CN109031192B - Object positioning method, object positioning device and electronic equipment - Google Patents
Object positioning method, object positioning device and electronic equipment Download PDFInfo
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Abstract
The application relates to an object positioning method, an object positioning device and electronic equipment. The object positioning method comprises the following steps: acquiring acceleration data of a positioning object; obtaining a motion parameter value of the positioned object based on the acceleration data, the motion parameter value including at least one of a current acceleration state, a current velocity value, and a current acceleration value; determining a current motion state of the located object based on the motion parameter value of the located object; obtaining an upper positioning coordinate and a current positioning coordinate of the positioning object by a positioning method based on propagation time of a wireless signal; and determining a final positioning result of the positioning object based on the current motion state, the last positioning coordinate and the current positioning coordinate of the positioning object. In this way, the motion state of the positioning object and the positioning coordinates obtained by optimizing the positioning method based on the propagation time of the wireless signal can be determined by the acceleration data of the positioning object, thereby improving the positioning accuracy of the object.
Description
Technical Field
The present application relates generally to the field of positioning technology, and more particularly, to an object positioning method, an object positioning apparatus and an electronic device.
Background
With the development of positioning technology, more and more ways of positioning through wireless signals appear. For example, in the field of indoor positioning, common positioning methods include WIFI positioning, bluetooth positioning, infrared positioning, RFID positioning, ultrasonic positioning, ZigBee positioning, and Ultra Wideband (UWB) positioning.
With these positioning methods, positioning can be performed based on the propagation Time Of a wireless signal, for example, there is a common method Of positioning based on Time Of Flight (TOF) and Time Difference Of Arrival (TDOA).
In the positioning based on the above manner, in order to reduce the error, a further improved positioning scheme is required.
Disclosure of Invention
The present application is proposed to solve the above-mentioned technical problems. Embodiments of the present application provide an object positioning method, a positioning object device, and an electronic apparatus, which may determine a motion state of a positioning object and a positioning coordinate obtained by optimizing a positioning method based on propagation time of a wireless signal based on the motion state by using acceleration data of the positioning object, thereby improving positioning accuracy of the object.
According to an aspect of the present application, there is provided an object positioning method, including: acquiring acceleration data of a positioning object; obtaining a motion parameter value of the positioned object based on the acceleration data, the motion parameter value including at least one of a current acceleration state, a current velocity value, and a current acceleration value; determining a current motion state of the located object based on the motion parameter value of the located object; obtaining an upper positioning coordinate and a current positioning coordinate of the positioning object by a positioning method based on propagation time of a wireless signal; and determining a final positioning result of the positioning object based on the current motion state, the last positioning coordinate and the current positioning coordinate of the positioning object.
In the above object positioning method, determining a final positioning result of the positioned object based on the current motion state, the last positioning coordinate, and the current positioning coordinate of the positioned object includes: determining that the positioning object is in a static state or a motion state currently; in response to the positioning object being currently in a stationary state, further determining whether a last motion state of the positioning object is a stationary state; and setting the last positioning coordinate as the final positioning result in response to the last motion state of the positioning object being a static state.
In the above object positioning method, further comprising: acquiring one or more auxiliary positioning coordinates at a predetermined time interval by the wireless signal propagation time based positioning method after the current positioning coordinates in response to the last motion state of the positioning object being a motion state; obtaining a first optimized coordinate based on the current location coordinate and a first auxiliary location coordinate of the one or more auxiliary location coordinates using a least squares method; repeating the step of obtaining optimized coordinates using a least square method for remaining one of the one or more auxiliary positioning coordinates to obtain final optimized coordinates; and setting the final optimized coordinate as the final positioning result.
In the above object positioning method, further comprising: determining motion decision data of the positioning object based on the last positioning coordinate and the current positioning coordinate in response to the positioning object being in a motion state currently; determining whether the current positioning coordinates are authentic based on the motion determination data and the current acceleration state, the current velocity value, and the current acceleration value of the positioning object; and responding to the credibility of the current positioning coordinate, and setting the current positioning coordinate as the final positioning result.
In the above object positioning method, further comprising: in response to the current positioning coordinates being untrustworthy, calculating current calculated coordinates of the positioning object based on the previous positioning coordinates and a previous speed value and/or a previous acceleration value of the positioning object corresponding to the previous positioning coordinates; and setting the current calculation coordinate as the final positioning result.
In the object positioning method, acquiring acceleration data of the positioned object includes: and acquiring acceleration data of the accelerometer of the positioning object in three axis directions as the acceleration data of the positioning object.
In the above object positioning method, after determining a final positioning result of the positioning object based on the current motion state, the last positioning coordinate, and the current positioning coordinate of the positioning object, the method further includes: and calculating an optimized positioning result by passing the final positioning result through a Kalman filtering algorithm.
According to another aspect of the present application, there is provided an object positioning apparatus including: a data acquisition unit for acquiring acceleration data of the positioning object; a data calculation unit for obtaining a motion parameter value of the positioning object based on the acceleration data, the motion parameter value including at least one of a current acceleration state, a current velocity value, and a current acceleration value; a state determination unit for determining a current motion state of the positioning object based on a motion parameter value of the positioning object; a coordinate acquisition unit configured to acquire a last positioning coordinate and a current positioning coordinate of the positioning object by a positioning method based on propagation time of a wireless signal; and the positioning unit is used for determining a final positioning result of the positioning object based on the current motion state, the last positioning coordinate and the current positioning coordinate of the positioning object.
In the above object positioning apparatus, the positioning unit is configured to: determining that the positioning object is in a static state or a motion state currently; in response to the positioning object being currently in a stationary state, further determining whether a last motion state of the positioning object is a stationary state; and setting the last positioning coordinate as the final positioning result in response to the last motion state of the positioning object being a static state.
In the above object positioning apparatus, the positioning unit is further configured to: acquiring one or more auxiliary positioning coordinates at a predetermined time interval by the wireless signal propagation time based positioning method after the current positioning coordinates in response to the last motion state of the positioning object being a motion state; obtaining a first optimized coordinate based on the current location coordinate and a first auxiliary location coordinate of the one or more auxiliary location coordinates using a least squares method; repeating the step of obtaining optimized coordinates using a least square method for remaining one of the one or more auxiliary positioning coordinates to obtain final optimized coordinates; and setting the final optimized coordinate as the final positioning result.
In the above object positioning apparatus, the positioning unit is further configured to: determining motion decision data of the positioning object based on the last positioning coordinate and the current positioning coordinate in response to the positioning object being in a motion state currently; determining whether the current positioning coordinates are authentic based on the motion determination data and the current acceleration state, the current velocity value, and the current acceleration value of the positioning object; and responding to the credibility of the current positioning coordinate, and setting the current positioning coordinate as the final positioning result.
In the above object positioning apparatus, the positioning unit is further configured to: in response to the current positioning coordinates being untrustworthy, calculating current calculated coordinates of the positioning object based on the previous positioning coordinates and a previous speed value and/or a previous acceleration value of the positioning object corresponding to the previous positioning coordinates; and setting the current calculation coordinate as the final positioning result.
In the above object positioning apparatus, the data acquisition unit is configured to: and acquiring acceleration data of the accelerometer of the positioning object in three axis directions as the acceleration data of the positioning object.
In the above object positioning apparatus, further comprising: and the filtering unit is used for calculating an optimized positioning result by the final positioning result through a Kalman filtering algorithm.
According to yet another aspect of the present application, there is provided an electronic device including: a processor; and a memory having stored therein computer program instructions which, when executed by the processor, cause the processor to perform the object localization method as described above.
According to the object positioning method, the object positioning device and the electronic equipment, the motion state of the positioned object can be determined through the acceleration data of the positioned object, and the positioning coordinate obtained by optimizing the positioning method based on the propagation time of the wireless signal is optimized based on the motion state, so that the positioning accuracy of the object is improved.
Drawings
Various other advantages and benefits of the present application will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the application. It is obvious that the drawings described below are only some embodiments of the application, and that for a person skilled in the art, other drawings can be derived from them without inventive effort. Also, like parts are designated by like reference numerals throughout the drawings.
Fig. 1 illustrates a schematic diagram of the positioning principle of the signal time difference of arrival method;
FIG. 2 illustrates a flow chart of an object location method according to an embodiment of the present application;
fig. 3 illustrates a schematic diagram of a process of positioning according to a motion state in an object positioning method according to an embodiment of the present application;
FIG. 4 illustrates a block diagram of an object locating device in accordance with an embodiment of the present application;
FIG. 5 illustrates a block diagram of an electronic device in accordance with an embodiment of the present application.
Detailed Description
Hereinafter, example embodiments according to the present application will be described in detail with reference to the accompanying drawings. It should be understood that the described embodiments are only some embodiments of the present application and not all embodiments of the present application, and that the present application is not limited by the example embodiments described herein.
Summary of the application
As described above, in the positioning method based on the propagation time of the wireless signal, the signal time difference of arrival (TOF) method is a commonly used positioning method.
Fig. 1 illustrates a schematic diagram of the positioning principle of the signal time difference of arrival method. As shown in FIG. 1, assume that anchor point A is knowniThe coordinates of (i ═ 1,2,3) are (x) respectivelyi,yi,zi) (i ═ 1,2,3), the coordinates of the positioning object T to be positioned are (x, y, z), and the positioning object T is known to the anchor point aiTime of ti(i ═ 1,2,3), then the following equation:
the distances from the positioning object T to the respective anchor points can be obtained by the above equation: si＝△t1*C(i＝1,2,3)
Further, according to the characteristics of the hyperbolic equation, it can be further obtained that the distances from the positioning object T to the respective anchor points are expressed by the following equation system:
the coordinates (x, y, z) of the positioning object T in the three-dimensional space can be obtained by solving the above equation system.
However, in the case where the positioning result is obtained by directly solving the equation set, the positioning result is too idealized because the actual application is not considered. Specifically, in a practical application, signal interference may exist, and NLOS (non line of sight) and multipath may occur, so that a positioning signal of a positioning object may not be obtained within a certain period of time. Therefore, when the anchor point acquires the positioning signal from the positioning object again, a bouncing phenomenon occurs.
That is, if the coordinates are located by using the TDOA method only based on the data obtained by wireless signals, such as UWB, the error of the subsequent calculation is caused by the introduced error, and the error of the location result is increased due to the propagation of the initial value error, so that the problem of jitter in the continuous location process cannot be solved.
In view of the technical problem, the present application provides an object positioning method, an object positioning apparatus and an electronic device, which obtain a motion parameter value representing a motion state of a positioning object through acceleration data of the positioning object, and further determine the motion state of the positioning object; next, coordinates obtained by a positioning method based on the propagation time of a wireless signal are optimized based on the motion state of the positioning object to obtain a final positioning result. Therefore, the scheme of the application fully considers the influence of factors such as NLOS, multipath and unstable signal strength which possibly exist in the practical application occasion on the positioning result so as to improve the jumping problem in the positioning process of the positioning object. Moreover, most positioning objects are provided with accelerometers, so that a new positioning result can be obtained only according to positioning coordinates and accelerometer data on the premise of not additionally introducing equipment, and the new positioning result basically solves the problem of frequently-occurring jumping phenomenon of an original positioning result in a continuous positioning process in practical application, thereby improving the positioning accuracy.
Here, the wireless signal used in the present application may be various wireless signals such as wifi, bluetooth, infrared ray, RFID, ultrasonic wave, ZigBee, and ultra wideband.
Also, the positioning method based on the propagation time of a wireless signal used in the present application may be various methods such as TOF or TDOA.
Having described the general principles of the present application, various non-limiting embodiments of the present application will now be described with reference to the accompanying drawings.
Exemplary method
Fig. 2 illustrates a flow chart of an object positioning method according to an embodiment of the application. As shown in fig. 2, an object positioning method according to an embodiment of the present application includes: s110, acquiring acceleration data of a positioning object; s120, obtaining a motion parameter value of the positioning object based on the acceleration data, wherein the motion parameter value comprises at least one of a current acceleration state, a current velocity value and a current acceleration value; s130, determining the current motion state of the positioning object based on the motion parameter value of the positioning object; s140, obtaining an upper positioning coordinate and a current positioning coordinate of the positioning object by a positioning method based on the propagation time of the wireless signal; and S150, determining a final positioning result of the positioning object based on the current motion state, the last positioning coordinate and the current positioning coordinate of the positioning object.
In step S110, acceleration data of the positioning object is acquired. For example, acceleration data may be acquired that locates an accelerometer mounted or carried by the subject, and the acceleration data may be acceleration data of the accelerometer in three axes.
In step S120, a motion parameter value of the located object is obtained based on the acceleration data. Here, the motion parameter value may include a current acceleration state, a current velocity value, and a current acceleration value, or a combination thereof. It will be appreciated by those skilled in the art that, for example, based on the acceleration data of the above-mentioned accelerometers in the three-axis directions, the motion parameter values such as the current acceleration state, the current velocity value and the current acceleration value of the positioning object may be obtained based on a specific algorithm.
In step S130, a current motion state of the located object is determined based on the motion parameter value of the located object. Likewise, one skilled in the art will appreciate that the current motion state of the located object may be determined by one or more of the current velocity, current acceleration, or current and velocity states of the located object. Furthermore, in the object positioning method according to the embodiment of the present application, if the obtained motion parameter value is not sufficient to determine the current motion state of the positioning object, the current motion state of the positioning object may be further determined in combination with a previous motion state of the positioning object, for example, the motion state of the positioning object obtained at the previous time point.
In step S140, an upper location coordinate and a current location coordinate of the location object are obtained by a location method based on a propagation time of a wireless signal. For example, based on the description about the TDOA method of fig. 1 as described above, two location coordinates of the location object can be obtained by the TDOA method. Specifically, the upper location coordinate of the location object at the previous time point and the current location coordinate of the current time point may be obtained by the TDOA method according to the time interval set by the anchor point. For example, the time interval may be 200ms (milliseconds).
In step S150, a final positioning result of the positioning object is determined based on the current motion state, the last positioning coordinate, and the current positioning coordinate of the positioning object. Next, step S150 will be specifically explained.
First, in an object positioning method according to an embodiment of the present application, it is determined that the positioning object is currently in a stationary state or a moving state. Here, the current state of the positioning object may be determined based on the current motion state of the positioning object and a previous motion state corresponding to the previous positioning coordinate, or may be determined directly from acceleration data, for example, acceleration data of an accelerometer in three-axis directions. Specifically, it is first determined whether the positioning object is currently in a stationary state, and it is further determined whether a last motion state corresponding to a last positioning coordinate of the positioning object is also in a stationary state. If the current motion state and the last motion state of the moving object are both static states, it indicates that the moving object does not move in the period of time, and therefore, the last positioning coordinate can be directly set as the final positioning result of the positioning object. Similarly, in the subsequent stationary state of the positioning object, if the positioning object is known to be in the stationary state at this time according to the stationary state parameters calculated by the accelerometer, for example, the positioning coordinates of the positioning object can be determined according to the last state of the positioning object and a simple logical judgment, thereby solving the problem of positioning jitter of a positioning method based on the propagation time of a wireless signal when the positioning object is in the stationary state, such as the TDOA method.
Therefore, in the object positioning method according to the embodiment of the present application, determining the final positioning result of the positioning object based on the current motion state, the last positioning coordinate, and the current positioning coordinate of the positioning object includes: determining that the positioning object is in a static state or a motion state currently; in response to the positioning object being currently in a stationary state, further determining whether a last motion state of the positioning object is a stationary state; and setting the last positioning coordinate as the final positioning result in response to the last motion state of the positioning object being a static state.
In the above object positioning method, if the last motion state of the positioning object is a motion state and the current motion state is a still state, it indicates that the positioning object has just entered the still state. At this time, in order to improve the positioning accuracy of the positioning object, a final positioning result of the positioning object may be obtained by a plurality of times of positioning iterative optimization.
Specifically, assuming that the time interval at which the anchor point obtains the location coordinates is 200ms, and depending on the time at which the location coordinates of the location object are obtained by the location method based on the propagation time of the wireless signal, for example, the time at which the location coordinates are obtained by the TDOA method is 1 second, TDOA location may be performed on a stationary location object a plurality of times, for example, 5 times, to obtain 5 TDOA location coordinates, and then optimization processing is performed to obtain stationary coordinates with higher accuracy.
Specifically, one may firstTwo-time acquisition of TDOA location coordinates (x)i,yi,zi) (i-1, 2), and then an optimized coordinate (x ') is obtained by using a least square method'j,y′j,z′j) (j ═ 1), and then, the optimized coordinates and the new coordinates (x) located the ith (i ═ 3,4,5) time by the TDOA method are addedi,yi,zi) (i-3, 4,5) iteratively executing three times of least squares method, thereby finally obtaining an optimized coordinate (x ') in a static state'j,y′j,z′j)(j＝3)。
Here, after each calculation of the coordinates, the validity of the coordinates may be further determined. For example, it may be determined whether the coordinates are illegal values or whether the coordinates are on a map path. In this way, the accuracy of the positioning result can be further ensured.
That is, in the object positioning method according to the embodiment of the present application, the method further includes: acquiring one or more auxiliary positioning coordinates at a predetermined time interval by a positioning method based on propagation time of a wireless signal after the current positioning coordinates in response to a last motion state of the positioning object being a motion state; obtaining a first optimized coordinate based on the current location coordinate and a first auxiliary location coordinate of the one or more auxiliary location coordinates using a least squares method; repeating the step of obtaining optimized coordinates using a least square method for remaining one of the one or more auxiliary positioning coordinates to obtain final optimized coordinates; and setting the final optimized coordinate as the final positioning result.
In addition, if it is determined that the positioning object is in motion based on the current motion state and the previous motion state of the positioning object, for example, acceleration state data calculated according to the acceleration data of the accelerometer determines that the positioning object is in motion. At this time, the last time t is assumed0The upper positioning coordinate of (x)0,y0,z0) And at the current time t1Is (x)1,y1,z1) E.g. according to t1Sit at any timeMark t0And the time coordinate judges the running direction of the positioning object, and judges whether the positioning coordinate is credible or not by combining the running direction given by the acceleration data.
In addition, if the positioning object is provided with a gyroscope, the output angular velocity of the gyroscope can be used for judging whether the coordinates are credible.
In the case where it is determined that the positioning coordinates are authentic in the above manner, the comparison of the acceleration threshold value may be further performed. The reliability of the coordinates can be further enhanced by further filtering the coordinates using acceleration threshold comparisons, where the acceleration threshold is a range of reliability values that are actually tested under different scenarios. By comparison, the location coordinates obtained using a location method based on the propagation time of the wireless signal, such as the TDOA method, are satisfied, otherwise, the coordinates are calculated using a method based on the values of the motion parameters, such as the velocity, acceleration, etc. of the located object:
for example, assume that the positioning object is in uniform motion, according to time t0Location coordinates (x)0,y0,z0) And a velocity (v) calculated from the acceleration datax,vy,vz) And the direction calculating time t1New location coordinates (x'1，y′1，z′1) As shown in the following formula:
similarly, assuming that the positioning object is in a case of a uniform velocity, the coordinate calculation is as follows:
wherein (v)0x,v0y,v0z) Is that the object is located at time t0And (a) ax,ay,az) Is that the object is located at time t0Of the acceleration of (c).
That is, in the object positioning method according to the embodiment of the present application, the method further includes: determining motion decision data of the positioning object based on the last positioning coordinate and the current positioning coordinate in response to the positioning object being in a motion state currently; determining whether the current positioning coordinates are authentic based on the motion determination data and the current acceleration state, the current velocity value, and the current acceleration value of the positioning object; and responding to the credibility of the current positioning coordinate, and setting the current positioning coordinate as the final positioning result.
Further, in the object positioning method, the method further includes: in response to the current positioning coordinates being untrustworthy, calculating current calculated coordinates of the positioning object based on the previous positioning coordinates and a previous speed value and/or a previous acceleration value of the positioning object corresponding to the previous positioning coordinates; and setting the current calculation coordinate as the final positioning result.
Fig. 3 illustrates a schematic diagram of a process of positioning according to a motion state in an object positioning method according to an embodiment of the present application. As shown in fig. 3, the process of positioning according to the motion state includes: s310, judging that the positioning object is in a static state or a motion state at present; s320, in response to the determination at step S310 that the positioning object is currently in a stationary state, further determining whether a last moving state of the positioning object is a stationary state; s330, in response to the determination result in the step S320 being "yes", that is, the last motion state of the positioning object is a stationary state, setting the last positioning coordinate as the final positioning result; s340, in response to the determination result in the step S320 being "no", that is, the previous motion state of the positioning object is a motion state, optimizing the current positioning coordinate with one or more auxiliary positioning coordinates, so as to obtain a final positioning result, where the specific process in the step S340 has been described above and is not described here again; s350, responding to the step S310 that the positioning object is currently in a motion state, and further judging whether the current positioning coordinate is credible; s360, in response to the judgment result of the step S350 being 'yes', namely the current positioning coordinate is credible, setting the current positioning coordinate as the final positioning result; and S370, in response to the determination result in step S350 being "no", that is, the current positioning coordinates are not authentic, calculating the positioning coordinates of the positioning object based on the previous positioning coordinates and the previous velocity value and/or the previous acceleration value of the positioning object corresponding to the previous positioning coordinates to obtain a final positioning result.
In addition, after the final positioning result is obtained, other methods can be adopted to further correct the positioning result. For example, the calculated coordinates are filtered by a kalman filter algorithm, and the filtered positioning result is output as an optimized positioning result.
Therefore, in the object positioning method according to the embodiment of the present application, after determining the final positioning result of the positioning object based on the current motion state of the positioning object, the last positioning coordinate, and the current positioning coordinate, the method further includes: and calculating an optimized positioning result by passing the final positioning result through a Kalman filtering algorithm.
Exemplary devices
FIG. 4 illustrates a block diagram of an object locating device in accordance with an embodiment of the present application.
As shown in fig. 4, an object positioning apparatus 300 according to an embodiment of the present application includes: a data acquisition unit 310 for acquiring acceleration data of the positioning object; a data calculating unit 320 for obtaining a motion parameter value of the positioning object based on the acceleration data obtained by the data obtaining unit 310, the motion parameter value including at least one of a current acceleration state, a current velocity value, and a current acceleration value; a state determination unit 330, configured to determine a current motion state of the positioning object based on the motion parameter value of the positioning object obtained by the data calculation unit 320; a coordinate obtaining unit 340 configured to obtain a last positioning coordinate and a current positioning coordinate of the positioning object by a positioning method based on propagation time of a wireless signal; and a positioning unit 350, configured to determine a final positioning result of the positioning object based on the current motion state of the positioning object determined by the state determining unit 330, and the last positioning coordinate and the current positioning coordinate acquired by the coordinate acquiring unit 340.
In one example, in the above object positioning apparatus 300, the positioning unit 350 is configured to: determining that the positioning object is in a static state or a motion state currently; in response to the positioning object being currently in a stationary state, further determining whether a last motion state of the positioning object is a stationary state; and setting the last positioning coordinate as the final positioning result in response to the last motion state of the positioning object being a static state.
In one example, in the above object positioning apparatus 300, the positioning unit 350 is further configured to: acquiring one or more auxiliary positioning coordinates at a predetermined time interval by the wireless signal propagation time based positioning method after the current positioning coordinates in response to the last motion state of the positioning object being a motion state; obtaining a first optimized coordinate based on the current location coordinate and a first auxiliary location coordinate of the one or more auxiliary location coordinates using a least squares method; repeating the step of obtaining optimized coordinates using a least square method for remaining one of the one or more auxiliary positioning coordinates to obtain final optimized coordinates; and setting the final optimized coordinate as the final positioning result.
In one example, in the above object positioning apparatus 300, the positioning unit 350 is further configured to: determining motion decision data of the positioning object based on the last positioning coordinate and the current positioning coordinate in response to the positioning object being in a motion state currently; determining whether the current positioning coordinates are authentic based on the motion determination data and the current acceleration state, the current velocity value, and the current acceleration value of the positioning object; and responding to the credibility of the current positioning coordinate, and setting the current positioning coordinate as the final positioning result.
In one example, in the above object positioning apparatus 300, the positioning unit 350 is further configured to: in response to the current positioning coordinates being untrustworthy, calculating current calculated coordinates of the positioning object based on the previous positioning coordinates and a previous speed value and/or a previous acceleration value of the positioning object corresponding to the previous positioning coordinates; and setting the current calculation coordinate as the final positioning result.
In an example, in the above object locating apparatus 300, the data obtaining unit 310 is configured to: and acquiring acceleration data of the accelerometer of the positioning object in three axis directions as the acceleration data of the positioning object.
In one example, in the above object locating apparatus 300, further comprising: and the filtering unit is used for calculating an optimized positioning result by the final positioning result through a Kalman filtering algorithm.
Here, it can be understood by those skilled in the art that the specific functions and operations of the respective units and modules in the above-described object locating apparatus 300 have been described in detail in the object locating method described above with reference to fig. 1 to 3, and thus, a repetitive description thereof will be omitted.
As described above, the object localization apparatus 300 according to the embodiment of the present application may be implemented in various terminal devices, such as a server for performing localization. In one example, the object locating apparatus 300 according to the embodiment of the present application may be integrated into the terminal device as a software module and/or a hardware module. For example, the object localization apparatus 300 may be a software module in an operating system of the terminal device, or may be an application developed for the terminal device; of course, the object locating device 300 can also be one of many hardware modules of the terminal equipment.
Alternatively, in another example, the object locating device 300 and the terminal device may be separate devices, and the object locating device 300 may be connected to the terminal device through a wired and/or wireless network and transmit the interactive information according to an agreed data format.
Exemplary electronic device
Next, an electronic apparatus according to an embodiment of the present application is described with reference to fig. 5.
FIG. 5 illustrates a block diagram of an electronic device in accordance with an embodiment of the present application.
As shown in fig. 5, the electronic device 10 includes one or more processors 11 and memory 12.
The processor 11 may be a Central Processing Unit (CPU) or other form of processing unit having data processing capabilities and/or instruction execution capabilities, and may control other components in the electronic device 10 to perform desired functions.
In one example, the electronic device 10 may further include: an input device 13 and an output device 14, which are interconnected by a bus system and/or other form of connection mechanism (not shown).
The input device 13 may be, for example, a keyboard, a mouse, or the like.
The output device 14 may output various information, such as a final positioning result of the positioning object, to the outside. The output devices 14 may include, for example, a display, speakers, a printer, and a communication network and its connected remote output devices, among others.
Of course, for simplicity, only some of the components of the electronic device 10 relevant to the present application are shown in fig. 5, and components such as buses, input/output interfaces, and the like are omitted. In addition, the electronic device 10 may include any other suitable components depending on the particular application.
Exemplary computer program product and computer-readable storage Medium
In addition to the above-described methods and apparatus, embodiments of the present application may also be a computer program product comprising computer program instructions that, when executed by a processor, cause the processor to perform the steps in the object localization method according to various embodiments of the present application described in the "exemplary methods" section of this specification, supra.
The computer program product may be written with program code for performing the operations of embodiments of the present application in any combination of one or more programming languages, including an object oriented programming language such as Java, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server.
Furthermore, embodiments of the present application may also be a computer-readable storage medium having stored thereon computer program instructions which, when executed by a processor, cause the processor to perform the steps in the object localization method according to various embodiments of the present application described in the "exemplary methods" section above in this specification.
The computer-readable storage medium may take any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may include, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The foregoing describes the general principles of the present application in conjunction with specific embodiments, however, it is noted that the advantages, effects, etc. mentioned in the present application are merely examples and are not limiting, and they should not be considered essential to the various embodiments of the present application. Furthermore, the foregoing disclosure of specific details is for the purpose of illustration and description and is not intended to be limiting, since the foregoing disclosure is not intended to be exhaustive or to limit the disclosure to the precise details disclosed.
The block diagrams of devices, apparatuses, systems referred to in this application are only given as illustrative examples and are not intended to require or imply that the connections, arrangements, configurations, etc. must be made in the manner shown in the block diagrams. These devices, apparatuses, devices, systems may be connected, arranged, configured in any manner, as will be appreciated by those skilled in the art. Words such as "including," "comprising," "having," and the like are open-ended words that mean "including, but not limited to," and are used interchangeably therewith. The words "or" and "as used herein mean, and are used interchangeably with, the word" and/or, "unless the context clearly dictates otherwise. The word "such as" is used herein to mean, and is used interchangeably with, the phrase "such as but not limited to".
It should also be noted that in the devices, apparatuses, and methods of the present application, the components or steps may be decomposed and/or recombined. These decompositions and/or recombinations are to be considered as equivalents of the present application.
The previous description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other aspects without departing from the scope of the application. Thus, the present application is not intended to be limited to the aspects shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
The foregoing description has been presented for purposes of illustration and description. Furthermore, the description is not intended to limit embodiments of the application to the form disclosed herein. While a number of example aspects and embodiments have been discussed above, those of skill in the art will recognize certain variations, modifications, alterations, additions and sub-combinations thereof.
Claims (7)
1. An object localization method, comprising:
acquiring acceleration data of a positioning object;
obtaining motion parameter values of the positioning object based on the acceleration data, wherein the motion parameter values comprise a current acceleration state, a current velocity value and a current acceleration value;
determining a current motion state of the located object based on the motion parameter value of the located object;
obtaining an upper positioning coordinate and a current positioning coordinate of the positioning object by a positioning method based on propagation time of a wireless signal; and
determining a final positioning result of the positioning object based on the current motion state, the last positioning coordinate and the current positioning coordinate of the positioning object;
wherein the content of the first and second substances,
in response to the positioning object being currently in a stationary state, further determining whether a last motion state of the positioning object is a stationary state; and
setting the last positioning coordinate as the final positioning result in response to the last motion state of the positioning object being a static state;
acquiring one or more auxiliary positioning coordinates at a predetermined time interval by the wireless signal propagation time based positioning method after the current positioning coordinates in response to the last motion state of the positioning object being a motion state; obtaining a first optimized coordinate based on the current location coordinate and a first auxiliary location coordinate of the one or more auxiliary location coordinates using a least squares method; repeating the step of obtaining optimized coordinates using a least square method for remaining one of the one or more auxiliary positioning coordinates to obtain final optimized coordinates; setting the final optimized coordinate as the final positioning result; after the coordinates are calculated by the least square method each time, judging the legality of the coordinates;
determining motion decision data of the positioning object based on the last positioning coordinate and the current positioning coordinate in response to the positioning object being in a motion state currently; determining whether the current positioning coordinates are authentic based on the motion determination data and the current acceleration state, the current velocity value, and the current acceleration value of the positioning object; and
setting the current positioning coordinates as the final positioning result in response to the current positioning coordinates being authentic;
in response to the current positioning coordinates being untrustworthy, calculating current calculated coordinates of the positioning object based on the previous positioning coordinates and a previous speed value and/or a previous acceleration value of the positioning object corresponding to the previous positioning coordinates; and setting the current calculation coordinate as the final positioning result.
2. The object localization method of claim 1, wherein obtaining acceleration data of the localized object comprises:
and acquiring acceleration data of the accelerometer of the positioning object in three axis directions as the acceleration data of the positioning object.
3. The object positioning method according to claim 1, further comprising, after determining a final positioning result of the positioned object based on the current motion state, the last positioning coordinates and the current positioning coordinates of the positioned object:
and calculating an optimized positioning result by passing the final positioning result through a Kalman filtering algorithm.
4. An object positioning device comprising:
a data acquisition unit for acquiring acceleration data of the positioning object;
the data calculation unit is used for obtaining motion parameter values of the positioning object based on the acceleration data, wherein the motion parameter values comprise a current acceleration state, a current speed value and a current acceleration value;
a state determination unit for determining a current motion state of the positioning object based on a motion parameter value of the positioning object;
a coordinate acquisition unit configured to acquire a last positioning coordinate and a current positioning coordinate of the positioning object by a positioning method based on propagation time of a wireless signal; and
the positioning unit is used for determining a final positioning result of the positioning object based on the current motion state, the previous positioning coordinate and the current positioning coordinate of the positioning object;
wherein the content of the first and second substances,
the positioning unit is used for: determining that the positioning object is in a static state or a motion state currently;
in response to the positioning object being currently in a stationary state, further determining whether a last motion state of the positioning object is a stationary state; and
setting the last positioning coordinate as the final positioning result in response to the last motion state of the positioning object being a static state;
acquiring one or more auxiliary positioning coordinates at a predetermined time interval by the wireless signal propagation time based positioning method after the current positioning coordinates in response to the last motion state of the positioning object being a motion state; obtaining a first optimized coordinate based on the current location coordinate and a first auxiliary location coordinate of the one or more auxiliary location coordinates using a least squares method; repeating the step of obtaining optimized coordinates using a least square method for remaining one of the one or more auxiliary positioning coordinates to obtain final optimized coordinates; setting the final optimized coordinate as the final positioning result;
determining motion decision data of the positioning object based on the last positioning coordinate and the current positioning coordinate in response to the positioning object being in a motion state currently; determining whether the current positioning coordinates are authentic based on the motion determination data and the current acceleration state, the current velocity value, and the current acceleration value of the positioning object; and
setting the current positioning coordinates as the final positioning result in response to the current positioning coordinates being authentic;
in response to the current positioning coordinates being untrustworthy, calculating current calculated coordinates of the positioning object based on the previous positioning coordinates and a previous speed value and/or a previous acceleration value of the positioning object corresponding to the previous positioning coordinates; and setting the current calculation coordinate as the final positioning result.
5. The object localization apparatus of claim 4, wherein the data acquisition unit is to:
and acquiring acceleration data of the accelerometer of the positioning object in three axis directions as the acceleration data of the positioning object.
6. The object locating device of claim 4, further comprising:
and the filtering unit is used for calculating an optimized positioning result by the final positioning result through a Kalman filtering algorithm.
7. An electronic device, comprising:
a processor; and
a memory having stored therein computer program instructions which, when executed by the processor, cause the processor to perform the object localization method of any of claims 1-3.
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| US8760631B2 (en) * | 2010-01-27 | 2014-06-24 | Intersil Americas Inc. | Distance sensing by IQ domain differentiation of time of flight (TOF) measurements |
| CN103269496B (en) * | 2013-06-07 | 2016-03-02 | 哈尔滨工业大学深圳研究生院 | A kind of wireless sensor network target localization method reducing energy consumption |
| CN104197932B (en) * | 2014-09-26 | 2017-02-15 | 哈尔滨工业大学 | Praxeology-based position tracking method |
| CN106291455A (en) * | 2016-07-25 | 2017-01-04 | 四川中电昆辰科技有限公司 | Positioner based on movement state information and method |
| CN107339986B (en) * | 2017-07-04 | 2021-01-29 | 郑州大学 | Positioning method, device and system |
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