CN113891376B - Maintenance method for positioning terminal - Google Patents
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- CN113891376B CN113891376B CN202111261197.0A CN202111261197A CN113891376B CN 113891376 B CN113891376 B CN 113891376B CN 202111261197 A CN202111261197 A CN 202111261197A CN 113891376 B CN113891376 B CN 113891376B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W24/00—Supervisory, monitoring or testing arrangements
- H04W24/04—Arrangements for maintaining operational condition
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W24/00—Supervisory, monitoring or testing arrangements
- H04W24/10—Scheduling measurement reports ; Arrangements for measurement reports
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- 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
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- 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
Abstract
The invention discloses a maintenance method of a positioning terminal, which is applied to a multi-base station positioning system comprising a plurality of positioning terminals and a plurality of base stations, wherein all the base stations are used for maintaining the same cloud registry, and the maintenance method comprises the following steps: the base station reports the state change information of the positioning terminal to a cloud registry; the cloud registry transmits scheduling information to each base station based on the received state change information; each base station calls a corresponding positioning terminal based on the received scheduling information; the positioning terminal answers the received base station call information, determines whether the connection with the base station is successful or not based on the base station call information received in the preset time, and completes the online if the connection is successful, otherwise, keeps offline. According to the maintenance method of the positioning terminal, the unified registry is maintained by adopting the plurality of base stations together, so that the workload of maintaining the registry by each base station is reduced, the base stations do not need to poll all terminals, the interference of the online signals on information transmission is reduced, and the online efficiency and reliability of the positioning terminal are improved.
Description
Technical Field
The invention relates to the technical field of positioning of industrial control systems, in particular to a maintenance method of a positioning terminal.
Background
In the industrial production process, in order to ensure the safety of various workers such as factory manufacture in a factory, the existing factory uses a large amount of personnel positioning systems to acquire the position information of the present personnel in time, so as to complete monitoring type positioning management. The personnel positioning system generally comprises four parts, namely an auxiliary positioning beacon, a positioning terminal, a communication base station and an upper computer map engine. The positioning terminal obtains the position information in a Bluetooth positioning mode, then the position information is uploaded to the communication base station in a wireless communication mode, the base station sorts the data according to a fixed format, and the data is sent to a server for storage through a local Ethernet and is called by a map of a host computer.
The common industrial site has large occupied area, more plants and complex structure, is very unfavorable for the installation of the base stations of the personnel positioning system, and has a signal coverage range of about 300 meters supported by a single base station, so the number of the base stations of the industrial site is generally large. Under the conventional communication mechanism, the base stations communicate with the server point-to-point, each base station independently maintains a corresponding registry and does not exchange registered terminal information, so that each base station needs to confirm the state of all positioning terminals, and each base station needs to poll whether all positioning terminals are in the subordinate range in real time. Industrial environments typically have a number of presence terminals exceeding three hundred, even exceeding 1000, which is a significant challenge for real-time polling of communication base stations. The excessive positioning terminals required by the base station to be polled in real time can cause the too long registration time of the terminals in the newly entered area, and the real-time polling can occupy a large block of wireless resources, so how to schedule the communication of terminal information among the base stations, the real-time polling efficiency of the base station is improved, and the reduction of the system operation load is very important.
The personnel positioning system is usually carried out by adopting a Bluetooth ibeacon mode, timing communication is needed between a base station and a positioning terminal, the communication mode is usually a mode that the base station polls the positioning terminal to report information, when the terminal is registered on line with a nearby base station, stable communication connection is established with the base station, when a polling data packet of the base station is received, a response packet containing Bluetooth position information is replied in real time, and the positioning terminal which is established with connection is polled in sequence according to registration sequence in an ID form for the base station, so that the position information of each positioning terminal is acquired in each period.
In order not to miss the terminal position information, the efficiency of the whole system can be improved. The base station needs to maintain a registry of the positioning terminals. And for registered terminals, reading the positioning information of the terminals within a specified time. For the rest unregistered terminals, the base station also performs polling call in real time, and discovers the newly added positioning terminal in the first time. Under the prior art scheme, the maintenance of the registry is independently completed by each base station, all positioning terminal devices of a calling factory are polled in sequence at regular intervals, if a reply of the terminal device is received, the terminal code is recorded and registered in the registry, and the position information is transmitted every cycle later. If the three-time position information transmission fails, the base station considers that the positioning terminal is away, and the positioning terminal is removed from the registry. The present registration mechanism is that each base station loops calls to unregistered terminals according to its own registry.
However, the conventional art has the following problems.
1) The registry of the personnel positioning system is independently maintained by each base station and is not shared with other base stations. Each base station needs to pay attention to whether all the registered positioning terminals of the factory are registered or not, and to call all the terminal devices continuously. The whole mechanism is as follows, the base station polls all unregistered positioning terminal devices in the call registry in turn according to a certain time interval, if a reply is received in a waiting time, the positioning terminal is registered online in the effective range of the base station, and then the position information transmission is carried out. The mechanism does not screen all positioning terminals, if the factory has 1000 positioning terminal devices, the base station calls in sequence at intervals of 50ms, and the single-period polling needs 20s. For devices that need to newly enter the base station to register online, waiting for the base station to register for a call is longer. The mechanism ignores the possibility that the positioning terminal equipment is possibly on line in other base stations, and repeatedly calls the positioning terminal, so that resource waste is caused.
2) Single positioning terminal on-line mechanism
There are various ways of establishing connection between the terminal and the base station, and it is common and feasible for the terminal to actively report periodically or for the terminal to passively receive the base station poll.
For the mode of actively reporting the terminal, the terminal can actively report the information to the adjacent base station at regular time, the base station replies response information after receiving the response information, the terminal successfully establishes connection with the base station and enters a stable communication state with the base station after receiving the response information, but when a large number of terminals exist in the coverage area of the same base station, co-channel conflict exists during reporting, and packet loss is caused, so the mode has the problem of connection establishment difficulty when the number of the terminals is large.
For the terminal passive polling mode, the terminal only receives the polling data of the base station, and immediately replies a response packet after receiving the call packet sent by the base station, the base station successfully establishes connection after receiving the call packet and enters a stable communication state, the method does not have the problem of co-channel conflict, but has the problem that a certain probability of packet loss exists under the actual working condition, when the terminal receives the polling data of the base station and replies, the terminal does not know whether the base station successfully receives the response packet information sent by the terminal, so when the packet loss exists, the terminal defaults to receive the response packet, the base station waits for the signaling of the base station in the stable communication state, the base station does not receive the response packet of the terminal, the base station still transmits the call registration packet, the terminal enters the registration state again after waiting for overtime, and a great amount of time is wasted, and the line speed is slowed.
Thus, the prior art has mainly the following drawbacks:
1) The number of registries in the server is large, and the occupied space is large.
2) The number of single-cycle call positioning terminals is large and the time is long.
3) The registration signal is always working, which may interfere with other normal communications, resulting in loss of positioning data.
4) If the terminal equipment is registered on line in a certain base station, positioning data transmission is started, but other base stations still register the terminal equipment for calling because of information isolation among the base stations, and resource waste of time and signals is generated.
5) The terminal actively reports the online and has the problem of difficult connection establishment when a large number of terminals exist.
6) The passive polling mode of the terminal wastes a lot of state switching time if packet loss occurs, resulting in slow line speed.
Disclosure of Invention
In order to overcome the defects of the technology, the invention provides a maintenance method for the positioning terminal, which adopts a plurality of base stations to jointly maintain a unified registry, reduces the workload of maintaining the registry by each base station, does not need to poll all terminals by the base station, reduces the interference of the online signal on information transmission, and improves the online efficiency and reliability of the positioning terminal.
The technical scheme adopted for overcoming the technical problems is as follows: the method for maintaining the positioning terminal is applied to a multi-base station positioning system, the multi-base station positioning system at least comprises a plurality of positioning terminals and a plurality of base stations, the plurality of base stations are used for maintaining the same cloud registry and scheduling calling the positioning terminals based on the same cloud registry, and the cloud registry at least comprises the on-line and off-line positioning terminal information of all the base stations, and the method is characterized by comprising the following steps: the base station reports the state change information of the positioning terminal to a cloud registry; the cloud registry transmits scheduling information to each base station based on the received state change information; each base station calls a corresponding positioning terminal based on the received scheduling information; the positioning terminal responds to the received base station call information, and determines whether the connection with the base station is successful based on the call information of other positioning terminals sent by the base station, if the connection is successful, the online is completed, otherwise, the offline is kept.
All the base stations maintain the same cloud registry, so that the workload of maintaining the registry by each base station is reduced, and the corresponding task amount is reduced.
Further, the base station reports the state change information of the positioning terminal to the cloud registry, which specifically includes: if the state of the first positioning terminal on line of the first base station is changed to be off-line, the first base station reports the information of the first positioning terminal to the cloud registry.
Further, the cloud registry sends scheduling information to each base station based on the received state change information, and specifically includes: the cloud registry adds the first positioning terminal information into the scheduling messages sent to the other base stations; the cloud registry selects a corresponding base station based on a preset distance from the first base station, and correspondingly improves the scheduling frequency of a corresponding first positioning terminal in the scheduling information.
And controlling the close-range base station to focus on calling the temporary off-line positioning terminal by utilizing the coordination and coordination of multiple base stations.
Further, the base station reports the state change information of the positioning terminal to the cloud registry, which specifically includes: if the first positioning terminal which is not on line at the first base station is changed to be on line at the first base station, the first base station reports the information of the first positioning terminal to the cloud registry.
Further, the cloud registry sends scheduling information to each base station based on the received state change information, and specifically includes: the cloud registry removes the first positioning terminal information from the scheduling messages of the remaining base stations.
The base station does not need to call all positioning terminals, thereby saving wireless channel resources.
Further, the base station calls the positioning terminal included in the scheduling information based on the received scheduling information of the cloud registry; and notifying the front at least one positioning terminal when the current positioning terminal is called, if the response of the front at least one positioning terminal is received, notifying the front at least one positioning terminal of receiving the response information, otherwise, notifying the front at least one positioning terminal of not receiving the response information.
Further, the positioning terminal answers the received base station call information, determines whether the connection with the base station is successful based on the base station call information received in a preset time interval, if the connection is successful, the online is completed, otherwise, the offline is maintained, and the method specifically comprises the following steps: if the first positioning terminal detects that the broadcast information of the base station call comprises the response message of the first positioning terminal in the preset time, the first positioning terminal and the base station are successfully connected, so that the first positioning terminal is online; if the first positioning terminal detects that the broadcast information of the base station call does not comprise the response message of the first positioning terminal in the preset time, the first positioning terminal is in an off-line state, and the first positioning terminal waits for receiving the registration message of the base station call.
Further, the positioning terminal answers the received base station call information, determines whether the connection with the base station is successful based on the base station call information received in a preset time interval, completes the online if the connection is successful, otherwise, keeps offline, and further comprises: if the first positioning terminal does not monitor the broadcast information of the base station call within the preset time, the first positioning terminal waits for receiving the registration message of the base station call.
The offline positioning terminal equipment is online again, so that the registration time is shortened, and the registration efficiency and the efficiency and reliability of establishing connection between the terminal and the base station are improved.
Further, the data packet of the base station call information at least includes the ID of the current SYN call positioning terminal and the ACK information of whether the previous positioning terminal response is received.
By designing the data packet format, the positioning terminal can monitor the response packet to know whether the base station receives the ACK information of the base station.
Further, the cloud registry is set on a server or any base station, the server or the base station setting the cloud registry is used as a central node, and the rest base stations or the server are used as child nodes.
The situation that the base stations are mutually independent under the original system and the resource waste is caused by the fact that information is not circulated is changed.
The beneficial effects of the invention are as follows:
1. the multiple base stations maintain a unified registry together, so that the workload of maintaining the registry by each base station is reduced, and the occupied space of the registry is reduced;
2. the base station allocates according to the registry, calls the number of the appointed positioning terminal, does not need to poll all terminal equipment, reduces the number of single-cycle positioning terminals, saves wireless channel resources and improves efficiency;
3. the duty ratio of the wireless signal for whole system registration is reduced, and the interference of the registration signal to the information transmission signal is reduced;
4. in order to improve the online efficiency and reliability of the single positioning terminal, online communication logic and flow are optimized, and handshake three times when connection is established between two communication parties is ensured;
5. the positioning terminal equipment is registered on line in a certain base station, other base stations can not register and call the positioning terminal equipment, and the time and signal resource waste is reduced;
6. the call frequency is increased for the off-line positioning terminal, so that the problem of difficulty in connection establishment of the positioning terminal is solved, and the time for re-online registration of the positioning terminal is shortened;
7. and constructing a star network based on the cloud registry, and changing the situation that the base stations are mutually independent under the original system, and the resource waste is caused by information non-circulation.
Drawings
FIG. 1 is a flow chart of a method for maintaining a positioning terminal according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a multi-base station personnel positioning system according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a positioning terminal on line in an embodiment of the present invention;
FIG. 4 is a schematic diagram of a positioning terminal on line in an embodiment of the present invention;
fig. 5 is a schematic diagram of a positioning terminal online mechanism according to an embodiment of the present invention.
Detailed Description
The invention will now be described in further detail with reference to the drawings and the specific examples, which are given by way of illustration only and are not intended to limit the scope of the invention, in order to facilitate a better understanding of the invention to those skilled in the art.
Before describing a maintenance method of a positioning terminal of the present invention, some proper terms are explained first:
personnel positioning system: in an industrial field, the position information of staff in the field is acquired through a series of technical means including a communication technology and a Bluetooth positioning technology, so that the electronic network system for monitoring type positioning management is completed. The personnel positioning system is generally composed of four parts, namely an auxiliary positioning beacon, a positioning terminal, a communication base station and an upper computer map engine. The positioning terminal obtains the position information in a Bluetooth positioning mode, then the position information is uploaded to the communication base station in a wireless communication mode, the base station sorts the data according to a fixed format, and the data is sent to a server for storage through a local Ethernet and is called by a map of a host computer.
Communication base station: and the communication terminal equipment in the personnel positioning system gathers the data of all positioning terminals in the range and transmits the data to the server in an uplink mode.
Positioning terminal (terminal): chest card-like devices held by personnel in the personnel location system. The main function is to send the received Bluetooth information to the base station in a self-defined wireless communication mode.
Cloud registry: in the personnel positioning system, all positioning terminal record tables in working states are recorded in real time.
Registration signal: the base station transmits a wireless signal to the positioning terminal for the positioning terminal to recognize the base station and register.
Information transmission signal: the base station and the positioning terminal normally transmit wireless signals of positioning information data.
List of calls: and the base station needs to send a positioning terminal list of the registration signals point to point in a subsequent period.
As shown in fig. 1, a flowchart of a method for maintaining a positioning terminal according to the present embodiment of the present invention specifically includes: the base station reports the state change information of the positioning terminal to a cloud registry; the cloud registry transmits scheduling information to each base station based on the received state change information; each base station calls a corresponding positioning terminal based on the received scheduling information; the positioning terminal responds to the received base station call information, and determines whether the connection with the base station is successful based on the call information of other positioning terminals sent by the base station, if the connection is successful, the online is completed, otherwise, the offline is kept.
In one embodiment of the present invention, the maintenance method for a positioning terminal should be mainly applied to a multi-base station positioning system, such as a multi-base station personnel positioning system shown in fig. 2, which includes n positioning terminals and 8 base stations, respectively, a first base station and an eighth base station, where the whole system has a unified cloud registry, and the 8 base stations in the system maintain the same cloud registry together, and accept the cloud registry to schedule. The cloud registry collects the registered positioning terminal information of all the base stations, and designates the positioning terminals which are polled by each base station later according to the registration and offline conditions of the positioning terminals.
The cloud registry may be built in an upper computer server, or may be designated as a certain master base station, and a star network is adopted, that is, the cloud registry becomes a total node. The situation that the base stations are independent of each other under the original system, and the resource waste is caused by the fact that information is not circulated is changed.
The technical scheme of the present invention will be described in detail with reference to specific embodiments. The premise of the maintenance method of the positioning terminal is that the cloud registry also gathers the registered terminal and off-line terminal information of the base station.
S1, a base station reports state change information of a positioning terminal to a cloud registry.
And each base station reports the registered terminal information and the off-line terminal information, and the cloud registry transmits a new polling terminal list to each base station after summarizing and analyzing. And the information inquiry and management of all the positioning terminals in the factory are only related to the cloud registry and are irrelevant to the rest base stations, so that the workload of the base stations is reduced.
In one embodiment of the present invention, the base station reports the state change information of the positioning terminal to the cloud registry, in the following two cases,
in the first case, as shown in fig. 3, the first positioning terminal is already registered in the first base station, and when the state of the first positioning terminal changes, that is, the first positioning terminal changes from online to offline in the first base station. The first positioning terminal leaves from the first base station, after the first base station calls the first positioning terminal, the first positioning terminal is considered to be offline if the first terminal reply is not received, then the first base station sends the offline information of the first positioning terminal to the cloud registry, the cloud registry informs all base stations to increase the first terminal call and distributes the call frequency, the distribution value is related to the distance of the first base station, and the call frequency of the nearby base stations of the first base station is larger than that of the surrounding base stations.
In the second case, as shown in fig. 4, the first positioning terminal is not registered in the first base station, and when the state of the first positioning terminal changes, that is, the first positioning terminal changes from off-line to on-line in the first base station. The first base station calls the positioning terminal, receives the reply of the first positioning terminal, and the first base station replies a response message, and the first positioning terminal considers that stable connection is established, and considers that the online cloud registry of the first positioning terminal will inform all base stations to delete the first terminal call.
The base station only reports the state change of the positioning terminal to the cloud registry, and if the state of the positioning terminal does not change, the base station does not need to report the state change of the positioning terminal to the cloud registry.
In the embodiment of the present invention, only the first positioning terminal and the first base station are taken as an example, and in fact, the above processes of the plurality of positioning terminals and the plurality of base stations may be processed simultaneously and separately.
And S2, the cloud registry transmits scheduling information to each base station based on the received state change information.
In one embodiment of the present invention, taking the first case in step S1 as an example, the first positioning terminal that is not offline is online at the first base station, and the scheduling information sent by the cloud registry to the other base stations does not include the first positioning terminal. If the cloud registry receives the offline information of the first positioning terminal from the first base station, the cloud registry adds the first positioning terminal information to the scheduling information of other base stations for the other base stations to call the first positioning terminal. And the cloud registry improves base stations closer to the first base station, such as the second base station and the third base station, within a preset distance from the first base station according to the position information of the base stations. Therefore, the first positioning terminal is emphasized to be called in the scheduling information of the second base station and the third base station.
In some embodiments, in the polling at fixed intervals, the second base station and the third base station increase the number of times the first positioning terminal is called and shorten the time interval for the first positioning terminal to be called, waiting for its registration to be brought online.
The fourth base station-eighth base station calls the first positioning terminal according to the polling mode of the common fixed interval.
In another embodiment of the present invention, taking the second case in step S1 as an example, in some embodiments, if the first base station sends a message that the first positioning terminal changes from offline to online to the cloud registry, the cloud registry sends an instruction to the second to eighth base stations to remove the first positioning terminal information from the scheduling messages of the remaining base stations.
In some embodiments, if the first positioning terminal is in a state of being heavily called, the call frequency of the first positioning terminal is also restored to a normal level.
By adopting the mode, the resource waste of the terminal equipment registered in each base station and still called by other base stations is avoided. And for the base station, the number of calling terminals is greatly reduced from all terminals through registry processing, and the registration time of terminal equipment is greatly shortened.
And for any base station, all terminal equipment in the same factory is not required to be imported, and only the terminal issued by the cloud registry is required to be polled. The number of terminals in the registry is reduced and the workload is reduced. And the unified registry is used for summarizing the registered and offline terminal information of each base station, carrying out unified arrangement, avoiding invalid calls of other base stations for the registered equipment, and sending a command for calling the terminal again to the adjacent base stations in the geographic position according to the geographic position for the offline equipment. The registration efficiency is improved.
S3, each base station calls the corresponding positioning terminal based on the received scheduling information.
The base station calls the corresponding terminal based on the received scheduling information of the registry. For example, in one embodiment of the present invention, the second base station and the third base station call the first positioning terminal with a higher frequency based on the scheduling information, and the fourth to eighth base stations call the first positioning terminal with a normal frequency based on the scheduling information.
And the base station informs the positioning terminal of the previous call when calling the current positioning terminal, and informs the previous positioning terminal of receiving the response information if receiving the response of the previous positioning terminal, otherwise, informs the previous positioning terminal of not receiving the response information.
S4, the positioning terminal answers the received base station call information, determines whether the connection with the base station is successful or not based on the base station call information received in the preset time, if the connection is successful, the online is completed, and otherwise, the offline state is maintained.
In one embodiment of the present invention, as shown in fig. 5, the base station n polls the call positioning terminal k, the positioning terminal k+1, the positioning terminal k+2, and the positioning terminal k+3 based on the received scheduling information of the registry.
Taking the base station n as an example of polling the positioning terminal k to the positioning terminal k+3 in turn, the data packet sent by the base station contains both the SYN terminal polling ID and the ACK information of whether the previous terminal response is received, when polling the terminal, the previous terminal will be notified, and whether the base station receives the terminal ACK information replied before.
When the base station n polls the positioning terminal k, the positioning terminal k replies and the base station n receives the reply message of the positioning terminal k, as shown in fig. 5, the data packet sent by the base station n to the positioning terminal k is "SYN terminal k", and the positioning terminal k replies "ACK terminal k". The base station n adds the ID of the first positioning terminal to the transmitted data packet when polling the positioning terminal k+1, for example, "SYN terminal k+1+ack terminal k" as shown in fig. 5. When the base station n polls the positioning terminal k+2, the transmitted data packet is "SYN terminal k+2+ack terminal k". When the base station n polls the positioning terminal k+3, the transmitted data packet is "SYN terminal k+3+ack terminal k".
The positioning terminal k listens that the data packet sent to the positioning terminal k+1, k+2 or k+3 by the base station n comprises an ACK terminal k, and considers that the base station n has received the response packet replied by itself, and considers that the connection between the positioning terminal k and the base station n is established successfully, and the stable communication state is entered.
If the base station n does not receive the response of the positioning terminal k, the data packets of the calling positioning terminals k+1, k+2 and k+3 do not have the 'ACK terminal k', and if the positioning terminal 1 detects that the base station n does not receive the response packet replied by the base station n, the next round of the process of waiting for the base station to poll is directly performed, namely, the positioning terminal waits for receiving the base station registration signal.
In some embodiments, a threshold is also set for the time when the positioning terminal receives the call information sent by the base station, and if the time threshold is exceeded, the positioning terminal does not detect the broadcast message, and waits to accept the base station registration signal.
The method reduces the time of state switching. The registration efficiency and the reliability of connection between the terminal and the base station are improved.
In some embodiments, the number of times the positioning terminal listens to the data packet may be set to at least one time, and may be set according to the system reliability requirement. In addition, in the process of the positioning terminal intercepting the data packet for a plurality of times, if 1 time of interception of the reply packet replied by the base station is carried out, the base station is considered to receive the reply packet replied by the base station.
According to the maintenance method for the positioning terminal, provided by the invention, the list of the positioning terminals which are polled by all the subordinate base stations in the follow-up mode is reasonably planned through the unified cloud registry, so that the registration efficiency is improved, and the time and resource waste caused by the fact that all the terminals are polled by the base stations in real time are avoided.
The foregoing has described only the basic principles and preferred embodiments of the present invention, and many variations and modifications will be apparent to those skilled in the art in light of the above description, which variations and modifications are intended to be included within the scope of the present invention.
Claims (8)
1. The method for maintaining the positioning terminal is applied to a multi-base station positioning system, the multi-base station positioning system at least comprises a plurality of positioning terminals and a plurality of base stations, the plurality of base stations are used for maintaining the same cloud registry and scheduling calling the positioning terminals based on the same cloud registry, and the cloud registry at least comprises the on-line and off-line positioning terminal information of all the base stations, and the method is characterized by comprising the following steps:
the base station reports the state change information of the positioning terminal to the cloud registry,
the cloud registry transmits scheduling information to each base station based on the received state change information, and the cloud registry adds the first positioning terminal information into scheduling information transmitted to other base stations;
the cloud registry selects a corresponding base station based on a preset distance from the first base station, and correspondingly improves the scheduling frequency of a corresponding first positioning terminal in the scheduling information;
each base station calls a corresponding positioning terminal based on the received scheduling information, and the base station calls the positioning terminal included in the scheduling information based on the received scheduling information of the cloud registry;
and notifying the front at least one positioning terminal when the current positioning terminal is called, if the response of the front at least one positioning terminal is received, notifying the front at least one positioning terminal that the response information of the front at least one positioning terminal is received, otherwise, notifying the front at least one positioning terminal that the response information of the front at least one positioning terminal is not received;
the positioning terminal answers the received base station call information, determines whether the connection with the base station is successful or not based on the base station call information received in the preset time, and completes the online if the connection is successful, otherwise, keeps offline.
2. The method for maintaining a positioning terminal according to claim 1, wherein the base station reports the positioning terminal state change information to a cloud registry, specifically comprising:
if the state of the first positioning terminal on line of the first base station is changed to be off-line, the first base station reports the information of the first positioning terminal to the cloud registry.
3. The method for maintaining a positioning terminal according to claim 1, wherein the base station reports the positioning terminal state change information to a cloud registry, specifically comprising:
if the first positioning terminal which is not on line at the first base station is changed to be on line at the first base station, the first base station reports the information of the first positioning terminal to the cloud registry.
4. The method for maintaining a positioning terminal according to claim 3, wherein the cloud registry transmits scheduling information to each base station based on the received state change information, specifically comprising: the cloud registry removes the first positioning terminal information from the scheduling messages of the remaining base stations.
5. The method for maintaining a positioning terminal according to claim 1, wherein the positioning terminal answers the received base station call information, and determines whether the connection with the base station is successful based on the base station call information received in a preset time interval, if the connection is successful, the online is completed, otherwise, the offline is maintained, and the method specifically comprises:
the first positioning terminal receives registration information of a base station call and sends response information to the base station;
if the first positioning terminal detects that the broadcast information of the base station call comprises the response message of the first positioning terminal in the preset time, the first positioning terminal and the base station are successfully connected, so that the first positioning terminal is online;
if the first positioning terminal detects that the broadcast information of the base station call does not comprise the response message of the first positioning terminal in the preset time, the first positioning terminal is in an off-line state, and the first positioning terminal waits for receiving the registration message of the base station call.
6. The method according to claim 5, wherein the positioning terminal answers the received base station call information, and determines whether the connection with the base station is successful based on the base station call information received in a preset time interval, and if the connection is successful, the online is completed, otherwise, the offline is maintained, further comprising: if the first positioning terminal does not monitor the broadcast information of the base station call within the preset time, the first positioning terminal waits for receiving the registration message of the base station call.
7. The method according to claim 6, wherein the data packet of the base station call information includes at least a SYN current call positioning terminal ID and ACK information of whether a previous positioning terminal response is received.
8. The maintenance method of a positioning terminal according to claim 1, wherein the cloud registry is set on a server or any base station, and the server or base station on which the cloud registry is set is used as a central node, and the rest of base stations or servers are used as child nodes.
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