Positioning method, positioning system, and tag

1. A positioning method, performed at a server, the method comprising:

receiving, at a frequency, arrival time information from a plurality of readers, wherein the arrival time information includes information indicating time at which the readers receive a same ultra-wideband signal transmitted by a tag;

determining, according to the arrival time information, that the tag is in a sensing auxiliary region of a positioning region, wherein the positioning region includes a second region extending along a first direction and a plurality of first regions that are arranged on at least one side of the second region, at least some of the first regions located on each side of the second region are arranged along the first direction, the second region includes a plurality of sensing auxiliary regions, and each sensing auxiliary region is connected to at least one of the first regions;

sending a first control command to one of the readers, so that the tag activates an inertial sensor thereof according to the first control command;

receiving, from the reader, position information of the tag in the sensing auxiliary region obtained by the inertial sensor;

determining, according to the position information of the tag in the sensing auxiliary region, a first motion trajectory of the tag in the sensing auxiliary region; and

determining, according to the first motion trajectory, whether the tag enters one of the first regions, wherein the second region further includes a plurality of non-sensing auxiliary regions; and

if it is determined that the tag does not enter any one of the first regions, the method further comprises:

determining, according to the first motion trajectory, whether the tag is in one of the non-sensing auxiliary regions; and

sending a second control command to the reader in response to determining that the tag is in one of the non-sensing auxiliary regions, so that the tag controls the inertial sensor to be in a sleeping state according to the second control command.

2. The positioning method according to claim 1 , wherein determining, according to the arrival time information, that the tag is in a sensing auxiliary region, includes:

determining, according to the arrival time information, a coordinate of the tag in the first direction; and

in response to determining that the coordinate of the tag in the first direction is within a coordinate range of the sensing auxiliary region in the first direction, determining that the tag is in the sensing auxiliary region.

3. The positioning method according to claim 1 , wherein sending the second control command to the reader in response to determining that the tag is in one of the non-sensing auxiliary regions, so that the tag controls the inertial sensor to be in a sleeping state according to the second control command, includes:

sending the second control command to the reader in response to determining that the tag is in one of the non-sensing auxiliary regions, so that according to the second control command, the tag controls the inertial sensor to be in the sleeping state and clears position information cached in the inertial sensor.

4. The positioning method according to claim 1 , wherein determining, according to the first motion trajectory, whether the tag enters one of the first regions, includes:

determining, according to the first motion trajectory, whether the tag gradually approaches one of the first regions;

determining whether the server does not receive arrival time information from the readers within a preset period of time;

in response to determining that the tag gradually approaches one of the first regions and that the server does not receive arrival time information from the readers within the preset period of time, determining that the tag enters the one of the first regions; and

if else, determining that the tag does not enter the first regions.

5. The positioning method according to claim 1 , wherein after the tag enters the one of the first regions, the method further comprises:

sending a third control command to the reader, so that according to the third control command, the tag transmits the ultra-wideband signals at a second frequency less than the first frequency.

6. The positioning method according to claim 1 , wherein after the tag enters the one of the first regions, the method further comprises:

determining, according to position information of the tag in the first region, a second motion trajectory of the tag in the first region.

7. The positioning method according to claim 1 , wherein after the tag enters the first region, the method further comprises:

determining, whether the server receives arrival time information from the readers again; and

in response to determining that the server receives arrival time information from the readers again, sending a fourth control command to the reader, so that according to the fourth control command, the tag transmits the ultra-wideband signals at the first frequency.

8. The positioning method according to claim 7 , wherein in response to determining that the server receives the arrival time information from the readers again, sending the fourth control command to the reader, so that according to the fourth control command, the tag transmits the ultra-wideband signals at the first frequency, includes:

in response to determining that the server receives the arrival time information from the readers again, sending the fourth control command to the reader, so that according to the fourth control command, the tag transmits the ultra-wideband signals at the first frequency, and clears position information cached in the inertial sensor.

9. A positioning system, comprising:

a tag, wherein the tag includes a pulse signal transmitter configured to transmit ultra-wideband signals, a transceiver configured to receive a first control command from a reader and send position information of the tag to the reader, a controller configured to activate an inertial sensor in response to the first control command, and the inertial sensor configured to obtain the position information of the tag in real time;

a plurality of readers arranged along a first direction in a second region of a positioning region, wherein the positioning region includes the second region extending along the first direction and a plurality of first regions that are located on at least one side of the second region, at least some of the first regions located on each side of the second region are arranged along the first direction, the second region includes a plurality of sensing auxiliary regions and a plurality of non-sensing auxiliary regions, and each sensing auxiliary region is connected to at least one of the first regions; the plurality of readers are configured to receive the ultra-wideband signals from the tag, and to send arrival time information to a server, the arrival time information include information indicating time at which the readers receive a same ultra-wideband signal transmitted by the tag; and

the server configured to:

receive, at a frequency, the arrival time information from the readers;

determine, according to the arrival time information, that the tag is in a sensing auxiliary region of the plurality of the sensing auxiliary regions;

send the first control command to one of the readers;

receive the position information of the tag in the sensing auxiliary region obtained by the inertial sensor from the reader;

determine, according to the position information of the tag in the sensing auxiliary region, a first motion trajectory of the tag in the sensing auxiliary region; and

determine, according to the first motion trajectory, whether the tag enters one of the first regions, wherein the reader is further configured to:

receive the first control command from the server;

send the first control command to the tag;

receive the position information of the tag from the tag;

send the position information of the tag to the server, and

in a case where it is determined that the tag does not enter any one of the first regions, determine whether the tag is in one of the non-sensing auxiliary regions according to the first motion trajectory, and send a second control command to the reader in response to determining that the tag is in one of the non-sensing auxiliary regions, so that the tag controls the inertial sensor to be in a sleeping state according to the second control command.

10. The positioning system according to claim 9 , further comprising:

a synchronization controller configured to synchronize clocks of the readers and to realize information exchange between the reads and the server.

11. The positioning system according to claim 9 , further comprising a terminal device, wherein the server is further configured to send trajectory information of the tag to the terminal device, the trajectory information of the tag includes first motion trajectories of the tag in the sensing auxiliary regions and second motion trajectories of the tag in the first regions; and

the terminal device is configured to receive and display the trajectory information of the tag.

12. A positioning method, performed at a server, the method comprising:

receiving, at a frequency, arrival time information from a plurality of readers, wherein the arrival time information includes information indicating time at which the readers receive a same ultra-wideband signal transmitted by a tag;

determining, according to the arrival time information, that the tag is in a sensing auxiliary region of a positioning region, wherein the positioning region includes a second region extending along a first direction and a plurality of first regions that are arranged on at least one side of the second region, at least some of the first regions located on each side of the second region are arranged along the first direction, the second region includes a plurality of sensing auxiliary regions, and each sensing auxiliary region is connected to at least one of the first regions;

sending a first control command to one of the readers, so that the tag activates an inertial sensor thereof according to the first control command;

receiving, from the reader, position information of the tag in the sensing auxiliary region obtained by the inertial sensor;

determining, according to the position information of the tag in the sensing auxiliary region, a first motion trajectory of the tag in the sensing auxiliary region; and

determining, according to the first motion trajectory, whether the tag enters one of the first regions, wherein determining, according to the first motion trajectory, whether the tag enters one of the first regions, includes:

determining, according to the first motion trajectory, whether the tag gradually approaches one of the first regions;

determining whether the server does not receive arrival time information from the readers within a preset period of time;

in response to determining that the tag gradually approaches one of the first regions and that the server does not receive arrival time information from the readers within the preset period of time, determining that the tag enters the one of the first regions; and

if else, determining that the tag does not enter the first regions.