Label positioning method, system and device and computer readable storage medium
By introducing PAWR and CTE mechanisms into BLE tag positioning and combining them with slot timing scheduling, low-power, high-precision on-demand positioning is achieved, solving the problems of high power consumption, low accuracy and resource waste in existing technologies, and supporting long-term operation.
Patent Information
- Application Number
- CN202511757682.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-11-26
- Publication Date
- 2026-02-27
AI Technical Summary
Existing BLE-based device tracking solutions suffer from high power consumption, low positioning accuracy, inability to locate on demand, and severe environmental interference, leading to resource waste.
By adopting the BLE-based PAWR mechanism and CTE technology, tag positioning is achieved through state scheduling and remote control, combined with slot timing, enabling on-demand positioning and low-power positioning.
It improves positioning accuracy, reduces power consumption, avoids environmental interference and resource waste, and supports long-term maintenance-free operation.
Smart Images
Figure CN121586080A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of Internet of Things (IoT) technology, and in particular to a tag positioning method, system, device, and computer-readable storage medium. Background Technology
[0002] In existing technologies, device tracking based on BLE (Bluetooth Low Energy) technology has been implemented. These solutions mainly rely on RSSI (Received Signal Strength Indicator) combined with a fixed-period broadcast mode for location estimation.
[0003] However, the above solution has the following problems: First, broadcasting needs to be continuous, which consumes a lot of power and cannot meet the long-term deployment requirements in battery-powered scenarios. Secondly, RSSI is greatly affected by environmental interference, resulting in low positioning accuracy and making it difficult to meet sub-meter level positioning requirements. Third, the inability to implement on-demand positioning leads to significant waste of resources.
[0004] Therefore, how to improve the positioning accuracy of the equipment, reduce positioning power consumption, implement on-demand positioning, and avoid environmental interference and resource waste has become an urgent technical problem to be solved. Summary of the Invention
[0005] In order to overcome the shortcomings of the prior art, the present invention aims to provide a tag positioning method, system, device and computer-readable storage medium to solve the problems of low positioning accuracy, high positioning power consumption, inability to implement on-demand positioning, and environmental interference and resource waste in the current technology.
[0006] This invention proposes a tag positioning method for use with tags, the method comprising: Receive the first broadcast containing timing information sent by the gateway; The system enters a response state based on the fixed frequency extension parameters of the first broadcast. In the response state, a second broadcast corresponding to the fixed frequency extension parameters is sent to the gateway according to the timing information, so that the gateway can calculate the location of the tag based on the received second broadcast and the antenna array.
[0007] Optionally, receiving the first broadcast containing timing information sent by the gateway further includes: Retrieve the control commands from the first broadcast; The current tag state is switched and / or the current sampling instruction is read according to the control command.
[0008] Optionally, switching the current tag state according to the control command further includes: The tag's state is divided into daily state, working state, and response state through the tag's built-in state machine. When the control command is a state switching command, the current tag state is switched to one of the daily state, the working state, and the response state corresponding to the state switching command.
[0009] Optionally, entering the response state based on the fixed frequency extension parameters of the first broadcast specifically includes: Obtain the target tag identity information, time sequence index information, and fixed frequency extension parameters from the first broadcast; If the target tag's identity information matches its own information, the current tag state is switched to the response state.
[0010] Optionally, the step of sending the second broadcast corresponding to the fixed frequency extension parameters according to the timing information specifically includes: Invoke the preset Bluetooth Low Energy protocol to generate broadcast state data packets containing a fixed frequency extension; The second broadcast, containing the broadcast state data packet, is sent according to the timing information.
[0011] This invention also proposes a tag positioning method for use in gateways, the method comprising: Send a first broadcast containing target tag identity information, time sequence index information and fixed frequency extension parameters, so that the tag that receives the first broadcast enters the response state when its own tag information is consistent with the target tag identity information; Receive the second broadcast containing the fixed frequency extension parameters sent by the tag in the response state according to the timing index information, and perform orthogonal sampling on the second broadcast; The orientation of the tag is calculated based on the sampling data from the orthogonal sampling and the antenna array.
[0012] Optionally, the first broadcast further includes a control command for controlling the state machine of the price tag to cause the price tag to enter one of a daily state, a working state, and a response state.
[0013] Optionally, the transmission of the first broadcast, which includes target tag identity information, timing index information, and fixed frequency extension parameters, is followed by: Detect whether the second broadcast is received within multiple preset scheduling periods; If the second broadcast is not received within multiple scheduling cycles, the tag is determined to be offline or have left the field.
[0014] The present invention also proposes a tag positioning system, which includes tags and a gateway, wherein: The tag is used to receive a first broadcast containing timing information sent by the gateway, and to enter a response state according to the fixed frequency extension parameters of the first broadcast; The tag is also used, in the response state, to send a second broadcast corresponding to the fixed frequency extended parameters to the gateway according to the timing information; The gateway is used to calculate the location of the tag based on the received second broadcast and the antenna array; The gateway is also used to determine that the tag is offline or has left the site if it has not received the second broadcast within multiple preset scheduling periods.
[0015] The present invention also proposes a tag positioning device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program, when executed by the processor, implements the steps of the tag positioning method as described in any of the preceding claims.
[0016] The present invention also proposes a computer-readable storage medium storing a tag positioning program, which, when executed by a processor, implements the steps of the tag positioning method as described in any of the preceding claims.
[0017] The tag positioning method, system, device, and computer-readable storage medium of the present invention involve receiving a first broadcast containing timing information sent by a gateway; entering a response state according to fixed frequency extension parameters of the first broadcast; and in the response state, sending a second broadcast corresponding to the fixed frequency extension parameters to the gateway according to the timing information, so that the gateway calculates the location of the tag based on the received second broadcast and the antenna array. This achieves a tag positioning scheme with higher positioning accuracy, implements on-demand positioning, reduces positioning power consumption, and avoids environmental interference and resource waste. Attached Figure Description
[0018] The present invention will be further described below with reference to the accompanying drawings and embodiments. In the accompanying drawings: Figure 1 This is the first flowchart of the tag positioning method of the present invention; Figure 2 This is the second flowchart of the tag positioning method of the present invention; Figure 3 This is the third flowchart of the tag positioning method of the present invention; Figure 4 This is the fourth flowchart of the tag positioning method of the present invention; Figure 5 This is the fifth flowchart of the tag positioning method of the present invention; Figure 6 This is the sixth flowchart of the tag positioning method of the present invention; Figure 7 This is the seventh flowchart of the tag positioning method of the present invention; Figure 8 This is a block diagram of the tag positioning system of the present invention; Figure 9 This is a state transition diagram of the tag positioning method of the present invention; Figure 10 This is a schematic diagram of the package structure of the tag positioning method of the present invention; Figure 11 This is a schematic diagram of the scheduling of the tag positioning method of the present invention; Figure 12 This is a power consumption comparison diagram of the tag positioning method of the present invention. Detailed Implementation
[0019] It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the invention.
[0020] In the following description, the use of suffixes such as "module," "part," or "unit" to denote elements is solely for the purpose of illustrative purposes and has no specific meaning in itself. Therefore, "module," "part," or "unit" may be used interchangeably.
[0021] Figure 1 This is a first flowchart of the label positioning method of the present invention. A label positioning method, applied to a label, the method comprising: S1. Receive the first broadcast containing timing information sent by the gateway; S2. Enter the response state according to the fixed frequency extension parameters of the first broadcast; S3. In the response state, a second broadcast corresponding to the fixed frequency extension parameters is sent to the gateway according to the timing information, so that the gateway can calculate the location of the tag based on the received second broadcast and the antenna array.
[0022] In this embodiment, the PAwR (Periodic Advertising with Responses) mechanism based on BLE is used to achieve ultra-low power asset tracking through tag status scheduling and remote control.
[0023] In this embodiment, considering that BLE 5.1 introduces CTE (Constant Tone Extension) and IQ (n-phase and quadrature components) sampling capabilities, and BLE 5.4 further provides the aforementioned PAwR mechanism, based on this background, although theoretically the conditions for constructing an accurate, low-power tracking scheme are available, there is currently no scheme that systematically utilizes the PAwR+CTE mechanism for tag state scheduling control and response positioning control. Therefore, this embodiment proposes a low-power Bluetooth tag behavior control mechanism based on multiple states, combining PAwR for broadcasting and scheduling by slot (timing) to achieve on-demand positioning response, thereby significantly reducing power consumption and improving positioning accuracy.
[0024] Specifically, in this embodiment, firstly, a first broadcast containing timing information is received from the gateway; then, a response state is entered according to the fixed frequency extension parameters of the first broadcast; finally, in the response state, a second broadcast corresponding to the fixed frequency extension parameters is sent to the gateway according to the timing information, so that the gateway can calculate the location of the tag based on the received second broadcast and the antenna array.
[0025] The beneficial effects of this embodiment are as follows: It receives a first broadcast containing timing information sent by a gateway; enters a response state according to the fixed frequency extension parameters of the first broadcast; and in the response state, sends a second broadcast corresponding to the fixed frequency extension parameters to the gateway according to the timing information, so that the gateway calculates the tag's location based on the received second broadcast and the antenna array. This achieves a tag positioning scheme with higher positioning accuracy, implements on-demand positioning, reduces positioning power consumption, and avoids environmental interference and resource waste.
[0026] Figure 2 This is a second flowchart of the tag positioning method of the present invention. Based on the above embodiments, in this embodiment, receiving the first broadcast containing timing information sent by the gateway further includes: S11. Obtain the control commands from the first broadcast; S12. Switch the current tag state and / or read the current sampling instruction according to the control command.
[0027] In this embodiment, when the first broadcast contains a first control command, the current tag state is switched according to the first control command; when the first broadcast contains a second control command, the current sampling instruction is read according to the second control command.
[0028] The beneficial effect of this embodiment is that, based on the PAwR connectionless downlink command mechanism, the gateway uses the first broadcast to distribute various downlink commands, and can control the tag without a connection.
[0029] Figure 3 This is the third flowchart of the tag positioning method of the present invention. Based on the above embodiments, the step of switching the current tag state according to the control command further includes: S13. The state of the tag is divided into daily state, working state and response state by the state machine built into the tag. S14. When the control command is a state switching command, the current tag state is switched to one of the daily state, the working state, and the response state corresponding to the state switching command.
[0030] Please refer to Figure 9 In this embodiment, the state switching includes several methods: First, if the tag receives a first broadcast sent by the gateway in the normal state, and the first broadcast contains a SET_WORK_MODE instruction, the tag will switch from the normal state to the working state; Second, if the tag receives a first broadcast sent by the gateway in the working state, and the first broadcast contains a REQ_CTE instruction, the tag will switch from the working state to the response state; Third, if the tag completes a CTE broadcast in the response state, the tag will switch back to the working state; Fourth, if the tag receives a first broadcast sent by the gateway in the response state, and the first broadcast contains a rollback instruction, the tag will switch back to the normal state; or, if the tag does not receive a first broadcast sent by the gateway for several consecutive scheduling cycles in the response state, the tag will switch back to the normal state.
[0031] Optionally, in this embodiment, the tag wakes up once every 10 minutes in normal state and listens for a 500ms broadcast. In working state, the tag wakes up once every 10 seconds and listens for a 200ms broadcast. In response state, when the tag receives the first broadcast, which is a CTE instruction broadcast containing its own information and corresponding timing information, it sends a broadcast frame with CTE in the specified timing.
[0032] The beneficial effect of this embodiment is that, through the command-driven temporary state switching mechanism of the tag, the tag can time out and fall back from the high power consumption state, thereby preventing the tag from erroneously residing in the high power consumption mode; in addition, this embodiment also supports a multi-CTE continuous response mechanism, that is, it supports a single command to schedule multiple first broadcasts containing CTEs, thereby improving the robustness of tag positioning.
[0033] Figure 4This is the fourth flowchart of the tag positioning method of the present invention. Based on the above embodiments, the step of entering the response state according to the fixed frequency extension parameters of the first broadcast specifically includes: S21. Obtain the target tag identity information, time sequence index information, and fixed frequency extension parameters from the first broadcast; S22. If the target tag identity information is consistent with its own information, then the current tag state is switched to the response state.
[0034] Please refer to Figure 10 The packet structure of the first broadcast (PAwR_Broadcast) is as follows: header: 0xA5, command type cmd_type: 0x01 (REQ_CTE), number of timing indexes slot_count: 2, first timing information slot[0]: slot_idx=3, tag_id=123, flag=CTE, second timing information slot[1]: slot_idx=4, tag_id=456, flag=SET_WORK_MODE, encapsulation length TLV[0]: CTE_length=0x20 and encapsulation mode TLV[1]: mode=AoA.
[0035] The beneficial effect of this embodiment is that, through the standardized setting of the broadcast packet structure described above, the unified encapsulation of the Slot + command + TLV parameter structure is more conducive to subsequent parsing and expansion.
[0036] Figure 5 This is the fifth flowchart of the tag positioning method of the present invention. Based on the above embodiments, the step of sending the second broadcast corresponding to the fixed frequency extension parameters according to the timing information specifically includes: S31. Call the preset low-power Bluetooth protocol to generate a broadcast state data packet containing a fixed frequency extension; S32. Send the second broadcast containing the broadcast state data packet according to the timing information.
[0037] Please refer to Figure 11 The gateway sends a PAwR broadcast (Slot3: Tag123, CMD: REQ_CTE) to tag 123. After receiving the broadcast, tag 123 responds according to the Slot3 timing sequence and replies to the gateway with a second CTE broadcast. Similarly, the gateway sends a PAwR broadcast (Slot4: Tag456, CMD: SET_WORK_MODE) to tag 456. After receiving the broadcast, tag 456 switches its own state to working state according to the mode setting command.
[0038] The beneficial effect of this embodiment is that, through the time scheduling fusion mechanism of the CTE response and Slot timing described above, it ensures that the tag responds only in the precise timing, effectively avoids conflicts, and improves the timing control accuracy.
[0039] Figure 6 This is the sixth flowchart of the tag positioning method of the present invention. Based on the above embodiments, the present invention also proposes a tag positioning method applied to a gateway, the method comprising: S10. Send a first broadcast containing target tag identity information, time sequence index information and fixed frequency extension parameters, so that the tag that receives the first broadcast enters the response state when its own tag information is consistent with the target tag identity information; S20. Receive the second broadcast containing the fixed frequency extension parameters sent by the tag in the response state according to the timing index information, and perform orthogonal sampling on the second broadcast; S30. Calculate the orientation of the tag based on the sampling data from the orthogonal sampling and the antenna array.
[0040] In this embodiment, the gateway implements IQ sampling based on the BLE5.4+ chip and uploads the tag's location information to the main control system via USB or SPI interface.
[0041] In this embodiment, the gateway receives configuration instructions from the main control system to configure parameters such as sampling period, timing index information, and broadcast power, thereby adapting to different deployment scenarios.
[0042] In this embodiment, the first broadcast also includes a control command, which is used to control the state machine of the price tag to cause the price tag to enter one of a daily state, a working state, and a response state.
[0043] Please refer to Figure 12 Tag positioning using the traditional RSSI broadcast mechanism consumes ~800 µAh / h, while the three state mechanisms in this embodiment consume ~150 µAh / h in the working state, ~30 µAh / time in the response state, and ~20 µAh / h in the normal state.
[0044] The beneficial effects of this embodiment are that, through the µAh-level power tracking strategy, the power consumption per hour can be as low as 10~20 µAh under normal conditions, which can achieve maintenance-free operation for several years; and, in this embodiment, based on the above-mentioned PAwR Slot scheduling mechanism, it supports the management of hundreds of devices, has stronger adaptability to industrial scenarios, and supports large-scale scheduling.
[0045] Figure 7This is the seventh flowchart of the tag positioning method of the present invention. Based on the above embodiments, the step of sending a first broadcast containing target tag identity information, time sequence index information, and fixed frequency extension parameters is followed by: S40. Detect whether the second broadcast is received within a preset multiple scheduling periods; S50. If the second broadcast is not received within multiple scheduling cycles, it is determined that the tag is offline or has left the field.
[0046] In this embodiment, if the second broadcast is not received within a first number of scheduling periods, the tag is determined to be offline; if the second broadcast is not received within a second number of scheduling periods, the tag is determined to be out of service; wherein, the first number is less than or equal to the second number.
[0047] The beneficial effects of this embodiment are that, in response to the limitations of traditional BLE broadcast power consumption being difficult to control and having low accuracy, this embodiment creatively configures three flexible and switchable state mechanisms for tags, and combines them with the remote broadcast control strategy of the gateway, so as to achieve accurate state switching and positioning response of tags without the gateway needing to establish a connection with the tags; furthermore, the slot timing scheduling, CTE broadcast triggering, and tag loss or departure determination used together constitute a complete asset tracking solution based on BLE tags.
[0048] Figure 8 This is a block diagram of the tag positioning system of the present invention. Based on the above embodiments, the present invention also proposes a tag positioning system 100, which includes a tag 10 and a gateway 20, wherein: The tag 10 is used to receive a first broadcast containing timing information sent by the gateway 20, and enter a response state according to the fixed frequency extension parameters of the first broadcast; The tag 10 is also used, in the response state, to send a second broadcast corresponding to the fixed frequency extended parameters to the gateway 20 according to the timing information; The gateway 20 is used to calculate the orientation of the tag 10 based on the received second broadcast and antenna array; The gateway 20 is also used to determine that the tag 10 is offline or has left the site if the second broadcast is not received within multiple preset scheduling periods.
[0049] It should be noted that the above system embodiments and method embodiments belong to the same concept. The specific implementation process can be found in the method embodiments. Furthermore, the technical features in the method embodiments are also applicable to the system embodiments, and will not be repeated here.
[0050] Based on the above embodiments, the present invention also proposes a tag positioning device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the computer program is executed by the processor, it implements the steps of the tag positioning method as described in any of the above embodiments.
[0051] It should be noted that the above-described device embodiments and method embodiments belong to the same concept. The specific implementation process can be found in the method embodiments, and the technical features in the method embodiments are also applicable to the device embodiments, which will not be repeated here.
[0052] Based on the above embodiments, the present invention also proposes a computer-readable storage medium storing a tag positioning program, which, when executed by a processor, implements the steps of the tag positioning method as described in any of the above embodiments.
[0053] It should be noted that the above-described medium embodiments and method embodiments belong to the same concept. The specific implementation process can be found in the method embodiments, and the technical features in the method embodiments are also applicable to the medium embodiments, which will not be repeated here.
[0054] The tag positioning method, system, device, and computer-readable storage medium of the present invention involve receiving a first broadcast containing timing information sent by a gateway; entering a response state according to fixed frequency extension parameters of the first broadcast; and in the response state, sending a second broadcast corresponding to the fixed frequency extension parameters to the gateway according to the timing information, so that the gateway calculates the location of the tag based on the received second broadcast and the antenna array. This achieves a tag positioning scheme with higher positioning accuracy, implements on-demand positioning, reduces positioning power consumption, and avoids environmental interference and resource waste.
[0055] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.
[0056] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.
[0057] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in the various embodiments of the present invention.
[0058] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims. All of these forms are within the protection scope of the present invention.
Claims
1. A label positioning method, applied to labels, characterized in that, The method includes: Receive the first broadcast containing timing information sent by the gateway; The system enters a response state based on the fixed frequency extension parameters of the first broadcast. In the response state, a second broadcast corresponding to the fixed frequency extension parameters is sent to the gateway according to the timing information, so that the gateway can calculate the location of the tag based on the received second broadcast and the antenna array.
2. The tag positioning method according to claim 1, characterized in that, Receiving the first broadcast containing timing information sent by the gateway further includes: Retrieve the control commands from the first broadcast; The current tag state is switched and / or the current sampling instruction is read according to the control command.
3. The tag positioning method according to claim 2, characterized in that, The step of switching the current tag state according to the control command further includes: The tag's state is divided into daily state, working state, and response state through the tag's built-in state machine. When the control command is a state switching command, the current tag state is switched to one of the daily state, the working state, and the response state corresponding to the state switching command.
4. The tag positioning method according to claim 1, characterized in that, The step of entering the response state according to the fixed frequency extension parameters of the first broadcast specifically includes: Obtain the target tag identity information, time sequence index information, and fixed frequency extension parameters from the first broadcast; If the target tag's identity information matches its own information, the current tag state is switched to the response state.
5. The tag positioning method according to claim 4, characterized in that, The step of sending the second broadcast corresponding to the fixed frequency extension parameters according to the timing information specifically includes: Invoke the preset Bluetooth Low Energy protocol to generate broadcast state data packets containing a fixed frequency extension; The second broadcast, containing the broadcast state data packet, is sent according to the timing information.
6. A tag positioning method, applied to a gateway, characterized in that, The method includes: Send a first broadcast containing target tag identity information, time sequence index information and fixed frequency extension parameters, so that the tag that receives the first broadcast enters the response state when its own tag information is consistent with the target tag identity information; Receive the second broadcast containing the fixed frequency extension parameters sent by the tag in the response state according to the timing index information, and perform orthogonal sampling on the second broadcast; The orientation of the tag is calculated based on the sampling data from the orthogonal sampling and the antenna array.
7. The tag positioning method according to claim 6, characterized in that, The first broadcast also includes a control command for controlling the state machine of the price tag to cause the price tag to enter one of a daily state, a working state, and a response state.
8. The tag positioning method according to claim 7, characterized in that, The transmission of the first broadcast, which includes target tag identity information, timing index information, and fixed frequency extension parameters, is followed by: Detect whether the second broadcast is received within multiple preset scheduling periods; If the second broadcast is not received within multiple scheduling cycles, the tag is determined to be offline or have left the field.
9. A tag positioning system, characterized in that, The system includes tags and a gateway, wherein: The tag is used to receive a first broadcast containing timing information sent by the gateway, and to enter a response state according to the fixed frequency extension parameters of the first broadcast; The tag is also used, in the response state, to send a second broadcast corresponding to the fixed frequency extended parameters to the gateway according to the timing information; The gateway is used to calculate the location of the tag based on the received second broadcast and the antenna array; The gateway is also used to determine that the tag is offline or has left the site if it has not received the second broadcast within multiple preset scheduling periods.
10. A tag positioning device, characterized in that, The device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program, when executed by the processor, implements the steps of the tag positioning method as described in any one of claims 1 to 5 or 6 to 8.
11. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a tag positioning program, which, when executed by a processor, implements the steps of the tag positioning method as described in any one of claims 1 to 5 or 6 to 8.