Localization methods and system using the same

A computer-implemented localization method for a first anchor, comprising executing on a processor steps of:

• obtaining a wireless data frame transmitted by a second anchor within a preset range of the first anchor, wherein the wireless data frame comprises an anchor identifier of the second anchor;
• updating a nearby anchor list according to the anchor identifier of the second anchor, wherein the nearby anchor list is stored in the first anchor;
• obtaining a ranging frame broadcasted by a localization tag, wherein the localization tag stores a ranging anchor list, and the ranging frame is generated according to the ranging anchor list;
• determining whether there is anchor identifier of the first anchor in the ranging frame or the ranging anchor list is empty according to the ranging frame;
• determining a signal transmission condition as being met, in response to there being the anchor identifier of the first anchor in the ranging frame or the ranging anchor list being empty, and transmitting a response frame to the localization tag;
• wherein, the response frame comprises the anchor identifier of the first anchor, a time of the first anchor receiving the ranging frame, a time of the first anchor transmitting the response frame, an the nearby anchor list;
• wherein, the localization tag is configured to update the ranging anchor list according to the response frame and calculate a distance between the localization tag and the first anchor, based on a time of broadcasting the ranging frame, a time of receiving the response frame, a time of the first anchor receiving the ranging frame, and a time of the first anchor transmitting the response frame;
• and
• determining the signal transmission condition as not being met, in response to the ranging anchor list not being empty and there being no the anchor identifier of the first anchor in the ranging frame.

A localization system comprising:

• a localization tag;
• and
• a plurality of anchors, wherein the plurality of anchors comprises a plurality of first anchors for receiving a wireless data frame transmitted by the surrounding second anchor and a plurality of second anchors for transmitting the wireless data frame to the surrounding first anchor;
• wherein:
• the first anchor obtains a wireless data frame transmitted by the second anchor within a preset range of the first anchor, wherein the wireless data frame comprises an anchor identifier of the second anchor;
• the first anchor updates a nearby anchor list according to the anchor identifier of the second anchor, wherein the nearby anchor list is stored in the first anchor;
• the localization tag broadcasts a ranging frame in an awake state, wherein the localization tag stores a ranging anchor list, and the ranging frame is generated according to the ranging anchor list;
• the first anchor obtains the ranging frame broadcasted by the localization tag;
• the first anchor determines whether the ranging frame meets a signal transmission condition, and returns a response frame to the localization tag in response to the signal transmission condition being met, wherein the response frame comprises the anchor identifier of the first anchor, the time of the first anchor receiving the ranging frame, the time of the first anchor transmitting the response frame, and the nearby anchor list;
• and
• the localization tag updates the ranging anchor list according to the response frame;
• the localization tag calculates a distance between the localization tag and the first anchor based on a time of broadcasting the ranging frame, a time of receiving the response frame, the time of the first anchor receiving the ranging frame, and the time of the first anchor transmitting the response frame;
• the localization tag obtains a coordinate of the first anchor, and calculating, through the localization tag, a coordinate of the localization tag based on the coordinate of the first anchor and the distance between the localization tag and the first anchor.