CN110221243A - A kind of localization method and system of communication network - Google Patents

A kind of localization method and system of communication network Download PDF

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Publication number
CN110221243A
CN110221243A CN201810176047.1A CN201810176047A CN110221243A CN 110221243 A CN110221243 A CN 110221243A CN 201810176047 A CN201810176047 A CN 201810176047A CN 110221243 A CN110221243 A CN 110221243A
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China
Prior art keywords
radio frames
base station
terminal
high frequency
frequency range
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CN201810176047.1A
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Chinese (zh)
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CN110221243B (en
Inventor
陶震
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Alibaba Group Holding Ltd
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Alibaba Group Holding Ltd
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Priority to CN201810176047.1A priority Critical patent/CN110221243B/en
Priority to TW107140356A priority patent/TWI785145B/en
Priority to PCT/CN2019/075316 priority patent/WO2019165899A1/en
Publication of CN110221243A publication Critical patent/CN110221243A/en
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/0009—Transmission of position information to remote stations
    • G01S5/0045—Transmission from base station to mobile station
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/08—Position of single direction-finder fixed by determining direction of a plurality of spaced sources of known location
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Mobile Radio Communication Systems (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

The embodiment of the present application provides the localization method and system of a kind of communication network, which comprises server determines one or more first base stations；The first base station passes through the first high frequency range finder module of itself, sends distance measurement request radio frames to the second high frequency range finder module of terminal；The terminal passes through the second high frequency range finder module of itself, and the first high frequency range finder module of Xiang Suoshu first base station sends the ranging response radio frames for being directed to the distance measurement request radio frames；The first base station passes through the first high frequency range finder module of itself, the range information of the first base station Yu the terminal is calculated using the ranging response radio frames, and send server for the range information；The server uses the range information of each first base station and the terminal, calculates the position of the terminal.The method positioned in the embodiment of the present application by high frequency range finder module, can be improved positioning accuracy.

Description

A kind of localization method and system of communication network
Technical field
This application involves fields of communication technology, localization method and a kind of communication network more particularly to a kind of communication network Positioning system.
Background technique
Technology of Internet of things is the third time information technology revolution after computer and internet, has real-time and interaction The advantages that property, multiple necks such as city management, digital home, location navigation, logistics management, security system have been widely used in it Domain.Wherein, LoRa is a kind of overlength distance transmission plan based on spread spectrum in Internet of Things, has long transmission distance, low function The characteristics such as consumption, multinode and low cost.
Positioning is the important application of LoRa network.But locating scheme at present on the market is not only expensive, but also positions Precision is very low (70 meters or more).Which results in LoRa network positions function delay to put into it is practical.
Summary of the invention
In view of the above problems, it proposes the embodiment of the present application and overcomes the above problem or at least partly in order to provide one kind A kind of localization method of the communication network to solve the above problems and a kind of corresponding positioning system of communication network.
To solve the above-mentioned problems, the embodiment of the present application discloses a kind of localization method of communication network, wherein described logical Communication network includes: server, the base station with the first high frequency range finder module, and the terminal with the second high frequency range finder module, The described method includes:
The server determines one or more first base stations；
The first base station passes through the first high frequency range finder module of itself, sends and surveys to the second high frequency range finder module of terminal Away from request radio frames；
The terminal passes through the second high frequency range finder module of itself, the first high frequency range finder module hair of Xiang Suoshu first base station Send the ranging response radio frames for the distance measurement request radio frames；
The first base station passes through the first high frequency range finder module of itself, using described in ranging response radio frames calculating The range information of first base station and the terminal, and server is sent by the range information；
The server uses the range information of each first base station and the terminal, calculates the position of the terminal.
Preferential, it include the second identifier information for distance measurement request radio frames in the distance measurement request radio frames；
The terminal passes through the second high frequency range finder module of itself, the first high frequency range finder module hair of Xiang Suoshu first base station The step of sending the ranging response radio frames for the distance measurement request radio frames include:
The terminal is by the first identifier information for the distance measurement request radio frames obtained in advance with described for survey Second identifier information away from request radio frames is compared；
If they are the same, then the terminal passes through itself the second high frequency range finder module, the first high frequency of Xiang Suoshu first base station Range finder module sends the ranging response radio frames for being directed to the distance measurement request radio frames.
Preferential, further includes:
The server determines the second base station, and sends positioning command request message to the second base station；The positioning command Request message includes the first identifier information for distance measurement request radio frames；
According to positioning command request message, Xiang Suoshu terminal sends Location Request radio frames, described fixed for second base station Position request radio frames include the first identifier information for being directed to distance measurement request radio frames.
Preferential, the first base station is that the base station of positioning command response message, the side are sent to the server Method further include:
The terminal is after receiving the Location Request radio frames, broadcast positioning response radio frames；
The one or more base stations for receiving the positioning response radio frames, according to the positioning response radio frames to described Server sends positioning command response message.
Preferential, further includes:
The server sends ranging command request message to the first base station；The ranging command request message package Include the second identifier information for distance measurement request radio frames；
The first base station is wireless using the second identifier information generation distance measurement request for distance measurement request radio frames Frame.
Preferential, the terminal broadcasts the step of positioning response radio frames after receiving the Location Request radio frames Include:
For the terminal after receiving the Location Request radio frames, it is fixed to be broadcasted by the second high frequency range finder module of itself Position response radio frames；
The method further include:
One or more base stations pass through the first high frequency range finder module of itself, receive the positioning response radio frames.
Preferential, the base station further includes the first LF communication module, and the terminal further includes the second LF communication module；
Second base station to the terminal send Location Request radio frames the step of include:
Second base station passes through the first LF communication module of itself, the second LF communication module hair of Xiang Suoshu terminal Send Location Request radio frames.
Preferential, the terminal broadcasts the step of positioning response radio frames after receiving the Location Request radio frames Include:
For the terminal after receiving the Location Request radio frames, it is fixed to be broadcasted by the second LF communication module of itself Position response radio frames；
The method further include:
One or more base stations pass through the first LF communication module of itself, receive the positioning response radio frames.
Preferential, the first base station passes through the first high frequency range finder module of itself, using the ranging response radio frames, The step of calculating the range information of the first base station and the terminal include:
The first base station passes through the first high frequency range finder module of itself, when determining the transmission for sending distance measurement request radio frames Between, and determine the receiving time for receiving the ranging response radio frames；
The first base station passes through the first high frequency range finder module of itself, using the sending time and the receiving time Calculate the range information of itself and the terminal of the first base station.
Disclosed herein as well is a kind of positioning systems of communication network, comprising: server has the first high frequency range finder module Base station, and the terminal with the second high frequency range finder module:
The server, for determining one or more first base station from the base station；
The first base station, for the first high frequency range finder module by itself, to the second high frequency range finder module of terminal Send distance measurement request radio frames；
The terminal, for the second high frequency range finder module by itself, the first high frequency ranging of Xiang Suoshu first base station Module sends the ranging response radio frames for being directed to the distance measurement request radio frames；
The first base station is also used to the first high frequency range finder module by itself, using the ranging response radio frames The range information of the first base station Yu the terminal is calculated, and sends server for the range information；
The server is also used to the range information using each first base station and the terminal, calculates the terminal Position.
Preferential, it include the second identifier information for distance measurement request radio frames in the distance measurement request radio frames；
The terminal, be also used to obtain in advance first identifier information for the distance measurement request radio frames with it is described It is compared for the second identifier information of distance measurement request radio frames；If they are the same, then the second high frequency ranging for passing through itself The first high frequency range finder module transmission of module, Xiang Suoshu first base station is wireless for the ranging response of the distance measurement request radio frames Frame.
Preferential, the server is also used to determine the second base station from the base station, and sends and position to the second base station Command request message；The positioning command request message includes the first identifier information for distance measurement request radio frames；
Second base station, for according to positioning command request message, Xiang Suoshu terminal to send Location Request radio frames, institute Stating Location Request radio frames includes the first identifier information for being directed to distance measurement request radio frames.
Preferential, the terminal is also used to after receiving the Location Request radio frames, and broadcast positioning response is wireless Frame；
Receive it is described positioning response radio frames one or more base stations, for according to the positioning response radio frames to The server sends positioning command response message；
The server is also used to the base station for sending the positioning command response message being determined as first base station.
Preferential, the server is also used to send ranging command request message to the first base station；The ranging Command request message includes the second identifier information for distance measurement request radio frames；
The first base station is also used to generate ranging using the second identifier information for distance measurement request radio frames and ask Seek radio frames.
Preferential, the terminal is also used to after receiving the Location Request radio frames, passes through the second high frequency of itself Range finder module broadcast positioning response radio frames；
The base station is also used to the first high frequency range finder module by itself, receives the positioning response radio frames.
Preferential, the base station further includes the first LF communication module, and the terminal further includes the second LF communication module；
Second base station, is also used to the first LF communication module by itself, and the second low frequency of Xiang Suoshu terminal is logical Believe that module sends Location Request radio frames.
Preferential, the terminal is also used to after receiving the Location Request radio frames, passes through the second low frequency of itself Communication module broadcast positioning response radio frames；
The base station is also used to the first LF communication module by itself, receives the positioning response radio frames.
Preferential, the first base station is also used to the first high frequency range finder module by itself, determines and sends distance measurement request The sending time of radio frames, and determine the receiving time for receiving the ranging response radio frames；It is high by itself first Frequency range finder module calculates the first base station itself at a distance from the terminal using the sending time and the receiving time Information.
Disclosed herein as well is a kind of devices, comprising:
One or more processors；With
One or more machine readable medias of instruction are stored thereon with, are executed when by one or more of processors When, so that described device executes one or more method as described above.
Disclosed herein as well is one or more machine readable medias, are stored thereon with instruction, when by one or more When managing device execution, so that device executes one or more method as described above.
The embodiment of the present application includes the following advantages:
In the embodiment of the present application, each first base station is by the first high frequency range finder module of itself to the second high of terminal Frequency range finder module sends distance measurement request radio frames, and terminal passes through first high frequency of the second high frequency range finder module to each first base station Range finder module returns to ranging response radio frames.Each first base station passes through the first high frequency range finder module of itself, according to away from response Radio frames calculate the range information of first base station and terminal, and server is determined according to the range information of each first base station and terminal The position of terminal.Compared with the existing method positioned by low frequency LoRa module, pass through height in the embodiment of the present application The method that frequency range finder module is positioned, can be improved positioning accuracy.
With GPS positioning technology ratio, GPS positioning can not support indoor positioning, and GPS positioning needs a longer time To search for GPS satellite.And the embodiment of the present application has the characteristics that real-time is high, supports indoor positioning.
Detailed description of the invention
Fig. 1 is a kind of step flow chart of the localization method embodiment 1 of communication network of the application；
Fig. 2 is a kind of step flow chart of the localization method embodiment 2 of communication network of the application；
Fig. 3 is a kind of step flow chart of the localization method embodiment 3 of communication network of the application；
Fig. 4 is a kind of flow chart of the localization method of LoRa network in the embodiment of the present application；
Fig. 5 is a kind of structural block diagram of the positioning system embodiment of communication network of the application.
Specific embodiment
In order to make the above objects, features, and advantages of the present application more apparent, with reference to the accompanying drawing and it is specific real Applying mode, the present application will be further described in detail.
LoRa network is made of terminal node, base-station node and server.Terminal has LoRa network-connectivity, and connects Enter the LoRa network.According to the difference for the application scenarios that the LoRa network is disposed, which may include that different electronics is set It is standby, for example, the terminal may include intelligent electric meter when the LoRa network application is in city management；It is answered in the LoRa network When in digital home, which may include various intelligent appliances etc..
Base station is also known as gateway or concentrator in LoRa network, has and is wirelessly connected aggregation feature, including terminal mentions For accessing the entrance of LoRa network, the data from server or terminal are forwarded, realize the terminal and the server it Between data interaction.Certainly, base station also can pass through transmission nothing with other base stations in the signal cover in the base station The mode of line frame carries out data interaction.
Server may include a server or server cluster, for according to the number got from base station or terminal According to progress business processing, and the operating mode and working condition of the base station or the terminal are controlled.
The low major reason of the positioning accuracy of LoRa network is to have used the radio band of low frequency low bandwidth at present.This Shen Please one of the core idea of embodiment be that this LoRa locating scheme no longer uses the (work of existing low frequency and narrow bandwidth LoRa module Frequency includes but is not limited to 470M-510MHz frequency range) Lai Jinhang ranging, but use and high frequency LoRa module (work frequency is utilized Rate includes but is not limited to 2.4GHz frequency range) realize ranging.Although low frequency and narrow bandwidth LoRa module have low in energy consumption, long transmission distance, The characteristics of high sensitivity, but range accuracy is low.And the power consumption of high frequency LoRa module is higher, transmission range is shorter, sensitivity is higher, Range accuracy is higher.In addition the maximum transmission power of 470M-510MHz frequency range is 17dbm, and the emission maximum function of 2.4G frequency range Rate can achieve 20dbm or more, and transimission power is higher.
Referring to Fig.1, a kind of step flow chart of the localization method embodiment 1 of communication network of the application is shown, it is described Communication network includes: server, the base station with the first high frequency range finder module, and the end with the second high frequency range finder module End, the method can specifically include following steps:
Step 101, the server determines one or more first base stations；
In the embodiment of the present application, communication network can be LoRa network.Server selects one from the base station of the whole network Or multiple first base stations.Specifically, first base station is the base station that can be communicated with terminal, covering model of the terminal in each first base station In enclosing.
In some specific regions (for example, garden), the position of base station and terminal is fixed, and server can be direct Determine terminal in the coverage area of which base station.
In addition, LoRa network itself has some mechanism and agreement that server can be made to know terminal in the covering model of which base station In enclosing.
Step 102, the first base station passes through the first high frequency range finder module of itself, to the second high frequency ranging mould of terminal Block sends distance measurement request radio frames；
Server can notify each first base station to send distance measurement request radio frames.
Each first base station passes sequentially through itself the first high frequency range finder module to the second of terminal according to certain timing High frequency range finder module sends distance measurement request radio frames.
The working frequency of high frequency range finder module includes but is not limited to 2.4GHz frequency range.
Step 103, the terminal passes through the second high frequency range finder module of itself, and the first high frequency of Xiang Suoshu first base station is surveyed The ranging response radio frames for being directed to the distance measurement request radio frames are sent away from module；
Terminal is after receiving distance measurement request radio frames, by the second high frequency range finder module of itself, successively each first base The the first high frequency range finder module stood sends needle ranging response radio frames.
Step 104, the first base station passes through the first high frequency range finder module of itself, using the ranging response radio frames The range information of the first base station Yu the terminal is calculated, and sends server for the range information；
First base station, by the first high frequency range finder module of itself, calculates the first base after receiving ranging response radio frames The distance between terminal of standing.
The built-in algorithm for calculating range information of high frequency range finder module.It is surveyed specifically, high frequency range finder module is issued according to oneself Sending time t1 away from request radio frames and receive ranging response radio frames pick time t2, further according to distance measurement request radio frames With the fixing process time of duration of ranging response radio frames, chip, it is possible thereby to calculate flying for electric wave between 2 points of ranging The row time, to calculate distance.
Calculated distance information is sent to server by each first base station.
Step 105, the server uses the range information of each first base station and the terminal, calculates the terminal Position.
Specifically, the position of each first base station is known in advance in server.Server is according to each first base station and terminal Range information, using the position of location algorithm (for example, triangulation) computing terminal.
In the embodiment of the present application, each first base station is by the first high frequency range finder module of itself to the second high of terminal Frequency range finder module sends distance measurement request radio frames, and terminal passes through first high frequency of the second high frequency range finder module to each first base station Range finder module returns to ranging response radio frames.Each first base station passes through the first high frequency range finder module of itself, according to away from response Radio frames calculate the range information of first base station and terminal, and server is determined according to the range information of each first base station and terminal The position of terminal.Compared with the existing method positioned by low frequency LoRa module, pass through height in the embodiment of the present application The method that frequency range finder module is positioned, can be improved positioning accuracy.
With GPS positioning technology ratio, GPS positioning can not support indoor positioning, and GPS positioning needs a longer time To search for GPS satellite.And the embodiment of the present application has the characteristics that real-time is high, supports indoor positioning.
Referring to Fig. 2, a kind of step flow chart of the localization method embodiment 2 of communication network of the application is shown, it is described Communication network includes: server, the base station with the first high frequency range finder module, and the end with the second high frequency range finder module End, the method can specifically include following steps:
Step 201, the server determines the second base station, and sends positioning command request message to the second base station；It is described Positioning command request message includes the first identifier information for distance measurement request radio frames；
Server selects the base station that can be communicated with terminal as the second base station from the base station of the whole network, for example, selection Best base station is as the second base station with the signal of communication of terminal.
Server sends positioning command request message to the second base station, to open positioning flow.
Step 202, according to positioning command request message, it is wireless that Xiang Suoshu terminal sends Location Request for second base station Frame, the Location Request radio frames include the first identifier information for being directed to distance measurement request radio frames；
After second base station receives positioning command request message, extracts in positioning command request message and be directed to distance measurement request The first identifier information of radio frames；Later, the second base station generates Location Request radio frames, and first identifier information is added to and is determined In position request radio frames；Finally, Location Request radio frames are sent to terminal by the second base station, to inform that terminal will be determined Position.
After receiving Location Request radio frames, terminal can be analyzed to obtain first identifier from Location Request radio frames terminal Information.Further, the hair of the distance measurement request radio frames after can also being obtained from analysis in Location Request radio frames in process Penetrate power, frequency parameter, bandwidth parameter, modulation parameter etc..
In the embodiment of the present application, the base station can also include the first LF communication module, and the terminal can also wrap Include the second LF communication module；
The step 202 may include: the first LF communication module that second base station passes through itself, Xiang Suoshu terminal The second LF communication module send Location Request radio frames.
In the embodiment of the present application, the working frequency of the first LF communication module and the second LF communication module includes but not It is limited to 470M-510MHz frequency range.
Second base station can need to only can be led to without the first high frequency range finder module, the second base station by the first low frequency of itself Believe that module sends Location Request radio frames to the second LF communication module of terminal.
Step 203, the server determines first base station, and sends ranging command request message to the first base station； The ranging command request message includes the second identifier information for distance measurement request radio frames；
Server selects one or more first base stations from all basic station over network.Specifically, first base station is can be logical with terminal The base station of letter, terminal is in the coverage area of each first base station.
Server successively can send ranging command request message to each first base station according to certain timing.
Step 204, the first base station generates ranging using the second identifier information for distance measurement request radio frames Request radio frames.
After first base station receives ranging command request message, extracts in ranging command request message and be directed to distance measurement request The second identifier information of radio frames；Later, first base station generates distance measurement request radio frames, and second identifier information is added to survey Away from request radio frames.
Under normal circumstances, the second identifier information that each first base station receives is identical.
Step 205, the first base station passes through the first high frequency range finder module of itself, to the second high frequency ranging mould of terminal Block sends distance measurement request radio frames；
Each first base station according to certain timing, can pass sequentially through itself the first high frequency range finder module to terminal Second high frequency range finder module sends distance measurement request radio frames.
Step 206, the terminal will obtain first identifier information and institute for the distance measurement request radio frames in advance The second identifier information stated for distance measurement request radio frames is compared；
Terminal compares the first identifier information that obtains from the positioning command request message that the second base station is sent, and from first Whether the second identifier information that base station sends the acquisition in distance measurement request radio frames is identical.
Step 207, if they are the same, then the terminal passes through itself the second high frequency range finder module, Xiang Suoshu first base station First high frequency range finder module sends the ranging response radio frames for being directed to the distance measurement request radio frames；
The effect of first identifier and second identifier is the both sides that unique identification is communicated by high frequency range finder module.If the One mark is identical with second identifier, then proves that the secondary communication is that server allows.Terminal passes through the second high frequency range finder module, to First high frequency range finder module of corresponding first base station returns to ranging response radio frames.
If first identifier and second identifier be not identical, terminal can carry out frame losing processing, do not return again to ranging response without Line frame.In the embodiment of the present application, by mark to determine whether allowing whether base station and terminal allow ranging, it is ensured that allow The base station of ranging is all the predetermined base station of server.
Step 208, the first base station passes through the first high frequency range finder module of itself, wireless using the ranging response Frame calculates the range information of the first base station Yu the terminal, and sends server for the range information；
In the embodiment of the present application, the step 208 may include following sub-step:
Sub-step S11, the first base station pass through the first high frequency range finder module of itself, determine that transmission distance measurement request is wireless The sending time of frame, and determine the receiving time for receiving the ranging response radio frames；
Sub-step S12, the first base station passes through the first high frequency range finder module of itself, using the sending time and institute State the range information that receiving time calculates itself and the terminal of the first base station.
The built-in algorithm for calculating range information of high frequency range finder module.It is surveyed specifically, high frequency range finder module is issued according to oneself Sending time t1 away from request radio frames and receive ranging response radio frames pick time t2, further according to distance measurement request radio frames With the fixing process time of duration of ranging response radio frames, chip, it is possible thereby to calculate flying for electric wave between 2 points of ranging The row time, to calculate distance.
Step 209, the server uses the range information of each first base station and the terminal, calculates the terminal Position.
Specifically, the position of each first base station is known in advance in server.Server is according to each first base station and terminal Range information, using the position of location algorithm (for example, triangulation) computing terminal.
In the embodiment of the present application, each first base station is by the first high frequency range finder module of itself to the second high of terminal Frequency range finder module sends distance measurement request radio frames, and terminal passes through first high frequency of the second high frequency range finder module to each first base station Range finder module returns to ranging response radio frames.Each first base station passes through the first high frequency range finder module of itself, according to away from response Radio frames calculate the range information of first base station and terminal, and server is determined according to the range information of each first base station and terminal The position of terminal.Compared with the existing method positioned by low frequency LoRa module, pass through height in the embodiment of the present application The method that frequency range finder module is positioned, can be improved positioning accuracy.
With GPS positioning technology ratio, GPS positioning can not support indoor positioning, and GPS positioning needs a longer time To search for GPS satellite.And the embodiment of the present application has the characteristics that real-time is high, supports indoor positioning.
Referring to Fig. 3, a kind of step flow chart of the localization method embodiment 3 of communication network of the application is shown, it is described Communication network includes: server, the base station with the first high frequency range finder module, and the end with the second high frequency range finder module End, the method can specifically include following steps:
Step 301, the server determines the second base station, and sends positioning command request message to the second base station；It is described Positioning command request message includes the first identifier information for distance measurement request radio frames；
Server selects the base station that can be communicated with terminal as the second base station from all basic station over network, for example, selection with The best base station of the signal of communication of terminal is as the second base station.
Server sends positioning command request message to the second base station, to open positioning flow.
Step 302, according to positioning command request message, it is wireless that Xiang Suoshu terminal sends Location Request for second base station Frame, the Location Request radio frames include the first identifier information for being directed to distance measurement request radio frames；
In the embodiment of the present application, the base station can also include the first LF communication module, and the terminal can also wrap Include the second LF communication module；
The step 302 may include: the first LF communication module that second base station passes through itself, Xiang Suoshu terminal The second LF communication module send Location Request radio frames.
In the embodiment of the present application, the working frequency of the first LF communication module and the second LF communication module includes but not It is limited to 470M-510MHz frequency range.
Step 303, the terminal is after receiving the Location Request radio frames, broadcast positioning response radio frames；
In some cases, server can not be known in the coverage area of which base station of the terminal in the whole network.At this point, can To position response radio frames by terminal broadcast.
In a kind of example of the embodiment of the present application, the step 303 can be with are as follows: the terminal is receiving the positioning After requesting radio frames, pass through the second high frequency range finder module broadcast positioning response radio frames of itself；
The method can also include:
One or more base stations pass through the first high frequency range finder module of itself, receive the positioning response radio frames.
In this example, the second high frequency range finder module broadcast positioning response radio frames that terminal passes through itself.One or more A base station can receive the positioning response radio frames by the first high frequency range finder module of itself.
In another example of the embodiment of the present application, the step 303 can be with are as follows: the terminal receive it is described fixed After position request radio frames, pass through the second LF communication module broadcast positioning response radio frames of itself；
The method can also include:
One or more base stations pass through the first LF communication module of itself, receive the positioning response radio frames.
In this example, the second LF communication module broadcast positioning response radio frames that terminal passes through itself.One or more A base station can receive the positioning response radio frames by the first LF communication module of itself.
Step 304, one or more base stations of the positioning response radio frames are received, it is wireless according to the positioning response Frame sends positioning command response message to the server；
The base station of positioning response radio frames is received, generates positioning command response message, and send positioning life to server Enable response message.
If base station can receive positioning response radio frames, illustrate terminal in the coverage area of the base station.
Step 305, the server will send the base station of the positioning command response message, be determined as first base station；
In the embodiment of the present application, server can be determined from all basic station over network by the content of step 303- step 305 First base station out.
Step 306, the server sends ranging command request message to the first base station；The ranging order is asked Seeking message includes the second identifier information for distance measurement request radio frames；
Server successively can send ranging command request message to each first base station according to certain timing.
Step 307, the first base station generates ranging using the second identifier information for distance measurement request radio frames Request radio frames.
After first base station receives ranging command request message, extracts in ranging command request message and be directed to distance measurement request The second identifier information of radio frames；Later, first base station generates distance measurement request radio frames, and second identifier information is added to survey Away from request radio frames.
Step 308, the first base station passes through the first high frequency range finder module of itself, to the second high frequency ranging mould of terminal Block sends distance measurement request radio frames；
Each first base station according to certain timing, can pass sequentially through itself the first high frequency range finder module to terminal Second high frequency range finder module sends distance measurement request radio frames.
Step 309, the terminal will obtain first identifier information and institute for the distance measurement request radio frames in advance The second identifier information stated for distance measurement request radio frames is compared；
Terminal compares the first identifier information that obtains from the positioning command request message that the second base station is sent, and from first Whether the second identifier information that base station sends the acquisition in distance measurement request radio frames is identical.
Step 310, if they are the same, then the terminal passes through itself the second high frequency range finder module, Xiang Suoshu first base station First high frequency range finder module sends the ranging response radio frames for being directed to the distance measurement request radio frames；
If first identifier is identical with second identifier, prove that the secondary communication is that server allows.Terminal is high by second Frequency range finder module returns to ranging response radio frames to the first high frequency range finder module of corresponding first base station.
If first identifier and second identifier be not identical, terminal can carry out frame losing processing, do not return again to ranging response without Line frame.
Step 311, the first base station passes through the first high frequency range finder module of itself, wireless using the ranging response Frame calculates the range information of the first base station Yu the terminal, and sends server for the range information；
In the embodiment of the present application, the step 311 may include following sub-step:
Sub-step S11, the first base station pass through the first high frequency range finder module of itself, determine that transmission distance measurement request is wireless The sending time of frame, and determine the receiving time for receiving the ranging response radio frames；
Sub-step S12, the first base station passes through the first high frequency range finder module of itself, using the sending time and institute State the range information that receiving time calculates itself and the terminal of the first base station.
Step 312, the server uses the range information of each first base station and the terminal, calculates the terminal Position.
Specifically, the position of each first base station is known in advance in server.Server is according to each first base station and terminal Range information, using the position of location algorithm (for example, triangulation) computing terminal.
In the embodiment of the present application, each first base station is by the first high frequency range finder module of itself to the second high of terminal Frequency range finder module sends distance measurement request radio frames, and terminal passes through first high frequency of the second high frequency range finder module to each first base station Range finder module returns to ranging response radio frames.Each first base station passes through the first high frequency range finder module of itself, according to away from response Radio frames calculate the range information of first base station and terminal, and server is determined according to the range information of each first base station and terminal The position of terminal.Compared with the existing method positioned by low frequency LoRa module, pass through height in the embodiment of the present application The method that frequency range finder module is positioned, can be improved positioning accuracy.
With GPS positioning technology ratio, GPS positioning can not support indoor positioning, and GPS positioning needs a longer time To search for GPS satellite.And the embodiment of the present application has the characteristics that real-time is high, supports indoor positioning.
In order to make those skilled in the art can better understand that the embodiment of the present application, below by an example to this Shen Please embodiment be illustrated:
A kind of flow chart of the localization method of LoRa network in the embodiment of the present application is shown referring to Fig. 4.LoRa network packet It includes: server, base station 1, base station 2, base station 3, base station 4 and terminal.
Base station 2 includes LF communication module, high frequency range finder module
Positioning flow is as follows:
1, server sends positioning command request message to base station 2；Positioning command request message includes being directed to distance measurement request The first identifier information of radio frames；
2, base station 2 passes through the LF communication module of itself, sends Location Request radio frames to the LF communication module of terminal, Location Request radio frames include the first identifier information for distance measurement request radio frames；
3, the Location Request radio frames that terminal analysis LF communication module receives to be to obtain first identifier information, and to high frequency Range finder module issues positioning command；
4, terminal passes through high frequency range finder module broadcast positioning response radio frames；
5, the high frequency range finder module of base station 1, base station 2, base station 3 and base station 4, while positioning response radio frames are received, Positioning response radio frames can not be received apart from farther away base station；
6, base station 1, base station 2, base station 3 and base station 4 send positioning command response message to server；
7, server sends ranging command request message to base station 1, and ranging command request message includes being directed to distance measurement request The second identifier information of radio frames；
8, base station 1 passes through the high frequency range finder module of itself, sends distance measurement request radio frames to the high frequency range finder module of terminal, Distance measurement request radio frames include second identifier information；
9, terminal passes through the high frequency range finder module of itself, receives the distance measurement request that base station 1 is sent by high frequency range finder module Radio frames；Terminal compares first identifier information and whether second identifier information is identical, if they are the same, then the high frequency that terminal passes through itself Range finder module sends ranging response radio frames to the high frequency range finder module of base station 1；
10, the high frequency range finder module of base station 1 receives ranging response radio frames, and calculates base using ranging response radio frames It stands the distance between 1 and terminal, the distance between base station 1 and terminal is then sent into server；
11, server sends ranging command request message to base station 2, and ranging command request message includes being directed to distance measurement request The second identifier information of radio frames；
12, base station 2 passes through the high frequency range finder module of itself, and it is wireless to send distance measurement request to the high frequency range finder module of terminal Frame, distance measurement request radio frames include second identifier information；
13, terminal passes through the high frequency range finder module of itself, receives the distance measurement request that base station 2 is sent by high frequency range finder module Radio frames；Terminal compares first identifier information and whether second identifier information is identical, if they are the same, then the high frequency that terminal passes through itself Range finder module sends ranging response radio frames to the high frequency range finder module of base station 2；
14, the high frequency range finder module of base station 2 receives ranging response radio frames, and calculates base using ranging response radio frames It stands the distance between 2 and terminal, the distance between base station 3 and terminal is then sent into server；
15, server sends ranging command request message to base station 3, and ranging command request message includes being directed to distance measurement request The second identifier information of radio frames；
16, base station 3 passes through the high frequency range finder module of itself, and it is wireless to send distance measurement request to the high frequency range finder module of terminal Frame, distance measurement request radio frames include second identifier information；
17, terminal passes through the high frequency range finder module of itself, receives the distance measurement request that base station 3 is sent by high frequency range finder module Radio frames；Terminal compares first identifier information and whether second identifier information is identical, if they are the same, then the high frequency that terminal passes through itself Range finder module sends ranging response radio frames to the high frequency range finder module of base station 3；
18, the high frequency range finder module of base station 3 receives ranging response radio frames, and calculates base using ranging response radio frames It stands the distance between 3 and terminal, the distance between base station 3 and terminal is then sent into server；
19, server sends ranging command request message to base station 4, and ranging command request message includes being directed to distance measurement request The second identifier information of radio frames；
20, base station 4 passes through the high frequency range finder module of itself, and it is wireless to send distance measurement request to the high frequency range finder module of terminal Frame, distance measurement request radio frames include second identifier information；
21, terminal passes through the high frequency range finder module of itself, receives the distance measurement request that base station 4 is sent by high frequency range finder module Radio frames；Terminal compares first identifier information and whether second identifier information is identical, if they are the same, then the high frequency that terminal passes through itself Range finder module sends ranging response radio frames to the high frequency range finder module of base station 4；
22, the high frequency range finder module of base station 4 receives ranging response radio frames, and calculates base using ranging response radio frames It stands the distance between 4 and terminal, the distance between base station 4 and terminal is then sent into server；
23, position and each base station and terminal the distance between of the server according to each base station, the position of computing terminal It sets.
It should be noted that for simple description, therefore, it is stated as a series of action groups for embodiment of the method It closes, but those skilled in the art should understand that, the embodiment of the present application is not limited by the described action sequence, because according to According to the embodiment of the present application, some steps may be performed in other sequences or simultaneously.Secondly, those skilled in the art also should Know, the embodiments described in the specification are all preferred embodiments, and related movement not necessarily the application is implemented Necessary to example.
Referring to Fig. 5, a kind of structural block diagram of the positioning system embodiment of communication network of the application is shown, it specifically can be with It include: server 501, the base station 502 with the first high frequency range finder module, and the terminal with the second high frequency range finder module 503:
The server 501, for determining one or more first base station from the base station 502；
The first base station, for the first high frequency range finder module by itself, to the second high frequency range finder module of terminal Send distance measurement request radio frames；
The terminal 503, for the second high frequency range finder module by itself, the first high frequency of Xiang Suoshu first base station is surveyed The ranging response radio frames for being directed to the distance measurement request radio frames are sent away from module；
The first base station is also used to the first high frequency range finder module by itself, using the ranging response radio frames The range information of the first base station Yu the terminal 503 is calculated, and sends server for the range information；
The server 501, is also used to the range information using each first base station and the terminal 503, described in calculating The position of terminal 503.
It in the embodiment of the present application, include the second identifier for being directed to distance measurement request radio frames in the distance measurement request radio frames Information；
The terminal 503, be also used to obtain in advance first identifier information for the distance measurement request radio frames with The second identifier information for distance measurement request radio frames is compared；If they are the same, then second high frequency for passing through itself Range finder module, the first high frequency range finder module of Xiang Suoshu first base station send the ranging response for being directed to the distance measurement request radio frames Radio frames.
In the embodiment of the present application, the server 501, be also used to from the base station 502 determine the second base station, and to Second base station sends positioning command request message；The positioning command request message includes first for distance measurement request radio frames Identification information；
Second base station, for according to positioning command request message, it is wireless that Xiang Suoshu terminal 503 sends Location Request Frame, the Location Request radio frames include the first identifier information for being directed to distance measurement request radio frames.
In the embodiment of the present application, the terminal 503 is also used to after receiving the Location Request radio frames, broadcast Position response radio frames；
Receive it is described positioning response radio frames one or more base stations, for according to the positioning response radio frames to The server 501 sends positioning command response message；
The server 501 is also used to device for the base station for sending the positioning command response message and is determined as first base station.
In the embodiment of the present application, the server 501 is also used to send ranging command request to the first base station Message；The ranging command request message includes the second identifier information for distance measurement request radio frames；
The first base station is also used to generate ranging using the second identifier information for distance measurement request radio frames and ask Seek radio frames.
In a kind of example of the embodiment of the present application, the terminal 503 is also used to receive the Location Request wireless After frame, pass through the second high frequency range finder module broadcast positioning response radio frames of itself；
The base station is also used to the first high frequency range finder module by itself, receives the positioning response radio frames.
In the embodiment of the present application, the base station 502 further includes the first LF communication module, and the terminal 503 further includes Second LF communication module；
Second base station is also used to the first LF communication module by itself, the second low frequency of Xiang Suoshu terminal 503 Communication module sends Location Request radio frames.
In another example of the embodiment of the present application, the terminal 503, be also used to receive the Location Request without After line frame, pass through the second LF communication module broadcast positioning response radio frames of itself；
The base station is also used to the first LF communication module by itself, receives the positioning response radio frames.
In the embodiment of the present application, the first base station is also used to the first high frequency range finder module by itself, determines hair The sending time of distance measurement request radio frames is sent, and determines the receiving time for receiving the ranging response radio frames；By certainly First high frequency range finder module of body, using the sending time and the receiving time calculate the first base station itself with it is described The range information of terminal 503.
For device embodiment, since it is basically similar to the method embodiment, related so being described relatively simple Place illustrates referring to the part of embodiment of the method.
The embodiment of the present application also provides a kind of devices, comprising:
One or more processors；With
One or more machine readable medias of instruction are stored thereon with, are executed when by one or more of processors When, so that described device executes method described in the embodiment of the present application.
The embodiment of the present application also provides one or more machine readable medias, are stored thereon with instruction, when by one or When multiple processors execute, so that device executes method described in the embodiment of the present application.
All the embodiments in this specification are described in a progressive manner, the highlights of each of the examples are with The difference of other embodiments, the same or similar parts between the embodiments can be referred to each other.
It should be understood by those skilled in the art that, the embodiments of the present application may be provided as method, apparatus or calculating Machine program product.Therefore, the embodiment of the present application can be used complete hardware embodiment, complete software embodiment or combine software and The form of the embodiment of hardware aspect.Moreover, the embodiment of the present application can be used one or more wherein include computer can With in the computer-usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) of program code The form of the computer program product of implementation.
The embodiment of the present application is referring to according to the method for the embodiment of the present application, terminal device (system) and computer program The flowchart and/or the block diagram of product describes.It should be understood that flowchart and/or the block diagram can be realized by computer program instructions In each flow and/or block and flowchart and/or the block diagram in process and/or box combination.It can provide these Computer program instructions are set to general purpose computer, special purpose computer, Embedded Processor or other programmable data processing terminals Standby processor is to generate a machine, so that being held by the processor of computer or other programmable data processing terminal devices Capable instruction generates for realizing in one or more flows of the flowchart and/or one or more blocks of the block diagram The device of specified function.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing terminal devices In computer-readable memory operate in a specific manner, so that instruction stored in the computer readable memory generates packet The manufacture of command device is included, which realizes in one side of one or more flows of the flowchart and/or block diagram The function of being specified in frame or multiple boxes.
These computer program instructions can also be loaded into computer or other programmable data processing terminal devices, so that Series of operation steps are executed on computer or other programmable terminal equipments to generate computer implemented processing, thus The instruction executed on computer or other programmable terminal equipments is provided for realizing in one or more flows of the flowchart And/or in one or more blocks of the block diagram specify function the step of.
Although preferred embodiments of the embodiments of the present application have been described, once a person skilled in the art knows bases This creative concept, then additional changes and modifications can be made to these embodiments.So the following claims are intended to be interpreted as Including preferred embodiment and all change and modification within the scope of the embodiments of the present application.
Finally, it is to be noted that, herein, relational terms such as first and second and the like be used merely to by One entity or operation are distinguished with another entity or operation, without necessarily requiring or implying these entities or operation Between there are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant meaning Covering non-exclusive inclusion, so that process, method, article or terminal device including a series of elements not only wrap Those elements are included, but also including other elements that are not explicitly listed, or further includes for this process, method, article Or the element that terminal device is intrinsic.In the absence of more restrictions, being wanted by what sentence "including a ..." limited Element, it is not excluded that there is also other identical elements in process, method, article or the terminal device for including the element.
Localization method to a kind of communication network provided herein and a kind of positioning system of communication network above, into It has gone and has been discussed in detail, specific examples are used herein to illustrate the principle and implementation manner of the present application, the above implementation The explanation of example is merely used to help understand the present processes and its core concept；Meanwhile for the general technology people of this field Member, according to the thought of the application, there will be changes in the specific implementation manner and application range, in conclusion this explanation Book content should not be construed as the limitation to the application.

Claims (20)

1. a kind of localization method of communication network, which is characterized in that the communication network includes: server, has the first high frequency The base station of range finder module, and the terminal with the second high frequency range finder module, which comprises
The server determines one or more first base stations；
The first base station passes through the first high frequency range finder module of itself, sends ranging to the second high frequency range finder module of terminal and asks Seek radio frames；
The terminal passes through the second high frequency range finder module of itself, and the first high frequency range finder module of Xiang Suoshu first base station sends needle To the ranging response radio frames of the distance measurement request radio frames；
The first base station passes through the first high frequency range finder module of itself, calculates described first using the ranging response radio frames The range information of base station and the terminal, and server is sent by the range information；
The server uses the range information of each first base station and the terminal, calculates the position of the terminal.
2. the method according to claim 1, wherein including being directed to distance measurement request in the distance measurement request radio frames The second identifier information of radio frames；
The terminal passes through the second high frequency range finder module of itself, and the first high frequency range finder module of Xiang Suoshu first base station sends needle Include: to the step of ranging response radio frames of the distance measurement request radio frames
The terminal asks the first identifier information for the distance measurement request radio frames obtained in advance with described for ranging The second identifier information of radio frames is asked to be compared；
If they are the same, then the terminal passes through itself the second high frequency range finder module, the first high frequency ranging of Xiang Suoshu first base station Module sends the ranging response radio frames for being directed to the distance measurement request radio frames.
3. according to the method described in claim 2, it is characterized by further comprising:
The server determines the second base station, and sends positioning command request message to the second base station；The positioning command request Message includes the first identifier information for distance measurement request radio frames；
Second base station sends Location Request radio frames according to positioning command request message, Xiang Suoshu terminal, and the positioning is asked Seeking radio frames includes the first identifier information for being directed to distance measurement request radio frames.
4. according to the method described in claim 3, it is characterized in that, the first base station is to send positioning life to the server Enable the base station of response message, the method further include:
The terminal is after receiving the Location Request radio frames, broadcast positioning response radio frames；
The one or more base stations for receiving the positioning response radio frames, according to the positioning response radio frames to the service Device sends positioning command response message.
5. according to the method described in claim 3, it is characterized by further comprising:
The server sends ranging command request message to the first base station；The ranging command request message includes needle To the second identifier information of distance measurement request radio frames；
The first base station generates distance measurement request radio frames using the second identifier information for distance measurement request radio frames.
6. according to the method described in claim 4, it is characterized in that, the terminal is receiving the Location Request radio frames Afterwards, the step of broadcast positioning response radio frames include:
The terminal is answered after receiving the Location Request radio frames by the second high frequency range finder module broadcast positioning of itself Answer radio frames；
The method further include:
One or more base stations pass through the first high frequency range finder module of itself, receive the positioning response radio frames.
7. described according to the method described in claim 4, it is characterized in that, the base station further includes the first LF communication module Terminal further includes the second LF communication module；
Second base station to the terminal send Location Request radio frames the step of include:
Second base station passes through the first LF communication module of itself, and it is fixed that the second LF communication module of Xiang Suoshu terminal is sent Position request radio frames.
8. the method according to the description of claim 7 is characterized in that the terminal is receiving the Location Request radio frames Afterwards, the step of broadcast positioning response radio frames include:
The terminal is answered after receiving the Location Request radio frames by the second LF communication module broadcast positioning of itself Answer radio frames；
The method further include:
One or more base stations pass through the first LF communication module of itself, receive the positioning response radio frames.
9. the method according to claim 1, wherein
The first base station passes through itself the first high frequency range finder module, using the ranging response radio frames, calculates described the The step of one base station and the range information of the terminal includes:
The first base station passes through the first high frequency range finder module of itself, determines the sending time for sending distance measurement request radio frames, And determine the receiving time for receiving the ranging response radio frames；
The first base station passes through the first high frequency range finder module of itself, is calculated using the sending time and the receiving time The range information of the first base station itself and the terminal.
10. a kind of positioning system of communication network characterized by comprising server, the base with the first high frequency range finder module It stands, and the terminal with the second high frequency range finder module:
The server, for determining one or more first base station from the base station；
The first base station is sent for the first high frequency range finder module by itself to the second high frequency range finder module of terminal Distance measurement request radio frames；
The terminal, for the second high frequency range finder module by itself, the first high frequency range finder module of Xiang Suoshu first base station Send the ranging response radio frames for being directed to the distance measurement request radio frames；
The first base station is also used to the first high frequency range finder module by itself, is calculated using the ranging response radio frames The range information of the first base station and the terminal, and server is sent by the range information；
The server is also used to the range information using each first base station and the terminal, calculates the position of the terminal.
11. system according to claim 10, which is characterized in that include being asked for ranging in the distance measurement request radio frames Seek the second identifier information of radio frames；
The terminal, the first identifier information for the distance measurement request radio frames for being also used to obtain in advance are directed to described The second identifier information of distance measurement request radio frames is compared；If they are the same, then the second high frequency range finder module for passing through itself, The ranging response radio frames for being directed to the distance measurement request radio frames are sent to the first high frequency range finder module of the first base station.
12. system according to claim 11, which is characterized in that
The server is also used to determine the second base station from the base station, and sends positioning command request to the second base station and disappear Breath；The positioning command request message includes the first identifier information for distance measurement request radio frames；
Second base station, for according to positioning command request message, Xiang Suoshu terminal to send Location Request radio frames, described fixed Position request radio frames include the first identifier information for being directed to distance measurement request radio frames.
13. system according to claim 12, which is characterized in that
The terminal is also used to after receiving the Location Request radio frames, broadcast positioning response radio frames；
The one or more base stations for receiving the positioning response radio frames, for according to the positioning response radio frames to described Server sends positioning command response message；
The server is also used to the base station for sending the positioning command response message being determined as first base station.
14. system according to claim 12, which is characterized in that
The server is also used to send ranging command request message to the first base station；The ranging command request message Second identifier information including being directed to distance measurement request radio frames；
The first base station, be also used to generate using the second identifier information for distance measurement request radio frames distance measurement request without Line frame.
15. system according to claim 13, which is characterized in that
The terminal is also used to after receiving the Location Request radio frames, wide by the second high frequency range finder module of itself Broadcast positioning response radio frames；
The base station is also used to the first high frequency range finder module by itself, receives the positioning response radio frames.
16. system according to claim 13, which is characterized in that the base station further includes the first LF communication module, institute Stating terminal further includes the second LF communication module；
Second base station is also used to the first LF communication module by itself, the second LF communication mould of Xiang Suoshu terminal Block sends Location Request radio frames.
17. system according to claim 16, which is characterized in that
The terminal is also used to after receiving the Location Request radio frames, wide by the second LF communication module of itself Broadcast positioning response radio frames；
The base station is also used to the first LF communication module by itself, receives the positioning response radio frames.
18. system according to claim 10, which is characterized in that
The first base station is also used to the first high frequency range finder module by itself, determines the hair for sending distance measurement request radio frames The time is sent, and determines the receiving time for receiving the ranging response radio frames；By the first high frequency range finder module of itself, The range information of itself and the terminal of the first base station is calculated using the sending time and the receiving time.
19. a kind of device characterized by comprising
One or more processors；With
One or more machine readable medias of instruction are stored thereon with, when being executed by one or more of processors, are made Obtain the method that described device executes one or more as claimed in claims 1-9.
20. one or more machine readable medias, are stored thereon with instruction, when executed by one or more processors, so that The method that device executes one or more as claimed in claims 1-9.
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