CN101788660B - System, method and equipment for determining whether positioning equipment in space is moved or not - Google Patents

Abstract

The implementation method of the invention provides a system, a method and equipment for determining whether positioning equipment in space is moved or not. The system comprises a label capable of sending ranging signals, positioning equipment and a server, wherein the positioning equipment is configured for acquiring relative coordinates of a position point where the label is positioned relative to the positioning equipment according to the ranging signals of the label; and the server is configured for judging whether the positioning equipment is moved or not according to the relative coordinates, calibration parameters of the positioning equipment and reliable absolute coordinates of the position point in the space. When the system, the method and the equipment are implemented, that whether the positioning equipment is moved or not in real time can be determined accurately and quickly.

Description

Determine system, method and apparatus that whether the positioning equipment in space is moved

Technical field

The present invention relates to positioning field, in particular to a kind of system, method and apparatus for determining whether the positioning equipment in space is moved.

Background technology

Thereby positional information be a kind of for extract geographical relationship between user and environment further understand and know user behavior substantially below.Importance and the prospect of orientation perception (location-aware) application have made design and implementation that the system of using in the system of azimuth information, particularly indoor environment and urban environment for providing has been provided.At present, some positioning systems have been developed, for personnel and property being carried out to real-time accurate tracking in a lot of different application occasions, these application scenarios may comprise multiple environment, for example office, health care facility, colliery, subway, intelligent building and restaurant etc.

At present, positioning system is conventionally based on ultrasound wave or super broadband radio.Their common trait is to provide centimetre-sized other positioning precision.In some application scenarios of this type of positioning system, need in relevant environment, lay and demarcate some positioning equipments and monitor the position of moving target in some region-of-interest (AOI:Area of Interest).Conventionally, thus positioning system can carry out real-time follow-up to the position of these moving targets some specific location-based services are provided.For example, in office environment, when having laid positioning system, it can track terminal or employee's position.Thus, can design location-based access rule and define specifically " safety zone ".Only within this region, just allow the access to confidential information, once and exceed this region or outside this region, forbid any access to this confidential information.Said safety zone can be a room, a part of perform region above, can be even a desk.

Fig. 1 show the layout of positioning system in prior art and be moved after schematic diagram.As shown in Figure 1, take room as example, positioning equipment, for example, be positioned at <x ₁, y ₁, d ₁>-<x ₆, y ₆, d ₆the positioning equipment of >, is arranged in the roof in room conventionally with array way.These positioning equipments are all through demarcating, thereby can be by monitoring that the position of label monitor people or position and the behavior of object in this room of carrying this label.(x wherein _i, y _i) be the position of i positioning equipment in this room, and d _iit is the distance between i positioning equipment and label.

Yet some positioning equipment in this positioning system may stealthily move by victim, as <x in Fig. 1 ₆, y ₆, d ₆shown in >, make the location parameter that the calibration position parameter of positioning equipment is actual with it not consistent, thereby whole positioning system can not accurately be determined to the position of label representative.Like this, possibly cannot accurately monitor region-of-interest.In the case, for example, originally do not have the personnel of the computing machine in right access region-of-interest may obtain the access right to computing machine now, thereby produced potential safety hazard, this was called to mobile attack.

Therefore, this area needs a kind of technical scheme that can determine whether positioning equipment is moved especially.

Summary of the invention

An object of the present invention is to provide a kind of technical scheme for determining whether the positioning equipment in space is moved.

According to an aspect of the present invention, provide a kind of system, this system can comprise: the label that can launch distance measuring signal; Positioning equipment, is configured to obtain the location point at label place with respect to the relative coordinate of positioning equipment according to the distance measuring signal from label; And server, be configured to the trusted absolute coordinates in space according to the calibrating parameters of relative coordinate, positioning equipment and location point, judge whether described positioning equipment is moved.

According to another aspect of the present invention, a kind of method for determining whether the positioning equipment in space is moved is provided, and the method can comprise: receive location point in space with respect to the relative coordinate of positioning equipment, the calibrating parameters of positioning equipment and the location point trusted absolute coordinates in space; And according to relative coordinate, calibrating parameters and trusted absolute coordinates, judge whether positioning equipment is moved.

According to another aspect of the present invention, a kind of equipment for determining whether the positioning equipment in space is moved is provided, this equipment can comprise: receiving trap, for receiving the location point in space with respect to the relative coordinate of positioning equipment, the calibrating parameters of positioning equipment and the location point trusted absolute coordinates in space; And judgment means, for according to relative coordinate, calibrating parameters and trusted absolute coordinates, judge whether positioning equipment is moved.

The beneficial effect of embodiment of the present invention is can determine whether positioning equipment is moved accurately, in real time, all sidedly, thereby effectively prevent potential mobile attack.

Accompanying drawing explanation

Fig. 1 show the layout of positioning system in prior art and be moved after schematic diagram;

Fig. 2 shows take the schematic diagram in the enforcement space of the present invention that a room is example;

Fig. 3 shows according to the schematic diagram of the positioning equipment of an embodiment of the invention;

Fig. 4 shows according to the schematic three dimensional views of the reference space of an embodiment of the invention;

Fig. 5 shows the simplification X-Y scheme according to the reference space of an embodiment of the invention;

Fig. 6 shows according to the positioning equipment of having demarcated for basis of an embodiment of the invention and demarcates the space schematic diagram of the method for another positioning equipment;

Fig. 7 shows according to the schematic block diagram of the system whether being moved for definite positioning equipment of an embodiment of the invention;

Fig. 8 shows according to the process flow diagram of the method whether being moved for definite label of an embodiment of the invention;

Fig. 9 shows according to the space schematic diagram of the method for definite positioning equipment side-play amount of an embodiment of the invention;

Figure 10 shows the process flow diagram of the method whether being moved for definite positioning equipment of another embodiment according to the present invention;

The schematic diagram that parameter after the expression positioning equipment that Figure 11 shows another embodiment according to the present invention is moved changes;

Figure 12 show according to one embodiment of the present invention utilize another calibrating and positioning equipment determine the space schematic diagram whether positioning equipment is moved;

Figure 13 shows according to the block diagram of the equipment whether being moved for definite positioning equipment of one embodiment of the present invention;

Figure 14 shows according to the block diagram of the judgment means of an embodiment of the invention; And

Figure 15 shows the block diagram of judgment means according to another implementation of the invention.

Embodiment

First, in conjunction with Fig. 2 and 3, the various terms that use in embodiment of the present invention are done with brief description.

1. space.According to the space of embodiment of the present invention, refer to target mobile space therein.For example room, office, meeting room etc.Fig. 2 shows take the schematic diagram in the space 10 that room is example.Should be appreciated that embodiment of the present invention is not limited to the tetragonal room shown in Fig. 2, and can be any shape.

2. space characteristics location point.Space characteristics location point is for determining the location point in space.For example, in take in the space 10 that room is example as shown in Figure 2, space characteristics location point can be corner of the room location point 11,12 and 13.In principle, can select any location point in this space as space characteristics location point, as long as can determine this space.Should be appreciated that when room be other polygons, for example during hexagon, can adopt polygonal top location point is feature locations point.If when to be other irregularly shaped in room, can simulate with at least three location points on room periphery a polygon, thereby can treat the room of other shapes as treating polygon room.

3. positioning equipment (POD:Positioning on One Device).According to the positioning equipment of embodiment of the present invention, be for determining the equipment of coordinate of the location point in space.Figure 3 shows that an example of the positioning equipment that embodiments of the present invention adopt.As shown in Figure 3, the positioning equipment that embodiments of the present invention adopt is a kind of sensor array with a plurality of leaf segment location points.The quantity of leaf location point joint location point is at least two, that is to say that positioning equipment comprises at least two leaf segment location point sensors and a sensor mediating.Conventionally leaf segment location point is more, and positioning precision is also higher.Positioning equipment shown in Figure 3 has 6 leaf segment location points.In concrete application, as shown in Figure 3, positioning equipment 14 is disposed in the top in space 10 conventionally, and it can launch distance measuring signal to the source location in space 10, or receives the distance measuring signal from the source location in space 10.

In the present invention, only use the receiving function of positioning equipment.Positioning equipment itself can have computing function, for carrying out correlation computations according to the distance measuring signal receiving.Or positioning equipment can be connected to long-range server or dedicated computing equipment by wired or wireless mode, thereby carry out the correlation computations based on distance measuring signal at remote server or dedicated computing equipment place.

The distance measuring signal that conventionally can receive from source location based on positioning equipment, utilizes traditional triangle location or coordinate transformation method to obtain source location at the coordinate in space.The 26S Proteasome Structure and Function of positioning equipment itself is known in the art, and therefore not to repeat here.

4. absolute coordinate system.In embodiments of the present invention, the coordinate system that is coordinate original position point by a location point of take in space is called absolute coordinate system.Original position point that can be using any one feature locations point in space as absolute coordinate system.For example, in the space 10 shown in Fig. 2, using the original position point of feature locations point 11 as absolute coordinate system.Certainly, it will be appreciated by persons skilled in the art that and select one of them feature locations point as the just convenient calculating of original position point, rather than necessary.If using other location points as coordinate original position point, just can obtain absolute coordinate system described above by simple translation.This is very familiar to those skilled in the art, therefore will no longer describe in detail here.

5. relative coordinate system.In the present invention, will from the coordinate system as original position point, be called relative coordinate system with positioning equipment.The original position point of this relative coordinate is the center point of this positioning equipment, first sensor (not shown) that X-direction is this positioning equipment.Here alleged " first sensor " can be stipulated when positioning equipment is manufactured to initial configuration.When X-axis is prescribed, and direction in this positioning equipment plane in vertical with this X-axis place is also defined as Y-axis.

When to calibrating positioning device, between relative coordinate system and absolute coordinate system, may there is certain angle theta, what in the present invention this angle is called to positioning equipment arranges angle, POD angle 18 as shown in Figure 2 in absolute coordinate system.Like this, the location parameter of positioning equipment in the position (POD position 17 as shown in Figure 2) in space comprises the absolute coordinates of positioning equipment under absolute coordinate system and angle θ is set.

6. label.Label in embodiment of the present invention refers to the label that can launch distance measuring signal, for example radio-frequency (RF) tag.In the present invention, label can be placed on to the location point place in space, to receive by positioning equipment relative coordinate or the absolute coordinates that distance measuring signal that label sends obtains location point.The form of distance measuring signal can be multiple, can include but not limited to ultrasound wave, infrared ray, laser, radiofrequency signal, ultra-wideband impulse signal, Doppler signal and sound wave etc.In addition, by positioning equipment and label, determine that the relative coordinate of location point or absolute coordinates are known in the art, therefore not to repeat here.

7. region-of-interest and region-of-interest feature locations point.Region-of-interest refers to the geographic area that user for example, has characterized for specific application demand (security purpose).Region-of-interest is arranged in space.For example, in the application of " safety desktop ", this desktop is defined as region-of-interest.Only within this region-of-interest, just allow the access to confidential information, once and exceed this region-of-interest or outside this region-of-interest, forbid any access to this confidential information.Region-of-interest feature locations point is those location points that can be used for characterizing region-of-interest.Fig. 2 shows region-of-interest 15 and region-of-interest feature locations point 16.

The initial how method to calibrating positioning device according to an embodiment of the invention is described below first by reference to the accompanying drawings.

Particularly, according to an embodiment of the invention, first it is upper that the label of selecting three the space characteristics location points (being shown as reference space feature locations point in Fig. 2) in space and can launching distance measuring signal is placed on these feature locations points, to determine that three space characteristics location points are with respect to the relative coordinate of positioning equipment self.Alternatively, can be by placing respectively at each space characteristics location point the relative coordinate that a label is determined space characteristics location point.In addition, alternatively, the space characteristics location point place that also a label successively can be placed on to selection determines the relative coordinate of space characteristics location point.

Next, can in this space, positioning equipment be set.Positioning equipment can be arranged on space Anywhere.Alternatively, positioning equipment is arranged on the top in space, and is arbitrarily when initial setting up, can be arranged on any position at top.Then, positioning equipment can obtain according to the distance measuring signal from label above-mentioned space characteristics location point with respect to the relative coordinate of positioning equipment self.

For example, it is coordinate original position point that positioning equipment be take self center, determines three sensors of positioning equipment with respect to the relative coordinate of positioning equipment self.Then, three sensors can obtain the distance from above-mentioned space characteristics location point to each sensor according to the distance measuring signal of the label from space characteristics location point place.Finally recycle from above-mentioned space characteristics location point to the distance of each sensor and the relative coordinate of each sensor, for example, according to traditional triangle location algorithm (lms algorithm), obtain each space characteristics location point with respect to the relative coordinate of positioning equipment self.Should be appreciated that by traditional triangle location algorithm, obtaining each space characteristics location point is known in the art with respect to the relative coordinate of positioning equipment self, therefore not to repeat here.

Then, by corresponding calculating, can automatically calculate the location parameter of positioning equipment in space, thereby complete the automatic Calibration to positioning equipment, this will be described in detail later.Alternatively, this location parameter can comprise that the absolute coordinates (x, y, z) of positioning equipment in space and positioning equipment arrange angle θ in space.The location parameter of proven positioning equipment is called as the calibrating parameters of positioning equipment in the present invention.

Below in conjunction with Fig. 4 and Fig. 5, take tetragonal room and describe how according to the relative coordinate of obtained three reference space feature locations points, to obtain the location parameter of positioning equipment in space as example.

The relative coordinate of as shown in Figure 4, establishing ground three the reference space feature locations points that obtain is respectively (x ₁, y ₁, z ₁), (x ₂, y ₂, z ₂) and (x ₃, y ₃, z ₃), wherein, these relative coordinates have utilized positioning equipment and label to know.Feature locations point (x ₁, y ₁, z ₁) be defined as the original position point (0,0,0) of reference space absolute coordinate system.The length in this room (l), width (w), highly the angle θ that arranges of the absolute coordinates of (h), positioning equipment (x, y, z) and POD is unknown number.

First determine the z coordinate of positioning equipment, the i.e. height of positioning equipment (h).Conventionally, because roof and ground are parallel, so the height of positioning equipment is h, that is to say z=h=z ₁=z ₂=z ₃.But, consider the error that may exist, for example, due to the caused error of ground out-of-flatness, z coordinate is calculated as z=h=(z ₁+ z ₂+ z ₃)/3.

After calculating z, remaining issues solves all the other unknown numbers exactly in two-dimensional space.

Fig. 5 shows according to of the present invention and falls into a trap and count the schematic diagram of stating unknown number (for example length in room (1), width (w), the absolute coordinates (x, y) of POD and the angle θ of POD) at two-dimensional space.

As shown in Figure 5, the represented coordinate of solid line is the absolute coordinate system in the present invention, and the represented coordinate of dotted line is in the present invention, to take the relative coordinate system that positioning equipment is original position point.The angle of two coordinate systems, the angle that arranges of positioning equipment is θ.

According to Fig. 5, utilize conventional coordinate transform, can draw following system of equations (1):

x ₁cos(θ)-y ₁sin(θ)+x＝0

x ₁sin(θ)+y ₁cos(θ)+y＝0

x ₂cos(θ)-y ₂sin(θ)+x＝l

x ₂sin(θ)+y ₂cos(θ)+y＝w (1)

x ₃cos(θ)-y ₃sin(θ)+x＝l

x ₃sin(θ)-y ₃cos(θ)+y＝0

(x ₁-x ₃) ²+(y ₁-y ₃) ²＝l ²

(x ₂-x ₃) ²+(y ₂-y ₃) ²＝w ²

It will be appreciated by persons skilled in the art that if adopt more reference space feature locations point, will increase the equation quantity of system of equations (1), namely increase the line number of matrix of coefficients.This is very familiar to those skilled in the art, will no longer describe here.

This system of equations (1) is solved, can draw the absolute coordinates (x, y) of positioning equipment and the length 1 of angle θ and this reference space and wide w, computation process is as follows:

$l=\sqrt{{(x_1-x_3)}^2+{(y_1-y_3)}^2}---\left(2\right)$

$w=\sqrt{{(x_2-x_3)}^2+{(y_2-y_3)}^2}---\left(3\right)$

$x=(x_1^2+y_1^2-x_1{x}_3-y_1{y}_3)/l---\left(4\right)$

$y=x_3^2+y_3^2-x_2{x}_3-y_2{y}_3/w---\left(5\right)$

$\mathrm{\&theta;}=\mathrm{ac}\sin \left(\frac{y_{3}x-x_{1}y}{x_1{x}_3+y_3{y}_1}\right)---\left(6\right)$

So just can obtain size and the location parameter of positioning equipment in this reference space of reference space, absolute coordinates (the x of positioning equipment for example, y, z) and angle θ is set, thereby the demarcation of the definite and positioning equipment of complete space size automatically, to obtain the calibrating parameters of positioning equipment.

Once should be appreciated that this positioning equipment is demarcated, it can utilize existing triangle location algorithm directly to obtain the absolute coordinates of any location point in this space in space.In addition, also can obtain by the conversion between relative coordinate and absolute coordinates the absolute coordinates of any location point in space.First obtain location point in space with respect to the relative coordinate of positioning equipment self, then by conventional coordinate conversion, obtain the absolute coordinates of location point.

Superincumbent example, by selecting three space characteristics location points to describe according to of the present invention for the process to calibrating positioning device.Yet, and invention is not limited to the realization of three space characteristics location points.In specific implementation, also can only with one or two space characteristics location points, come calibrating positioning device.For example, when at top, room placement positioning equipment, can for example, so that the X-axis (direction of first sensor) of himself relative coordinate system be parallel with the X-axis of space absolute coordinate system.In this case, the angle θ that arranges of positioning equipment is actually zero.Now, take the original position point that Yi Ge corner, house is absolute coordinate system, the absolute coordinates in this corner in house is (0,0,0).Can obtain this corner with respect to the relative coordinate of positioning equipment by positioning equipment.Conventionally, as implied above, the Z axis coordinate of positioning equipment equals this angle with respect to the Z axis coordinate figure of positioning equipment relative coordinate.Then, in two dimensional surface, according to the relative coordinate in this corner and absolute coordinates, by common coordinate system translation transformation, can obtain X-axis and the Y-axis coordinate of the absolute coordinates of this positioning equipment.Concrete conversion is known in the art, and therefore not to repeat here.

Should be appreciated that according to the present invention, the space characteristics location point of selection is more, and the number of the equation obtaining according to coordinate transform is more, and the location parameter of determined positioning equipment is more accurate thus.

Foregoing has only been described the process to calibrating positioning device in tetragonal room.But, should be appreciated that above-mentioned embodiment does not limit to the space in quadrilateral room.When if to be other irregularly shaped in space, three location points on can usage space periphery simulate a polygon, thereby can as treating polygon space, treat the space of other shapes.

According to another implementation of the invention, when being provided with a plurality of POD in space, after a POD having been carried out in the above method of basis demarcating, can also demarcate another POD.For convenience of describing, the POD having demarcated is called to the first positioning equipment (POD1), and POD to be calibrated is become to the second positioning equipment (POD2).

Fig. 6 show according to another implementation of the invention for demarcate the schematic diagram of the second positioning equipment (POD2) according to the first positioning equipment (POD1) of having demarcated.

In Fig. 6, POD1 demarcates according to system of equations (1).In order to demarcate POD2, according to this embodiment, need to first determine the overlay area of POD1 and POD2, and guarantee that these two POD have overlapping overlay area.As shown in Figure 6, the overlay area of POD1 is called as the first overlay area, and POD2 has the second overlay area, and the two has overlapping covered.Determine the overlapping covered several different methods that has, for example, known POD radius coverage area in the situation that of 3m is 4 meters, can approximately at a distance of 6 meters, locate POD2.Or can the label that specific location can be detected by detecting POD1 and POD2 determine that this position is whether in overlapping covered simultaneously.

In order to demarcate POD2, need to calculate the absolute coordinates (x of this POD2 in this room ₂₀, y ₂₀, z ₂₀) and the angle θ of this POD2 ₂₀.At two location points of this overlapping covered middle selection, (describe for convenience, be called overlapping covered location point), and at two location points selecting, for example place label (for convenience of describing respectively, be called overlapping covered label), with transmitting distance measuring signal (for convenience of describing, becoming overlapping covered distance measuring signal).The relative coordinate that obtains these two overlapping covered location points that POD1 can be in the coordinate system of oneself thus, and the absolute coordinates that obtains these two overlapping covered location points after by coordinate transform is for example (x ₁₁, y ₁₁, z ₁₁) and (x ₁₂, y ₁₂, z ₁₂).Certainly, POD1 also can directly obtain by triangulation algorithm the absolute coordinates of these two overlapping covered location points.The absolute coordinates that obtains destination object (for example location point in space) by calibrating and positioning equipment is known in the art, and therefore not to repeat here.

Meanwhile, can in its oneself coordinate system, to obtain the relative coordinate of these two overlapping covered feature locations points be for example (x to POD2 ₂₁, y ₂₁, z ₂₁) and (x ₂₂, y ₂₂, z ₂₂).Can find out, because POD1 is through demarcating, so the absolute coordinates of these two overlapping covered location points is known.In addition, because this POD2 is also arranged on for example roof, so the z of this POD2 ₂₀=h=(z ₁+ z ₂+ z ₃)/3.Thus, the coordinate (x to POD2 ₂₀, y ₂₀, z ₂₀) and angle θ ₂₀calculating be simplified in two-dimensional coordinate.

By conventional coordinate transform, can calculate the absolute coordinates of POD2 in this reference space by following system of equations:

$\left\{\begin{array}{c}{x}_{21}\cos \left({\mathrm{\&theta;}}_{20}\right)-y_{21}\sin \left({\mathrm{\&theta;}}_{20}\right)+x_{20}=x_{11}\\ x_{21}\sin \left({\mathrm{\&theta;}}_{20}\right)+y_{21}\cos \left({\mathrm{\&theta;}}_{20}\right)+y_{20}=y_{11}\\ x_{22}\cos \left({\mathrm{\&theta;}}_{20}\right)-y_{22}\sin \left({\mathrm{\&theta;}}_{20}\right)+x_{20}=x_{12}\\ x_{22}\sin \left({\mathrm{\&theta;}}_{20}\right)+y_{22}\cos \left({\mathrm{\&theta;}}_{20}\right)+y_{20}=y_{12}\end{array}\right.---\left(7\right)$

By system of equations (7), can derive following matrix computations:

$\left[\begin{array}{cccc}{x}_{21}& -y_{21}& 1& 0\\ y_{21}& x_{21}& 0& 1\\ x_{22}& -y_{22}& 1& 0\\ y_{22}& x_{22}& 0& 1\end{array}\right]\left[\begin{array}{c}\cos \left({\mathrm{\&theta;}}_{20}\right)\\ \sin \left({\mathrm{\&theta;}}_{20}\right)\\ x_{20}\\ y_{20}\end{array}\right]=\left[\begin{array}{c}{x}_{11}\\ y_{11}\\ x_{12}\\ y_{12}\end{array}\right]---\left(8\right)$

To this Matrix Solving, can draw the absolute coordinates of the second positioning equipment and angle θ is set ₂₀:

$\left[\begin{array}{c}\cos \left({\mathrm{\&theta;}}_{20}\right)\\ \sin \left({\mathrm{\&theta;}}_{20}\right)\\ x_{20}\\ y_{20}\end{array}\right]={\left(A^{T}A\right)}^{-1}{A}^{T}b---\left(9\right)$

Wherein,

$A=\left[\begin{array}{cccc}{x}_{21}& -y_{21}& 1& 0\\ y_{21}& x_{21}& 0& 1\\ x_{22}& -y_{22}& 1& 0\\ y_{22}& x_{22}& 0& 1\end{array}\right],$ $b=\left[\begin{array}{c}{x}_{11}\\ y_{11}\\ x_{12}\\ {\mathrm{<figure-callout\; id="12"\; label="y"\; filenames="H2009100039532E00021.png"\; state="\{\{state\}\}">y</figure-callout>}}_{12}\end{array}\right]$

Can calculate thus the absolute coordinates of POD2 to be calibrated and angle is set, thereby complete the demarcation to POD2, to obtain the calibrating parameters of POD2.

It is pointed out that selected overlapping covered location point can be more than two, this will increase the line number of above matrix of coefficients, and computation process is identical with above computation process.Select more multiple superimposition lid provincial characteristics location point to be conducive to improve positioning precision.

Further, can adopt above method and demarcate step by step more POD according to the POD having demarcated, thereby cover larger region.Here will no longer describe in detail.Should be appreciated that in superincumbent embodiment, by selecting two overlapping region location points to describe according to of the present invention for the process to calibrating positioning device.Yet, and the embodiment of invention is not limited to two overlapping covered location points.In specific implementation, also can only with an overlapping covered location point, come calibrating positioning device.For example,, when first positioning equipment has been demarcated and during to second calibrating positioning device, can be arranged so that the X-axis of second positioning equipment and the X-axis of first positioning equipment are parallel.In this case, the second positioning equipment that angle is set is identical with the equipment angle of first positioning equipment, be known quantity.Now, utilize the first positioning equipment of having demarcated to obtain the absolute coordinates of an overlapping covered location point, and obtain this location point with respect to the relative coordinate of the second positioning equipment by the second positioning equipment.Then, by common coordinate transform, can obtain the absolute coordinates of this second positioning equipment.

Accordingly, by the description of carrying out in conjunction with Fig. 2-Fig. 6, it will be appreciated by those skilled in the art that the concepts such as said relative coordinate, absolute coordinates, coordinate transform in the present invention, and how to one or more calibrating positioning devices, to obtain the calibrating parameters of this positioning equipment.

Below by the method for determining whether the equipment of calibrating and positioning in space is moved of describing in detail according to embodiment of the present invention.Fig. 7 shows the schematic diagram of the system 100 whether being moved according to the equipment of calibrating and positioning for definite space of an embodiment of the invention.

As shown in Figure 7, this system 100 comprises the label 110 that can launch distance measuring signal, and it is placed on the location point place in space; Be arranged in the positioning equipment 120 in space, wherein positioning equipment 120 is configured to obtain above-mentioned location point with respect to the relative coordinate of positioning equipment 120 according to the distance measuring signal from label 110; And server 130, be configured to, according to the calibrating parameters of the trusted absolute coordinates in described space and the described positioning equipment 120 with respect to the relative coordinate of positioning equipment 120, described location point of the location point in described space, judge whether described positioning equipment 120 is moved.

Positioning equipment 120 can adopt the described method of above-mentioned embodiment to be demarcated in advance, can adopt in advance the described method of above-mentioned embodiment to obtain the calibrating parameters of positioning equipment 120.Certainly, also can carry out prior calibrating and positioning equipment 120 by additive method known in the art, obtain the calibrating parameters of positioning equipment 120.This calibrating parameters can be pre-stored.

In embodiment of the present invention, trusted absolute coordinates is that location point is at the reliable absolute coordinates in space.For example can obtain by the positioning equipment not being moved that demarcate and definite the trusted absolute coordinates of this location point.

Below in conjunction with Fig. 8, describe according to the method whether positioning equipment 120 is moved that judges of an embodiment of the invention.

As shown in Figure 8, at step S210 place, receive a location point in described space with respect to the relative coordinate of positioning equipment 120; At step S220 place, according to the calibrating parameters of positioning equipment 120 and described relative coordinate, carry out the absolute coordinates of calculating location point in described space; And at step S230 place, according to the absolute coordinates of described trusted absolute coordinates and described calculating, determine whether positioning equipment 120 is moved.

The specific implementation process of step 210-230 is described below.

For step 210, can select the location point in space, and label is placed on to this location point place, wherein the trusted absolute coordinates of this location point has obtained and has stored.When whether needs detection and location equipment 120 is moved, first positioning equipment 120 receives the distance measuring signal of this label, and from this distance measuring signal, obtains this location point with respect to the relative coordinate of positioning equipment 120.

The selection of location point is arbitrarily, and according to the preferred embodiment of the present invention, this location point can be positioned at this space, for example, in the corner in room, to facilitate calculating.

Alternatively, in order to prevent assailant's malicious act, this label can be stashed, be referred to herein as hiding label.Term " hide " comprise for example for example label is implanted in wall or randomly the point of the optional position in this space place place label.For example, when having demarcated positioning equipment 120, can in space, choose randomly several location points, positioning equipment 120 calculates the trusted absolute coordinates of these location points, then these trusted absolute coordinatess is stored.If suspect that this positioning equipment 120 is moved, can again label be positioned over to previous location point place, thereby determine according to the embodiment shown in Fig. 8 whether positioning equipment 120 is moved.The benefit of doing is like this, owing to selecting feature locations point, is random, so assailant cannot know to have selected originally which location point at all definitely, thereby also cannot destroy hiding label.In conjunction with above, describe, it will be understood by those skilled in the art that, term " is hidden " and is not merely comprised visual hiding, and it has contained any means that make assailant cannot know label present position.

Certainly, placing label is a kind of embodiment, and the present invention is not limited to this mode, but can pass through any known additive method, for example, pass through manual measurement.

Then, for step 220, the calibrating parameters of this positioning equipment 120 of take is benchmark, and calculates the absolute coordinates of this location point in space according to the relative coordinate of obtained positioning equipment 120.The process of calculating absolute coordinates is described below in conjunction with Fig. 9.

If positioning equipment 120, POD for example, the calibrating parameters in this space is (x _p, y _p, z _p, θ _p), (x wherein _p, y _p, z _p) be the absolute coordinates of POD center in reference space, and θ _pbe the above alleged POD angle of having demarcated, these parameters for example can obtain by equation (4)-(6) above.

As shown in Figure 9, be located in reference space and be provided with four hiding labels, first calculated absolute coordinates is out respectively (x ₁, y ₁, z ₁)-(x ₄, y ₄, z ₄).These four coordinates can be stored, as trusted absolute coordinates.For convenience of describing, this coordinate is called to demarcation coordinate.

If suspect that this positioning equipment is moved, can first calculate and hide label absolute coordinates by following system of equations, referred to herein as suspicious absolute coordinates (x _i', y _i'):

$\left\{\begin{array}{c}{x_i}^{\&prime;}=x_P+{x_{\mathrm{ri}}}^{\&prime;}\cos \left({\mathrm{\&theta;}}_P\right)-{y_{\mathrm{ri}}}^{\&prime;}\sin \left({\mathrm{\&theta;}}_P\right)\\ {y_i}^{\&prime;}=y_P+{x_{\mathrm{ri}}}^{\&prime;}\sin \left({\mathrm{\&theta;}}_P\right)+{y_{\mathrm{ri}}}^{\&prime;}\cos \left({\mathrm{\&theta;}}_P\right)\end{array}\right.,i=\mathrm{1,2},...,n---\left(10\right)$

Wherein, (x _ri', y _ri') be the current relative coordinate with respect to this positioning equipment of hiding label that positioning equipment senses, wherein r represents relatively, and i represents to hide the index of label, and n represents to hide the number of label.Can find out, equation (10) is in fact similar with the calculating of equation (7).

Here it is pointed out that because positioning equipment can direct sensing go out z coordinate, therefore omit the calculating to z coordinate here.

Because the calculating of equation (10) is the demarcation coordinate (x with positioning equipment 120 _p, y _p, z _p) calculate for benchmark, so in the situation that label is not mobile, if positioning equipment 120 is moved, the suspicious absolute coordinates of the label that calculated by and the trusted absolute coordinates of original storage between there is inconsistency, otherwise, if positioning equipment 120 is not moved, suspicious absolute coordinates by and the trusted absolute coordinates of original storage between be consistent.

Calculating the suspicious absolute coordinates (x that hides label _i', y _i') afterwards, can adopt various ways to judge whether positioning equipment is moved.

For example, alternatively, add up the error of absolute coordinates and the described trusted absolute coordinates of described calculating, and if described error be greater than predetermined threshold value, determine that described positioning equipment is moved.

Error described here comprises multiple standards, for example, directly calculate the mean value of the difference between suspicious absolute coordinates and trusted absolute coordinates, calculate the square error between suspicious absolute coordinates and trusted absolute coordinates, and calculate covariance between the two etc.For example, the process of calculating square error is as shown in equation (11):

$\mathrm{\&delta;}=\underset{i=1}{\overset{n}{\mathrm{\&Sigma;}}}\frac{\sqrt{{(x_i^{\&prime;}-x_i)}^2+{(y_i^{\&prime;}-y_i)}^2}}{n}---\left(11\right)$

Therefore it is pointed out that equation (11) only shows two-dimentional situation, this is because in most cases the height of positioning equipment does not change, and can omit the calculating of z coordinate.Certainly, to those skilled in the art, can at an easy rate this equation (11) be expanded in three-dimensional.

In addition, also it should be noted that, the selection of threshold value can determine according to actual needs, and this threshold value is less, and the sensitivity of the method is higher, but small interference may be considered to positioning equipment, movement has occurred.On the other hand, this threshold value is larger, and the sensitivity of the method is lower, and may leak the mobile attack that may exist.

It is pointed out that except above criterion, can also adopt other parameters as criterion.Alternatively, can adopt mean value to be used as criterion.For example, can be by the poor summation of the suspicious absolute coordinates of a plurality of location points and trusted absolute coordinates, and then average and be used as criterion.Further alternatively, can adopt the mode of weighting to judge.The object of weighting can be certain parameter, and for example x coordinate, can be also certain positioning equipment.For example, the in the situation that of a plurality of positioning equipment, can provide larger weight to some certain position equipment, even if there is minute movement in these positioning equipments so, these move for MSE or other criterions and also have significant impact, thereby sensitiveer for the mobile judgement of these certain position equipment.

Comprehensive above description, the present invention has only exemplarily provided several criterions, but the present invention is not limited to these criterions, as known in the artly anyly can reflect that the method for data fluctuations situation all can be used.

According to another implementation of the invention, can also determine whether this positioning equipment is moved by calculating definitely the amount of movement of positioning equipment.Below in conjunction with Figure 10, the method whether positioning equipment 120 is moved that how to judge is according to another implementation of the invention described.

As shown in figure 10, at step S310 place, receive location point in described space with respect to the relative coordinate of described positioning equipment; At step S320 place, receive the trusted absolute coordinates of described location point and the calibrating parameters of positioning equipment; Step S330, according to the calibrating parameters of described relative coordinate, described trusted absolute coordinates and described positioning equipment, by coordinate transform, calculate the amount of movement of described positioning equipment, and at step S340 place, if described amount of movement is greater than predetermined threshold, determine that described positioning equipment is moved.Below in conjunction with Figure 11 and 12, describe the implementation procedure of step S310-S340 in detail.

Be understandable that, as shown in figure 11, work as positioning equipment, POD for example, when being moved, its original parameter of demarcating, comprises coordinate and angle, all may change.If the original direction parameter of demarcating of this POD is (x _p, y _p, z _p, θ _p), and the direction parameter of its direction parameter after changing is (x _p+ Δ x _p, y _p+ Δ y _p, z _p+ Δ z _p, θ _p+ Δ θ _p), if can calculate so side-play amount (Δ x _p, Δ y _p, Δ z _p, Δ θ _p), can determine whether this positioning equipment is moved.

Here, still neglect Δ z _pcalculating, certainly, those skilled in the art can easily expand in three-dimensional calculating.

For three unknown numbers, it is solved and at least needs three equations, because each location point can provide two equations, so determine that the side-play amount of positioning equipment needs at least two location points.

If selected N location point, select in other words N hiding label, and the initial absolute coordinates of these feature locations points, namely trusted absolute coordinates, can be expressed as (x ₁, y ₁), (x ₂, y ₂) ... (x _n, y _n).Correspondingly, if suspect that movement has occurred positioning equipment, can utilize this positioning equipment to obtain this N location point with respect to the relative coordinate (x of this positioning equipment _r1, y _r1), (x _r2, y _r2) ... (x _rN, y _rN).

By coordinate transform, can calculate side-play amount (the Δ x of the direction parameter of this positioning equipment _p, Δ y _p, Δ z _p, Δ θ _p).Concrete computation process is as shown in system of equations (12):

Can find out, system of equations (12) has 2N equation, therefore, when N equals 2, can calculate side-play amount (Δ x _p, Δ y _p, Δ θ _p).

Similarly, according to an example of the present invention, can be as adopting error, for example MSE, the same as criterion, by side-play amount and specific threshold are compared and determine whether positioning equipment is moved.The side-play amount that surpasses this specific threshold is considered to occur movement.

Should be appreciated that situation about being moved at positioning equipment, if determine that the angle that arranges of positioning equipment does not change, and just can determine the amount of movement of positioning equipment by a location point.

Hereinbefore, trusted absolute coordinates is the reliable absolute coordinates of pre-stored at least one location point.According to another embodiment of the present invention, can obtain this trusted absolute coordinates by thering is overlapping covered another positioning equipment not being moved of confirming as with described positioning equipment 120.That is to say, the system of Fig. 7 also can comprise another positioning system, and this another positioning system is demarcated, and has confirmed not to be moved.

According to this embodiment of the present invention, described location point is in positioning equipment 120 and this another positioning equipment overlapping covered, described another positioning equipment has been demarcated and has been confirmed as not being moved, and wherein the trusted absolute coordinates of location point can obtain by this another positioning equipment.

The specific implementation of above embodiment is described below in conjunction with Figure 12.

As shown in figure 12, wherein provided two and had overlapping covered positioning equipment, for example POD1 and POD2, wherein, establish POD1 and by process, demarcated, and be defined as not being moved.Now, because POD1 is through demarcating, so it can obtain the absolute coordinates of any location point in this POD1 overlay area directly or indirectly by coordinate transform, and this absolute coordinates is trusty.

Now, in order to determine whether POD2 is moved, can be at location point of overlapping covered middle selection of POD1 and POD2, POD1 obtains the absolute coordinates of location point, as trusted absolute coordinates, and POD2 obtains location point with respect to the relative coordinate of this POD2, thereby the relative coordinate according to the determined absolute coordinates of POD1, this location point with respect to POD2, and the calibrating parameters of the POD2 obtaining in advance, can utilize the method shown in Fig. 8 and Figure 10, determine whether POD2 is moved.

Preferably, by calculating this POD2 at a plurality of location points of this overlapping covered middle selection, whether be moved.Can improve judgement precision like this.

The method of selecting a plurality of location points is multiple, for example, can be by overlapping coveredly middlely arrange a plurality of labels at this simultaneously, thus POD1 and POD2 can receive the coordinate of the feature locations point of these label representatives.Preferably, according to present embodiment, can adopt a mobile tag to realize this object, described label described be movably in overlapping covered.Along with the movement of this mobile tag, can obtain the data of the feature locations point that a series of reflection mobile tags experience.

If this mobile tag is overlapping covered middle when mobile, each POD can obtain this mobile tag with respect to its oneself tuple (tuple) [pod _iD, rpos, t], wherein podID is the index of POD, rpos be mobile tag with respect to the relative position of this POD, t is current time.As time goes on, can obtain the sequence of this tuple, [pod ₁, rpos ₁₁, t ₁], [pod ₂, rpos ₂₁, t ₁], [pod ₁, rpos ₁₂, t ₂], [pod ₂, rpos ₂₂, t ₂] ..., [pod ₁, rpos _1k, t _k], [pod ₂, rpos _2k, t _k], wherein k represents the quantity of time location point, tuple [pod ₁, rpos _1k, t _k] be illustrated in t _kthis mobile tag is with respect to the relative position rpos of POD1 constantly _1k, similarly, tuple [pod ₂, rpos _2k, t _k] be illustrated in t _kthis mobile tag is with respect to the relative position rpos of POD2 constantly _2k.This shows, for two POD, can obtain amounting to 2k tuple.In addition, according to above description, be understandable that because POD1 is confirmed as not being moved, so the position of the determined mobile tag of the corresponding tuple of POD1 is trusty.

If (x _jrt', y _irt') be mobile tag at time t place the relative coordinate with respect to j POD, wherein r represents relatively.Therefore, for each POD, the absolute coordinates (x of mobile tag _jt', y _jt') can obtain by system of equations (13):

j=1,2 and i=1,2 ..., k

(13)

Wherein, (x _pj, y _pj, θ _pj) be the reference azimuth parameter of j POD having demarcated, it can store in preliminary election.It will be appreciated that, omitted the calculating to z coordinate here, if necessary, those skilled in the art can expand to three dimensions by this calculating at an easy rate.

If the trusted absolute coordinates that these location points can be calculated by POD 1 trusty is (x _1t, y _1t), and the suspicious absolute coordinates of the individual features location point that POD2 calculates is (x _2t', y _2t').Then, for example can calculate square error (MSE) between them by equation (14) thus determine whether POD2 is moved:

$\mathrm{\&delta;}=\underset{t=1}{\overset{k}{\mathrm{\&Sigma;}}}\frac{\sqrt{{({x_{2t}}^{\&prime;}-x_{1t})}^2+{({y_{2t}}^{\&prime;}-y_{1t})}^2}}{k}---\left(14\right)$

After POD2 is defined as safety, can in turn determine POD3, POD4 (not shown) etc., until all POD are determined.

Alternatively, the in the situation that of a plurality of POD, also can adopt according to the described method of system of equations (12) and determine the concrete side-play amount that suspicious POD moves, in the case, the various coordinates that needed location point is provided by mobile tag, will no longer describe in detail here.

According to another embodiment of the present invention, can also be when positioning equipment being detected and being moved, to User Alarms.The mode of reporting to the police includes but not limited to audible alarm, alerting signal flicker etc.Also can with figure or forms mode, to user, provide the concrete direction parameter of each positioning equipment by display, thereby according to these direction parameters, determine whether positioning equipment is moved by user.

In addition, according to another embodiment of the present invention, according to the method shown in the method shown in Fig. 8 and Figure 10 is combined.That is, first according to the method shown in Fig. 8, determine whether positioning equipment is moved.Determining that the situation that positioning equipment is moved exists, then determining the amount of movement of positioning equipment in space according to the method shown in Figure 10.Alternatively, according to the amount of movement obtaining, carry out calibrating and positioning equipment again.

Further, according to another embodiment of the present invention, as shown in figure 13, a kind of equipment 400 for determining whether the positioning equipment in space is moved is provided, this equipment 400 can comprise: receiving trap 410, for receiving the location point in described space with respect to the relative coordinate of described positioning equipment, the calibrating parameters of described positioning equipment and the described location point trusted absolute coordinates in described space; And judgment means 420, for according to described relative coordinate, described calibrating parameters and described trusted absolute coordinates, judge whether described positioning equipment is moved.

As shown in figure 14, in an example, judgment means 420 can comprise: absolute coordinates calculation element 510, for calculating described location point at the absolute coordinates in described space according to described calibrating parameters and described relative coordinate; Error statistics device 520, for adding up the error of absolute coordinates and the described trusted absolute coordinates of described calculating, and determining device 530, if be greater than predetermined threshold for described error, determine that described positioning equipment is moved.

As shown in figure 15, in another example, judgment means 420 can comprise: amount of movement calculation element 610, be used for according to described relative coordinate, described calibrating parameters and described trusted absolute coordinates, calculate the amount of movement of described positioning equipment, and determining device 620, if be greater than predetermined threshold for described amount of movement, determine that described positioning equipment is moved.

According to another example of the present invention, the example shown in the example shown in Figure 14 and Figure 15 can be combined.That is, first according to the example shown in Figure 14, determine whether positioning equipment is moved.Determining that the situation that positioning equipment is moved exists, then determining the amount of movement of positioning equipment in space according to the example shown in Figure 15.Alternatively, according to the amount of movement obtaining, carry out calibrating and positioning equipment again.

In an example of present embodiment, described location point is pre-determined point of fixity of absolute coordinates; And being placed with at described location point place the label that can launch distance measuring signal, described relative coordinate is to obtain according to the distance measuring signal from label by described positioning equipment.Alternatively, described label can be hidden.

In an example of present embodiment, described location point is randomly in described positioning equipment and another positioning equipment overlapping covered, and described another positioning equipment has been demarcated and has been confirmed as not being moved.At described location point, place is placed with the label that can launch distance measuring signal, described relative coordinate is to obtain according to the distance measuring signal from described label by described positioning equipment, and described trusted absolute coordinates is to obtain according to the distance measuring signal from label by described another positioning equipment.Alternatively, described label is described removable in overlapping covered.

According to another example of the present invention, the example shown in the example shown in Figure 14 and Figure 15 can be combined.That is, first according to the example shown in Figure 14, determine whether positioning equipment is moved.Determining that the situation that positioning equipment is moved exists, then determining the amount of movement of positioning equipment in space according to the example shown in Figure 15.Alternatively, according to the amount of movement obtaining, carry out calibrating and positioning equipment again.

It is pointed out that equipment 400 can be integrated in positioning equipment, also can realize in being connected via communication links to the remote server or computing machine of positioning equipment.And equipment 400 can be realized by hardware, software, firmware and their variety of ways such as combination.

Method and apparatus of the present invention can be realized in the combination of software, hardware or software and hardware.Hardware components can utilize special logic to realize; Software section can be stored in storer, and by suitable instruction execution system, for example microprocessor, personal computer (PC) or large scale computer are carried out.

The object that instructions of the present invention is provided is in order to illustrate and to describe, rather than is used for exhaustive or limits the invention to disclosed form.For those of ordinary skill in the art, many modifications and changes are all apparent.

Therefore; selecting and describing embodiment is in order to explain better principle of the present invention and practical application thereof; and those of ordinary skills are understood, do not departing under the prerequisite of essence of the present invention, within all modifications and change all fall into protection scope of the present invention defined by the claims.

Claims (17)

1. the system for determining whether the positioning equipment in space is moved, comprising:

Can launch the label of distance measuring signal;

Positioning equipment, is configured to obtain the location point at label place with respect to the relative coordinate of positioning equipment according to the distance measuring signal from described label; And

Server, is configured to the trusted absolute coordinates in space according to the calibrating parameters of described relative coordinate, described positioning equipment and described location point, judges whether described positioning equipment is moved;

Also comprise another positioning equipment, described another positioning equipment has been demarcated and has been confirmed as not being moved, wherein said location point is randomly in described positioning equipment and another positioning equipment overlapping covered, and described trusted absolute coordinates is to obtain according to the distance measuring signal from described label by described another positioning equipment.

2. system according to claim 1, wherein, described server is further configured to:

According to described relative coordinate and described calibrating parameters, calculate the absolute coordinates of described location point in described space;

Add up the error of absolute coordinates and the described trusted absolute coordinates of described calculating, and

If described error is greater than predetermined threshold, determine that described positioning equipment is moved.

3. system according to claim 1, wherein, described server is further configured to:

According to described relative coordinate, described calibrating parameters and described trusted absolute coordinates, calculate the amount of movement of described positioning equipment in described space, and

If described amount of movement is greater than predetermined threshold, determine that described positioning equipment is moved.

4. system according to claim 3, wherein demarcates described positioning equipment again according to described amount of movement.

5. system according to claim 1, wherein, described calibrating parameters comprises the absolute coordinates that described positioning equipment has been demarcated in described space and angle is set.

6. system according to claim 1, wherein, described location point is pre-determined point of fixity of absolute coordinates.

7. the method for determining whether the positioning equipment in space is moved, comprising:

Receive location point in described space with respect to the relative coordinate of described positioning equipment, the calibrating parameters of described positioning equipment and the described location point trusted absolute coordinates in described space; And

According to described relative coordinate, described calibrating parameters and described trusted absolute coordinates, judge whether described positioning equipment is moved;

Described location point is randomly in described positioning equipment and another positioning equipment overlapping covered, and described another positioning equipment has been demarcated and has been confirmed as not being moved,

At described location point, place is placed with the label that can launch distance measuring signal,

Described relative coordinate is to obtain according to the distance measuring signal from described label by described positioning equipment, and

Described trusted absolute coordinates is to obtain according to the distance measuring signal from label by described another positioning equipment.

8. method according to claim 7, wherein, judges whether described positioning equipment is moved further to comprise:

According to described calibrating parameters and described relative coordinate, calculate the absolute coordinates of described location point in described space;

Add up the error of absolute coordinates and the described trusted absolute coordinates of described calculating, and

If described error is greater than predetermined threshold, determine that described positioning equipment is moved.

9. method according to claim 7, wherein, determine whether described positioning equipment is moved further to comprise:

According to described relative coordinate, described calibrating parameters and described trusted absolute coordinates, calculate the amount of movement of described positioning equipment, and

If described amount of movement is greater than predetermined threshold, determine that described positioning equipment is moved.

10. method according to claim 9, wherein, demarcates described positioning equipment again according to described amount of movement.

11. methods according to claim 7, wherein, described calibrating parameters comprises the absolute coordinates that described positioning equipment has been demarcated in described space and angle is set.

12. methods according to claim 7, wherein, described location point is pre-determined point of fixity of absolute coordinates.

13. methods according to claim 12, wherein, at described location point, place is placed with the label that can launch distance measuring signal, and described relative coordinate is to obtain according to the distance measuring signal from label by described positioning equipment.

14. 1 kinds of equipment for determining whether the positioning equipment in space is moved, comprising:

Receiving trap, for receiving the location point in described space with respect to the relative coordinate of described positioning equipment, the calibrating parameters of described positioning equipment and the described location point trusted absolute coordinates in described space; And

Judgment means, for according to described relative coordinate, described calibrating parameters and described trusted absolute coordinates, judges whether described positioning equipment is moved;

Described judgment means further comprises:

Absolute coordinates calculation element, for calculating described location point at the absolute coordinates in described space according to described calibrating parameters and described relative coordinate;

Error statistics device, for adding up the error of absolute coordinates and the described trusted absolute coordinates of described calculating, and

The first determining device, if be greater than predetermined threshold for described error, determines that described positioning equipment is moved.

15. equipment according to claim 14, wherein,

Described location point is randomly in described positioning equipment and another positioning equipment overlapping covered, and described another positioning equipment has been demarcated and has been confirmed as not being moved,

At described location point, place is placed with the label that can launch distance measuring signal,

Described relative coordinate is to obtain according to the distance measuring signal from described label by described positioning equipment, and

Described trusted absolute coordinates is to obtain according to the distance measuring signal from label by described another positioning equipment.

16. 1 kinds of equipment for determining whether the positioning equipment in space is moved, comprising:

Receiving trap, for receiving the location point in described space with respect to the relative coordinate of described positioning equipment, the calibrating parameters of described positioning equipment and the described location point trusted absolute coordinates in described space; And

Judgment means, for according to described relative coordinate, described calibrating parameters and described trusted absolute coordinates, judges whether described positioning equipment is moved;

Wherein, described judgment means further comprises:

Amount of movement calculation element, for according to described relative coordinate, described calibrating parameters and described trusted absolute coordinates, calculates the amount of movement of described positioning equipment, and

The second determining device, if be greater than predetermined threshold for described amount of movement, determines that described positioning equipment is moved.

17. equipment according to claim 16, wherein, demarcate described positioning equipment again according to described amount of movement.

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