CN113038365B - Label wireless positioning method and system - Google Patents
Label wireless positioning method and system Download PDFInfo
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- CN113038365B CN113038365B CN202110215461.0A CN202110215461A CN113038365B CN 113038365 B CN113038365 B CN 113038365B CN 202110215461 A CN202110215461 A CN 202110215461A CN 113038365 B CN113038365 B CN 113038365B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
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- 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
Abstract
The invention discloses a method and a system for wireless positioning of a tag, wherein the method comprises the following steps: the main base station sends a main positioning signal and a main sending timestamp to at least three auxiliary base stations and tags which are communicated with the main base station; each auxiliary base station generates a respective auxiliary receiving time stamp according to the main positioning signal; each auxiliary base station sends respective auxiliary positioning signal and auxiliary receiving time stamp to the main base station and the label; the main base station generates respective main receiving time stamps according to the auxiliary positioning signals and the auxiliary receiving time stamps sent by the auxiliary base stations; the tag generates a tag main receiving timestamp according to the main positioning signal; generating respective label auxiliary receiving time stamps according to the auxiliary positioning signals returned by the auxiliary base stations; acquiring coordinate positions of a main base station and each auxiliary base station; and calculating the coordinate position of the label according to the coordinate position of the main base station and the coordinate positions of the auxiliary base stations.
Description
Technical Field
The invention belongs to the field of communication, and belongs to a tag wireless positioning method and a tag wireless positioning system.
Background
With the rise of the semiconductor industry, intelligent devices such as the internet of things and robots are rapidly developed, and the high-precision positioning requirement of indoor or closed scenes is stronger. In current wireless location system and scheme, mainly with technologies such as wiFi, bluetooth, its position that adopts signal strength's mode to calculate the label, its positioning error is the metre level, can't satisfy the demand of high accuracy location such as robot.
Ultra Wide Band (UWB) is widely applied to positioning service of closed scenes in recent years due to the advantages of small power consumption, strong anti-interference capability, high safety, centimeter-level positioning accuracy and the like.
In the ultra-wideband positioning technology, most used are the positioning of tags based on TOF (Time of flight), AOA (Angle of arrival), and TDOA (Time Difference of arrival) techniques.
The above schemes all have a common problem, when the capacity of the tags reaches a certain upper line, because the channel occupancy rate reaches the maximum value, at the moment, when one positioning tag is added, the positioning output frequency of all the tags is reduced, and meanwhile, because time synchronization does not exist among the tags, the sent positioning broadcast signals are sent randomly, so that signal collision is more easily generated, and the probability of generating a larger positioning error is increased.
Disclosure of Invention
The invention aims to provide a tag wireless positioning method and a tag wireless positioning system.
The technical scheme adopted by the invention for solving the technical problems is as follows:
a tag wireless location method, comprising:
the main base station sends a main positioning signal and a main sending timestamp to at least three auxiliary base stations and tags which are communicated with the main base station;
each auxiliary base station generates a respective auxiliary receiving time stamp according to the main positioning signal;
each auxiliary base station sends respective auxiliary positioning signal and auxiliary receiving time stamp to the main base station and the label;
the main base station generates respective main receiving time stamps according to the auxiliary positioning signals and the auxiliary receiving time stamps sent by the auxiliary base stations;
the tag generates a tag main receiving timestamp according to the main positioning signal; generating respective label auxiliary receiving time stamps according to the auxiliary positioning signals returned by the auxiliary base stations;
acquiring coordinate positions of a main base station and each auxiliary base station;
and calculating the coordinate position of the tag according to the coordinate position of the main base station, the coordinate position and main transmitting timestamp of each auxiliary base station, a main receiving timestamp, an auxiliary transmitting timestamp, a tag main receiving timestamp and a tag auxiliary receiving timestamp.
After the scheme is adopted, each base station sends the positioning signal in a broadcasting mode, the tag starts receiving when needing positioning information, receives the broadcasting signal of the base station, and calculates the position of the tag by self after receiving enough data to complete positioning.
In the method, the base station only needs to supply power without other data transmission cables; the base station is in a broadcast state, and the tags are in a receiving state, so that the number of the tags can be unlimited; the increase of the number of the tags does not affect the positioning accuracy and frequency.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and drawings.
Drawings
The present invention will be described in detail below with reference to the accompanying drawings so that the above advantages of the present invention can be more clearly understood. Wherein, the first and the second end of the pipe are connected with each other,
fig. 1 is a schematic diagram of an embodiment of a tag wireless location method of the present invention.
Detailed Description
The following detailed description will be given with reference to the accompanying drawings and examples to explain how to apply the technical means to solve the technical problems and to achieve the technical effects. It should be noted that, as long as there is no conflict, the embodiments and the features of the embodiments of the present invention may be combined with each other, and the technical solutions formed are within the scope of the present invention.
Additionally, the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer-executable instructions, and while a logical order is illustrated in the flowcharts, in some cases, the steps illustrated or described may be performed in an order different than here.
Specifically, the present invention relates to a tag wireless positioning system, which mainly comprises: a main base station and a secondary base station, wherein at least 3 secondary base stations must be present simultaneously within the communication range of the main base station. The positioning signals broadcast by the main base station and the auxiliary base station comprise the unique ID of the base station and the sequence number of the broadcast signal packet.
Specifically, the tag wireless positioning method comprises the following steps:
the main base station sends a main positioning signal and a main sending timestamp to at least three auxiliary base stations and tags which are communicated with the main base station;
each auxiliary base station generates a respective auxiliary receiving time stamp according to the main positioning signal;
each auxiliary base station sends respective auxiliary positioning signal and auxiliary receiving time stamp to the main base station and the label;
the main base station generates respective main receiving time stamps according to the auxiliary positioning signals and the auxiliary receiving time stamps sent by the auxiliary base stations;
the tag generates a tag main receiving timestamp according to the main positioning signal; generating respective label auxiliary receiving time stamps according to the auxiliary positioning signals returned by the auxiliary base stations;
acquiring coordinate positions of a main base station and each auxiliary base station;
and calculating the coordinate position of the label according to the coordinate position of the main base station, the coordinate position and the main sending timestamp of each auxiliary base station, the main receiving timestamp, the auxiliary sending timestamp, the main label receiving timestamp and the auxiliary label receiving timestamp.
After the scheme is adopted, each base station sends the positioning signals in a broadcasting mode, the tag starts receiving when needing positioning information, the broadcasting signals of the base stations are received, and after the tag receives enough data, the position of the tag is calculated by self to complete positioning.
In an embodiment, a master base station transmits a master positioning signal, a master transmission timestamp, and at least three secondary base stations and tags in communication therewith; each auxiliary base station generates a respective auxiliary receiving time stamp according to the main positioning signal; the method specifically comprises the following steps:
the method comprises the steps that a main base station MAx sends a main positioning signal and a main sending time stamp Txy, wherein x represents a main base station id number, and y represents a packet sequence when the main base station sends the signal;
after receiving the main positioning signal, the auxiliary base station SAz generates respective auxiliary receiving time stamps Rzxy, wherein z represents an auxiliary base station id number, x represents a main base station id number for sending the signal, and y represents a packet sequence for sending the signal by the main base station;
after receiving the main positioning signal, the tag TAr generates a receiving timestamp RTrxy, where r denotes a tag id number, x denotes a main base station id number for transmitting the signal, and y denotes a packet sequence for transmitting the signal by the main base station.
Each secondary base station sends respective secondary positioning signal and secondary receiving time stamp to the main base station and the tag, including:
the auxiliary base station SAz sends an auxiliary positioning signal and an auxiliary sending time stamp Tzm, wherein z represents an auxiliary base station id number, and m represents a packet sequence when the auxiliary base station sends the signal;
after receiving the auxiliary positioning signal, the tag TAr generates an auxiliary receiving timestamp RTrzm, wherein r represents a tag id number, z represents an auxiliary base station id number for sending the signal, and m represents a packet sequence for sending the signal by the auxiliary base station;
after the main base station MAx receives the auxiliary positioning signal, the generated receiving timestamp is Rxzm, where x denotes a main base station id number, z denotes an auxiliary base station id number for transmitting the signal, and m denotes a packet sequence for transmitting the signal by the auxiliary base station.
The master base station sends a master positioning signal and a master sending timestamp to at least three auxiliary base stations and tags which are communicated with the master base station, and the method specifically comprises the following steps:
the master base station MAx communicates a base station identification (stationmode), a self-identification (id), a packet sequence (index), self-coordinates (x, y, z), a transmission time stamp (Txy) of a transmission broadcast positioning signal, a reception time stamp (Rxzm) of all received secondary base station broadcast positioning signals, and all data contents (data) in all received secondary base station broadcast positioning signals with at least three secondary base stations and tags in communication therewith.
Each auxiliary base station sends respective auxiliary positioning signal and auxiliary receiving time stamp to the main base station and the tag, and the method specifically comprises the following steps:
the auxiliary base station transmits a base station identification (station mode), a self identification (id), a packet sequence (index), self coordinates (x, y, z), a transmission time stamp (Tzm) for transmitting the broadcast positioning signal, a reception time stamp (Rzxy) for receiving the broadcast positioning signal of the main base station, the identification (id) of the main base station and the packet sequence (index) of the broadcast signal of the main base station to the main base station and the label.
In one embodiment, the primary base station is set to one MA0, the secondary base stations are set to the first secondary base station SA1, the second secondary base station SA2, and the third secondary base station SA3, and the tag is set to TA4.
Wherein each column represents the time axis of each base station or tag itself; the slash indicates a transmitted broadcast signal;
txy: transmission time stamp representing the y-th positioning signal transmitted by base station x
Rxy: a reception time stamp indicating the y-th positioning signal received by the base station x
RTxy: a receive timestamp representing the y-th locating signal received by tag x
Rz (Txy): which represents an equivalent estimate of the tag or base station (as an unmeasured quantity, but in reality), means the time stamp of the z base station or tag when Txy is sent. For example: when T11 is transmitted, the transmission time stamp is T11 with SA1 as a reference, but when this time is equivalent to MA0 in parallel, the time stamp at MA0 is R0 (T11).
Specifically, it mainly comprises three steps:
1. data generation and collection steps:
when MA0 transmits the master positioning signal and the master positioning timestamp T01, the transmission timestamp T01 is generated, SA1, SA2, and SA3 generate the reception timestamps R101, R102, and R103 upon receiving the master positioning signal, and TA4 generates the reception timestamp RT401 upon receiving the master positioning signal.
After the SA1 sends the first auxiliary positioning signal and the first auxiliary sending timestamp T11, the TA4 generates a first receiving timestamp RT411 after receiving the first auxiliary positioning signal, and the MA0 generates a first main receiving timestamp R011 after receiving the first auxiliary positioning signal;
when SA2 sends a second auxiliary positioning signal and a second auxiliary sending timestamp T21, TA4 generates a second receiving timestamp RT421 after receiving the second auxiliary positioning signal, and MA0 generates a second primary receiving timestamp R021 after receiving the second auxiliary positioning signal;
after SA3 transmits a third auxiliary positioning signal and a third auxiliary transmission timestamp T31, TA4 generates a third reception timestamp RT431 after receiving the third auxiliary positioning signal, and a third main reception timestamp R031 generated after MAx receives the third auxiliary positioning signal;
by analogy, the time stamps generated are as shown in the above figure.
When T01 is transmitted, the equivalent estimate on tag TA4 is RT4 (T11), and so on, resulting in an equivalent estimate as shown in the above figure, where the equivalent estimate is an unmeasured quantity, but exists true, meaning the time stamp of z base stations or tags when T01 is transmitted.
2. A clock synchronization step:
because each base station or each label is provided with a crystal oscillator, a GHZ clock is generated after frequency multiplication, and the time of light velocity flight is calculated through the difference value of the time stamps, so that the distance is calculated; the differences between the crystal oscillators cause the clocks between the base stations/tags to have differences, so that the calculated differences of the same timestamp between the base stations/tags are different, and therefore, time synchronization is needed.
Synchronizing the clock of the tag to the main base station by the following method:
K10＝(T02-T01)/(RT45-RT41)
3. a position calculation step:
the distance between tag TA4 and main base station MA0 is
Distance (TA 4, MA 0) = (RT 401-RT4 (T01)) c, where c is the speed of light;
the distance between the tag TA4 and the first secondary base station SA1 is
Distance (TA 4, SA 1) = (RT 411-RT4 (T11)) c, where c is the speed of light;
the distance between the tag TA4 and the second secondary base station SA2 is
Distance (TA 4, SA 2) = (RT 421-RT4 (T21)) c, where c is the speed of light;
the distance between the tag TA4 and the third secondary base station SA3 is
Distance (TA 4, SA 3) = (RT 431-RT4 (T31)) c, where c is the speed of light;
the difference between the distance from the tag TA4 to the first secondary base station SA1 and the distance from the tag TA4 to the primary base station MA0 is:
DetDistance(TA4,SA1,MA0)＝Distance(TA4,SA1)-Distance(TA4,MA0)
＝(RT411-RT4(T11))c-(RT401-RT4(T01))c
＝(RT411-RT401+RT4(T01)-RT4(T11))c
since RT4 (T01) -RT4 (T11) = T01-R0 (T11)
Since R0 (T11) = R011-distance (MA 0, SA 1)/c, where c is the speed of light;
since the coordinates of the main base station MA0 and the first auxiliary base station SA1 are known during installation, i.e., (x) 0 ,y 0 ,z 0 )、(x 1 ,y 1 ,z 1 ) Therefore, distance (MA 0, SA 1) is a known quantity;
since TR011 is measured, the DetDistance (TA 4, SA1, MA 0) can be calculated;
by analogy, the distance between the tag TA4 and the second secondary base station SA2 is different from the distance between the tag TA4 and the primary base station MA0 by a DetDistance (TA 4, SA2, MA 0);
the difference value DetDistance (TA 4, SA3, MA 0) between the distance from the tag TA4 to the second auxiliary base station SA3 and the distance from the TA4 to the main base station MA0 can be calculated;
each base station is known at installation where its installation location is known, denoted Distance (xi, yi, zi) where i denotes the base station id number;
assuming that the tag coordinates are (x, y, 0) as unknown quantities, the following equation is established based on the calculated Distance (TA 4, SAi, MA 0):
and solving the equation system to obtain the coordinates (x, y, 0) of the label.
The above process is the minimum positioning period, when the main base station broadcasts data each time, the broadcast data only includes the data generated in the previous period, the data is cleared after the broadcast is finished, the data is collected again, and the collected data is broadcasted out when the next broadcast is finished, and the process is circulated in sequence.
In addition, in the embodiment, when the base station is installed, according to the characteristics of a building, four optional installation modes are provided: two-dimensional square placement, one-dimensional straight line side by side placement, long channel two-end placement, and small-space single base station placement.
The two-dimensional square placement means that base station square or rectangle can be spliced and placed in a large field or indoors, at least four base stations are needed, and the two-dimensional positioning of the label is realized.
The one-dimensional straight lines are arranged side by side, namely, base stations can be arranged only on one side due to site installation and power supply limitation in a stadium, a parking lot and the like, the one-dimensional straight lines can be arranged side by side, two-dimensional positioning of one side of each straight line is achieved, and the number of the base stations needs to be positioned at least.
The two ends of the long channel are placed at narrow places such as corridors and mines but long places, the two ends of the base station can be placed to realize positioning between two base stations, and at least two base stations are needed.
The small-space single-base-station placing method is characterized in that two-dimensional positioning of the label is not needed in a small room or a narrow space, whether the label is in the small room or the narrow space is detected, whether the label is in the small room or the narrow space can be detected, whether the label is in the small room or not can be separately placed, and at least one base station is needed.
For two-dimensional square placement, at least 3 distance difference values of at least 4 positioning base stations are utilized, the equation set is reduced into a nonlinear equation set and at least two linear equations, and the linear equation set is solved by adopting a weighted least square method, so that the two-dimensional coordinate of the label can be calculated.
Preferably, when there are at least 3 distance differences of at least 4 positioning base stations, the linear equation set is solved to obtain an initial value of the label coordinate, the initial value is used as an initial point, at least 3 nonlinear equations before cancellation are subjected to Taylor convergence, the label coordinate is further optimized, and higher solving accuracy is obtained.
And for the one-dimensional straight lines which are arranged side by side, at least two linear equations can be obtained by utilizing at least two distance differences of at least 3 positioning base stations, and the two-dimensional coordinates of the label are calculated by adopting a weighted least square method for solving.
And for the placement of the two ends of the long channel, calculating to obtain the position of the label in the channel by utilizing at least 1 distance difference value of at least two positioning base stations.
For the single base station placement in the small space, the base station synchronization result and the equation do not need to be solved, and only whether the label is in the space is judged and the coordinate of the positioning base station is output.
The invention has the beneficial effects that:
1. the capacity of the labels in the positioning area can be unlimited, and the increase of the capacity of the labels does not affect the positioning frequency and precision.
2. The base station only needs to supply power for installation, and data are not required to be transmitted to the computing server in a POE or WiFi mode, so that deployment is simplified, and cost is saved.
3. The positioning frequency can be changed at any time by the label, positioning calculation can be carried out as long as receiving is started and enough data is received, and the operation has no influence on other labels and base stations.
4. The tags can automatically resolve position information without unified calculation of a server, so that the calculation difficulty is simplified, and various sensors can be added to each more excellent tag according to application requirements to improve the positioning accuracy, such as IMU (inertial measurement Unit) and the like.
It should be noted that for simplicity of description, the above method embodiments are described as a series of acts, but those skilled in the art should understand that the present application is not limited by the described order of acts, as some steps may be performed in other orders or simultaneously according to the present application. Further, those skilled in the art should also appreciate that the embodiments described in the specification are preferred embodiments and that the acts and modules referred to are not necessarily required in this application.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects.
Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described above, or equivalents may be substituted for elements thereof. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. A tag wireless positioning method is characterized by comprising the following steps:
the main base station sends a main positioning signal and a main sending timestamp to at least three auxiliary base stations and tags which are communicated with the main base station;
each auxiliary base station generates a respective auxiliary receiving time stamp according to the main positioning signal;
each auxiliary base station sends respective auxiliary positioning signal and auxiliary receiving time stamp to the main base station and the label;
the main base station generates respective main receiving time stamps according to the auxiliary positioning signals and the auxiliary receiving time stamps sent by the auxiliary base stations;
the tag generates a tag main receiving timestamp according to the main positioning signal; generating respective label auxiliary receiving time stamps according to the auxiliary positioning signals returned by the auxiliary base stations;
acquiring coordinate positions of a main base station and each auxiliary base station;
calculating the coordinate position of the tag according to the coordinate position of the main base station, the coordinate position and the main sending timestamp of each auxiliary base station, the main receiving timestamp, the auxiliary sending timestamp, the main tag receiving timestamp and the auxiliary tag receiving timestamp;
the master base station sends a master positioning signal and a master sending timestamp to at least three auxiliary base stations and tags which are communicated with the master base station; each auxiliary base station generates a respective auxiliary receiving time stamp according to the main positioning signal; the method specifically comprises the following steps:
the method comprises the steps that a main base station MAx sends a main positioning signal and a main sending time stamp Txy, wherein x represents a main base station id number, and y represents a packet sequence when the main base station sends the signal;
after receiving the main positioning signal, the auxiliary base station SAz generates respective auxiliary receiving time stamps Rzxy, wherein z represents an auxiliary base station id number, x represents a main base station id number for sending the signal, and y represents a packet sequence for sending the signal by the main base station;
after receiving the main positioning signal, the tag TAr generates a receiving time stamp RTrxy, wherein r represents a tag id number, x represents a main base station id number for sending the signal, and y represents a packet sequence for sending the signal by the main base station; each secondary base station sends respective secondary positioning signal and secondary receiving time stamp to the main base station and the tag, including:
the auxiliary base station SAz sends an auxiliary positioning signal and an auxiliary sending time stamp Tzm, wherein z represents an auxiliary base station id number, and m represents a packet sequence when the auxiliary base station sends the signal;
after receiving the auxiliary positioning signal, the tag TAr generates an auxiliary receiving timestamp RTrzm, wherein r represents a tag id number;
after the master base station MAx receives the auxiliary positioning signal, a master receiving timestamp generated is Rxzm, where x denotes a master base station id number.
2. The tag wireless positioning method of claim 1, wherein the master base station transmits the master positioning signal and the master transmission time stamp to at least three auxiliary base stations and the tag, which are in communication with the master base station, and specifically comprises:
the main base station MAX communicates the base station identification station mode, the self identification id, the packet sequence index, the self coordinates and the sending time stamp Txy for sending the broadcast positioning signal with at least three auxiliary base stations and labels.
3. The tag wireless positioning method according to claim 2, wherein each secondary base station sends its own secondary positioning signal and secondary reception timestamp to the primary base station and the tag, and specifically comprises:
and the auxiliary base station transmits the base station identification station mode, the self identification id, the packet sequence index, the self coordinates, the sending time stamp Tzm for sending the broadcast positioning signal, the receiving time stamp Rzxy for receiving the broadcast positioning signal of the main base station, the identification id of the main base station and the packet sequence index of the broadcast signal of the main base station to the main base station and the label.
4. The method of claim 3, wherein the primary base station is configured as a MA0, the secondary base stations are configured as a first secondary base station SA1, a second secondary base station SA2 and a third secondary base station SA3, and the tag is configured as TA4.
5. A tag wireless location system, comprising:
a master base station, at least three secondary base stations in communication therewith, and a tag; wherein, the first and the second end of the pipe are connected with each other,
the master base station is used for sending a master positioning signal and a master sending timestamp to at least three auxiliary base stations and tags which are communicated with the master base station;
generating respective main receiving time stamps according to the auxiliary positioning signals and the auxiliary receiving time stamps sent by the auxiliary base stations;
each auxiliary base station is used for generating respective auxiliary receiving time stamp according to the main positioning signal;
transmitting respective auxiliary positioning signals and auxiliary receiving time stamps to the main base station and the tag;
the tag is used for generating a tag main receiving time stamp according to the main positioning signal; generating respective label auxiliary receiving time stamps according to the auxiliary positioning signals returned by the auxiliary base stations;
acquiring coordinate positions of a main base station and each auxiliary base station;
calculating the coordinate position of the label according to the coordinate position of the main base station, the coordinate position of the auxiliary base station, the main sending timestamp, the main receiving timestamp, the auxiliary sending timestamp, the main label receiving timestamp and the auxiliary label receiving timestamp;
the master base station sends a master positioning signal and a master sending timestamp to at least three auxiliary base stations and tags which are communicated with the master base station; each auxiliary base station generates a respective auxiliary receiving time stamp according to the main positioning signal; the method specifically comprises the following steps:
the main base station MAX sends a main positioning signal and a main sending time stamp Txy, wherein x represents a main base station id number, and y represents a packet sequence when the main base station sends the signal;
after receiving the main positioning signal, the auxiliary base station SAz generates respective auxiliary receiving time stamps Rzxy, wherein z represents an auxiliary base station id number, x represents a main base station id number for sending the signal, and y represents a packet sequence for sending the signal by the main base station;
after receiving the main positioning signal, the tag TAr generates a receiving time stamp RTrxy, wherein r represents a tag id number, x represents a main base station id number for sending the signal, and y represents a packet sequence for sending the signal by the main base station;
each secondary base station sends respective secondary positioning signal and secondary receiving time stamp to the main base station and the tag, including:
the auxiliary base station SAz sends an auxiliary positioning signal and an auxiliary sending time stamp Tzm, wherein z represents an auxiliary base station id number, and m represents a packet sequence when the auxiliary base station sends the signal;
after receiving the auxiliary positioning signal, the tag TAr generates an auxiliary receiving timestamp RTrzm, wherein r represents a tag id number;
after the primary base station MAx receives the secondary positioning signal, a primary reception timestamp generated is Rxzm, where x denotes a primary base station id number.
6. The tag wls as claimed in claim 5, wherein the main base station is set as MA0, the secondary base stations are set as the first secondary base station SA1, the second secondary base station SA2 and the third secondary base station SA3, and the tag is set as TA4.
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