultra-wideband to perform positioning activities on the Internet of Things device. The high-precision positioning method using UWB ultra-wideband technology in an Internet of Things device provided in the present application can solve the problem that the positioning process of traditional Internet of Things devices relies on wifi or Bluetooth, and the pulse-shaped signal may be blocked and reflected in a complex environment, resulting in a decrease in positioning accuracy.

Description

Technical Field

[0001] The present application belongs to the field of high-precision positioning technology, and in particular, relates to a high-precision positioning method and device using UWB ultra-wideband technology in an Internet of Things device. Background Art

[0002] IoT devices are physical devices that can exchange and communicate data with other devices or systems. IoT devices usually integrate components such as sensors, processors, communication modules, and software, and can collect, send, and receive data to achieve intelligent functions and applications. For example, IoT devices can establish a signal channel with Wi-Fi access points and locate IoT devices by measuring the signal strength between IoT devices and Wi-Fi access points.

[0003] The traditional positioning process of IoT devices relies on Wi-Fi or Bluetooth, where pulse-shaped signals may be blocked and reflected in complex environments (for example, walls, furniture, and other obstacles absorb or reflect signals), resulting in reduced positioning accuracy. Summary of the invention

[0004] The embodiments of the present application provide a high-precision positioning method and device using UWB ultra-wideband technology in IoT devices, which can solve the problem that in the positioning process of traditional IoT devices, pulse-shaped signals may be blocked and reflected in complex environments, resulting in reduced positioning accuracy.

[0005] In a first aspect, an embodiment of the present application provides a high-precision positioning method using UWB ultra-wideband technology in an IoT device, which is applied to an IoT device. The method includes:

[0006] Monitoring positioning demand information; wherein the positioning demand information is used to reflect whether there is a positioning activity in the current IoT device;

[0007] Acquire adjustment information of a positioning device that is communicatively connected to the Internet of Things device; wherein the adjustment information is used to indicate that the positioning device is in a maintenance preparation mode;

[0008] Based on the positioning requirement information and the adjustment information, the positioning device is controlled to use UWB ultra-wideband to perform the positioning activity on the Internet of Things device.

[0009] The above technical solutions in the embodiments of the present application have at least the following technical effects:

[0010] The high-precision positioning method of UWB ultra-wideband technology in IoT devices provided by this application can dynamically allocate resources, such as batteries and processing power, by monitoring the positioning demand information used to reflect whether there is a positioning activity in the current IoT device, so that the IoT device and the positioning device can quickly respond to the current positioning demand, which is conducive to reducing response delays, and then helps to select the most appropriate positioning strategy in the future and improve the accuracy of positioning. Secondly, by obtaining the adjustment information of the positioning device that is connected to the IoT device for communication, the problem of inaccurate data caused by the positioning device being in maintenance preparation mode can be avoided, thereby improving the accuracy of subsequent positioning. Thirdly, based on the positioning demand information and adjustment information, the positioning device is controlled to use UWB ultra-wideband to perform positioning activities on the IoT device. The anti-interference ability of UWB can be used to maintain stable performance in complex environments, reduce positioning errors caused by signal interference, and thus improve positioning accuracy.

[0011] In a possible implementation manner of the first aspect, the positioning device includes a first UWB positioning device and a second UWB positioning device, the Internet of Things device and the first UWB positioning device create a first positioning channel, the first positioning channel is used to implement a positioning activity, and before controlling the positioning device to use the UWB ultra-wideband to perform the positioning activity on the Internet of Things device based on the positioning requirement information and the adjustment information, the method further includes:

[0012] In the case of monitoring the positioning demand information, acquiring the adjustment information of the first UWB positioning device based on the first positioning channel; wherein the adjustment information is used to indicate that the first UWB positioning device in the positioning device is in a maintenance preparation mode, and the adjustment information includes creation information of the positioning channel of the second UWB positioning device;

[0013] Generate a first instruction according to the adjustment information; wherein the first instruction is used to instruct the Internet of Things device to update the first indicator to a first tag and close the first positioning channel;

[0014] In the case of closing the first positioning channel, generating a second instruction; wherein the second instruction instructs the Internet of Things device to update the second indicator to a second tag;

[0015] When it is determined that the second indicator is the second tag, suspending the acquisition of positioning information of the first positioning channel and generating a termination position acquisition activity;

[0016] When it is determined that the first indicator is the first tag and the location acquisition activity is terminated, based on the creation information, attempting to create a second positioning channel with the second UWB positioning device;

[0017] When the second positioning channel is created, the positioning activity is implemented based on the second positioning channel.

[0018] In a possible implementation manner of the first aspect, when it is determined that the first indicator is the first tag and there is the termination of the location acquisition activity, based on the creation information, attempting to create a second positioning channel with the second UWB positioning device includes:

[0019] In the case where the location acquisition activity is terminated, if it is determined that the first indicator is the first tag and the number of available probes is greater than the preset number, based on the creation information, the second positioning channel is created between the probe and the second UWB positioning device; wherein the starting number of the available probes is greater than the preset number; and each time the second positioning channel is created between the IoT device and the second UWB positioning device, the available probe number is reduced once until the creation of the second positioning channel is completed or the available probe number is less than or equal to the preset number.

[0020] In a possible implementation manner of the first aspect, the method further includes:

[0021] When the available number of probes is less than or equal to the preset number, updating the available number of probes to the preset number;

[0022] When the second positioning channel is created, the first indicator is updated to a third tag, and the available probe quantity is updated to a preset quantity; wherein the third tag is different from the first tag.

[0023] In a possible implementation manner of the first aspect, the method further includes:

[0024] In a case where it is determined that the first indicator is the first tag, storing the activity data of the positioning activity;

[0025] In a case where it is determined that the first indicator is the third tag, the activity data of the stored positioning activity is sent to the second UWB positioning device based on the second positioning channel.

[0026] In a possible implementation manner of the first aspect, the method further includes:

[0027] In the case of monitoring an instruction to adjust the positioning task, determining whether the positioning form of the positioning task after the adjustment is consistent with the positioning form before the adjustment; wherein the positioning task after the adjustment is the task to be positioned;

[0028] In the case where it is determined that the positioning form of the positioning task after the adjustment is inconsistent with the positioning form of the positioning task before the adjustment, identifying the task to be positioned to obtain the positioning form of the task to be positioned; wherein the positioning form includes a signal pulse form and a signal strength form;

[0029] Based on the compatibility of the positioning form of the task to be positioned and the positioning form of the second UWB positioning device, a target positioning form is obtained;

[0030] Processing the positioning form of the task to be positioned based on the target positioning form to obtain processed positioning data;

[0031] The processed positioning data is sent to the second UWB positioning device; wherein the second UWB positioning device is used to set the processed positioning data based on the target positioning form and perform positioning on the Internet of Things device.

[0032] In a possible implementation manner of the first aspect, obtaining a target positioning form based on the positioning form of the task to be positioned and the compatibility capability of the positioning form of the second UWB positioning device includes:

[0033] In the case where it is determined that the second UWB positioning device is compatible with the positioning form of the task to be positioned based on the positioning form compatibility capability of the second UWB positioning device, the target positioning form is obtained; wherein the target positioning form is the positioning form of the task to be positioned; or,

[0034] When it is determined that the second UWB positioning device is incompatible with the positioning form of the task to be positioned based on the positioning form compatibility capability of the second UWB positioning device, the target positioning form is obtained; wherein the target positioning form is a positioning form pre-agreed between the Internet of Things device and the second UWB positioning device, or a positioning form pre-set by an operator.

[0035] In a possible implementation manner of the first aspect, the method further includes:

[0036] When the positioning form of the task to be positioned is consistent with the positioning form of the historically set positioning task stored in the Internet of Things device, the target positioning form is obtained; wherein the target positioning form is the positioning form implemented when setting the historically set positioning task stored in the Internet of Things device.

[0037] In a possible implementation manner of the first aspect, the method further includes:

[0038] In response to the first operation, the task to be located is identified to obtain a positioning form of the task to be located.

[0039] In a possible implementation manner of the first aspect, before processing the positioning form of the task to be positioned based on the target positioning form to obtain the processed positioning data, the method further includes:

[0040] Sending a setting change request to the second UWB positioning device; wherein the setting change request is used to instruct the second UWB positioning device to change to the target positioning mode;

[0041] A feedback signal corresponding to the setting change request of the second UWB positioning device is obtained.

[0042] In a second aspect, an embodiment of the present application provides a high-precision positioning system using UWB ultra-wideband technology in an Internet of Things device, which is used to implement the high-precision positioning method using UWB ultra-wideband technology in an Internet of Things device described in any one of the first aspects above, wherein the high-precision positioning system using UWB ultra-wideband technology in an Internet of Things device is applied to an Internet of Things device, and the high-precision positioning system using UWB ultra-wideband technology in an Internet of Things device includes:

[0043] A monitoring unit, used to monitor positioning demand information; wherein the positioning demand information is used to reflect whether there is a positioning activity in the current Internet of Things device;

[0044] An acquisition unit, configured to acquire adjustment information of a positioning device that is communicatively connected to the Internet of Things device; wherein the adjustment information is used to indicate that the positioning device is in a maintenance preparation mode;

[0045] A control unit is used to control the positioning device to perform the positioning activity on the Internet of Things device using UWB ultra-wideband based on the positioning requirement information and the adjustment information.

[0046] In a third aspect, an embodiment of the present application provides an Internet of Things device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the high-precision positioning method using UWB ultra-wideband technology in the Internet of Things device as described in any one of the first aspects above is implemented.

[0047] It can be understood that the beneficial effects of the second to third aspects mentioned above can be found in the relevant description of the first aspect mentioned above, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0049] Figure 1 It is a flowchart of a high-precision positioning method using UWB ultra-wideband technology in an Internet of Things device provided by an embodiment of the present application;

[0050] Figure 2 It is a schematic diagram of the implementation process of the second UWB positioning device implementing the positioning activity in the high-precision positioning method of the UWB ultra-wideband technology in the Internet of Things device provided by an embodiment of the present application;

[0051] Figure 3 It is a schematic diagram of an implementation flow of determining a positioning form in a high-precision positioning method in an Internet of Things device using UWB ultra-wideband technology provided in an embodiment of the present application;

[0052] Figure 4 It is a structural schematic diagram of a high-precision positioning system using UWB ultra-wideband technology in an Internet of Things device provided in an embodiment of the present application;

[0053] Figure 5 It is a schematic diagram of the structure of the Internet of Things device provided in the embodiment of the present application. DETAILED DESCRIPTION

[0054] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0055] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0056] It should also be understood that the term “and / or” used in the specification and appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0057] As used in the specification and appended claims of this application, the term "if" can be interpreted as "when" or "uponce" or "in response to determining" or "in response to detecting" depending on the context. Similarly, the phrase "if it is determined" or "if the described condition or event is detected" can be interpreted as meaning "uponce determined" or "in response to determining" or "uponce the described condition or event is detected" or "in response to detecting the described condition or event" depending on the context.

[0058] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0059] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0060] In related technologies, IoT devices refer to physical devices that can exchange and communicate data with other devices or systems. IoT devices usually integrate components such as sensors, processors, communication modules, and software, and can collect, send, and receive data to achieve intelligent functions and applications. For example, IoT devices can establish a signal channel with a Wi-Fi access point and locate the IoT device by measuring the signal strength between the IoT device and the Wi-Fi access point.

[0061] The traditional positioning process of IoT devices relies on Wi-Fi or Bluetooth, where pulse-shaped signals may be blocked and reflected in complex environments (for example, walls, furniture, and other obstacles absorb or reflect signals), resulting in reduced positioning accuracy.

[0062] To solve the above problems, the embodiments of the present application provide a high-precision positioning method and device using UWB ultra-wideband technology in an IoT device.

[0063] In this method, by monitoring the positioning demand information used to reflect whether there is a positioning activity in the current IoT device, resources such as batteries and processing power can be dynamically allocated so that the IoT device and the positioning device can quickly respond to the current positioning demand, which is conducive to reducing response delays, and then helping to select the most appropriate positioning strategy in the future and improve the accuracy of positioning. Secondly, obtaining the adjustment information of the positioning device that is connected to the IoT device in communication can avoid the problem of inaccurate data caused by the positioning device being in maintenance preparation mode, thereby improving the accuracy of subsequent positioning. Thirdly, based on the positioning demand information and adjustment information, the positioning device is controlled to use UWB ultra-wideband to perform positioning activities on the IoT device. The anti-interference ability of UWB can be used to maintain stable performance in complex environments, reduce positioning errors caused by signal interference, and thus improve positioning accuracy.

[0064] The high-precision positioning method using UWB ultra-wideband technology in an IoT device provided in the embodiment of the present application can be applied to an IoT device. In this case, the IoT device is the executor of the high-precision positioning method using UWB ultra-wideband technology in an IoT device provided in the embodiment of the present application. The embodiment of the present application does not impose any restrictions on the specific type of the IoT device.

[0065] For example, an IoT device can be a device with a built-in UWB hardware module and a location algorithm, such as a smart watch, an intelligent robot that performs specific tasks on an automated production line, a drone, a vehicle-mounted device, a smart camera, etc.

[0066] For example, the positioning device may be a UWB positioning device, such as a UWB base station, a gateway device that can receive and send UWB signals, etc. The positioning device (such as a UWB base station or anchor point) may periodically send a positioning signal (such as a pulse signal). The IoT device receives the positioning signal and processes it according to a preset algorithm, for example, calculating the position based on the time difference from signal transmission to signal reception or the strength of the signal.

[0067] In order to better understand the high-precision positioning method of UWB ultra-wideband technology in IoT devices provided in the embodiments of the present application, the specific implementation process of the high-precision positioning method of UWB ultra-wideband technology in IoT devices provided in the embodiments of the present application is exemplarily introduced below.

[0068] Figure 1 A schematic flow chart of a high-precision positioning method using UWB ultra-wideband technology in an IoT device provided in an embodiment of the present application is shown. The high-precision positioning method using UWB ultra-wideband technology in an IoT device includes:

[0069] S100, monitoring positioning demand information, wherein the positioning demand information is used to reflect whether there is any positioning activity in the current IoT device.

[0070] It can be understood that the positioning requirement information can be information about whether the current IoT device needs to be positioned. For example, if IoT device 1 monitors the positioning requirement information, and IoT device 2 does not monitor the positioning requirement information, it means that IoT device 1 has positioning activity, that is, IoT device 1 needs to be positioned, so IoT device 1 can be positioned later.

[0071] For example, a listening program can be set on the IoT device to monitor the positioning demand information. You can also use an event-driven method to listen to specific events (such as button clicks, timer triggers, etc.) to listen to the positioning demand information. For example, when the user clicks the positioning button on the IoT device 1, you can listen to the positioning demand information by listening to specific events (such as button clicks). For another example, when the user enters the positioning demand information on the IoT device 1, the positioning demand information can be listened to by the listening program.

[0072] Such a setting is conducive to reducing response delays, which in turn helps to select the most appropriate positioning strategy in the future and improve positioning accuracy.

[0073] S200, obtaining adjustment information of a positioning device that is in communication connection with the IoT device, wherein the adjustment information is used to indicate that the positioning device is in a maintenance preparation mode.

[0074] It can be understood that the adjustment information may be information that the positioning device is ready for regular inspection, information that the positioning device is ready for maintenance, and the like.

[0075] For example, a request mechanism can be set in the positioning device to send adjustment information to the IoT device when a specific event occurs (such as the positioning device is ready for regular inspection, the positioning device is ready for maintenance). A response module is set on the IoT device to obtain the adjustment information.

[0076] For example, the positioning device can periodically send its own status information (such as whether it is in maintenance preparation mode), and the IoT device can periodically obtain the status information of the positioning device through an API or an information transmission channel to determine whether the positioning device is in maintenance preparation mode, that is, to obtain adjustment information of the positioning device that is communicated with the IoT device.

[0077] With such a setting, by obtaining the adjustment information of the positioning device that is in communication with the IoT device, the problem of inaccurate data caused by the positioning device being in maintenance preparation mode can be avoided, thereby improving the accuracy of subsequent positioning.

[0078] S300, based on the positioning demand information and the adjustment information, control the positioning device to use the UWB ultra-wideband to perform positioning activities on the IoT device.

[0079] It can be understood that positioning activities can be activities in which positioning devices identify and track the locations of IoT devices in a specific environment, such as real-time positioning activities and distance measurement activities.

[0080] For example, it can be analyzed whether the positioning requirement information is listened to, for example, whether real-time positioning is required. Secondly, the adjustment information is analyzed, for example, the current working mode of the positioning device, such as normal, maintenance, etc. For example, the positioning device is not in the maintenance preparation mode, and the positioning requirement information is listened to, which means that the current positioning device can use UWB ultra-wideband to perform positioning activities on the Internet of Things device, so the UWB positioning activity can be started, such as the positioning activity can be started through an API or a control instruction. For example, the positioning device is in the maintenance preparation mode, and the positioning requirement information is listened to, which means that the current positioning device cannot use UWB ultra-wideband to perform positioning activities on the Internet of Things device, so other suitable positioning devices (such as devices that are not in the maintenance preparation mode) can be selected to implement UWB positioning activities, such as the positioning activity can be started through an API or a control instruction.

[0081] With this setting, based on the positioning demand information and adjustment information, the positioning device is controlled to use UWB ultra-wideband to perform positioning activities on the IoT device. The anti-interference ability of UWB can be utilized to maintain stable performance in complex environments, reduce positioning errors caused by signal interference, and thus improve positioning accuracy.

[0082] In one possible implementation, see Figure 2 The positioning device includes a first UWB positioning device and a second UWB positioning device. The Internet of Things device and the first UWB positioning device create a first positioning channel, and the first positioning channel is used to implement the positioning activity. In step S300, based on the positioning requirement information and the adjustment information, before the positioning device is controlled to use the UWB ultra-wideband to perform the positioning activity on the Internet of Things device, the high-precision positioning method of the UWB ultra-wideband technology in the Internet of Things device also includes:

[0083] S310, when monitoring positioning demand information, obtain adjustment information of the first UWB positioning device based on the first positioning channel, wherein the adjustment information is used to indicate that the first UWB positioning device in the positioning device is in maintenance preparation mode, and the adjustment information includes creation information of the positioning channel of the second UWB positioning device.

[0084] It can be understood that the first positioning channel can be a channel for transmitting positioning request information and status information of the positioning device, and is used to implement positioning activities. The creation information can be information on signal strength and location accuracy.

[0085] For example, when positioning demand information is monitored, it indicates that the IoT device corresponding to the positioning demand information needs to be positioned, so the status information of the first UWB positioning device can be obtained through the first positioning channel to determine whether the first UWB positioning device is in maintenance preparation mode, that is, the adjustment information of the first UWB positioning device is obtained based on the first positioning channel.

[0086] For example, the adjustment information of the first UWB positioning device may be monitored regularly through the first positioning channel. When the adjustment information of the first UWB positioning device is monitored, it indicates that the first UWB positioning device is in the maintenance preparation mode.

[0087] With such a setting, when positioning demand information is monitored, adjustment information of the first UWB positioning device is obtained based on the first positioning channel. This can avoid the problem of inaccurate positioning caused by controlling the positioning device in maintenance preparation mode to position the IoT device, which is helpful for subsequent adjustment of the positioning plan, thereby improving the accuracy of subsequent positioning.

[0088] S320: Generate a first instruction according to the adjustment information, wherein the first instruction is used to instruct the IoT device to update the first indicator to a first tag and close the first positioning channel.

[0089] It can be understood that the first indicator is used to indicate whether to create the positioning channel again. The first indicator being updated to the first label indicates that the positioning channel is created again, and the first indicator being updated to the third label indicates that the positioning channel is not created again.

[0090] For example, adjustment information of the first UWB positioning device is obtained based on the first positioning channel, indicating that the first UWB positioning device cannot perform positioning activities on the Internet of Things device (that is, the first positioning channel of the current first UWB positioning device cannot meet the positioning requirements), so the first positioning channel can be closed, and the first indicator can be updated to a first tag (used to instruct the Internet of Things device to create a positioning channel again to meet the positioning requirements of the Internet of Things device). Therefore, an automatic program can be set to automatically generate a first instruction when the adjustment information is obtained.

[0091] For example, a command trigger may be set to automatically trigger the first command when the adjustment information is acquired.

[0092] With such a setting, generating the first instruction based on the adjustment information can avoid errors caused by manual input or operation, and then quickly respond to the adjustment information without human intervention, which helps to improve the automation level and response speed of the positioning process and provide data support for subsequent positioning activities.

[0093] S330: Generate a second instruction when the first positioning channel is closed, wherein the second instruction instructs the IoT device to update the second indicator to a second tag.

[0094] It can be understood that whether the second indicator terminates the location acquisition activity of the currently created positioning channel (such as the activity of sending a positioning signal through the currently created positioning channel, the activity of calculating the location through the time difference from the transmission to the reception of the signal transmitted through the currently created positioning channel or the signal strength). If the second indicator is updated to the second label, it means that the location acquisition activity of the currently created positioning channel is terminated; if the second indicator is not updated to the second label (that is, the second indicator is the default label), it means that the location acquisition activity of the currently created positioning channel is not terminated.

[0095] For example, polling can be used to periodically query whether the first positioning channel is closed, or a sensor can be used to check whether the first positioning channel is closed. When the first positioning channel is closed, it means that the first positioning channel between the Internet of Things device and the first UWB positioning device is closed, that is, the location acquisition activity implemented by the first positioning channel is an invalid activity. Therefore, the location acquisition activity of the first positioning channel can be terminated, that is, a second instruction is generated.

[0096] With such a setting, when the first positioning channel is closed, a second instruction is generated, which can reduce the impact of unnecessary location acquisition activities on the positioning activities currently being prepared (for example, the impact of data calculations between different activities, the impact of uneven allocation of positioning resources), thereby improving the accuracy and reliability of the data and helping to improve the accuracy of subsequent positioning.

[0097] S340: When it is determined that the second indicator is the second tag, suspend the acquisition of positioning information from the first positioning channel and generate a termination position acquisition activity.

[0098] It can be understood that the state variable of the second indicator can be detected by a detection program to determine whether the second indicator is a second label or a default label. When it is determined that the second indicator is the second label, the acquisition of positioning information for the first positioning channel can be automatically paused through a trigger or a triggering program, and a termination of the location acquisition activity can be generated.

[0099] For example, after generating the second instruction, that is, after terminating the location acquisition activity of the first positioning channel, the second indicator can be updated to a default label, so that after subsequently creating the second positioning channel, the location acquisition activity can be performed normally based on the default label without triggering the termination of the location acquisition activity.

[0100] With such a setting, when it is determined that the second indicator is the second tag, the acquisition of positioning information for the first positioning channel is suspended, and a termination of the position acquisition activity is generated. This can flexibly respond to different positioning needs, ensure that effective positioning activities can be started in subsequent positioning without interfering with the current state, effectively avoid unnecessary interruptions, and help improve the accuracy of subsequent positioning.

[0101] S350: When it is determined that the first indicator is the first tag and the location acquisition activity is terminated, based on the creation information, try to create a second positioning channel with a second UWB positioning device.

[0102] It can be understood that when it is determined that the first indicator is the first label, it means that the positioning channel can be created again. When there is a termination of the location acquisition activity, it means that there is no termination of the location acquisition activity between the IoT device and the first UWB positioning device that interferes with the subsequent positioning activities. Therefore, the parameters of the second positioning channel, such as signal strength, location accuracy, etc., can be configured based on the creation information, and a positioning signal can be sent to the second UWB positioning device based on the second positioning channel. When a response signal is obtained, it means that the second positioning channel is successfully created; otherwise, the second positioning channel is not successfully created.

[0103] With such a configuration, when it is determined that the first indicator is the first tag and the location acquisition activity is terminated, a second positioning channel is tentatively created between the second UWB positioning device based on the creation information. This can ensure the quality and accuracy of the positioning activity performed by the second UWB positioning device on the Internet of Things device without interfering with the current positioning activity by the first UWB positioning device.

[0104] In a possible implementation, S350, when it is determined that the first indicator is the first tag and the location acquisition activity is terminated, based on the creation information, attempting to create a second positioning channel with a second UWB positioning device includes:

[0105] In the case of aborted location acquisition activity, if it is determined that the first indicator is the first tag and the number of available probes is greater than the preset number, based on the creation information, a second positioning channel is created between the probe and the second UWB positioning device. The starting number of the number of available probes is greater than the preset number. In the case of each probe to create a second positioning channel between the IoT device and the second UWB positioning device, the number of available probes is reduced until the second positioning channel is created or the number of available probes is less than or equal to the preset number.

[0106] It can be understood that the available trial number is the number of operations that can be used when the second positioning channel is configured based on the creation information between the current IoT device and the second UWB positioning device, for example, 5, 6, 7, etc. The preset number is the minimum or benchmark number of operations allowed when the second positioning channel is configured based on the creation information between the current IoT device and the second UWB positioning device, for example, 1, 2, 3, etc.

[0107] For example, each time the IoT device attempts to create a second positioning channel with the second UWB positioning device, the number of available probes is reduced. For example, the current number of available probes is 5. After the second positioning channel is created between the probe and the second UWB positioning device, the current number of available probes is 4. If the creation of the second positioning channel is unsuccessful and the number of available probes is still greater than the preset number, it means that the second positioning channel can continue to be created between the probe and the second UWB positioning device until the second positioning channel is created or the number of available probes is less than or equal to the preset number.

[0108] With such a configuration, in the case of a termination of the location acquisition activity, if it is determined that the first indicator is the first tag and the number of available probes is greater than the preset number, a second positioning channel is created between the probe and the second UWB positioning device based on the creation information, and the creation activity can be performed with limited resources, avoiding endless probes that lead to increased power consumption of the IoT device.

[0109] S360: When the second positioning channel is created, a positioning activity is performed based on the second positioning channel.

[0110] It can be understood that whether the second positioning channel has been created can be confirmed by checking log records or by detecting programs. When the second positioning channel has been created, it means that positioning activities can be implemented. Therefore, positioning parameters can be set, such as signal strength, position accuracy, etc. The location of the Internet of Things can be calculated based on the time difference from the transmission to the reception of the signal in the second positioning channel or the strength of the signal.

[0111] With this setting, when the second positioning channel is created, positioning activities are implemented based on the second positioning channel. Different positioning activities can be set according to specific application scenarios, reducing the errors caused by maintenance of a single positioning channel, and thus better adapting to positioning requirements in different situations, so as to improve overall reliability and thus improve positioning accuracy.

[0112] In a possible implementation, the high-precision positioning method of UWB ultra-wideband technology in an IoT device also includes:

[0113] S301: When the available number of probes is less than or equal to a preset number, update the available number of probes to the preset number.

[0114] It can be understood that when the number of available probes is less than or equal to the preset number, it means that multiple probes have failed to successfully create a second positioning channel with the second UWB positioning device. It may be that the second UWB positioning device is currently processing the positioning activities of other IoT devices. In order to facilitate the next implementation of the second positioning channel creation process based on the available number of probes, the available number of probes can be updated to the preset number.

[0115] With such a setting, when the number of available probes is less than or equal to the preset number, the number of available probes is updated to the preset number, which can effectively help the IoT device better adapt to the dynamic situation of the second UWB positioning device, thereby providing an opportunity for the next round of probes, and helping to improve the accuracy of subsequent positioning.

[0116] S302: When the second positioning channel is created, the first indicator is updated to a third tag, and the available probe quantity is updated to a preset quantity, wherein the third tag is different from the first tag.

[0117] It can be understood that when the second positioning channel is created, the description indicates that the positioning channel does not need to be created again, that is, the current second positioning channel can meet the positioning activity and there is no need to create a positioning channel again. Therefore, the first indicator can be updated to the third label. At the same time, in order to prevent the subsequent second UWB positioning device from being in the maintenance preparation mode, the number of available probes can be updated to a preset number, so that when the subsequent second UWB positioning device is in the maintenance preparation mode, other positioning channel creation processes can be implemented based on the number of available probes.

[0118] With this setting, when the second positioning channel is created, the first indicator is updated to the third tag, and the number of available probes is updated to the preset number, which can effectively help the IoT device better adapt to the dynamic situation of the second UWB positioning device, thereby providing an opportunity for the next round of probes, which helps to improve the accuracy of subsequent positioning.

[0119] In a possible implementation, the high-precision positioning method of UWB ultra-wideband technology in an IoT device also includes:

[0120] S303: When it is determined that the first indicator is the first tag, store activity data of the positioning activity.

[0121] It can be understood that the activity data of the positioning activity can be the data of the positioning accuracy required by the IoT device and the data of the positioning signal transmission strength. When the first UWB positioning device is not in the maintenance preparation mode, the data of the environment in which the IoT device is located can be obtained through the first positioning channel to understand the positioning accuracy required by the IoT device. The data of the positioning signal transmission strength can be used to understand the signal propagation characteristics of the environment in which the IoT device is located, for example, what physical obstacles it is subject to, such as buildings, trees, etc.

[0122] For example, when it is determined that the first indicator is the first tag, it means that the positioning channel can be created again. In order to avoid the loss of current data due to the closure of the first positioning channel (for example, the loss of information on the positioning accuracy required by the IoT device, or the loss of information on the signal propagation characteristics of the environment in which the IoT device is located), the activity data of the positioning activity can be stored.

[0123] With such configuration, when it is determined that the first indicator is the first tag, storing the activity data of the positioning activity can provide necessary reference information for subsequent positioning, thereby helping to optimize the positioning activity and thus improve the accuracy of subsequent positioning.

[0124] S304: When it is determined that the first indicator is the third tag, the activity data of the stored positioning activity is sent to a second UWB positioning device based on the second positioning channel.

[0125] It can be understood that when the first indicator is determined to be the third tag, it means that the second positioning channel is created, so the activity data of the stored positioning activity can be sent to the second UWB positioning device through the second positioning channel, so that the second UWB positioning device can optimize the positioning activity according to the activity data.

[0126] With this arrangement, when it is determined that the first indicator is the third tag, the activity data of the stored positioning activity is sent to the second UWB positioning device based on the second positioning channel, so that the second UWB positioning device can quickly understand the situation of the previous positioning activity, thereby optimizing the algorithm and improving the accuracy of positioning.

[0127] In one possible implementation, see Figure 3 , UWB ultra-wideband technology high-precision positioning methods in IoT devices also include:

[0128] S400: When an instruction to adjust the positioning task is monitored, determine whether the positioning form of the positioning task after adjustment is consistent with the positioning form of the positioning task before adjustment. The positioning task after adjustment is a task to be positioned.

[0129] It can be understood that the instruction to adjust the positioning task can be an instruction to adjust the positioning form of the positioning task. The positioning form of the positioning task can be a signal pulse form (such as a medium pulse form, a long pulse form), a signal strength form (such as 1W, 2W, etc.).

[0130] For example, the IoT device and the second UWB positioning device cooperate to use a medium pulse form, 1W positioning method, that is, the IoT device uses a medium pulse form, 1W positioning method to process the UWB signal of the positioning task. However, when the positioning form of the positioning task (such as a long pulse form, 1W) is different from the positioning method used in collaboration between the IoT device and the second UWB positioning device (for example, an operator misoperation or missetting), the UWB signal with the previous positioning form cannot meet the current positioning task. For example, the processing of the UWB signal using the medium pulse form, 1W positioning method can be a signal processing in which the UWB signal is sent 3 times per second, while the processing of the UWB signal using the long pulse form, 1W positioning method can be a signal processing in which the UWB signal is sent 10 times per second.

[0131] For example, the IoT device identifies that the positioning form of the task to be positioned is a medium pulse form, 1W, and the positioning form compatibility of the second UWB positioning device includes the positioning forms that the second UWB positioning device can be compatible with, for example, the positioning forms that the second UWB positioning device can be compatible with include medium pulse form, 1W and long pulse form, 1W, etc. At this time, it can be determined that the positioning form compatibility of the second UWB positioning device has a positioning form that is the same as the positioning form of the task to be positioned, and then it can be determined that the positioning form of the task to be positioned is the target positioning form.

[0132] For example, when an instruction to adjust the positioning task is monitored, it means that the Internet of Things device has adjusted the current positioning task. In order to avoid the problem that the current positioning form cannot meet the current positioning task, it can be determined whether the positioning form of the adjusted positioning task is consistent with the positioning form of the positioning task before the adjustment. For example, the positioning form of the adjusted positioning task is a medium pulse form, 1W, and the positioning form of the positioning task before the adjustment is a medium pulse form, 1W, indicating consistency; the positioning form of the adjusted positioning task is a long pulse form, 1W, and the positioning form of the positioning task before the adjustment is a medium pulse form, 1W, indicating inconsistency.

[0133] With such a setting, when an instruction to adjust the positioning task is listened to, it is determined whether the positioning form of the positioning task after the adjustment is consistent with the positioning form of the positioning task before the adjustment, which can avoid the current positioning form being unable to meet the newly set positioning accuracy, thereby affecting the accuracy and stability of the positioning result.

[0134] S500: When it is determined that the positioning form of the positioning task after adjustment is inconsistent with the positioning form of the positioning task before adjustment, identify the task to be positioned to obtain the positioning form of the task to be positioned, wherein the positioning form includes a position form and an accuracy form.

[0135] It can be understood that the positioning requirement information may be information about signal strength or information about signal pulses (in the form of medium pulses or long pulses).

[0136] For example, when it is determined that the positioning form of the positioning task after adjustment is inconsistent with the positioning form of the positioning task before adjustment, it means that the previous positioning form cannot meet the current positioning task. Therefore, the task to be positioned can be obtained by querying the log or parsing the positioning requirement file uploaded by the user to understand the signal strength of the task to be positioned, and the signal pulse (medium pulse form or long pulse form), that is, to obtain the positioning form of the task to be positioned.

[0137] With such a setting, when it is determined that the positioning form of the positioning task after adjustment is inconsistent with the positioning form of the positioning task before adjustment, the task to be positioned is identified to obtain the positioning form of the task to be positioned, so as to understand the positioning form of the current task to be positioned and provide data support for subsequent strategy formulation.

[0138] S600: Obtain a target positioning form based on the positioning form of the task to be positioned and the compatibility of the positioning form of the second UWB positioning device.

[0139] It can be understood that the target positioning form can be the positioning method currently used in collaboration between the IoT device and the second UWB positioning device.

[0140] For example, the positioning forms of the task to be positioned may include x: (medium pulse form, 1W), y: (medium pulse form, 2W), etc. The compatibility of the same positioning form may correspond to different working modes. For example, the positioning form compatibility of the second UWB positioning device may include: (medium pulse form, 1W) corresponds to working mode A, (medium pulse form, 1W) corresponds to working mode B, (medium pulse form, 2W) corresponds to working mode C, and (medium pulse form, 2W) corresponds to working mode D.

[0141] For example, the positioning form of the positioning task before adjustment is (medium pulse form, 1W), and the corresponding working mode can be A. When determining whether the positioning form of the positioning task after adjustment is consistent with the positioning form before adjustment, the target positioning form is obtained based on the positioning form of the task to be positioned and the positioning form compatibility of the second UWB positioning device. For example, the positioning form of the positioning task after adjustment can be (medium pulse form, 2W), and the positioning form compatibility of the second UWB positioning device corresponds to working mode C, that is, (medium pulse form, 2W), then working mode C can be determined as the target positioning form.

[0142] For example, the positioning form of the positioning task before adjustment is (medium pulse form, 1W), and the corresponding working mode may be A. When determining whether the positioning form of the positioning task after adjustment is consistent with the positioning form before adjustment, for example, the positioning form of the positioning task after adjustment is medium pulse form, 2W. At this time, the working mode A is incompatible with the positioning form of (medium pulse form, 2W). The working mode may be adjusted to C, and the positioning form of (medium pulse form, 2W) may be determined as the target positioning form.

[0143] With such a setting, based on the compatibility of the positioning form of the task to be positioned and the positioning form of the second UWB positioning device, the target positioning form is obtained, which can meet the needs of the task to be positioned as much as possible while maintaining performance. When facing changes in the environment or needs, the positioning method can be flexibly adjusted according to the compatibility of the equipment, thereby enhancing the ability to adapt to different environments and helping to improve the accuracy of subsequent positioning.

[0144] S700, processing the positioning form of the task to be positioned based on the target positioning form to obtain processed positioning data.

[0145] It can be understood that the processed positioning data may be transmission parameter data, reception parameter data, power data of the second UWB positioning device, and the like.

[0146] For example, the transmission parameters and the receiving parameters can be set according to the target positioning form (such as long pulse form, short pulse form, etc.). The power of the second UWB positioning device can be set according to the target positioning form (such as signal strength form). The set data is packaged and integrated into the processed positioning data.

[0147] With such a setting, the positioning form of the task to be positioned is processed based on the target positioning form to obtain processed positioning data, which can provide data support for subsequent positioning activities.

[0148] In a possible implementation, S700, processing the positioning form of the task to be positioned based on the target positioning form to obtain processed positioning data includes:

[0149] S710: When it is determined that the second UWB positioning device is compatible with the positioning form of the task to be positioned based on the positioning form compatibility capability of the second UWB positioning device, a target positioning form is obtained, wherein the target positioning form is the positioning form of the task to be positioned.

[0150] It can be understood that when it is determined that the second UWB positioning device is compatible with the positioning form of the task to be positioned based on the positioning form compatibility capability of the second UWB positioning device, it means that the UWB signal of the previous positioning form satisfies the current positioning task, that is, whether the positioning form of the positioning task after adjustment is consistent with the positioning form of the positioning task before adjustment. Therefore, the positioning form of the positioning task before adjustment can be used, that is, the target positioning form is determined to be the positioning form of the task to be positioned.

[0151] With such a configuration, when it is determined that the second UWB positioning device is compatible with the positioning form of the task to be positioned based on the positioning form compatibility capability of the second UWB positioning device, the target positioning form is obtained, and the previous settings and configurations can be borrowed to avoid instability caused by frequent changes. At the same time, there is no need for complicated reconfiguration, thereby saving time and resources and speeding up the execution of the positioning task.

[0152] or,

[0153] S720, when it is determined based on the positioning mode compatibility capability of the second UWB positioning device that the second UWB positioning device is not compatible with the positioning mode of the task to be positioned, a target positioning mode is obtained, wherein the target positioning mode is a positioning mode pre-agreed between the IoT device and the second UWB positioning device, or a positioning mode pre-set by an operator.

[0154] For example, when the positioning form of the positioning task after adjustment is the long pulse form, 1W, and the positioning form of the positioning task before adjustment is the medium pulse form, 1W, it indicates inconsistency, and the second UWB positioning device is compatible with the positioning forms including the medium pulse form, 1W and the long pulse form, 0.95W, etc. At this time, the positioning form compatibility capability of the second UWB positioning device does not have a positioning form that is the same as the positioning form of the task to be positioned, so a positioning form that is close to the long pulse form, 1W and compatible with the second UWB positioning device can be re-formulated as the target positioning form, such as the long pulse form, 0.95W, or the second UWB positioning device can be determined to coordinate the positioning form when performing the first positioning of the IoT device as the target positioning form, that is, the positioning form preset by the operator.

[0155] In this way, when it is determined that the second UWB positioning device is not compatible with the positioning form of the task to be positioned based on the positioning form compatibility capability of the second UWB positioning device, the target positioning form is obtained.

[0156] S800: Send the processed positioning data to the second UWB positioning device, wherein the second UWB positioning device is used to set the processed positioning data based on the target positioning form and perform positioning on the Internet of Things device.

[0157] It is understandable that the processed positioning data can be sent to the second UWB positioning device through the second positioning channel. The second UWB positioning device obtains the processed positioning data and sets the transmission parameters, receiving parameters and power according to the target positioning form. After the setting is completed, the positioning activity can be performed on the IoT device.

[0158] By configuring in this way, by sending the processed positioning data to the second UWB positioning device, the problem that the previous positioning form of the UWB signal cannot meet the current positioning task can be avoided, which helps to improve the accuracy of positioning.

[0159] In a possible implementation, the high-precision positioning method of UWB ultra-wideband technology in an IoT device also includes:

[0160] When the positioning form of the task to be positioned is consistent with the positioning form of the historically set positioning task stored in the IoT device, a target positioning form is obtained, wherein the target positioning form is the positioning form implemented when the historically set positioning task stored in the IoT device is set.

[0161] It can be understood that the positioning form of the historically set positioning task stored in the IoT device may be the positioning form used when the IoT device was able to normally implement the positioning task before.

[0162] For example, the positioning form of the positioning task before adjustment is the medium pulse form, 1W (that is, the positioning form adopted when the IoT device was able to implement the positioning task normally before), and the positioning form of the positioning task after adjustment is still the medium pulse form, 1W, then the target positioning form is determined to be the positioning form implemented when setting the historical positioning task stored in the IoT device.

[0163] With such a setting, when the positioning form of the task to be positioned is consistent with the positioning form of the historically set positioning task stored in the IoT device, the target positioning form can be obtained, and the target positioning form can be automatically set to the historical form, reducing the intervention and complex settings of the operator and reducing the possibility of errors.

[0164] In a possible implementation, the high-precision positioning method of UWB ultra-wideband technology in an IoT device also includes:

[0165] In response to the first operation, the task to be located is identified to obtain a location form of the task to be located.

[0166] It can be understood that the first operation may be an operation of clicking, touching, or inputting text through a keyboard or mouse.

[0167] For example, the sensor monitors the first operation to determine whether to perform the task of identifying the task to be located. When the first operation is monitored, the task to be located is identified to parse out the strength of the positioning signal of the task to be located, the positioning mode and other information, and the positioning form of the task to be located is determined based on the parsed information.

[0168] With such a setting, in response to the first operation, the task to be located is identified to obtain the positioning form of the task to be located. This can avoid the problem of the previous positioning form being unable to satisfy the current positioning task due to direct positioning activity without going through the judgment process of whether the positioning form is consistent. This helps to improve the accuracy of subsequent positioning.

[0169] In a possible implementation, in step S700, the positioning form of the task to be positioned is processed based on the target positioning form, and before the processed positioning data is obtained, the high-precision positioning method of the UWB ultra-wideband technology in the IoT device further includes:

[0170] S701, sending a setting change request to a second UWB positioning device, wherein the setting change request is used to instruct the second UWB positioning device to change to a target positioning mode.

[0171] It is understandable that a setting change request can be sent through the second positioning channel, and the setting change request carries the setting change request identifier (i.e., the setting change request identifier corresponding to the current positioning task to be processed), signal pulse mode, signal strength, etc.

[0172] With such configuration, by sending a setting change request to the second UWB positioning device, it can be ensured that each request is unique and traceable, thereby effectively managing and processing setting change requests and improving the reliability of the positioning process.

[0173] S702: Obtain a feedback signal corresponding to a setting change request of a second UWB positioning device.

[0174] It can be understood that the feedback signal corresponding to the setting change request can be used to indicate whether the setting change request is successfully received and processed.

[0175] For example, after sending the setting change request, the IoT device needs to be in a listening state to receive the feedback signal from the second UWB positioning device. A time window for waiting for the feedback signal can be set. If no feedback is received after the timeout, it means that the setting change request has not been successfully received and processed; otherwise, it means that the setting change request has been successfully received and processed.

[0176] In this way, by obtaining the feedback signal corresponding to the setting change request of the second UWB positioning device, potential problems caused by failure to successfully receive and process the setting change request can be avoided, thereby helping to improve the stability of the positioning activity.

[0177] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0178] Corresponding to the high-precision positioning method of UWB ultra-wideband technology in Internet of Things devices described in the above embodiments, the embodiments of the present application also provide a high-precision positioning system of UWB ultra-wideband technology in Internet of Things devices, and each unit of the system can implement each step of the high-precision positioning method of UWB ultra-wideband technology in Internet of Things devices. Figure 4 A structural block diagram of a high-precision positioning system using UWB ultra-wideband technology in an Internet of Things device provided in an embodiment of the present application is shown. For ease of explanation, only the parts related to the embodiment of the present application are shown.

[0179] Reference Figure 4 , UWB ultra-wideband technology in the high-precision positioning system of IoT devices includes:

[0180] The monitoring unit is used to monitor the positioning demand information, wherein the positioning demand information is used to reflect whether there is a positioning activity in the current IoT device.

[0181] The acquisition unit is used to acquire adjustment information of a positioning device that is in communication connection with the Internet of Things device, wherein the adjustment information is used to indicate that the positioning device is in a maintenance preparation mode.

[0182] The control unit is used to control the positioning device to use UWB ultra-wideband to perform positioning activities on the Internet of Things device based on the positioning demand information and adjustment information.

[0183] It should be noted that the information interaction, execution process, etc. between the above-mentioned systems / units are based on the same concept as the method embodiment of the present application. Their specific functions and technical effects can be found in the method embodiment part and will not be repeated here.

[0184] Those skilled in the art can clearly understand that, for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned functions can be assigned to different functional units as needed, that is, the internal structure of the system can be divided into different functional units to complete all or part of the functions described above. The functional units in the embodiment can be integrated into a processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0185] The present application also provides an Internet of Things device, Figure 5 This is a schematic diagram of the structure of an Internet of Things device provided in one embodiment of the present application. Figure 5 As shown, the IoT device 6 of this embodiment includes: at least one processor 60 ( Figure 5 Only one is shown), at least one memory 61 ( Figure 5 Only one is shown in the figure) and a computer program 62 stored in the at least one memory 61 and executable on the at least one processor 60. When the processor 60 executes the computer program 62, the IoT device 6 implements the steps of any of the above-mentioned high-precision positioning method embodiments of UWB ultra-wideband technology in IoT devices, or implements the functions of each unit in the above-mentioned system embodiments.

[0186] Exemplarily, the computer program 62 may be divided into one or more units, which are stored in the memory 61 and executed by the processor 60 to complete the present application. The one or more units may be a series of computer program instruction segments capable of completing specific functions, which are used to describe the execution process of the computer program 62 in the IoT device 6.

[0187] The IoT device 6 may include, but is not limited to, a processor 60 and a memory 61. Those skilled in the art will appreciate that Figure 5 It is only an example of the IoT device 6 and does not constitute a limitation on the IoT device 6. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, it may also include input and output devices, network access devices, buses, etc.

[0188] The processor 60 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0189] In some embodiments, the memory 61 may be an internal storage unit of the IoT device 6, such as a hard disk or memory of the IoT device 6. In other embodiments, the memory 61 may also be an external storage device of the IoT device 6, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. equipped on the IoT device 6. Further, the memory 61 may also include both an internal storage unit and an external storage device of the IoT device 6. The memory 61 is used to store an operating system, an application program, a boot loader (BootLoader), data, and other programs, such as the program code of the computer program, etc. The memory 61 may also be used to temporarily store data that has been output or is to be output.

[0190] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in any of the above method embodiments are implemented.

[0191] An embodiment of the present application provides a computer program product. When the computer program product is executed on an IoT device, the IoT device implements the steps in any of the above method embodiments.

[0192] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, which can be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may at least include: any entity or device that can carry the computer program code to the Internet of Things device, a recording medium, a computer memory, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), an electrical carrier signal, a telecommunication signal, and a software distribution medium. For example, a USB flash drive, a mobile hard disk, a disk or an optical disk.

[0193] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0194] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0195] In the embodiments provided in the present application, it should be understood that the disclosed Internet of Things devices, high-precision positioning systems using UWB ultra-wideband technology in Internet of Things devices, and high-precision positioning methods using UWB ultra-wideband technology in Internet of Things devices can be implemented in other ways. For example, the embodiments of the Internet of Things devices and high-precision positioning systems using UWB ultra-wideband technology in Internet of Things devices described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0196] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0197] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A high-precision positioning method using UWB ultra-wideband technology in an Internet of Things device, characterized in that: Applied to an IoT device, the method comprises: Monitoring positioning demand information; wherein the positioning demand information is used to reflect whether there is a positioning activity in the current IoT device; Acquire adjustment information of a positioning device that is communicatively connected to the IoT device; wherein the adjustment information is used to indicate that the positioning device is in a maintenance preparation mode; send the adjustment information to the IoT device when the positioning device is ready for maintenance; the IoT device periodically acquires status information of the positioning device to determine whether the positioning device is in a maintenance preparation mode; Based on the positioning requirement information and the adjustment information, control the positioning device to use UWB ultra-wideband to perform the positioning activity on the Internet of Things device; The positioning device includes a first UWB positioning device and a second UWB positioning device, the Internet of Things device and the first UWB positioning device create a first positioning channel, the first positioning channel is used to implement positioning activities, the adjustment information includes creation information of the positioning channel of the second UWB positioning device, and the method further includes: In the case of monitoring the positioning requirement information, acquiring the adjustment information of the first UWB positioning device based on the first positioning channel; wherein the adjustment information is used to indicate that the first UWB positioning device in the positioning device is in a maintenance preparation mode; Generate a first instruction according to the adjustment information; wherein the first instruction is used to instruct the Internet of Things device to update the first indicator to a first tag and close the first positioning channel; In the case of closing the first positioning channel, generating a second instruction; wherein the second instruction instructs the Internet of Things device to update the second indicator to a second tag; When it is determined that the second indicator is the second tag, suspending the acquisition of positioning information of the first positioning channel and generating a termination position acquisition activity; When it is determined that the first indicator is the first tag and the location acquisition activity is terminated, based on the creation information, attempting to create a second positioning channel with the second UWB positioning device; When the second positioning channel is created, the positioning activity is implemented based on the second positioning channel.

2. The high-precision positioning method of UWB ultra-wideband technology in an Internet of Things device as claimed in claim 1, characterized in that: When it is determined that the first indicator is the first tag and the location acquisition activity is terminated, based on the creation information, attempting to create a second positioning channel with the second UWB positioning device includes: In the case where the location acquisition activity is terminated, if it is determined that the first indicator is the first tag and the number of available probes is greater than the preset number, based on the creation information, the second positioning channel is created between the probe and the second UWB positioning device; wherein the starting number of the available probes is greater than the preset number; and each time the second positioning channel is created between the IoT device and the second UWB positioning device, the available probe number is reduced once until the creation of the second positioning channel is completed or the available probe number is less than or equal to the preset number.

3. The high-precision positioning method of UWB ultra-wideband technology in an Internet of Things device as claimed in claim 1, characterized in that: The method further comprises: When the available number of probes is less than or equal to the preset number, updating the available number of probes to the preset number; When the second positioning channel is created, the first indicator is updated to a third tag, and the available probe quantity is updated to a preset quantity; wherein the third tag is different from the first tag.

4. The high-precision positioning method of UWB ultra-wideband technology in an Internet of Things device as claimed in claim 3, characterized in that: The method further comprises: In a case where it is determined that the first indicator is the first tag, storing the activity data of the positioning activity; In a case where it is determined that the first indicator is the third tag, the activity data of the stored positioning activity is sent to the second UWB positioning device based on the second positioning channel.

5. The high-precision positioning method of UWB ultra-wideband technology in an Internet of Things device as claimed in claim 1, characterized in that: The method further comprises: In the case of monitoring an instruction to adjust the positioning task, determining whether the positioning form of the positioning task after the adjustment is consistent with the positioning form before the adjustment; wherein the positioning task after the adjustment is the task to be positioned; In the case where it is determined that the positioning form of the positioning task after the adjustment is inconsistent with the positioning form of the positioning task before the adjustment, identifying the task to be positioned to obtain the positioning form of the task to be positioned; wherein the positioning form includes a signal pulse form and a signal strength form; Based on the compatibility of the positioning form of the task to be positioned and the positioning form of the second UWB positioning device, a target positioning form is obtained; Processing the positioning form of the task to be positioned based on the target positioning form to obtain processed positioning data; The processed positioning data is sent to the second UWB positioning device; wherein the second UWB positioning device is used to set the processed positioning data based on the target positioning form and perform positioning on the Internet of Things device.

6. The high-precision positioning method of UWB ultra-wideband technology in an Internet of Things device as claimed in claim 5, characterized in that: Based on the positioning form of the task to be positioned and the compatibility of the positioning form of the second UWB positioning device, a target positioning form is obtained, including: In the case where it is determined that the second UWB positioning device is compatible with the positioning form of the task to be positioned based on the positioning form compatibility capability of the second UWB positioning device, the target positioning form is obtained; wherein the target positioning form is the positioning form of the task to be positioned; or, When it is determined that the second UWB positioning device is incompatible with the positioning form of the task to be positioned based on the positioning form compatibility capability of the second UWB positioning device, the target positioning form is obtained; wherein the target positioning form is a positioning form pre-agreed between the Internet of Things device and the second UWB positioning device, or a positioning form pre-set by an operator.

7. The high-precision positioning method of UWB ultra-wideband technology in an Internet of Things device as claimed in claim 5, characterized in that: The method further comprises: When the positioning form of the task to be positioned is consistent with the positioning form of the historically set positioning task stored in the Internet of Things device, the target positioning form is obtained; wherein the target positioning form is the positioning form implemented when setting the historically set positioning task stored in the Internet of Things device.

8. The high-precision positioning method using UWB ultra-wideband technology in an Internet of Things device as claimed in claim 5, characterized in that: The method further comprises: In response to a first operation, identifying the task to be located to obtain a positioning form of the task to be located; Wherein, before processing the positioning form of the task to be positioned based on the target positioning form to obtain the processed positioning data, the method further includes: Sending a setting change request to the second UWB positioning device; wherein the setting change request is used to instruct the second UWB positioning device to change to the target positioning mode; A feedback signal corresponding to the setting change request of the second UWB positioning device is obtained.

9. An Internet of Things device, characterized in that: The method comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method according to any one of claims 1 to 8 when executing the computer program.

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