CN108834053B - Positioning method, device and equipment - Google Patents
Positioning method, device and equipment Download PDFInfo
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- CN108834053B CN108834053B CN201810638972.1A CN201810638972A CN108834053B CN 108834053 B CN108834053 B CN 108834053B CN 201810638972 A CN201810638972 A CN 201810638972A CN 108834053 B CN108834053 B CN 108834053B
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- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
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- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
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Abstract
The embodiment of the invention provides a positioning method, a positioning device and positioning equipment, wherein the method comprises the following steps: obtaining a positioning signal received at a point to be positioned; acquiring the signal intensity of the received positioning signal as a first signal intensity, and acquiring a first arrival time difference of the received positioning signal; searching K grid points around the to-be-positioned point in a pre-established position fingerprint database by utilizing a K neighbor algorithm according to the first signal intensity and the first arrival time difference; acquiring Euclidean distances from the to-be-positioned point to each searched grid point; determining the longitude and latitude coordinates of the to-be-positioned point according to the acquired Euclidean distance and the found longitude and latitude coordinates of each grid point; and determining the position of the to-be-positioned point according to the determined longitude and latitude coordinates. The positioning method provided by the embodiment of the invention can improve the positioning accuracy.
Description
Technical Field
The present invention relates to the field of positioning technologies, and in particular, to a positioning method, apparatus, and device.
Background
With the development of mobile communication and cellular wireless positioning technology, precise positioning services are receiving more and more attention. Cellular network signals, such as 4G (the 4th Generation mobile communication technology) signals, have a large coverage area, which is an advantage that Wi-Fi, bluetooth, and other indoor positioning methods cannot have, and thus have a potential advantage of being used as positioning signals for providing positioning services.
However, since the indoor environment is relatively complex, multipath effects may be generated during propagation of the positioning signal in the complex indoor environment, and the multipath effects may greatly reduce the positioning accuracy when performing positioning in the indoor environment. Therefore, a positioning method is needed to improve the positioning accuracy.
Disclosure of Invention
The embodiment of the invention aims to provide a positioning method, a positioning device and positioning equipment so as to improve the positioning accuracy. The specific technical scheme is as follows:
in one aspect of the present invention, a positioning method is provided, where the method includes:
obtaining a positioning signal received at a point to be positioned;
acquiring the signal strength of the received positioning signal as a first signal strength, and acquiring a first arrival time difference of the received positioning signal, wherein the first arrival time difference is: the time difference of arrival of a multipath signal of a positioning signal and a first positioning signal, the first positioning signal being: the direct path signal of the positioning signal or the signal of the positioning signal reaching the point to be positioned first;
according to the first signal intensity and the first arrival time difference, K grid points around the point to be located are searched in a pre-established position fingerprint database by utilizing a K neighbor algorithm, wherein the position fingerprint database comprises: the method comprises the following steps that the signal intensity, the corresponding relation between arrival time difference and grid points and longitude and latitude coordinates of each grid point are obtained, the grid points are obtained by dividing a coverage area of a cellular network at equal intervals along the horizontal direction and the vertical direction, and K is a positive integer;
acquiring Euclidean distances from the to-be-positioned point to each searched grid point;
determining the longitude and latitude coordinates of the to-be-positioned point according to the acquired Euclidean distance and the found longitude and latitude coordinates of each grid point;
and determining the position of the to-be-positioned point according to the determined longitude and latitude coordinates.
Optionally, the step of acquiring the signal strength of the received positioning signal as a first signal strength, and acquiring a first time difference of arrival of the received positioning signal includes:
acquiring positioning signals received at a to-be-positioned point n times, and acquiring the signal intensity of each received positioning signal and the arrival time difference between a multipath signal of the positioning signal and a first positioning signal, wherein n is greater than 1;
taking the average value of the acquired n signal strengths as the first signal strength, and taking the average value of the acquired n arrival time differences as the first arrival time difference.
Optionally, the location fingerprint database is built by the following steps:
dividing a coverage area of a cellular network at equal intervals along the horizontal direction and the vertical direction to obtain grid points, and acquiring longitude and latitude coordinates of each obtained grid point;
respectively measuring the signal intensity of the positioning signal at each lattice point and the arrival time difference between the multipath signal of the positioning signal and the first positioning signal;
and constructing the position fingerprint database according to the signal intensity, the arrival time difference and the longitude and latitude coordinates of each grid point.
Optionally, the step of searching K grid points around the point to be located in a pre-established location fingerprint database by using a K-nearest neighbor algorithm according to the first signal strength and the first time difference of arrival includes:
calculating Euclidean distance between the to-be-positioned point and each lattice point according to the first signal intensity, the first arrival time difference, and the signal intensity and the arrival time difference corresponding to each lattice point in a pre-established position fingerprint database;
and selecting K Euclidean distances according to the sequence of the Euclidean distances from small to large obtained through calculation, and taking the lattice points corresponding to the selected Euclidean distances as the K lattice points.
Optionally, the step of determining the longitude and latitude coordinates of the to-be-located point according to the obtained euclidean distance and the found longitude and latitude coordinates of each grid point includes:
drawing a circle by taking longitude and latitude coordinates of grid points in the K grid points as circle centers and the Euclidean distance from the point to be located to each grid point as a radius to obtain a plurality of circles;
and taking the obtained longitude and latitude coordinates of the plurality of circle intersection points as the longitude and latitude coordinates of the to-be-positioned point.
In another aspect of the present invention, there is also provided a positioning apparatus, including:
an obtaining module, configured to obtain a positioning signal received at a point to be positioned;
a first obtaining module, configured to obtain a signal strength of the received positioning signal as a first signal strength, and obtain a first time difference of arrival of the received positioning signal, where the first time difference of arrival is: the time difference of arrival of a multipath signal of a positioning signal and a first positioning signal, the first positioning signal being: the direct path signal of the positioning signal or the signal of the positioning signal reaching the point to be positioned first;
a searching module, configured to search, according to the first signal strength and the first arrival time difference, K grid points around the point to be located in a pre-established location fingerprint database by using a K-nearest neighbor algorithm, where the location fingerprint database includes: the method comprises the following steps that the signal intensity, the corresponding relation between arrival time difference and grid points and longitude and latitude coordinates of each grid point are obtained, the grid points are obtained by dividing a coverage area of a cellular network at equal intervals along the horizontal direction and the vertical direction, and K is a positive integer;
the second acquisition module is used for acquiring the Euclidean distance from the to-be-positioned point to each searched lattice point;
the first determining module is used for determining the longitude and latitude coordinates of the to-be-positioned point according to the acquired Euclidean distance and the searched longitude and latitude coordinates of each grid point;
and the second determination module is used for determining the position of the to-be-positioned point according to the determined longitude and latitude coordinates.
Optionally, the first obtaining module is specifically configured to,
acquiring positioning signals received at a position to be positioned for n times, and acquiring the signal intensity of each received positioning signal and the arrival time difference between a multipath signal of the positioning signal and a first positioning signal, wherein n is greater than 1;
taking the average value of the acquired n signal strengths as the first signal strength, and taking the average value of the acquired n arrival time differences as the first arrival time difference.
Optionally, the location fingerprint database is built by the following steps:
dividing a coverage area of a cellular network at equal intervals along the horizontal direction and the vertical direction to obtain grid points, and acquiring longitude and latitude coordinates of each obtained grid point;
respectively measuring the signal intensity of the positioning signal at each lattice point and the arrival time difference between the multipath signal of the positioning signal and the first positioning signal;
and constructing the position fingerprint database according to the signal intensity, the arrival time difference and the longitude and latitude coordinates of each grid point.
Optionally, the search module is specifically configured to,
calculating Euclidean distance between the to-be-positioned point and each lattice point according to the first signal intensity, the first arrival time difference, and the signal intensity and the arrival time difference corresponding to each lattice point in a pre-established position fingerprint database;
and selecting K Euclidean distances according to the sequence of the Euclidean distances from small to large obtained through calculation, and taking the lattice points corresponding to the selected Euclidean distances as the K lattice points.
Optionally, the first determining module is specifically configured to,
drawing a circle by taking longitude and latitude coordinates of grid points in the K grid points as circle centers and the Euclidean distance from the point to be located to each grid point as a radius to obtain a plurality of circles;
and taking the obtained longitude and latitude coordinates of the plurality of circle intersection points as the longitude and latitude coordinates of the to-be-positioned point.
In yet another aspect of the present invention, there is also provided a computer-readable storage medium having stored therein instructions, which when run on a computer, cause the computer to execute any of the above-described positioning methods.
In yet another aspect of the present invention, the present invention further provides a computer program product containing instructions, which when run on a computer, causes the computer to execute any of the above-mentioned positioning methods.
According to the positioning method, the positioning device and the positioning equipment provided by the embodiment of the invention, the signal intensity and the arrival time difference of the to-be-positioned point can be utilized to search the lattice points around the to-be-positioned point in the pre-established position fingerprint database, and the coordinates of the to-be-positioned point are determined according to the Euclidean distance from the to-be-positioned point to each searched lattice point and the found longitude and latitude coordinates of each lattice point, so that the accurate position of the to-be-positioned point can be determined, and the positioning accuracy is improved. Of course, it is not necessary for any product or method of practicing the invention to achieve all of the above-described advantages at the same time.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below.
Fig. 1 is a schematic flowchart of a positioning method according to an embodiment of the present invention;
fig. 2 is a schematic view of a positioning scenario performed by using the positioning method according to the embodiment of the present invention;
fig. 3 is a schematic structural diagram of a positioning device according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described below with reference to the drawings in the embodiments of the present invention.
Referring to fig. 1, a schematic flow chart of a positioning method provided in an embodiment of the present invention is shown, where the method includes:
the execution main body of the embodiment of the present invention may be a positioning receiver, and certainly may also be other devices capable of receiving a positioning signal and implementing positioning, which is not limited in this application.
The following describes a positioning signal filtering method provided by an embodiment of the present invention with reference to a specific embodiment by taking an execution subject as a positioning receiver.
S100, obtaining a positioning signal received at a point to be positioned.
The positioning signal refers to a signal transmitted by a base station for communication.
S110, acquiring a signal strength of the received positioning signal as a first signal strength, and acquiring a first arrival time difference of the received positioning signal, where the first arrival time difference is: the time difference of arrival of the multipath signal of the positioning signal and the first positioning signal is as follows: the direct path signal of the positioning signal or the signal of the positioning signal reaching the point to be positioned first.
In practical application, when a positioning signal sent by a base station can directly reach a to-be-positioned point, that is, when a direct path signal exists, the direct path signal is a signal which is directly reached to the to-be-positioned point by the base station without reflection or refraction, and the transmission time from the base station to the to-be-positioned point is shortest, so that when the direct path signal exists, the direct path signal is used as a first positioning signal.
However, under the condition that the actual geographic environment is relatively complex, the positioning signal sent by the base station may not directly reach the point to be located, but may reach the point to be located after being refracted or reflected, that is, under the condition that no direct path signal exists, the signal that reaches the point to be located first in the multipath signals of the positioning signal may be used as the first positioning signal.
In order to speed up obtaining the first signal strength and the first arrival time difference of the received positioning signal, in an implementation manner of the embodiment of the present invention, the signal strength of the positioning signal received once and the arrival time difference between the multipath signal of the positioning signal and the first positioning signal may be directly used as the first signal strength and the first arrival time difference, respectively.
In order to improve the accuracy of the final positioning, in an implementation manner of the embodiment of the present invention, the step S110 may specifically include:
acquiring positioning signals received at a position to be positioned for n times, and acquiring the signal intensity of each received positioning signal and the arrival time difference between a multipath signal of the positioning signal and a first positioning signal, wherein n is greater than 1;
the average value of the acquired n signal intensities is taken as the first signal intensity, and the average value of the acquired n arrival time differences is taken as the first arrival time difference.
The value of n can be set according to actual needs, and the larger the value of n is, the higher the positioning accuracy is.
In the above steps, the average value of the signal strengths of the positioning signals received for multiple times is used as the first signal strength, and the arrival time difference between the multipath signal of the positioning signal received for multiple times and the first positioning signal is used as the first arrival time difference, that is, the positioning signal is smoothed by taking the average value, so that the positioning accuracy can be improved.
In order to reduce the problem of large workload for acquiring the first time difference of arrival and the first signal strength, in an implementation manner of the embodiment of the present invention, the arrival time of the first positioning signal of each received positioning signal at the positioning receiver may be determined in a calculation manner, specifically, the first positioning signal of each received positioning signal may be determined by using an image propagation fast estimation method, and the time difference of arrival may be calculated according to the measured multipath signal and the calculated first positioning signal.
S120, searching K grid points around the to-be-positioned point in a pre-established position fingerprint database by using a K neighbor algorithm according to the first signal strength and the first arrival time difference, wherein the position fingerprint database comprises: the method comprises the steps of obtaining the signal strength, the corresponding relation between the arrival time difference and grid points, and the longitude and latitude coordinates of each grid point, wherein the grid points are obtained by dividing the coverage area of a cellular network at equal intervals along the horizontal direction and the vertical direction, and K is a positive integer.
In one implementation, the location fingerprint database may be built according to the following steps:
dividing a coverage area of a cellular network at equal intervals along the horizontal direction and the vertical direction to obtain grid points, and acquiring longitude and latitude coordinates of each obtained grid point;
respectively measuring the signal intensity of the positioning signal at each lattice point and the arrival time difference between the multipath signal of the positioning signal and the first positioning signal;
and constructing a position fingerprint database according to the signal intensity, the arrival time difference and the longitude and latitude coordinates of each grid point.
The coverage area of the cellular network, that is, the coverage area of the positioning signal transmitted by the base station, may be divided at equal intervals in the horizontal direction and the vertical direction according to actual needs, for example, the coverage area of the cellular network is divided in the horizontal direction and the vertical direction according to an interval of 1 meter.
In one implementation, for each grid point obtained after division, the longitude and latitude coordinates of the grid point can be determined according to an electronic map.
In order to determine the location information of the point to be located more accurately, in one implementation, the location fingerprint database may include, in addition to the longitude and latitude of each grid point, an altitude of each grid point, and specifically, the longitude and latitude and the altitude of each grid point may be represented by using a CGCS2000(China geographic coordination System 2000) Coordinate System, which may be represented as:
wherein (x)k，yk，zk) The longitude, latitude and altitude of the kth grid point are represented by physical coordinates represented by the CGCS2000 coordinate system, and k is a positive integer.
And establishing corresponding relations among the signal intensity, the arrival time difference and the longitude and latitude coordinates of each grid point, and then constructing a position fingerprint database according to the established corresponding relations. Specifically, the arrival time difference of each lattice point may be recorded according to the following expression,
wherein the content of the first and second substances,
indicating the arrival of the k-th lattice pointThe time difference.
In an implementation manner of the embodiment of the present invention, the S120 may specifically include:
calculating the Euclidean distance between the to-be-positioned point and each lattice point according to the first signal intensity, the first arrival time difference, and the signal intensity and the arrival time difference corresponding to each lattice point in the pre-established position fingerprint database;
and selecting K Euclidean distances according to the sequence of the Euclidean distances from small to large obtained through calculation, and taking the lattice points corresponding to the selected Euclidean distances as K lattice points.
Specifically, the euclidean distance between the to-be-positioned point and each lattice point can be calculated according to the following formula:
wherein, D represents the euclidean distance, a represents the first signal strength of the point to be located, a 'represents the signal strength of the lattice point, b represents the arrival time difference of the point to be located, and b' represents the arrival time difference of the lattice point. The smaller the calculated Euclidean distance is, the closer the lattice point is to the point to be located, so that the lattice points corresponding to K Euclidean distances can be selected as K lattice points according to the sequence from the smaller Euclidean distance to the larger Euclidean distance.
S130, obtaining the Euclidean distance from the point to be located to each searched grid point.
Since the euclidean distance between each lattice point and the to-be-located point has already been calculated in the process of searching K lattice points in S120, based on this, the euclidean distance from the to-be-located point to each searched lattice point can be directly obtained.
And S140, determining the longitude and latitude coordinates of the to-be-positioned point according to the acquired Euclidean distance and the found longitude and latitude coordinates of each grid point.
In an implementation manner, the S140 may specifically include:
drawing a circle by taking longitude and latitude coordinates of grid points in the K grid points as a circle center and taking Euclidean distance from a point to be located to each grid point as a radius to obtain a plurality of circles;
and taking the obtained longitude and latitude coordinates of the plurality of circle intersection points as the longitude and latitude coordinates of the to-be-positioned point.
Specifically, K may be 3, and then the longitude and latitude coordinates of the point to be located are determined by a triangulation method.
Correspondingly, when the location fingerprint database can include the altitude of each grid point in addition to the longitude and latitude of each grid point, after the longitude and latitude coordinates of the point to be located are determined, the altitude of the point to be located can be determined according to the altitude of the grid point in the K grid points. Specifically, the average value of the altitudes of the grid points in the K grid points may be used as the altitude of the point to be located.
And S150, determining the position of the to-be-positioned point according to the determined longitude and latitude coordinates.
And after the longitude and latitude coordinates of the to-be-positioned point are obtained, determining the position of the to-be-positioned point according to the longitude and latitude conversion. For example, the longitude and latitude coordinates of the to-be-located point are: n39 degrees 59 '32' E116 degrees 23 '29', the positions after the longitude and latitude conversion are as follows: the bird nest culture center.
In each scheme provided by the embodiment of the invention, the positioning method can search the grid points around the to-be-positioned point in the pre-established position fingerprint database by using the signal intensity and the arrival time difference of the to-be-positioned point, and determine the coordinates of the to-be-positioned point according to the Euclidean distance from the to-be-positioned point to each searched grid point and the found longitude and latitude coordinates of each grid point, so that the accurate position of the to-be-positioned point can be determined, and the positioning accuracy is improved.
Referring to fig. 2, a schematic view of a scenario in which positioning is performed by using the positioning method provided in the embodiment of the present invention in practical application, in the scenario, positioning signals sent by a base station 1, a base station 2, a base station 3, and a base station 4 are used to position a to-be-positioned point in a ranging area;
in the positioning process, positioning signals sent by a base station 1, a base station 2, a base station 3 and a base station 4 are received at a point to be positioned, and 4 grid points are searched in a position fingerprint database by utilizing a K neighbor algorithm according to the signal intensity and the arrival time difference of the received positioning signals sent by each base station; and then, determining the longitude and latitude of the to-be-positioned point according to the found longitude and latitude of the 4 grid points to obtain a positioning result.
Referring to fig. 3, a schematic structural diagram of a positioning apparatus provided in an embodiment of the present invention is shown, where the apparatus includes:
an obtaining module 200, configured to obtain a positioning signal received at a point to be positioned;
a first obtaining module 210, configured to obtain a signal strength of the received positioning signal as a first signal strength, and obtain a first time difference of arrival of the received positioning signal, where the first time difference of arrival is: the time difference of arrival of a multipath signal of a positioning signal and a first positioning signal, the first positioning signal being: the direct path signal of the positioning signal or the signal of the positioning signal reaching the point to be positioned first;
a searching module 220, configured to search, according to the first signal strength and the first arrival time difference, K grid points around the point to be located in a pre-established location fingerprint database by using a K-nearest neighbor algorithm, where the location fingerprint database includes: the method comprises the following steps that the signal intensity, the corresponding relation between arrival time difference and grid points and longitude and latitude coordinates of each grid point are obtained, the grid points are obtained by dividing a coverage area of a cellular network at equal intervals along the horizontal direction and the vertical direction, and K is a positive integer;
a second obtaining module 230, configured to obtain euclidean distances from the to-be-located point to the found grid points;
a first determining module 240, configured to determine longitude and latitude coordinates of the to-be-located point according to the obtained euclidean distance and the found longitude and latitude coordinates of each grid point;
and a second determining module 250, configured to determine the position of the to-be-located point according to the determined longitude and latitude coordinates.
In one implementation manner of the embodiment of the present invention, the first obtaining module 210 is specifically configured to,
acquiring positioning signals received at a position to be positioned for n times, and acquiring the signal intensity of each received positioning signal and the arrival time difference between a multipath signal of the positioning signal and a first positioning signal, wherein n is greater than 1;
taking the average value of the acquired n signal strengths as the first signal strength, and taking the average value of the acquired n arrival time differences as the first arrival time difference.
In an implementation manner of the embodiment of the present invention, the location fingerprint database may be established through the following steps:
dividing a coverage area of a cellular network at equal intervals along the horizontal direction and the vertical direction to obtain grid points, and acquiring longitude and latitude coordinates of each obtained grid point;
respectively measuring the signal intensity of the positioning signal at each lattice point and the arrival time difference between the multipath signal of the positioning signal and the first positioning signal;
and constructing the position fingerprint database according to the signal intensity, the arrival time difference and the longitude and latitude coordinates of each grid point.
In one implementation manner of the embodiment of the present invention, the search module 220 is specifically configured to,
calculating Euclidean distance between the to-be-positioned point and each lattice point according to the first signal intensity, the first arrival time difference, and the signal intensity and the arrival time difference corresponding to each lattice point in a pre-established position fingerprint database;
and selecting K Euclidean distances according to the sequence of the Euclidean distances from small to large obtained through calculation, and taking the lattice points corresponding to the selected Euclidean distances as the K lattice points.
In an implementation manner of the embodiment of the present invention, the first determining module 240 is specifically configured to,
drawing a circle by taking longitude and latitude coordinates of grid points in the K grid points as circle centers and the Euclidean distance from the point to be located to each grid point as a radius to obtain a plurality of circles;
and taking the obtained longitude and latitude coordinates of the plurality of circle intersection points as the longitude and latitude coordinates of the to-be-positioned point.
In each scheme provided by the embodiment of the invention, the positioning device can search the lattice points around the to-be-positioned point in the pre-established position fingerprint database by using the signal intensity and the arrival time difference of the to-be-positioned point, and determine the coordinates of the to-be-positioned point according to the Euclidean distance from the to-be-positioned point to each searched lattice point and the found longitude and latitude coordinates of each lattice point, so that the accurate position of the to-be-positioned point can be determined, and the positioning accuracy is improved.
An embodiment of the present invention further provides an electronic device, as shown in fig. 4, including a processor 001, a communication interface 002, a memory 003 and a communication bus 004, where the processor 001, the communication interface 002 and the memory 003 complete mutual communication through the communication bus 004,
a memory 003 for storing a computer program;
the processor 001 is configured to implement the positioning method provided in the embodiment of the present invention when executing the program stored in the memory 003.
Specifically, the positioning method includes:
obtaining a positioning signal received at a point to be positioned;
acquiring the signal strength of the received positioning signal as a first signal strength, and acquiring a first arrival time difference of the received positioning signal, wherein the first arrival time difference is: the time difference of arrival of a multipath signal of a positioning signal and a first positioning signal, the first positioning signal being: the direct path signal of the positioning signal or the signal of the positioning signal reaching the point to be positioned first;
according to the first signal intensity and the first arrival time difference, K grid points around the point to be located are searched in a pre-established position fingerprint database by utilizing a K neighbor algorithm, wherein the position fingerprint database comprises: the method comprises the following steps that the signal intensity, the corresponding relation between arrival time difference and grid points and longitude and latitude coordinates of each grid point are obtained, the grid points are obtained by dividing a coverage area of a cellular network at equal intervals along the horizontal direction and the vertical direction, and K is a positive integer;
acquiring Euclidean distances from the to-be-positioned point to each searched grid point;
determining the longitude and latitude coordinates of the to-be-positioned point according to the acquired Euclidean distance and the found longitude and latitude coordinates of each grid point;
and determining the position of the to-be-positioned point according to the determined longitude and latitude coordinates.
It should be noted that the processor 011 executes the program stored in the memory 013 to realize other embodiments of the positioning method, which are the same as the embodiments provided in the previous embodiment of the method and are not described again here.
In each scheme provided by the embodiment of the invention, the electronic equipment can search the grid points around the to-be-positioned point in the pre-established position fingerprint database by using the signal intensity and the arrival time difference of the to-be-positioned point, and determine the coordinates of the to-be-positioned point according to the Euclidean distance from the to-be-positioned point to each searched grid point and the found longitude and latitude coordinates of each grid point, so that the accurate position of the to-be-positioned point can be determined, and the positioning accuracy is improved.
The communication bus mentioned in the electronic device may be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. The communication bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown, but this does not mean that there is only one bus or one type of bus.
The communication interface is used for communication between the electronic equipment and other equipment.
The Memory may include a Random Access Memory (RAM) or a non-volatile Memory (non-volatile Memory), such as at least one disk Memory. Optionally, the memory may also be at least one memory device located remotely from the processor.
The Processor may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a network Processor (Ne word Processor, NP), and the like; the Integrated Circuit may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, or a discrete hardware component.
In another embodiment of the present invention, a computer-readable storage medium is further provided, where instructions are stored in the computer-readable storage medium, and when the computer-readable storage medium is run on a computer, the positioning method provided in the embodiment of the present invention is further provided.
Specifically, the positioning method includes:
obtaining a positioning signal received at a point to be positioned;
acquiring the signal strength of the received positioning signal as a first signal strength, and acquiring a first arrival time difference of the received positioning signal, wherein the first arrival time difference is: the time difference of arrival of a multipath signal of a positioning signal and a first positioning signal, the first positioning signal being: the direct path signal of the positioning signal or the signal of the positioning signal reaching the point to be positioned first;
according to the first signal intensity and the first arrival time difference, K grid points around the point to be located are searched in a pre-established position fingerprint database by utilizing a K neighbor algorithm, wherein the position fingerprint database comprises: the method comprises the following steps that the signal intensity, the corresponding relation between arrival time difference and grid points and longitude and latitude coordinates of each grid point are obtained, the grid points are obtained by dividing a coverage area of a cellular network at equal intervals along the horizontal direction and the vertical direction, and K is a positive integer;
acquiring Euclidean distances from the to-be-positioned point to each searched grid point;
determining the longitude and latitude coordinates of the to-be-positioned point according to the acquired Euclidean distance and the found longitude and latitude coordinates of each grid point;
and determining the position of the to-be-positioned point according to the determined longitude and latitude coordinates.
It should be noted that other embodiments of the video encoding method implemented by the computer-readable storage medium are the same as the embodiments provided in the foregoing method embodiments, and are not described herein again.
In each of the solutions provided in the embodiments of the present invention, by operating the instruction stored in the computer-readable storage medium, the grid points around the to-be-located point can be searched in the pre-established location fingerprint database by using the signal intensity and the arrival time difference at the to-be-located point, and the coordinates of the to-be-located point are determined according to the euclidean distances from the to-be-located point to the searched grid points and the searched longitude and latitude coordinates of the grid points, so that the accurate location of the to-be-located point can be determined, and the location accuracy is improved.
In another embodiment, the present invention further provides a computer program product containing instructions, which when run on a computer, implements the positioning method provided by the embodiment of the present invention.
Specifically, the positioning method includes:
obtaining a positioning signal received at a point to be positioned;
acquiring the signal strength of the received positioning signal as a first signal strength, and acquiring a first arrival time difference of the received positioning signal, wherein the first arrival time difference is: the time difference of arrival of a multipath signal of a positioning signal and a first positioning signal, the first positioning signal being: the direct path signal of the positioning signal or the signal of the positioning signal reaching the point to be positioned first;
according to the first signal intensity and the first arrival time difference, K grid points around the point to be located are searched in a pre-established position fingerprint database by utilizing a K neighbor algorithm, wherein the position fingerprint database comprises: the method comprises the following steps that the signal intensity, the corresponding relation between arrival time difference and grid points and longitude and latitude coordinates of each grid point are obtained, the grid points are obtained by dividing a coverage area of a cellular network at equal intervals along the horizontal direction and the vertical direction, and K is a positive integer;
acquiring Euclidean distances from the to-be-positioned point to each searched grid point;
determining the longitude and latitude coordinates of the to-be-positioned point according to the acquired Euclidean distance and the found longitude and latitude coordinates of each grid point;
and determining the position of the to-be-positioned point according to the determined longitude and latitude coordinates.
It should be noted that other embodiments of the positioning method implemented by the computer program product are the same as the embodiments provided in the foregoing method embodiments, and are not described again here.
In each of the solutions provided in the embodiments of the present invention, by operating the computer program product including the instruction, lattice points around a point to be located can be searched in a pre-established location fingerprint database by using the signal intensity and the arrival time difference at the point to be located, and the coordinates of the point to be located are determined according to the euclidean distances from the point to be located to the searched lattice points and the searched longitude and latitude coordinates of the lattice points, so that the accurate location of the point to be located can be determined, and the location accuracy is improved.
In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, cause the processes or functions described in accordance with the embodiments of the invention to occur, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, from one website site, computer, server, or data center to another website site, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that incorporates one or more of the available media. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., Solid State Disk (SSD)), among others.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
All the embodiments in the present specification are described in a related manner, and the same and similar parts among the embodiments may be referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the apparatus, electronic device, computer scale storage medium and computer program product embodiments, the description is relatively simple as it is substantially similar to the method embodiments, and reference may be made to some descriptions of the method embodiments for relevant points.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.
Claims (9)
1. A method of positioning, the method comprising:
obtaining a positioning signal received at a point to be positioned;
acquiring the signal strength of the received positioning signal as a first signal strength, and acquiring a first arrival time difference of the received positioning signal, wherein the first arrival time difference is: the time difference of arrival of a multipath signal of a positioning signal and a first positioning signal, the first positioning signal being: the direct path signal of the positioning signal or the signal of the positioning signal reaching the point to be positioned first;
according to the first signal intensity and the first arrival time difference, K grid points around the point to be located are searched in a pre-established position fingerprint database by utilizing a K neighbor algorithm, wherein the position fingerprint database comprises: the method comprises the following steps that the signal intensity, the corresponding relation between arrival time difference and grid points and longitude and latitude coordinates of each grid point are obtained, the grid points are obtained by dividing a coverage area of a cellular network at equal intervals along the horizontal direction and the vertical direction, and K is a positive integer;
acquiring Euclidean distances from the to-be-positioned point to each searched grid point;
determining the longitude and latitude coordinates of the to-be-positioned point according to the acquired Euclidean distance and the found longitude and latitude coordinates of each grid point; wherein, the step of determining the longitude and latitude coordinates of the to-be-positioned point according to the obtained Euclidean distance and the found longitude and latitude coordinates of each grid point comprises the following steps: drawing a circle by taking longitude and latitude coordinates of grid points in the K grid points as circle centers and the Euclidean distance from the point to be located to each grid point as a radius to obtain a plurality of circles; taking the obtained longitude and latitude coordinates of the plurality of circle intersection points as the longitude and latitude coordinates of the to-be-positioned point;
and determining the position of the to-be-positioned point according to the determined longitude and latitude coordinates.
2. The method of claim 1, wherein the step of obtaining the signal strength of the received positioning signal as a first signal strength and obtaining a first time difference of arrival of the received positioning signal comprises:
acquiring positioning signals received at a to-be-positioned point n times, and acquiring the signal intensity of each received positioning signal and the arrival time difference between a multipath signal of the positioning signal and a first positioning signal, wherein n is greater than 1;
taking the average value of the acquired n signal strengths as the first signal strength, and taking the average value of the acquired n arrival time differences as the first arrival time difference.
3. The method of claim 1, wherein the location fingerprint database is created by:
dividing a coverage area of a cellular network at equal intervals along the horizontal direction and the vertical direction to obtain grid points, and acquiring longitude and latitude coordinates of each obtained grid point;
respectively measuring the signal intensity of the positioning signal at each lattice point and the arrival time difference between the multipath signal of the positioning signal and the first positioning signal;
and constructing the position fingerprint database according to the signal intensity, the arrival time difference and the longitude and latitude coordinates of each grid point.
4. The method of claim 1, wherein the step of searching K grid points around the point to be located in a pre-established location fingerprint database using a K-nearest neighbor algorithm according to the first signal strength and the first time difference of arrival comprises:
calculating Euclidean distance between the to-be-positioned point and each lattice point according to the first signal intensity, the first arrival time difference, and the signal intensity and the arrival time difference corresponding to each lattice point in a pre-established position fingerprint database;
and selecting K Euclidean distances according to the sequence of the Euclidean distances from small to large obtained through calculation, and taking the lattice points corresponding to the selected Euclidean distances as the K lattice points.
5. A positioning device, the device comprising:
an obtaining module, configured to obtain a positioning signal received at a point to be positioned;
a first obtaining module, configured to obtain a signal strength of the received positioning signal as a first signal strength, and obtain a first time difference of arrival of the received positioning signal, where the first time difference of arrival is: the time difference of arrival of a multipath signal of a positioning signal and a first positioning signal, the first positioning signal being: the direct path signal of the positioning signal or the signal of the positioning signal reaching the point to be positioned first;
a searching module, configured to search, according to the first signal strength and the first arrival time difference, K grid points around the point to be located in a pre-established location fingerprint database by using a K-nearest neighbor algorithm, where the location fingerprint database includes: the method comprises the following steps that the signal intensity, the corresponding relation between arrival time difference and grid points and longitude and latitude coordinates of each grid point are obtained, the grid points are obtained by dividing a coverage area of a cellular network at equal intervals along the horizontal direction and the vertical direction, and K is a positive integer;
the second acquisition module is used for acquiring the Euclidean distance from the to-be-positioned point to each searched lattice point;
the first determining module is used for determining the longitude and latitude coordinates of the to-be-positioned point according to the acquired Euclidean distance and the searched longitude and latitude coordinates of each grid point; the first determining module is specifically configured to draw a circle by taking longitude and latitude coordinates of grid points in the K grid points as a circle center and taking an euclidean distance from the point to be located to each grid point as a radius to obtain a plurality of circles; taking the obtained longitude and latitude coordinates of the plurality of circle intersection points as the longitude and latitude coordinates of the to-be-positioned point;
and the second determination module is used for determining the position of the to-be-positioned point according to the determined longitude and latitude coordinates.
6. The apparatus of claim 5, wherein the first acquisition module is specifically configured to,
acquiring positioning signals received at a position to be positioned for n times, and acquiring the signal intensity of each received positioning signal and the arrival time difference between a multipath signal of the positioning signal and a first positioning signal, wherein n is greater than 1;
taking the average value of the acquired n signal strengths as the first signal strength, and taking the average value of the acquired n arrival time differences as the first arrival time difference.
7. The apparatus of claim 5, wherein the location fingerprint database is created by:
dividing a coverage area of a cellular network at equal intervals along the horizontal direction and the vertical direction to obtain grid points, and acquiring longitude and latitude coordinates of each obtained grid point;
respectively measuring the signal intensity of the positioning signal at each lattice point and the arrival time difference between the multipath signal of the positioning signal and the first positioning signal;
and constructing the position fingerprint database according to the signal intensity, the arrival time difference and the longitude and latitude coordinates of each grid point.
8. The apparatus of claim 5, wherein the lookup module is specifically configured to,
calculating Euclidean distance between the to-be-positioned point and each lattice point according to the first signal intensity, the first arrival time difference, and the signal intensity and the arrival time difference corresponding to each lattice point in a pre-established position fingerprint database;
and selecting K Euclidean distances according to the sequence of the Euclidean distances from small to large obtained through calculation, and taking the lattice points corresponding to the selected Euclidean distances as the K lattice points.
9. An electronic device is characterized by comprising a processor, a communication interface, a memory and a communication bus, wherein the processor and the communication interface are used for realizing mutual communication by the memory through the communication bus;
a memory for storing a computer program;
a processor for implementing the method steps of any of claims 1 to 4 when executing a program stored in the memory.
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