Remote displacement monitoring system and method based on dual-communication technology fusion

Abstract

The invention provides a remote displacement monitoring system and method based on dual-communication technology fusion. The system comprises N positioning tag devices, a base station device and a cloud platform. The switching from the sleep mode to the working mode of each positioning tag device is realized by judging whether a trigger condition or a wake-up condition is met, and when the trigger condition or the wake-up condition is met, the positioning tag device is switched from the sleep mode to the working mode; the base station equipment is converted from the sleep mode to the working mode by judging whether a period condition or a wakeup condition is met or not, and when the period condition or the wakeup condition is met, the base station equipment is converted from the sleep mode to the working mode; and the cloud platform is used for resolving the distance original data. The technical problem that a displacement monitoring system in the prior art cannot realize remote distance measurement and low power consumption at the same time can be solved.

Description

Technical Field

[0001] The present invention relates to the technical field of geological disaster monitoring, and in particular to a long-distance displacement monitoring system and method based on the fusion of dual communication technologies. Background Art

[0002] Geological disasters refer to geological processes or phenomena formed under the action of natural or human factors, which cause losses to human life and property and damage to the environment. Displacement monitoring of disaster bodies is a common method for geological disaster monitoring. At present, conventional displacement monitoring devices mainly include rope displacement gauges, GNSS devices, UWB ranging, and other radar ranging devices. However, the rope displacement gauge has low power consumption but a small measuring range, generally within 5 meters; GNSS devices, UWB ranging, and other radar ranging can achieve long-distance ranging, but have high power consumption and are difficult to meet the application requirements of geological disasters. Summary of the Invention

[0003] The present invention provides a long-distance displacement monitoring system and method based on the fusion of dual communication technologies, which can solve the technical problem that the displacement monitoring system in the prior art cannot simultaneously achieve long-distance ranging and low power consumption.

[0004] According to one aspect of the present invention, a long-distance displacement monitoring system based on the fusion of dual communication technologies, the system includes N positioning tag devices, a base station device, and a cloud platform;

[0005] Each of the positioning tag devices has two modes, namely a sleep mode and a working mode. Each of the positioning tag devices is configured to enter the working mode when a trigger condition is met and send a LoRa wake-up instruction to the base station device; is also configured to enter the sleep mode when the cloud platform obtains distance data; is also configured to receive an instruction for obtaining raw distance data sent by the base station device; is also configured to enter the working mode when receiving the LoRa wake-up instruction and turn on UWB reception;

[0006] The base station device has two modes, namely a sleep mode and a working mode. The base station device is configured to enter the working mode when receiving the LoRa wake-up instruction sent by the positioning tag device and turn on UWB reception; is also configured to obtain raw distance data corresponding to the positioning tag device and send the raw distance data to the cloud platform; is also configured to enter the sleep mode when the cloud platform obtains distance data; is also configured to send the instruction for obtaining raw distance data sent by the cloud platform to the positioning tag device through LoRa; is also configured to enter the working mode when a cycle condition is met and send a LoRa wake-up instruction to the positioning tag device;

[0007] The cloud platform is used to calculate the distance raw data. In the case of successful calculation, the distance data between the positioning tag device and the base station device is obtained. In the case of failed calculation, an instruction to obtain the distance raw data is sent to the base station device.

[0008] Preferably, the triggering condition is that the change amount of the MEMS sensing data of the positioning tag device is greater than a preset threshold.

[0009] Preferably, the periodic condition is that a preset timing period of the base station device is reached.

[0010] Preferably, the system further includes a mobile terminal, which is used to receive the distance data sent by the cloud platform and display the distance data in real time.

[0011] According to another aspect of the present invention, a long-distance displacement monitoring method based on the fusion of dual communication technologies is provided. The method includes:

[0012] When a certain positioning tag device meets the triggering condition:

[0013] S11. The current positioning tag device enters the working mode and sends a LoRa wake-up instruction to the base station device;

[0014] S12. The base station device receives the LoRa wake-up instruction, enters the working mode, and enables UWB reception;

[0015] S13. The current positioning tag device and the base station device perform multiple UWB communications so that the base station device obtains the distance raw data corresponding to the current positioning tag device;

[0016] S14. The base station device sends the distance raw data to the cloud platform;

[0017] S15. The cloud platform calculates the distance raw data. If the calculation is successful, go to S16; if the calculation fails, go to S17;

[0018] S16. The cloud platform obtains the distance data between the current positioning tag device and the base station device. The base station device enters the sleep mode, and the current positioning tag device enters the sleep mode;

[0019] S17. The cloud platform sends an instruction to obtain the distance raw data to the base station device. The base station device sends the instruction to obtain the distance raw data to the current positioning tag device through LoRa and goes to S13;

[0020] When the base station device meets the periodic condition:

[0021] S21. The base station device enters the working mode and sends LoRa wake-up commands to N positioning tag devices;

[0022] S22. The N positioning tag devices receive the LoRa wake-up command, and according to the preset sorting, the first positioning tag device enters the working mode, and UWB reception is enabled, while the remaining positioning tag devices are in the sleep mode;

[0023] S23. The positioning tag device in the working mode conducts multiple UWB communications with the base station device so that the base station device obtains the raw distance data corresponding to the current positioning tag device;

[0024] S24. Determine whether the traversal of all positioning tag devices is completed. If so, go to S25; otherwise, make the next positioning tag device enter the working mode, enable UWB reception, and the remaining positioning tag devices are in the sleep mode, and then go to S23;

[0025] S25. The base station device sends all the obtained raw distance data to the cloud platform;

[0026] S26. The cloud platform performs calculations on all the obtained raw distance data. If all the calculations are successful, go to S27; otherwise, go to S28;

[0027] S27. The cloud platform obtains N distance data between the N positioning tag devices and the base station device. The base station device enters the sleep mode, and the current positioning tag device enters the sleep mode;

[0028] S28. The cloud platform sends an instruction to the base station device to obtain the raw distance data. The base station device sends the instruction to obtain the raw distance data to the M positioning tag devices corresponding to the data that has not been successfully calculated through LoRa. According to the preset sorting, the first positioning tag device enters the working mode, enables UWB reception, and the remaining positioning tag devices are in the sleep mode, and then go to S23.

[0029] Preferably, the triggering condition is that the change amount of the MEMS sensing data of the positioning tag device is greater than a preset threshold.

[0030] Preferably, the periodic condition is that the preset timing period of the base station device is reached.

[0031] Preferably, the method further includes: the mobile terminal receives the distance data sent by the cloud platform and displays the distance data in real time.

[0032] Preferably, the method further includes: the positioning tag device, the base station device, the cloud platform, and the mobile terminal are respectively initialized to the operable state, and the positioning tag device and the base station device enter the sleep mode, while the cloud platform and the mobile terminal enter the receiving mode.

[0033] Applying the technical solution of the present invention, compared with the prior art, it has the following beneficial effects:

[0034] 1. When the positioning tag device and the base station device are not working, they are both in the sleep mode. At this time, the power consumption of the devices is extremely low, which greatly meets the demand for battery power supply in the field of geological disasters compared with existing devices.

[0035] 2. The UWB ranging method is adopted, which has the advantages of high precision and long-distance displacement monitoring. It can monitor displacements, cracks, etc. over a distance of more than one hundred meters, filling the gap of low-power devices in the long-distance aspect of current geological disaster devices. At the same time, by appropriately changing the working mode of the devices, the integration of tags and base stations can be achieved, and the devices can measure distances from each other and realize the positioning function.

[0036] 3. The MEMS sensing trigger is adopted, which can solve the scenario of disaster warning. The positioning tag device will quickly enter the working mode, then wake up the base station device through LoRa, and conduct monitoring through UWB.

[0037] 4. The periodic monitoring is adopted, which can solve the scenario of long-term trend monitoring. The base station device wakes up and broadcasts all positioning tag devices through LoRa, and configures the time slot sorting of the positioning tag devices to solve the interference and conflict problems between the positioning tag devices. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The accompanying drawings included are used to provide a further understanding of the embodiments of the present invention. They form a part of the specification, are used to illustrate the embodiments of the present invention, and together with the written description, explain the principles of the present invention. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0039] Figure 1 FIG. shows a schematic structural diagram of a long-distance displacement monitoring system based on the fusion of dual communication technologies provided by an embodiment of the present invention;

[0040] Figure 2 FIG. shows a flowchart of a long-distance displacement monitoring method based on the fusion of dual communication technologies provided by an embodiment of the present invention;

[0041] Figure 3 FIG. shows a flowchart of a positioning tag device provided by an embodiment of the present invention;

[0042] Figure 4 FIG. shows a flowchart of a base station device provided by an embodiment of the present invention;

[0043] Figure 5 FIG. shows a flowchart of a cloud platform provided by an embodiment of the present invention.

[0044] Among them, the above-mentioned accompanying drawings include the following reference numerals:

[0045] 10. Positioning tag device; 20. Base station device; 30. Cloud platform; 40. Mobile terminal. Detailed implementation manner

[0046] It should be noted that, without conflict, the embodiments in the present application and the features in the embodiments may be combined with each other. The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and in no way limits the present invention and its application or use. Based on the embodiments in the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0047] It should be noted that the terms used herein are only for describing the specific implementation manners and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless otherwise clearly specified in the context, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "include" and / or "comprise" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0048] Unless otherwise specifically stated, the relative arrangements, numerical expressions, and numerical values of the components and steps set forth in these embodiments do not limit the scope of the present invention. At the same time, it should be understood that, for the sake of convenience of description, the dimensions of the various parts shown in the drawings are not drawn according to the actual proportional relationship. Technologies, methods, and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and devices should be regarded as part of the authorized specification. In all the examples shown and discussed herein, any specific value should be construed as merely exemplary and not as a limitation. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that like reference numerals and letters denote like items in the following drawings, and thus, once an item is defined in one drawing, it does not need to be further discussed in subsequent drawings.

[0049] As Figure 1 shown, the present invention provides a long-distance displacement monitoring system based on the fusion of dual communication technologies. The system includes N positioning tag devices 10, base station devices 20, and a cloud platform 30;

[0050] Each of the positioning tag devices 10 has two modes, namely the sleep mode and the working mode. Each positioning tag device 10 is configured to enter the working mode when a trigger condition is met and send a LoRa wake-up instruction to the base station device 20; it is also configured to enter the sleep mode when the cloud platform 30 obtains distance data; it is also configured to receive the acquisition distance raw data instruction sent by the base station device 20; it is also configured to enter the working mode when receiving the LoRa wake-up instruction and turn on the UWB reception.

[0051] The base station device 20 has two modes, namely the sleep mode and the working mode. The base station device 20 is configured to enter the working mode when receiving the LoRa wake-up instruction sent by the positioning tag device 10 and turn on the UWB reception; it is also configured to obtain the distance raw data corresponding to the positioning tag device 10 and send the distance raw data to the cloud platform 30; it is also configured to enter the sleep mode when the cloud platform 30 obtains distance data; it is also configured to send the acquisition distance raw data instruction sent by the cloud platform 30 to the positioning tag device 10 via LoRa; it is also configured to enter the working mode when a cycle condition is met and send a LoRa wake-up instruction to the positioning tag device 10.

[0052] The cloud platform 30 is configured to calculate the distance raw data. In the case of successful calculation, the distance data between the positioning tag device 10 and the base station device 20 is obtained. In the case of failed calculation, an acquisition distance raw data instruction is sent to the base station device 20.

[0053] Compared with the prior art, the present invention has the following beneficial effects:

[0054] 1. When the positioning tag device 10 and the base station device 20 are not working, they are both in the sleep mode. At this time, the device power consumption is extremely low. Compared with existing devices, it greatly meets the power supply requirements of field geological disaster monitoring with batteries.

[0055] 2. The UWB ranging method is adopted, which has the advantages of high precision and long-distance displacement monitoring. It can monitor displacements, cracks, etc. over a distance of more than one hundred meters, filling the gap of low-power devices for long-distance geological disaster monitoring. At the same time, by appropriately changing the device working mode, it is possible to integrate tags and base stations, enable mutual ranging between multiple devices, and achieve positioning functions.

[0056] 3. The MEMS sensing trigger is adopted, which can solve the scenario of early warning before a disaster. The positioning tag device 10 will quickly enter the working mode, then wake up the base station device 20 via LoRa, and perform monitoring via UWB.

[0057] 4. By adopting periodic monitoring at fixed intervals, scenarios of long-term trend monitoring can be addressed. The base station device 20 wakes up all positioning tag devices 10 through LoRa broadcast and configures the time slot sorting of the positioning tag devices 10 to solve the interference and conflict problems among the positioning tag devices 10.

[0058] In the present invention, the positioning tag device 10 and the base station device 20 are used in pairs. One base station device 20 can be paired with N tag devices for time-sharing use. After multiple UWB communications, the base station device 20 can obtain the raw distance data between the tag device and the base station device 20, and this raw distance data is the data used for distance calculation.

[0059] The conversion of the positioning tag device 10 from the sleep mode to the working mode is achieved by determining whether the trigger condition or the wake-up condition is satisfied. When the trigger condition or the wake-up condition is satisfied, the positioning tag device 10 converts from the sleep mode to the working mode. The trigger condition is that the change amount of the MEMS sensing data of the positioning tag device 10 is greater than a preset threshold. The wake-up condition is that the base station device 20 sends a LoRa wake-up instruction to the positioning tag device 10.

[0060] The conversion of the base station device 20 from the sleep mode to the working mode is achieved by determining whether the period condition or the wake-up condition is satisfied. When the period condition or the wake-up condition is satisfied, the base station device 20 converts from the sleep mode to the working mode. The period condition is that the preset timing period of the base station device 20 is reached, generally ranging from 1 hour to 6 hours. The wake-up condition is that the positioning tag device 10 sends a LoRa wake-up instruction to the base station device 20.

[0061] According to an embodiment of the present invention, the system further includes a mobile terminal 40, and the mobile terminal 40 is used to receive the distance data sent by the cloud platform 30 and perform real-time display of the distance data.

[0062] As Figures 2 - 5 shown, the present invention also provides a long-distance displacement monitoring method based on the fusion of dual communication technologies. The method includes:

[0063] In the case where a certain positioning tag device 10 satisfies the trigger condition, wherein the trigger condition is that the change amount of the MEMS sensing data of the positioning tag device 10 is greater than a preset threshold;

[0064] S11. The current positioning tag device 10 enters the working mode and sends a LoRa wake-up instruction to the base station device 20;

[0065] S12. The base station device 20 receives the LoRa wake-up instruction, enters the working mode, and enables UWB reception;

[0066] S13. The current positioning tag device 10 conducts multiple UWB communications with the base station device 20 so that the base station device 20 obtains the raw distance data corresponding to the current positioning tag device 10;

[0067] S14. The base station device 20 sends the raw distance data to the cloud platform 30;

[0068] S15. The cloud platform 30 performs calculations on the raw distance data. If the calculation is successful, go to S16; if the calculation fails, go to S17;

[0069] S16. The cloud platform 30 obtains the distance data between the current positioning tag device 10 and the base station device 20. The base station device 20 enters the sleep mode, and the current positioning tag device 10 enters the sleep mode;

[0070] S17. The cloud platform 30 sends a command to the base station device 20 to obtain the raw distance data. The base station device 20 sends the command to obtain the raw distance data to the current positioning tag device 10 via LoRa and goes to S13;

[0071] When the base station device 20 meets the periodic condition, where the periodic condition is: reaching the preset timing period of the base station device 20;

[0072] S21. The base station device 20 enters the working mode and sends a LoRa wake-up command to N positioning tag devices 10;

[0073] S22. The N positioning tag devices 10 receive the LoRa wake-up command. According to the preset sorting, the first positioning tag device 10 enters the working mode and enables UWB reception, and the remaining positioning tag devices 10 are in the sleep mode;

[0074] S23. The positioning tag device 10 that enters the working mode conducts multiple UWB communications with the base station device 20 so that the base station device 20 obtains the raw distance data corresponding to the current positioning tag device 10;

[0075] S24. Determine whether all the positioning tag devices 10 have been traversed. If so, go to S25; otherwise, make the next positioning tag device 10 enter the working mode and enable UWB reception, and the remaining positioning tag devices 10 are in the sleep mode, and go to S23;

[0076] S25. The base station device 20 sends all the obtained raw distance data to the cloud platform 30;

[0077] S26. The cloud platform 30 performs calculations on all the obtained raw distance data. If all the calculations are successful, go to S27; otherwise, go to S28;

[0078] S27. The cloud platform 30 obtains N distance data between N positioning tag devices 10 and base station devices 20. The base station device 20 enters the sleep mode, and the current positioning tag device 10 enters the sleep mode.

[0079] S28. The cloud platform 30 sends an instruction to the base station device 20 to obtain raw distance data. The base station device 20 sends the instruction to obtain raw distance data to M positioning tag devices 10 corresponding to the unsolved successful data through LoRa, and according to the preset sorting, the first positioning tag device 10 enters the working mode, turns on the UWB reception, and the remaining positioning tag devices 10 are in the sleep mode, and then it goes to S23.

[0080] According to an embodiment of the present invention, the method further includes: the mobile terminal 40 receives the distance data sent by the cloud platform 30 and displays the distance data in real time.

[0081] According to an embodiment of the present invention, the method further includes: the positioning tag device 10, the base station device 20, the cloud platform 30 and the mobile terminal 40 are respectively initialized to the operable state, and the positioning tag device 10 and the base station device 20 enter the sleep mode, and the cloud platform 30 and the mobile terminal 40 enter the receiving mode.

[0082] In summary, the present invention provides a long-distance displacement monitoring system and method based on the fusion of dual communication technologies. Compared with the prior art, the present invention has the following beneficial effects:

[0083] 1. When the positioning tag device 10 and the base station device 20 are not working, they are both in the sleep mode. At this time, the device power consumption is extremely low. Compared with the existing devices, it greatly meets the power supply requirements of geological disaster field batteries.

[0084] 2. Adopting the UWB ranging method, it has the advantages of high precision and long-distance displacement monitoring. It can monitor displacements, cracks, etc. over a hundred meters, making up for the blank of low-power devices in the long-distance aspect of current geological disaster devices. At the same time, by appropriately changing the device working mode, it can realize the integration of tags and base stations, mutual ranging between multiple devices, and positioning functions.

[0085] 3. Adopting MEMS sensing triggering can solve the scenario of disaster warning. The positioning tag device 10 will quickly enter the working mode, then wake up the base station device 20 through LoRa, and monitor through UWB.

[0086] 4. Adopting periodic monitoring can solve the scenario of long-term trend monitoring. The base station device 20 wakes up and broadcasts all positioning tag devices 10 through LoRa, and configures the time slot sorting of the positioning tag devices 10 to solve the interference and conflict problems between the positioning tag devices 10.

[0087] The parts not described in detail in this invention are well-known technologies to those skilled in the art.

[0088] In the description of this invention, it should be understood that the orientation or positional relationship indicated by orientation words such as "front, rear, upper, lower, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom", etc. is usually based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing this invention and simplifying the description. Without contrary explanations, these orientation words do not indicate and imply that the devices or elements referred to must have a specific orientation or be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation to the protection scope of this invention; the orientation words "inside, outside" refer to the inside and outside relative to the contour of each component itself.

[0089] For the convenience of description, spatial relative terms such as "above...", "over...", "on the upper surface of...", "above-mentioned", etc. can be used here to describe the spatial positional relationship between a device or feature shown in the drawings and other devices or features. It should be understood that the spatial relative terms are intended to include different orientations in use or operation in addition to the orientation described in the drawings for the device. For example, if the device in the drawings is inverted, the device described as "above other devices or structures" or "over other devices or structures" will then be positioned as "below other devices or structures" or "under other devices or structures". Thus, the exemplary term "above..." can include both the orientations of "above..." and "below...". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and corresponding explanations should be made for the spatial relative descriptions used here.

[0090] In addition, it should be noted that using words such as "first", "second", etc. to limit components is only for the convenience of differentiating the corresponding components. Without additional statements, the above words have no special meanings. Therefore, it cannot be understood as a limitation to the protection scope of this invention.

[0091] The above are only the preferred embodiments of this invention and are not used to limit this invention. For those skilled in the art, this invention can have various changes and modifications. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of this invention shall be included within the protection scope of this invention.

Claims

1. A long-distance displacement monitoring system based on the fusion of dual communication technologies, characterized in that, The system includes N positioning tag devices, a base station device, and a cloud platform; Each of the positioning tag devices has two modes, namely, a sleep mode and a working mode. Each positioning tag device is used to enter the working mode when the triggering condition is met and send a LoRa wake-up instruction to the base station device; it is also used to enter the sleep mode when the cloud platform obtains the distance data; it is also used to receive the instruction for obtaining the original distance data sent by the base station device; it is also used to enter the working mode when receiving the LoRa wake-up instruction and turn on the UWB reception. The base station device has two modes, namely, a sleep mode and a working mode. The base station device is used to enter the working mode when receiving the LoRa wake-up instruction sent by the positioning tag device and turn on the UWB reception; it is also used to obtain the original distance data corresponding to the positioning tag device and send the original distance data to the cloud platform; it is also used to enter the sleep mode when the cloud platform obtains the distance data; it is also used to send the instruction for obtaining the original distance data sent by the cloud platform to the positioning tag device through LoRa; it is also used to enter the working mode when the periodic condition is met and send a LoRa wake-up instruction to the positioning tag device. The cloud platform is used to calculate the original distance data. In the case of successful calculation, the distance data between the positioning tag device and the base station device is obtained. In the case of failed calculation, an instruction for obtaining the original distance data is sent to the base station device.

2. The system according to claim 1, characterized in that The triggering condition is that the change amount of the MEMS sensing data of the positioning tag device is greater than a preset threshold.

3. The system according to claim 1, characterized in that The periodic condition is that the preset timing period of the base station device is reached.

4. The system according to claim 1, characterized in that The system further includes a mobile terminal, and the mobile terminal is used to receive the distance data sent by the cloud platform and display the distance data in real time.

5. A long-distance displacement monitoring method based on the fusion of dual communication technologies, characterized in that, The method includes: when a certain positioning tag device meets the triggering condition: S11. The current positioning tag device enters the working mode and sends a LoRa wake-up instruction to the base station device; S12. The base station device receives the LoRa wake-up instruction, enters the working mode, and turns on the UWB reception; S13. The current positioning tag device and the base station device perform multiple UWB communications so that the base station device obtains the original distance data corresponding to the current positioning tag device; S14. The base station device sends the original distance data to the cloud platform; S15. The cloud platform calculates the original distance data. If the calculation is successful, go to S16; if the calculation fails, go to S17; S16. The cloud platform obtains the distance data between the current positioning tag device and the base station device. The base station device enters the sleep mode, and the current positioning tag device enters the sleep mode; S17. The cloud platform sends an instruction for obtaining the original distance data to the base station device. The base station device sends the instruction for obtaining the original distance data to the current positioning tag device through LoRa and goes to S13; When the base station device meets the periodic condition: S21. The base station device enters the working mode and sends a LoRa wake-up command to N positioning tag devices; S22. N positioning tag devices receive the LoRa wake-up command, and according to the preset sorting, the first positioning tag device enters the working mode, and UWB reception is enabled, while the remaining positioning tag devices are in the sleep mode; S23. The positioning tag device in the working mode conducts multiple UWB communications with the base station device so that the base station device obtains the raw distance data corresponding to the current positioning tag device; S24. Determine whether the traversal of all positioning tag devices is completed. If so, go to S25; otherwise, make the next positioning tag device enter the working mode, enable UWB reception, the remaining positioning tag devices are in the sleep mode, and go to S23; S25. The base station device sends all the obtained raw distance data to the cloud platform; S26. The cloud platform performs calculations on all the obtained raw distance data. If all the calculations are successful, go to S27; otherwise, go to S28; S27. The cloud platform obtains N distance data between the N positioning tag devices and the base station device. The base station device enters the sleep mode, and the current positioning tag device enters the sleep mode; S28. The cloud platform sends a command to the base station device to obtain the raw distance data. The base station device sends the command to obtain the raw distance data to the M positioning tag devices corresponding to the data that has not been successfully calculated through LoRa. According to the preset sorting, the first positioning tag device enters the working mode, enables UWB reception, the remaining positioning tag devices are in the sleep mode, and go to S23.

6. The method according to claim 5, characterized in that The triggering condition is that the change amount of the MEMS sensing data of the positioning tag device is greater than a preset threshold.

7. The method according to claim 5, characterized in that The periodic condition is that the preset timing period of the base station device is reached.

8. The method according to any one of claims 5 to 7, characterized in that, The method further includes: the mobile terminal receives the distance data sent by the cloud platform and displays the distance data in real time.

9. The method according to any one of claims 5-8, characterized in that, The method further includes: the positioning tag device, the base station device, the cloud platform, and the mobile terminal are respectively initialized to the operable state, and the positioning tag device and the base station device enter the sleep mode, while the cloud platform and the mobile terminal enter the receiving mode.

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