Ask HN: Question about default location sharing popup for iPhon App

An iPhone is being developed on my behalf and there is an issue regarding the default location sharing popup that I was hoping someone here could answer. My application accesses a users location and displays it on a map. Does apple's terms require the default popup to come up EVERY time the app (or the location sharing) is initialized? For example, if i activate the app right now, it comes up. Lets say i exit out of it, and then come back in immediately, should we display the popup? I am sifting through the guidelines and cant get a direct answer. Your assistance is greatly appreciated. If you have any questions let me know. leo