Positioning method and device based on single base station system, equipment, medium and product

Abstract

The invention discloses a positioning method and device based on a single base station system, equipment, a medium and a product, and relates to the field of wireless positioning. The method comprises the following steps: when a master module and a slave module are not in the same clock system, determining the time difference of receiving a master module synchronization frame by the slave module according to a synchronization frame signal received by the slave module and a synchronization frame signal sent by the master module; determining a frequency difference between the master module and the slave module in a set time period according to the time difference; according to the frequency difference, calculating the mapping of the time period under the slave module clock system in the master module clock system; determining the time offset of the positioning frame based on the mapping according to the positioning frame signal received by the slave module and the positioning frame signal received by the main module; and performing conversion according to the time offset to obtain phase offset, performing phase difference compensation, and finally positioning the positioning tag to obtain the coordinate position of the positioning tag. The positioning precision and the system reliability can be improved.

Description

Technical Field

[0001] This application relates to the field of wireless positioning, and in particular to a positioning method, apparatus, device, medium and product based on a single base station system. Background Technology

[0002] As a novel wireless positioning technology, UWB technology boasts high precision, high reliability, and low power consumption, demonstrating broad application prospects in numerous fields. However, in the underground environment of coal mines, due to the great depth, numerous interference factors, and complex network of tunnels, traditional UWB multi-base station architecture systems face problems such as high deployment costs, significant interference, and limited positioning accuracy.

[0003] To address the aforementioned issues, single-base station positioning systems can achieve positioning by deploying multiple modules, which can significantly reduce hardware costs. However, the collaborative operation of multiple modules faces two key problems: first, insufficient clock synchronization accuracy leads to large data measurement errors; second, severe signal interference between modules affects reception quality.

[0004] Common clock synchronization methods include wired synchronization and wireless synchronization. Wired synchronization transmits time information to each base station via wired communication, ensuring all base stations are in the same time system. However, this method is complex to implement in underground coal mines due to its complex wiring, high maintenance costs, and poor scalability; adding new base stations requires rewiring. Wireless synchronization, on the other hand, involves each base station continuously exchanging clock information with other base stations to achieve global time coordination. Its advantages include low deployment difficulty and low cost. It relies on the measurement time accuracy of UWB; the higher the accuracy, the smaller the time error between base stations and the higher the degree of synchronization. However, it is limited by issues such as signal obstruction between base stations, the overhead of synchronization protocols consuming communication bandwidth, and the need for frequent calibration due to long-term crystal oscillator drift. In terms of signal transmission and reception, UWB signal interference sources are complex in underground coal mines, making it difficult for traditional signal transmission and reception methods to effectively cope with them, resulting in reduced receiving sensitivity and data reliability.

[0005] Therefore, for UWB multi-module single-base station positioning systems, there is an urgent need for an efficient clock synchronization and signal transmission and reception control method to improve positioning accuracy and system reliability, and meet the application requirements of complex environments such as underground coal mines. Summary of the Invention

[0006] The purpose of this application is to provide a positioning method, apparatus, equipment, medium, and product based on a single base station system, which can improve positioning accuracy and system reliability.

[0007] To achieve the above objectives, this application provides the following solution: In a first aspect, this application provides a positioning method based on a single base station system, including: The system acquires the synchronization frame signal sent by the master module, the positioning frame signal received by the master module, the synchronization frame signal received by the slave module, and the positioning frame signal received by the slave module in a single base station system; the master module sends the synchronization frame signal to the slave module; the positioning frame signal is sent by the positioning tag to the master module and the slave module respectively; Determine whether the master module and the slave module are in the same clock system; If not, the time difference between the synchronization frame received from the main module and the synchronization frame sent by the main module is determined based on the synchronization frame signal received from the main module and the synchronization frame signal sent by the main module. The frequency difference between the master and slave modules within a set time period is determined based on the time difference between the slave module receiving the master module synchronization frame. The mapping of the time period under the slave module clock system to the master module clock system is calculated based on the frequency difference between the master and slave modules within the set time period. Based on the mapping of time periods under the slave module clock system to the master module clock system, the time offset of the positioning frame is determined according to the positioning frame signal received from the slave module and the positioning frame signal received from the master module. The phase offset is obtained by converting the time offset. Phase difference compensation is performed on all modules based on the phase offset to obtain the supplemented positioning frame signal; The positioning tag is located based on the compensated positioning frame signal to obtain the positioning tag coordinate position; If so, the positioning tag is located based on the positioning frame signal received by the main module and the positioning frame signal received by the slave module to obtain the positioning tag coordinate position.

[0008] In one embodiment, the expression for determining the time difference between the synchronization frame received by the slave module and the synchronization frame sent by the master module is as follows: ; in, Indicates from module ; Indicates the first Send the synchronization frame signal once; To the module The positioning frame signal of the main module is received from the slave module. The time difference corresponding to the moment of the next synchronization frame signal. To the module The first received The timestamp of the secondary synchronization frame signal. The first one sent by the main module The timestamp of the secondary synchronization frame signal. The flight time of the synchronization frame sent by the master module to the slave module.

[0009] In one embodiment, the expression for determining the frequency difference between the master and slave modules within a set time period based on the time difference between the slave module receiving the master module synchronization frame is as follows: in, For frequency difference, For the time difference, The timestamp of the positioning frame signal received from the module. The timestamp of the synchronization frame signal sent by the master module. To the module The positioning frame signal of the main module is received from the slave module. The time difference corresponding to the moment of the next synchronization frame signal. The first one sent by the main module The timestamp of the secondary synchronization frame signal. To the module The first received The timestamp of the next positioning frame signal. In order to be in The difference in timestamps received from the module within a time period. for Time period. In one embodiment, the expression for calculating the mapping of the time period under the slave module clock system to the master module clock system based on the frequency difference between the master and slave modules within the set time period is as follows: ; in, To map time periods from the module clock system to the main module clock system, To be from the time period under the modular clock system, This represents the frequency difference.

[0010] In one embodiment, the expression for determining the time offset of the positioning frame based on the mapping of time periods under the slave module clock system to the master module clock system, according to the positioning frame signal received by the slave module and the positioning frame signal received by the master module, is as follows: ; in, For time offset, and This represents the timestamp received from the module and the positioning frame and synchronization frame signals, converted into the corresponding timestamps in the main module's clock system. The flight time from the synchronization frame sent by the master module to the slave module. The positioning frame signal received by the main module. The timestamp of the synchronization frame signal sent by the master module. The positioning frame signal received from the module. The timestamp of the positioning frame signal received from the module. This represents the frequency difference.

[0011] In one embodiment, the phase offset is converted based on the time offset to obtain the expression for the phase offset: ; in, For phase shift, Let i be the carrier frequency of module i. This represents the time offset.

[0012] Secondly, this application provides a positioning device based on a single base station system, comprising: The acquisition module is used to acquire the synchronization frame signal sent by the master module, the positioning frame signal received by the master module, the synchronization frame signal received by the slave module, and the positioning frame signal received by the slave module in a single base station system; the master module sends the synchronization frame signal to the slave module; the positioning frame signal is sent by the positioning tag to the master module and the slave module respectively; The judgment module is used to determine whether the master module and the slave module are in the same clock system; The time difference determination module is used to determine the time difference between the synchronization frame received by the slave module and the synchronization frame sent by the master module when the master module and the slave module are not in the same clock system. The frequency difference determination module is used to determine the frequency difference between the master and slave modules within a set time period based on the time difference between the slave module receiving the synchronization frame from the master module. The mapping determination module is used to calculate the mapping of the time period under the slave module clock system to the master module clock system based on the frequency difference between the master and slave modules within the set time period. The time offset determination module is used to determine the time offset of the positioning frame based on the mapping of the time period under the slave module clock system to the master module clock system, according to the positioning frame signal received by the slave module and the positioning frame signal received by the master module. A phase offset determination module is used to convert the time offset to obtain the phase offset; A phase difference compensation module is used to perform phase difference compensation on all modules according to the phase offset to obtain a supplemented positioning frame signal; The first positioning module is used to locate the positioning tag according to the compensated positioning frame signal to obtain the coordinate position of the positioning tag; The second positioning module is used to locate the positioning tag based on the positioning frame signal received by the main module and the positioning frame signal received by the slave module when the main module and the slave module are in the same clock system, and to obtain the coordinate position of the positioning tag.

[0013] Thirdly, this application provides a computer device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the positioning method based on a single base station system.

[0014] Fourthly, this application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the positioning method based on a single base station system.

[0015] Fifthly, this application provides a computer program product, including a computer program that, when executed by a processor, implements the positioning method based on a single base station system.

[0016] According to the specific embodiments provided in this application, the following technical effects are disclosed: This application provides a positioning method, apparatus, device, medium, and product based on a single base station system. When the master module and slave module are not in the same clock system, the time difference between the slave module receiving the synchronization frame from the master module is first determined. Then, the frequency difference between the master and slave modules within a set time period is determined. Based on the frequency difference, the mapping of the time period under the slave module's clock system to the master module's clock system is calculated. Based on the mapping, the time offset of the positioning frame is determined and converted into a phase offset. A compensation mechanism is used to compensate for the phase offset to restore the true phase difference. This increases the system's robustness to clock errors, reduces model complexity and the risk of misjudgment, and improves positioning accuracy and system reliability. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is an application environment diagram of a positioning method based on a single base station system in one embodiment of this application; Figure 2 A flowchart illustrating a positioning method based on a single base station system provided in an embodiment of this application; Figure 3 This is a schematic diagram of a positioning method based on a single base station system; Figure 4 This is a schematic diagram of signal transmission and reception. Figure 5 This is a schematic diagram of clock synchronization. Figure 6A functional module diagram of a positioning device based on a single base station system is provided for another embodiment of this application; Figure 7 This is a schematic diagram of the structure of a computer device provided in an embodiment of this application. Detailed Implementation

[0019] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0020] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0021] The positioning method based on a single base station system provided in this application can be applied to, for example... Figure 1In the application environment shown, terminal 101 communicates with server 102 via a network. A data storage system can store the data that server 102 needs to process. The data storage system can be set up independently, integrated into server 102, or placed in the cloud or on another server. Terminal 101 can send synchronization frame signals sent by the main module, positioning frame signals received by the main module, synchronization frame signals received by the slave module, and positioning frame signals received by the slave module to server 102. Server 102 receives these signals and determines whether the main module and the slave module are in the same clock system. If not, it determines the time difference between the slave module receiving the main module's synchronization frame based on the synchronization frame signals received by the slave module and the synchronization frame signals sent by the main module; it also determines the frequency difference between the main and slave modules within a set time period based on the time difference between the slave module receiving the main module's synchronization frame; and so on. The frequency difference between the master and slave modules within the set time period is calculated to map the time period under the slave module clock system to the master module clock system. Based on the mapping of the time period under the slave module clock system to the master module clock system, the time offset of the positioning frame is determined according to the positioning frame signal received by the slave module and the positioning frame signal received by the master module. The time offset is converted to obtain the phase offset. The phase difference is compensated for for all modules according to the phase offset to obtain the supplemented positioning frame signal. The positioning tag is located according to the compensated positioning frame signal to obtain the positioning tag coordinate position. If it is, the positioning tag is located according to the positioning frame signal received by the master module and the positioning frame signal received by the slave module to obtain the positioning tag coordinate position. The server 102 can feed back the obtained positioning tag coordinate position to the terminal 101. In addition, in some embodiments, positioning based on a single base station system can also be implemented by the server 102 or the terminal 101 separately. For example, the terminal 101 can directly perform positioning based on the synchronization frame signal sent by the main module to be processed, the positioning frame signal received by the main module, the synchronization frame signal received from the module, and the positioning frame signal received from the module. Alternatively, the server 102 can perform positioning from the data storage system.

[0022] The terminal 101 can be, but is not limited to, various desktop computers, laptops, smartphones, tablets, IoT devices, and portable wearable devices. IoT devices can include smart speakers, smart TVs, smart air conditioners, and smart in-vehicle devices. Portable wearable devices can include smartwatches, smart bracelets, and head-mounted devices. The server 102 can be implemented using a standalone server or a server cluster composed of multiple servers, or it can be a cloud server.

[0023] In one exemplary embodiment, such as Figure 2 and Figure 3As shown, a positioning method based on a single base station system is provided. This method is executed by a computer device, specifically by a terminal or server alone, or by both a terminal and a server. In this embodiment, the method is applied to... Figure 1 Taking server 102 as an example, the following steps are included.

[0024] Step 201: Obtain the synchronization frame signal sent by the master module, the positioning frame signal received by the master module, the synchronization frame signal received by the slave module, and the positioning frame signal received by the slave module in the single base station system; the master module sends the synchronization frame signal to the slave module; the positioning frame signal is sent by the positioning tag to the master module and the slave module respectively.

[0025] Step 202: Determine whether the master module and the slave module are in the same clock system; if not, proceed to step 203; if yes, proceed to step 210.

[0026] Step 203: Determine the time difference between the synchronization frame received from the main module and the synchronization frame sent by the main module.

[0027] Step 204: Determine the frequency difference between the master and slave modules within a set time period based on the time difference between the slave module receiving the master module synchronization frame.

[0028] Step 205: Calculate the mapping of the time period under the slave module clock system to the master module clock system based on the frequency difference between the master and slave modules within the set time period.

[0029] Step 206: Based on the mapping of time periods under the slave module clock system to the master module clock system, determine the time offset of the positioning frame according to the positioning frame signal received by the slave module and the positioning frame signal received by the master module.

[0030] Step 207: Perform a conversion based on the time offset to obtain the phase offset.

[0031] Step 208: Perform phase difference compensation on all modules according to the phase offset to obtain the supplemented positioning frame signal.

[0032] Step 209: Locate the positioning tag according to the compensated positioning frame signal to obtain the positioning tag coordinate position.

[0033] Step 210: Locate the positioning tag based on the positioning frame signal received by the main module and the positioning frame signal received by the secondary module to obtain the coordinate position of the positioning tag.

[0034] By implementing the above steps, when the master module and slave module are not in the same clock system, the time difference between the slave module receiving the synchronization frame from the master module is first determined. Then, the frequency difference between the master and slave modules within a set time period is determined. Based on the frequency difference, the mapping of the time period under the slave module's clock system to the master module's clock system is calculated. Based on the mapping, the time offset of the positioning frame is determined and converted into a phase offset. The compensation mechanism is used to compensate for the phase offset to restore the true phase difference. This increases the system's robustness to clock errors, reduces model complexity and the risk of misjudgment, and improves positioning accuracy and system reliability.

[0035] In practical applications, a stable UWB module is selected as the master module within a single base station system. The master module is equipped with a temperature-controlled crystal oscillator (TCXO) as a high-precision clock source, while the remaining modules are slave modules using ordinary crystal oscillators. For example... Figure 4 As shown, the master module periodically sends synchronization frames to the slave module and also receives positioning frames from the positioning tag. The slave module needs to be in a receiving state, receiving synchronization frame signals from the master module and positioning frame signals from the positioning tag. The positioning tag is in a transmitting state, sending positioning signals to both the master and slave modules. The master module periodically sends a set of synchronization frames to the slave module, recording the transmission timestamp, denoted as . Then, the main module is switched to receiving mode to receive the positioning frames sent by the positioning tags, denoted as... The module receives the synchronization frame signal and the positioning frame signal from the main module, and records their timestamps respectively. and .in Indicates from module ; Indicates the first The next transmission sends a synchronization frame signal. The principle of clock synchronization is as follows: Figure 5 As shown.

[0036] In an exemplary embodiment, determining whether the master module and the slave module are in the same clock system specifically includes: After the single base station system is powered on, the timestamps of the master module and slave module at the same moment are obtained respectively, and it is determined whether their timestamps are consistent. If they are consistent, the master module and slave module are considered to be in the same clock system.

[0037] In an exemplary embodiment, since different modules have different clock systems, there are time and frequency differences between the modules. The expression for determining the time difference between the synchronization frame received from the module and the synchronization frame sent by the master module is as follows: .

[0038] in, Indicates from module ; Indicates the first Send the synchronization frame signal once; To the module The positioning frame signal of the main module is received from the slave module. The time difference corresponding to the moment of the next synchronization frame signal. To the module The first received The timestamp of the secondary synchronization frame signal. The first one sent by the main module The timestamp of the secondary synchronization frame signal. The flight time of the synchronization frame sent by the master module to the slave module.

[0039] In an exemplary embodiment, the expression for determining the frequency difference between the master and slave modules within a set time period based on the time difference between the slave module receiving the master module synchronization frame is as follows: .

[0040] in, For frequency difference, For the time difference, The timestamp of the positioning frame signal received from the module. The timestamp of the synchronization frame signal sent by the master module. To the module The positioning frame signal of the main module is received from the slave module. The time difference corresponding to the moment of the next synchronization frame signal. The first one sent by the main module The timestamp of the secondary synchronization frame signal. To the module The first received The timestamp of the next positioning frame signal. In order to be in The difference in timestamps received from the module within a time period. for Time period.

[0041] In practical applications, when the clock frequency of each module remains constant, the clock of the main module is used as the reference clock for a certain period of time. Within this timeframe, the frequency difference between the master and slave modules can be calculated.

[0042] In an exemplary embodiment, the expression for calculating the mapping of the time period in the slave module clock system to the master module clock system based on the frequency difference between the master and slave modules within the set time period is as follows: .

[0043] in, To map time periods from the module clock system to the main module clock system, To be from the time period under the modular clock system, The frequency difference is used to convert the clock system of the module to the clock system of the main module using the mapping.

[0044] In an exemplary embodiment, the expression for determining the time offset of the positioning frame based on the mapping of time periods under the slave module clock system to the master module clock system, according to the positioning frame signal received by the slave module and the positioning frame signal received by the master module, is as follows: .

[0045] in, For time offset, and This represents the timestamp received from the module and the positioning frame and synchronization frame signals, converted into the corresponding timestamps in the main module's clock system. The flight time from the synchronization frame sent by the master module to the slave module. The positioning frame signal received by the main module. The timestamp of the synchronization frame signal sent by the master module. The positioning frame signal received from the module. The timestamp of the positioning frame signal received from the module. This represents the frequency difference. Under the same clock system, the time offset between the main module and the slave module when receiving positioning frames sent by positioning tags is calculated.

[0046] In an exemplary embodiment, after calculating the time offset, it is converted into the corresponding phase offset. The phase offset is obtained by conversion based on the time offset, and the expression for the phase offset is: .

[0047] in, For phase shift, Let i be the carrier frequency of module i. This represents the time offset.

[0048] Phase offset compensates for the phase difference between different modules, eliminating phase errors caused by time offset.

[0049] In one exemplary embodiment, the coordinates of the location tag are obtained based on the PDOA algorithm.

[0050] In this application, the master module of the UWB signal transceiver method acts as the sole source of synchronization frames, periodically broadcasting synchronization frames (carrying the master module's local high-precision timestamp) to provide a unified "time anchor" for all slave modules. This avoids time reference conflicts in multi-master node scenarios (such as time source chaos caused by multiple modules sending their own synchronization frames), fundamentally ensuring the uniqueness of the entire system's clock reference. Slave modules, by continuously monitoring the master module's synchronization frames, can periodically align their local clocks with the master module's reference, reducing the accumulation of long-term deviations caused by crystal oscillator drift and ensuring the consistency of the global time scale. To address the phase error resulting from time offset conversion, a positioning error compensation mechanism is proposed. By accurately estimating the time offset, it is converted into the corresponding phase error to restore the true spatial phase difference, increasing the system's robustness to clock errors and reducing model complexity and the risk of misjudgment.

[0051] Based on the same inventive concept, this application also provides a single-base station system-based positioning device for implementing the positioning method based on a single base station system as described above. The solution provided by this device is similar to the implementation described in the above method; therefore, the specific limitations in one or more embodiments of the single-base station system-based positioning device provided below can be found in the limitations of the single-base station system-based positioning method described above, and will not be repeated here.

[0052] In one exemplary embodiment, such as Figure 6 As shown, a positioning device based on a single base station system is provided, comprising: The acquisition module is used to acquire the synchronization frame signal sent by the master module, the positioning frame signal received by the master module, the synchronization frame signal received by the slave module, and the positioning frame signal received by the slave module in a single base station system; the master module sends the synchronization frame signal to the slave module; the positioning frame signal is sent by the positioning tag to the master module and the slave module respectively.

[0053] The judgment module is used to determine whether the master module and the slave module are in the same clock system.

[0054] The time difference determination module is used to determine the time difference between the synchronization frame received by the slave module and the synchronization frame sent by the master module when the master module and the slave module are not in the same clock system.

[0055] The frequency difference determination module is used to determine the frequency difference between the master and slave modules within a set time period based on the time difference between the slave module receiving the synchronization frame from the master module.

[0056] The mapping determination module is used to calculate the mapping of the time period under the slave module clock system to the master module clock system based on the frequency difference between the master and slave modules within the set time period.

[0057] The time offset determination module is used to determine the time offset of the positioning frame based on the mapping of the time period under the slave module clock system to the master module clock system, according to the positioning frame signal received by the slave module and the positioning frame signal received by the master module.

[0058] The phase offset determination module is used to convert the time offset to obtain the phase offset.

[0059] The phase difference compensation module is used to perform phase difference compensation on all modules according to the phase offset to obtain the supplemented positioning frame signal.

[0060] The first positioning module is used to locate the positioning tag according to the compensated positioning frame signal to obtain the coordinate position of the positioning tag.

[0061] The second positioning module is used to locate the positioning tag based on the positioning frame signal received by the main module and the positioning frame signal received by the slave module when the main module and the slave module are in the same clock system, and to obtain the coordinate position of the positioning tag.

[0062] In one exemplary embodiment, a computer device is provided, which may be a server or a terminal, and its internal structure diagram may be as follows. Figure 7 As shown, the computer device includes a processor, memory, input / output (I / O) interfaces, and a communication interface. The processor, memory, and I / O interfaces are connected via a system bus, and the communication interface is also connected to the system bus via the I / O interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides the environment for the operating system and computer programs stored in the non-volatile storage media. The database stores positioning data based on a single-base station system. The I / O interfaces are used for exchanging information between the processor and external devices. The communication interface is used for communication with external terminals via a network connection. When the computer program is executed by the processor, it implements a positioning method based on a single-base station system.

[0063] Those skilled in the art will understand that Figure 7The structures shown are merely block diagrams of some structures related to the present application and do not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than shown in the figures, or combine certain components, or have different component arrangements. In an exemplary embodiment, a computer device is provided, including a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the above-described method embodiments.

[0064] In one exemplary embodiment, a computer-readable storage medium is provided storing a computer program that, when executed by a processor, implements the above-described method embodiments.

[0065] In one exemplary embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the above-described method embodiments.

[0066] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data must comply with relevant regulations.

[0067] In this application, all actions to acquire signals, information, or data are carried out in compliance with the relevant data protection laws and policies of the country where the location is situated, and with the authorization granted by the owner of the relevant device.

[0068] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments described above. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM).

[0069] The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0070] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0071] This document uses specific examples to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the methods and core ideas of this application. Furthermore, those skilled in the art will recognize that, based on the ideas of this application, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A positioning method based on a single base station system, characterized in that, The method includes: The system acquires the synchronization frame signal sent by the master module, the positioning frame signal received by the master module, the synchronization frame signal received by the slave module, and the positioning frame signal received by the slave module in a single base station system; the master module sends the synchronization frame signal to the slave module; the positioning frame signal is sent by the positioning tag to the master module and the slave module respectively; Determine whether the master module and the slave module are in the same clock system; If not, the time difference between the synchronization frame received from the main module and the synchronization frame sent by the main module is determined based on the synchronization frame signal received from the main module and the synchronization frame signal sent by the main module. The frequency difference between the master and slave modules within a set time period is determined based on the time difference between the slave module receiving the master module synchronization frame. The mapping of the time period under the slave module clock system to the master module clock system is calculated based on the frequency difference between the master and slave modules within the set time period. Based on the mapping of time periods under the slave module clock system to the master module clock system, the time offset of the positioning frame is determined according to the positioning frame signal received from the slave module and the positioning frame signal received from the master module. The phase offset is obtained by converting the time offset. Phase difference compensation is performed on all modules based on the phase offset to obtain the supplemented positioning frame signal; The positioning tag is located based on the compensated positioning frame signal to obtain the positioning tag coordinate position; If so, the positioning tag is located based on the positioning frame signal received by the main module and the positioning frame signal received by the slave module to obtain the positioning tag coordinate position.

2. The positioning method based on a single base station system according to claim 1, characterized in that, The expression for determining the time difference between the synchronization frame received from the slave module and the synchronization frame sent by the master module is as follows: ； in, Indicates from module; Indicates the first Send the synchronization frame signal once; To the module The positioning frame signal of the main module is received from the slave module. The time difference corresponding to the moment of the next synchronization frame signal. To the module The first received The timestamp of the secondary synchronization signal. The first one sent by the main module The timestamp of the secondary synchronization frame signal. The flight time of the synchronization frame sent by the master module to the slave module.

3. The positioning method based on a single base station system according to claim 1, characterized in that, The expression for determining the frequency difference between the master and slave modules within a set time period based on the time difference in the received synchronization frames from the master module by the slave module is as follows: ； in, For frequency difference, For the time difference, The timestamp of the positioning frame signal received from the module. The timestamp of the synchronization frame signal sent by the master module. To the module The positioning frame signal of the main module is received from the slave module. The time difference corresponding to the moment of the next synchronization frame signal. The first one sent by the main module The timestamp of the secondary synchronization frame signal. To the module The first received The timestamp of the next positioning frame signal. In order to be in The difference in timestamps received from the module within a time period. for Time period.

4. The positioning method based on a single base station system according to claim 1, characterized in that, The expression for calculating the mapping of the time period in the slave module clock system to the master module clock system based on the frequency difference between the master and slave modules within the set time period is as follows: ； in, To map time periods from the module clock system to the main module clock system, To be from the time period under the modular clock system, This represents the frequency difference.

5. The positioning method based on a single base station system according to claim 1, characterized in that, Based on the mapping of time periods under the slave module clock system to the master module clock system, the expression for determining the time offset of the positioning frame according to the positioning frame signal received by the slave module and the positioning frame signal received by the master module is as follows: ； in, For time offset, and This represents the timestamp received from the module and the positioning frame and synchronization frame signals, converted into the corresponding timestamps in the main module's clock system. The flight time from the synchronization frame sent by the master module to the slave module. The positioning frame signal received by the main module. The timestamp of the synchronization frame signal sent by the master module. The positioning frame signal received from the module. The timestamp of the positioning frame signal received from the module. This represents the frequency difference.

6. The positioning method based on a single base station system according to claim 1, characterized in that, Based on the time offset, the expression for the phase offset is obtained as follows: ； in, For phase shift, Let i be the carrier frequency of module i. This represents the time offset.

7. A positioning device based on a single base station system, characterized in that, The device includes: The acquisition module is used to acquire the synchronization frame signal sent by the master module, the positioning frame signal received by the master module, the synchronization frame signal received by the slave module, and the positioning frame signal received by the slave module in a single base station system; the master module sends the synchronization frame signal to the slave module; the positioning frame signal is sent by the positioning tag to the master module and the slave module respectively; The judgment module is used to determine whether the master module and the slave module are in the same clock system; The time difference determination module is used to determine the time difference between the synchronization frame received by the slave module and the synchronization frame sent by the master module when the master module and the slave module are not in the same clock system. The frequency difference determination module is used to determine the frequency difference between the master and slave modules within a set time period based on the time difference between the slave module receiving the master module synchronization frame. The mapping determination module is used to calculate the mapping of the time period under the slave module clock system to the master module clock system based on the frequency difference between the master and slave modules within the set time period. The time offset determination module is used to determine the time offset of the positioning frame based on the mapping of the time period under the slave module clock system to the master module clock system, according to the positioning frame signal received by the slave module and the positioning frame signal received by the master module. A phase offset determination module is used to convert the time offset to obtain the phase offset; A phase difference compensation module is used to perform phase difference compensation on all modules according to the phase offset to obtain a supplemented positioning frame signal; The first positioning module is used to locate the positioning tag according to the compensated positioning frame signal to obtain the coordinate position of the positioning tag; The second positioning module is used to locate the positioning tag based on the positioning frame signal received by the main module and the positioning frame signal received by the slave module when the main module and the slave module are in the same clock system, and to obtain the coordinate position of the positioning tag.

8. A computer device, comprising: A memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that the processor executes the computer program to implement the positioning method based on a single base station system as described in any one of claims 1-6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the positioning method based on a single base station system as described in any one of claims 1-6.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the positioning method based on a single base station system as described in any one of claims 1-6.

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