WO2021244331A1

WO2021244331A1 - Positioning service method, and related apparatus

Info

Publication number: WO2021244331A1
Application number: PCT/CN2021/095221
Authority: WO
Inventors: 张烨
Original assignee: Oppo广东移动通信有限公司
Priority date: 2020-06-02
Filing date: 2021-05-21
Publication date: 2021-12-09
Also published as: CN113766415A; CN113766415B

Abstract

Disclosed are a positioning service method, and a related apparatus. The method is applied to base station X to be added to a positioning service system, and the method comprises: base station X realizing the configuration of a time slot number thereof by means of monitoring a data frame of at least one base station of a positioning service system; base station X performing data interaction with at least three base stations of the positioning service system, so as to realize automatic surveying and mapping of the position of base station X; and base station X broadcasting data frame X according to the time slot number of base station X and the position thereof, so as to join the positioning service system, wherein a positioning service refers to a target device determining its own position by means of receiving data frames broadcasted by any M base stations of the positioning service system, the target device is a base station or a label device, and M is an integer greater than or equal to 3. Provided is a flexible positioning service solution.

Description

Location service method and related device

Technical field

This application relates to the technical field of electronic equipment, and in particular to a positioning service method and related devices.

Background technique

At present, in the indoor positioning technology based on Ultra Wideband (UWB), a number of fixed anchor devices (also known as base stations) are generally set up in the space where the user moves by wire, and the user wears a UWB technology Tag device, the base station performs signaling interaction with each user’s tag device to determine the distance between the local end and the tag device, and reports the distance and tag device identity information to the location server. The location server will report the same information from at least three base stations. The distance information of a tag device calculates the current location of the user, thereby realizing location services.

Summary of the invention

The embodiments of this application provide a positioning service method and related devices, in order to provide a flexible positioning service solution. The base station only needs to listen to + position mapping to complete the initial configuration, and the base station only needs to stop broadcasting data frames by itself to realize the stop. Therefore, the location service of other base stations in the system will not be affected by the base station, so as to realize the hot plug function of the base station in the location service system.

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

The base station X implements the configuration of its own time slot number by listening to the data frame of at least one base station of the positioning service system;

The base station X exchanges data with at least three base stations of the positioning service system to realize automatic mapping of its own position;

The base station X broadcasts a data frame X according to its own time slot number and its own location to join the positioning service system. The positioning service refers to the data broadcast by the target device by receiving any M base stations of the positioning service system Frame to determine its position, the target device is a base station or a tag device, and M is an integer greater than or equal to 3.

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

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

The base station Y configures its own time slot number according to a preset rule;

The base station Y obtains location calibration information, and determines its own location according to the location calibration information;

The base station Y broadcasts the data frame Y according to the time slot number and the position of the base station Y.

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

The base station J listens to the data frame of the preset frequency band in the current space within the preset time period, and listens to the data frame Y of the base station Y;

The base station J configures its own time slot number according to the time slot occupancy of the data frame Y;

The base station J obtains location calibration information, and determines its own location according to the location calibration information;

The base station J broadcasts the data frame J according to the time slot number and the position of the base station J.

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

The base station K listens to the data frame of the preset frequency band in the current space within the preset time period, and listens to the data frame Y of the base station Y and the data frame J of the base station J;

The base station K configures its own time slot number according to the time slot occupancy of the data frame Y and the data frame J;

The base station K obtains location calibration information, and determines its own location according to the location calibration information;

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

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

The tag device receives data frames broadcast by any M base stations of the location service system, where M is an integer greater than or equal to 3, where the base station is a hot-pluggable device of the location service system used in indoor scenarios;

The tag device determines its position according to the data frames broadcast by the arbitrary M base stations.

In a sixth aspect, an embodiment of the present application provides a positioning service system, including base station Y, base station J, and base station K, where:

The base station X to be added to the positioning service system is used to monitor the data frame of at least one of the base station Y, the base station J, and the base station K to implement the configuration of its own time slot number; and The base station Y, the base station J, and the base station K exchange data to realize automatic mapping of their own position; broadcast data frame X according to their own time slot number and the own position to join the positioning service system, and the positioning Service means that the target device determines its 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;

The base station Y is used for broadcasting data frame Y;

The base station J is used to broadcast a data frame J;

The base station K is used to broadcast a data frame K;

The tag device is configured to receive data frames broadcast by any M base stations of the positioning service system, and determine its own position according to the data frames broadcast by the 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, wherein the one or more programs are stored in the memory and configured by the processor Execution, the foregoing program includes instructions for executing the steps in any one of the methods from the first aspect to the fourth aspect of the embodiments of the present application.

In an eighth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the above-mentioned computer-readable storage medium stores a computer program for electronic data exchange, wherein the above-mentioned computer program enables a computer to execute Part or all of the steps described in any method from one aspect to the fourth aspect.

In a ninth aspect, an embodiment of the present application provides a computer program product, wherein the foregoing computer program product includes a non-transitory computer-readable storage medium storing a computer program, and the foregoing computer program is operable to make a computer execute as implemented in this application. For example, part or all of the steps described in any one of the methods of the first aspect to the fourth aspect. The computer program product may be a software installation package.

Description of the drawings

In order to more clearly describe the technical solutions in the embodiments of the present application, the following will briefly introduce the accompanying drawings needed in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only for the present application. For some embodiments, those of ordinary skill in the art can obtain other drawings based on these drawings without creative work.

FIG. 1A is a schematic diagram of an application scenario based on UWB technology positioning provided by an embodiment of the present application;

FIG. 1B is a schematic diagram of SS-TWR ranging signal interaction provided by an embodiment of the present application;

FIG. 1C is a schematic diagram of DS TWR ranging signal interaction provided by an embodiment of the present application;

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 calculating TDoA to obtain the final coordinates according to an embodiment of the present application; FIG.

FIG. 1F is a schematic structural diagram of a super frame provided by an embodiment of the present application;

FIG. 1G is a schematic structural diagram of a super frame added with a beacon frame provided by an embodiment of the present application;

FIG. 1H is a schematic structural diagram of a positioning service system 10 provided by an embodiment of the present application;

FIG. 1I is a diagram of an example of the composition of a base station 200 provided by an embodiment of the present application

2A is a schematic flowchart of a location service method provided by an embodiment of the present application;

2B is a schematic diagram of a time slot configuration process provided by an embodiment of the present application;

2C is an example diagram of a base station location provided by an embodiment of the present application;

Figure 2D is a schematic diagram of a base station signal coverage provided by an embodiment of the present application;

2E is a schematic diagram 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 provided by an embodiment of the present application;

FIG. 4 is a schematic flowchart of another positioning service method provided by an embodiment of the present application;

FIG. 5 is a schematic flowchart of another positioning service method provided by an embodiment of the present application;

FIG. 6 is a schematic flowchart of another positioning service method provided by an embodiment of the present application;

FIG. 7 is a block diagram of functional units of a positioning service device provided by an embodiment of the present application;

Fig. 8 is a block diagram of functional modules of a positioning service device provided by an embodiment of the present application.

detailed description

In order to enable those skilled in the art to better understand the solutions of this application, the technical solutions in the embodiments of this application will be described clearly and completely in conjunction with the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are only These are a part of the embodiments of this application, but not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of this application.

The terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific sequence. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes unlisted steps or units, or optionally also includes Other steps or units inherent in these processes, methods, products or equipment.

Reference to "embodiments" herein means that a specific feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art clearly and implicitly understand that the embodiments described herein can be combined with other embodiments.

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

(1)Ultra Wideband (UWB) is an unloaded communication technology. According to the Federal Communications Commission (Federal Communications Commission of the United States) standard, the working frequency band of UWB is 3.1-10.6GHz, and the -10dB bandwidth is The ratio of the system center frequency is greater than 20%, and the system bandwidth is at least 500MHz. Use nanosecond to microsecond non-sinusoidal narrow pulses to transmit data. The traditional ultra-wideband UWB technology positioning is used in industrial sites such as mines and warehouses. Its main application scenario is to monitor the real-time location of employees and goods indoors. Among them, the base stations have been calibrated indoors, and they are connected to each other through wired or Wi-Fi for synchronization. In the example application scenario shown in Figure 1A, A is a base station that supports UWB technology positioning, CLE PC is a location server (also known as a positioning server, such as a location computing device), and Ethernet LAN-TCP/IP refers to the inter-base station Support the transmission control protocol/Internet protocol of the Ethernet local area network, and realize the location monitoring of the user wearing the tag device by setting at least one base station in each area.

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

The first type, Single-sided Two-way Ranging (SS-TWR)

SS-TWR is a simple measurement of the time of a single round-trip message. Device A actively sends data to device B, and device B responds to device A with data. As shown in Figure 1B, Device A (Device A) actively sends (TX) data (corresponding to the TX time node in the figure to the starting point of the Tround time), and records the sending timestamp at the same time. Device B (Device B) records after receiving (RX) Receiving timestamp, RMARKER indicates the time node when the data is transmitted (received or sent); after delaying Treply, device B sends data and records the sending timestamp at the same time, and device A receives data and records the receiving timestamp at the same time.

So you can get two time difference data, the time difference Tround of device A (the time difference between sending data and receiving data) and the time difference Treply of device B, and finally get the flight time of the wireless signal

as follows:

The two difference times are calculated based on the local clock. The local clock error can be offset, but there will be slight clock offsets between different devices. Assuming that the clock offsets of device A and B are eA and eB, respectively, so The obtained flight time will increase with the increase of Treply, and the equation of the ranging error error is as follows:

Among them, Tprop is the actual flight time of the wireless signal.

The second type, Double-sided Two-way Ranging (DS TWR)

DS TWR is based on the three message transmissions between the initiating node and the responding node, obtaining two round-trip delays, and measuring the distance at the responding end. As shown in Figure 1C, when device A receives the data, it returns the data immediately, and finally the following four time differences can be obtained:

① The first time difference of device A Tround1 (the time difference between sending data and receiving data)

②The delay after device B receives data for the first time, Treply1 (the delay after receiving the first data)

③The time difference of device B Tround2 (the time difference between sending data and receiving data)

④The delay after device A receives the data for the first time Treply2 (the delay after receiving the second data)

Use the following formula to calculate the flight time of the wireless signal

Bilateral two-way ranging flight time error analysis: The above ranging mechanisms are all asymmetric ranging methods, because they do not require the same response time. Even if a 20ppm crystal is used, the clock error is at the ps level. The error formula is as follows:

Among them, k _a and k _b are the ratio of the actual frequency of the crystal oscillator to the nominal frequency, so k _a and k _b are very close to 1.

One-to-many interaction between tags and base stations

Each employee or cargo has a tag with a unique identifier, which broadcasts signals to surrounding base stations on a regular basis. As shown in Figure 1D, after a tag (Tag in the figure) broadcasts a signal (poll in the figure), RMARKER indicates the time node when the data is transmitted (received or sent); the surrounding three base stations (Anchor A, Anchor B, Anchor C) receives the signal, and sends response signals (RespA, RespB, and RespC in the figure) to the tag in turn according to the synchronization information between the base stations. When the tag receives the reply signals from three or more base stations, it sends out a broadcast signal (Final in the figure). Therefore, each base station can use the DS TWR mechanism to exchange signals to calculate the flight time of the wireless signal at its own node after the three base stations hear the final packet.

Among them, TpropA is the flight time of the wireless signal between base station A and the tag, TpropB is the flight time of the wireless signal between base station B and the tag, TpropC is the flight time of the wireless signal between base station C and the tag, and Tround1A is the tag The time difference between sending data and receiving base station A data, Tround1B is the time difference between tag sending data and receiving base station B data, Tround1C is the time difference between tag sending data and receiving base station C data, Treply1A is the delay of base station A, and Treply1B is the delay of base station B. Treply1C is the delay of base station C, Treply2A is the delay from the tag receiving the signal from base station A to sending the final signal, Treply2B is the delay from tag receiving the signal of base station B to sending the final signal, and Treply2C is the tag receiving the signal from base station C The delay until the final signal is sent.

Each base station uploads the calculation result to the main server. As shown in Figure 1E, a three-dimensional calculation TDoA is performed 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, and the circle corresponds to the position whose radius is the distance determined by the flight time of the wireless signal. Range, Xu is the position of the label.

(2) Super frame

There are multiple tags in an indoor scene, and a super frame needs to be set up on the entire timeline for non-stop repetition. Each label needs to be allocated a time slot slot, and complete the calculation of their respective positions in their respective slots and upload them to the base station.

The super frame schematic structure shown in Figure 1F, interval represents the time interval, scheduling interval represents the scheduled time interval, Tag I slot represents the time slot of tag i, Poll TX represents the tag transmission signal, and Resp-X RX represents the tag receiving base station X signal, Resp-Y RX indicates that the tag receives the signal of base station Y, Resp-Z RX indicates that the tag receives the signal of base station Z, and Final TX indicates that the tag sends a final signal.

If the synchronization between the base stations is also achieved wirelessly through the ultra-wideband UWB technology, it is necessary to add a beacon frame (BeaCoN, BCN) time slot before the time slot where the tag interacts with the base station. In this time slot, the tags communicate with each other to determine their order of. As shown in Figure 1G, Superframe(n) represents super frame n, Idle Time is idle time, BCN is the time slot that carries the beacon frame, SVC represents the reserved time slot, and TWR Slot represents the time slot that carries the two-way ranging signal. Wakeup is the wake-up time slot, and RX represents the receiving state.

In the above-mentioned traditional toB ultra-wideband UWB technology scenario, it can be summarized as the following features:

The number of tags is limited, and the time slot address of each tag has been allocated.

The base station needs to be calibrated in advance, and connected by wire or a method different from the ultra-wideband UWB technology for signal synchronization.

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

The base station side calculates the indoor coordinates of the tag and returns it to the server. The tag itself does not know its own coordinates.

The tag wakes up only in its own slot cycle.

It can be seen that the addition of a base station needs to interact with the positioning server to implement time slot configuration and location calibration, and the deactivation 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 technical solutions lack flexibility.

Based on the existing problems in the current UWB positioning technology, this application proposes a positioning service method and system, which will be described in detail below.

1H, an embodiment of the present application provides a positioning service system 10, the system includes a tag device 100 and a base station 200, where the base station 200 interacts with the tag device 100 UWB signals, the base station 200 is a server device supporting UWB technology For example, UWB base stations, UWB anchor devices, etc., the tag device 200 is a user-end device that supports UWB technology. For example, it may include, but is not limited to, a wireless communication device 110, an entrance transponder device 120, a household device 130, a lace 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, tablets, personal assistants, routers, monitors, televisions, printers And electrical appliances.

FIG. 1I is a diagram of an example of the composition of a base station 200 according to an embodiment of the present application. The base station 200 may include a core processing unit 201, a UWB transceiver 202, a communication unit 203, a universal interface unit 204, and a power supply unit 205. The communication unit 203 may specifically include, but is not limited to, one of Bluetooth, Wi-Fi, and cellular communication modules. The universal interface unit 204 is used to access various sensors, including but not limited to indicator lights, vibration sensors, and other sensors. The power supply unit 205 may include, but is not limited to, for example, batteries, DC-to-DC DC-DC modules, and filters. Circuits and undervoltage detection circuits, etc.

The core processing unit 201 may include a processor and a memory, and the processor may include one or more processing cores. The processor uses various interfaces and lines to connect various parts of the entire base station 200, and executes various parts of the base station 200 by running or executing instructions, programs, code sets, or instruction sets stored in the memory, and calling data stored in the memory. Kinds of functions and processing data. The processor may include one or more processing units. For example, the processor may include a central processing unit (CPU), an application processor (AP), a modem processor, and a graphics processing unit (graphics processing unit). unit, GPU), image signal processor (image signal processor, ISP), controller, video codec, digital signal processor (digital signal processor, DSP), baseband processor, and/or neural network processor (neural network processor) -network processing unit, NPU), etc. The controller may be the nerve center and command center of the base station 200. The controller can generate operation control signals according to the instruction operation code and timing signals to complete the control of fetching and executing instructions

The memory may include random access memory (RAM) or read-only memory (Read-Only Memory). Optionally, the memory includes a non-transitory computer-readable storage medium. The memory can be used to store instructions, programs, codes, code sets or instruction sets. The memory may include a storage program area and a storage data area, where the storage program area may store instructions for implementing the operating system and instructions for implementing at least one function (such as touch function, sound playback function, image playback function, etc.), Instructions for implementing the following various method embodiments, etc., the operating system may be the Android system (including the system based on the in-depth development of the Android system), the IOS system developed by Apple (including the system of the in-depth development based on the IOS system) Or other systems. The storage data area can also store data (such as calibrated position data) created by the base station 200 during use.

It should be noted that the above-mentioned structural schematic diagram of the base station 200 is only an example, and the specific components may be more or less, which is not uniquely limited here.

Please refer to FIG. 2A. FIG. 2A is a schematic flowchart of a positioning service method provided by an embodiment of the present application, which is applied to a base station X to be added to a positioning service system. As shown in the figure, the positioning service method includes the following operations.

Step 201: Base station X implements its own time slot number configuration by listening to data frames of at least one base station of the positioning service system.

Wherein, the data frame may be a beacon frame, and the beacon frame may carry effective information of the base station (for example: own device number, time slot number, location information, signal transmission start time stamp, etc.). Different base stations occupy different beacon frames. When a time slot of a beacon frame is occupied by a base station, the frequency domain resources of the beacon frame carry effective information of the base station, such as base station identification, location coordinates, etc., and base station X listens to the frequency of the beacon frame. Domain resources, confirm that the beacon frame carrying valid information is occupied.

It can be understood that the specific manners for the base station X to implement the configuration of its own time slot number in step 201 may be various, which is not uniquely limited here.

For example, the positioning service system includes a base station Y, a base station J, and a base station K; the base station X implements its own time slot number configuration by listening to data frames of at least one base station of the positioning service system, including: The base station X listens to the data frame within a preset time period, and listens to the data frame Y of the base station Y, the data frame J of the base station J, and the data frame K of the base station K. The preset time period Is a continuous preset number of positioning service periods, the positioning service period is the working period of the positioning service system; the base station X according to the data frame Y, the data frame J and the time slot of the data frame K Occupancy configures its own time slot number.

Among them, the purpose of channel listening is to obtain the actual occupancy of the channel in the current space as accurately as possible. Too short listening time will affect the accuracy of listening, and too long listening time will affect the network initialization efficiency, so the preset time period can be It is any reasonable preset duration, for example, a sending time interval of 10 to 100 times, and there is no unique limitation here.

For example, assuming that the sending time interval of the positioning service system is 15 milliseconds, the preset time period can take any value from 150ms to 1500ms, for example.

In a specific implementation, base station X determines the time slots occupied by base station Y, base station J, and base station K through data frame monitoring, so as to select one of the unoccupied time slots, such as selecting sequentially or randomly.

In addition, base station X can perform device number configuration while configuring time slots in accordance with the unified device numbering rules. For example, according to the number numbering mechanism, base station X determines the number of the occupied base station according to the data frame; The number of the occupied base station determines the number of its own equipment. For example, suppose that base station X listens to base stations with device numbers 2, 4, and 5, and can configure its own device number as 3.

The time slot configuration process of step 201 above can be illustrated by the schematic flowchart shown in Figure 2B, where INIT corresponds to the initial power-on state, HAVE_ID corresponds to the state where the base station configures its own device number, and NO_ID corresponds to the unconfigured device number state , NO_ID_REVC corresponds to the data receiving status of the base station with no device number configured.

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

If the local end is directly set as the seed node (that is, the first base station in the current space), it directly occupies the first address (that is, the transmission resource constituted by the time slot address + the working frequency band) and starts to work;

If the local end is not set as a seed node, the base station will unconditionally receive 10 cycles for network listening. If this address is not reported in the received frame (each module reports the address of the received frame), the time slot configuration is performed according to the idle address;

Then, it continuously listens for 10 cycles. If there is no response within the 10 cycles, it is confirmed that the machine is not a seed node. Among them, no response means that no data frame is received, or the machine is not reported in the received frame address.

It can be seen that in this example, base station X implements reasonable configuration of its own time slot resources by listening to data frames, avoids resource configuration conflicts, does not need to send signaling to other base stations, and has no effect on the status of other base stations.

In addition, in this example, the positioning service system may further include a base station Z; the method further includes: the base station X receives a data frame Z of the base station Z, and determines its own time slot number and the data The time slot numbers carried by the frame Z are the same; the base station X deletes its own time slot number, and triggers the reconfiguration process through preset conditions.

Wherein, deletion means that base station X no longer occupies the time slot resource.

Among them, the preset condition may be a timer timeout, etc., and the timing duration of the timer may be any preset value or an empirical value, etc., which is not uniquely limited here.

Wherein, the base station Z may be a base station set up together with base station X in a similar time period, base station X releases the time slot resource, base station Z may also detect the conflict synchronously, release the time slot resource, and then randomly select free time slots Perform configuration, or base station X and base station Z interact to confirm complementary conflicting timeslot configurations.

It can be seen that, in this example, when base station X detects a time slot configuration conflict, it can perform configuration rollback by deleting its own time slot number, thereby achieving conflict resolution.

Alternatively, the method further includes: the base station X broadcasts a conflict test request message according to its own time slot number, and listens to a conflict test response message, the conflict test response message being used to indicate that the time slot of the base station X is related to all the time slots. The time slot of a certain base station in the positioning service system is in conflict; if a conflict test response message is detected, its own time slot number is deleted, and the reconfiguration process is triggered by a preset condition.

It can be seen that in this example, the real-time performance is better by interacting with other base stations to determine whether there is a conflict.

For another example, the base station X performs its own time slot number configuration by listening to the data frame of at least one base station of the positioning service system, including: the base station X receives the data frame of the at least one base station; The base station X extracts the time slot number report of each data frame in the data frame of the at least one base station, and the time slot number report includes the corresponding relationship between the device number of the base station and the time slot number; the base station X At least one slot number report of at least one base station determines its own slot number.

Wherein, the time slot number report may be the time slot numbers of all base stations directly monitored by the current base station and its own time slot numbers.

It can be seen that in this example, the base station X can learn more comprehensively the time slot occupancy status of other base stations in the current system through the time slot number, and provide time slot configuration accuracy.

Step 202: The base station X exchanges data with at least three base stations of the positioning service system to realize automatic mapping of its own position.

Among them, the own location may specifically be the coordinate information of the base station X, or the location indication information corresponding to a specific space, such as room number, house number, security door, elevator number, and so on.

It is understandable that, in step 202, the base station X may implement various specific implementation methods for its own position mapping, such as SS TWR algorithm, DS TWR algorithm, RTDoA algorithm, etc., which are not uniquely limited here.

For example, the base station X performs data exchange with at least three base stations of the positioning service system to realize automatic mapping of its own position, including: the base station X communicates with the positioning service system according to the reverse time difference of arrival RTDOA algorithm. At least three base stations exchange data to realize automatic mapping of their own positions.

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

A. The base station X obtains the time slot number of the data frame Y carried in the data frame Y and the position of the base station Y, and obtains the time slot number of the data frame J carried in the data frame J And the own position of the base station J, and calculate the signal flight time between the base station Y and the base station J according to the own position of the base station Y and the own position of the base station J, and according to the data frame Y The time slot number of the data frame J and the time slot number of the data frame J determine the signal transmission delay of the base station Y and the base station J, and the signal flight time between the base station Y and the base station J and the The signal transmission time delay of the base station Y and the base station J determines the data frame transmission time difference between the base station Y and the base station J, and determines the local end according to the time when the data frame Y is received and the time when the data frame J is received The data frame X receiving time difference of the device, and the distance difference between the first distance and the second distance is determined 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. The 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 obtains the time slot number of the data frame Y carried in the data frame Y and the position of the base station Y, and obtains the time slot number of the data frame K carried in the data frame K And the own position of the base station K, and calculate the signal flight time between the base station Y and the base station K according to the own position of the base station Y and the own position of the base station K, and according to the data frame Y The time slot number of the data frame K and the time slot number of the data frame K determine the signal transmission delay of the base station Y and the base station K, and the signal flight time between the base station Y and the base station K and the The signal transmission time delay of the base station Y and the base station K determines the data frame transmission time difference between the base station Y and the base station K, and determines the local end according to the time when the data frame Y is received and the time when the data frame K is received The data frame Y reception time difference of the device, and the distance difference between the first distance and the third distance is determined according to the data frame Y reception time difference and the data frame transmission time difference between the base station Y and the base station K, The third distance is the distance between the base station X and the base station K;

C. The base station X obtains the time slot number of the data frame J carried in the data frame J and the position of the base station J itself, and obtains the time slot number of the data frame K carried in the data frame K And the own position of the base station K, and calculate the signal flight time between the base station J and the base station K according to the own position of the base station J and the own position of the base station K, and according to the data frame J The time slot number of the data frame K and the time slot number of the data frame K determine the signal transmission delay of the base station J and the base station K, and the signal flight time between the base station J and the base station K and the The signal transmission delay of the base station J and the base station K determines the data frame transmission time difference between the base station J and the base station K, and determines the local end according to the time when the data frame J is received and the time when the data frame K is received The data frame J receiving time difference of the device, and determining the distance difference 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;

The base station X determines the position of the base station X based on 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.

It can be seen that, in this example, base station X can accurately calculate its own position through the RTDOA algorithm, can use UWB technology, does not need to configure additional positioning technology, and does not need to send signaling to other base stations, thereby improving positioning efficiency.

For another example, the base station X performs data exchange with at least three base stations of the positioning service system to realize automatic mapping of its own position, including: the base station X according to a preset unilateral two-way ranging SS-TWR algorithm Perform data interaction with at least three base stations of the positioning service system to realize automatic mapping of its own position.

In this example, the base station X performs data interaction with at least three base stations of the positioning service system according to the preset unilateral two-way ranging SS-TWR algorithm to realize automatic mapping of its own position, including:

The base station X broadcasts the first ranging message and at the same time 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, where the second ranging message includes the base station Y the time when the first ranging message is received and the time when the second ranging message is sent, and the third ranging message includes the time when the base station J receives the first ranging message and the time when the first ranging message is sent. 3. Time of the ranging message, where the fourth ranging message includes the time when the base station K receives the first ranging message and the time when the fourth ranging message is sent;

The base station X according to the sending time of the first ranging message, the time at which the base station Y receives the first ranging message and the time at which the second ranging message is sent in the second ranging message, Determining the distance between the base station X and the base station Y when the base station X receives the second ranging message;

The base station X according to the sending time of the first ranging message, the time at which the base station J receives the first ranging message and the time at which the third ranging message is sent in the third ranging message, The time when the base station X receives the third ranging message, and determines the distance between the base station X and the base station J;

The base station X according to the sending time of the first ranging message, the time at which the base station K receives the first ranging message and the time at which the fourth ranging message is sent in the fourth ranging message, Determine the distance between the base station X and the base station K when the base station X receives the fourth ranging message;

The base station X calculates its position based on the distance between the local device and the base station Y, the distance between the local device and the base station J, and the distance between the local device and the base station K.

It can be seen that in this example, base station X can accurately calculate its own position through the SS-TWR algorithm, and can use UWB technology without additional configuration of positioning technology, reducing implementation complexity and improving positioning convenience.

Step 203: The base station X broadcasts a data frame X according to its own time slot number and its own location to join the location service system. The location service refers to the target device receiving any M base stations of the location service system. The broadcasted data frame determines its own position, the target device is a base station or a tag device, and M is an integer greater than or equal to 3.

Among them, 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 the hot-plug function, and the sticky note device can be converted into a base station for use in some cases.

It can be seen that, in the embodiment of the present application, the base station X to be added to the positioning service system first implements its own time slot number configuration by listening to the data frame of at least one base station of the positioning service system; secondly, the base station X and the positioning service system At least three base stations in the base station exchange data to realize the automatic mapping of its own position; finally, 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. Positioning service means that the target device receives the positioning service system Any M base stations broadcast data frames to determine its own location, the target device is a base station or a tag device, and M is an integer greater than or equal to 3. It can be seen that the base station only needs to listen + location mapping to complete the initial configuration, and the base station only needs to stop broadcasting data frames by itself to achieve deactivation. The location services of other base stations in the system will not be affected by the base station. The location services involved in this application The solution has the advantages of decentralization and flexibility, so as to realize the hot plug function of the base station in the location service system.

In a possible example, the positioning service system further includes a base station L, the signal coverage of the base station X and the signal coverage of the base station L are independent of each other, and the time slot number of the base station X is the same as that of the base station L. Support to configure the same time slot number.

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

In 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 the newly added base station are in an reachable state, so that accurate positioning can be achieved.

For example, an example diagram of the location of a base station as shown in FIG. 2C is used for description. In the figure, X and Y refer to the position coordinate axis, each circle represents a base station, and the connection between the circles indicates that the signals of the two base stations are reachable (that is, the direct communication distance between the base stations is the length of the connection). Referred to as the base station and the base station reachable. Suppose that the user initially sets the base station at the coordinates (0,0), (2,0), (0,2), if the base station at the coordinates (1,1) is added, because the base station at the (1,1) It is reachable to the base station at coordinates (0,0), (2,0), and (0,2) respectively, so the base station at (1,1) can achieve position calibration through automatic mapping.

It can be seen that, in this example, the base station supports hot-plugging to expand the location service network, which is convenient to use.

In this possible example, if the added base station and the target base station of the multiple base stations have the same time 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 Figure 2D, each signal strength indicator on the figure represents a base station, and each ellipse represents the signal coverage of a pair of base stations. As shown in the figure, due to signal coverage limitations, base stations A1 and A2 can only receive base stations A2, A1, A3, and A4, and only reports from A1 to A6 are received in the received data frame, resulting in A1 and A2 not being able to receive Knowing the existence of A7 and A8, the two pairs of base station anchors may be assigned to the same time slot number. But this will not cause signal interference. Assuming that the signal coverage radius of the base station is unit 1, if the signals of the two base stations interfere with each other, the signal coverage of the two base stations overlap, that is, the distance between the two base stations is less than 2. Obviously when the distance between the two base stations is less than 1, the base station can If the data frame of another base station is directly received, the two base stations will not be allocated to the same time slot. When the distance between two base stations is between 1 and 2, the base station cannot directly receive the data frame of another base station, but the base station may learn that another base station exists by receiving the number report in the data frame, thereby avoiding the time slot numbering. conflict.

Therefore, if any two base stations (called base station 1 and base station 2) have time slot number conflicts, the following two conditions must be met:

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

(b) There is no base station 3 so that the distances from base station 3 to base station 1 to base station 2 are all <1.

A base station communicates with base stations within its communication range. It is defined that A and C are reachable: A and C can communicate with each other or (the existence of B makes A and B reachable, and B and C reachable). Then A and C are unreachable <=> A and C are not interoperable and (for any base station B, B and A are unreachable or B and C are unreachable), non-interworking is a necessary condition for unreachability, ==> A and C are not Interoperable and (for any base station B, B and A do not interoperate or B and C do not interoperate) ==> A and C do not interoperate and (there is no base station B, B and A interoperate and B and C interoperate) ==> the above two When the base station is deployed, if any two base stations are guaranteed to be reachable, it can ensure that base stations with the same time slot number will not conflict with each other. At this time, there can be multiple base stations with the same time slot number in the network at the same time, and these Because the signal will not overlap and cover between the base stations, there is no interference. In this way, the time slot space division multiplexing of the network is realized, and the unlimited base station capacity under the limited number of time slots can be realized.

Due to the reachable transitivity, this can be ensured by ensuring that the new base station can communicate with at least one of the previously deployed base stations from the second base station during deployment.

Please refer to FIG. 3. FIG. 3 is a schematic flowchart of a positioning service method provided by an embodiment of the present application, which is applied to a base station Y of a positioning service system. As shown in the figure, the positioning service method includes the following operations.

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

Step 302: The base station Y configures its own time slot number according to a preset rule.

In specific implementation, if base station Y does not detect a valid data frame in the current space, it can be determined that no base station has been set up in the current space to provide a positioning service network. In this case, base station Y can configure its own device number to 0, and Arbitrarily configure a time slot number as its own time slot number, such as 1. When a base station accesses again later, the device number can be extended to 1, and the extended time slot number is 2, and so on.

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

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

Wherein, the calibration device may be a mobile phone or other device of an engineer who sets base station Y. The calibration device can accurately locate current location information, and communicate with base station Y through Bluetooth or Wi-Fi to exchange location information.

Wherein, the base station Y may also be provided with a location entry device, such as a device such as a physical button, and the user can directly perform location entry by operating the location entry device.

This mechanism of man-made or device-assisted positioning is applicable to at least the first three base stations in the positioning service network.

Step 304: The base station Y broadcasts the data frame Y according to the time slot number and the position of the base station Y.

It can be seen that in this example, the first base station of the positioning service system can monitor the time slot number configuration by itself, and determine its position according to the position calibration information, and then broadcast the data frame Y to provide the local positioning service. This positioning service can enable The tag device or other base station measures the distance to base station Y.

Please refer to FIG. 4, which is a schematic flowchart of a positioning service method provided by an embodiment of the present application, which is applied to a base station J of a positioning service system. As shown in the figure, the positioning service method includes the following operations.

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

Step 402: The base station J configures its own time slot number according to the time slot occupancy of the data frame Y.

It can be understood that the configuration of the time slot number here is similar to the foregoing, and will not be repeated here.

Step 403: The base station J obtains location calibration information, and determines its own location according to the location calibration information.

It is understandable that the method for determining the position of the self here is similar to step 303, and will not be repeated here.

Step 404: The base station J broadcasts the data frame J according to the time slot number and the position of the base station J.

It can be understood that the manner of broadcasting the data frame is similar to step 203 and step 304, and will not be repeated here.

It can be seen that in this example, the second base station of the positioning service system can listen to the data frame of the first base station by itself to realize the time slot number configuration, and after determining its own position according to the position calibration information, broadcast the data frame J to provide the local end Positioning service, which enables the tag device or other base stations to measure the distance to base station J.

Please refer to FIG. 5. FIG. 5 is a schematic flowchart of a positioning service method provided by an embodiment of the present application, which is applied to a base station J of a positioning service system. As shown in the figure, the positioning service method includes the following operations.

Step 501: The base station K listens to the data frame of the preset frequency band in the current space within the preset time period, and listens to the data frame Y of the base station Y and the data frame J of the base station J.

Step 502: The base station K configures its own time slot number according to the time slot occupancy of the data frame Y and the data frame J.

Step 503: The base station K obtains location calibration information, and determines its own location according to the location calibration information.

It is understandable that the method for determining its own position here is similar to steps 303 and 403, and will not be repeated here.

Step 504: The base station K broadcasts the data frame J according to the time slot number and the position of the base station K.

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

It can be seen that in this example, the third base station of the positioning service system can listen to the data frames of the first and second base stations by itself to realize the time slot number configuration, and after determining its position according to the position calibration information, broadcast data frame K In order to provide the local location service, the location service can enable the tag device or other base stations to measure the distance to the base station J.

Please refer to FIG. 6. FIG. 6 is a schematic flowchart of a location service method provided by an embodiment of the present application. As shown in the figure, the location service method includes the following operations.

Step 601: The tag device receives data frames broadcast by any M base stations of the location service system, where M is an integer greater than or equal to 3, where the base station is a hot-pluggable device of the location service system used in indoor scenarios;

Step 602: The tag device determines its own location according to the data frames broadcast by the arbitrary M base stations.

It can be seen that in this example, the tag device can only receive data frames broadcast by the base station to realize its own location mapping, without the need for complex signaling interaction between the two parties, and a decentralized mechanism to improve the service capability and location efficiency of the location service system.

In a possible example, determining the position of the tag device according to the data frames broadcast by the arbitrary M base stations includes:

The tag device performs data interaction with at least M base stations of the positioning service system according to the RTDOA algorithm to realize automatic mapping of its own position.

In a possible example, M is 3, and the arbitrary M base stations include base station Y, base station J, and base station K in the positioning service system; the tag device interacts with at least M of the positioning service system according to the RTDOA algorithm. The data exchange between each base station to realize the automatic mapping of its own position includes: the tag device listens to the data frame Y of the base station Y, listens to the data frame J of the base station J, and listens to the base station K. Data frame K;

The label device performs at least two of steps A, B, and C to obtain at least two distance differences;

A. The tag device obtains the time slot number of the data frame Y carried in the data frame Y and the position of the base station Y, and obtains the time slot number of the data frame J carried in the data frame J And the own position of the base station J, and calculate the signal flight time between the base station Y and the base station J according to the own position of the base station Y and the own position of the base station J, and according to the data frame Y The time slot number of the data frame J and the time slot number of the data frame J determine the signal transmission delay of the base station Y and the base station J, and the signal flight time between the base station Y and the base station J and the The signal transmission time delay of the base station Y and the base station J determines the data frame transmission time difference between the base station Y and the base station J, and determines the local end according to the time when the data frame Y is received and the time when the data frame J is received The data frame X receiving time difference of the device, and the distance difference between the first distance and the second distance is determined 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. The distance is the distance between the tag device and the base station Y, and the second distance is the distance between the tag device and the base station J;

B. The tag device obtains the time slot number of the data frame Y carried in the data frame Y and the position of the base station Y, and obtains the time slot number of the data frame K carried in the data frame K And the own position of the base station K, and calculate the signal flight time between the base station Y and the base station K according to the own position of the base station Y and the own position of the base station K, and according to the data frame Y The time slot number of the data frame K and the time slot number of the data frame K determine the signal transmission delay of the base station Y and the base station K, and the signal flight time between the base station Y and the base station K and the The signal transmission time delay of the base station Y and the base station K determines the data frame transmission time difference between the base station Y and the base station K, and determines the local end according to the time when the data frame Y is received and the time when the data frame K is received The data frame Y reception time difference of the device, and the distance difference between the first distance and the third distance is determined according to the data frame Y reception time difference and the data frame transmission time difference between the base station Y and the base station K, The third distance is the distance between the tag device and the base station K;

C. The tag device obtains the time slot number of the data frame J carried in the data frame J and the position of the base station J itself, and obtains the time slot number of the data frame K carried in the data frame K And the own position of the base station K, and calculate the signal flight time between the base station J and the base station K according to the own position of the base station J and the own position of the base station K, and according to the data frame J The time slot number of the data frame K and the time slot number of the data frame K determine the signal transmission delay of the base station J and the base station K, and the signal flight time between the base station J and the base station K and the The signal transmission delay of the base station J and the base station K determines the data frame transmission time difference between the base station J and the base station K, and determines the local end according to the time when the data frame J is received and the time when the data frame K is received The data frame J receiving time difference of the device, and determining the distance difference 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;

The tag device determines the location of the tag device based on the at least two distance differences, the location of the base station Y, the location of the base station J, and the location of the base station K.

Consistent with the foregoing embodiment, the base stations in the positioning service system 10 shown in FIG. 1H may specifically include base station Y, base station J, and base station K, where:

The base station Y is used for broadcasting data frame Y;

The base station J is used to broadcast a data frame J;

The base station K is used to broadcast a data frame K;

In a possible example, the base station X is specifically configured to: listen to data frames within a preset time period, and listen to the data frame Y of the base station Y, the data frame J of the base station J, and the base station A data frame K of K, the preset time period is a continuous preset number of positioning service periods, and the positioning service period is a working period of the positioning service system;

And configure its own time slot number according to the time slot occupancy of the data frame Y, the data frame J, and the data frame K.

In a possible example, the positioning service system further includes a base station Z;

The base station X is also used to receive the data frame Z of the base station Z, and determine that its own time slot number is the same as the time slot number carried in the data frame Z; delete its own time slot number, and pass the preset Condition triggers the reconfiguration process; or, 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 the time slot of the base station X and the positioning service system The time slot of a certain base station conflicts; if it detects a conflict test response message, it deletes its own time slot number, and triggers the reconfiguration process through preset conditions.

In a possible example, the base station X is specifically configured to: receive the data frame of the at least one base station; extract the time slot number report of each data frame in the data frame of the at least one base station, and the time slot number The report includes the corresponding relationship between the equipment number of the base station and the time slot number; the time slot number of the at least one base station is determined according to the at least one time slot number report of the at least one base station.

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

In a possible example, the base station X is specifically configured to perform 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 its own position.

In a possible example, the tagging device 100 is also used to determine multiple indoor navigation paths according to the position of the self and the target position on a different floor from the position of the self; to calculate the floor-related path in each navigation path According to the estimated time consumption of the floor-related paths in each navigation path, determine the estimated duration of each navigation path; select the estimated time Navigate with the shortest indoor navigation path.

Wherein, the target location may be a specific coordinate location, or may be a shop location, an elevator door location, etc. entered by the user, which is not uniquely limited here.

In the specific implementation, as shown in Figure 2E, when user A and user B enable the indoor navigation function on the mobile phone to quickly locate and navigate, they are often in a mobile state, that is, the traditional navigation mechanism for static destinations does not match. This usage scenario cannot be accurately adapted. For example, the destination location set by user B is shop C, and user A’s mobile phone uses shop C as the destination location for navigation. User B may have visited shop D from shop C, so user A and user B's mobile phone can set the following mechanism to adapt to the current usage scenario.

If user B’s current floor has not been changed, user B’s mobile phone can cache user B’s walking record on the current floor. The walking record can include store information. When user A’s mobile phone reaches the original location of store C, user B’s mobile phone will walk The record is pushed to the mobile phone of user A, and the navigation continues until they meet.

If user B’s current floor changes, that is, user B has walked to another floor during user A’s navigation, user B’s mobile phone should send the floor change information as target location change information to user A’s mobile phone to update the target location in real time , So that user A's mobile phone can obtain the updated floor location in time to plan a new navigation path, avoiding more time delay.

In this possible example, in terms of calculating the estimated time consumption of the floor-related path in each navigation path, the tagging device 100 is specifically configured to: determine that the floor-related path of the currently processed indoor navigation path is a straight elevator Path; call the pre-trained straight stair path time-consuming prediction model; determine the model input data according to the identity of the target mall where you are located and the current system time; input the model into the data data and the straight stair path time-consuming prediction model to obtain The time consuming of the straight ladder path.

Among them, the time-consuming prediction model of the straight ladder path can be pre-trained by the cloud server based on sample data, and the model can be implemented by using a convolutional neural network, etc., which is not uniquely limited here.

In this possible example, the mechanism for determining the target location includes the following steps: the label device 100 receives the name of the target store input by the user; The reference base station whose name matches; and use the position of the reference base station as the target position.

Among them, the UWB positioning described in the embodiments of this application can be divided into precise positioning (three-dimensional positioning, two-dimensional positioning, one-dimensional positioning) and presence positioning. The corresponding base stations can be divided into precise positioning base stations and presence positioning base stations. The reference base station may be a presence location base station.

In this possible example, the position of the reference base station itself is associated with any one of the following reference positions of the target store: a house number position, a cash register position, and an entrance/exit position.

In view of the fact that the purpose of setting the existing positioning base station is to facilitate the user to quickly determine the location, the location is preferably a location area that the user is generally familiar with or well-known. Therefore, selecting the house number location, the cash register location, and the entrance and exit location are convenient for the user to quickly and accurately locate.

In this possible example, the tag device 100 is further configured to highlight the reference location of the store associated with the reference base station on the current first interface when detecting that it has entered the signal coverage area of the reference base station; And interact with the reference base station to trigger the reference base station to emit a prompt tone.

Among them, the tagging device 100 can display an indoor three-dimensional navigation map, and the highlighted display can be a shop sign or an area boundary, etc., which is not uniquely limited here. The highlight display can prompt the user to look up to find the location of the store in time to avoid missing the target location.

In a possible example, the tag device is further configured to analyze the crowd density of the area where the tag device is currently located when it is detected that the multiple base stations are all accurately positioned base stations; and according to the crowd density The degree of dynamic selection of the base station least affected by obstructions for positioning.

In specific implementation, the crowd density in each area of the shopping mall can be based on big data statistical analysis to get the crowd density at different times. The higher the crowd density, the more it is necessary to select the broadcast data frame of the base station with less hand occlusion for positioning to improve positioning Accuracy. When all base stations are affected by different degrees, they should be prioritized according to the degree of impact, and high-priority base stations should be selected for positioning.

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

It can be seen that in this example, the tag device can dynamically select base stations based on crowd density to improve positioning accuracy and meet the positioning needs of complex crowd environments.

The embodiment of the present application provides a positioning service device, and the positioning service device may be a base station 200. Specifically, the positioning service device is used to execute the steps performed by the base station X in the above positioning service method. The positioning service device provided in the embodiment of the present application may include modules corresponding to corresponding steps.

The embodiment of the present application may divide the positioning service device into functional modules according to the foregoing method examples. 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 above-mentioned integrated modules can be implemented in the form of hardware or software function modules. The division of modules in the embodiments of the present application is illustrative, and is only a logical function division, and there may be other division methods in actual implementation.

In the case of dividing each functional module corresponding to each function, FIG. 7 shows a possible structural schematic diagram of the positioning service device involved in the foregoing embodiment. As shown in FIG. 7, the positioning service device 7 includes a configuration unit 70, a surveying and mapping unit 71, and a broadcasting unit 72.

The configuration unit 70 is configured to monitor the data frame of at least one base station of the positioning service system to implement the configuration of its own time slot number;

The surveying and mapping unit 71 is configured to perform data interaction with at least three base stations of the positioning service system to realize automatic surveying and mapping of its own position;

The broadcasting unit 72 is configured to broadcast a data frame X according to its own time slot number and the own position to join the positioning service system. The positioning service means that the target device broadcasts by receiving any M base stations of the positioning service system To determine its own position, the target device is a base station or a tag device, and M is an integer greater than or equal to 3.

In a possible example, the positioning service system includes base station Y, base station J, and base station K; in terms of monitoring data frames of at least one base station of the positioning service system to configure its own time slot number, so The configuration unit 70 is specifically configured to: listen to data frames within a preset time period, and listen to the data frame Y of the base station Y, the data frame J of the base station J, and the data frame K of the base station K, so The preset time period is a continuous preset number of positioning service cycles, and the positioning service cycle is the working cycle of the positioning service system; and according to the time of the data frame Y, the data frame J, and the data frame K The slot occupancy status configures its own time slot number.

In a possible example, the positioning service system further includes a base station Z; the apparatus further includes

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

The first deleting unit is used to delete its own time slot number and trigger the reconfiguration process through preset conditions; or,

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

The second deleting unit is configured to delete its own time slot number if the conflict test response message is detected, and trigger the reconfiguration process through preset conditions.

In a possible example, in terms of implementing the configuration of its own time slot number by listening to the data frame of at least one base station of the positioning service system, the configuration unit 70 is specifically configured to: receive the data frame of the at least one base station. Data frame; and extracting the time slot number report of each data frame in the data frame of the at least one base station, the time slot number report including the corresponding relationship between the equipment number of the base station and the time slot number; and according to the at least one base station At least one of the time slot number report to determine its own time slot number.

In a possible example, in terms of data interaction with at least three base stations of the positioning service system to realize automatic mapping of its own position, the surveying and mapping unit 71 is specifically configured to: according to the reverse time difference of arrival RTDOA algorithm and the said At least three base stations of the positioning service system exchange data to realize automatic mapping of their own positions.

In a possible example, in terms of data interaction with at least three base stations of the positioning service system according to the reverse time difference of arrival RTDOA algorithm to realize automatic mapping of its own position, the surveying and mapping unit 71 is specifically configured to: perform step A , B, C at least two, get at least two distance differences;

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

In a possible example, in terms of data interaction with at least three base stations of the positioning service system according to the preset unilateral two-way ranging SS-TWR algorithm to realize automatic mapping of its own position, the surveying and mapping unit specifically uses In: broadcasting a first ranging message, while recording the transmission 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 the base station The fourth ranging message of K, the second ranging message includes the time when the base station Y receives the first ranging message and the time when the second ranging message is sent, and the third ranging message includes The time when the base station J receives the first ranging message and the time when the third ranging message is sent, and the fourth ranging message includes the time when the base station K receives the first ranging message and the time when the first ranging message is sent. The time of the fourth ranging message; and according to the sending time of the first ranging message, the time at which the base station Y receives the first ranging message in the second ranging message, and the time when the first ranging message is sent 2. The time of the ranging message, the time when the base station X receives the second ranging message, determine the distance between the base station X and the base station Y; and according to the transmission time of the first ranging message, the In the third ranging message, the time when the base station J received the first ranging message and the time when the third ranging message was sent, and the time when the base station X received the third ranging message, determine the The distance between the base station X and the base station J; and according to the transmission time of the first ranging message, the time at which the base station K receives the first ranging message in the fourth ranging message, and the transmission of the first ranging message 4. The time of the ranging message, the time when the base station X receives the fourth ranging message, determine the distance between the base station X and the base station K; and according to the distance between the local device and the base station Y, the local terminal The distance between the device and the base station J and the distance between the local device and the base station K are calculated.

Among them, all relevant content of the steps involved in the above method embodiments can be cited in the functional description of the corresponding functional module, which will not be repeated here. Of course, the location service device provided by the embodiment of the present application includes but is not limited to the above-mentioned modules. For example, the location service device may further include a storage unit 73. The storage unit 73 may be used to store the program code and data of the positioning service device.

In the case of adopting an integrated unit, a schematic structural diagram of the positioning service device provided in an embodiment of the present application is shown in FIG. 8. In FIG. 8, the location service device 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 positioning service device, for example, to execute the steps performed by the configuration unit 70, the surveying and mapping unit 71, and the broadcasting unit 72, and/or for performing other processes of the technology described herein. The communication module 81 is used to support the interaction between the positioning 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 to store the program code and data of the location service device, for example, store the content stored in the storage unit 73 described above.

The processing module 80 may be a processor or a controller, for example, a central processing unit (CPU), a general-purpose processor, a digital signal processor (Digital Signal Processor, DSP), an ASIC, an FPGA, or other programmable processors. Logic devices, transistor logic devices, hardware components, or any combination thereof. It can implement or execute various exemplary logical blocks, modules, and circuits described in conjunction with the disclosure of this application. The processor may also be a combination for realizing computing functions, for example, including a combination of one or more microprocessors, a combination of a DSP and a microprocessor, and so on. The communication module 81 may be a transceiver, an RF circuit, a communication interface, or the like. The storage module 82 may be a memory.

Among them, all relevant content of each scene involved in the foregoing method embodiment can be cited in the functional description of the corresponding functional module, which will not be repeated here.

An embodiment of the present application also provides a computer storage medium, wherein the computer storage medium stores a computer program for electronic data exchange, and the computer program enables a computer to execute part or all of the steps of any method as described in the above method embodiment , The above-mentioned computer includes electronic equipment.

The embodiments of the present application also provide a computer program product. The above-mentioned computer program product includes a non-transitory computer-readable storage medium storing a computer program. The above-mentioned computer program is operable to cause a computer to execute any of the methods described in the above-mentioned method embodiments. Part or all of the steps of the method. The computer program product may be a software installation package, and the above-mentioned computer includes electronic equipment.

It should be noted that for the foregoing method embodiments, for the sake of simple description, they are all expressed as a series of action combinations, but those skilled in the art should know that this application is not limited by the described sequence of actions. Because according to this application, certain steps can be performed in other order or at the same time. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by this application.

In the above-mentioned embodiments, the description of each embodiment has its own focus. For parts that are not described in detail in an embodiment, reference may be made to related descriptions of other embodiments.

In the several embodiments provided in this application, it should be understood that the disclosed device may be implemented in other ways. For example, the device embodiments described above are merely illustrative, for example, the division of the above-mentioned units is only a logical function division, and there may be other divisions in actual implementation, for example, multiple units or components can be combined or integrated. To another system, or some features can be ignored, or not implemented. In addition, the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, devices or units, and may be in electrical or other forms.

The units described above as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the objectives of the solutions of the embodiments.

In addition, the functional units in the various embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or software functional unit.

If the aforementioned integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer readable memory. Based on this understanding, the technical solution of the present application essentially or the part that contributes to the existing technology or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a memory, A number of instructions are included to enable a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the foregoing methods of the various embodiments of the present application. The aforementioned memory includes: U disk, Read-Only Memory (ROM, Read-Only Memory), Random Access Memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program codes.

Those of ordinary skill in the art can understand that all or part of the steps in the various methods of the above-mentioned embodiments can be completed by a program instructing relevant hardware. The program can be stored in a computer-readable memory, and the memory can include: a flash disk , Read-only memory (English: Read-Only Memory, abbreviation: ROM), random access device (English: Random Access Memory, abbreviation: RAM), magnetic disk or optical disc, etc.

The embodiments of the application are described in detail above, and specific examples are used in this article to illustrate the principles and implementation of the application. The descriptions of the above examples are only used to help understand the methods and core ideas of the application; at the same time, for Persons of ordinary skill in the art, based on the idea of the application, will have changes in the specific implementation and the scope of application. In summary, the content of this specification should not be construed as limiting the application.

Claims

A positioning service method, characterized in that it is applied to a base station X to be added to a positioning service system, and the method includes:

The base station X implements the configuration of its own time slot number by listening to the data frame of at least one base station of the positioning service system;

The base station X exchanges data with at least three base stations of the positioning service system to realize automatic mapping of its own position;

The base station X broadcasts a data frame X according to its own time slot number and its own location to join the positioning service system. The positioning service refers to the data broadcast by the target device by receiving any M base stations of the positioning service system Frame to determine its position, the target device is a base station or a tag device, and M is an integer greater than or equal to 3.
The method according to claim 1, wherein the positioning service system includes a base station Y, a base station J, and a base station K; the base station X listens to a data frame of at least one base station of the positioning service system to realize itself The configuration of the time slot number includes:

The base station X listens to the data frame within a preset time period, and listens to the data frame Y of the base station Y, the data frame J of the base station J, and the data frame K of the base station K. The preset time period Is a continuous preset number of positioning service periods, where the positioning service period is a working period of the positioning service system;

The base station X configures its own time slot number according to the time slot occupancy of the data frame Y, the data frame J, and the data frame K.
The method according to claim 2, wherein the positioning service system further comprises a base station Z; and the method further comprises:

The base station X receives the data frame Z of the base station Z, and determines that its own time slot number is the same as the time slot number carried in the data frame Z;

The base station X deletes its own time slot number and triggers the reconfiguration process through preset conditions; or,

The base station X broadcasts a conflict test request message and a listening conflict test response message according to its own time slot number. The conflict test response message is used to indicate that the time slot of the base station X is related to the location service system. The time slot of the base station conflicts;

If the conflict test response message is heard, the time slot number of its own is deleted, and the reconfiguration process is triggered by the preset condition.
The method according to claim 1, wherein the base station X implements its own time slot number configuration by listening to the data frame of at least one base station of the positioning service system, comprising:

The base station X receives the 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 frame of the at least one base station, where the time slot number report includes the correspondence between the device number of the base station and the time slot number;

The base station X determines its own time slot number according to at least one time slot number report of the at least one base station.
The method according to any one of claims 1 to 4, wherein the base station X performs data exchange with at least three base stations of the positioning service system to realize automatic mapping of its own position, comprising:

The base station X performs data interaction with at least three base stations of the positioning service system according to the reverse time difference of arrival RTDOA algorithm to realize automatic mapping of its own position.
The method according to claim 5, wherein the base station X performs data exchange with at least three base stations of the positioning service system according to the reverse time difference of arrival (RTDOA) algorithm to realize automatic mapping of its own position, comprising:

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

A. The base station X obtains the time slot number of the data frame Y carried in the data frame Y and the position of the base station Y, and obtains the time slot number of the data frame J carried in the data frame J And the own position of the base station J, and calculate the signal flight time between the base station Y and the base station J according to the own position of the base station Y and the own position of the base station J, and according to the data frame Y The time slot number of the data frame J and the time slot number of the data frame J determine the signal transmission delay of the base station Y and the base station J, and the signal flight time between the base station Y and the base station J and the The signal transmission time delay of the base station Y and the base station J determines the data frame transmission time difference between the base station Y and the base station J, and determines the local end according to the time when the data frame Y is received and the time when the data frame J is received The data frame X receiving time difference of the device, and the distance difference between the first distance and the second distance is determined 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. The 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 obtains the time slot number of the data frame Y carried in the data frame Y and the position of the base station Y, and obtains the time slot number of the data frame K carried in the data frame K And the own position of the base station K, and calculate the signal flight time between the base station Y and the base station K according to the own position of the base station Y and the own position of the base station K, and according to the data frame Y The time slot number of the data frame K and the time slot number of the data frame K determine the signal transmission delay of the base station Y and the base station K, and the signal flight time between the base station Y and the base station K and the The signal transmission time delay of the base station Y and the base station K determines the data frame transmission time difference between the base station Y and the base station K, and determines the local end according to the time when the data frame Y is received and the time when the data frame K is received The data frame Y reception time difference of the device, and the distance difference between the first distance and the third distance is determined according to the data frame Y reception time difference and the data frame transmission time difference between the base station Y and the base station K, The third distance is the distance between the base station X and the base station K;

C. The base station X obtains the time slot number of the data frame J carried in the data frame J and the position of the base station J itself, and obtains the time slot number of the data frame K carried in the data frame K And the own position of the base station K, and calculate the signal flight time between the base station J and the base station K according to the own position of the base station J and the own position of the base station K, and according to the data frame J The time slot number of the data frame K and the time slot number of the data frame K determine the signal transmission delay of the base station J and the base station K, and the signal flight time between the base station J and the base station K and the The signal transmission delay of the base station J and the base station K determines the data frame transmission time difference between the base station J and the base station K, and determines the local end according to the time when the data frame J is received and the time when the data frame K is received The data frame J receiving time difference of the device, and determining the distance difference 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;

The base station X determines the position of the base station X based on 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.
The method according to any one of claims 1 to 4, wherein the base station X performs data exchange with at least three base stations of the positioning service system to realize automatic mapping of its own position, comprising:

The base station X performs 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 its own position.
The method according to claim 7, characterized in that the base station X performs data exchange 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 position detection. Surveying and mapping, including:

The base station X broadcasts the first ranging message and at the same time 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, where the second ranging message includes the base station Y the time when the first ranging message is received and the time when the second ranging message is sent, and the third ranging message includes the time when the base station J receives the first ranging message and the time when the first ranging message is sent. 3. Time of the ranging message, where the fourth ranging message includes the time when the base station K receives the first ranging message and the time when the fourth ranging message is sent;

The base station X according to the sending time of the first ranging message, the time at which the base station Y receives the first ranging message and the time at which the second ranging message is sent in the second ranging message, Determining the distance between the base station X and the base station Y when the base station X receives the second ranging message;

The base station X according to the sending time of the first ranging message, the time at which the base station J receives the first ranging message and the time at which the third ranging message is sent in the third ranging message, The time when the base station X receives the third ranging message, and determines the distance between the base station X and the base station J;

The base station X according to the sending time of the first ranging message, the time at which the base station K receives the first ranging message and the time at which the fourth ranging message is sent in the fourth ranging message, Determine the distance between the base station X and the base station K when the base station X receives the fourth ranging message;

The base station X calculates its position based on the distance between the local device and the base station Y, the distance between the local device and the base station J, and the distance between the local device and the base station K.
The method according to any one of claims 1-8, wherein the positioning 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 of each other, and the The timeslot number of the base station X is the same as the timeslot number supported by the base station L.
A positioning service method is characterized in that it includes:

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

The base station Y configures its own time slot number according to a preset rule;

The base station Y obtains location calibration information, and determines its own location according to the location calibration information;

The base station Y broadcasts the data frame Y according to the time slot number and the position of the base station Y.
A positioning service method is characterized in that it includes:

The base station J listens to the data frame of the preset frequency band in the current space within the preset time period, and listens to the data frame Y of the base station Y;

The base station J configures its own time slot number according to the time slot occupancy of the data frame Y;

The base station J obtains location calibration information, and determines its own location according to the location calibration information;

The base station J broadcasts the data frame J according to the time slot number and the position of the base station J.
A positioning service method is characterized in that it includes:

The base station K listens to the data frame of the preset frequency band in the current space within the preset time period, and listens to the data frame Y of the base station Y and the data frame J of the base station J;

The base station K configures its own time slot number according to the time slot occupancy of the data frame Y and the data frame J;

The base station K obtains location calibration information, and determines its own location according to the location calibration information;

The base station K broadcasts the data frame J according to the time slot number and the position of the base station K.
A positioning service method is characterized in that it includes:

The tag device receives data frames broadcast by any M base stations of the location service system, where M is an integer greater than or equal to 3, where the base station is a hot-pluggable device of the location service system used in indoor scenarios;

The tag device determines its position according to the data frames broadcast by the arbitrary M base stations.
The method according to claim 13, wherein the tag device determining its position according to the data frames broadcast by the any M base stations comprises:

The tag device performs data interaction with at least M base stations of the positioning service system according to the RTDOA algorithm to realize automatic mapping of its own position.
The method according to claim 14, wherein M is 3, and the arbitrary M base stations include base station Y, base station J, and base station K in the positioning service system; the tag device communicates with the base station according to the RTDOA algorithm. At least M base stations of the positioning service system perform data interaction to realize automatic mapping of their own position, including:

The tag device listens to the data frame Y of the base station Y, listens to the data frame J of the base station J, and listens to the data frame K of the base station K;

The label device performs at least two of steps A, B, and C to obtain at least two distance differences;

A. The tag device obtains the time slot number of the data frame Y carried in the data frame Y and the position of the base station Y, and obtains the time slot number of the data frame J carried in the data frame J And the own position of the base station J, and calculate the signal flight time between the base station Y and the base station J according to the own position of the base station Y and the own position of the base station J, and according to the data frame Y The time slot number of the data frame J and the time slot number of the data frame J determine the signal transmission delay of the base station Y and the base station J, and the signal flight time between the base station Y and the base station J and the The signal transmission time delay of the base station Y and the base station J determines the data frame transmission time difference between the base station Y and the base station J, and determines the local end according to the time when the data frame Y is received and the time when the data frame J is received The data frame X receiving time difference of the device, and the distance difference between the first distance and the second distance is determined 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. The distance is the distance between the tag device and the base station Y, and the second distance is the distance between the tag device and the base station J;

B. The tag device obtains the time slot number of the data frame Y carried in the data frame Y and the position of the base station Y, and obtains the time slot number of the data frame K carried in the data frame K And the own position of the base station K, and calculate the signal flight time between the base station Y and the base station K according to the own position of the base station Y and the own position of the base station K, and according to the data frame Y The time slot number of the data frame K and the time slot number of the data frame K determine the signal transmission delay of the base station Y and the base station K, and the signal flight time between the base station Y and the base station K and the The signal transmission time delay of the base station Y and the base station K determines the data frame transmission time difference between the base station Y and the base station K, and determines the local end according to the time when the data frame Y is received and the time when the data frame K is received The data frame Y reception time difference of the device, and the distance difference between the first distance and the third distance is determined according to the data frame Y reception time difference and the data frame transmission time difference between the base station Y and the base station K, The third distance is the distance between the tag device and the base station K;

C. The tag device obtains the time slot number of the data frame J carried in the data frame J and the position of the base station J itself, and obtains the time slot number of the data frame K carried in the data frame K And the own position of the base station K, and calculate the signal flight time between the base station J and the base station K according to the own position of the base station J and the own position of the base station K, and according to the data frame J The time slot number of the data frame K and the time slot number of the data frame K determine the signal transmission delay of the base station J and the base station K, and the signal flight time between the base station J and the base station K and the The signal transmission delay of the base station J and the base station K determines the data frame transmission time difference between the base station J and the base station K, and determines the local end according to the time when the data frame J is received and the time when the data frame K is received The data frame J receiving time difference of the device, and determining the distance difference 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;

The tag device determines the location of the tag device based on the at least two distance differences, the location of the base station Y, the location of the base station J, and the location of the base station K.
A positioning service system, characterized in that it includes base station Y, base station J, and base station K, wherein:

The base station X to be added to the positioning service system is used to monitor the data frame of at least one of the base station Y, the base station J, and the base station K to implement the configuration of its own time slot number; and The base station Y, the base station J, and the base station K exchange data to realize automatic mapping of their own position; broadcast data frame X according to their own time slot number and the own position to join the positioning service system, and the positioning Service means that the target device determines its 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;

The base station Y is used for broadcasting data frame Y;

The base station J is used to broadcast a data frame J;

The base station K is used to broadcast a data frame K;

The target device is configured to receive data frames broadcast by any M base stations of the positioning service system, and determine its own position according to the data frames broadcast by the any M base stations.
The system according to claim 16, wherein the base station X is specifically configured to: listen to data frames within a preset time period, and listen to data frames Y of the base station Y and data of the base station J For frame J and the data frame K of the base station K, the preset time period is a continuous preset number of positioning service periods, and the positioning service period is a working period of the positioning service system;

And configure its own time slot number according to the time slot occupancy of the data frame Y, the data frame J, and the data frame K.
The system according to claim 17, wherein the positioning service system further comprises a base station Z;

The base station X is also used to receive the data frame Z of the base station Z, and determine that its own time slot number is the same as the time slot number carried in the data frame Z; delete its own time slot number, and pass the preset The condition triggers the reconfiguration process; or, broadcasts a conflict test request message according to its own time slot number, and listens to a conflict test response message, the conflict test response message is used to indicate the time slot of the base station X and the positioning service system The time slot of a certain base station conflicts; if it detects a conflict test response message, it deletes its own time slot number, and triggers the reconfiguration process through preset conditions.
The system according to claim 16, wherein the base station X is specifically configured to: receive the data frame of the at least one base station; extract the time slot number report of each data frame in the data frame of the at least one base station The time slot number report includes the corresponding relationship between the equipment number of the base station and the time slot number; and the time slot number of itself is determined according to the at least one time slot number report of the at least one base station.
The system according to any one of claims 16-19, wherein the base station X is specifically configured to: perform data exchange with at least three base stations of the positioning service system according to the reverse time difference of arrival RTDOA algorithm to realize itself Automatic mapping of location.
The system according to any one of claims 16-19, wherein the base station X is specifically configured to: interact with at least three base stations of the positioning service system according to a preset unilateral two-way ranging SS-TWR algorithm Perform data interaction to realize automatic mapping of its own position.
The system according to any one of claims 16-20, wherein the positioning 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 of each other, and the The time slot number of the base station X is the same as the time slot number supported by the base station L.
The system according to claim 22, wherein the tag device is further configured to determine multiple indoor navigation paths according to the position of the self and the target position on a different floor from the position of the self; and calculate each navigation path The estimated time consumption of the floor-associated path in the, the floor-associated path includes a straight escalator path, an escalator path, and a stair path; the estimated time-consuming of each navigation path is determined according to the estimated time consuming of the floor-associated path in each navigation path Estimated duration; select the indoor navigation path with the shortest estimated duration for navigation.
The system according to claim 23, characterized in that, in terms of calculating the estimated time consumption of the floor-related path in each navigation path, the tagging device is specifically configured to: determine the floor of the currently processed indoor navigation path The associated path is a straight ladder path; call the pre-trained straight ladder path time-consuming prediction model; determine the model input data according to the identity of the target mall where you are located and the current system time; input the model into the data data the straight ladder path consumption Time prediction model to obtain the time consumption of the straight ladder path.
The system according to claim 23 or 24, wherein the mechanism for determining the target position comprises the following steps:

The tag device receives the name of the target store input by the user; and queries the pre-stored indoor map of the target mall according to the name, and obtains a reference base station matching the name; and uses the position of the reference base station as the target location.
The system according to claim 25, wherein the own location of the reference base station is associated with any one of the following reference locations of the target store:

House number position, cash register position, entrance and exit position.
The system according to claim 26, wherein the tag device is further configured to, when detecting that it enters the signal coverage area of the reference base station, highlight the information associated with the reference base station on the current first interface. The reference location of the store; and interacting with the reference base station to trigger the reference base station to emit a prompt tone.
A positioning service device, characterized in that it comprises

The configuration unit is configured to monitor the data frame of at least one base station of the positioning service system to realize the configuration of its own time slot number;

The surveying and mapping unit is used for data interaction with at least three base stations of the positioning service system to realize automatic surveying and mapping of its own position;

The broadcasting unit is used to broadcast a data frame X according to its own time slot number and its own location to join the positioning service system. The positioning service refers to the broadcast by the target device through receiving any M base stations of the positioning service system The data frame determines its position, the target device is a base station or a tag device, and M is an integer greater than or equal to 3.
An electronic device, characterized by comprising a processor, a memory, a communication interface, and one or more programs, the one or more programs are stored in the memory and configured to be executed by the processor, The program includes instructions for performing the steps in the method according to any one of claims 1-15.
A computer-readable storage medium, characterized by storing a computer program for electronic data exchange, wherein the computer program causes a computer to execute the method according to any one of claims 1-15.