CN113692046B - Label positioning method and device, computer equipment and storage medium - Google Patents
Label positioning method and device, computer equipment and storage medium Download PDFInfo
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- CN113692046B CN113692046B CN202110801335.3A CN202110801335A CN113692046B CN 113692046 B CN113692046 B CN 113692046B CN 202110801335 A CN202110801335 A CN 202110801335A CN 113692046 B CN113692046 B CN 113692046B
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- H04—ELECTRIC COMMUNICATION TECHNIQUE
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- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
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Abstract
The application relates to the field of mobile communication, and provides a label positioning method, a label positioning device, computer equipment and a storage medium. The method comprises the following steps: determining a preset number of positioning base stations of a target label in response to a positioning beacon signal broadcast by the target label to be positioned; arranging the signal sending sequence of each positioning base station according to the base station distance between the positioning base stations, wherein the signal sending sequence between the positioning base stations with the base station distance smaller than a preset distance threshold value is different; acquiring the coordinates of the base stations which are sent and the receiving time of the positioning beacon signals which are received by the positioning base stations with the preset number according to the preset sending time interval and the preset signal sending sequence; and acquiring the positioning information of the target label according to the coordinates and the receiving time of all the base stations. By adopting the method, the time-staggered communication of the positioning base station can be realized, and the positioning efficiency and precision are ensured.
Description
Technical Field
The present application relates to the field of mobile communications technologies, and in particular, to a tag positioning method, an apparatus, a computer device, and a readable storage medium.
Background
Generally, ultra Wide Band (UVB) is characterized by Ultra Wide Band and high-speed pulse carrier, and is used for short-distance positioning as a short-range communication, for example, to locate a mobile tag, where the tag refers to a device that obtains its position coordinates by using UVB technology, that is, a device that needs to be located, and may include a mobile handset and the like.
In the related art, due to the half-duplex characteristic of UWB, signals cannot be transmitted and received simultaneously, and multiple ranging is required to calculate a positioning coordinate once, that is, multiple communications between a tag and multiple base stations are required, and the position of the tag is calculated according to the multiple ranging results.
However, in the related art, there may be a problem of signal interference when signals are communicated by multiple base stations, for example, communication signals between different base stations are simultaneously transmitted to cause mutual interference, thereby affecting the accuracy of positioning.
Disclosure of Invention
In view of the above, it is necessary to provide a tag positioning method, a tag positioning apparatus, a computer device, and a storage medium, which can implement time-sharing transmission of a plurality of positioning base stations and improve positioning accuracy and efficiency.
The embodiment of the application provides a label positioning method, which comprises the following steps: determining a preset number of positioning base stations of a target label in response to a positioning beacon signal broadcast by the target label to be positioned; arranging the signal sending sequence of each positioning base station according to the base station distance between the positioning base stations, wherein the signal sending sequences between the positioning base stations with the base station distances smaller than a preset distance threshold are different; controlling the positioning base stations with the preset number to feed back the coordinates of the base stations and the receiving time of the positioning beacon signals according to the preset sending time interval and the signal sending sequence; and acquiring the positioning information of the target label according to the coordinates of all the base stations and the receiving time.
In one embodiment, the determining the preset number of positioning base stations of the target tag includes: acquiring the region where the target label is located, and determining a plurality of candidate base stations in the region; and determining the candidate base stations meeting the preset conditions and having the preset number as the positioning base stations.
In an embodiment, the determining that the preset number of candidate base stations meeting the preset condition are the positioning base stations includes: acquiring a signal quality parameter of the positioning beacon signal received by each candidate base station; and determining the candidate base stations with the preset number as the positioning base stations according to the signal quality parameters.
In an embodiment, the determining that the preset number of candidate base stations meeting the preset condition are the positioning base stations includes: acquiring a preset communication quality grade of each candidate base station; and determining the candidate base stations with the preset number as the positioning base stations according to the sequence of the preset communication quality grades from high to low.
In one embodiment, before the controlling the location base stations of the preset number to feed back the base station coordinates and the receiving time of receiving the location beacon signal according to the preset sending time interval and the signal sending sequence, the method includes: acquiring the current server time of a server, and calculating the transmission distance between the server and each positioning base station according to the base station coordinates of each positioning base station; calculating the signal transmission time of each positioning base station according to the transmission distance; and summing the server time and the signal transmission time, and updating the base station time of each positioning base station according to the calculation result.
In one embodiment, the ranking the signal transmission order of each positioning base station according to the base station distance between the positioning base stations includes: determining reference base stations in the preset number of positioning base stations; calculating the base station distance between each positioning base station and the reference base station; and arranging the signal sending sequence of each positioning base station according to the sequence of the base station distances from near to far.
In one embodiment, the ranking the signal transmission order of each positioning base station according to the base station distance between the positioning base stations includes: constructing at least one undirected graph corresponding to the preset number of positioning base stations, wherein the base station distance between adjacent positioning base stations in each undirected graph is smaller than a preset distance threshold; and arranging the signal transmission sequence of each positioning base station in each undirected graph, wherein the signal transmission sequence of the positioning base stations in the same undirected graph is different.
In one embodiment, the obtaining the positioning information of the target tag according to all the base station coordinates and the receiving time includes: combining the preset number of positioning base stations pairwise to generate a plurality of positioning base station pairs; determining a positioning function of each positioning base station pair according to the base station coordinates and the receiving time; and acquiring the positioning information of the target label according to the positioning functions of the positioning base station pairs.
In one embodiment, the obtaining the positioning information of the target tag according to all the base station coordinates and the receiving time includes: acquiring the sending time of the positioning beacon signal; calculating a time difference value between the receiving time and the sending time of each positioning base station; determining candidate positioning information of each target label according to the base station coordinates, the time difference value and a preset signal transmission speed; and determining the positioning information of the target label according to the candidate positioning information of all the positioning base stations.
The embodiment of the application provides a label positioner, the device includes: the device comprises a determining module, a positioning module and a positioning module, wherein the determining module is used for responding to a positioning beacon signal broadcasted by a target label to be positioned and determining a preset number of positioning base stations of the target label; the arrangement module is used for arranging the signal transmission sequence of each positioning base station according to the base station distance between the positioning base stations, wherein the signal transmission sequence between the positioning base stations with the base station distance smaller than a preset distance threshold is different; the feedback module is used for controlling the positioning base stations with the preset number to feed back the coordinates of the base stations and the receiving time of the positioning beacon signals according to the preset sending time interval and the signal sending sequence; and the acquisition module is used for acquiring the positioning information of the target label according to all the base station coordinates and the receiving time.
The embodiment of the present application provides a communication device, which includes a memory and a processor, where the memory stores a computer program, and the processor implements the steps of the tag positioning method provided in any embodiment of the present application when executing the computer program.
Embodiments of the present application provide a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the steps of the tag positioning method provided in any embodiment of the present application.
The tag positioning method, the tag positioning device, the computer device and the computer readable storage medium provided by the embodiment of the application determine the preset number of positioning base stations of a target tag in response to a positioning beacon signal broadcast by the target tag to be positioned, further arrange the signal transmission sequence of each positioning base station according to the base station distance between the positioning base stations, wherein the signal transmission sequence between the positioning base stations with the base station distance smaller than a preset distance threshold is different, control the preset number of positioning base stations to feed back the base station coordinates and the receiving time of receiving the positioning beacon signal according to the preset transmission time interval and the signal transmission sequence, and finally acquire the positioning information of the target tag according to all the base station coordinates and the receiving time. Therefore, time-staggered communication of the positioning base station is realized, and the positioning efficiency and precision are guaranteed.
Drawings
FIG. 1 is a schematic diagram of a tag locating system in one embodiment;
FIG. 2 is a flow diagram of a method for tag location in one embodiment;
FIG. 3 is a flow chart of a method of tag location in another embodiment;
FIG. 4 is a flow chart of a method of tag location in another embodiment;
FIG. 5 is a flow chart of a method of tag location in another embodiment;
FIG. 6 (a) is a schematic diagram of a tag localization scenario of an embodiment;
FIG. 6 (b) is a schematic diagram of a tag location scenario of an embodiment;
FIG. 7 is a flow chart of a method of tag location in another embodiment;
FIG. 8 is a schematic diagram of a tag localization scenario in another embodiment;
FIG. 9 is a flow chart of a method of tag location in another embodiment;
FIG. 10 is a flow chart of a method of tag location in another embodiment;
FIG. 11 is a block diagram of the structure of a tag locating device in one embodiment;
fig. 12 is an internal configuration diagram of a communication device in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The tag positioning method provided by the application can be applied to the application environment shown in fig. 1. The label positioning method is applied to a label positioning system. The tag location system includes a location tag 102, a server 104, and a plurality of location base stations 106. Wherein the positioning base station 106 and the server 104 communicate through a network.
The positioning base stations 106 transmit the ranging information with the positioning tags 102 to the server 104 in a time-sharing manner, so that it is ensured that the transmission signals of the plurality of positioning base stations 106 do not interfere with each other, and the server 104 performs the calculation of the positioning information of the positioning tags 102 according to the ranging information.
The positioning tag 102 may be, but is not limited to, various personal computers, notebook computers, smart phones, tablet computers, and portable wearable devices, and the server 104 may be implemented in a communication scenario by using an independent server or a server cluster formed by a plurality of servers.
In one embodiment, a method of tag location is provided as shown in FIG. 2. (this embodiment is mainly illustrated as the method is applied to the server 104 in fig. 1). As shown in fig. 2, the method includes:
The target tag may be a device to be located in a current communication scenario, and the location beacon signal may be understood as any communication signal sent by the target tag, including but not limited to a heartbeat signal.
In addition, the preset number is set according to the current location scenario, for example, when the location scenario is Time Difference of Arrival (TDOA) -based location, at least 3 location base stations with fixed and known location coordinates are required for 2-dimensional TDOA location, and therefore, the corresponding preset number is a natural number greater than or equal to 3, and at least 4 location base stations with fixed and known location coordinates are required for 3-dimensional TDOA location, and therefore, the corresponding preset number is a natural number greater than or equal to 4.
In this embodiment, in response to a positioning beacon signal broadcast by a target tag to be positioned, a preset number of positioning base stations required for current positioning is first determined.
It should be noted that, in different application scenarios, the manners of determining the preset number of positioning base stations of the target tag are different, and the examples are as follows:
example one:
in this example, a plurality of base stations that receive the positioning beacon signal within a preset time period are obtained, and a preset number of base stations are randomly selected from the plurality of base stations as positioning base stations. Example two:
in this example, as shown in fig. 3, the determining the preset number of positioning base stations of the target tag includes:
In this embodiment, the area where the target tag is located is obtained, and the area where the target tag is located may be determined according to the area where the base station that first receives the positioning beacon signal belongs to, and then, a plurality of candidate base stations in the area are randomly determined, where the number of the candidate base stations is obviously greater than or equal to the preset number, and of course, the base station that receives the broadcasted positioning beacon signal in the preset time may also be determined as the candidate base station.
In this embodiment, the number of candidate base stations is usually large, and therefore, the candidate base stations may be further filtered to determine the preset number of positioning base stations.
It should be noted that, in different application scenarios, the preset conditions for screening the positioning base stations are different, and in some possible embodiments, signal quality parameters of the positioning beacon signal received by each candidate base station are obtained, where the signal quality parameters may be a signal-to-noise ratio, and further, a preset number of candidate base stations are determined as the positioning base stations according to the signal quality parameters, for example, the signal quality parameters are arranged in a sequence from high to low according to the corresponding quality, and the previous preset number of candidate base stations are determined as the positioning base stations.
In other possible embodiments, the communication quality level of each base station is calibrated in advance according to a historical communication scenario and stored, for example, the communication quality level is determined according to quality attenuation of signals received by candidate base stations in the historical communication scenario, where the quality attenuation may be an average value of corresponding reference quality attenuation in a plurality of historical communication scenarios, that is, theoretical signal quality and actual signal quality of communication signals received in the historical communication scenario under the corresponding candidate base stations are estimated, and the reference quality attenuation in the current scenario is determined based on a ratio of a difference between the theoretical signal quality and the actual signal quality and the theoretical signal quality.
And then, acquiring the preset communication quality grade of each candidate base station, and determining the candidate base stations with the preset number as the positioning base stations according to the sequence from high to low of the preset communication quality grades.
The signal transmission order may be any form such as a number, an alphabet, a color, and the like, which are not listed herein.
In this embodiment, the signal transmission order of each positioning base station is arranged according to the base station distance between the positioning base stations, where the signal transmission order between the positioning base stations whose base station distance is smaller than the preset distance threshold is different, and the signal transmission order between the positioning base stations whose base station distance is greater than the preset distance threshold may be the same or different. Therefore, the time of the signals transmitted by the positioning base stations with short distance is ensured to be separated by the transmission sequence, and the transmitted signals do not interfere with each other. In different application scenarios, the signal sending order for arranging each positioning base station is different, which will be specifically described in the following embodiments and will not be described herein again.
The preset sending time interval is calibrated according to experimental data, and signals sent by different positioning base stations can be effectively separated at the sending time interval.
In one embodiment of the present disclosure, to further avoid mutual interference between signals, the base stations are time-synchronized in advance.
In one embodiment of the present application, to improve the accuracy and flexibility of time synchronization, a positioning base station is time synchronized based on the time of a server. Therefore, the whole communication process is subject to the server time.
In this embodiment, as shown in fig. 4, before controlling a preset number of positioning base stations to feed back base station coordinates and receiving time of receiving a positioning beacon signal according to a preset sending time interval and a preset signal sending sequence, the method includes:
The current server opportunity of the server may be obtained when the base station is powered on, or when the time of the server is updated (for example, when the time is found to be inaccurate by the server, the time is updated).
In the present embodiment, the positioning base stations are fixed in advance, and therefore, the base station coordinates of the positioning base stations are known, and the transmission distance between the server and each positioning base station is calculated from the base station coordinates of each positioning base station.
In this embodiment, the signal transmission time of each positioning base station may be calculated by a ratio of the transmission distance to the signal propagation speed, or may be acquired by querying a preset database through the transmission distance.
And step 403, summing the server time and the signal transmission time, and updating the base station time of each positioning base station according to the calculation result.
In this embodiment, the server time and the signal transmission time are summed, for example, with reference to the server time ServTime, the base station time of each positioning base station is ServTime + DelyTimeSA, where DelyTimeSA is the signal transmission time.
Further, in this embodiment, the coordinates of the base stations that are sent and the receiving time of the received positioning beacon signal are obtained according to the preset sending time interval and the preset signal sending sequence by the positioning base stations in the preset number, where the receiving time of the received positioning beacon signal is obtained by querying the time of the base station that is synchronized in advance when the positioning signal is received.
And step 204, acquiring the positioning information of the target label according to the coordinates and the receiving time of all the base stations.
In this embodiment, the ranging related information of the positioning tag may be determined according to all the base station coordinates and the receiving time, so that the positioning information of the target tag may be obtained based on all the base station coordinates and the receiving time, where the positioning information may be the positioning coordinates of the target tag, and the like.
The specific manner of obtaining the positioning information of the target tag according to the coordinates and the receiving time of all the base stations refers to the following embodiments, which are not described herein again.
In the actual implementation process, when the positioning base station is found to be congested, for example, if the positioning base station does not feed back related information after exceeding a preset time, it is considered that the positioning base station is congested, and the congested positioning base station is enabled, that is, the positioning base station is controlled to clear information to be sent and then resend the information, or corresponding sending time intervals can be increased, so that the collision of sending signals of different positioning base stations is reduced, and the practicability of label positioning is further improved.
In summary, the tag positioning method according to the embodiment of the present disclosure determines, in response to a positioning beacon signal broadcast by a target tag to be positioned, a preset number of positioning base stations of the target tag, and further arranges, according to a base station distance between the positioning base stations, a signal transmission order of each positioning base station, where the base station distance is smaller than a preset distance threshold, the signal transmission order between the positioning base stations is different, controls the preset number of positioning base stations to feed back base station coordinates and receiving time for receiving the positioning beacon signal according to a preset transmission time interval and the signal transmission order, and finally obtains positioning information of the target tag according to all the base station coordinates and the receiving time. Therefore, time-staggered communication of the positioning base station is realized, and the positioning efficiency and precision are guaranteed.
The following exemplary description is how to arrange the signal transmission order of each positioning base station according to the base station distance between the positioning base stations, and the description is as follows:
example one:
in this example, as shown in fig. 5, ranking the signal transmission order of each positioning base station according to the base station distance between the positioning base stations includes:
The reference base station may be a base station randomly selected from a preset number of positioning base stations, or may be a positioning base station that receives a positioning beacon signal first, or may be a positioning base station that is screened out according to the signal quality of the received positioning beacon signal and has the best signal quality, and the like.
In this embodiment, the reference base station is used as a comparison object, the base station distances between each other positioning base station and the reference base station are calculated, and the signal transmission order of each positioning base station is arranged according to the sequence of the base station distances from near to far, wherein the positioning base stations with the same base station distance are arranged according to the sequence, rather than being set as the same signal transmission order. Certainly, in this embodiment, the reason why the base stations transmit in the sequence from near to far is to ensure that the server can receive the ranging information as soon as possible and avoid signal interference, and in the actual implementation process, on the premise of ensuring that the signals do not interfere with each other, the signal transmission order may also be arranged in the sequence from far to near.
For example, as shown in fig. 6 (a), when the positioning base stations are a, b, c, d, e, and the determined reference base station is the positioning base station a, the base station distances between the a, b, c, d, e and the positioning base station a are calculated, and the signal transmission orders of the positioning base stations are a-b-c-d-e arranged in the sequence of the base station distances from far to near.
In this embodiment, in order to improve the positioning efficiency, after the number of the positioning base stations is greater than a certain value, the positioning base stations arranged according to the base station distance (from near to far, and the like) from the reference base station may be further divided into a plurality of positioning base station sets according to the certain value, a signal transmission order is sequentially determined according to the base station distance from a first positioning base station set, a distance between a first positioning base station in a current positioning base station set and a last positioning base station in a previous positioning base station set is calculated from a second positioning base station set, if the distance is greater than a preset distance threshold, a new round of signal transmission order is restarted for the positioning base stations in the current positioning base station set, and if not, the signal transmission order arrangement is performed next to the last positioning base station in the previous positioning base station set.
For example, as shown in fig. 6 (b), when the positioning base stations are a, b, c, d, e, f, g, h and a certain value is 3, the positioning base stations arranged at a distance (from near to far, etc.) from the base station of the reference base station are a, b, c, d, e, f, g, h, the positioning base stations are divided into 3 sets of positioning base stations (a, b, c), (d, e, f), (g, h), and the signal transmission order is arranged according to the digital code starting from 1, the signal transmission order of a, b, c is 1, 2, 3, if the base station distance of d and c is greater than the preset distance threshold, it indicates that even if d and the positioning set in the positioning base station set (a, b, c) transmit signals simultaneously, no signal interference is caused, and therefore, the signal transmission order of d, e, f is determined to be 1, 2, 3, and further, if the base station distance of g and f is less than or equal to the preset distance threshold, it indicates that g and the positioning set in the positioning base station set (d, e, f) transmit signals simultaneously, and signal interference may be caused, and therefore, the signal transmission order of g, h is determined to be 4 and 5, and therefore, the order of the positioning base stations of the signals transmitted under the signal transmission order is a & d-b & e-c & f-g-h.
Example two:
in this example, in order to further improve the confirmation efficiency of the signal transmission order, the signal transmission order of each positioning base station is determined from the directed graph.
As shown in fig. 7, the ranking of the signal transmission order of each positioning base station according to the base station distance between the positioning base stations includes:
In this embodiment, according to a preset distance threshold calibrated according to experimental data, a preset number of positioning base stations are divided into at least one corresponding undirected graph, where a base station distance between adjacent positioning base stations in each undirected graph is smaller than the preset distance threshold.
And step 702, arranging the signal transmission sequence of each positioning base station in each undirected graph, wherein the signal transmission sequence of the positioning base stations in the same undirected graph is different.
In this embodiment, the signal transmission order of each positioning base station in each undirected graph arrangement is arranged, wherein the signal transmission order between the positioning base stations in the same undirected graph is different, and in addition, in order to improve the positioning efficiency, the signal transmission order of the positioning base stations in different undirected graphs may be the same.
For example, as shown in fig. 8, when the positioning base stations are a, b, c, d, e and the signal transmission order is distinguished by colors (different colors are represented by gray values in the drawing), the positioning base stations are divided into 2 undirected graphs (a, b, c) and (d, e) according to the base station distance, a and d are set to red colors, b and e are set to green colors, and c is set to yellow colors, whereby the order of the positioning base stations transmitting signals is a & d-b & e-c.
In summary, the tag positioning method of the embodiment of the disclosure can flexibly arrange the signal sending order of the positioning base station according to the scene needs, and improves the positioning efficiency on the basis of realizing the time-sharing communication of the positioning base station.
In order to make the tag positioning method of the present application more clear to those skilled in the art, a manner of obtaining positioning information of a target tag according to coordinates and receiving time of all base stations is described below with reference to an example, which is described as follows:
example one:
in this example, as shown in fig. 9, obtaining the positioning information of the target tag according to all the coordinates of the base station and the receiving time includes:
In this embodiment, a preset number of positioning base stations are combined pairwise to generate a plurality of positioning base station pairs, where the pairwise combination manner is not limited.
In this embodiment, the positioning coordinates of the target tag are set as unknown numbers, a reference distance expression between each positioning base station in each pair of positioning base stations and the target tag is calculated, the reference distance expression represents the base station distance between each pair of positioning base stations by using the positioning coordinates as unknown parameters, and further, a time difference of the receiving time of each pair of positioning base stations is calculated, and a product value of the time difference and a preset signal transmission speed obviously corresponds to the base station distance between each pair of positioning base stations.
Therefore, in the present embodiment, the positioning function of each positioning base station pair can be constructed from the reference distance expression and the base station distance.
In this embodiment, since the unknown numbers in the positioning functions of the positioning base station pairs are all coordinates of the target tag, the positioning information of the target tag can be obtained by solving according to the positioning functions of the positioning base station pairs.
For example, when the number of the positioning base stations is N, the positioning base station pairs are divided into the manner that, to number the positioning base stations, starting from the positioning base station corresponding to the first number, the adjacent positioning base stations are determined as a pair of positioning base stations, the coordinates of the target tag are (X, Y, Z), and the coordinates of the positioning base station are (X, Y, Z) Ai ，Y Ai ，Z Ai ) Wherein, A represents a positioning base station, i is the number of the positioning base station, (X, Y, Z) is the coordinate of the target label, and the time difference of the receiving time of each positioning base station pair is delta i,i+1 If the preset signal transmission speed is c, obtaining the positioning functions corresponding to the N positioning base stations as the following formula (1):
example two:
in this example, as shown in fig. 10, obtaining the positioning information of the target tag according to all the coordinates of the base station and the receiving time includes:
step 1001, acquiring a sending time of a positioning beacon signal.
In this example, the transmission time of the positioning beacon signal is obtained, and the transmission time may be carried in the positioning beacon signal, and the transmission time is known from the time of the positioning tag itself.
In one embodiment of the present disclosure, to further improve the accuracy of positioning, the target tag is time-synchronized in advance according to the server time.
In this embodiment, a main serving base station corresponding to the target tag in the positioning base stations may be determined, for example, the positioning base station with the best signal quality is determined as the main serving base station according to the signal quality of the received positioning beacon signal, and further, a base station time of the main serving base station is obtained, where the base station time of the main serving base station is synchronized in advance according to the server time, the transmission time of the main serving base station and the target tag time is determined according to the ratio of the distance between the main serving base station and the target tag and the signal propagation speed, and the sum of the transmission time and the base station time of the main serving base station is calculated to achieve time synchronization of the target tag.
And step 1030, determining candidate positioning information of each target tag according to the base station coordinates, the second time difference value and the preset signal transmission speed.
In this embodiment, a time difference between the receiving time and the transmitting time of each positioning base station is calculated, where the time difference is a signal transmission time from the positioning base station to the target tag, and a product of the signal transmission time and a preset signal transmission speed is obviously a distance between the positioning base station and the target tag, where the distance corresponds to a difference between a base station coordinate of the positioning base station and a coordinate of the target tag.
In this embodiment, in order to ensure the positioning accuracy, the server determines the positioning information of the target tag according to the candidate positioning information of all the positioning base stations, for example, determines the positioning information of the target tag according to the average value of the candidate positioning information of all the positioning base stations; for another example, the variance value of the candidate positioning information of all positioning base stations is obtained to determine the positioning information of the target tag.
In summary, the tag positioning method according to the embodiment of the present application obtains the positioning information of the target tag according to the coordinates of all base stations and the receiving time, and positions the target tag together by combining the coordinates of all base stations and the receiving time system, thereby improving the positioning accuracy.
In order to implement the above embodiments, fig. 11 is a schematic structural diagram of a tag positioning device according to an embodiment of the present disclosure, and as shown in fig. 11, the tag positioning device includes: the positioning system comprises a determining module 1110, an arranging module 1120, a feedback module 1130 and an obtaining module 1140, wherein the determining module 1110 is configured to determine a preset number of positioning base stations of a target tag in response to a positioning beacon signal broadcast by the target tag to be positioned;
an arranging module 1120, configured to arrange a signal sending order of each positioning base station according to a base station distance between the positioning base stations, where the signal sending orders between the positioning base stations with the base station distance smaller than a preset distance threshold are different;
a feedback module 1130, configured to control a preset number of positioning base stations to feed back coordinates of the base stations and receiving time of receiving positioning beacon signals according to a preset sending time interval and a preset signal sending sequence;
an obtaining module 1140, configured to obtain the positioning information of the target tag according to the coordinates of all the base stations and the receiving time.
In some embodiments, the determining module 1110 is specifically configured to:
acquiring the region where the target label is located, and determining a plurality of candidate base stations in the region;
and determining the candidate base stations meeting the preset conditions and having the preset number as the positioning base stations.
In some embodiments, the determining module 1110 is specifically configured to:
acquiring a signal quality parameter of the positioning beacon signal received by each candidate base station;
and determining the candidate base stations with the preset number as the positioning base stations according to the signal quality parameters.
In some embodiments, the determining module 1110 is specifically configured to: acquiring a preset communication quality grade of each candidate base station; and determining the candidate base stations with the preset number as the positioning base stations according to the sequence of the preset communication quality grades from high to low.
In some embodiments, further comprising: the first calculation module is used for acquiring the current server time of a server and calculating the transmission distance between the server and each positioning base station according to the base station coordinates of each positioning base station; a second calculating module, configured to calculate a signal transmission time of each positioning base station according to the transmission distance; and the updating module is used for summing the server time and the signal transmission time, and updating the base station time of each positioning base station according to a calculation result.
In some embodiments, the ranking module 1120 is specifically configured to: determining reference base stations in the preset number of positioning base stations; calculating the base station distance between each positioning base station and the reference base station; and arranging the signal sending sequence of each positioning base station according to the sequence of the base station distances from near to far.
In some embodiments, the ranking module 1120 is specifically configured to: constructing at least one undirected graph corresponding to the preset number of positioning base stations, wherein the base station distance between adjacent positioning base stations in each undirected graph is smaller than a preset distance threshold; and arranging the signal transmission sequence of each positioning base station in each undirected graph, wherein the signal transmission sequence of the positioning base stations in the same undirected graph is different.
In one embodiment of the disclosure, the obtaining module 1140 is configured to: combining the preset number of positioning base stations pairwise to generate a plurality of positioning base station pairs; determining a positioning function of each positioning base station pair according to the base station coordinates and the receiving time; and acquiring the positioning information of the target label according to the positioning functions of the positioning base station pairs.
In one embodiment of the disclosure, the obtaining module 1140 is configured to: acquiring the sending time of the positioning beacon signal; calculating a time difference value between the receiving time and the sending time of each positioning base station; determining candidate positioning information of each target label according to the base station coordinates, the time difference value and a preset signal transmission speed; and determining the positioning information of the target label according to the candidate positioning information of all the positioning base stations.
The tag positioning device of the embodiment determines the preset number of positioning base stations of a target tag in response to a positioning beacon signal broadcast by the target tag to be positioned, and further arranges the signal transmission sequence of each positioning base station according to the base station distance between the positioning base stations, wherein the signal transmission sequence between the positioning base stations with the base station distance smaller than a preset distance threshold is different, the positioning base stations of the preset number are controlled to feed back the base station coordinates and the receiving time of the received positioning beacon signal according to the preset transmission time interval and the signal transmission sequence, and finally, the positioning information of the target tag is obtained according to all the base station coordinates and the receiving time. Therefore, time-staggered communication of the positioning base station is realized, and the positioning efficiency and precision are guaranteed.
For specific limitations of the label positioning device, reference may be made to the above limitations of the label positioning method, which are not described herein again. The modules in the above tag positioning device may be implemented in whole or in part by software, hardware, and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a communication device is provided, which may be a server, and its internal structure diagram may be as shown in fig. 12. The communication device includes a processor, a memory, and a network interface connected by a system bus. Wherein the processor of the communication device is configured to provide computing and control capabilities. The memory of the communication device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The database of the communication device is used to store ranging data related to tag location. The network interface of the communication device is used for connecting and communicating with an external terminal through a network. The computer program is executed by a processor to implement a tag localization method.
In one embodiment, a communication device is provided, which may be a terminal, and its internal structure diagram may be as shown in fig. 12. The communication device comprises a processor, a memory, a communication interface, a display screen and an input device which are connected through a system bus. Wherein the processor of the communication device is configured to provide computing and control capabilities. The memory of the communication device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The communication interface of the communication device is used for carrying out wired or wireless communication with an external terminal, and the wireless communication can be realized through WIFI, an operator network, near Field Communication (NFC) or other technologies. The computer program is executed by a processor to implement a tag localization method. The display screen of the communication equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the communication equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on a shell of the communication equipment, an external keyboard, a touch pad or a mouse and the like.
Those skilled in the art will appreciate that the configuration shown in fig. 12 is a block diagram of only a portion of the configuration associated with the present application and does not constitute a limitation on the communication device to which the present application applies, and that a particular communication device may include more or less components than those shown, or combine certain components, or have a different arrangement of components.
In one embodiment, the tag locating apparatus provided herein may be implemented in the form of a computer program that is executable on a communication device such as that shown in fig. 12. The memory of the communication device may store various program modules constituting the tag locating apparatus, such as the determination module 1110, the arrangement module 1120, the feedback module 1130, and the acquisition module 1140 shown in fig. 11. The computer program constituted by the respective program modules causes the processor to execute the steps in the tag positioning method of the embodiments of the present application described in the present specification.
For example, the computer device shown in fig. 12 may determine, by the tag positioning apparatus shown in fig. 11, a preset number of positioning base stations of a target tag through the determining module 1110, and further, the arranging module 1120 arranges a signal transmission order of each positioning base station according to a base station distance between the positioning base stations, where the signal transmission order between the positioning base stations with the base station distance smaller than a preset distance threshold is different, the feedback module 1130 controls the preset number of positioning base stations to feed back base station coordinates and a receiving time of receiving the positioning beacon signal according to a preset transmission time interval and the signal transmission order, and finally, the obtaining module 1140 obtains positioning information of the target tag according to all the base station coordinates and the receiving time. Therefore, time-staggered communication of the positioning base station is realized, and the positioning efficiency and precision are guaranteed.
In one embodiment, a communication device is provided comprising a memory storing a computer program and a processor implementing the following steps when the processor executes the computer program: responding to a positioning beacon signal broadcast by a target label to be positioned, and determining a preset number of positioning base stations of the target label;
arranging the signal sending sequence of each positioning base station according to the base station distance between the positioning base stations, wherein the signal sending sequences between the positioning base stations with the base station distances smaller than a preset distance threshold are different;
controlling the positioning base stations with the preset number to feed back the coordinates of the base stations and the receiving time of the positioning beacon signals according to the preset sending time interval and the signal sending sequence;
and acquiring the positioning information of the target label according to the coordinates of all the base stations and the receiving time.
In one embodiment, the processor, when executing the computer program, further performs the steps of: acquiring the region where the target label is located, and determining a plurality of candidate base stations in the region; and determining the candidate base stations meeting the preset conditions and having the preset number as the positioning base stations.
In one embodiment, the processor when executing the computer program further performs the steps of: acquiring a signal quality parameter of the positioning beacon signal received by each candidate base station; and determining the candidate base stations with the preset number as the positioning base stations according to the signal quality parameters.
In one embodiment, the processor, when executing the computer program, further performs the steps of: acquiring a preset communication quality grade of each candidate base station; and determining the candidate base stations with the preset number as the positioning base stations according to the sequence of the preset communication quality grades from high to low.
In one embodiment, the processor, when executing the computer program, further performs the steps of: acquiring the current server time of a server, and calculating the transmission distance between the server and each positioning base station according to the base station coordinates of each positioning base station; calculating the signal transmission time of each positioning base station according to the transmission distance; and summing the server time and the signal transmission time, and updating the base station time of each positioning base station according to the calculation result.
In one embodiment, the processor, when executing the computer program, further performs the steps of: determining reference base stations in the preset number of positioning base stations; calculating the base station distance between each positioning base station and the reference base station; and arranging the signal sending sequence of each positioning base station according to the sequence of the base station distances from near to far.
In one embodiment, the processor, when executing the computer program, further performs the steps of: constructing at least one undirected graph corresponding to the preset number of positioning base stations, wherein the base station distance between adjacent positioning base stations in each undirected graph is smaller than a preset distance threshold; and arranging the signal transmission sequence of each positioning base station in each undirected graph arrangement, wherein the signal transmission sequence of the positioning base stations in the same undirected graph is different.
In one embodiment, the processor, when executing the computer program, further performs the steps of: constructing at least one undirected graph corresponding to the preset number of positioning base stations, wherein the base station distance between adjacent positioning base stations in each undirected graph is smaller than a preset distance threshold; and arranging the signal transmission sequence of each positioning base station in each undirected graph arrangement, wherein the signal transmission sequence of the positioning base stations in the same undirected graph is different.
In one embodiment, the processor, when executing the computer program, further performs the steps of: acquiring the sending time of the positioning beacon signal; calculating a time difference value between the receiving time and the sending time of each positioning base station; determining candidate positioning information of each target label according to the base station coordinates, the time difference value and a preset signal transmission speed; and determining the positioning information of the target label according to the candidate positioning information of all the positioning base stations.
The computer equipment responds to positioning beacon signals broadcast by target tags to be positioned, determines the preset number of positioning base stations of the target tags, and further arranges the signal transmission sequence of each positioning base station according to the base station distance between the positioning base stations, wherein the signal transmission sequence between the positioning base stations with the base station distance smaller than a preset distance threshold value is different, the positioning base stations with the preset number are controlled to feed back base station coordinates and receiving time of the received positioning beacon signals according to preset transmission time intervals and the signal transmission sequence, and finally, the positioning information of the target tags is obtained according to all the base station coordinates and the receiving time. Therefore, time-staggered communication of the positioning base station is realized, and the positioning efficiency and precision are guaranteed.
In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of: determining a preset number of positioning base stations of a target label in response to a positioning beacon signal broadcast by the target label to be positioned; arranging the signal sending sequence of each positioning base station according to the base station distance between the positioning base stations, wherein the signal sending sequences between the positioning base stations with the base station distances smaller than a preset distance threshold are different; controlling the positioning base stations with the preset number to feed back the coordinates of the base stations and the receiving time of the positioning beacon signals according to the preset sending time interval and the signal sending sequence; and acquiring the positioning information of the target label according to the coordinates of all the base stations and the receiving time.
In one embodiment, the computer program when executed by the processor further performs the steps of: acquiring the region where the target label is located, and determining a plurality of candidate base stations in the region; and determining the candidate base stations meeting the preset conditions and having the preset number as the positioning base stations.
In one embodiment, the computer program when executed by the processor further performs the steps of: acquiring a signal quality parameter of the positioning beacon signal received by each candidate base station; and determining the candidate base stations with the preset number as the positioning base stations according to the signal quality parameters.
In one embodiment, the computer program when executed by the processor further performs the steps of: acquiring a preset communication quality grade of each candidate base station; and determining the candidate base stations with the preset number as the positioning base stations according to the sequence of the preset communication quality grades from high to low.
In one embodiment, the computer program when executed by the processor further performs the steps of: acquiring the current server time of a server, and calculating the transmission distance between the server and each positioning base station according to the base station coordinates of each positioning base station;
calculating the signal transmission time of each positioning base station according to the transmission distance; and summing the server time and the signal transmission time, and updating the base station time of each positioning base station according to a calculation result.
In one embodiment, the computer program when executed by the processor further performs the steps of: determining reference base stations in the preset number of positioning base stations; calculating the base station distance between each positioning base station and the reference base station; and arranging the signal sending sequence of each positioning base station according to the sequence of the base station distances from near to far.
In one embodiment, the computer program when executed by the processor further performs the steps of: constructing at least one undirected graph corresponding to the preset number of positioning base stations, wherein the base station distance between adjacent positioning base stations in each undirected graph is smaller than a preset distance threshold; and arranging the signal transmission sequence of each positioning base station in each undirected graph arrangement, wherein the signal transmission sequence of the positioning base stations in the same undirected graph is different.
In one embodiment, the computer program when executed by the processor further performs the steps of: combining the preset number of positioning base stations pairwise to generate a plurality of positioning base station pairs; determining a positioning function of each positioning base station pair according to the base station coordinates and the receiving time; and acquiring the positioning information of the target label according to the positioning functions of the positioning base station pairs.
In one embodiment, the computer program when executed by the processor further performs the steps of: acquiring the sending time of the positioning beacon signal; calculating a time difference value between the receiving time and the sending time of each positioning base station; determining candidate positioning information of each target label according to the base station coordinates, the time difference value and a preset signal transmission speed; and determining the positioning information of the target label according to the candidate positioning information of all the positioning base stations.
The computer-readable storage medium determines a preset number of positioning base stations of a target tag in response to a positioning beacon signal broadcast by the target tag to be positioned, and further arranges a signal transmission sequence of each positioning base station according to a base station distance between the positioning base stations, wherein the base station distance is smaller than a preset distance threshold, the signal transmission sequence of the positioning base stations is different, the preset number of positioning base stations are controlled to feed back base station coordinates and receiving time of receiving the positioning beacon signal according to a preset transmission time interval and the signal transmission sequence, and finally, positioning information of the target tag is obtained according to all base station coordinates and the receiving time. Therefore, time-staggered communication of the positioning base station is realized, and the positioning efficiency and precision are guaranteed.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, database, or other medium used in the embodiments provided herein may include at least one of non-volatile and volatile memory. Non-volatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical storage, or the like. Volatile Memory can include Random Access Memory (RAM) or external cache Memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), and the like.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, and these are all within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (8)
1. A method of locating a tag, the method comprising:
determining a preset number of positioning base stations of a target label in response to a positioning beacon signal broadcast by the target label to be positioned;
constructing at least one undirected graph corresponding to the preset number of positioning base stations, wherein the base station distance between adjacent positioning base stations in each undirected graph is smaller than a preset distance threshold;
arranging the signal transmission order of each positioning base station in each undirected graph, wherein the signal transmission order is different among the positioning base stations in the same undirected graph;
controlling the positioning base stations with the preset number to feed back the coordinates of the base stations and the receiving time of the positioning beacon signals according to the preset sending time interval and the signal sending sequence;
and acquiring the positioning information of the target label according to the coordinates of all the base stations and the receiving time.
2. The method as claimed in claim 1, wherein said determining a predetermined number of positioning base stations of said target tag comprises:
acquiring the region where the target label is located, and determining a plurality of candidate base stations in the region;
and determining the candidate base stations meeting the preset conditions and having the preset number as the positioning base stations.
3. The method as claimed in claim 2, wherein said determining that the predetermined number of candidate base stations satisfying the predetermined condition are the positioning base stations comprises:
acquiring a signal quality parameter of the positioning beacon signal received by each candidate base station;
and determining the candidate base stations with the preset number as the positioning base stations according to the signal quality parameters.
4. The method as claimed in claim 2, wherein said determining that the predetermined number of candidate base stations satisfying the predetermined condition are the positioning base stations comprises:
acquiring a preset communication quality grade of each candidate base station;
and determining the candidate base stations with the preset number as the positioning base stations according to the sequence of the preset communication quality grades from high to low.
5. The method as claimed in claim 1, wherein before said controlling said predetermined number of positioning base stations to feed back base station coordinates and a reception time at which said positioning beacon signals are received, according to a predetermined transmission time interval and said signal transmission order, comprises:
acquiring the current server time of a server, and calculating the transmission distance between the server and each positioning base station according to the base station coordinates of each positioning base station;
calculating the signal transmission time of each positioning base station according to the transmission distance;
and summing the server time and the signal transmission time, and updating the base station time of each positioning base station according to the calculation result.
6. The method as claimed in claim 1, wherein said obtaining the positioning information of the target tag according to all the base station coordinates and the receiving time comprises:
combining the preset number of positioning base stations pairwise to generate a plurality of positioning base station pairs;
determining a positioning function of each positioning base station pair according to the base station coordinates and the receiving time;
and acquiring the positioning information of the target label according to the positioning functions of the positioning base station pairs.
7. The method as claimed in claim 1, wherein said obtaining the positioning information of the target tag according to all the base station coordinates and the receiving time comprises:
acquiring the sending time of the positioning beacon signal;
calculating a time difference value between the receiving time and the sending time of each positioning base station;
determining candidate positioning information of each target label according to the base station coordinates, the time difference value and a preset signal transmission speed;
and determining the positioning information of the target label according to the candidate positioning information of all the positioning base stations.
8. A label positioning device, the device comprising:
the device comprises a determining module, a positioning module and a positioning module, wherein the determining module is used for responding to a positioning beacon signal broadcasted by a target label to be positioned and determining a preset number of positioning base stations of the target label;
a permutation module, configured to construct at least one undirected graph corresponding to the preset number of positioning base stations, where a base station distance between adjacent positioning base stations in each undirected graph is smaller than a preset distance threshold, and permute a signal transmission order of each positioning base station in each undirected graph, where the signal transmission orders between the positioning base stations in the same undirected graph are different;
the feedback module is used for controlling the positioning base stations with the preset number to feed back the coordinates of the base stations and the receiving time of the positioning beacon signals according to the preset sending time interval and the signal sending sequence;
and the acquisition module is used for acquiring the positioning information of the target label according to all the base station coordinates and the receiving time.
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| CN202110801335.3A CN113692046B (en) | 2021-07-15 | 2021-07-15 | Label positioning method and device, computer equipment and storage medium |
| PCT/CN2021/137992 WO2023284243A1 (en) | 2021-07-15 | 2021-12-14 | Label positioning method and apparatus, and computer device and storage medium |
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| CN113126026B (en) * | 2019-12-31 | 2024-04-19 | 中移(成都)信息通信科技有限公司 | Positioning system, method and storage medium |
| CN113692046B (en) * | 2021-07-15 | 2023-03-24 | 上海闻泰信息技术有限公司 | Label positioning method and device, computer equipment and storage medium |
| CN115835127B (en) * | 2022-11-24 | 2023-08-01 | 东土科技(宜昌)有限公司 | Method, device, computer equipment and storage medium for positioning target in chemical plant |
| CN116321193B (en) * | 2023-03-07 | 2023-08-01 | 长沙迪迈数码科技股份有限公司 | Signal coverage quantitative evaluation method, device, equipment and storage medium |
| CN115967971B (en) * | 2023-03-16 | 2023-05-12 | 长沙迪迈数码科技股份有限公司 | Method, device and storage medium for identifying installation abnormality of underground UWB positioning base station |
| CN115984027B (en) * | 2023-03-20 | 2023-06-06 | 长沙迪迈数码科技股份有限公司 | UWB-based underground personnel gathering early warning method, device and storage medium |
| CN116996996B (en) * | 2023-09-27 | 2023-12-12 | 中国电建集团贵阳勘测设计研究院有限公司 | Intelligent construction site operation and maintenance management and control positioning method and system |
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