WO2023284243A1 - 标签定位方法、装置、计算机设备和存储介质 - Google Patents

标签定位方法、装置、计算机设备和存储介质 Download PDF

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Publication number
WO2023284243A1
WO2023284243A1 PCT/CN2021/137992 CN2021137992W WO2023284243A1 WO 2023284243 A1 WO2023284243 A1 WO 2023284243A1 CN 2021137992 W CN2021137992 W CN 2021137992W WO 2023284243 A1 WO2023284243 A1 WO 2023284243A1
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positioning
base stations
base station
positioning base
preset
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PCT/CN2021/137992
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English (en)
French (fr)
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吴泽先
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上海闻泰信息技术有限公司
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Publication of WO2023284243A1 publication Critical patent/WO2023284243A1/zh

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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
    • 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

Definitions

  • the disclosure relates to a label positioning method, device, computer equipment and readable storage medium.
  • ultra-wideband Ultra-Wide Band
  • UVB Ultra-Wide Band
  • the tag refers to Devices that use UVB technology to obtain their own position coordinates, that is, devices that need to be positioned, may include mobile phones and the like.
  • a label positioning method, device, computer equipment and computer-readable storage medium are provided.
  • a label positioning method comprising:
  • the positioning base stations In response to the positioning beacon signal broadcast by the target tag to be positioned, determine the preset number of positioning base stations of the target tag; arrange the signal transmission of each positioning base station according to the base station distance between each of the positioning base stations sequence, wherein the signal transmission sequence between the positioning base stations whose base station distance is less than the preset distance threshold value is different; the positioning base stations controlling the preset number send feedback to the base station according to the preset transmission time interval and the signal transmission sequence The coordinates and the receiving time of receiving the positioning beacon signal; according to all the base station coordinates and the receiving time, the positioning information of the target tag is obtained.
  • the determining the preset number of positioning base stations for the target tag includes: obtaining the area where the target tag is located, determining a plurality of candidate base stations in the area; determining the base stations that meet the preset conditions A preset number of candidate base stations are the positioning base stations.
  • the determining that a preset number of candidate base stations satisfying a preset condition are the positioning base stations includes: acquiring a signal quality parameter of the positioning beacon signal received by each of the candidate base stations; Determining the preset number of candidate base stations as the positioning base stations according to the signal quality parameters.
  • the determining a preset number of candidate base stations satisfying preset conditions as the positioning base station includes: obtaining a preset communication quality level of each candidate base station; In order of ranking from high to low, determine the preset number of candidate base stations as the positioning base stations.
  • the positioning base station controlling the preset number feeds back the coordinates of the base station and the receiving time of receiving the positioning beacon signal according to the preset sending time interval and the signal sending sequence, Including: obtaining the current server time of the server, and calculating the transmission distance between the server and each of the positioning base stations according to the base station coordinates of each of the positioning base stations; calculating the signal transmission of each of the positioning base stations according to the transmission distance Time: calculate the sum of the server time and the signal transmission time, and update the base station time of each positioning base station according to the calculation result.
  • the arranging the signal transmission order of each of the positioning base stations according to the base station distance between each of the positioning base stations includes: determining a reference base station in the preset number of positioning base stations; calculating The base station distance between each of the positioning base stations and the reference base station; according to the order of the base station distances from shortest to farthest, arrange the signal transmission order of each of the positioning base stations.
  • the arranging the signal transmission sequence of each of the positioning base stations according to the base station distance between each of the positioning base stations includes: constructing at least one undirected channel corresponding to the preset number of positioning base stations graph, wherein the base station distance between adjacent positioning base stations in each of the undirected graphs is less than a preset distance threshold; arrange the signal transmission order of each of the positioning base stations in each of the undirected graphs, wherein , the signal sending orders of the positioning base stations in the same undirected graph are different.
  • the acquiring the positioning information of the target tag according to the coordinates of all the base stations and the receiving time includes: combining the preset number of positioning base stations in pairs to generate a plurality of positioning base station pairs ; determining a positioning function of each pair of positioning base stations according to the coordinates of the base station and the receiving time; obtaining positioning information of the target tag according to multiple positioning functions of the multiple positioning base station pairs.
  • the obtaining the positioning information of the target tag according to the coordinates of all the base stations and the receiving time includes: obtaining the sending time of the positioning beacon signal; calculating the location information of each positioning base station The time difference between the receiving time and the sending time; according to the coordinates of the base station, the time difference and the preset signal transmission speed, determine the candidate positioning information of each target tag; according to all the candidates of the positioning base station Positioning information, determining the positioning information of the target tag.
  • a label positioning device comprising:
  • the determination module is configured to determine the preset number of positioning base stations of the target tag in response to the positioning beacon signal broadcast by the target tag to be positioned;
  • the arrangement module is configured to base station distances between each of the positioning base stations, arranging the signal transmission order of each of the positioning base stations, wherein the signal transmission order of the positioning base stations whose distance between the base stations is less than the preset distance threshold is different;
  • the feedback module is configured to control the preset number of positioning base stations according to The preset sending time interval and the order of sending the signals feed back the coordinates of the base station and the receiving time of receiving the positioning beacon signal;
  • the acquisition module is configured to acquire the target according to all the coordinates of the base station and the receiving time The positioning information of the label.
  • a computer device including a memory and one or more processors, the memory stores computer-readable instructions, and the one or more processors execute the computer-readable instructions to implement the method provided by any embodiment of the present disclosure.
  • the steps of the label localization method are described in detail below.
  • One or more non-volatile computer-readable storage media storing computer-readable instructions, when the computer-readable instructions are executed by one or more processors, the steps of the label positioning method provided by any embodiment of the present disclosure are implemented .
  • Fig. 1 is a schematic structural diagram of a label positioning system in one or more embodiments
  • Fig. 2 is a flow chart of the tag positioning method in one or more embodiments
  • Fig. 3 is a flow chart of the tag positioning method in one or more embodiments
  • Fig. 4 is a flow chart of the tag positioning method in one or more embodiments.
  • FIG. 5 is a flow chart of a tag location method in one or more embodiments
  • Figure 6a is a schematic diagram of a tag positioning scenario of one or more embodiments
  • Fig. 6b is a schematic diagram of a tag positioning scenario of one or more embodiments
  • Figure 7 is a flow chart of a tag location method in one or more embodiments.
  • Fig. 8 is a schematic diagram of a tag positioning scenario in one or more embodiments.
  • FIG. 9 is a flow chart of a tag location method in one or more embodiments.
  • Figure 10 is a flow chart of a tag location method in one or more embodiments.
  • Fig. 11 is a structural block diagram of a label positioning device in one or more embodiments.
  • Figure 12 is an internal block diagram of a computer device in one or more embodiments.
  • the label positioning method provided by the present disclosure can be configured in the application environment as shown in FIG. 1 .
  • the label positioning method is applied in a label positioning system.
  • the tag positioning system includes a positioning tag 102 , a server 104 and a plurality of positioning base stations 106 .
  • the positioning base station 106 communicates with the server 104 through a network.
  • the positioning base station 106 sends the ranging information between the positioning tag 102 to the server 104 in time-sharing, thereby ensuring that the signals sent by multiple positioning base stations 106 will not interfere with each other, and the server 104 calculates the positioning information of the positioning tag 102 according to the ranging information .
  • the positioning tag 102 can be, but not limited to, various personal computers, notebook computers, smart phones, tablet computers and portable wearable devices, and the server 104 can be an independent server or a server cluster composed of multiple servers in a communication scenario to realise.
  • a label positioning method is provided as shown in FIG. 2 .
  • This embodiment is mainly illustrated by taking the method applied to the server 104 in FIG. 1 ).
  • the method includes:
  • Step 201 in response to a positioning beacon signal broadcast by a target tag to be positioned, determine a preset number of positioning base stations for the target tag.
  • the target tag can be a device to be positioned in the current communication scenario
  • the positioning beacon signal can be understood as any communication signal sent by the target tag, including but not limited to heartbeat signals.
  • the preset number is set according to the current positioning scenario. For example, when the positioning scenario is based on Time Difference of Arrival (TDOA) positioning, if 2D TDOA positioning requires at least 3 fixed and known positioning base stations , therefore, the corresponding preset number is a natural number greater than or equal to 3. If 3-dimensional TDOA positioning requires at least 4 fixed and known positioning base stations, the corresponding preset number is a natural number greater than or equal to 4.
  • TDOA Time Difference of Arrival
  • Example two multiple base stations that receive positioning beacon signals within a preset time period are obtained, and a preset number of base stations are randomly selected from the multiple base stations as positioning base stations.
  • Example two
  • determining the preset number of positioning base stations of the target tag includes:
  • Step 301 acquire the area where the target tag is located, and determine multiple candidate base stations in the area.
  • the area where the target tag is located is obtained.
  • the area where the target tag is located can be determined according to the area of the base station that first received the positioning beacon signal, and then randomly determine a plurality of candidate base stations in the area, and the number of candidate base stations Obviously, the number is greater than or equal to the preset number.
  • the base station that receives the broadcast positioning beacon signal within the preset time may also be determined as the candidate base station.
  • Step 302 determining a preset number of candidate base stations that meet a preset condition as positioning base stations.
  • the candidate base stations may be further screened to determine a preset number of positioning base stations.
  • the above preset conditions for screening and positioning base stations are different.
  • the signal quality parameters of the positioning beacon signals received by each candidate base station are obtained, and the signal quality The parameters can be signal-to-noise ratio, etc., and then, according to the signal quality parameters, determine the preset number of candidate base stations as positioning base stations, for example, arrange the signal quality parameters in order of corresponding The candidate base stations are determined as the positioning base stations.
  • the communication quality level of each base station is pre-calibrated and stored according to the historical communication scenario, for example, the communication quality level is determined according to the quality attenuation degree of the signal received by the candidate base station in the historical communication scenario, wherein, The quality attenuation degree can be the average value of the corresponding reference quality attenuation degrees in multiple historical communication scenarios, that is, to estimate the theoretical signal quality and actual signal quality of the communication signals received in the historical communication scenarios under the corresponding candidate base stations, based on the theoretical signal quality and The ratio of the difference between the actual signal quality and the theoretical signal quality determines the reference quality attenuation degree in the current scene.
  • the preset communication quality level of each candidate base station is obtained, and a preset number of candidate base stations are determined as positioning base stations according to the descending order of the preset communication quality levels.
  • Step 202 according to the base station distance between each positioning base station, arrange the signal transmission order of each positioning base station.
  • the signal sending order of the positioning base stations whose base station distance is smaller than the preset distance threshold is different.
  • the signal sending sequence may be in any form such as number number, letter number, or color, which will not be listed here.
  • the signal transmission order of each positioning base station is arranged, wherein the signal transmission order between the positioning base stations whose base station distance is smaller than the preset distance threshold is different, and the base station distance is greater than the preset distance threshold.
  • the signal sending order between the positioning base stations with the distance threshold may be the same or different. In this way, the transmission sequence ensures that the time of the signals sent by the positioning base station with a closer distance is separated, and the transmitted signals will not interfere with each other.
  • the signal transmission order of each positioning base station is arranged in different ways, which will be described in subsequent embodiments in detail, and will not be repeated here.
  • Step 203 acquiring the coordinates of the base station sent by the preset number of positioning base stations according to the preset sending time interval and signal sending sequence and the receiving time of receiving the positioning beacon signal.
  • the preset sending time interval is calibrated according to experimental data, and the sending time interval can effectively separate signals sent by different positioning base stations.
  • time synchronization is performed on base stations in advance.
  • time synchronization is performed on the positioning base station based on the time of the server. Therefore, the entire communication process is based on the server time.
  • Step 401 obtain the current server time of the server, and calculate the transmission distance between the server and each positioning base station according to the base station coordinates of each positioning base station.
  • obtaining the current server timing of the server may be when the base station is powered on, or when the server's time is updated (for example, when the server finds that the time is inaccurate and will update the time).
  • the positioning base station is fixed in advance, therefore, the base station coordinates of the positioning base station are known, and the transmission distance between the server and each positioning base station is calculated according to the base station coordinates of each positioning base station.
  • Step 402 calculate the signal transmission time of each positioning base station according to the transmission distance.
  • the signal transmission time of each positioning base station can be calculated by the ratio of the transmission distance to the signal propagation speed, or the signal transmission time of each positioning base station can be obtained by querying a preset database through the transmission distance.
  • Step 403 calculate the sum of the server time and the signal transmission time, and update the base station time of each positioning base station according to the calculation result.
  • the sum of the server time and the signal transmission time is calculated. For example, based on the server time ServTime, the base station time of each positioning base station is ServTime+DelyTimeSA, where DelyTimeSA is the signal transmission time.
  • the preset number of positioning base stations are obtained according to the preset sending time interval and signal sending sequence, the coordinates of the base stations sent and the receiving time of receiving the positioning beacon signal, wherein, the positioning signal is received
  • the receiving time of the positioning signal is obtained according to querying the above pre-synchronized base station time when the positioning signal is received.
  • Step 204 according to the coordinates and receiving time of all base stations, the positioning information of the target tag is obtained.
  • the ranging related information of the positioning tag can be determined, so that based on the coordinates of all base stations and receiving time, the positioning information of the target tag can be obtained, and the positioning information can be the target tag. positioning coordinates, etc.
  • the specific manner of acquiring the positioning information of the target tag according to the coordinates of all the base stations and the receiving time refers to the subsequent embodiments, which will not be repeated here.
  • the positioning base station when the positioning base station is found to be congested, for example, if the positioning base station has not fed back relevant information for more than a preset period of time, it is considered that it is congested, etc., and the congested positioning base station is disabled, that is, the positioning base station is controlled to be cleared
  • the information to be sent is resent later, or the corresponding sending time interval can be increased, thereby reducing the conflict of signals sent by different positioning base stations, and further improving the practicability of tag positioning.
  • the tag positioning method of the embodiment of the present disclosure in response to the positioning beacon signal broadcast by the target tag to be positioned, determines the preset number of positioning base stations of the target tag, and then, according to the base station distance between each positioning base station, arranging the signal transmission sequence of each positioning base station, wherein the signal transmission sequence between the positioning base stations whose base station distance is less than the preset distance threshold is different, and controlling the preset number of positioning base stations according to the preset transmission time interval and signal transmission sequence, The coordinates of the base station and the receiving time of receiving the positioning beacon signal are fed back, and finally, the positioning information of the target tag is obtained according to the coordinates and receiving time of all base stations.
  • the time-staggered communication of the positioning base station is realized, and the efficiency and accuracy of positioning are guaranteed.
  • the signal transmission order of each positioning base station is arranged, including:
  • Step 501 determining a reference base station among a preset number of positioning base stations.
  • the reference base station may be a base station randomly selected from the preset number of positioning base stations, or it may be the positioning base station that receives the positioning beacon signal first, or it may be based on the signal quality of the positioning beacon signal received. The selected base stations with the best signal quality are selected.
  • Step 502 calculating base station distances between each positioning base station and a reference base station.
  • Step 503 according to the sequence of base station distances from shortest to farthest, arrange the signal transmission order of each positioning base station.
  • the reference base station is used as the comparison object, and the base station distances between other positioning base stations and the reference base station are calculated, and the signal transmission order of each positioning base station is arranged according to the order of base station distances from near to far, wherein the base station distances are the same
  • the positioning base stations are arranged according to the sequence, instead of being set to the same signal transmission sequence.
  • the order of the distance from the base station to the farthest is to ensure that the server can receive the ranging information as soon as possible and avoid signal interference.
  • the order of signal transmission can also be arranged in the order of distance from farthest to shortest.
  • the positioning base stations are a, b, c, d, e
  • the determined reference base station is the positioning base station a
  • the calculation of a, b, c, d, e and the positioning base station a Base station distance, according to the order of base station distance from farthest to shortest, the signal transmission order of positioning base station is a-b-c-d-e.
  • the positioning base stations arranged according to the base station distance (from near to far) with the reference base station can also be arranged according to a certain value, and all positioning base stations It is divided into multiple positioning base station sets.
  • the signal transmission sequence is determined in turn according to the base station distance.
  • the second positioning base station set calculate the difference between the first positioning base station in the current positioning base station set and the previous one. The distance of the last positioning base station in the positioning base station set. If the distance is greater than the preset distance threshold, a new round of signal transmission sequence will be restarted for the positioning base stations in the current positioning base station set. Otherwise, the last positioning base station in the previous positioning base station set will be restarted.
  • the signal transmission sequence of the positioning base station is arranged.
  • the positioning base station when the positioning base station is a, b, c, d, e, f, g, h, and the certain value is 3, according to the base station distance from the reference base station (from near to far, etc.)
  • the positioning base stations arranged are a, b, c, d, e, f, g, h, then the positioning base stations are divided into three positioning base station sets (a, b, c), (d, e, f), (g , h), and the signal transmission order is arranged according to the digital code starting from 1, then the signal transmission order of a, b, c is 1, 2, 3, if the base station distance between d and c is greater than the preset distance threshold, it indicates Even if d and the positioning set in the positioning base station set (a, b, c) transmit signals at the same time, it will not cause signal interference.
  • the order of signal transmission for determining d, e, and f is also 1, 2, 3, and further , if the base station distance between g and f is less than or equal to the preset distance threshold, it indicates that g and the positioning set in the positioning base station set (d, e, f) transmit signals at the same time, which may cause signal interference, thus, determine the distance between g and h
  • the signal sending sequence is 4 and 5, therefore, the sequence of positioning base stations of the signals sent in the signal sending sequence is a&d-b&e-c&f-g-h.
  • the signal transmission sequence of each positioning base station is determined according to the directed graph.
  • each positioning base station arrange the signal transmission order of each positioning base station, including:
  • Step 701 constructing at least one undirected graph corresponding to a preset number of positioning base stations, wherein the base station distance between adjacent positioning base stations in each undirected graph is smaller than a preset distance threshold.
  • the preset number of positioning base stations are divided into at least one corresponding undirected graph, wherein the distance between adjacent positioning base stations in each undirected graph is The base station distance is less than the preset distance threshold.
  • Step 702 arranging the signal sending order of each positioning base station in each undirected graph, where the signal sending orders of the positioning base stations in the same undirected graph are different.
  • the signal transmission order of each positioning base station in each undirected graph arrangement is arranged, wherein, the signal transmission sequence between the positioning base stations in the same undirected graph is different, and in addition, in order to improve the positioning efficiency, different
  • the signal sending order of the positioning base stations in the undirected graph of can be the same.
  • the positioning base stations are a, b, c, d, e, and the signal transmission sequence is distinguished by color (in the figure, different colors are represented by gray values)
  • the positioning will be based on the distance from the base station
  • the base station is divided into 2 undirected graphs (a, b, c) and (d, e), and a and d are set to red colors, b and e are set to green colors, and c is set to yellow colors, thus,
  • the sequence of positioning base stations sending signals is a&d-b&e-c.
  • the tag positioning method of the embodiment of the present disclosure can flexibly arrange the signal transmission sequence of the positioning base station according to the needs of the scene, and improve the positioning efficiency on the basis of realizing the time-sharing communication of the positioning base station.
  • the positioning information of the target tag is obtained according to the coordinates and receiving time of all base stations, including:
  • Step 901 Combine the preset number of positioning base stations in pairs to generate multiple positioning base station pairs.
  • a preset number of positioning base stations are combined in pairs to generate multiple positioning base station pairs, and the way of combining in pairs is not limited here.
  • Step 902 Determine a positioning function for each positioning base station pair according to the base station coordinates and the receiving time.
  • the positioning coordinates of the target tag are set as an unknown number, and the reference distance expression between each positioning base station and the target tag in each pair of positioning base stations is calculated, and the reference distance expression expresses each For the base station distance of the positioning base station, and then calculate the time difference of the receiving time of each pair of positioning base stations, the product value of the time difference and the preset signal transmission speed obviously also corresponds to the base station distance of each pair of positioning base stations.
  • a positioning function for each positioning base station pair can be constructed according to the reference distance expression and the base station distance.
  • Step 903 Obtain the positioning information of the target tag according to multiple positioning functions of multiple positioning base station pairs.
  • the positioning information of the target tag can be obtained by solving the multiple positioning functions of the multiple positioning base station pairs.
  • the way to divide the positioning base station pairs is to number the positioning base stations.
  • the adjacent positioning base stations are determined as a pair of positioning base stations.
  • the coordinates of the target tag is (X, Y, Z)
  • the coordinates of the positioning base station are (X Ai , Y Ai , Z Ai ), where A represents the positioning base station, i is the number of the positioning base station, and (X, Y, Z) is the target label Coordinates
  • the time difference between the receiving time of each pair of positioning base stations is ⁇ i ,i+1
  • the preset signal transmission speed is c
  • the positioning function corresponding to N positioning base stations is obtained as the following formula (1):
  • the positioning information of the target tag is obtained according to the coordinates and receiving time of all base stations, including:
  • Step 1001 acquire the sending time of the positioning beacon signal.
  • the sending time of the positioning beacon signal is acquired, the sending time may be carried in the positioning beacon signal, and the sending time is known according to the time of the positioning tag itself.
  • time synchronization is performed on the target tag in advance according to the server time.
  • the main serving base station corresponding to the target tag in the positioning base station can be determined, for example, according to the signal quality of the received positioning beacon signal, it is determined that the positioning base station with the best signal quality is the main serving base station, and then the main serving base station is obtained.
  • the base station time of the base station, where the base station time of the main serving base station is synchronized according to the server time in advance, and the transmission time of the main serving base station and the target tag time is determined according to the ratio of the distance between the main serving base station and the target tag and the signal propagation speed , to calculate the sum of the transmission time and the base station time of the main serving base station, so as to realize the time synchronization of the target tag.
  • Step 1020 calculate the time difference between the receiving time and the sending time of each positioning base station.
  • Step 1030 determine the candidate positioning information of each target tag according to the base station coordinates, the second time difference and the preset signal transmission speed.
  • the time difference between the receiving time and sending time of each positioning base station is calculated.
  • the time difference is the signal transmission time from the positioning base station to the target tag.
  • the product of the signal transmission time and the preset signal transmission speed is obviously In order to locate the distance between the base station and the target tag, the distance corresponds to the difference between the base station coordinates of the positioning base station and the coordinates of the target tag. Since only the coordinates of the target tag in the above correspondence are unknown, it can be solved Candidate localization information for target labels.
  • Step 1040 according to the candidate positioning information of all positioning base stations, determine the positioning information of the target tag.
  • the server determines the positioning information of the target tag according to the candidate positioning information of all positioning base stations, for example, determines the positioning information of the target tag according to the mean value of the candidate positioning information of all positioning base stations; For example, the variance values of the candidate positioning information of all positioning base stations are calculated to determine the positioning information of the target tag and the like.
  • the tag positioning method of the embodiment of the present disclosure obtains the positioning information of the target tag according to the coordinates and receiving time of all base stations, and combines the coordinates and receiving time of all base stations to jointly locate the target tag, thereby improving the positioning accuracy.
  • FIG. 11 is a schematic structural diagram of a label positioning device according to an embodiment of the present disclosure.
  • the label positioning device includes: a determination module 1110, an arrangement module 1120, a feedback module 1130 and an acquisition module 1140, wherein the determining module 1110 is configured to determine a preset number of positioning base stations of the target tag in response to the positioning beacon signal broadcast by the target tag to be positioned;
  • the arrangement module 1120 is configured to arrange the signal transmission order of each positioning base station according to the base station distance between each positioning base station, wherein the signal transmission order between the positioning base stations whose base station distance is less than the preset distance threshold is different;
  • the feedback module 1130 is configured to control the preset number of positioning base stations to feed back the coordinates of the base stations and the receiving time of receiving the positioning beacon signal according to the preset transmission time interval and signal transmission sequence;
  • the obtaining module 1140 is configured to obtain the positioning information of the target tag according to the coordinates and receiving time of all base stations.
  • the determining module 1110 is specifically configured to:
  • a preset number of candidate base stations satisfying a preset condition are determined as the positioning base stations.
  • the determining module 1110 is specifically configured to:
  • the determination module 1110 is specifically configured to: obtain the preset communication quality level of each candidate base station; determine the preset number according to the order of the preset communication quality levels from high to low
  • the candidate base station of is the positioning base station.
  • it also includes: a first calculation module configured to acquire the current server time of the server, and calculate the transmission distance between the server and each of the positioning base stations according to the base station coordinates of each of the positioning base stations; the second Two calculation modules, configured to calculate the signal transmission time of each of the positioning base stations according to the transmission distance; the updating module, configured to sum the server time and the signal transmission time, and update each of the positioning base stations according to the calculation result The base station time for positioning the base station.
  • a first calculation module configured to acquire the current server time of the server, and calculate the transmission distance between the server and each of the positioning base stations according to the base station coordinates of each of the positioning base stations
  • the second Two calculation modules configured to calculate the signal transmission time of each of the positioning base stations according to the transmission distance
  • the updating module configured to sum the server time and the signal transmission time, and update each of the positioning base stations according to the calculation result The base station time for positioning the base station.
  • the arrangement module 1120 is specifically configured to: determine the reference base station in the preset number of positioning base stations; calculate the base station distance between each of the positioning base stations and the reference base station; Arrange the signal sending sequence of each positioning base station in order from near to far.
  • the arrangement module 1120 is specifically configured to: construct at least one undirected graph corresponding to the preset number of positioning base stations, wherein each of the undirected graphs between adjacent positioning base stations The base station distance is less than a preset distance threshold; arranging the signal transmission order of each of the positioning base stations in each of the undirected graphs, wherein the signal transmission orders of the positioning base stations in the same undirected graph are different.
  • the obtaining module 1140 is configured to: generate a plurality of pairs of positioning base stations by combining the preset number of positioning base stations in pairs; determine each The positioning function of the pair of positioning base stations; acquiring the positioning information of the target tag according to the multiple positioning functions of the multiple positioning base station pairs.
  • the obtaining module 1140 is configured to: obtain the sending time of the positioning beacon signal; calculate the time difference between the receiving time of each of the positioning base stations and the sending time; according to the The coordinates of the base station, the time difference and the preset signal transmission speed determine the candidate location information of each target tag; determine the location information of the target tag according to the candidate location information of all the positioning base stations.
  • the tag positioning device of the embodiment of the present disclosure in response to the positioning beacon signal broadcast by the target tag to be positioned, determines the preset number of positioning base stations of the target tag, and then arranges each positioning base station according to the base station distance between each positioning base station.
  • the signal transmission order of the positioning base station wherein the signal transmission order of the positioning base stations whose base station distance is less than the preset distance threshold is different, and the preset number of positioning base stations are controlled to feed back the base station coordinates according to the preset transmission time interval and signal transmission order and the receiving time of receiving the positioning beacon signal, and finally, according to the coordinates and receiving time of all base stations, the positioning information of the target tag is obtained.
  • the time-staggered communication of the positioning base station is realized, and the efficiency and accuracy of positioning are guaranteed.
  • Each module in the above-mentioned label positioning device can be fully or partially realized by software, hardware and a combination thereof.
  • the above-mentioned modules can be embedded in or independent of one or more processors in the computer device in the form of hardware, and can also be stored in the memory of the computer device in the form of software, so that one or more processors can call and execute the above The operation corresponding to the module.
  • a computer device is provided.
  • the computer device may be a server, and its internal structure may be as shown in FIG. 12 .
  • the computer device includes a processor, memory and a network interface connected by a system bus. Wherein, the processor of the computer device is used to provide calculation and control capabilities.
  • the memory of the computer device includes a non-volatile storage medium and an internal memory.
  • the non-volatile storage medium stores an operating system, computer readable instructions and a database.
  • the internal memory provides an environment for the execution of the operating system and computer readable instructions in the non-volatile storage medium.
  • the database of the computer device is used to store ranging data related to tag positioning.
  • the network interface of the computer device is used to communicate with an external terminal via a network connection. When the computer-readable instructions are executed by the processor, a label positioning method is realized.
  • a computer device is provided.
  • the computer device may be a terminal, and its internal structure may be as shown in FIG. 12 .
  • the computer device includes a processor, a memory, a communication interface, a display screen and an input device connected through a system bus. Wherein, the processor of the computer device is used to provide calculation and control capabilities.
  • the memory of the computer device includes a non-volatile storage medium and an internal memory.
  • the non-volatile storage medium stores an operating system and computer readable instructions.
  • the internal memory provides an environment for the execution of the operating system and computer readable instructions in the non-volatile storage medium.
  • the communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be realized through WIFI, an operator network, near field communication (NFC) or other technologies.
  • WIFI wireless fidelity
  • NFC near field communication
  • the computer program is executed by the processor, a label positioning method is realized.
  • the display screen of the computer device may be a liquid crystal display screen or an electronic ink display screen
  • the input device of the computer device may be a touch layer covered on the display screen, or a button, a trackball or a touch pad provided on the casing of the computer device , and can also be an external keyboard, touchpad, or mouse.
  • FIG. 12 is only a block diagram of a partial structure related to the disclosed solution, and does not constitute a limitation to the computer equipment on which the disclosed solution is applied.
  • the specific computer equipment can be More or fewer components than shown in the figures may be included, or some components may be combined, or have a different arrangement of components.
  • the tag locating device provided by the present disclosure can be implemented in the form of a computer readable instruction, and the computer readable instruction can be run on a computer device as shown in FIG. 12 .
  • Various program modules constituting the label locating device can be stored in the memory of the computer equipment, for example, the determination module 1110 , arrangement module 1120 , feedback module 1130 and acquisition module 1140 shown in FIG. 11 .
  • the computer-readable instructions constituted by the various program modules enable the processor to execute the steps in the label positioning method of the various embodiments of the present disclosure described in this specification.
  • the computer equipment shown in FIG. 12 can determine the preset number of positioning base stations of the target tag through the tag positioning device shown in FIG. 11 through the determination module 1110 in response to the positioning beacon signal broadcast by the target tag to be positioned, Furthermore, the arranging module 1120 arranges the signal transmission sequence of each positioning base station according to the base station distance between each positioning base station, wherein the signal transmission sequence between the positioning base stations whose base station distance is smaller than the preset distance threshold is different, and the feedback module 1130 controls the preset A set number of positioning base stations feed back the coordinates of the base stations and the receiving time of receiving the positioning beacon signal according to the preset sending time interval and signal sending sequence. Finally, the acquisition module 1140 obtains the positioning of the target tag according to the coordinates and receiving time of all base stations. information. Thus, the time-staggered communication of the positioning base station is realized, and the efficiency and accuracy of positioning are guaranteed.
  • a computer device including a memory and one or more processors, the memory stores computer-readable instructions, and the one or more processors execute the computer-readable instructions to implement the following steps: responding Based on the positioning beacon signal broadcast by the target tag to be positioned, determine the preset number of positioning base stations of the target tag;
  • the base station distance between each of the positioning base stations arrange the signal transmission order of each of the positioning base stations, wherein the signal transmission order between the positioning base stations whose base station distance is less than a preset distance threshold is different;
  • the following steps are also implemented: obtaining the region where the target tag is located, determining multiple candidate base stations in the region; A number of candidate base stations are set as the positioning base stations.
  • the following steps are further implemented: obtaining the signal quality parameters of the positioning beacon signals received by each of the candidate base stations; according to the signal quality parameters Determining the preset number of candidate base stations as the positioning base stations.
  • the following steps are also implemented: obtaining the preset communication quality level of each candidate base station; according to the preset communication quality level from high to low Sequentially, determining the preset number of candidate base stations as the positioning base stations.
  • the following steps are also implemented: obtaining the current server time of the server, and calculating the time of the server and each of the positioning base stations according to the base station coordinates of each of the positioning base stations.
  • the transmission distance of the positioning base station calculate the signal transmission time of each positioning base station according to the transmission distance; calculate the sum of the server time and the signal transmission time, and update the base station of each positioning base station according to the calculation result time.
  • the following steps are further implemented: determining the reference base station in the preset number of positioning base stations; calculating the relationship between each of the positioning base stations and the reference base station Base station distance: according to the order of the base station distance from shortest to farthest, arrange the signal transmission order of each of the positioning base stations.
  • the following steps are further implemented: constructing at least one undirected graph corresponding to the preset number of positioning base stations, wherein each undirected graph The base station distance between the adjacent positioning base stations in the above is less than the preset distance threshold; arrange the signal transmission order of each of the positioning base stations in each of the undirected graph arrangements, wherein, the positioning in the same undirected graph The order of signal transmission differs between base stations.
  • the following steps are further implemented: constructing at least one undirected graph corresponding to the preset number of positioning base stations, wherein each undirected graph The base station distance between the adjacent positioning base stations in the above is less than the preset distance threshold; arrange the signal transmission order of each of the positioning base stations in each of the undirected graph arrangements, wherein, the positioning in the same undirected graph The order of signal transmission differs between base stations.
  • the following steps are also implemented: acquiring the sending time of the positioning beacon signal; calculating the receiving time of each of the positioning base stations and the receiving time of the sending time time difference; according to the coordinates of the base station, the time difference and the preset signal transmission speed, determine the candidate positioning information of each target tag; determine the target tag according to the candidate positioning information of all the positioning base stations location information.
  • the above-mentioned computer equipment responds to the positioning beacon signal broadcast by the target tag to be positioned, determines the preset number of positioning base stations of the target tag, and then arranges the signal transmission sequence of each positioning base station according to the base station distance between each positioning base station , where the signal transmission sequence between the positioning base stations whose base station distance is less than the preset distance threshold is different, and the preset number of positioning base stations are controlled to feed back the coordinates of the base stations and the received positioning beacons according to the preset transmission time interval and signal transmission order.
  • the receiving time of the signal, and finally, according to the coordinates and receiving time of all base stations, the positioning information of the target tag is obtained.
  • the time-staggered communication of the positioning base station is realized, and the efficiency and accuracy of positioning are guaranteed.
  • one or more non-transitory computer-readable storage media storing computer-readable instructions are provided, and when executed by one or more processors, the computer-readable instructions implement the following steps: responding to The positioning beacon signal broadcast by the target tag to determine the preset number of positioning base stations of the target tag; according to the base station distance between each of the positioning base stations, arrange the signal transmission order of each of the positioning base stations, wherein, The signal transmission order between the positioning base stations whose distance between the base stations is less than the preset distance threshold is different; the positioning base stations controlling the preset number feed back the coordinates of the base stations and the received signals according to the preset transmission time interval and the signal transmission sequence.
  • the receiving time of the positioning beacon signal ; acquiring the positioning information of the target tag according to all the base station coordinates and the receiving time.
  • the following steps are further implemented: obtaining the region where the target tag is located, determining multiple candidate base stations in the region; A preset number of candidate base stations are the positioning base stations.
  • the following steps are further implemented: obtaining the signal quality parameters of the positioning beacon signals received by each of the candidate base stations; The parameters determine that the preset number of candidate base stations are the positioning base stations.
  • the following steps are further implemented: acquiring the preset communication quality level of each candidate base station; and descending from high to low according to the preset communication quality level The sequence of the predetermined number of candidate base stations is determined as the positioning base station.
  • the following steps are further implemented: obtaining the current server time of the server, and calculating the server and each of the positioning base stations according to the base station coordinates of each of the positioning base stations The transmission distance of the positioning base station;
  • the following steps are further implemented: determining the reference base station in the preset number of positioning base stations; calculating the relationship between each of the positioning base stations and the reference base station The base station distance; arrange the signal transmission sequence of each positioning base station according to the order of the base station distance from shortest to farthest.
  • the following steps are further implemented: constructing at least one undirected graph corresponding to the preset number of positioning base stations, wherein each of the undirected The base station distance between adjacent positioning base stations in the figure is less than a preset distance threshold; arrange the signal transmission order of each said positioning base station in each said undirected graph arrangement, wherein, the same said undirected graph The order of signal transmission between positioning base stations is different.
  • the following steps are further implemented: combining the preset number of positioning base stations in pairs to generate a plurality of positioning base station pairs; according to the base station coordinates and The receiving time is to determine a positioning function of each pair of positioning base stations; to obtain the positioning information of the target tag according to the multiple positioning functions of the multiple positioning base station pairs.
  • the following steps are also implemented: acquiring the sending time of the positioning beacon signal; calculating the receiving time and the sending time of each of the positioning base stations According to the base station coordinates, the time difference and the preset signal transmission speed, determine the candidate positioning information of each target tag; determine the target according to the candidate positioning information of all the positioning base stations The positioning information of the label.
  • the above-mentioned computer-readable storage medium determines the preset number of positioning base stations of the target tag in response to the positioning beacon signal broadcast by the target tag to be positioned, and then arranges the positioning base stations of each positioning base station according to the base station distance between each positioning base station.
  • the order of signal transmission wherein the signal transmission order of the positioning base stations whose base station distance is less than the preset distance threshold is different, and the preset number of positioning base stations is controlled to feed back the coordinates of the base stations and the received signals according to the preset transmission time interval and signal transmission sequence.
  • the receiving time of the positioning beacon signal, and finally, according to the coordinates and receiving time of all base stations, the positioning information of the target tag is obtained.
  • the time-staggered communication of the positioning base station is realized, and the efficiency and accuracy of positioning are guaranteed.
  • Non-volatile memory may include read-only memory (Read-Only Memory, ROM), magnetic tape, floppy disk, flash memory or optical memory, etc.
  • Volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory.
  • RAM Random Access Memory
  • SRAM Static Random Access Memory
  • DRAM Dynamic Random Access Memory
  • the tag positioning method provided by this disclosure can obtain a preset number of positioning base stations, and arrange the signal transmission sequence of each positioning base station according to the base station distance between each positioning base station, so that the target can be obtained according to the coordinates and receiving time of all base stations.
  • the positioning information of the tag realizes the time-staggered communication of the positioning base station, ensures the efficiency and accuracy of positioning, and has strong industrial applicability.

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Abstract

本公开涉及移动通信领域，提供了一种标签定位方法、装置、计算机设备和存储介质。方法包括：响应于待定位的目标标签广播的定位信标信号，确定目标标签的预设个数的定位基站；根据各个定位基站之间的基站距离，排列每个定位基站的信号发送次序，其中，基站距离小于预设距离阈值的定位基站之间的信号发送次序不同；获取预设个数的定位基站按照预设的发送时间间隔和信号发送次序，发送的基站坐标和接收到定位信标信号的接收时间；根据所有基站坐标和接收时间，获取目标标签的定位信息。采用本方法能够实现定位基站的错时通讯，保障定位的效率和精度。

Description

标签定位方法、装置、计算机设备和存储介质
本公开要求于2021年7月15日提交中国专利局、申请号为202110801335.3、发明名称为“标签定位方法、装置、计算机设备和存储介质”的中国专利申请的优先权，其全部内容通过引用结合在本公开中。
技术领域
本公开涉及一种标签定位方法、装置、计算机设备和可读存储介质。
背景技术
通常，由于超宽带(Ultra-Wide Band，UVB)具有超宽带以及高速脉冲载波的特点，作为一种短程通讯应用在短距离定位上，比如，来定位移动的标签，其中，该标签指的是利用UVB技术来获得自身位置坐标的设备，即需要被定位的设备，可以包括移动手机等。
相关技术中，由于UWB的半双工特性，不能同时收发信号，且计算一次定位坐标需要多次测距，也就是需要标签和多个基站之间的多次通讯，根据多次测距结果来计算标签的位置定位。
然而，相关技术中，多个基站多次通讯的信号时可能会存在信号干扰的问题，比如，不同基站之间的通讯信号同时发送从而导致互干扰，从而影响定位的精确度。
发明内容
(一)要解决的技术问题
多个基站多次通讯的信号时可能存在信号干扰的问题，会影响定位的精确度。
(二)技术方案
根据本公开公开的各种实施例，提供了一种标签定位方法、装置、计算机设备和计算机可读存储介质。
一种标签定位方法，所述方法包括：
响应于待定位的目标标签广播的定位信标信号，确定所述目标标签的预设个数的定位基站；根据各个所述定位基站之间的基站距离，排列每个所述定位基站的信号发送次序，其中，所述基站距离小于预设距离阈值的定位基站之间的信号发送次序不同；控制所述预设个数的定位基站按照预设的发送时间间隔和所述信号发送次序，反馈基站坐标和接收到所述定位信标信号的接收时间；根据所有所述基站坐标和所述接收时间，获取所述目标标签的定位信息。
在一个实施例中，所述确定所述目标标签的预设个数的定位基站，包括：获取所述目标标签所在的地区，确定所述地区中的多个候选基站；确定满足预设条件的预设个数的候选基站为所述定位基站。
在一个实施例中，所述确定满足预设条件的预设个数的候选基站为所述定位基站，包括：获取每个所述候选基站接收到的所述定位信标信号的信号质量参数；根据所述信号质量参数确定所述预设个数的候选基站为所述定位基站。
在一个实施例中，所述确定满足预设条件的预设个数的候选基站为所述定位基站，包括：获取每个所述候选基站的预设通信质量等级；根据所述预设通信质量等级由高到低的顺序，确定所述预设个数的候选基站为所述定位基站。
在一个实施例中，在所述控制所述预设个数的定位基站按照预设的发送时间间隔和所述信号发送次序，反馈基站坐标和接收到所述定位信标信号的接收时间之前，包括：获取服务器当前的服务器时间，并根据每个所述定位基站的基站坐标计算所述服务器和每个所述定位基站的传输距离；根据所述传输距离计算每个所述定位基站的信号传输时间；对所述服务器时间和所述信号传输时间求和计算，根据计算结果更新每个所述定位基站的基站时间。
在一个实施例中，所述根据各个所述定位基站之间的基站距离，排列每个所述定位基站的信号发送次序，包括：确定所述预设个数的定位基站中的参考基站；计算各个所述定位基站与所述参考基站的基站距离；根据所述基站距离由近到远的顺序，排列每个所述定位基站的信号发送次序。
在一个实施例中，所述根据各个所述定位基站之间的基站距离，排列每个所述定位基站的信号发送次序，包括：构建所述预设个数的定位基站对应的至少一个无向图，其中，每个所述无向图中相邻的定 位基站之间的基站距离小于预设距离阈值；排列每个所述无向图中的每个所述定位基站的信号发送次序，其中，同一所述无向图中的定位基站之间的信号发送次序不同。
在一个实施例中，所述根据所有所述基站坐标和所述接收时间，获取所述目标标签的定位信息，包括：对所述预设个数的定位基站两两组合生成多个定位基站对；根据所述基站坐标和所述接收时间，确定每个所述定位基站对的定位函数；根据所述多个定位基站对的多个所述定位函数获取所述目标标签的定位信息。
在一个实施例中，所述根据所有所述基站坐标和所述接收时间，获取所述目标标签的定位信息，包括：获取所述定位信标信号的发送时间；计算每个所述定位基站的接收时间和所述发送时间的时间差值；根据所述基站坐标、所述时间差值和预设信号传输速度，确定每个所述目标标签的候选定位信息；根据所有所述定位基站的候选定位信息，确定所述目标标签的定位信息。
一种标签定位装置，所述装置包括：
确定模块，配置成响应于待定位的目标标签广播的定位信标信号，确定所述目标标签的预设个数的定位基站；排列模块，配置成根据各个所述定位基站之间的基站距离，排列每个所述定位基站的信号发送次序，其中，所述基站距离小于预设距离阈值的定位基站之间的信号发送次序不同；反馈模块，配置成控制所述预设个数的定位基站按照预设的发送时间间隔和所述信号发送次序，反馈基站坐标和接收到所述定位信标信号的接收时间；获取模块，配置成根据所有所述基站坐标和所述接收时间，获取所述目标标签的定位信息。
一种计算机设备，包括存储器和一个或多个处理器，所述存储器存储有计算机可读指令，所述一个或多个处理器执行所述计算机可读指令时实现本公开任意实施例所提供的标签定位方法的步骤。
一个或多个存储有计算机可读指令的非易失性计算机可读存储介质，所述计算机可读指令被一个或多个处理器执行时实现本公开任意实施例所提供的标签定位方法的步骤。
本公开的其他特征和优点将在随后的说明书中阐述，并且，部分地从说明书中变得显而易见，或者通过实施本公开而了解。本公开的目的和其他优点在说明书、权利要求书以及附图中所特别指出的结构来实现和获得，本公开的一个或多个实施例的细节在下面的附图和描 述中提出。
为使本公开的上述目的、特征和优点能更明显易懂，下文特举可选实施例，并配合所附附图，作详细说明如下。
附图说明
为了更清楚地说明本公开实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，对于本领域普通技术人员而言，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1为一个或多个实施例中的标签定位系统的结构示意图；
图2为一个或多个实施例中的标签定位方法的流程图；
图3为一个或多个实施例中的标签定位方法的流程图；
图4为一个或多个实施例中的标签定位方法的流程图；
图5为一个或多个实施例中的标签定位方法的流程图；
图6a为一个或多个实施例的标签定位场景的示意图；
图6b为一个或多个实施例的标签定位场景的示意图；
图7为一个或多个实施例中的标签定位方法的流程图；
图8为一个或多个实施例中的标签定位场景的示意图；
图9为一个或多个实施例中的标签定位方法的流程图；
图10为一个或多个实施例中的标签定位方法的流程图；
图11为一个或多个实施例中标签定位装置的结构框图；
图12为一个或多个实施例中计算机设备的内部结构图。
具体实施方式
为了使本公开的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本公开进行进一步详细说明。应当理解，此处描述的具体实施例仅仅用以解释本公开，并不配置成限定本公开。
本公开提供的标签定位方法，可以应配置成如图1所示的应用环境中。该标签定位方法应用于标签定位系统中。该标签定位系统包括定位标签102、服务器104和多个定位基站106。其中，定位基站106与服务器104通过网络进行通信。
定位基站106分时向服务器104发送与定位标签102之间的测距信息，从而，保证多个定位基站106的发送信号不会互相干扰，服务器104根据测距信息进行定位标签102定位信息的计算。
其中，定位标签102可以但不限于是各种个人计算机、笔记本电脑、智能手机、平板电脑和便携式可穿戴设备，服务器104可以在通信场景中，用独立的服务器或者是多个服务器组成的服务器集群来实现。
在一个实施例中，如图2所示提供了一种标签定位方法。(本实施例主要以该方法应用于图1中的服务器104)来举例说明。如图2所示，该方法包括：
步骤201，响应于待定位的目标标签广播的定位信标信号，确定目标标签的预设个数的定位基站。
其中，目标标签可以为当前通信场景下待定位的设备，定位信标信号可以理解为目标标签发送的任意通信信号，包括但不限于心跳信号等。
另外，预设个数根据当前定位场景设置，比如，当定位场景为基于到达时差(Time Difference of Arrival，TDOA)定位时，若是2维TDOA定位需要至少3个位置坐标固定且已知的定位基站，因此，对应的预设个数是大于等于3的自然数，若是3维TDOA定位需要至少4个位置坐标固定且已知的定位基站，因此，对应的预设个数是大于等于4的自然数。
在本实施例中，响应于待定位的目标标签广播的定位信标信号，首先确定当前定位需要的预设个数的定位基站。
需要说明的是，在不同的应用场景中，确定目标标签的预设个数的定位基站的方式不同，示例如下：
示例一：
在本示例中，获取在预设时长内接收到定位信标信号的多个基站，在多个基站中随机选择预设个数的基站作为定位基站。示例二：
在本示例中，如图3所示，确定目标标签的预设个数的定位基站，包括：
步骤301，获取目标标签所在的地区，确定地区中的多个候选基站。
在本实施例中，获取目标标签所在的地区，目标标签所在的地区可以根据最先接收到定位信标信号的基站所属地区确定，进而，随机确定地区中的多个候选基站，候选基站的数量显然大于等于预设个数，当然，也可以确定在预设时间内接收到广播的定位信标信号的基站为候选基站。
步骤302，确定满足预设条件的预设个数的候选基站为定位基站。
在本实施例中，通常候选基站的数量较多，因此，还可以对候选基站进一步筛选，以确定出预设个数的定位基站。
需要说明的是，在不同的应用场景中，上述筛选定位基站的预设条件不同，在一些可能的实施例中，获取每个候选基站接收到的定位信标信号的信号质量参数，该信号质量参数可以为信噪比等，进而，根据信号质量参数确定预设个数的候选基站为定位基站，比如，将信号质量参数按照对应的质量由高到低的顺序排列，将前预设个数的候选基站确定为定位基站。
在另一些可能的实施例中，根据历史通信场景预先标定并存储每个基站的通信质量等级，比如，根据历史通信场景中候选基站接收到的信号的质量衰减度，确定通信质量等级，其中，质量衰减度可以为多个历史通信场景下的对应参考质量衰减度的均值，即估算在对应的候选基站下接收到历史通信场景中通信信号的理论信号质量和实际信号质量，基于理论信号质量和实际信号质量的差值和理论信号质量的比值确定当前场景下的参考质量衰减度。
进而，获取每个候选基站的预设通信质量等级，根据预设通信质量等级由高到低的顺序，确定预设个数的候选基站为定位基站。
步骤202，根据各个定位基站之间的基站距离，排列每个定位基站的信号发送次序。其中，基站距离小于预设距离阈值的定位基站之间的信号发送次序不同。
其中，信号发送次序可以为数字编号、可以为字母编号也可以为颜色等任意形式，在此不一一列举。
在本实施例中，根据各个定位基站之间的基站距离，排列每个定位基站的信号发送次序，其中，基站距离小于预设距离阈值的定位基站之间的信号发送次序不同，基站距离大于预设距离阈值的定位基站之间的信号发送次序可以相同，也可以不同。由此，通过发送次序保证距离较近的定位基站发送的信号的时间被隔开，发送的信号不会互相干扰。其中，在不同的应用场景中，排列每个定位基站的信号发送次序方式不同，具体将会在后续实施例中描述，在此不再赘述。
步骤203，获取预设个数的定位基站按照预设的发送时间间隔和信号发送次序，发送的基站坐标和接收到定位信标信号的接收时间。
其中，预设的发送时间间隔是根据实验数据标定的，该发送时间间隔下可以有效隔开不同的定位基站发送的信号。
在本公开的一个实施例中，为了进一步避免信号之间的互相干扰，预先对基站进行时间同步。
在本公开的一个实施例中，为了提高时间同步的精确度和灵活性，基于服务器的时间对定位基站进行时间同步。从而，整个通信过程以服务器时间为准。
在本实施例中，如图4所示，在控制预设个数的定位基站按照预设的发送时间间隔和信号发送次序，反馈基站坐标和接收到定位信标信号的接收时间之前，包括：
步骤401，获取服务器当前的服务器时间，并根据每个定位基站的基站坐标计算服务器和每个定位基站的传输距离。
其中，获取服务器的当前的服务器时机，可以是基站上电时，也可以是服务器的时间更新时(比如服务器发现时间不精确时会进行时间更新的时候)。
在本实施例中，定位基站是预先固定的，因此，定位基站的基站坐标是已知的，根据每个定位基站的基站坐标计算服务器和每个定位基站的传输距离。
步骤402，根据传输距离计算每个定位基站的信号传输时间。
在本实施例中，可以通过传输距离和信号传播速度的比值计算每个定位基站的信号传输时间，也可以通过传输距离查询预设的数据库获取每个定位基站的信号传输时间。
步骤403，对服务器时间和信号传输时间求和计算，根据计算结果更新每个定位基站的基站时间。
在本实施例中，对服务器时间和信号传输时间求和计算，比如，以服务器时间ServTime为准，每个定位基站的基站时间为ServTime+DelyTimeSA，其中，DelyTimeSA为信号传输时间。
进一步的，在本实施例中，获取预设个数的定位基站按照预设的发送时间间隔和信号发送次序，发送的基站坐标和接收到定位信标信号的接收时间，其中，接收到定位信标信号的接收时间是根据接收到定位信号时查询上述预先同步的基站时间获知的。
步骤204，根据所有基站坐标和接收时间，获取目标标签的定位信息。
在本实施例中，根据所有基站坐标和接收时间，可以确定定位标签的测距关联信息，从而，基于所有基站坐标和接收时间，可以获取目标标签的定位信息，该定位信息可以为目标标签的定位坐标等。
其中，根据所有基站坐标和接收时间，获取目标标签的定位信息的具体方式参照后续实施例，在此不再赘述。
在实际执行过程中，当发现定位基站拥塞时，比如，定位基站超过预设时长没有反馈有关信息，则认为其发生拥塞等，则对该拥塞的定位基站去使能，即控制该定位基站清空待发送的信息后重新发送，或者可以增大对应的发送时间间隔，从而，减小不同定位基站发送信号的冲突，进一步提高了标签定位的实用性。
综上，本公开实施例的标签定位方法，响应于待定位的目标标签广播的定位信标信号，确定目标标签的预设个数的定位基站，进而，根据各个定位基站之间的基站距离，排列每个定位基站的信号发送次序，其中，基站距离小于预设距离阈值的定位基站之间的信号发送次序不同，控制预设个数的定位基站按照预设的发送时间间隔和信号发送次序，反馈基站坐标和接收到定位信标信号的接收时间，最后，根据所有基站坐标和接收时间，获取目标标签的定位信息。由此，实现定位基站的错时通讯，保障定位的效率和精度。
下面示例性说明，如何根据各个定位基站之间的基站距离，排列每个所述定位基站的信号发送次序，说明如下：
示例一：
在本示例中，如图5所示，根据各个定位基站之间的基站距离，排列每个定位基站的信号发送次序，包括：
步骤501，确定预设个数的定位基站中的参考基站。
其中，参考基站可以是在预设个数的定位基站中随机选择的一个基站，也可以是根据最先接收到定位信标信号的定位基站，也可以是根据接收到定位信标信号的信号质量筛选出来的信号质量最好的定位基站等。
步骤502，计算各个所述定位基站与参考基站的基站距离。
步骤503，根据基站距离由近到远的顺序，排列每个定位基站的信号发送次序。
在本实施例中，以参考基站为比较对象，计算各个其他定位基站与参考基站的基站距离，根据基站距离由近到远的顺序，排列每个定位基站的信号发送次序，其中，基站距离相同的定位基站，排列顺序按照次序排列，而不是设置为相同的信号发送次序。当然，在本实施例中，按照基站距离由近到远的顺序发送是因为保证服务器可以尽快接收到测距信息，以及避免信号干扰，在实际执行过程中，在保证信号不会互相干扰的前提下，也可以按照距离由远到近的顺序排列信号发送次序等。
举例而言，如图6a所示，当定位基站为a、b、c、d、e时，确定的参考基站为定位基站a，则计算a、b、c、d、e与定位基站a的基站距离，按照基站距离由远到近的排列顺序排列定位基站的信号发送次序为a-b-c-d-e。
在本实施例中，为了提高定位效率，当定位基站的数量大于一定值后，还可以按照一定值将按照与参考基站的基站距离(由近到远等)排列的定位基站，将所有定位基站划分为多个定位基站集合，从第一 个定位基站集合开始，按照基站距离依次确定信号发送次序，从第二个定位基站集合开始，计算当前定位基站集合中的第一个定位基站与上一个定位基站集合中最后一个定位基站的距离，若是距离大于预设距离阈值，则对当前定位基站集合中的定位基站重新开启新一轮的信号发送次序，否则，接着上一个定位基站集合中最后一个定位基站的信号发送次序排列。
举例而言，如图6b所示，当定位基站为a、b、c、d、e、f、g、h,一定值为3时，按照与参考基站的基站距离(由近到远等)排列的定位基站为a、b、c、d、e、f、g、h，则将定位基站划分为3个定位基站集合(a、b、c)、(d、e、f)、(g、h)，且信号发送次序按照从1开始的数字编码开始排列，则a、b、c的信号发送次序为1、2、3，若d和c的基站距离大于预设距离阈值，则表明即使d和定位基站集合(a、b、c)中的定位集合同时发送信号，也不会导致信号干扰，因此，确定d、e、f的信号发送次序也为1、2、3，进一步的，若g和f的基站距离小于等于预设距离阈值，则表明g和定位基站集合(d、e、f)中的定位集合同时发送信号，也许会导致信号干扰，从而，确定g、h的信号发送次序为4和5，从而，信号发次序下发送的信号的定位基站的顺序为a&d-b&e-c&f-g-h。
示例二：
在本示例中，为了进一步提高信号发送次序的确认效率，根据有向图确定每个定位基站的信号发送次序。
如图7所示，根据各个定位基站之间的基站距离，排列每个定位基站的信号发送次序，包括：
步骤701，构建预设个数的定位基站对应的至少一个无向图，其中，每个无向图中相邻的定位基站之间的基站距离小于预设距离阈值。
在本实施例中，按照根据实验数据标定的预设距离阈值，将预设个数的定位基站划分为对应的至少一个无向图，其中，每个无向图中相邻的定位基站之间的基站距离小于预设距离阈值。
步骤702，排列每个无向图中的每个定位基站的信号发送次序，其中，同一无向图中的定位基站之间的信号发送次序不同。
在本实施例中，排列每个无向图排列中的每个定位基站的信号发送次序，其中，同一无向图中的定位基站之间的信号发送次序不同，另外，为了提高定位效率，不同的无向图中的定位基站的信号发送次序可以相同。
举例而言，如图8所示，当定位基站为a、b、c、d、e，且信号发送次序通过颜色区分(图中以灰度值表示不同的颜色)时，根据基站 距离将定位基站划分为2个无向图(a、b、c)和(d、e)，将a和d设置为红色颜色、将b和e设置为绿色颜色，将c设置为黄色颜色，由此，发送信号的定位基站的顺序为a&d-b&e-c。
综上，本公开实施例的标签定位方法，可以根据场景需要灵活排列定位基站的信号发送次序，在实现定位基站分时通讯的基础上，提高了定位效率。
为了使得本领域的技术人员更加清楚的了解本公开的标签定位方法，下面结合示例说明根据所有基站坐标和接收时间，获取目标标签的定位信息的方式，示例说明如下：
示例一：
在本示例中，如图9所示，根据所有基站坐标和接收时间，获取目标标签的定位信息，包括：
步骤901，对预设个数的定位基站两两组合生成多个定位基站对。
在本实施例中，对预设个数的定位基站两两组合，生成多个定位基站对，这里对两两组合的方式不作限定。
步骤902，根据基站坐标和接收时间，确定每个定位基站对的定位函数。
在本实施例中，将目标标签的定位坐标设置为未知数，计算每对定位基站中的每个定位基站和目标标签的参考距离表达式，该参考距离表达式以定位坐标为未知参数表示了每对定位基站的基站距离，进而，计算每对定位基站时间的接收时间的时间差值，时间差值与预设的信号传输速度的乘积值，显然也对应于每对定位基站的基站距离。
因此，在本实施例中，根据参考距离表达式与基站距离可以构建每个定位基站对的定位函数。
步骤903，根据多个定位基站对的多个定位函数获取目标标签的定位信息。
在本实施例中，由于多个定位基站对的多个定位函数中，未知数都是目标标签的坐标，因此，可以根据多个定位基站对的多个定位函数求解获取目标标签的定位信息。
举例而言，当定位基站为N个，划分定位基站对的方式，为对定位基站编号，从首个编号对应的定位基站开始，相邻的定位基站确定为一对定位基站，目标标签的坐标为(X,Y,Z)，定位基站的坐标为(X Ai，Y Ai，Z Ai)，其中，A表示定位基站，i为定位基站的编号，(X,Y,Z)为目标标签的坐标，每个定位基站对的接收时间的时间差值为Δ i,i+1，预设的信号传输速度为c，则得到N个定位基站对应的定位函数为下面公式 (1)：
Figure PCTCN2021137992-appb-000001
示例二：
在本示例中，如图10所示，根据所有基站坐标和接收时间，获取目标标签的定位信息，包括：
步骤1001，获取定位信标信号的发送时间。
在本示例中，获取定位信标信号的发送时间，该发送时间可以携带在定位信标信号中，发送时间是根据定位标签本身的时间获知的。
在本公开的一个实施例中，为了进一步提高定位的精确性，预先根据服务器时间对目标标签进行时间同步。
在本实施例中，可以确定定位基站中与目标标签对应的主服务基站，比如，根据接收到定位信标信号的信号质量确定信号质量最优的定位基站为主服务基站，进而，获取主服务基站的基站时间，其中，主服务基站的基站时间是预先根据服务器时间同步的，根据主服务基站和目标标签之间的距离和信号传播速度的比值，确定主服务基站和目标标签时间的传输时间，计算传输时间和主服务基站的基站时间之和，以实现对目标标签的时间同步。
步骤1020，计算每个定位基站的接收时间和发送时间的时间差值。
步骤1030，根据基站坐标、第二时间差值和预设信号传输速度，确定每个目标标签的候选定位信息。
在本实施例中，计算每个定位基站的接收时间和发送时间的时间差值，该时间差值为定位基站到目标标签的信号传输时间，该信号传输时间和预设信号传输速度的乘积显然为定位基站到目标标签之间的距离，该距离对应于定位基站的基站坐标和目标标签的坐标之间的差值，由于上述对应关系中仅仅是目标标签的坐标是未知的，因此，可以求解目标标签的候选定位信息。
步骤1040，根据所有定位基站的候选定位信息，确定目标标签的定位信息。
在本实施例中，为了保证定位的精确度，服务器根据所有定位基站的候选定位信息，确定目标标签的定位信息，比如，根据所有定位基站的候选定位信息的均值确定目标标签的定位信息；又比如，求取所有定位基站的候选定位信息的方差值确定目标标签的定位信息等。
综上，本公开实施例的标签定位方法，根据所有基站坐标和接收时间，获取目标标签的定位信息，结合所有基站坐标和接收时间统共同定位目标标签，提高了定位精确度。
为了实现上述实施例，图11是根据本公开的一个实施例的标签定位装置的结构示意图，如图11所示，该标签定位装置包括：确定模块1110、排列模块1120、反馈模块1130和获取模块1140，其中，确定模块1110，配置成响应于待定位的目标标签广播的定位信标信号，确定目标标签的预设个数的定位基站；
排列模块1120，配置成根据各个定位基站之间的基站距离，排列每个定位基站的信号发送次序，其中，基站距离小于预设距离阈值的定位基站之间的信号发送次序不同；
反馈模块1130，配置成控制预设个数的定位基站按照预设的发送时间间隔和信号发送次序，反馈基站坐标和接收到定位信标信号的接收时间；
获取模块1140，配置成根据所有基站坐标和接收时间，获取目标标签的定位信息。
在一些实施例中，确定模块1110，具体配置成：
获取所述目标标签所在的地区，确定所述地区中的多个候选基站；
确定满足预设条件的预设个数的候选基站为所述定位基站。
在一些实施例中，确定模块1110，具体配置成：
获取每个所述候选基站接收到的所述定位信标信号的信号质量参数；
根据所述信号质量参数确定所述预设个数的候选基站为所述定位基站。
在一些实施例中，确定模块1110，具体配置成：获取每个所述候选基站的预设通信质量等级；根据所述预设通信质量等级由高到低的顺序，确定所述预设个数的候选基站为所述定位基站。
在一些实施例中，还包括：第一计算模块，配置成获取服务器当前的服务器时间，并根据每个所述定位基站的基站坐标计算所述服务器和每个所述定位基站的传输距离；第二计算模块，配置成根据所述传输距离计算每个所述定位基站的信号传输时间；更新模块，配置成对所述服务器时间和所述信号传输时间求和计算，根据计算结果更新每个所述定位基站的基站时间。
在一些实施例中，排列模块1120，具体配置成：确定所述预设个数的定位基站中的参考基站；计算各个所述定位基站与所述参考基站的基站距离；根据所述基站距离由近到远的顺序，排列每个所述定位 基站的信号发送次序。
在一些实施例中，排列模块1120，具体配置成：构建所述预设个数的定位基站对应的至少一个无向图，其中，每个所述无向图中相邻的定位基站之间的基站距离小于预设距离阈值；排列每个所述无向图中的每个所述定位基站的信号发送次序，其中，同一所述无向图中的定位基站之间的信号发送次序不同。
在本公开的一个实施例中，获取模块1140，配置成：对所述预设个数的定位基站两两组合生成多个定位基站对；根据所述基站坐标和所述接收时间，确定每个所述定位基站对的定位函数；根据所述多个定位基站对的多个所述定位函数获取所述目标标签的定位信息。
在本公开的一个实施例中，获取模块1140，配置成：获取所述定位信标信号的发送时间；计算每个所述定位基站的接收时间和所述发送时间的时间差值；根据所述基站坐标、所述时间差值和预设信号传输速度，确定每个所述目标标签的候选定位信息；根据所有所述定位基站的候选定位信息，确定所述目标标签的定位信息。
本公开实施例的标签定位装置，响应于待定位的目标标签广播的定位信标信号，确定目标标签的预设个数的定位基站，进而，根据各个定位基站之间的基站距离，排列每个定位基站的信号发送次序，其中，基站距离小于预设距离阈值的定位基站之间的信号发送次序不同，控制预设个数的定位基站按照预设的发送时间间隔和信号发送次序，反馈基站坐标和接收到定位信标信号的接收时间，最后，根据所有基站坐标和接收时间，获取目标标签的定位信息。由此，实现定位基站的错时通讯，保障定位的效率和精度。
关于标签定位装置的具体限定可以参见上文中对于标签定位方法的限定，在此不再赘述。上述标签定位装置中的各个模块可全部或部分通过软件、硬件及其组合来实现。上述各模块可以硬件形式内嵌于或独立于计算机设备中的一个或多个处理器中，也可以以软件形式存储于计算机设备中的存储器中，以便于一个或多个处理器调用执行以上各个模块对应的操作。
在一个实施例中，提供了一种计算机设备，该计算机设备可以是服务器，其内部结构图可以如图12所示。该计算机设备包括通过系统总线连接的处理器、存储器和网络接口。其中，该计算机设备的处理器用于提供计算和控制能力。该计算机设备的存储器包括非易失性存储介质、内存储器。该非易失性存储介质存储有操作系统、计算机可读指令和数据库。该内存储器为非易失性存储介质中的操作系统和计算机可读指令的运行提供环境。该计算机设备的数据库用于存储标签 定位有关的测距数据。该计算机设备的网络接口用于与外部的终端通过网络连接通信。该计算机可读指令被处理器执行时以实现一种标签定位方法。
在一个实施例中，提供了一种计算机设备，该计算机设备可以是终端，其内部结构图可以如图12所示。该计算机设备包括通过系统总线连接的处理器、存储器、通信接口、显示屏和输入装置。其中，该计算机设备的处理器用于提供计算和控制能力。该计算机设备的存储器包括非易失性存储介质、内存储器。该非易失性存储介质存储有操作系统和计算机可读指令。该内存储器为非易失性存储介质中的操作系统和计算机可读指令的运行提供环境。该计算机设备的通信接口用于与外部的终端进行有线或无线方式的通信，无线方式可通过WIFI、运营商网络、近场通信(NFC)或其他技术实现。该计算机程序被处理器执行时以实现一种标签定位方法。该计算机设备的显示屏可以是液晶显示屏或者电子墨水显示屏，该计算机设备的输入装置可以是显示屏上覆盖的触摸层，也可以是计算机设备外壳上设置的按键、轨迹球或触控板，还可以是外接的键盘、触控板或鼠标等。
本领域技术人员可以理解，图12中示出的结构，仅仅是与本公开方案相关的部分结构的框图，并不构成对本公开方案所应用于其上的计算机设备的限定，具体的计算机设备可以包括比图中所示更多或更少的部件，或者组合某些部件，或者具有不同的部件布置。
在一个实施例中，本公开提供的标签定位装置可以实现为一种计算机可读指令的形式，计算机可读指令可在如图12所示的计算机设备上运行。计算机设备的存储器中可存储组成该标签定位装置的各个程序模块，比如，图11所示的确定模块1110、排列模块1120、反馈模块1130和获取模块1140。各个程序模块构成的计算机可读指令使得处理器执行本说明书中描述的本公开各个实施例的标签定位方法中的步骤。
例如，图12所示的计算机设备可以通过如图11所示的标签定位装置通过确定模块1110响应于待定位的目标标签广播的定位信标信号，确定目标标签的预设个数的定位基站，进而，排列模块1120根据各个定位基站之间的基站距离，排列每个定位基站的信号发送次序，其中，基站距离小于预设距离阈值的定位基站之间的信号发送次序不同，反馈模块1130控制预设个数的定位基站按照预设的发送时间间隔和信号发送次序，反馈基站坐标和接收到定位信标信号的接收时间，最后，获取模块1140根据所有基站坐标和接收时间，获取目标标签的定位信息。由此，实现定位基站的错时通讯，保障定位的效率和精度。
在一个实施例中，提供了一种计算机设备，包括存储器和一个或多个处理器，该存储器存储有计算机可读指令，该一个或多个处理器执行计算机可读指令时实现以下步骤：响应于待定位的目标标签广播的定位信标信号，确定所述目标标签的预设个数的定位基站；
根据各个所述定位基站之间的基站距离，排列每个所述定位基站的信号发送次序，其中，所述基站距离小于预设距离阈值的定位基站之间的信号发送次序不同；
控制所述预设个数的定位基站按照预设的发送时间间隔和所述信号发送次序，反馈基站坐标和接收到所述定位信标信号的接收时间；
根据所有所述基站坐标和所述接收时间，获取所述目标标签的定位信息。
在一个实施例中，一个或多个处理器执行计算机可读指令时还实现以下步骤：获取所述目标标签所在的地区，确定所述地区中的多个候选基站；确定满足预设条件的预设个数的候选基站为所述定位基站。
在一个实施例中，一个或多个处理器执行计算机可读指令时还实现以下步骤：获取每个所述候选基站接收到的所述定位信标信号的信号质量参数；根据所述信号质量参数确定所述预设个数的候选基站为所述定位基站。
在一个实施例中，一个或多个处理器执行计算机可读指令时还实现以下步骤：获取每个所述候选基站的预设通信质量等级；根据所述预设通信质量等级由高到低的顺序，确定所述预设个数的候选基站为所述定位基站。
在一个实施例中，一个或多个处理器执行计算机可读指令时还实现以下步骤：获取服务器当前的服务器时间，并根据每个所述定位基站的基站坐标计算所述服务器和每个所述定位基站的传输距离；根据所述传输距离计算每个所述定位基站的信号传输时间；对所述服务器时间和所述信号传输时间求和计算，根据计算结果更新每个所述定位基站的基站时间。
在一个实施例中，一个或多个处理器执行计算机可读指令时还实现以下步骤：确定所述预设个数的定位基站中的参考基站；计算各个所述定位基站与所述参考基站的基站距离；根据所述基站距离由近到远的顺序，排列每个所述定位基站的信号发送次序。
在一个实施例中，一个或多个处理器执行计算机可读指令时还实现以下步骤：构建所述预设个数的定位基站对应的至少一个无向图，其中，每个所述无向图中相邻的定位基站之间的基站距离小于预设距离阈值；排列每个所述无向图排列中的每个所述定位基站的信号发送 次序，其中，同一所述无向图中的定位基站之间的信号发送次序不同。
在一个实施例中，一个或多个处理器执行计算机可读指令时还实现以下步骤：构建所述预设个数的定位基站对应的至少一个无向图，其中，每个所述无向图中相邻的定位基站之间的基站距离小于预设距离阈值；排列每个所述无向图排列中的每个所述定位基站的信号发送次序，其中，同一所述无向图中的定位基站之间的信号发送次序不同。
在一个实施例中，一个或多个处理器执行计算机可读指令时还实现以下步骤：获取所述定位信标信号的发送时间；计算每个所述定位基站的接收时间和所述发送时间的时间差值；根据所述基站坐标、所述时间差值和预设信号传输速度，确定每个所述目标标签的候选定位信息；根据所有所述定位基站的候选定位信息，确定所述目标标签的定位信息。
上述计算机设备响应于待定位的目标标签广播的定位信标信号，确定目标标签的预设个数的定位基站，进而，根据各个定位基站之间的基站距离，排列每个定位基站的信号发送次序，其中，基站距离小于预设距离阈值的定位基站之间的信号发送次序不同，控制预设个数的定位基站按照预设的发送时间间隔和信号发送次序，反馈基站坐标和接收到定位信标信号的接收时间，最后，根据所有基站坐标和接收时间，获取目标标签的定位信息。由此，实现定位基站的错时通讯，保障定位的效率和精度。
在一个实施例中，提供了一个或多个存储有计算机可读指令的非易失性计算机可读存储介质，计算机可读指令被一个或多个处理器执行时实现以下步骤：响应于待定位的目标标签广播的定位信标信号，确定所述目标标签的预设个数的定位基站；根据各个所述定位基站之间的基站距离，排列每个所述定位基站的信号发送次序，其中，所述基站距离小于预设距离阈值的定位基站之间的信号发送次序不同；控制所述预设个数的定位基站按照预设的发送时间间隔和所述信号发送次序，反馈基站坐标和接收到所述定位信标信号的接收时间；根据所有所述基站坐标和所述接收时间，获取所述目标标签的定位信息。
在一个实施例中，计算机可读指令被一个或多个处理器执行时还实现以下步骤：获取所述目标标签所在的地区，确定所述地区中的多个候选基站；确定满足预设条件的预设个数的候选基站为所述定位基站。
在一个实施例中，计算机可读指令被一个或多个处理器执行时还实现以下步骤：获取每个所述候选基站接收到的所述定位信标信号的信号质量参数；根据所述信号质量参数确定所述预设个数的候选基站 为所述定位基站。
在一个实施例中，计算机可读指令被一个或多个处理器执行时还实现以下步骤：获取每个所述候选基站的预设通信质量等级；根据所述预设通信质量等级由高到低的顺序，确定所述预设个数的候选基站为所述定位基站。
在一个实施例中，计算机可读指令被一个或多个处理器执行时还实现以下步骤：获取服务器当前的服务器时间，并根据每个所述定位基站的基站坐标计算所述服务器和每个所述定位基站的传输距离；
根据所述传输距离计算每个所述定位基站的信号传输时间；对所述服务器时间和所述信号传输时间求和计算，根据计算结果更新每个所述定位基站的基站时间。
在一个实施例中，计算机可读指令被一个或多个处理器执行时还实现以下步骤：确定所述预设个数的定位基站中的参考基站；计算各个所述定位基站与所述参考基站的基站距离；根据所述基站距离由近到远的顺序，排列每个所述定位基站的信号发送次序。
在一个实施例中，计算机可读指令被一个或多个处理器执行时还实现以下步骤：构建所述预设个数的定位基站对应的至少一个无向图，其中，每个所述无向图中相邻的定位基站之间的基站距离小于预设距离阈值；排列每个所述无向图排列中的每个所述定位基站的信号发送次序，其中，同一所述无向图中的定位基站之间的信号发送次序不同。
在一个实施例中，计算机可读指令被一个或多个处理器执行时还实现以下步骤：对所述预设个数的定位基站两两组合生成多个定位基站对；根据所述基站坐标和所述接收时间，确定每个所述定位基站对的定位函数；根据所述多个定位基站对的多个所述定位函数获取所述目标标签的定位信息。
在一个实施例中，计算机可读指令被一个或多个处理器执行时还实现以下步骤：获取所述定位信标信号的发送时间；计算每个所述定位基站的接收时间和所述发送时间的时间差值；根据所述基站坐标、所述时间差值和预设信号传输速度，确定每个所述目标标签的候选定位信息；根据所有所述定位基站的候选定位信息，确定所述目标标签的定位信息。
上述计算机可读存储介质响应于待定位的目标标签广播的定位信标信号，确定目标标签的预设个数的定位基站，进而，根据各个定位基站之间的基站距离，排列每个定位基站的信号发送次序，其中，基站距离小于预设距离阈值的定位基站之间的信号发送次序不同，控制预设个数的定位基站按照预设的发送时间间隔和信号发送次序，反馈 基站坐标和接收到定位信标信号的接收时间，最后，根据所有基站坐标和接收时间，获取目标标签的定位信息。由此，实现定位基站的错时通讯，保障定位的效率和精度。
本领域普通技术人员可以理解实现上述实施例方法中的全部或部分流程，是可以通过计算机可读指令来指令相关的硬件来完成，所述的计算机可读指令可存储于一非易失性计算机可读取存储介质中，该计算机可读指令在执行时，可包括如上述各方法的实施例的流程。其中，本公开所提供的各实施例中所使用的对存储器、数据库或其它介质的任何引用，均可包括非易失性和易失性存储器中的至少一种。非易失性存储器可包括只读存储器(Read-Only Memory，ROM)、磁带、软盘、闪存或光存储器等。易失性存储器可包括随机存取存储器(Random Access Memory，RAM)或者外部高速缓冲存储器。作为说明而非局限，RAM以多种形式可得，比如静态随机存取存储器(Static Random Access Memory，SRAM)和动态随机存取存储器(Dynamic Random Access Memory，DRAM)等。
以上实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。
以上所述实施例仅表达了本公开的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本公开构思的前提下，还可以做出若干变形和改进，这些都属于本公开的保护范围。因此，本公开专利的保护范围应以所附权利要求为准
工业实用性
通过本公开提供的标签定位方法可以获取预设个数的定位基站，根据各个定位基站之间的基站距离，排列每个定位基站的信号发送次序，从而能够根据所有基站坐标和接收时间，获取目标标签的定位信息，实现定位基站的错时通讯，保障定位的效率和精度，具有很强的工业实用性。

Claims (20)

  1. 一种标签定位方法，其特征在于，所述方法包括：
    响应于待定位的目标标签广播的定位信标信号，确定所述目标标签的预设个数的定位基站；
    根据各个所述定位基站之间的基站距离，排列每个所述定位基站的信号发送次序，其中，所述基站距离小于预设距离阈值的定位基站之间的信号发送次序不同；
    控制所述预设个数的定位基站按照预设的发送时间间隔和所述信号发送次序，反馈基站坐标和接收到所述定位信标信号的接收时间；
    根据所有所述基站坐标和所述接收时间，获取所述目标标签的定位信息。
  2. 如权利要求1所述的方法，其中，所述确定所述目标标签的预设个数的定位基站，包括：
    获取所述目标标签所在的地区，确定所述地区中的多个候选基站；
    确定满足预设条件的预设个数的候选基站为所述定位基站。
  3. 如权利要求2所述的方法，其中，所述确定满足预设条件的预设个数的候选基站为所述定位基站，包括：
    获取每个所述候选基站接收到的所述定位信标信号的信号质量参数；
    根据所述信号质量参数确定所述预设个数的候选基站为所述定位基站。
  4. 如权利要求2所述的方法，其中，所述确定满足预设条件的预设个数的候选基站为所述定位基站，包括：
    获取每个所述候选基站的预设通信质量等级；
    根据所述预设通信质量等级由高到低的顺序，确定所述预设个数的候选基站为所述定位基站。
  5. 如权利要求1所述的方法，其中，在所述控制所述预设个数的定位基站按照预设的发送时间间隔和所述信号发送次序，反馈基站坐标和接收到所述定位信标信号的接收时间之前，包括：
    获取服务器当前的服务器时间，并根据每个所述定位基站的基站坐标计算所述服务器和每个所述定位基站的传输距离；
    根据所述传输距离计算每个所述定位基站的信号传输时间；
    对所述服务器时间和所述信号传输时间求和计算，根据计算结果更新每个所述定位基站的基站时间。
  6. 如权利要求1所述的方法，其中，所述根据各个所述定位基站之间的基站距离，排列每个所述定位基站的信号发送次序，包括：
    确定所述预设个数的定位基站中的参考基站；
    计算各个所述定位基站与所述参考基站的基站距离；
    根据所述基站距离由近到远的顺序，排列每个所述定位基站的信号发送次序。
  7. 如权利要求1所述的方法，其中，所述根据各个所述定位基站之间的基站距离，排列每个所述定位基站的信号发送次序，包括：
    构建所述预设个数的定位基站对应的至少一个无向图，其中，每个所述无向图中相邻的定位基站之间的基站距离小于预设距离阈值；
    排列每个所述无向图中的每个所述定位基站的信号发送次序，其中，同一所述无向图中的定位基站之间的信号发送次序不同。
  8. 如权利要求1所述的方法，其中，所述根据所有所述基站坐标和所述接收时间，获取所述目标标签的定位信息，包括：
    对所述预设个数的定位基站两两组合生成多个定位基站对；
    根据所述基站坐标和所述接收时间，确定每个所述定位基站对的定位函数；
    根据所述多个定位基站对的多个所述定位函数获取所述目标标签的定位信息。
  9. 如权利要求1所述的方法，其中，所述根据所有所述基站坐标和所述接收时间，获取所述目标标签的定位信息，包括：
    获取所述定位信标信号的发送时间；
    计算每个所述定位基站的接收时间和所述发送时间的时间差值；
    根据所述基站坐标、所述时间差值和预设信号传输速度，确定每个所述目标标签的候选定位信息；
    根据所有所述定位基站的候选定位信息，确定所述目标标签的定位信息。
  10. 如权利要求3所述的方法，其中，所述获取每个所述候选基站接收到的所述定位信标信号的信号质量参数，包括：
    获取每个所述候选基站接收到的定位信标信号的信噪比；
    根据每个所述候选基站接收到的定位信标信号的信噪比，确定每 个所述候选基站接收到的所述定位信标信号的信号质量参数。
  11. 如权利要求4所述的方法，其中，所述获取每个所述候选基站的预设通信质量等级，包括：
    确定每个所述候选基站在历史通信场景中接收的通信信号的理论信号质量和实际信号质量；
    获取所述理论信号质量和实际信号质量的差值；
    基于所述差值和所述理论信号质量的比值，确定每个所述候选基站对应的参考质量衰减度；其中，每个所述候选基站对应的参考质量衰减度为每个所述候选基站在多个历史通信场景中的参考质量衰减度的均值；
    根据每个所述候选基站对应的参考质量衰减度，确定每个所述候选基站的预设通信质量等级。
  12. 如权利要求6所述的方法，其中，所述根据所述基站距离由近到远的顺序，排列每个所述定位基站的信号发送次序，包括：
    按照基站距离由近到远的顺序，对所述定位基站进行排序；
    根据排序将所述定位基站划分为多个定位基站集合；
    判断当前定位基站集合中的第一个定位基站与上一个定位基站集合中最后一个定位基站的距离是否大于预设距离阈值；
    若是，则对所述当前定位基站集合中的定位基站重新排列信号发送次序。
  13. 如权利要求8所述的方法，其中，所述根据所述基站坐标和所述接收时间，确定每个所述定位基站对的定位函数，包括：
    计算每对定位基站中的每个定位基站和目标标签的参考距离表达式；
    根据每对定位基站的接收时间的时间差值，确定所述时间差值与预设的信号传输速度的乘积值；
    基于所述乘积值，确定每对定位基站的基站距离；
    根据所述参考距离表达式与所述基站距离，构建每个所述定位基站对的定位函数。
  14. 一种标签定位装置，其特征在于，所述装置包括：
    确定模块，配置成响应于待定位的目标标签广播的定位信标信号，确定所述目标标签的预设个数的定位基站；
    排列模块，配置成根据各个所述定位基站之间的基站距离，排列 每个所述定位基站的信号发送次序，其中，所述基站距离小于预设距离阈值的定位基站之间的信号发送次序不同；反馈模块，配置成控制所述预设个数的定位基站按照预设的发送时间间隔和所述信号发送次序，反馈基站坐标和接收到所述定位信标信号的接收时间；
    获取模块，配置成根据所有所述基站坐标和所述接收时间，获取所述目标标签的定位信息。
  15. 如权利要求14所述的装置，其中，所述确定模块具体用于：
    获取所述目标标签所在的地区，确定所述地区中的多个候选基站；确定满足预设条件的预设个数的候选基站为所述定位基站。
  16. 如权利要求15所述的装置，其中，所述确定模块具体用于：
    获取每个所述候选基站接收到的所述定位信标信号的信号质量参数；根据所述信号质量参数确定所述预设个数的候选基站为所述定位基站。
  17. 如权利要求15所述的装置，其中，所述确定模块具体用于：
    获取每个所述候选基站的预设通信质量等级；根据所述预设通信质量等级由高到低的顺序，确定所述预设个数的候选基站为所述定位基站。
  18. 如权利要求14所述的装置，其中，所述装置还包括：
    第一计算模块，用于获取服务器当前的服务器时间，并根据每个所述定位基站的基站坐标计算所述服务器和每个所述定位基站的传输距离；
    第二计算模块，用于根据所述传输距离计算每个所述定位基站的信号传输时间；更新模块，用于对所述服务器时间和所述信号传输时间求和计算，根据计算结果更新每个所述定位基站的基站时间。
  19. 一种计算机设备，包括：存储器和一个或多个处理器，所述存储器中存储有计算机可读指令；所述一个或多个处理器执行所述计算机可读指令时，使得所述一个或多个处理器执行权利要求1-13任一项所述的标签定位方法的步骤。
  20. 一个或多个存储有计算机可读指令的非易失性计算机可读存储介质，所述计算机可读指令被一个或多个处理器执行时，使得所述一个或多个处理器执行权利要求1-13任一项所述的标签定位方法的步骤。
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