Positioning service method and related device

文档序号：1941965 发布日期：2021-12-07 浏览：9次中文

阅读说明：本技术 定位服务方法及相关装置 (Positioning service method and related device ) 是由张烨于 2020-06-02 设计创作，主要内容包括：本申请实施例公开了一种定位服务方法及相关装置,方法包括：应用于待加入定位服务系统的基站X,所述方法包括：基站X通过侦听所述定位服务系统的至少一个基站的数据帧以实现自身的时隙编号的配置；所述基站X与所述定位服务系统的至少三个基站进行数据交互以实现自身位置的自动测绘；所述基站X根据自身的时隙编号和所述自身位置广播数据帧X以加入所述定位服务系统,所述定位服务是指目标设备通过接收所述定位服务系统的任意M个基站广播的数据帧以确定自身位置,所述目标设备为基站或者标签设备,M为大于等于3的整数。本申请实施例提供一种灵活的定位服务解决方案。(The embodiment of the application discloses a positioning service method and a related device, wherein the method comprises the following steps: the method is applied to a base station X to be added into a positioning service system, and comprises the following steps: the base station X monitors a data frame of at least one base station of the positioning service system to realize the configuration of the time slot number of the base station X; the base station X carries out data interaction with at least three base stations of the positioning service system so as to realize automatic mapping of the position of the base station X; the base station X is added into the positioning service system according to the time slot number of the base station X and the position broadcast data frame X of the base station X, the positioning service means that target equipment determines the position of the target equipment by receiving data frames broadcast by any M base stations of the positioning service system, the target equipment is a base station or label equipment, and M is an integer greater than or equal to 3. The embodiment of the application provides a flexible positioning service solution.)

1. A positioning service method is applied to a base station X to be added into a positioning service system, and the method comprises the following steps:

the base station X monitors a data frame of at least one base station of the positioning service system to realize the configuration of the time slot number of the base station X;

the base station X carries out data interaction with at least three base stations of the positioning service system so as to realize automatic mapping of the position of the base station X;

the base station X is added into the positioning service system according to the time slot number of the base station X and the position broadcast data frame X of the base station X, the positioning service means that target equipment determines the position of the target equipment by receiving data frames broadcast by any M base stations of the positioning service system, the target equipment is a base station or label equipment, and M is an integer greater than or equal to 3.

2. The method of claim 1, wherein the location service system comprises base station Y, base station J, and base station K; the base station X monitors a data frame of at least one base station of the location service system to implement configuration of its own timeslot number, including:

the base station X monitors a data frame in a preset time period, and monitors a data frame Y of the base station Y, a data frame J of the base station J and a data frame K of the base station K, wherein the preset time period is a continuous preset number of positioning service cycles, and the positioning service cycles are working cycles of the positioning service system;

and the base station X configures the self time slot number according to the time slot occupation conditions of the data frame Y, the data frame J and the data frame K.

3. The method of claim 2, wherein the location service system further comprises a base station Z; the method further comprises the following steps:

the base station X receives a data frame Z of the base station Z and judges that the time slot number of the base station X is the same as the time slot number carried by the data frame Z;

the base station X deletes the time slot number of the base station X and triggers a reconfiguration process through a preset condition; alternatively, the first and second electrodes may be,

the base station X broadcasts a conflict test request message and a monitoring conflict test response message according to the self time slot number, wherein the conflict test response message is used for indicating that the time slot of the base station X conflicts with the time slot of a certain base station in the positioning service system;

and if the conflict test response message is intercepted, deleting the self time slot number, and triggering a reconfiguration process through a preset condition.

4. The method of claim 1, wherein the base station X implements configuration of its own slot number by listening to a data frame of at least one base station of the location service system, comprising:

the base station X receives a data frame of the at least one base station;

the base station X extracts a time slot number report of each data frame in the data frames of the at least one base station, wherein the time slot number report comprises the corresponding relation between the equipment number of the base station and the time slot number;

and the base station X determines the self time slot number according to the at least one time slot number report of the at least one base station.

5. The method as claimed in any one of claims 1-4, wherein the base station X performs data interaction with at least three base stations of the location service system to achieve automatic mapping of its location, comprising:

and the base station X carries out data interaction with at least three base stations of the positioning service system according to a reverse time difference of arrival (RTDOA) algorithm so as to realize automatic mapping of the position of the base station X.

6. The method as claimed in claim 5, wherein the base station X performs data interaction with at least three base stations of the location service system according to a reverse time difference of arrival (RTDOA) algorithm to achieve automatic mapping of its own location, comprising:

the base station X performs at least two of the steps A, B, C to obtain at least two distance differences;

A. the base station X acquires the time slot number of the data frame Y carried by the data frame Y and the self position of the base station Y, acquires the time slot number of the data frame J carried by the data frame J and the self position of the base station J, calculates the signal flight time between the base station Y and the base station J according to the self position of the base station Y and the self position of the base station J, determines the signal transmission time delay of the base station Y and the base station J according to the time slot number of the data frame Y and the time slot number of the data frame J, determines the data frame transmission time difference of the base station Y and the base station J according to the signal flight time between the base station Y and the base station J and the signal transmission time delay of the base station Y and the base station J, and determines the data frame X receiving time difference of the local terminal equipment according to the time for receiving the data frame Y and the time for receiving the data frame J, determining a distance difference value between a first distance and a second distance according to the data frame X receiving time difference and the data frame sending time difference between the base station Y and the base station J, wherein the first distance is the distance between the base station X and the base station Y, and the second distance is the distance between the base station X and the base station J;

B. the base station X acquires the time slot number of the data frame Y carried by the data frame Y and the self position of the base station Y, acquires the time slot number of the data frame K carried by the data frame K and the self position of the base station K, calculates the signal flight time between the base station Y and the base station K according to the self position of the base station Y and the self position of the base station K, determines the signal transmission time delay of the base station Y and the base station K according to the time slot number of the data frame Y and the time slot number of the data frame K, determines the data frame transmission time difference of the base station Y and the base station K according to the signal flight time between the base station Y and the base station K and the signal transmission time delay of the base station Y and the base station K, and determines the data frame Y receiving time difference of the local terminal equipment according to the time for receiving the data frame Y and the time for receiving the data frame K, determining a distance difference value between the first distance and a third distance according to the data frame Y receiving time difference and the data frame sending time difference between the base station Y and the base station K, wherein the third distance is the distance between the base station X and the base station K;

C. the base station X acquires the time slot number of the data frame J and the self position of the base station J carried by the data frame J, acquires the time slot number of the data frame K carried by the data frame K and the self position of the base station K, calculates the signal flight time between the base station J and the base station K according to the self position of the base station J and the self position of the base station K, determines the signal transmission time delay of the base station J and the base station K according to the time slot number of the data frame J and the time slot number of the data frame K, determines the data frame transmission time difference of the base station J and the base station K according to the signal flight time between the base station J and the base station K and the signal transmission time delay of the base station J and the base station K, and determines the data frame J receiving time difference of local terminal equipment according to the time for receiving the data frame J and the time for receiving the data frame K, determining a distance difference value between the second distance and the third distance according to the data frame J receiving time difference and the data frame sending time difference between the base station J and the base station K;

and the base station X determines the self position of the base station X according to the at least two distance differences, the self position of the base station Y, the self position of the base station J and the self position of the base station K.

7. The method as claimed in any one of claims 1-4, wherein the base station X performs data interaction with at least three base stations of the location service system to achieve automatic mapping of its location, comprising:

and the base station X carries out data interaction with at least three base stations of the positioning service system according to a preset unilateral two-way ranging SS-TWR algorithm so as to realize automatic mapping of the position of the base station X.

8. The method as claimed in claim 7, wherein the base station X performs data interaction with at least three base stations of the location service system according to a preset one-sided two-way ranging SS-TWR algorithm to achieve automatic mapping of its own location, comprising:

the base station X broadcasts a first ranging message and simultaneously records the sending time of the first ranging message;

the base station X receives a second ranging message from the base station Y, a third ranging message from the base station J, and a fourth ranging message from the base station K, the second ranging message including a time when the base station Y receives the first ranging message and a time when the base station Y transmits the second ranging message, the third ranging message including a time when the base station J receives the first ranging message and a time when the base station J transmits the third ranging message, and the fourth ranging message including a time when the base station K receives the first ranging message and a time when the base station K transmits the fourth ranging message;

the base station X determines the distance between the base station X and the base station Y according to the sending time of the first ranging message, the time of the base station Y receiving the first ranging message, the time of sending the second ranging message and the time of the base station X receiving the second ranging message in the second ranging message;

the base station X determines the distance between the base station X and the base station J according to the sending time of the first ranging message, the time of the base station J for receiving the first ranging message, the time of sending the third ranging message and the time of the base station X for receiving the third ranging message in the third ranging message;

the base station X determines the distance between the base station X and the base station K according to the sending time of the first ranging message, the time of the base station K for receiving the first ranging message, the time of sending the fourth ranging message and the time of the base station X for receiving the fourth ranging message in the fourth ranging message;

and the base station X calculates the position of the base station X according to the distance between the local terminal equipment and the base station Y, the distance between the local terminal equipment and the base station J and the distance between the local terminal equipment and the base station K.

9. The method according to any of claims 1-8, wherein the location service system further comprises a base station L, the signal coverage of the base station X and the signal coverage of the base station L are independent, and the time slot number of the base station X is the same as the time slot number of the support configuration of the base station L.

10. A method of location services, comprising:

the method comprises the following steps that a base station Y monitors a data frame of a preset frequency band of a current space in a preset time period, and an effective data frame base station Y is not monitored;

the base station Y configures the time slot number thereof according to a preset rule;

the base station Y acquires position calibration information and determines the position of the base station Y according to the position calibration information;

and the base station Y broadcasts a data frame Y according to the time slot number and the self position.

11. A method of location services, comprising:

the method comprises the following steps that a base station J monitors a data frame of a preset frequency band of a current space in a preset time period, and monitors a data frame Y of a base station Y;

the base station J configures the self time slot number according to the time slot occupation condition of the data frame Y;

the base station J acquires position calibration information and determines the position of the base station J according to the position calibration information;

and the base station J broadcasts a data frame J according to the time slot number and the self position.

12. A method of location services, comprising:

a base station K monitors a data frame of a preset frequency band of a current space in a preset time period, and monitors a data frame Y of the base station Y and a data frame J of the base station J;

the base station K configures the self time slot number according to the time slot occupation conditions of the data frame Y and the data frame J;

the base station K acquires position calibration information and determines the position of the base station K according to the position calibration information;

and the base station K broadcasts a data frame J according to the time slot number and the self position.

13. A method of location services, comprising:

the method comprises the steps that tag equipment receives data frames broadcasted by any M base stations of a positioning service system, wherein M is an integer greater than or equal to 3, and the base stations are equipment supporting hot plug of the positioning service system used in an indoor scene;

and the tag equipment determines the position of the tag equipment according to the data frames broadcast by the random M base stations.

14. The method of claim 13, wherein the tag device determines its location according to the data frames broadcast by the M base stations, including:

and the tag equipment performs data interaction with at least M base stations of the positioning service system according to an RTDOA algorithm so as to realize automatic mapping of the position of the tag equipment.

15. The method of claim 14, wherein M is 3, and wherein the arbitrary M base stations include base station Y, base station J, and base station K in the location service system; the tag device performs data interaction with at least M base stations of the positioning service system according to an RTDOA algorithm to realize automatic mapping of the position of the tag device, and the method comprises the following steps:

the tag equipment monitors a data frame Y of the base station Y, a data frame J of the base station J and a data frame K of the base station K;

the tag device performs at least two of steps A, B, C to obtain at least two distance differences;

A. the tag device acquires a time slot number of the data frame Y carried by the data frame Y and a self position of the base station Y, acquires a time slot number of the data frame J carried by the data frame J and a self position of the base station J, calculates signal flight time between the base station Y and the base station J according to the self position of the base station Y and the self position of the base station J, determines signal transmission time delay of the base station Y and the base station J according to the time slot number of the data frame Y and the time slot number of the data frame J, determines a data frame transmission time difference of the base station Y and the base station J according to the signal flight time between the base station Y and the base station J and the signal transmission time delay of the base station Y and the base station J, and determines a data frame X receiving time difference of a local terminal device according to the time for receiving the data frame Y and the time for receiving the data frame J, determining a distance difference value between a first distance and a second distance according to the data frame X receiving time difference and the data frame sending time difference between the base station Y and the base station J, wherein the first distance is the distance between the label device and the base station Y, and the second distance is the distance between the label device and the base station J;

B. the label device acquires the time slot number of the data frame Y carried by the data frame Y and the self position of the base station Y, acquires the time slot number of the data frame K carried by the data frame K and the self position of the base station K, calculates the signal flight time between the base station Y and the base station K according to the self position of the base station Y and the self position of the base station K, determines the signal transmission time delay of the base station Y and the base station K according to the time slot number of the data frame Y and the time slot number of the data frame K, determines the data frame transmission time difference of the base station Y and the base station K according to the signal flight time between the base station Y and the base station K and the signal transmission time delay of the base station Y and the base station K, and determines the data frame Y receiving time difference of a local terminal device according to the time for receiving the data frame Y and the time for receiving the data frame K, determining a distance difference value between the first distance and a third distance according to the data frame Y receiving time difference and the data frame sending time difference between the base station Y and the base station K, wherein the third distance is the distance between the label device and the base station K;

C. the tag device acquires the time slot number of the data frame J and the self position of the base station J carried by the data frame J, acquires the time slot number of the data frame K carried by the data frame K and the self position of the base station K, calculates the signal flight time between the base station J and the base station K according to the self position of the base station J and the self position of the base station K, determines the signal transmission time delay between the base station J and the base station K according to the time slot number of the data frame J and the time slot number of the data frame K, determines the data frame transmission time difference between the base station J and the base station K according to the signal flight time between the base station J and the base station K and the signal transmission time delay between the base station J and the base station K, and determines the data frame J receiving time difference of the local terminal device according to the time for receiving the data frame J and the time for receiving the data frame K, determining a distance difference value between the second distance and the third distance according to the data frame J receiving time difference and the data frame sending time difference between the base station J and the base station K;

and the label equipment determines the position of the label equipment according to the at least two distance differences, the position of the base station Y, the position of the base station J and the position of the base station K.

16. A positioning service system is characterized in that the positioning service system comprises a base station Y, a base station J and a base station K, wherein,

the base station X to be added into the positioning service system is used for realizing the configuration of the time slot number of the base station X by monitoring the data frame of at least one base station in the base station Y, the base station J and the base station K; performing data interaction with the base station Y, the base station J and the base station K to realize automatic mapping of self positions; the target device is a base station or a label device, and M is an integer greater than or equal to 3;

the base station Y is used for broadcasting a data frame Y;

the base station J is used for broadcasting a data frame J;

the base station K is used for broadcasting a data frame K;

the target device is used for receiving data frames broadcast by any M base stations of the positioning service system and determining the position of the target device according to the data frames broadcast by any M base stations.

17. The system of claim 16, wherein the base station X is specifically configured to: monitoring a data frame in a preset time period, and monitoring a data frame Y of a base station Y, a data frame J of a base station J and a data frame K of the base station K, wherein the preset time period is a continuous preset number of positioning service cycles, and the positioning service cycles are working cycles of the positioning service system;

and configuring the self time slot number according to the time slot occupation conditions of the data frame Y, the data frame J and the data frame K.

18. The system of claim 17, wherein the location services system further comprises a base station Z;

the base station X is also used for receiving the data frame Z of the base station Z and judging that the time slot number of the base station X is the same as the time slot number carried by the data frame Z; deleting the self time slot number, and triggering a reconfiguration process through a preset condition; or broadcasting a conflict test request message according to the time slot number of the base station and intercepting a conflict test response message, wherein the conflict test response message is used for indicating that the time slot of the base station X conflicts with the time slot of a certain base station in the positioning service system; and if the conflict test response message is intercepted, deleting the self time slot number, and triggering a reconfiguration process through a preset condition.

19. The system of claim 16, wherein the base station X is specifically configured to: receiving a data frame of the at least one base station; extracting a time slot number report of each data frame in the data frames of the at least one base station, wherein the time slot number report comprises the corresponding relation between the equipment number of the base station and the time slot number; and determining the self time slot number according to the at least one time slot number report of the at least one base station.

20. The system according to any of claims 16-19, wherein the base station X is specifically configured to: and performing data interaction with at least three base stations of the positioning service system according to a reverse time difference of arrival (RTDOA) algorithm to realize automatic mapping of the position of the positioning service system.

21. The system according to any of claims 16-19, wherein the base station X is specifically configured to: and performing data interaction with at least three base stations of the positioning service system according to a preset unilateral two-way ranging SS-TWR algorithm to realize automatic mapping of the position of the positioning service system.

22. The system according to any of claims 16-20, wherein said location services system further comprises a base station L, the signal coverage of said base station X and the signal coverage of said base station L are independent, and the time slot number of said base station X and the time slot number of said base station L support the same configuration.

23. The system of claim 22, wherein the tag device is further configured to determine a plurality of indoor navigation paths according to the self-location and a target location on a different floor from the self-location; calculating the estimated time consumption of the floor related paths in each navigation path, wherein the floor related paths comprise a straight elevator path, an escalator path and a stair path; determining the predicted time length of each navigation path according to the predicted time consumption of the floor associated path in each navigation path; and selecting the indoor navigation path with the shortest expected time length for navigation.

24. The system of claim 23, wherein in said calculating the projected time consumption of the floor-associated path in each navigation path, the tagging device is specifically configured to: judging that the floor related path of the currently processed indoor navigation path is a straight elevator path; calling a pre-trained time-consuming prediction model of the straight ladder path; determining model input data according to the identity of the target market in which the user is located and the current system time; and inputting the model into data and the straight ladder path time consumption prediction model to obtain the time consumption of the straight ladder path.

25. The system according to claim 23 or 24, wherein the mechanism for determining the target position comprises the steps of:

the tag equipment receives a name of a target shop input by a user; inquiring a pre-stored indoor map of the target market according to the name, and acquiring a reference base station matched with the name; and taking the self position of the reference base station as the target position.

26. The system of claim 25, wherein the reference base station's own location is associated with any one of the following reference locations of the targeted store:

house number position, cashier's desk position, access & exit position.

27. The system of claim 26, wherein the tag device is further configured to highlight the reference location of the store associated with the reference base station on the current first interface when the tag device detects that the tag device enters the signal coverage of the reference base station; and interacting with the reference base station to trigger the reference base station to send out a prompt tone.

28. A positioning service device is characterized by comprising

The configuration unit is used for realizing the configuration of the time slot number of the configuration unit by monitoring the data frame of at least one base station of the positioning service system;

the mapping unit is used for carrying out data interaction with at least three base stations of the positioning service system so as to realize automatic mapping of the position of the positioning service system;

and the broadcasting unit is used for broadcasting the data frame X according to the time slot number and the position of the target equipment to join the positioning service system, the positioning service means that the target equipment determines the position of the target equipment by receiving the data frames broadcasted by any M base stations of the positioning service system, the target equipment is a base station or a label equipment, and M is an integer greater than or equal to 3.

29. An electronic device comprising a processor, a memory, a communication interface, and one or more programs stored in the memory and configured to be executed by the processor, the programs comprising instructions for performing the steps in the method of any of claims 1-15.

30. A computer-readable storage medium, characterized in that a computer program for electronic data exchange is stored, wherein the computer program causes a computer to perform the method according to any one of claims 1-15.

Technical Field

The present application relates to the field of electronic device technologies, and in particular, to a location service method and a related apparatus.

Background

At present, in an indoor positioning technology based on Ultra Wide Band (UWB), a plurality of anchor point devices (also called base stations) with fixed positions are generally arranged in a space where a user moves in a wired manner, the user wears tag devices supporting the UWB technology, the base stations perform signaling interaction with the tag devices of each user to determine the distance between the base station and the tag devices, and report the distance and the identity information of the tag devices to a location server, and the location server calculates the current location of the user according to the distance information of the same tag device reported by at least three base stations, thereby implementing a positioning service. The new increase of the base station needs to interact with the positioning server to realize time slot configuration and position calibration, and the stop of the base station needs to interact with the positioning server to release time slot resources and update the topology of the positioning service system. Therefore, the current solutions lack flexibility.

Disclosure of Invention

The embodiment of the application provides a positioning service method and a related device, and aims to provide a flexible positioning service solution, a base station only needs to monitor and survey a position by itself to complete initialization configuration, the base station only needs to stop broadcasting a data frame by itself to stop stopping use, positioning services of other base stations in a system cannot be influenced by the base station, and therefore the hot plug function of the base station in a positioning service system is achieved.

In a first aspect, an embodiment of the present application provides a location service method, which is applied to a base station X to be added to a location service system, where the method includes:

the base station X monitors a data frame of at least one base station of the positioning service system to realize the configuration of the time slot number of the base station X;

the base station X carries out data interaction with at least three base stations of the positioning service system so as to realize automatic mapping of the position of the base station X;

In a second aspect, an embodiment of the present application provides a location service method, including:

the base station Y configures the time slot number thereof according to a preset rule;

the base station Y acquires position calibration information and determines the position of the base station Y according to the position calibration information;

and the base station Y broadcasts a data frame Y according to the time slot number and the self position.

In a third aspect, an embodiment of the present application provides a location service method, including:

the base station J configures the self time slot number according to the time slot occupation condition of the data frame Y;

the base station J acquires position calibration information and determines the position of the base station J according to the position calibration information;

and the base station J broadcasts a data frame J according to the time slot number and the self position.

In a fourth aspect, an embodiment of the present application provides a location service method, including:

the base station K configures the self time slot number according to the time slot occupation conditions of the data frame Y and the data frame J;

the base station K acquires position calibration information and determines the position of the base station K according to the position calibration information;

and the base station K broadcasts a data frame J according to the time slot number and the self position.

In a fifth aspect, an embodiment of the present application provides a location service method, including:

and the tag equipment determines the position of the tag equipment according to the data frames broadcast by the random M base stations.

In a sixth aspect, an embodiment of the present application provides a location-based service system, including a base station Y, a base station J, and a base station K, wherein,

the base station Y is used for broadcasting a data frame Y;

the base station J is used for broadcasting a data frame J;

the base station K is used for broadcasting a data frame K;

the tag device is configured to receive data frames broadcast by any M base stations of the location service system, and determine its own position according to the data frames broadcast by any M base stations.

In a seventh aspect, an embodiment of the present application provides a base station, including a processor, a memory, a communication interface, and one or more programs, where the one or more programs are stored in the memory and configured to be executed by the processor, and the program includes instructions for executing the steps in any of the methods in the first aspect to the fourth aspect of the embodiment of the present application.

In an eighth aspect, the present application provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program for electronic data exchange, where the computer program enables a computer to perform some or all of the steps described in any one of the methods of the first aspect to the fourth aspect of the present application.

In a ninth aspect, the present application provides a computer program product, wherein the computer program product comprises a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to cause a computer to perform some or all of the steps of any one of the methods of the first aspect to the fourth aspect of the embodiments of the present application. The computer program product may be a software installation package.

It can be seen that, in the embodiment of the present application, a base station X to be added to a location service system first implements configuration of its own timeslot number by intercepting a data frame of at least one base station of the location service system; secondly, the base station X and at least three base stations of the positioning service system carry out data interaction to realize automatic mapping of the position of the base station X; and finally, the base station X broadcasts the data frame X according to the time slot number and the position of the base station X to join a positioning service system, wherein the positioning service means that target equipment determines the position of the target equipment by receiving the data frames broadcast by any M base stations of the positioning service system, the target equipment is a base station or label equipment, and M is an integer greater than or equal to 3. Therefore, the base station only needs to monitor and survey the position by itself to complete the initialization configuration, the base station only needs to stop broadcasting the data frame by itself to stop stopping use, the positioning service of other base stations in the system is not influenced by the base station, and the positioning service solution has the advantage of flexibility, so that the hot plug function of the base station in the positioning service system is realized.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

Fig. 1A is a schematic diagram of an application scenario of positioning based on UWB technology according to an embodiment of the present application;

fig. 1B is a schematic diagram of a ranging signal interaction of an SS-TWR according to an embodiment of the present disclosure;

fig. 1C is a schematic diagram of a ranging signal interaction of a DS TWR according to an embodiment of the present disclosure;

fig. 1D is a schematic diagram of one-to-many interaction between a tag and a base station according to an embodiment of the present application;

fig. 1E is a schematic diagram of a final coordinate obtained by calculating TDoA according to an embodiment of the present application;

fig. 1F is a schematic structural diagram of a superframe provided in an embodiment of the present application;

fig. 1G is a schematic structural diagram of a super frame added to a beacon frame according to an embodiment of the present application;

fig. 1H is a schematic structural diagram of a location service system 10 according to an embodiment of the present application;

fig. 1I is a diagram illustrating a base station 200 according to an embodiment of the present application

Fig. 2A is a schematic flowchart of a location service method according to an embodiment of the present application;

fig. 2B is a schematic diagram of a timeslot configuration process according to an embodiment of the present application;

fig. 2C is a diagram illustrating an example of a location of a base station according to an embodiment of the present application;

fig. 2D is a schematic diagram of a coverage area of a base station signal according to an embodiment of the present application;

fig. 2E is a schematic view of a scene in which two users perform indoor navigation according to an embodiment of the present application;

fig. 3 is a schematic flowchart of a location service method according to an embodiment of the present application;

fig. 4 is a schematic flowchart of another location service method provided in an embodiment of the present application;

fig. 5 is a schematic flowchart of another location service method provided in an embodiment of the present application;

fig. 6 is a schematic flowchart of another location service method provided in an embodiment of the present application;

fig. 7 is a block diagram illustrating functional units of a location service device according to an embodiment of the present disclosure;

fig. 8 is a block diagram illustrating functional modules of a location service device according to an embodiment of the present disclosure.

Detailed Description

In order to make the technical solutions of the present application better understood, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

The terms "first," "second," and the like in the description and claims of the present application and in the above-described drawings are used for distinguishing between different objects and not for describing a particular order. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.

In order to better understand the scheme of the embodiments of the present application, the following first introduces the related terms and concepts that may be involved in the embodiments of the present application.

(1) Ultra Wideband (UWB) is an unloaded communication technology, and according to the Federal Communications Commission (Federal Communications Commission) standard, the operating frequency band of UWB is 3.1-10.6GHz, the ratio of-10 dB bandwidth to the system center frequency is greater than 20%, and the system bandwidth is at least 500 MHz. Data is transmitted by using non-sine wave narrow pulses of nanosecond to microsecond level. The traditional ultra-wideband UWB technology is used for industrial places such as mines, warehouses and the like, and the main application scene is to monitor the real-time positions of employees and goods indoors. The base stations are well calibrated in indoor places and are connected with each other in a wired or Wi-Fi mode for synchronization. In the example application scenario shown in fig. 1A, a is a base station supporting UWB technology positioning, CLE PC is a location server (also called positioning server, e.g., location computing device), Ehternet LAN-TCP/IP is a transmission control protocol/internet protocol supporting ethernet local area network between base stations, and location monitoring for users wearing tag devices is implemented by providing at least one base station in each area.

The one-to-one interaction between the labels and the base station has two modes of SS-TWR and DSTWR.

First, Single-sided Two-way Ranging (SS-TWR)

SS-TWR is a simple measure of the time of a single round trip message, with device a actively sending data to device B, and device B returning data in response to device a. As shown in fig. 1B, device a (device a) actively sends (TX) data (corresponding to the time node from TX to the time start point in the figure), and records a sending time stamp, device B (device B) records a receiving time stamp after Receiving (RX), and RMARKER represents the time node when the data is completely transmitted (received or sent); after the time delay Treply, the device B sends data and simultaneously records the sending time stamp, and the device A receives the data and simultaneously records the receiving time stamp.

Therefore, two time difference data, namely the time difference Tround of the device A and the time difference Treply of the device B can be obtained, and finally the flight time of the wireless signal is obtainedThe following were used:

both differential times are calculated based on a local clock, and the local clock errors can be cancelled out, but a slight clock offset exists between different devices, and assuming that the clock offsets of the devices a and B are eA and eB, respectively, the obtained flight time increases with the increase of Treply, and the equation of the ranging error is as follows:

wherein, Tprop is the actual flight time of the wireless signal.

Second, bilateral Two-way Ranging (DS TWR)

The DS TWR obtains two round-trip delays based on 3 message transfers between the initiating node and the responding node, and measures the distance at the responding end. As shown in fig. 1C, when the device a returns data immediately after receiving the data, the following four time differences can be obtained:

first time difference of device A, Tround1 (time difference between data transmission and data reception)

Delay Treply1 after device B receives data for the first time (delay after receiving first data)

Third time difference of device B, round2 (time difference of sending data and receiving data)

Delay Treply2 after device a receives data for the first time (delay after receiving second data)

Calculating time of flight of a wireless signal using the following formula

Analyzing the errors of the bilateral two-way ranging flight time: the above mechanisms of ranging are all asymmetric ranging methods, as they are not required to be identical for response time. Even with 20ppm crystals, the clock error is on the ps level. The error formula is as follows:

wherein k is_aAnd k_bIs the ratio of the actual frequency of the crystal oscillator to the nominal frequency, thus k_aAnd k_bVery close to 1.

Tag to base station one-to-many interaction

Each employee or cargo has a Tag with a unique identifier, which periodically broadcasts a signal to surrounding base stations. As shown in fig. 1D, after the Tag (Tag in the figure) broadcasts the signal (poll in the figure), the RMARKER indicates a time node when the data is completely transmitted (received or transmitted); the surrounding three base stations (Anchor A, Anchor B, Anchor C in the figure) receive the signals, and sequentially send reply signals (RespA, RespB, RespC in the figure) to the tags according to the synchronization information among the base stations. When the tag receives the reply signals of three or more base stations, it sends a broadcast signal (Final in the figure) to the outside. Therefore, each base station can calculate the flight time of the wireless signal at the self node after three base stations respectively hear the final packet by the DS TWR mechanism interactive signal.

TpropA is the flight time of a wireless signal between a base station a and a tag, TpropB is the flight time of a wireless signal between a base station B and a tag, TpropC is the flight time of a wireless signal between a base station C and a tag, Tround1A is the time difference between tag transmission data and tag reception base station a data, Tround1B is the time difference between tag transmission data and tag reception base station B data, Tround1C is the time difference between tag transmission data and tag reception base station C data, Treply1A is the delay of base station a, Treply1B is the delay of base station B, Treply1C is the delay of base station C, Treply2A is the delay of tag reception base station a from tag reception to tag transmission, Treply2B is the delay of tag reception base station B from tag reception to tag transmission, and Treply2C is the delay of tag reception base station C from tag reception to tag transmission.

And each base station uploads the calculation result to the main server. As shown in fig. 1E, TDoA is three-dimensionally calculated on the main server to obtain the final coordinates, X1, X2, and X3 correspond to the positions of Anchor a, Anchor B, and Anchor C, the circle corresponds to the position range with the distance determined by the flight time of the wireless signal as the radius, and Xu is the position of the tag.

(2) Super frame

There are multiple tags in an indoor scene, and a super frame needs to be set on the whole time axis for continuous repetition. Each tag needs to allocate a slot, complete respective position calculation in the respective slot, and upload the slot to the base station.

As shown in fig. 1F, in the super frame schematic structure, interval represents a time interval, scheduling interval represents a scheduled time interval, Tag I slot represents a time slot of a Tag I, Poll TX represents a Tag transmission signal, Resp-X RX represents a signal of a Tag receiving base station X, Resp-Y RX represents a signal of a Tag receiving base station Y, Resp-Z RX represents a signal of a Tag receiving base station Z, Final TX represents a Tag transmission Final signal,

if the synchronization between the base stations is also realized wirelessly through the ultra-wideband UWB technology, a BeaCoN frame (BeaCoN, BCN) time slot needs to be added before the interactive time slot of the tags and the base stations, the tags communicate with each other in the time slot, and the respective sequence is determined. As shown in fig. 1G, superframe (n) indicates superframe n, Idle Time indicates Idle Time, BCN indicates a Time Slot for carrying a beacon frame, SVC indicates a reserved Time Slot, TWR Slot indicates a Time Slot for carrying a bidirectional ranging signal, wake up indicates an awake Time Slot, and RX indicates a receiving status.

In the above scenario of the ultra-wideband UWB technology of the conventional toB, the following features can be summarized:

the number of tags is limited and the slot address of each tag is already allocated.

The base station needs to calibrate the position in advance and is connected in a wired or ultra-wideband UWB technology-distinguished mode to carry out signal synchronization.

Both the base station and the tag need to transmit and receive signals.

The indoor coordinates of the label are calculated by the base station side and returned to the server, and the label does not know the coordinates of the label per se.

The tag only wakes up in the slot period belonging to itself.

Based on the problems existing in the current UWB positioning technology, the present application provides a positioning service method and system, which are described in detail below.

Referring to fig. 1H, an embodiment of the present application provides a location service system 10, which includes a tag device 100 and a base station 200, where the base station 200 interacts UWB signals with the tag device 100, the base station 200 is a service-side device supporting UWB technology, such as a UWB base station, a UWB anchor device, and the like, and the tag device 200 is a user-side device supporting UWB technology, which may include, but is not limited to, a wireless communication device 110, an entry transponder device 120, a home device 130, a tie tag 140, and the like. Other UWB devices (which are not shown in fig. 1H for simplicity) may include other computing devices including, but not limited to, laptop computers, desktop computers, tablet computers, personal assistants, routers, monitors, televisions, printers, and appliances.

Fig. 1I is a diagram illustrating a base station 200 according to an embodiment of the present disclosure. The base station 200 may include a core processing unit 201, a UWB transceiver 202, a communication unit 203, a general interface unit 204, and a power supply unit 205, where the communication unit 203 may specifically include but is not limited to one or more of bluetooth, Wi-Fi, and cellular communication modules, the general interface unit 204 is configured to access various sensors including but not limited to indicator lights, vibration sensors, and other sensors, and the power supply unit 205 may include but is not limited to a battery, a DC-to-DC-DC module, a filter circuit, an undervoltage detection circuit, and the like.

The core processing unit 201 may include a processor and a memory, and the processor may include one or more processing cores. The processor, which is coupled to various components throughout the base station 200 using various interfaces and lines, performs various functions of the base station 200 and processes data by executing or executing instructions, programs, code sets, or instruction sets stored in memory, and calling data stored in memory. The processor may include one or more processing units, such as: the processor may include a Central Processing Unit (CPU), an Application Processor (AP), a modem processor, a Graphics Processing Unit (GPU), an Image Signal Processor (ISP), a controller, a video codec, a Digital Signal Processor (DSP), a baseband processor, and/or a neural-Network Processing Unit (NPU), etc. The controller may be, among other things, the neural center and the command center of the base station 200. The controller can generate operation control signals according to the instruction operation codes and the time sequence signals to complete the control of instruction fetching and instruction execution

The Memory may include a Random Access Memory (RAM) or a Read-Only Memory (Read-Only Memory). Optionally, the memory includes a non-transitory computer-readable medium. The memory may be used to store an instruction, a program, code, a set of codes, or a set of instructions. The memory may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for implementing at least one function (such as a touch function, a sound playing function, an image playing function, etc.), instructions for implementing various method embodiments described below, and the like, and the operating system may be an Android (Android) system (including an Android system depth development-based system), an IOS system developed by apple, including an IOS system depth development-based system, or other systems. The stored data area may also store data created by the base station 200 in use (such as nominal location data), and the like.

It should be noted that the structural diagram of the base station 200 is merely an example, and more or fewer devices may be specifically included, which is not limited herein.

Referring to fig. 2A, fig. 2A is a schematic flowchart of a positioning service method applied to a base station X to be added to a positioning service system according to an embodiment of the present application.

Step 201, the base station X monitors the data frame of at least one base station of the location service system to implement the configuration of its own timeslot number.

The data frame may be a beacon frame, and the beacon frame may carry valid information of the base station (e.g., a self device number, a timeslot number, location information, a signaling start timestamp, etc.). Different base stations occupy different beacon frames. When the time slot of a beacon frame is occupied by a base station, the frequency domain resource of the beacon frame can bear the effective information of the base station, such as information of base station identification, position coordinates and the like, and the base station X confirms that the beacon frame bearing the effective information is occupied by monitoring the frequency domain resource of the beacon frame.

It is understood that the specific manner of configuring the timeslot number of the base station X in step 201 may be various, and is not limited herein.

For example, the location service system includes base station Y, base station J, and base station K; the base station X monitors a data frame of at least one base station of the location service system to implement configuration of its own timeslot number, including: the base station X monitors a data frame in a preset time period, and monitors a data frame Y of the base station Y, a data frame J of the base station J and a data frame K of the base station K, wherein the preset time period is a continuous preset number of positioning service cycles, and the positioning service cycles are working cycles of the positioning service system; and the base station X configures the self time slot number according to the time slot occupation conditions of the data frame Y, the data frame J and the data frame K.

The purpose of channel interception is to obtain the actual occupation situation of the channel in the current space as accurately as possible, the interception accuracy is affected if the interception duration is too short, and the network access initialization efficiency is affected if the interception duration is too long, so the preset time period may be any reasonable preset duration, for example, 10-100 times of the transmission time interval, and this is not limited uniquely.

For example, assuming that the transmission time interval of the location service system is 15 ms, the preset period may take any value from 150ms to 1500ms, for example.

In specific implementation, the base station X determines the time slots occupied by the base station Y, the base station J, and the base station K through data frame interception, so as to select one of the unoccupied time slots, such as sequential selection or random selection.

In addition, the base station X may configure the device number while configuring the time slot according to the uniform device number rule, for example, the base station X determines an occupied base station number according to the data frame, if the device number is changed according to a digital numbering mechanism; and the base station X determines the number of the self equipment according to the occupied base station number. For example, assuming that the base station X senses base stations with device numbers 2, 4, and 5, its own device number 3 may be configured.

The timeslot configuration process in step 201 may be described by using a schematic flowchart shown in fig. 2B, where INIT corresponds to an initial power-on state, HAVE _ ID corresponds to a state in which the base station configures a device number for itself, NO _ ID corresponds to a state in which the device number is not configured, and NO _ ID _ REVC corresponds to a state in which the base station that does not configure the device number receives data.

Specifically, first, the base station switches to a power-up state;

if the local terminal is directly set as a seed node (namely, the first base station in the current space), the local terminal directly occupies the first address (namely, the transmission resource formed by the time slot address and the working frequency band) to start working;

if the local terminal is not set as a seed node, the base station unconditionally receives 10 periods for network interception, and if the interception result is that the network has an idle address (the idle address specifically means that a frame sent by the address is not received and the address is not reported in the received frame (each module reports the address of the received frame)), the base station configures time slots according to the idle address;

and then continuously monitoring for 10 periods, and if no response exists in the 10 periods, determining that the local computer is not the seed node, wherein the no response means that the data frame cannot be received or the local address is not reported in the received frame.

It can be seen that, in this example, the base station X implements reasonable configuration of its own time slot resource by intercepting the data frame, avoiding resource configuration conflict, and does not need to send signaling to other base stations, and has no influence on the states of other base stations.

In addition, in this example, the location service system may further include a base station Z; the method further comprises the following steps: the base station X receives a data frame Z of the base station Z and judges that the time slot number of the base station X is the same as the time slot number carried by the data frame Z; and the base station X deletes the time slot number of the base station X and triggers a reconfiguration process through a preset condition.

Wherein, deleting means that the base station X no longer occupies the timeslot resource.

The preset condition may be that a timer is overtime, and the timing duration of the timer may be any preset value or an empirical value, and is not limited herein.

The base station Z may be a base station that is set together with the base station X at a similar time interval, the base station X releases the time slot resource, the base station Z may also synchronously detect a collision and release the time slot resource, and then may randomly select an idle time slot for configuration, or the base station X and the base station Z interactively confirm a time slot configuration of a complementary collision.

As can be seen, in this example, when the base station X detects a timeslot configuration conflict, the base station X can perform configuration rollback by deleting its timeslot number, thereby implementing conflict resolution.

Alternatively, the method further comprises: the base station X broadcasts a conflict test request message and a monitoring conflict test response message according to the self time slot number, wherein the conflict test response message is used for indicating that the time slot of the base station X conflicts with the time slot of a certain base station in the positioning service system; and if the conflict test response message is intercepted, deleting the self time slot number, and triggering a reconfiguration process through a preset condition.

As can be seen, in this example, the real-time performance is better when determining whether to conflict by performing message interaction with other base stations.

For another example, the base station X performs configuration of its own timeslot number by listening to a data frame of at least one base station of the location service system, including: the base station X receives a data frame of the at least one base station; the base station X extracts a time slot number report of each data frame in the data frames of the at least one base station, wherein the time slot number report comprises the corresponding relation between the equipment number of the base station and the time slot number; and the base station X determines the self time slot number according to the at least one time slot number report of the at least one base station.

The timeslot number report may be timeslot numbers of all base stations directly heard by the current base station and timeslot numbers of the current base station.

As can be seen, in this example, the base station X can more fully learn the time slot occupation status of other base stations of the current system through the time slot number, so as to provide the time slot configuration accuracy.

Step 202, the base station X performs data interaction with at least three base stations of the location service system to realize automatic mapping of its own location.

The self-position may specifically be coordinate information of the base station X, or position indication information corresponding to a specific space, such as a room number, a house number, a security gate, an elevator number, and the like.

It is understood that the specific implementation manner of the base station X implementing the self-location mapping in step 202 may be various, such as SS TWR algorithm, DS TWR algorithm, RTDoA algorithm, etc., and is not limited herein.

For example, the base station X performs data interaction with at least three base stations of the location service system to achieve automatic mapping of its location, including: and the base station X carries out data interaction with at least three base stations of the positioning service system according to a reverse time difference of arrival (RTDOA) algorithm so as to realize automatic mapping of the position of the base station X.

In this example, the base station X performs data interaction with at least three base stations of the location service system according to a reverse time difference of arrival RTDOA algorithm to achieve automatic mapping of its own location, including: the base station X performs at least two of the steps A, B, C to obtain at least two distance differences;

Therefore, in this example, the base station X can accurately calculate its own position through the RTDOA algorithm, and can use the UWB technique without additionally configuring the positioning technique and without sending signaling to other base stations, thereby improving the positioning efficiency.

By way of further example, the base station X interacts with at least three base stations of the location services system to enable automatic mapping of its location, including: and the base station X carries out data interaction with at least three base stations of the positioning service system according to a preset unilateral two-way ranging SS-TWR algorithm so as to realize automatic mapping of the position of the base station X.

In this example, the base station X performs data interaction with at least three base stations of the location service system according to a preset one-sided two-way ranging SS-TWR algorithm to achieve automatic mapping of its own location, including:

the base station X broadcasts a first ranging message and simultaneously records the sending time of the first ranging message;

Therefore, in this example, the base station X can accurately calculate its own position through the SS-TWR algorithm, and can use the UWB technique without additionally configuring a positioning technique, thereby reducing implementation complexity and improving positioning convenience.

Step 203, the base station X broadcasts the data frame X according to its own time slot number and its own position to join the positioning service system, where the positioning service is that a target device determines its own position by receiving data frames broadcast by any M base stations of the positioning service system, the target device is a base station or a tag device, and M is an integer greater than or equal to 3.

When M is 3, two-dimensional coordinate positioning can be realized, and when M is 4, three-dimensional coordinate positioning can be realized.

In specific implementation, the base station X implements a hot plug function, and the memo device may be converted into a base station for use in some cases.

It can be seen that, in the embodiment of the present application, a base station X to be added to a location service system first implements configuration of its own timeslot number by intercepting a data frame of at least one base station of the location service system; secondly, the base station X and at least three base stations of the positioning service system carry out data interaction to realize automatic mapping of the position of the base station X; and finally, the base station X broadcasts the data frame X according to the time slot number and the position of the base station X to join a positioning service system, wherein the positioning service means that target equipment determines the position of the target equipment by receiving the data frames broadcast by any M base stations of the positioning service system, the target equipment is a base station or label equipment, and M is an integer greater than or equal to 3. Therefore, the base station only needs to monitor and survey the position by itself to complete the initialization configuration, the base station only needs to stop broadcasting the data frame by itself to stop stopping use, the positioning service of other base stations in the system is not influenced by the base station, and the positioning service solution has the advantages of decentralization and flexibility, so that the hot plug function of the base station in the positioning service system is realized.

In one possible example, the location service system further includes a base station L, a signal coverage of the base station X and a signal coverage of the base station L are independent from each other, and a timeslot number of the base station X is the same as a timeslot number supported by the base station L.

In a specific implementation, the signal coverage of the ranging service is expanded by adding a base station.

In the specific implementation, when a base station is expanded, if the base station needs to automatically map its position, it is necessary to ensure that at least 3 base stations with calibrated positions and a newly added base station are in a reachable state, so that accurate positioning can be achieved.

For example, the exemplary base station location shown in fig. 2C is illustrated. In the figure, X, Y refers to a position coordinate axis, each circle represents a base station, and a connection line between the circles represents signal reachability of two base stations (i.e. the direct communication distance between the base stations is the length of the connection line), which may be referred to as simply base station to base station reachability. Assuming that a user initially sets base stations at three positions of coordinates (0,0), (2,0) and (0,2), if a base station at coordinate (1,1) is added, the base station at coordinate (1,1) can be reached to the base stations at coordinates (0,0), (2,0) and (0,2), so that the base station at coordinate (1,1) can realize position calibration through automatic mapping.

Therefore, in this example, the base station supports a hot plug mode to expand the location service network, and is convenient to use.

In this possible example, if the added base station and a target base station of the plurality of base stations have the same slot number, the signal coverage of the added base station and the signal coverage of the target base station are independent of each other.

As shown in fig. 2D, each signal strength indicator represents a base station, and each ellipse represents the signal coverage of a pair of base stations. As shown in the figure, due to the signal coverage limitation, the base stations a1 and a2 can only receive the base stations a2, a1, A3 and a4, and the received data frames only have reports from a1 to A6, so that the a1 and a2 cannot know the existence of a7 and A8, and the two pairs of base stations anchormers may be assigned to the same slot number. But this does not cause signal interference. Assuming that the signal coverage radius of a base station is unit 1, if signals of two base stations interfere with each other, the signal coverage areas of the 2 base stations overlap, that is, the distance between the two base stations is less than 2. When the distance between two base stations is 1-2, the base station cannot directly receive the data frame of the other base station, but the base station can know that the other base station exists through receiving the number report in the data frame, so that the conflict of time slot numbers is avoided.

Therefore, if any two base stations (referred to as base station 1 and base station 2) have slot number conflicts, the following two conditions must be satisfied:

(a) the distance between the base station 1 and the base station 2 is 1-2.

(b) The absence of base station 3 allows base station 3 to base station 1 to base station 2 distances all < 1.

A base station interworks with base stations within its communication range, defining a and C to be reachable: a and C intercommunicate or (presence of B makes A and B reachable, and B and C reachable). A and C are not reachable ═ a and C are not intercommunicated (for any base station B, B is not reachable with a or B is not reachable with C), and the condition that no intercommunicating is not necessary, and (for any base station B, B is not intercommunicated with a or B is not intercommunicated with C) a is not intercommunicated with C and (for any base station B, B is intercommunicated with a and B is not intercommunicated with C) when the base stations are laid, if any two base stations are ensured to be reachable, the base stations with the same time slot number can be ensured not to conflict with each other, and at the same time, a plurality of base stations with the same time slot number can exist in the network at the same time, and the base stations can not overlap and have no interference because of signals. Therefore, the time slot space division multiplexing of the network is realized, and the infinite capacity of the base station under the limited time slot quantity can be realized.

This is ensured by the reachable transitivity starting from the second base station during the installation and ensuring that the new base station is in communication with at least one base station installed before.

Referring to fig. 3, fig. 3 is a flowchart illustrating a positioning service method applied to a base station Y of a positioning service system according to an embodiment of the present application.

Step 301, the base station Y listens to a data frame of a preset frequency band in the current space within a preset time period, and does not listen to the valid data frame base station Y.

And step 302, the base station Y configures the time slot number of the base station Y according to a preset rule.

In a specific implementation, if the base station Y does not detect a valid data frame in the current space, it may be determined that no base station is set in the current space to provide a location service network, in this case, the base station Y may configure its own device number as 0, and configure a timeslot number as 1 at will, and when a subsequent base station accesses, it may delay the device number as 1, and delay the timeslot number as 2, etc.

Step 303, the base station Y obtains position calibration information, and determines its own position according to the position calibration information.

In a specific implementation, the base station Y may interact with a calibration device to calibrate its own position; or the base station Y calibrates the position of the base station Y according to the position data input by the user.

The calibration equipment can be equipment such as a mobile phone of an engineer who sets the base station Y, can accurately position current position information, and communicates with the base station Y in a Bluetooth or Wi-Fi mode to exchange the position information.

The base station Y may also be provided with a position entry device, such as a physical key, and a user directly operates the position entry device to implement position entry.

The mechanism for manually or device-assisted position calibration is at least suitable for positioning the first three base stations in the service network.

And step 304, the base station Y broadcasts a data frame Y according to the time slot number and the self position.

As can be seen, in this example, the first base station of the location service system can monitor itself to implement timeslot number configuration, and after determining its own location according to the location calibration information, broadcast the data frame Y to provide the location service of the local end, where the location service can enable the tag device or other base stations to measure the distance to the base station Y.

Referring to fig. 4, fig. 4 is a flowchart illustrating a positioning service method applied to a base station J of a positioning service system according to an embodiment of the present application.

Step 401, the base station J listens to a data frame of a preset frequency band of a current space in a preset time period, and listens to a data frame Y of the base station Y.

And 402, the base station J configures the self time slot number according to the time slot occupation condition of the data frame Y.

It is understood that the configuration of the slot numbers is similar to that described above, and will not be described in detail.

And step 403, the base station J acquires position calibration information and determines its own position according to the position calibration information.

It is understood that the self-position determination method is similar to step 303, and is not described herein again.

And step 404, the base station J broadcasts a data frame J according to the time slot number and the self position.

It is understood that the manner of broadcasting the data frame is similar to that of step 203 and step 304, and is not described herein again.

As can be seen, in this example, the second base station of the location service system can monitor the data frame of the first base station by itself to implement timeslot number configuration, and after determining its own location according to the location calibration information, broadcast the data frame J to provide location service of the local terminal, where the location service can enable the tag device or other base stations to measure the distance to the base station J.

Referring to fig. 5, fig. 5 is a flowchart illustrating a positioning service method applied to a base station J of a positioning service system according to an embodiment of the present application.

Step 501, a base station K monitors a data frame of a preset frequency band of a current space in a preset time period, and monitors a data frame Y of the base station Y and a data frame J of the base station J.

And 502, the base station K configures the time slot number of the base station K according to the time slot occupation conditions of the data frame Y and the data frame J.

It is understood that the configuration of the slot numbers is similar to that described above, and will not be described in detail.

Step 503, the base station K acquires the position calibration information, and determines its own position according to the position calibration information.

It is understood that the self-position determination method is similar to steps 303 and 403, and is not described herein again.

And step 504, the base station K broadcasts a data frame J according to the time slot number and the self position.

It is understood that the manner of broadcasting the data frame is similar to that of step 203 and step 304/404, and will not be described herein.

As can be seen, in this example, the third base station of the location service system can monitor the data frames of the first and second base stations by itself to implement the timeslot number configuration, and after determining its own location according to the location calibration information, broadcast the data frame K to provide the location service of the home terminal, where the location service can enable the tag device or other base stations to measure the distance to the base station J.

Referring to fig. 6, fig. 6 is a flowchart illustrating a location service method according to an embodiment of the present application.

601, receiving data frames broadcast by any M base stations of a positioning service system by tag equipment, wherein M is an integer greater than or equal to 3, and the base stations are equipment supporting hot plug of the positioning service system used in an indoor scene;

step 602, the tag device determines its own position according to the data frame broadcast by the arbitrary M base stations.

Therefore, in this example, the tag device can only receive the data frame broadcast by the base station to realize mapping of its own position, without complex signaling interaction between the two parties and a decentralized mechanism, thereby improving the service capability and positioning efficiency of the positioning service system.

In one possible example, the determining, by the tag device, a self-location according to the data frame broadcast by the arbitrary M base stations includes:

In one possible example, M is 3, and the arbitrary M base stations include base station Y, base station J, and base station K in the location service system; the tag device performs data interaction with at least M base stations of the positioning service system according to an RTDOA algorithm to realize automatic mapping of the position of the tag device, and the method comprises the following steps: the tag equipment monitors a data frame Y of the base station Y, a data frame J of the base station J and a data frame K of the base station K;

the tag device performs at least two of steps A, B, C to obtain at least two distance differences;

In accordance with the foregoing embodiments, the base stations in the positioning service system 10 shown in fig. 1H may specifically include a base station Y, a base station J, and a base station K, wherein,

the base station Y is used for broadcasting a data frame Y;

the base station J is used for broadcasting a data frame J;

the base station K is used for broadcasting a data frame K;

In one possible example, the base station X is specifically configured to: monitoring a data frame in a preset time period, and monitoring a data frame Y of a base station Y, a data frame J of a base station J and a data frame K of the base station K, wherein the preset time period is a continuous preset number of positioning service cycles, and the positioning service cycles are working cycles of the positioning service system;

and configuring the self time slot number according to the time slot occupation conditions of the data frame Y, the data frame J and the data frame K.

In one possible example, the location service system further comprises a base station Z;

In one possible example, the base station X is specifically configured to: receiving a data frame of the at least one base station; extracting a time slot number report of each data frame in the data frames of the at least one base station, wherein the time slot number report comprises the corresponding relation between the equipment number of the base station and the time slot number; and determining the self time slot number according to the at least one time slot number report of the at least one base station.

In one possible example, the base station X is specifically configured to: and performing data interaction with at least three base stations of the positioning service system according to a reverse time difference of arrival (RTDOA) algorithm to realize automatic mapping of the position of the positioning service system.

In one possible example, the base station X is specifically configured to: and performing data interaction with at least three base stations of the positioning service system according to a preset unilateral two-way ranging SS-TWR algorithm to realize automatic mapping of the position of the positioning service system.

In one possible example, the tag device 100 is further configured to determine a plurality of indoor navigation paths according to the self-position and a target position on a different floor from the self-position; calculating the estimated time consumption of the floor related paths in each navigation path, wherein the floor related paths comprise a straight elevator path, an escalator path and a stair path; determining the predicted time length of each navigation path according to the predicted time consumption of the floor associated path in each navigation path; and selecting the indoor navigation path with the shortest expected time length for navigation.

The target position may be a specific coordinate position, or a shop position, an elevator door position, and the like entered by a user, which is not limited herein.

In specific implementation, as shown in fig. 2E, when a user a and a user B start an indoor navigation function of a mobile phone end to perform quick positioning and navigation meet, both users may be in a moving state, that is, a conventional navigation mechanism of a stationary destination cannot accurately adapt to the use scene, for example, when a destination position set by the user B is a store C, and a mobile phone of the user a navigates with the location of the store C as the destination position, the user B may shop to a store D through the store C, so that the mobile phones of the user a and the user B may set a mechanism to adapt to the current use scene.

If the current floor of the user B is not changed, the mobile phone of the user B can cache the walking record of the user B on the current floor, the walking record can include shop information, and after the mobile phone of the user A reaches the target position of the original shop C, the mobile phone of the user B pushes the walking record to the mobile phone of the user A and continues to navigate until the mobile phone of the user A hits the head.

If the current floor of the user B is changed, namely the user B walks to another floor in the navigation process of the user A, the mobile phone of the user B sends the floor change information serving as the target position change information to the mobile phone of the user A in real time to update the target position, so that the mobile phone of the user A can obtain the updated floor position in time to plan a new navigation path, and further delay is avoided.

In this possible example, in terms of the calculating the predicted time consumption of the floor-associated route in each navigation route, the tag device 100 is specifically configured to: judging that the floor related path of the currently processed indoor navigation path is a straight elevator path; calling a pre-trained time-consuming prediction model of the straight ladder path; determining model input data according to the identity of the target market in which the user is located and the current system time; and inputting the model into data and the straight ladder path time consumption prediction model to obtain the time consumption of the straight ladder path.

The time-consuming prediction model of the straight ladder path can be trained in advance by the cloud server based on sample data, and can be realized by adopting a convolutional neural network and the like, and the model is not limited uniquely.

In this possible example, the mechanism for determining the target position comprises the steps of: the tag device 100 receives a name of a target store input by a user; inquiring a pre-stored indoor map of the target market according to the name, and acquiring a reference base station matched with the name; and taking the self position of the reference base station as the target position.

The UWB positioning described in the embodiment of the present application may be divided into accurate positioning (three-dimensional positioning, two-dimensional positioning, one-dimensional positioning) and presence positioning, the corresponding base station may be divided into an accurate positioning base station and a presence positioning base station, and the reference base station may be a presence positioning base station.

In this possible example, the own position of the reference base station is associated with any one of the following reference positions of the target store: house number position, cashier's desk position, access & exit position.

Since the existing positioning base station is arranged to facilitate the user to quickly determine the position, the position is preferably a location area generally familiar or known to the user, and therefore, the selection of the house number position, the cash register position, and the entrance/exit position facilitates the user to quickly and accurately position.

In this possible example, the tag device 100 is further configured to highlight, on the current first interface, the reference location of the shop associated with the reference base station when the tag device detects that the tag device itself enters the signal coverage of the reference base station; and interacting with the reference base station to trigger the reference base station to send out a prompt tone.

The tag device 100 may display a three-dimensional navigation map of a room, highlight a signboard or a regional boundary of a shop, and the like, which is not limited herein. The user can be timely reminded to look for the shop position by highlighting, and the target position is prevented from being missed.

In a possible example, the tag device is further configured to, when it is detected that all of the plurality of base stations are accurately located base stations, analyze a crowd density of an area where the tag device is currently located; and dynamically selecting the base station with the minimum influence of the shelters according to the crowd density degree to position.

In the specific implementation, the crowd density degree of each region of a market can be analyzed based on big data statistics to obtain the crowd density conditions in different time periods, the bigger the crowd density is, the more the broadcast data frame of the base station with the small hand shielding degree needs to be selected for positioning so as to improve the positioning precision, when all the base stations are influenced by different degrees, the priority ranking is carried out according to the influence degree, and the base station with the high priority is selected for positioning.

Wherein the degree of influence of occlusion for each base station can be determined by the signal strength of the received broadcast data frame of the base station.

Therefore, in this example, the tag device can dynamically select the base station based on the crowd density to improve the positioning accuracy and meet the requirement of complex crowd environment positioning.

The embodiment of the present application provides a location service apparatus, which may be a base station 200. Specifically, the location service apparatus is configured to perform the steps performed by the base station X in the above location service method. The positioning service device provided by the embodiment of the application can comprise modules corresponding to the corresponding steps.

In the embodiment of the present application, the positioning service device may be divided into the functional modules according to the above method example, for example, each functional module may be divided corresponding to each function, or two or more functions may be integrated into one processing module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The division of the modules in the embodiment of the present application is schematic, and is only a logic function division, and there may be another division manner in actual implementation.

Fig. 7 shows a possible structure diagram of the positioning service device in the above embodiment, in the case of dividing each functional module according to each function. As shown in fig. 7, the location service device 7 includes a configuration unit 70, a mapping unit 71, and a broadcasting unit 72.

A configuration unit 70, configured to implement configuration of its own timeslot number by intercepting a data frame of at least one base station of the location service system;

a mapping unit 71, configured to perform data interaction with at least three base stations of the location service system to implement automatic mapping of self-location;

a broadcasting unit 72, configured to broadcast the data frame X according to its own timeslot number and its own position to join the location service system, where the location service refers to that a target device determines its own position by receiving data frames broadcast by any M base stations of the location service system, the target device is a base station or a tag device, and M is an integer greater than or equal to 3.

In one possible example, the location service system includes base station Y, base station J, and base station K; in terms of configuring by listening to a data frame of at least one base station of the location service system to implement its own timeslot number, the configuration unit 70 is specifically configured to: monitoring a data frame in a preset time period, and monitoring a data frame Y of a base station Y, a data frame J of a base station J and a data frame K of the base station K, wherein the preset time period is a continuous preset number of positioning service cycles, and the positioning service cycles are working cycles of the positioning service system; and configuring the self time slot number according to the time slot occupation conditions of the data frame Y, the data frame J and the data frame K.

In one possible example, the location service system further comprises a base station Z; the device also comprises

A receiving unit, configured to receive a data frame Z of the base station Z, and determine that a time slot number of the receiving unit is the same as a time slot number carried by the data frame Z;

the first deleting unit is used for deleting the time slot number of the first deleting unit and triggering the reconfiguration process through a preset condition; alternatively, the first and second electrodes may be,

the broadcasting unit 72 is further configured to broadcast a conflict test request message according to its own time slot number, and listen to a conflict test response message, where the conflict test response message is used to indicate that a time slot of the base station X conflicts with a time slot of a certain base station in the positioning service system;

and the second deleting unit is used for deleting the self time slot number and triggering the reconfiguration process through a preset condition if the conflict test response message is intercepted.

In one possible example, in terms of configuring by listening to a data frame of at least one base station of the location service system to implement its own timeslot number, the configuration unit 70 is specifically configured to: receiving a data frame of the at least one base station; extracting a time slot number report of each data frame in the data frames of the at least one base station, wherein the time slot number report comprises the corresponding relation between the equipment number of the base station and the time slot number; and determining the time slot number of the base station according to the at least one time slot number report of the at least one base station.

In one possible example, in terms of data interaction with at least three base stations of the location service system to achieve automatic mapping of the self-location, the mapping unit 71 is specifically configured to: and performing data interaction with at least three base stations of the positioning service system according to a reverse time difference of arrival (RTDOA) algorithm to realize automatic mapping of the position of the positioning service system.

In one possible example, in terms of data interaction with at least three base stations of the location service system according to a reverse time difference of arrival (RTDOA) algorithm to implement automatic mapping of self-location, the mapping unit 71 is specifically configured to: performing at least two of the steps A, B, C to obtain at least two distance differences;

In one possible example, in terms of data interaction with at least three base stations of the location service system to achieve automatic mapping of the self-location, the mapping unit 71 is specifically configured to: and performing data interaction with at least three base stations of the positioning service system according to a preset unilateral two-way ranging SS-TWR algorithm to realize automatic mapping of the position of the positioning service system.

In one possible example, in terms of performing data interaction with at least three base stations of the location service system according to a preset one-sided two-way ranging SS-TWR algorithm to achieve automatic mapping of self-location, the mapping unit is specifically configured to: broadcasting a first ranging message, and simultaneously recording the sending time of the first ranging message; and receiving a second ranging message from the base station Y, a third ranging message from the base station J, and a fourth ranging message from the base station K, the second ranging message including a time when the base station Y receives the first ranging message and a time when the second ranging message is transmitted, the third ranging message including a time when the base station J receives the first ranging message and a time when the third ranging message is transmitted, the fourth ranging message including a time when the base station K receives the first ranging message and a time when the fourth ranging message is transmitted; determining the distance between the base station X and the base station Y according to the sending time of the first ranging message, the time of the base station Y receiving the first ranging message and the time of sending the second ranging message in the second ranging message, and the time of the base station X receiving the second ranging message; determining the distance between the base station X and the base station J according to the sending time of the first ranging message, the time of the base station J for receiving the first ranging message and the time of sending the third ranging message in the third ranging message, and the time of the base station X for receiving the third ranging message; determining the distance between the base station X and the base station K according to the sending time of the first ranging message, the time of the base station K receiving the first ranging message and the time of sending the fourth ranging message in the fourth ranging message, and the time of the base station X receiving the fourth ranging message; and calculating the position of the local terminal device according to the distance between the local terminal device and the base station Y, the distance between the local terminal device and the base station J and the distance between the local terminal device and the base station K.

All relevant contents of each step related to the above method embodiment may be referred to the functional description of the corresponding functional module, and are not described herein again. Of course, the positioning service apparatus provided in the embodiments of the present application includes, but is not limited to, the above modules, for example: the location service device may also include a storage unit 73. The memory unit 73 may be used to store program codes and data of the location service device.

In the case of using an integrated unit, a schematic structural diagram of a location service device provided in an embodiment of the present application is shown in fig. 8. In fig. 8, the location service apparatus 8 includes: a processing module 80 and a communication module 81. The processing module 80 is used to control and manage the actions of the location service device, e.g., perform the steps performed by the configuration unit 70, the mapping unit 71, the broadcast unit 72, and/or other processes for performing the techniques described herein. The communication module 81 is used to support the interaction between the location service device and other devices. As shown in fig. 8, the location service device may further include a storage module 82, and the storage module 82 is used for storing program codes and data of the location service device, for example, storing contents stored in the storage unit 73.

The Processing module 80 may be a Processor or a controller, and may be, for example, a Central Processing Unit (CPU), a general-purpose Processor, a Digital Signal Processor (DSP), an ASIC, an FPGA or other programmable logic device, a transistor logic device, a hardware component, or any combination thereof. Which may implement or perform the various illustrative logical blocks, modules, and circuits described in connection with the disclosure. The processor may also be a combination of computing functions, e.g., comprising one or more microprocessors, DSPs, and microprocessors, among others. The communication module 81 may be a transceiver, an RF circuit or a communication interface, etc. The storage module 82 may be a memory.

All relevant contents of each scene related to the method embodiment may be referred to the functional description of the corresponding functional module, and are not described herein again.

Embodiments of the present application also provide a computer storage medium, where the computer storage medium stores a computer program for electronic data exchange, the computer program enabling a computer to execute part or all of the steps of any one of the methods described in the above method embodiments, and the computer includes an electronic device.

Embodiments of the present application also provide a computer program product comprising a non-transitory computer readable storage medium storing a computer program operable to cause a computer to perform some or all of the steps of any of the methods as described in the above method embodiments. The computer program product may be a software installation package, the computer comprising an electronic device.

It should be noted that, for simplicity of description, the above-mentioned method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present application is not limited by the order of acts described, as some steps may occur in other orders or concurrently depending on the application. Further, those skilled in the art should also appreciate that the embodiments described in the specification are preferred embodiments and that the acts and modules referred to are not necessarily required in this application.

In the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus may be implemented in other manners. For example, the above-described embodiments of the apparatus are merely illustrative, and for example, the above-described division of the units is only one type of division of logical functions, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of some interfaces, devices or units, and may be an electric or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

The integrated unit may be stored in a computer readable memory if it is implemented in the form of a software functional unit and sold or used as a stand-alone product. Based on such understanding, the technical solution of the present application may be substantially implemented or a part of or all or part of the technical solution contributing to the prior art may be embodied in the form of a software product stored in a memory, and including several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the above-mentioned method of the embodiments of the present application. And the aforementioned memory comprises: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic disk, or an optical disk, which can store program codes.

Those skilled in the art will appreciate that all or part of the steps in the methods of the above embodiments may be implemented by associated hardware instructed by a program, which may be stored in a computer-readable memory, which may include: flash Memory disks, Read-Only memories (ROMs), Random Access Memories (RAMs), magnetic or optical disks, and the like.

The foregoing detailed description of the embodiments of the present application has been presented to illustrate the principles and implementations of the present application, and the above description of the embodiments is only provided to help understand the method and the core concept of the present application; meanwhile, for a person skilled in the art, according to the idea of the present application, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present application.

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