Ambient internet of things positioning method, communication node, system, and storage medium

Abstract

Provided in the present application are an ambient Internet of Things positioning method, a communication node, a system, and a storage medium. The method comprises: receiving at least one of a positioning signal transmitted by a second node and a coordinate of the second node; and positioning a first node according to at least one of a positioning signal measurement result and the coordinate of the second node.

Description

Environmental IoT positioning methods, communication nodes, systems and storage media Technical Field

[0001] This application relates to the field of wireless communication technology, such as environmental IoT positioning methods, communication nodes, systems, and storage media. Background Technology

[0002] With the continuous advancement of radio technology, a wide variety of radio services have emerged. In addition to cellular services between base stations and terminals, Long Term Evolution (LTE) and New Radio (NR) systems also include services such as the Internet of Things (IoT).

[0003] The electrical energy required for the operation of IoT devices comes from energy collected from radio frequency signals in the surrounding environment and converted into electrical energy, or from other forms of energy collected through solar energy, wind energy, mechanical vibration, etc. and converted into electrical energy, or from electrical energy collected or converted into electrical energy through circuit coupling. These types of IoT devices that do not have battery power are called Ambient-IoT or Passive-IoT (A-IoT or P-IoT). More broadly, for embedded active / semi-active IoT devices, if the power supply of the active / semi-active IoT device is depleted and it can degrade into a passive IoT device, these devices are also called A-IoT or P-IoT.

[0004] In an A-IoT network, network nodes, relay nodes, auxiliary nodes, and terminal nodes can also act as readers (also known as interrogators), and A-IoT devices can also act as tags. They may be the targets being located or they may act as the main entities locating other targets. Target location is primarily achieved through satellites and / or base stations. However, this method is not only costly, but the positioning signals from satellites and / or base stations also have difficulty penetrating tall buildings or relatively enclosed areas such as tunnels and underground parking garages. Therefore, satellite and / or base station positioning technology has poor positioning performance or even fails in densely populated urban areas, underground tunnels, and factory workshops. How to locate nodes or devices with tags or readers in environmental IoT communication scenarios is an urgent problem to be solved. Summary of the Invention

[0005] This application provides an environmental IoT positioning method, communication node, system, and storage medium.

[0006] This application provides an environmental IoT positioning method applied to a first node, comprising: receiving a positioning signal transmitted by a second node and at least one of the coordinates of the second node; and locating the first node based on the measurement result of the positioning signal and at least one of the coordinates of the second node.

[0007] This application also provides an environmental IoT positioning method applied to a second node, comprising: transmitting a positioning signal to a first node and at least one of the coordinates of the second node.

[0008] This application embodiment also provides an environmental IoT positioning method applied to a third node, comprising: receiving at least one of a positioning signal measurement result and the coordinates of a second node, wherein the positioning signal is transmitted by the second node, and the measurement result of the positioning signal and at least one of the coordinates of the second node are transmitted from the first node to the third node; and locating the first node based on the measurement result of the positioning signal and at least one of the coordinates of the second node.

[0009] This application provides an environmental IoT positioning method applied to a first node, comprising: transmitting a positioning signal; receiving positioning results of the first node from a second node or a third node, wherein the positioning results are determined based on the measurement results of the positioning signal, and the measurement results of the positioning signal are obtained by the second node.

[0010] This application also provides an environmental IoT positioning method applied to a second node, comprising: receiving a positioning signal transmitted by a first node, wherein the first node is the node being located; and measuring the positioning signal.

[0011] This application also provides an environmental IoT positioning method applied to a third node, comprising: receiving measurement results of a positioning signal from a second node, wherein the positioning signal is transmitted by a first node; and locating the first node based on the measurement results of the positioning signal.

[0012] This application provides an environmental IoT positioning method applied to a fourth node, comprising: transmitting a positioning signal; receiving positioning results of the fourth node from a first node, a second node, or a third node, wherein the positioning results are determined based on the measurement results of the positioning signal.

[0013] This application also provides an environmental IoT positioning method, applied to a first node or a second node, comprising: measuring a positioning signal transmitted by a fourth node; and locating the fourth node based on the measurement result of the positioning signal.

[0014] This application also provides an environmental IoT positioning method applied to a third node, comprising: receiving measurement results of a positioning signal from a first node or a second node, wherein the positioning signal is transmitted by a fourth node; and locating the fourth node based on the measurement results of the positioning signal.

[0015] This application embodiment also provides a communication node, including: one or more processors; a storage device for storing one or more programs; when the one or more programs are executed by the one or more processors, the one or more processors implement the above-described environmental IoT positioning method or environmental IoT positioning method.

[0016] This application embodiment also provides an environmental Internet of Things positioning system, including a first node, a second node, and a third node; the first node is a tag-type or reader-type node being located; the second node is a tag-type or reader-type node used for locating the first node; the third node includes at least one of the following: a base station, a location management function entity, and an application function entity.

[0017] This application embodiment also provides an environmental Internet of Things (IoT) positioning system, including a first node, a second node, a third node, and a fourth node; the fourth node is a tag-type node being located; the first node is a reader-type node used to locate the fourth node; the second node is a reader-type node used to locate the fourth node; the third node includes at least one of the following: a base station, a location management function entity, and an application function entity.

[0018] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described environmental IoT positioning method. Attached Figure Description

[0019] Figure 1 is a flowchart of an environmental IoT positioning method provided in an embodiment;

[0020] Figure 2 is a flowchart of another environmental IoT positioning method provided in one embodiment;

[0021] Figure 3 is a flowchart of another environmental IoT positioning method provided in an embodiment;

[0022] Figure 4 is a flowchart of another environmental IoT positioning method provided in one embodiment;

[0023] Figure 5 is a flowchart of another environmental IoT positioning method provided in an embodiment;

[0024] Figure 6 is a flowchart of another environmental IoT positioning method provided in another implementation;

[0025] Figure 7 is a flowchart of another environmental IoT positioning method provided in one embodiment;

[0026] Figure 8 is a flowchart of another environmental IoT positioning method provided in one embodiment;

[0027] Figure 9 is a flowchart of another environmental IoT positioning method provided in an embodiment;

[0028] Figure 10 is a schematic diagram of an environmental Internet of Things (IoT) positioning process provided in an embodiment;

[0029] Figure 11 is a schematic diagram of another environmental IoT positioning process provided in one embodiment;

[0030] Figure 12 is a schematic diagram of another environmental IoT positioning process provided in one embodiment;

[0031] Figure 13 is a schematic diagram of another environmental IoT positioning process provided in one embodiment;

[0032] Figure 14 is a schematic diagram of another environmental IoT positioning process provided in one embodiment;

[0033] Figure 15 is a schematic diagram of another environmental IoT positioning process provided in one embodiment;

[0034] Figure 16 is a schematic diagram of another environmental IoT positioning process provided in one embodiment;

[0035] Figure 17 is a schematic diagram of another environmental IoT positioning process provided in one embodiment;

[0036] Figure 18 is a schematic diagram of another environmental IoT positioning process provided in one embodiment;

[0037] Figure 19 is a schematic diagram of another environmental IoT positioning process provided in one embodiment;

[0038] Figure 20 is a schematic diagram of another environmental IoT positioning process provided in one embodiment;

[0039] Figure 21 is a schematic diagram of another environmental IoT positioning process provided in one embodiment;

[0040] Figure 22 is a schematic diagram of an environmental Internet of Things (IoT) positioning device according to an embodiment;

[0041] Figure 23 is a schematic diagram of another environmental IoT positioning device provided in one embodiment;

[0042] Figure 24 is a structural schematic diagram of another environmental Internet of Things (IoT) positioning device provided in an embodiment;

[0043] Figure 25 is a structural schematic diagram of another environmental Internet of Things (IoT) positioning device provided in an embodiment;

[0044] Figure 26 is a structural schematic diagram of another environmental Internet of Things (IoT) positioning device provided in an embodiment;

[0045] Figure 27 is a structural schematic diagram of another environmental Internet of Things (IoT) positioning device provided in an embodiment;

[0046] Figure 28 is a structural schematic diagram of another environmental Internet of Things (IoT) positioning device provided in an embodiment;

[0047] Figure 29 is a structural schematic diagram of another environmental Internet of Things (IoT) positioning device provided in an embodiment;

[0048] Figure 30 is a structural schematic diagram of another environmental Internet of Things (IoT) positioning device provided in one embodiment;

[0049] Figure 31 is a schematic diagram of the hardware structure of a communication node according to an embodiment;

[0050] Figure 32 is a schematic diagram of an environmental Internet of Things (IoT) positioning system according to an embodiment;

[0051] Figure 33 is a schematic diagram of another environmental IoT positioning system provided in one embodiment. Detailed Implementation

[0052] The present application will now be described in conjunction with the accompanying drawings and embodiments. The specific embodiments described herein are merely illustrative of the present application. Unless otherwise specified, the embodiments and features described herein can be arbitrarily combined with each other. For ease of description, only the parts relevant to the present application are shown in the accompanying drawings.

[0053] A-IoT devices can be mainly divided into two categories: the first type of device can complete communication by modulating and reflecting the received carrier signal; the second type of device has an independent signal generation function and can complete communication by generating a complete communication signal link. More broadly, there is another type of device that has both of the above functions, that is, it can complete communication by modulating and reflecting the received carrier signal and has an independent signal generation function, and can complete communication by generating a complete communication signal link. The carrier signal can be an unmodulated continuous waveform or an unmodulated carrier wave, the two concepts are equivalent, and are referred to as CW in the embodiments of this application. For example, CW can be a sine wave, a cosine wave, etc. A-IoT networks can be mainly divided into four categories: The first type of topology involves direct communication between network nodes and A-IoT devices; the second type involves relay nodes between network nodes and A-IoT devices; the third type involves auxiliary nodes between network nodes and A-IoT devices, which can assist in downlink or uplink communication of A-IoT devices; and the fourth type involves direct communication between terminal nodes and A-IoT devices. Network nodes, relay nodes, auxiliary nodes, and terminal nodes can also act as readers (also known as interrogators), and A-IoT devices can also act as tags. This explanation uses Automated Guided Vehicles (AGVs), Uncrewed Ground Robots (UGRs), and Uncrewed Aerial Vehicles (UAVs) as examples; these may be the targets being located or they may act as the main body locating other targets.

[0054] In this embodiment, "objective" can represent the location of a corresponding node. "Reference" can represent the location of a corresponding node.

[0055] An objective tag (OT) indicates that a node of the tag type is located.

[0056] An Objective Reader (OR) indicates that a node of type OR is located.

[0057] A reference tag (RT) represents one or more tags used for target localization.

[0058] A Reference Reader (RR) represents one or more nodes of the reader type used for target localization.

[0059] The first node includes at least one of the following: OR, OT, RR.

[0060] The second node includes at least one of the following: RT, RR, or Primary Reference Reader (P-RR).

[0061] The third node includes at least one of the following: Base Station (BS), Location Management Function (LMF), and Application Function (AF).

[0062] The fourth node includes at least one of the following: OT.

[0063] The positioning signal includes at least one of the following: CW, Reference Signal (RS), Preamble, Midamble, and Postamble.

[0064] The measurement results include at least one of the following: time delay, time difference of arrival, Doppler frequency shift, phase, position or coordinates, reference signal time difference, reference signal received power, received signal strength indication, reference signal received quality, and signal-to-noise ratio.

[0065] The positioning results include at least one of the following: distance, speed, horizontal angle, vertical angle, absolute position or coordinates, and relative position or coordinates.

[0066] The i-th reference reader measures the backscattered positioning signal corresponding to the positioning signal emitted by the i-th reference reader.

[0067] The i-th reference reader measures the backscattered positioning signal corresponding to the positioning signal emitted by the j-th reference reader.

[0068] Figure 1 is a flowchart of an environmental IoT positioning method according to an embodiment. This method can be applied to a first node. As shown in Figure 1, the method provided in this embodiment includes 110 and 120.

[0069] In 110, the positioning signal transmitted by the second node and at least one of the coordinates of the second node are received.

[0070] In step 120, the first node is located based on at least one of the measurement results of the positioning signal and the coordinates of the second node.

[0071] In this embodiment, the first node is the node to be located, and the second node is the node used to locate the first node. The second node can transmit a positioning signal and at least one of the coordinates of the second node to the first node. The first node can measure the positioning signal and determine its own location based on the measurement result and at least one of the coordinates of the second node. Alternatively, it can transmit the measurement result and at least one of the coordinates of the second node to a third node to determine the location of the first node. The positioning signal can be transmitted by the second node, or it can be transmitted by either the first or third node and backscattered by the second node. There can be one or more second nodes; in the case of multiple second nodes, they can be categorized as master second nodes and slave second nodes.

[0072] In one embodiment, the method further includes at least one of the following: initiating a location request; transmitting a location signal; transmitting a location query command; measuring the location signal; and transmitting the location result to at least one of the second node and the third node.

[0073] In one embodiment, locating the first node based on at least one of the measurement result of the positioning signal and the coordinates of the second node includes one of the following: determining the positioning result of the first node based on at least one of the measurement result of the positioning signal and the coordinates of the second node; transmitting at least one of the measurement result of the positioning signal and the coordinates of the second node to a third node; and receiving the positioning result of the first node from the third node, wherein the positioning result is determined based on at least one of the measurement result of the positioning signal and the coordinates of the second node.

[0074] In one embodiment, the first node is a reader-type node to be located; the second node is a tag-type node used to locate the first node.

[0075] In one embodiment, the positioning signal includes at least one of the following: continuous wave, reference signal, preamble signal, mid-lead signal, and postamble signal.

[0076] In one embodiment, the measurement results of the positioning signal include at least one of the following: arrival time, time difference of arrival, Doppler frequency shift, phase, coordinates, reference signal time difference, reference signal received power, received signal strength indication, reference signal received quality, and signal-to-noise ratio; wherein, the time difference of arrival includes at least one of the following: the difference between the arrival time of the target node and the xth reference node and the arrival time of the target node and the yth reference node.

[0077] In one embodiment, the positioning result includes at least one of the following: distance, speed, horizontal angle, vertical angle, absolute coordinates, and relative coordinates; in another embodiment, the coordinates are labeled using at least one of longitude and latitude.

[0078] In one embodiment, receiving a positioning signal transmitted by a second node includes: receiving a positioning signal emitted by the second node; or, emitting a positioning signal and receiving a positioning signal backscattered by the second node.

[0079] Figure 2 is a flowchart of an environmental IoT positioning method according to an embodiment. This method can be applied to a second node. As shown in Figure 2, the method provided in this embodiment includes 210.

[0080] In step 210, at least one of the positioning signal and the coordinates of the second node is transmitted to the first node.

[0081] In this embodiment, the first node is the node to be located, and the second node is the node used to locate the first node. The second node can transmit a positioning signal and at least one of the coordinates of the second node to the first node. The first node can measure the positioning signal and determine its own location based on the measurement result and at least one of the coordinates of the second node. Alternatively, it can transmit the measurement result of the positioning signal and at least one of the coordinates of the second node for a third node to determine the location of the first node. The positioning signal can be transmitted by the second node, or it can be transmitted by either the first or third node and backscattered by the second node. The positioning result of the first node can be sent to the second node by either the first or third node.

[0082] In one embodiment, the method further includes at least one of: initiating a positioning request; receiving a positioning result of the first node or a third node for the first node, the positioning result being determined based on at least one of the measurement result of the positioning signal and the coordinates of the second node.

[0083] In one embodiment, the first node is a reader-type node to be located; the second node is a tag-type node used to locate the first node.

[0084] In one embodiment, transmitting a positioning signal includes: transmitting a positioning signal; or receiving a positioning signal transmitted by a first node or a third node and backscattering the positioning signal.

[0085] Figure 3 is a flowchart of an environmental IoT positioning method according to an embodiment. This method can be applied to a third node. As shown in Figure 3, the method provided in this embodiment includes steps 310 and 320.

[0086] In 310, at least one of the measurement result of the positioning signal and the coordinates of the second node is received, wherein the positioning signal is transmitted by the second node, and at least one of the measurement result of the positioning signal and the coordinates of the second node is transmitted by the first node to the third node.

[0087] In step 320, the first node is located based on at least one of the measurement results of the positioning signal and the coordinates of the second node.

[0088] In this embodiment, the first node is the node to be located, and the second node is the node used to locate the first node. The second node can transmit a positioning signal and at least one of the coordinates of the second node to the first node. The first node can measure the positioning signal and send the measurement result and at least one of the coordinates of the second node to a third node, which then determines the location of the first node. The positioning signal can be transmitted by the second node, or it can be transmitted by either the first or third node and backscattered by the second node.

[0089] In one embodiment, the method further includes at least one of the following: initiating a location request; transmitting a location signal; transmitting a location query command; and transmitting the location result of the first node to at least one of the first node and the second node.

[0090] In one embodiment, the first node is a reader-type node to be located; the second node is a tag-type node used to locate the first node.

[0091] In one embodiment, the positioning signal is transmitted by the second node, or the positioning signal is transmitted by the first node and backscattered by the second node.

[0092] Figure 4 is a flowchart of an environmental IoT positioning method according to an embodiment. This method can be applied to a first node. As shown in Figure 4, the method provided in this embodiment includes steps 410 and 420.

[0093] In 410, positioning signals are transmitted.

[0094] In step 420, the positioning result of the first node is received from the second node or the third node, wherein the positioning result is determined based on the measurement result of the positioning signal, and the measurement result of the positioning signal is obtained by the second node.

[0095] In this embodiment, the first node is the node to be located. The first node can transmit a positioning signal or backscatter a positioning signal. A second node measures the positioning signal and locates the first node based on the measurement result. Alternatively, the second node can send the measurement result to a third node, which then locates the first node. There can be one or more second nodes. Multiple second nodes can be categorized as master second nodes and slave second nodes. The slave second nodes are used to measure the positioning signal, while the master second nodes are used to locate the first node or send the measurement result to the third node.

[0096] In one embodiment, the method further includes: initiating a location request.

[0097] In one embodiment, the second node includes at least one node, and in the case where the second node includes at least two nodes, the at least two nodes include a master second node and a slave second node.

[0098] In one embodiment, the first node is a tag-type node being located; the second node is a reader-type node used to locate the first node.

[0099] In one embodiment, transmitting a positioning signal includes:

[0100] Transmit a positioning signal; or receive a positioning signal transmitted by a second or third node and backscatter the positioning signal.

[0101] Figure 5 is a flowchart of an environmental IoT positioning method according to an embodiment. This method can be applied to a second node. As shown in Figure 5, the method provided in this embodiment includes steps 510 and 520.

[0102] In 510, the positioning signal transmitted by the first node is received, and the first node is the node being located.

[0103] In step 520, the positioning signal is measured.

[0104] In this embodiment, the first node is the node to be located. The first node can transmit a positioning signal, or backscatter the positioning signal transmitted by the second node, which then measures the positioning signal. Based on this, the second node can locate the first node according to the measurement result of the positioning signal, or send the measurement result of the positioning signal to a third node for the third node to locate the first node. The second node can be one or more, and these multiple second nodes can be divided into master second nodes and slave second nodes. The slave second node is used to measure the positioning signal, while the master second node is used to locate the first node or send the measurement result to the third node.

[0105] In one embodiment, the method further includes at least one of the following: initiating a location request; transmitting a location signal; and transmitting the location result of the first node to at least one of the first node and the third node.

[0106] In one embodiment, the method further includes one of the following: locating the first node based on the measurement result of the positioning signal; sending the measurement result of the positioning signal to a third node; and receiving the positioning result of the first node from the third node, wherein the positioning result is determined based on the measurement result of the positioning signal.

[0107] In one embodiment, the second node includes a master second node and a slave second node; the method further includes one of the following:

[0108] The second node sends the measurement result of the positioning signal to the main second node, and the main second node positions the first node based on the measurement result of the positioning signal; the second node sends the measurement result of the positioning signal to the main second node, and the main second node sends the measurement result of the positioning signal to the third node and receives the positioning result of the first node from the third node, wherein the positioning result is determined based on the measurement result of the positioning signal.

[0109] In one embodiment, the first node is a tag-type node that is being located; the second node is a reader-type node used to locate the first node.

[0110] In one embodiment, receiving a positioning signal transmitted by a first node includes: receiving a positioning signal emitted by the first node; or, emitting a positioning signal and receiving a positioning signal backscattered by the first node.

[0111] Figure 6 is a flowchart of an environmental IoT positioning method according to an embodiment. This method can be applied to a third node. As shown in Figure 6, the method provided in this embodiment includes 610 and 620.

[0112] In 610, the measurement result of the positioning signal by the second node is received, wherein the positioning signal is transmitted by the first node.

[0113] In step 620, the first node is located based on the measurement results of the positioning signal.

[0114] In this embodiment, the first node is the node being located. The first node transmits a positioning signal, and the second node measures the positioning signal. The second node can send the measurement result of the positioning signal to the third node, which then locates the first node. There can be one or more second nodes; if there are multiple second nodes, the one sending the measurement result to the third node can be the primary second node.

[0115] In one embodiment, the method further includes at least one of the following: initiating a location request; transmitting a location signal; and transmitting the location result of the first node to at least one of the first node and the second node.

[0116] In one embodiment, the second node includes at least one node, and in the case where the second node includes at least two nodes, the at least two nodes include a master second node and a slave second node.

[0117] In one embodiment, the first node is a tag-type node being located; the second node is a reader-type node used to locate the first node.

[0118] In one embodiment, the positioning signal is emitted by a first node, or the positioning signal is emitted by a second or third node and backscattered by the first node.

[0119] Figure 7 is a flowchart of an environmental IoT positioning method according to an embodiment. This method can be applied to a fourth node. As shown in Figure 7, the method provided in this embodiment includes steps 710 and 720.

[0120] In the 710, positioning signals are transmitted.

[0121] In 720, the positioning results of the fourth node are received from the first node, the second node, or the third node, wherein the positioning results are determined based on the measurement results of the positioning signal.

[0122] In this embodiment, the fourth node is the node to be located. The fourth node can transmit a positioning signal, such as by emitting a positioning signal or by backscattering a positioning signal. The positioning signal can be measured by the first node and the fourth node can be located based on the measurement result; alternatively, the positioning signal can be measured by the second node and the fourth node can be located based on the measurement result of the positioning signal. The second node can locate the fourth node based on the measurement result of the positioning signal, or it can transmit the measurement result of the positioning signal and have the fourth node located by the third node. There can be one or more second nodes. If there are multiple second nodes, the primary second node can measure the positioning signal and locate the fourth node based on the measurement result, or it can send the measurement result to the third node for location of the fourth node.

[0123] In one embodiment, the method further includes: initiating a location request.

[0124] In one embodiment, the measurement result of the positioning signal is obtained by the first node or the second node; the measurement result of the positioning signal includes at least one of the following: the coordinates of the M locations when measured from the M locations to the target node; the coordinates of the N antennas when measured from the N antennas to the target node.

[0125] In one embodiment, the second node includes at least one node, and in the case where the second node includes at least two nodes, the at least two nodes include a master second node and a slave second node.

[0126] In one embodiment, the first node is a reader-type node for positioning; the fourth node is a tag-type node for positioning; and the second node is a reader-type node for positioning.

[0127] In one embodiment, transmitting a positioning signal includes:

[0128] Transmit a positioning signal; or receive a positioning signal and backscatter the positioning signal.

[0129] This application also provides an environmental IoT positioning method. This method can be applied to a first node or a second node. As shown in Figure 8, the method includes 810 and 820.

[0130] In 810, the positioning signal transmitted by the fourth node is measured.

[0131] In step 820, the fourth node is located based on the measurement results of the positioning signal.

[0132] In this embodiment, the fourth node is the node to be located. The fourth node can transmit a positioning signal, such as by emitting a positioning signal or by backscattering a positioning signal. The first node or the second node can measure the positioning signal and locate the fourth node based on the measurement result. The second node can locate the fourth node based on the measurement result of the positioning signal, or it can transmit the measurement result of the positioning signal for the third node to locate the fourth node. There can be one or more second nodes. If there are multiple second nodes, the primary second node can measure the positioning signal and locate the fourth node based on the measurement result; alternatively, it can send the measurement result to the third node for the third node to locate the fourth node.

[0133] In one embodiment, the measurement result of the positioning signal includes at least one of the following: the coordinates of the M locations when the target node is measured from M locations; the coordinates of the N antennas when the target node is measured from N antennas.

[0134] In one embodiment, locating the fourth node based on the measurement result of the positioning signal includes one of the following: determining the positioning result of the fourth node based on the measurement result of the positioning signal; transmitting the measurement result of the positioning signal to a third node, and receiving the positioning result of the fourth node from the third node, wherein the positioning result is determined based on the measurement result of the positioning signal.

[0135] In one embodiment, the second node includes a slave second node and a master second node; positioning the fourth node based on the measurement result of the positioning signal includes one of the following: the slave second node measures the positioning signal and transmits the measurement result of the positioning signal to the master second node, and the master second node determines the positioning result of the fourth node based on the measurement result of the positioning signal; the slave second node measures the positioning signal and transmits the measurement result of the positioning signal to the master second node, the master second node transmits the measurement result of the positioning signal to a third node, and the third node determines the positioning result of the fourth node based on the measurement result of the positioning signal.

[0136] In one embodiment, the method further includes at least one of the following: initiating a location request; transmitting a location signal; and receiving the location result of the third node for the fourth node, wherein the location result is determined based on the measurement result of the location signal.

[0137] In one embodiment, the first node is a reader-type node for positioning; the second node is a reader-type node for positioning; and the fourth node is a tag-type node for positioning.

[0138] In one embodiment, measuring the positioning signal transmitted by the fourth node includes: measuring the positioning signal emitted by the fourth node, or measuring the positioning signal backscattered by the fourth node.

[0139] Figure 9 is a flowchart of an environmental IoT positioning method according to an embodiment. This method can be applied to a third node. As shown in Figure 9, the method provided in this embodiment includes steps 910 and 920.

[0140] In 910, the measurement results of the positioning signal by the first node or the second node are received, and the positioning signal is transmitted by the fourth node.

[0141] In 920, the fourth node is located based on the measurement results of the positioning signal.

[0142] In this embodiment, the fourth node is the node being located. The fourth node can transmit a positioning signal, such as by emitting a positioning signal or by backscattering a positioning signal. The first or second node can measure the positioning signal and send the measurement result to the third node, which then locates the fourth node. There can be one or more second nodes; if there are multiple second nodes, the primary second node can send the measurement result to the third node.

[0143] In one embodiment, the method further includes at least one of the following: initiating a location request; transmitting a location signal; and transmitting the location result of the first node to at least one of the first node, the second node, and the fourth node.

[0144] In one embodiment, the second node includes at least one node; where the second node includes at least two nodes, the at least two nodes include a master second node and a slave second node.

[0145] In one embodiment, the first node is a reader-type node used for positioning; the fourth node is a tag-type node being positioned; and the second node is a reader-type node used for positioning.

[0146] In one embodiment, the positioning signal is emitted by the fourth node or backscattered by the fourth node.

[0147] The environmental IoT positioning method of this application is illustrated by some embodiments below.

[0148] Example 1

[0149] In this embodiment, the first node is OR, the second node is RT, and the first node is located.

[0150] In one example, as shown in Figure 10, the environmental IoT positioning process may include: a second node transmitting (emitting or backscattering) a positioning signal and at least one of the coordinates of the second node; if the second node transmits the positioning signal, the first node measures the positioning signal; the first node positions itself based on the measurement result of the positioning signal and at least one of the coordinates of the second node; furthermore, a positioning request may be initiated by the first node, the second node, or the third node; the first node or the third node may transmit the positioning signal and the second node may backscatter the positioning signal; the first node or the third node may transmit a location query command; and the first node may transmit the positioning result to at least one of the second and third nodes.

[0151] In one example, as shown in Figure 11, the environmental IoT positioning process may include: a second node transmitting (emitting or backscattering) a positioning signal and at least one of the coordinates of the second node; if the second node transmits the positioning signal, the first node measures the positioning signal; the first node sends the measurement result of the positioning signal and at least one of the coordinates of the second node to a third node, which then positions the first node; furthermore, a positioning request may be initiated by the first node, the second node, or the third node; a positioning signal may be transmitted by the first node or the third node and backscattered by the second node; a location query command may be transmitted by the first node or the third node; and the third node may transmit the positioning result to at least one of the first node and the second node.

[0152] Example 2

[0153] In this embodiment, the first node is OT, the second node is RR, and the first node is located.

[0154] In one example, as shown in Figure 12, the environmental IoT positioning process may include: a first node transmitting (emitting or backscattering) a positioning signal; a second node measuring the positioning signal and positioning the first node based on the measurement result of the positioning signal; in addition, a positioning request may be initiated by the first node, the second node, or the third node; the second node or the third node may transmit the positioning signal and the first node may backscatter the positioning signal; the second node may transmit the positioning result to at least one of the first node and the third node.

[0155] In one example, as shown in Figure 13, the environmental IoT positioning process may include: a first node transmitting (emitting or backscattering) a positioning signal; a second node (from a second node or from a reference reader) measuring the positioning signal and sending the measurement result to a master second node (or a master reference reader); the master second node (or the master reference reader) locating the first node based on the measurement result; furthermore, a positioning request may be initiated by the first node, the second node, or the third node; a positioning signal may be transmitted by the second node or the third node and backscattered by the first node; the master second node may transmit the positioning result to at least one of the first node and the third node.

[0156] In one example, as shown in Figure 14, the environmental IoT positioning process may include: a first node transmitting (emitting or backscattering) a positioning signal; a second node measuring the positioning signal and sending the measurement result to a third node; the third node locating the first node based on the measurement result; in addition, a positioning request may be initiated by the first node, the second node, or the third node; a positioning signal may be transmitted by the second node or the third node and backscattered by the first node; the third node may transmit the positioning result to at least one of the first node and the second node.

[0157] In one example, as shown in Figure 15, the environmental IoT positioning process may include: a first node transmitting (emitting or backscattering) a positioning signal; a second node (from a second node or from a reference reader) measuring the positioning signal and sending the measurement result to a main second node (or a main reference reader); the main second node (or the main reference reader) sending the measurement result to a third node; the third node locating the first node based on the measurement result; furthermore, a positioning request may be initiated by the first node, the second node, or the third node; a positioning signal may be transmitted by the second node or the third node and backscattered by the first node; the third node may transmit the positioning result to at least one of the first node and the second node.

[0158] Example 3

[0159] In this embodiment, the first node is RR, the fourth node is OT, and the fourth node is located.

[0160] In one example, the first node can perform positioning based on different locations. As shown in Figure 16, the environmental IoT positioning process may include: the fourth node transmitting (emitting or backscattering) positioning signals; the first node measuring the positioning signals; the first node recording the coordinates of the M locations when the first node measures the M locations to the fourth node; and determining the positioning result of the fourth node based on the coordinates of the M locations.

[0161] In addition, a location request can be initiated by the first node, the third node, or the fourth node; a location signal can be transmitted by the first node or the third node and the location signal can be backscattered by the fourth node; the first node can transmit the location result to at least one of the third node and the fourth node.

[0162] In one example, the first node can perform positioning based on different antennas. As shown in Figure 17, the environmental IoT positioning process may include: the fourth node transmitting (emitting or backscattering) a positioning signal; the first node measuring the positioning signal; the first node recording the coordinates of the N antennas when the first node measures the fourth node through the N antennas; and determining the positioning result of the fourth node based on the coordinates of the N antennas.

[0163] In addition, a location request can be initiated by the first node, the third node, or the fourth node; a location signal can be transmitted by the first node or the third node and the location signal can be backscattered by the fourth node; the first node can transmit the location result to at least one of the third node and the fourth node.

[0164] Example 4

[0165] In this embodiment, the first node has no RR, the second node has RR, the fourth node is OT, and the fourth node is located.

[0166] In one example, as shown in Figure 18, the environmental IoT positioning process may include: a fourth node transmitting (emitting or backscattering) a positioning signal; a second node measuring the positioning signal; the second node positioning the fourth node based on the measurement result of the positioning signal; in addition, a positioning request may be initiated by a first node, a second node, a third node, or a fourth node; a positioning signal may be transmitted by a first node, a second node, or a third node and backscattered by a fourth node; the second node may transmit the positioning result to at least one of the first node, the third node, and the fourth node.

[0167] In one example, as shown in Figure 19, the environmental IoT positioning process may include: a fourth node transmitting (emitting or backscattering) a positioning signal; a second node measuring the positioning signal (from a second node or from a reference reader); the second node sending the measurement result to a master second node (or a master reference reader); the second node (or the master reference reader) locating the fourth node; furthermore, a positioning request may be initiated by a first node, a second node, a third node, or a fourth node; a positioning signal may be transmitted by a first node, a second node, or a third node, and the positioning signal may be backscattered by a fourth node; the master second node may transmit the positioning result to at least one of the first node, the third node, and the fourth node.

[0168] In one example, as shown in Figure 20, the environmental IoT positioning process may include: a fourth node transmitting (emitting or backscattering) a positioning signal; a second node measuring the positioning signal; the second node sending the measurement result to a third node, which then positions the fourth node; in addition, a positioning request may be initiated by the first, second, third, or fourth node; a positioning signal may be transmitted by the first, second, or third node and backscattered by the fourth node; and the third node may transmit the positioning result to at least one of the first, second, and fourth nodes.

[0169] In one example, as shown in Figure 21, the environmental IoT positioning process may include: a fourth node transmitting (emitting or backscattering) a positioning signal; a second node measuring the positioning signal (from a second node or from a reference reader); the second node sending the measurement result to a master second node (or a master reference reader); the second node (or the master reference reader) sending the measurement result to a third node; the third node locating the fourth node; in addition, a positioning request may be initiated by a first node, a second node, a third node, or a fourth node; a positioning signal may be transmitted by a first node, a second node, or a third node and backscattered by a fourth node; the third node may transmit the positioning result to at least one of the first node, the second node, and the fourth node.

[0170] As shown in Figure 22, this application embodiment also provides an environmental IoT positioning device. The environmental IoT positioning device includes: a receiving module 201, configured to receive a positioning signal transmitted by a second node and at least one of the coordinates of the second node; and a positioning module 202, configured to locate a first node based on a measurement result of the positioning signal and at least one of the coordinates of the second node.

[0171] In one embodiment, the device further includes at least one of the following: an initiation module configured to initiate a location request; a signal transmission module configured to transmit a location signal; a command transmission module configured to transmit a location query command; a measurement module configured to measure the location signal; and a result transmission module configured to transmit a location result to at least one of the second node and the third node.

[0172] In one embodiment, locating the first node based on at least one of the measurement result of the positioning signal and the coordinates of the second node includes one of the following: determining the positioning result of the first node based on at least one of the measurement result of the positioning signal and the coordinates of the second node; transmitting at least one of the measurement result of the positioning signal and the coordinates of the second node to a third node; and receiving the positioning result of the first node from the third node, wherein the positioning result is determined based on at least one of the measurement result of the positioning signal and the coordinates of the second node.

[0173] In one embodiment, the first node is a reader-type node to be located; the second node is a tag-type node used to locate the first node.

[0174] In one embodiment, the positioning signal includes at least one of the following: continuous wave, reference signal, preamble signal, mid-lead signal, and postamble signal.

[0175] In one embodiment, the measurement results of the positioning signal include at least one of the following: arrival time, time difference of arrival, Doppler frequency shift, phase, coordinates, reference signal time difference, reference signal received power, received signal strength indication, reference signal received quality, and signal-to-noise ratio; wherein, the time difference of arrival includes at least one of the following: the difference between the arrival time of the target node and the xth reference node and the arrival time of the target node and the yth reference node.

[0176] In one embodiment, the positioning result includes at least one of the following: distance, speed, horizontal angle, vertical angle, absolute coordinates, and relative coordinates; in another embodiment, the coordinates are labeled using at least one of longitude and latitude.

[0177] In one embodiment, receiving the positioning signal transmitted by the second node includes:

[0178] Receive the positioning signal transmitted by the second node; or, transmit a positioning signal and receive the positioning signal backscattered by the second node.

[0179] As shown in Figure 23, this application embodiment also provides an environmental Internet of Things positioning device, which includes: a transmission module 21, configured to transmit at least one of a positioning signal and the coordinates of a second node to a first node.

[0180] In one embodiment, the device further includes an initiation module configured to initiate a location request.

[0181] In one embodiment, the determining module is configured to receive the positioning result of the first node from either the first node or the third node, the positioning result being determined based on at least one of the measurement result of the positioning signal and the coordinates of the second node.

[0182] In one embodiment, the first node is a reader-type node to be located; the second node is a tag-type node used to locate the first node.

[0183] In one embodiment, the transmission module is specifically configured to: transmit a positioning signal; or receive a positioning signal transmitted by a first node or a third node and backscatter the positioning signal.

[0184] As shown in Figure 24, this application embodiment also provides an environmental IoT positioning device, including: a receiving module 31, configured to receive at least one of a positioning signal measurement result and the coordinates of a second node, wherein the positioning signal is transmitted by the second node, and the measurement result of the positioning signal and at least one of the coordinates of the second node are transmitted from a first node to the third node; and a positioning module 32, configured to locate the first node based on the measurement result of the positioning signal and at least one of the coordinates of the second node.

[0185] In one embodiment, the device further includes at least one of the following: an initiation module configured to initiate a location request; a signal transmission module configured to transmit a location signal; a command transmission module configured to transmit a location query command; and a result transmission module configured to transmit the location result of the first node to at least one of the first node and the second node.

[0186] In one embodiment, the first node is a reader-type node to be located; the second node is a tag-type node used to locate the first node.

[0187] In one embodiment, the positioning signal is transmitted by the second node, or the positioning signal is transmitted by the first node and backscattered by the second node.

[0188] As shown in Figure 25, this application embodiment also provides an environmental IoT positioning device, including: a transmission module 41 configured to transmit positioning signals; and a receiving module 42 configured to receive positioning results of a second node or a third node on a first node, wherein the positioning results are determined based on the measurement results of the positioning signals, and the measurement results of the positioning signals are obtained by the second node.

[0189] In one embodiment, the device further includes an initiation module configured to initiate a location request.

[0190] In one embodiment, the second node includes at least one node, and in the case where the second node includes at least two nodes, the at least two nodes include a master second node and a slave second node.

[0191] In one embodiment, the first node is a tag-type node being located; the second node is a reader-type node used to locate the first node.

[0192] In one embodiment, transmitting a positioning signal includes: transmitting a positioning signal; or receiving a positioning signal transmitted by a second node or a third node and backscattering the positioning signal.

[0193] As shown in Figure 26, this application embodiment also provides an environmental IoT positioning device, including: a receiving module 61, configured to receive a positioning signal transmitted by a first node, wherein the first node is the node being located; and a measuring module 62, configured to measure the positioning signal.

[0194] In one embodiment, the device further includes at least one of the following: an initiation module configured to initiate a location request; a signal transmission module configured to transmit a location signal; and a result transmission module configured to transmit the location result of the first node to at least one of the first node and the third node.

[0195] In one embodiment, the device further includes one of the following: a positioning module configured to locate the first node based on the measurement result of the positioning signal; and a transmitting module configured to transmit the measurement result of the positioning signal to a third node and receive the positioning result of the third node on the first node, wherein the positioning result is determined based on the measurement result of the positioning signal.

[0196] In one embodiment, the second node includes a master second node and a slave second node; the slave second node sends the measurement result of the positioning signal to the master second node, and the master second node locates the first node based on the measurement result of the positioning signal; or, the slave second node sends the measurement result of the positioning signal to the master second node, and the master second node sends the measurement result of the positioning signal to a third node and receives the positioning result of the first node from the third node, wherein the positioning result is determined based on the measurement result of the positioning signal.

[0197] In one embodiment, the first node is a tag-type node being located; the second node is a reader-type node used to locate the first node.

[0198] In one embodiment, receiving a positioning signal transmitted by a first node includes: receiving a positioning signal emitted by the first node; or, emitting a positioning signal and receiving a positioning signal backscattered by the first node.

[0199] As shown in Figure 27, this application embodiment also provides an environmental IoT positioning device, including: a receiving module 71, configured to receive the measurement result of a positioning signal from a second node, wherein the positioning signal is transmitted by a first node; and a positioning module 72, configured to locate the first node based on the measurement result of the positioning signal.

[0200] In one embodiment, the device further includes at least one of the following: an initiation module configured to initiate a location request; a signal transmission module configured to transmit a location signal; and a result transmission module configured to transmit a location result for the first node to at least one of a first node and a second node.

[0201] In one embodiment, the second node includes at least one node, and in the case where the second node includes at least two nodes, the at least two nodes include a master second node and a slave second node.

[0202] In one embodiment, the first node is a tag-type node being located; the second node is a reader-type node used to locate the first node.

[0203] In one embodiment, the positioning signal is emitted by a first node, or the positioning signal is emitted by a second or third node and backscattered by the first node.

[0204] As shown in Figure 28, this application embodiment also provides an environmental IoT positioning device, including: a transmission module 81 configured to transmit positioning signals; and a receiving module 82 configured to receive positioning results of a first node, a second node, or a third node for the fourth node, wherein the positioning results are determined based on the measurement results of the positioning signals.

[0205] In one embodiment, the device further includes an initiation module configured to initiate a location request.

[0206] In one embodiment, the measurement result of the positioning signal is obtained by the first node or the second node; the measurement result of the positioning signal includes at least one of the following: the coordinates of the M locations when measured from the M locations to the target node; the coordinates of the N antennas when measured from the N antennas to the target node.

[0207] In one embodiment, the second node includes at least one node, and in the case where the second node includes at least two nodes, the at least two nodes include a master second node and a slave second node.

[0208] In one embodiment, the first node is a reader-type node for positioning; the fourth node is a tag-type node for positioning; and the second node is a reader-type node for positioning.

[0209] In one embodiment, transmitting a positioning signal includes: transmitting a positioning signal; or receiving a positioning signal and backscattering the positioning signal.

[0210] As shown in Figure 29, this application embodiment also provides an environmental IoT positioning device, including: a receiving module 91, configured to receive the measurement result of a positioning signal from a second node, wherein the positioning signal is transmitted by a first node; and a positioning module 92, configured to locate the first node based on the measurement result of the positioning signal.

[0211] In one embodiment, the measurement result of the positioning signal includes at least one of the following: the coordinates of the M locations when the target node is measured from M locations; the coordinates of the N antennas when the target node is measured from N antennas.

[0212] In one embodiment, locating the fourth node based on the measurement result of the positioning signal includes one of the following: determining the positioning result of the fourth node based on the measurement result of the positioning signal; transmitting the measurement result of the positioning signal to a third node, and receiving the positioning result of the fourth node from the third node, wherein the positioning result is determined based on the measurement result of the positioning signal.

[0213] In one embodiment, the second node includes a slave second node and a master second node; positioning the fourth node based on the measurement result of the positioning signal includes one of the following: the slave second node measures the positioning signal and transmits the measurement result of the positioning signal to the master second node, and the master second node determines the positioning result of the fourth node based on the measurement result of the positioning signal; the slave second node measures the positioning signal and transmits the measurement result of the positioning signal to the master second node, the master second node transmits the measurement result of the positioning signal to a third node, and the third node determines the positioning result of the fourth node based on the measurement result of the positioning signal.

[0214] In one embodiment, the device further includes at least one of the following: an initiation module configured to initiate a positioning request; a signal transmission module configured to transmit a positioning signal; and a result receiving module configured to receive the positioning result of the third node on the fourth node, wherein the positioning result is determined based on the measurement result of the positioning signal.

[0215] In one embodiment, the first node is a reader-type node for positioning; the second node is a reader-type node for positioning; and the fourth node is a tag-type node for positioning.

[0216] In one embodiment, measuring the positioning signal transmitted by the fourth node includes: measuring the positioning signal emitted by the fourth node, or measuring the positioning signal backscattered by the fourth node.

[0217] As shown in Figure 30, this application embodiment also provides an environmental IoT positioning device, including: a receiving module 101, configured to receive the measurement results of a positioning signal from a first node or a second node, wherein the positioning signal is transmitted by a fourth node; and a positioning module 102, configured to locate the fourth node based on the measurement results of the positioning signal.

[0218] In one embodiment, the device further includes at least one of the following: an initiation module configured to initiate a location request; a signal transmission module configured to transmit a location signal; and a result transmission module configured to transmit the location result of the first node to at least one of the first node, the second node, and the fourth node.

[0219] In one embodiment, the second node includes at least one node; where the second node includes at least two nodes, the at least two nodes include a master second node and a slave second node.

[0220] In one embodiment, the first node is a reader-type node used for positioning; the fourth node is a tag-type node being positioned; and the second node is a reader-type node used for positioning.

[0221] In one embodiment, the positioning signal is emitted by the fourth node or backscattered by the fourth node.

[0222] Figure 31 is a schematic diagram of the hardware structure of a communication node provided in an embodiment. As shown in Figure 31, the communication node provided in this application includes one or more processors 51, wherein the one or more processors 51 implement the environmental Internet of Things positioning method provided in any embodiment of this application when executed.

[0223] The communication node may also include a storage device 52; the processor 51 in the communication node may be one or more, with one processor 51 as an example in FIG31; the storage device 52 is used to store one or more programs; the one or more programs are executed by the one or more processors 51, so that the one or more processors 51 implement the environmental IoT positioning method as described in the embodiments of this application.

[0224] The communication node also includes a communication device 53, an input device 54, and an output device 55. The processor 51, storage device 52, communication device 53, input device 54, and output device 55 in the communication node can be connected via a bus or other means; Figure 31 shows an example of connection via a bus.

[0225] Input device 54 can be used to receive input digital or character information, and generate key signal inputs related to user settings and function control of the communication node. Output device 55 may include display devices such as a display screen. Communication device 53 may include a receiver and a transmitter. Communication device 53 is configured to perform information transmission and reception communication under the control of processor 51. Storage device 52, as a computer-readable storage medium, may be configured to store software programs, computer-executable programs, and modules, such as program instructions / modules corresponding to the environmental IoT positioning method described in the embodiments of this application. Storage device 52 may include a program storage area and a data storage area, wherein the program storage area may store the operating system and at least one application program required for a function; the data storage area may store data created according to the use of the communication node, etc. In addition, storage device 52 may include high-speed random access memory, and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state storage device. In some instances, storage device 52 may include memory remotely located relative to processor 51, and these remote memories can be connected to the communication node via a network. Examples of the above-mentioned networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0226] This application embodiment also provides an environmental Internet of Things positioning system, as shown in FIG32. The system includes a first node 11, a second node 12 and a third node 13; the first node 11 is a tag-type or reader-type node to be located; the second node 12 is a tag-type or reader-type node used to locate the first node 11; the third node 13 includes at least one of the following: a base station, a location management function entity, and an application function entity.

[0227] This application embodiment also provides an environmental Internet of Things positioning system, as shown in FIG33, including a first node 11, a second node 12, a third node 13 and a fourth node 14; the fourth node 14 is a tag-type node to be located; the first node 11 is a reader-type node for locating the fourth node; the second node 12 is a reader-type node for locating the fourth node 14; the third node 13 includes at least one of the following: a base station, a location management function entity, and an application function entity.

[0228] This application embodiment also provides a communication node, which can be a first node, a second node, a third node, or a fourth node. The above-described environmental IoT positioning method applied to the communication node can be executed by an environmental IoT positioning device, which can be implemented in software and / or hardware and integrated into the communication node. The above-described query method can be executed by a query device, which can be implemented in software and / or hardware and integrated into the communication node.

[0229] This application also provides a storage medium storing a computer program, which, when executed by a processor, implements any of the environmental IoT positioning methods described in this application.

[0230] The computer storage medium in this application embodiment can be any combination of one or more computer-readable media. The computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. For example, a computer-readable storage medium can be, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of computer-readable storage media (a non-exhaustive list) include: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), flash memory, optical fiber, portable CD-ROM, optical storage device, magnetic storage device, or any suitable combination thereof. The computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0231] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, which can send, propagate, or transmit programs for use by or in connection with an instruction execution system, apparatus, or device.

[0232] Program code contained on a computer-readable medium may be transmitted using any suitable medium, including but not limited to: wireless, wire, optical fiber, radio frequency (RF), etc., or any suitable combination thereof.

[0233] Computer program code for performing the operations of this application can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as "C" or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0234] The above description is merely an exemplary embodiment of this application and is not intended to limit the scope of protection of this application.

[0235] Those skilled in the art will understand that the term "terminal" encompasses any suitable type of wireless user equipment, such as mobile phones, portable data processing devices, portable web browsers, or vehicle-mounted mobile stations.

[0236] Generally, the various embodiments of this application can be implemented in hardware or dedicated circuitry, software, logic, or any combination thereof. For example, some aspects can be implemented in hardware, while others can be implemented in firmware or software that can be executed by a controller, microprocessor, or other computing device, although this application is not limited thereto.

[0237] Embodiments of this application can be implemented by executing computer program instructions through the data processor of a mobile device, for example, in a processor entity, or through hardware, or through a combination of software and hardware. The computer program instructions can be assembly instructions, Instruction Set Architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, status setting data, or source code or object code written in any combination of one or more programming languages.

[0238] Any block diagram of logical flow in the accompanying drawings of this application may represent program operations, or may represent interconnected logic circuits, modules, and functions, or may represent a combination of program operations and logic circuits, modules, and functions. The computer program may be stored on memory. The memory may be of any type suitable to the local technical environment and may be implemented using any suitable data storage technology, such as, but not limited to, read-only memory (ROM), random access memory (RAM), optical storage devices and systems (Digital Video Disc (DVD) or Compact Disk (CD)), etc. Computer-readable media may include non-transitory storage media. The data processor may be of any type suitable to the local technical environment, such as, but not limited to, general-purpose computers, special-purpose computers, microprocessors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), and processors based on multi-core processor architectures.

Claims

1. An environmental IoT positioning method, applied to a first node, comprising: Receive at least one of the positioning signal transmitted by the second node and the coordinates of the second node; The first node is located based on at least one of the measurement results of the positioning signal and the coordinates of the second node.

2. The method of claim 1, further comprising at least one of the following: Initiate a location request; Transmit positioning signals; Launch location query command; Measure the positioning signal; Transmit the positioning results to at least one of the second and third nodes.

3. The method according to claim 1, wherein, The first node is located based on at least one of the measurement results of the positioning signal and the coordinates of the second node, including one of the following: The positioning result of the first node is determined based on at least one of the measurement result of the positioning signal and the coordinates of the second node; The system transmits at least one of the measurement result of the positioning signal to the third node and the coordinates of the second node, and receives the positioning result of the third node on the first node, wherein the positioning result is determined based on at least one of the measurement result of the positioning signal and the coordinates of the second node.

4. The method according to claim 1, wherein, The first node is a reader-type node that is being located; the second node is a tag-type node used to locate the first node.

5. The method according to claim 2, wherein, The positioning signal includes at least one of the following: continuous wave, reference signal, preamble signal, mid-lead signal, and postamble signal.

6. The method according to claim 1, wherein, The measurement results of the positioning signal include at least one of the following: Time of arrival, time difference of arrival, Doppler shift, phase, coordinates, reference signal time difference, reference signal received power, received signal strength indication, reference signal received quality, signal-to-noise ratio; The arrival time difference includes at least one of the following: the difference between the arrival time of the target node and the xth reference node and the arrival time of the target node and the yth reference node.

7. The method according to claim 1, wherein, The positioning results include at least one of the following: distance, speed, horizontal angle, vertical angle, absolute coordinates, and relative coordinates.

8. The method according to claim 1, wherein, The coordinates are labeled using at least one of longitude and latitude.

9. The method according to claim 1, wherein, Receiving the positioning signal transmitted by the second node includes: Receive the positioning signal transmitted by the second node; or, It transmits a positioning signal and receives the positioning signal backscattered by the second node.

10. An environmental IoT positioning method, applied to a second node, comprising: Transmit a positioning signal to the first node and at least one of the coordinates of the second node.

11. The method of claim 10, further comprising at least one of the following: Initiate a location request; The system receives the positioning result of the first node or the third node for the first node, and the positioning result is determined based on at least one of the measurement result of the positioning signal and the coordinates of the second node.

12. The method according to claim 10, wherein, The first node is a reader-type node that is being located; the second node is a tag-type node used to locate the first node.

13. The method according to claim 10, wherein, Transmitting positioning signals, including: Transmit a positioning signal; or, It receives the positioning signal transmitted by the first node or the third node and backscatters the positioning signal.

14. An environmental IoT positioning method, applied to a third node, comprising: The first node receives at least one of the measurement result of the positioning signal and the coordinates of the second node, wherein the positioning signal is transmitted by the second node, and at least one of the measurement result of the positioning signal and the coordinates of the second node is transmitted by the first node to the third node. The first node is located based on at least one of the measurement results of the positioning signal and the coordinates of the second node.

15. The method of claim 14, further comprising at least one of the following: Initiate a location request; Transmit positioning signals; Launch location query command; The positioning result of the first node is transmitted to at least one of the first node and the second node.

16. The method of claim 14, wherein, The first node is a reader-type node that is being located; the second node is a tag-type node used to locate the first node.

17. The method of claim 14, wherein, The positioning signal is transmitted by the second node, or the positioning signal is transmitted by the first node or the third node and backscattered by the second node.

18. An environmental Internet of Things (IoT) positioning method, applied to a first node being located, comprising: Transmit positioning signals; The system receives the positioning result of the first node from a second node or a third node, wherein the positioning result is determined based on the measurement result of the positioning signal, which is obtained by the second node.

19. The method of claim 18, further comprising: Initiate a location request.

20. The method according to claim 18, wherein, The second node includes at least one node, and when the second node includes at least two nodes, the at least two nodes include a master second node and a slave second node.

21. The method according to claim 18, wherein, The first node is a tag-type node that is being located; the second node is a reader-type node used to locate the first node.

22. The method according to claim 18, wherein, Transmitting positioning signals, including: Transmit a positioning signal; or, It receives the positioning signal transmitted by the second node or the third node and backscatters the positioning signal.

23. An environmental IoT positioning method, applied to a second node, comprising: Receive the positioning signal transmitted by the first node, where the first node is the node being located; Measure the positioning signal.

24. The method of claim 23, further comprising at least one of the following: Initiate a location request; Transmit positioning signals; Transmit the positioning result of the first node to at least one of the first node and the third node.

25. The method of claim 23, further comprising one of the following: The first node is located based on the measurement results of the positioning signal; The measurement result of the positioning signal is sent to the third node, and the positioning result of the first node is received from the third node, wherein, The positioning result is determined based on the measurement result of the positioning signal.

26. The method according to claim 23, wherein, The second node includes a master second node and a slave second node; the method further includes one of the following: The measurement result of the positioning signal is sent from the second node to the main second node, and the main second node locates the first node based on the measurement result of the positioning signal; The measurement result of the positioning signal is sent from the second node to the main second node, the measurement result of the positioning signal is sent from the main second node to the third node and the positioning result of the third node on the first node is received, wherein the positioning result is determined based on the measurement result of the positioning signal.

27. The method according to claim 23, wherein, The first node is a tag-type node that is being located; the second node is a reader-type node used to locate the first node.

28. The method according to claim 23, wherein, Receiving the positioning signal transmitted by the first node includes: Receive the positioning signal transmitted by the first node; or, Transmit a positioning signal and receive the positioning signal backscattered by the first node.

29. An environmental IoT positioning method, applied to a third node, comprising: Receive the measurement result of the positioning signal from the second node, wherein the positioning signal is transmitted by the first node; The first node is located based on the measurement results of the positioning signal.

30. The method of claim 29, further comprising at least one of the following: Initiate a location request; Transmit positioning signals; The location result of the first node is transmitted to at least one of the first node and the second node.

31. The method according to claim 29, wherein, The second node includes at least one node, and when the second node includes at least two nodes, the at least two nodes include a master second node and a slave second node.

32. The method according to claim 29, wherein, The first node is a tag-type node that is being located; the second node is a reader-type node used to locate the first node.

33. The method according to claim 29, wherein, The positioning signal is emitted by the first node, or the positioning signal is emitted by the second node or the third node and backscattered by the first node.

34. An environmental IoT positioning method, applied to a fourth node, comprising: Transmit positioning signals; The system receives the positioning results of the fourth node from the first node, the second node, or the third node, wherein the positioning results are determined based on the measurement results of the positioning signal.

35. The method of claim 34, further comprising: Initiate a location request.

36. The method according to claim 34, wherein, The measurement result of the positioning signal is obtained by the first node or the second node; The measurement results of the positioning signal include at least one of the following: The coordinates of the M locations are measured from the M locations to the target node; The coordinates of the N antennas when the target node is measured by the N antennas.

37. The method of claim 34, wherein, The second node includes at least one node, and when the second node includes at least two nodes, the at least two nodes include a master second node and a slave second node.

38. The method according to claim 34, wherein, The first node is a reader-type node used for positioning; the fourth node is a tag-type node being positioned; the second node is a reader-type node used for positioning.

39. The method according to claim 34, wherein, Transmitting positioning signals, including: Transmit a positioning signal; or, Receives positioning signals and backscatters positioning signals.

40. An environmental IoT positioning method, applied to a first node or a second node, comprising: Measure the positioning signal transmitted by the fourth node; The fourth node is located based on the measurement results of the positioning signal.

41. The method according to claim 40, wherein, The measurement results of the positioning signal include at least one of the following: The coordinates of the M locations are measured from the M locations to the target node; The coordinates of the N antennas when the target node is measured by the N antennas.

42. The method according to claim 40, wherein, The fourth node is located based on the measurement results of the positioning signal, including one of the following: The positioning result of the fourth node is determined based on the measurement results of the positioning signal; The measurement result of the positioning signal is transmitted to the third node, and the positioning result of the third node on the fourth node is received, wherein the positioning result is determined based on the measurement result of the positioning signal.

43. The method according to claim 40, wherein, The second node includes a slave second node and a master second node; The fourth node is located based on the measurement results of the positioning signal, including one of the following: The measurement result of measuring the positioning signal from the second node and transmitting the positioning signal to the main second node; the main second node determines the positioning result of the fourth node based on the measurement result of the positioning signal. The measurement results of measuring the positioning signal from the second node and transmitting the positioning signal to the main second node, the measurement results of transmitting the positioning signal from the main second node to the third node, and the positioning result of the fourth node determined by the third node based on the measurement results of the positioning signal.

44. The method of claim 40, further comprising at least one of the following: Initiate a location request; Transmit positioning signals; The third node receives the positioning result of the fourth node, and the positioning result is determined based on the measurement result of the positioning signal.

45. The method according to claim 40, wherein, The first node is a reader-type node used for positioning; the second node is a reader-type node used for positioning; and the fourth node is a tag-type node being positioned.

46. ​​The method of claim 40, wherein, Measuring the positioning signal transmitted by the fourth node includes: Measure the positioning signal emitted by the fourth node, or measure the positioning signal backscattered by the fourth node.

47. An environmental IoT positioning method, applied to a third node, comprising: The fourth node receives the measurement results of the positioning signal from the first or second node. The fourth node is located based on the measurement results of the positioning signal.

48. The method of claim 47, further comprising at least one of the following: Initiate a location request; Transmit positioning signals; Transmit the location result of the first node to at least one of the first node, the second node, and the fourth node.

49. The method according to claim 47, wherein, The second node includes at least one node; In the case where the second node comprises at least two nodes, the at least two nodes include a master second node and a slave second node.

50. The method of claim 47, wherein, The first node is a reader-type node used for positioning; the fourth node is a tag-type node being positioned; and the second node is a reader-type node used for positioning.

51. The method according to claim 47, wherein, The positioning signal is emitted by the fourth node or backscattered by the fourth node.

52. A communication node, comprising: Memory, and at least one processor; The memory is configured to store at least one program; When the at least one program is executed by the at least one processor, the at least one processor implements the environmental IoT positioning method as described in any one of claims 1-51.

53. An environmental Internet of Things (IoT) positioning system, comprising a first node, a second node, and a third node; The first node is a tag-type or reader-type node that is being located; The second node is a tag-type or reader-type node used to locate the first node; The third node includes at least one of the following: a base station, a location management function entity, and an application function entity.

54. An environmental Internet of Things (IoT) positioning system, comprising a first node, a second node, a third node, and a fourth node; The fourth node is a located node of the tag type; The first node is a reader-writer type node used to locate the fourth node; The second node is a reader-writer type node used for locating the fourth node; The third node includes at least one of the following: a base station, a location management function entity, and an application function entity.

55. A computer-readable storage medium storing a computer program that, when executed by a processor, implements the environmental Internet of Things (IoT) positioning method as described in any one of claims 1-51.

Images