High-precision tracking method

Abstract

The invention relates to the technical field of positioning and tracking, and discloses a high-precision tracking method which can efficiently and accurately find a target. The method comprises the following steps: a tracking device receives a positioning signal from a target device through a remote wireless network to obtain the position of the target device; the tracking device moves to a first position, and the distance between the position and the target device is smaller than a preset threshold value; and the tracking device communicates with the UWB transceiver of the target device through the UWB transceiver to obtain the direction and distance of the target device relative to the tracking device.

Description

Technical Field

[0001] The present application relates to the field of positioning and tracking technology, and in particular to wireless communication and positioning navigation technology. Background Art

[0002] This section is intended to provide a background or context for understanding the embodiments of the present application and is for reference only. The applicant should not be considered to admit that this section belongs to the prior art that has been disclosed before the filing date of the present application.

[0003] In the prior art, in order to track and locate target objects (such as containers, pets, goods, vehicles, luggage, etc.) within a large range, positioning technologies based on remote wireless networks are usually used. These positioning technologies may include satellite positioning methods using the Global Positioning System (GPS), or they may obtain the approximate location of the target object through positioning methods based on cellular networks. In addition, there are also solutions that assist in positioning through short-range wireless technologies such as Wireless Fidelity (WiFi) or Bluetooth. However, whether it is a satellite-based positioning method or a cellular network-based positioning method, it can usually only provide relatively rough location information. For some usage scenarios, only an approximate location is not enough to quickly and accurately find the target object.

[0004] For example, there are often a large number of containers in a large container storage yard. When only the approximate location of the target container can be obtained, due to the complex site and dense stacking, the operator still needs to spend a long time to search and confirm one by one, and it is difficult to accurately lock the specific location of the target container in a timely manner. Similarly, for target objects such as pets that move freely and may hide in complex environments, even if the approximate coordinates of the target area are obtained, it is still difficult to accurately find the target object in a short period of time. The reason is that pets may keep moving or hiding, making the search process that relies solely on rough positioning information very inefficient.

[0005] In summary, the existing technology faces the following problems when tracking the target object: the location information obtained only through remote wireless networks or positioning methods based on satellites, cellular, WIFI, etc. is often of limited accuracy, which is difficult to meet the needs of quickly and intuitively locking the target object in large venues or complex environments. Summary of the invention

[0006] The purpose of this application is to provide a high-precision tracking method that can find the target efficiently and accurately.

[0007] This application discloses a high-precision tracking method, comprising:

[0008] The tracking device receives a positioning signal from the target device via a remote wireless network to obtain the location of the target device;

[0009] The tracking device moves to a first position, the distance between the position and the position of the target device being less than a preset threshold;

[0010] The tracking device communicates with the UWB transceiver of the target device via the UWB transceiver to obtain the direction and distance of the target device relative to the tracking device.

[0011] In a preferred embodiment, the tracking device includes a remote wireless transceiver, through which the remote wireless network is accessed;

[0012] The target device includes a long-range wireless transceiver and a positioning device, and a positioning signal obtained by the positioning device is sent to the tracking device through the long-range wireless transceiver.

[0013] In a preferred example, the positioning device includes one of the following or any combination thereof: a satellite positioning module, a cellular network positioning module, a WIFI positioning module, and a Bluetooth positioning module.

[0014] In a preferred example, the remote wireless network includes one of the following or any combination thereof: a cellular network, a satellite communication network, and the Internet.

[0015] In a preferred example, the target device periodically sends its own positioning signal to the tracking device via the remote wireless network.

[0016] In a preferred example, after obtaining the direction and distance of the target device relative to the tracking device, the tracking device moves toward the target device according to the direction and distance.

[0017] In a preferred embodiment, it also includes:

[0018] The target device periodically obtains its own location information through the positioning device, and sends the location information to the tracking device through the remote wireless transceiver, while the UWB transceiver of the target device is in a listening state;

[0019] When the tracking device moves to the first position, the tracking device sends an activation signal through its own UWB transceiver;

[0020] After receiving the activation signal, the UWB transceiver of the target device establishes a UWB wireless connection with the UWB transceiver of the tracking device; after the UWB wireless connection is established, the remote wireless transceiver and the positioning device of the target device are turned off;

[0021] When the target device detects that the UWB wireless connection with the tracking device has been disconnected for longer than a predetermined threshold, or the UWB wireless connection signal strength is lower than a predetermined threshold, the remote wireless transceiver and positioning device of the target device are reopened, and the latest location information detected by the positioning device is sent to the tracking device through the remote wireless transceiver.

[0022] In a preferred example, after the UWB transceiver of the target device establishes a wireless connection with the UWB transceiver of the tracking device, the target device turns off its own remote wireless transceiver and positioning device.

[0023] Before the tracking device moves to the location of the target device, the UWB transceiver of the target device is in a closed state or a sleep state;

[0024] After the tracking device moves to the location of the target device, sending a first message to the target device via the remote wireless network;

[0025] In response to the first message, the target device turns on its own UWB transceiver.

[0026] The present application also discloses a non-transitory computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, the steps in the method described above are implemented.

[0027] The present application also discloses a computer program product, comprising computer executable instructions, which can implement the steps in the method described above when executed by a processor.

[0028] In the implementation of the present application, after initially acquiring the approximate location of the target device, the tracking device is moved to the vicinity of the approximate location, and the UWB transceiver is used to directly communicate with the UWB transceiver of the target device to obtain the relative direction and distance of the target device, so that the tracking process can be efficiently transitioned from rough positioning to precise positioning. This technically implements a two-level positioning strategy: first, a remote wireless network is used to obtain the target location within a large range, and then the device is moved to the vicinity of the target device to obtain accurate azimuth and distance information through precise UWB measurement, so that the tracking device can quickly and purposefully lock onto the target location. The technical effect is to significantly improve positioning accuracy, shorten the time and steps required to find the target, and improve the efficiency and accuracy of tracking the target device. It is suitable for complex scenarios such as container searches in large cargo yards or rapid positioning of mobile pets in indoor and outdoor environments.

[0029] Furthermore, a dynamic balance between energy consumption and sustainable tracking capability is achieved by shutting down the remote wireless transceiver and positioning device of the target device after the UWB wireless connection is established, and re-enabling these modules and sending the latest location information again after the UWB connection is disconnected and exceeds the predetermined time threshold. Specifically, when the tracking device has entered the UWB precise positioning stage, the target device does not need to continue to consume power to maintain the remote wireless communication and positioning functions, thereby reducing overall power consumption. When the UWB connection is accidentally interrupted and cannot be restored for a long time, the target device re-enables the remote positioning and communication means, allowing the tracking device to obtain its latest rough position again, so as to facilitate the re-initiation of the approach process. The technical effect of this is that it can effectively save energy in the precise positioning stage, and quickly restore the search capability when the positioning interruption occurs, thereby ensuring the continuity and efficiency of the entire tracking process. This is of great significance for application scenarios where power resources are limited, long-term work and reliable tracking are required (such as target positioning in field search and rescue).

[0030] Each technical feature disclosed in the above invention content, each technical feature disclosed in each implementation mode and example below, and each technical feature disclosed in the accompanying drawings can be freely combined with each other to form various new technical solutions (these technical solutions should be deemed to have been recorded in this specification), unless such combination of technical features is technically infeasible. For example, in one example, feature A+B+C is disclosed, and in another example, feature A+B+D+E is disclosed, and features C and D are equivalent technical means that play the same role. Technically, only one of them can be used, and it is impossible to use them at the same time. Feature E can be combined with feature C technically. Then, the solution of A+B+C+D should not be deemed to have been recorded because it is technically infeasible, while the solution of A+B+C+E should be deemed to have been recorded. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 is a flowchart of a high-precision tracking method according to an embodiment of the present application;

[0032] Figure 2 It is a flowchart of a high-precision tracking method according to another embodiment of the present application. DETAILED DESCRIPTION

[0033] In the following description, many technical details are provided to help readers better understand the present application. However, those skilled in the art can understand that the technical solution claimed in the present application can be implemented even without these technical details and various changes and modifications based on the following embodiments.

[0034] Description of some concepts:

[0035] UWB (Ultra-Wideband) is a communication technology that uses nanosecond narrow pulses for wireless transmission. It has the characteristics of high-precision ranging (accuracy can reach centimeter level), low power consumption, and resistance to multipath interference.

[0036] GPS (Global Positioning System) is a satellite-based navigation system that uses radio signals sent by at least 4 satellites to determine the precise position, speed and time information of the receiving device on the earth.

[0037] In order to make the objectives, technical solutions and advantages of the present application clearer, the implementation methods of the present application will be further described in detail below in conjunction with the accompanying drawings.

[0038] This embodiment discloses a high-precision tracking solution, which includes a target device and a tracking device. The target device is installed on the tracked object (such as a container, a collar worn by a pet, a warehouse cargo label, etc.), and the tracking device is carried by an operator or a search device (such as a drone, a robot) to accurately find the actual location of the target object.

[0039] The target device includes: a positioning device (such as one or a combination of a satellite positioning module, a cellular network positioning module, a WIFI positioning module, a Bluetooth positioning module, etc.), which is used to obtain the approximate location information of the target object; a long-range wireless transceiver, which is used to send the positioning information to the tracking device via a long-range wireless network (such as a cellular network, a satellite communication network or the Internet, etc.); and a UWB transceiver, which is used to communicate with the tracking device with high precision within a short range to obtain information such as direction and distance.

[0040] The tracking device includes: a long-range wireless transceiver for accessing a long-range wireless network and receiving positioning signals periodically sent by a target device; and a UWB transceiver for performing high-precision spatial positioning communication (such as measuring relative direction and distance) with the target device when the tracking device approaches within a certain range of the target device.

[0041] In one embodiment, a high-precision tracking method process is as follows: Figure 1 shown.

[0042] In step 102, the tracking device receives a positioning signal from the target device through a remote wireless network to obtain the location of the target device. For example, the tracking device can receive a positioning signal from the target device through a cellular network or a satellite communication network. The tracking device can receive the positioning signal from the target device through a remote wireless network for a long time and continuously (for example, positioning can be performed once every 10 minutes for 1 day), or it can be performed on demand (for example, the target device is positioned only when the user of the tracking device clicks on positioning).

[0043] Then, the process proceeds to step 104, where the tracking device moves to a first position, the distance between the position and the target device being less than a preset threshold, which is generally less than the maximum communication distance of the UWB.

[0044] Then, the process proceeds to step 106 , where the tracking device communicates with the UWB transceiver of the target device via the UWB transceiver to obtain the direction and distance of the target device relative to the tracking device.

[0045] Optionally, in one embodiment, the target device periodically sends its own positioning signal to the tracking device via a remote wireless network.

[0046] Optionally, in one embodiment, after obtaining the direction and distance of the target device relative to the tracking device, the tracking device moves toward the target device according to the direction and distance.

[0047] Optionally, in one embodiment, the target device periodically obtains its own location information through the positioning device, and sends the location information to the tracking device through the remote wireless transceiver, and the UWB transceiver of the target device is in a listening state. When the tracking device moves to the first position, the tracking device sends an activation signal through its own UWB transceiver. After receiving the activation signal, the UWB transceiver of the target device establishes a UWB wireless connection with the UWB transceiver of the tracking device. After the UWB wireless connection is established, the remote wireless transceiver and positioning device of the target device are turned off. When the target device detects that the UWB wireless connection with the tracking device has been disconnected for more than a predetermined threshold, or the UWB wireless connection signal strength is lower than a predetermined threshold, the remote wireless transceiver and positioning device of the target device are turned back on, and the latest location information detected by the positioning device is sent to the tracking device through the remote wireless transceiver.

[0048] Optionally, in one embodiment, after the UWB transceiver of the target device establishes a wireless connection with the UWB transceiver of the tracking device, the target device turns off its own remote wireless transceiver and positioning device. Before the tracking device moves to the location of the target device, the UWB transceiver of the target device is in a closed state or a sleep state. After the tracking device moves to the location of the target device, the first message is sent to the target device via the remote wireless network. In response to the first message, the target device turns on its own UWB transceiver.

[0049] Figure 2 The figure shows a typical implementation flow diagram of a high-precision tracking method according to an embodiment of the present invention. In the process, the tracking device and the target device realize the conversion from rough positioning to precise positioning under the cooperation of the remote wireless network and UWB communication means, and can automatically recover after the communication is interrupted.

[0050] Step 202: The target device periodically obtains its own location information through its positioning device (such as a GPS module, a Beidou satellite positioning module, a cellular network positioning module, a WIFI positioning module, or a Bluetooth positioning module). The location information may be geographic coordinates or approximate positioning data of the area.

[0051] Step 204: The target device sends the above location information to a remote wireless network (such as a 4G network, a 5G network, a satellite communication network or the Internet, etc.) through its remote wireless transceiver. The information can be updated periodically to ensure that the tracking party can continue to know the latest approximate location of the target device.

[0052] Step 206: The tracking device (e.g., a smart phone) accesses a remote wireless network through its own remote wireless transceiver to receive a positioning signal sent by the target device. This step enables the tracking device to grasp the approximate location of the target device, such as confirming the approximate location of a specific container in a container yard, or roughly determining the location of a pet in a community.

[0053] Step 208: The tracking device moves to the area where the target device is located based on the obtained approximate location information of the target device. When the distance between the tracking device and the target device is less than a preset threshold (i.e., the tracking device reaches the "first position"), it means that the tracking device is close enough to the target device and is ready for higher precision positioning. The preset threshold is usually less than the maximum communication distance of UWB.

[0054] Step 210: After reaching the first position, the tracking device sends an activation signal for activating the UWB connection to the target device through its UWB transceiver. At this time, the UWB transceiver of the target device is in a listening state to wait for the activation signal to arrive.

[0055] Step 212: After receiving the activation signal, the UWB transceiver of the target device establishes a UWB wireless connection with the UWB transceiver of the tracking device. UWB has high-precision ranging and direction finding capabilities. After establishing the UWB connection, the target device turns off its long-range wireless transceiver and positioning device to reduce energy consumption.

[0056] Optionally, both the target device and the tracking device can be configured with a low-power Bluetooth module BLE. When the tracking device reaches the first position, when the distance between the target device and the tracking device is within the communication distance of BLE, a connection can be established through BLE, and data can be transferred between the target device and the tracking device through the BLE connection. The power consumption of BLE is lower than that of UWB. Using BLE instead of UWB to transfer data (such as system configuration information, etc.) can further reduce the power consumption of the target device and the tracking device.

[0057] Step 214: Through the UWB connection, the tracking device can obtain the direction and distance information of the target device relative to itself. This allows the tracking device to move precisely toward the location of the target device. For example, in a densely stacked container yard, the tracking device can quickly lock the exact location of a specific container; when searching for a pet indoors or in a small area, the tracking device can also quickly find the exact hiding place of the pet.

[0058] Step 216: The tracking device further moves toward the target device based on the direction and distance information obtained from the UWB communication. This process can be repeated to achieve efficient conversion from approximate positioning to precise positioning, greatly reducing the time and effort of blind searching.

[0059] Step 218: If the UWB connection is interrupted due to an obstacle or device movement (e.g., a pet runs out of the UWB connection range), and the interruption time exceeds a predetermined threshold, the target device will automatically re-enable its remote wireless transceiver and positioning device, and again send the latest location information to the tracking device via the remote wireless network. In this way, the tracking device can re-approach the target device location based on the updated rough positioning information, and try to establish a UWB connection again to maintain a continuous high-precision tracking process.

[0060] Through the above steps, this embodiment achieves high-precision tracking that combines large-scale coarse positioning with short-range precise positioning. This solution is suitable for scenes such as large cargo yards, storage environments, and indoor and outdoor tracking of moving targets (such as pets). It not only helps to reduce the difficulty of initial search, but also can quickly obtain the precise position after approaching the target, thereby improving tracking efficiency and accuracy.

[0061] Optionally, in one embodiment, the tracking device uses preliminary rough positioning information to query the electronic map, evaluate the difficulty of radio wave propagation at the target location, and dynamically adjust the preset threshold of the tracking device accordingly to optimize tracking efficiency and accuracy. This method ensures that the tracking device can flexibly adjust its working parameters under different environmental conditions, thereby improving the performance of the overall tracking system. The implementation steps are as follows:

[0062] Step A: Preliminary rough positioning: The tracking device receives rough location information (such as GPS coordinates) periodically sent by the target device through a remote wireless network.

[0063] Step B: Electronic map query. The tracking device uses the received rough location information to access the pre-loaded electronic map database. The environmental feature data around the target location is extracted from the electronic map, including but not limited to building density, terrain obstacles, vegetation coverage, etc.

[0064] Step C: Radio wave propagation difficulty assessment. First, analyze the environmental characteristics. Based on the environmental characteristic data provided by the electronic map, assess the difficulty of radio wave propagation in the target area. For example, in densely populated areas (such as urban areas with tall buildings), radio waves are easily blocked and reflected by buildings, resulting in a shortened propagation distance. For another example, in open areas (such as rural areas or empty storage sites), there are fewer obstacles and the radio wave propagation distance is longer. Then quantify the propagation difficulty. Use a preset algorithm or model to convert environmental characteristics into quantitative indicators of radio wave propagation difficulty.

[0065] Step D: Preset threshold adjustment. According to the evaluation result of radio wave propagation difficulty, the preset threshold of the tracking device is dynamically adjusted. The adjustment rules are as follows:

[0066] Areas with high propagation difficulty (such as densely built-up areas): Set the preset threshold to a smaller value to ensure that the tracking device switches to UWB fine positioning at a closer distance.

[0067] Low propagation difficulty area (such as open area): Set the preset threshold to a larger value to reduce the UWB switching frequency and save energy.

[0068] Step E: Execute the tracking process. The tracking device moves to the rough position of the target device according to the adjusted preset threshold. When the distance between the tracking device and the target device is less than the adjusted preset threshold, it switches to the UWB fine positioning mode to obtain the precise direction and distance information of the target device.

[0069] Example process:

[0070] Assume that the target device is located in an urban area with tall buildings. After receiving the rough location information of the target device, the tracking device queries the electronic map and finds that the area is densely built, with a large number of tall buildings and complex terrain obstacles. The system assesses that the radio wave propagation is difficult and the propagation distance is short. Therefore, the tracking device dynamically adjusts the preset threshold from the default 100 meters to 50 meters.

[0071] Then, the tracking device moves toward the target device according to the adjusted threshold. When the distance between the tracking device and the target device is reduced to less than 50 meters, it immediately switches to the UWB fine positioning mode and accurately determines the specific location and direction of the target device through UWB communication, thereby completing the tracking task quickly and accurately.

[0072] On the other hand, if the target device is located in an open storage area, the electronic map query shows that there are fewer obstacles to radio wave propagation in this area. The system evaluates that the radio wave propagation difficulty is low and the propagation distance is long, so the preset threshold is adjusted to 150 meters. When the tracking device is close to 150 meters, it can switch to UWB fine positioning mode to achieve an efficient tracking process.

[0073] By dynamically adjusting the preset threshold according to the environment, it is possible to avoid frequent switching to high-precision UWB positioning mode when it is not necessary, thus saving energy for the device. For example, in areas where radio wave propagation is difficult, a smaller threshold is set, and the tracking device only enables UWB positioning when it is close to the target, thereby reducing the frequency of turning on the UWB module and extending the battery life of the device. In areas where radio wave propagation is good, a larger threshold is set, so that the tracking device can switch to UWB positioning earlier, improving overall tracking efficiency.

[0074] By dynamically adjusting the threshold, the system can better respond to environmental changes and emergencies, improving the stability and reliability of the overall system. For example, when the target device moves to a different environmental area, the system can automatically adjust the threshold to ensure continuous and effective tracking. When encountering signal interruption or interference, the system can reset the threshold according to the environment and resume the normal tracking process.

[0075] Accordingly, the embodiments of the present application also provide a computer-readable storage medium, in which computer executable instructions are stored, and when the computer executable instructions are executed by the processor, the various method embodiments of the present application are implemented. Computer-readable storage media include permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology. Information can be a computer-readable instruction, a data structure, a module of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, read-only compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. According to the definition herein, computer-readable storage media do not include transient computer-readable media (transitory media), such as modulated data signals and carriers.

[0076] In addition, the embodiments of the present application also provide a high-precision tracking system, which includes a memory for storing computer executable instructions, and a processor; the processor is used to implement the steps in the above-mentioned method implementations when executing the computer executable instructions in the memory. Among them, the processor can be a central processing unit (Central Processing Unit, referred to as "CPU"), a graphic processing unit (Graphic Processing Unit, referred to as "GPU"), a digital signal processor (Digital Signal Processor, referred to as "DSP"), a microcontroller unit (Microcontroller Unit, referred to as "MCU"), a neural network processor (referred to as "NPU"), an application-specific integrated circuit (Application Specific Integrated Circuit, referred to as "ASIC"), a field programmable gate array (Field Programmable Gate Array, referred to as "FPGA") or other programmable logic devices, etc. The aforementioned memory can be a read-only memory (read-only memory, referred to as "ROM"), a random access memory (random access memory, referred to as "RAM"), a flash memory (Flash), a hard disk or a solid-state hard disk, etc. The steps of the methods disclosed in the various embodiments of the present invention can be directly embodied as being executed by a hardware processor, or executed by a combination of hardware and software modules in the processor.

[0077] In addition, an embodiment of the present application further provides a computer program product, which includes computer executable instructions, and when the computer executable instructions are executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0078] It should be noted that, in the present application, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is any such actual relationship or order between these entities or operations. Moreover, the term "include", "comprise" or any other variant thereof is intended to cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or equipment. In the absence of more restrictions, the elements defined by the sentence "include one" do not exclude the existence of other identical elements in the process, method, article or equipment including the elements. In the present application, if it is mentioned that a certain action is performed according to a certain element, it means at least the meaning of performing the action according to the element, which includes two situations: performing the action only according to the element and performing the action according to the element and other elements. Multiple, multiple, multiple, etc. expressions include 2, 2 times, 2 kinds and more than 2, more than 2 times, more than 2 kinds.

[0079] The serial numbers used in describing the steps of a method do not themselves constitute any limitation on the order of these steps. For example, the step with a larger serial number does not necessarily have to be executed after the step with a smaller serial number. The step with a larger serial number may be executed first and then the step with a smaller serial number, or they may be executed in parallel, as long as the execution order is reasonable to those skilled in the art.

[0080] This specification includes combinations of the various embodiments described herein. Individual references to embodiments (e.g., "one embodiment" or "some embodiments" or "preferred embodiments"); however, these embodiments are not mutually exclusive unless indicated as mutually exclusive or it is clear to a person skilled in the art that they are mutually exclusive. It should be noted that the word "or" is used in this specification in a non-exclusive sense unless the context clearly indicates or requires otherwise.

[0081] All documents mentioned in this specification are considered to be included in the disclosure of this application as a whole, so that they can be used as a basis for modification when necessary. In addition, it should be understood that the above is only a preferred embodiment of this specification and is not intended to limit the scope of protection of this specification. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of one or more embodiments of this specification should be included in the scope of protection of one or more embodiments of this specification.

[0082] In some cases, the actions or steps described in the claims may be performed in a different order than in the embodiments and still achieve the desired results. In addition, the processes depicted in the drawings do not necessarily require the specific order or sequential order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

Claims

1. A high-precision tracking method, characterized in that: include: The tracking device receives a positioning signal from the target device via a remote wireless network to obtain the location of the target device; The tracking device moves to a first position, the distance between the position and the position of the target device being less than a preset threshold; The tracking device communicates with the UWB transceiver of the target device via the UWB transceiver to obtain the direction and distance of the target device relative to the tracking device.

2. The high-precision tracking method according to claim 1, characterized in that: The tracking device includes a long-range wireless transceiver through which the long-range wireless network is accessed; The target device includes a long-range wireless transceiver and a positioning device, and a positioning signal obtained by the positioning device is sent to the tracking device through the long-range wireless transceiver.

3. The high-precision tracking method according to claim 1, characterized in that: The positioning device includes one of the following or any combination thereof: a satellite positioning module, a cellular network positioning module, a WIFI positioning module, and a Bluetooth positioning module.

4. The high-precision tracking method according to claim 1, characterized in that: The remote wireless network includes one of the following or any combination thereof: a cellular network, a satellite communication network, and the Internet.

5. The high-precision tracking method according to claim 1, characterized in that: The target device periodically sends its own positioning signal to the tracking device via the remote wireless network.

6. The high-precision tracking method according to claim 1, characterized in that: After obtaining the direction and distance of the target device relative to the tracking device, the tracking device periodically remeasures the distance and position based on the updated distance position and direction, thereby providing navigation services with centimeter-level accuracy for the tracking device.

7. The high-precision tracking method according to claim 2, characterized in that: Also includes: The target device periodically obtains its own location information through the positioning device, and sends the location information to the tracking device through the remote wireless transceiver, while the UWB transceiver of the target device is in a listening state; When the tracking device moves to the first position, the tracking device sends an activation signal through its own UWB transceiver; After receiving the activation signal, the UWB transceiver of the target device establishes a UWB wireless connection with the UWB transceiver of the tracking device; after the UWB wireless connection is established, the remote wireless transceiver and the positioning device of the target device are turned off; When the target device detects that the UWB wireless connection with the tracking device has been disconnected for longer than a predetermined threshold, or the UWB wireless connection signal strength is lower than a predetermined threshold, the remote wireless transceiver and positioning device of the target device are reopened, and the latest location information detected by the positioning device is sent to the tracking device through the remote wireless transceiver.

8. The high-precision tracking method according to claim 2, characterized in that: When the UWB transceiver of the target device establishes a wireless connection with the UWB transceiver of the tracking device, the target device turns off its own long-range wireless transceiver and positioning device; Before the tracking device moves to the location of the target device, the UWB transceiver of the target device is in a closed state or a sleep state; After the tracking device moves to the location of the target device, sending a first message to the target device via the remote wireless network; In response to the first message, the target device turns on its own UWB transceiver.

9. A non-transitory computer-readable storage medium, characterized in that: The non-transitory computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed by a processor, the steps in the method according to any one of claims 1 to 8 are implemented.

10. A computer program product comprising computer executable instructions, characterized in that: When the computer executable instructions are executed by a processor, the steps in the method described in any one of claims 1 to 8 are implemented.

Images