CN114513848B - Indoor positioning method, indoor positioning system and positioning equipment - Google Patents
Indoor positioning method, indoor positioning system and positioning equipment Download PDFInfo
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- CN114513848B CN114513848B CN202011289863.7A CN202011289863A CN114513848B CN 114513848 B CN114513848 B CN 114513848B CN 202011289863 A CN202011289863 A CN 202011289863A CN 114513848 B CN114513848 B CN 114513848B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- H04W64/003—Locating users or terminals or network equipment for network management purposes, e.g. mobility management locating network equipment
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
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Abstract
The application discloses an indoor positioning method, an indoor positioning system and positioning equipment, wherein the indoor positioning method comprises the following steps: controlling the positioning antenna to rotate so as to change the polarization direction of the positioning antenna; receiving electromagnetic pulse signals sent by a positioning tag through a positioning antenna with a changeable polarization direction so as to obtain a plurality of positioning signals; calculating the signal-to-noise ratio of each positioning signal; and determining the positioning information of the positioning tag according to the signal-to-noise ratio of each positioning signal. Therefore, the indoor positioning method can adjust the polarization direction of the positioning antenna in real time, thereby receiving electromagnetic pulse signals in various polarization directions sent by the positioning tag, further obtaining a plurality of positioning signals, and selecting a positioning result with higher signal-to-noise ratio strength of the positioning signals as final positioning information by calculating the signal-to-noise ratio of each positioning signal, so that positioning errors can be avoided, positioning accuracy can be improved, and positioning efficiency can be improved.
Description
Technical Field
The present application relates to the field of communications, and in particular, to an indoor positioning method, an indoor positioning system, and a positioning device.
Background
The indoor positioning function of UWB (Ultra Wide Band-a wireless carrier communication) is to arrange 4 positioning base stations with known coordinates in the indoor, a person is required to carry a positioning tag, the positioning tag can emit pulses according to a certain frequency, distance measurement is carried out between the positioning tag and the positioning base stations with 4 known positions, and then the position of the tag is calculated through a UWB positioning algorithm.
The inventor finds that the antenna used by the positioning base station is a fixed polarized antenna, and the polarization direction of the positioning tag antenna is possibly vertical polarization or horizontal polarization or polarization at a positive angle or negative angle due to uncertainty of the position of the positioning tag carried by a person. If the polarization direction of the positioning tag antenna is horizontal polarization, the polarization direction of the positioning tag antenna is completely orthogonal to the fixed vertical polarization direction of the incoming wave of the fixed polarization antenna of the positioning base station, the positioning tag antenna cannot completely receive the energy of the incoming wave of the fixed polarization antenna, the polarization loss is maximum at the moment, an isolation effect can be achieved, the positioning function cannot be achieved, and therefore a part of objects to be positioned can be missed, and positioning inaccuracy can be caused.
Disclosure of Invention
The present application aims to solve at least one of the technical problems existing in the prior art. Therefore, an object of the present application is to provide an indoor positioning method, by which the polarization direction of a positioning antenna can be adjusted in real time, so that electromagnetic pulse signals in various polarization directions sent by a positioning tag can be received, a plurality of positioning signals can be obtained, and a positioning result with higher signal-to-noise ratio strength of the positioning signals can be selected as final positioning information by calculating the signal-to-noise ratio of each positioning signal, thereby avoiding positioning errors, improving positioning accuracy and positioning efficiency.
The application further proposes a computer readable storage medium.
The application further proposes a positioning device.
The application further provides an indoor positioning system.
The indoor positioning method according to the present application comprises the steps of: controlling the positioning antenna to rotate so as to change the polarization direction of the positioning antenna; receiving electromagnetic pulse signals sent by a positioning tag through a positioning antenna with a changeable polarization direction so as to obtain a plurality of positioning signals; calculating the signal-to-noise ratio of each positioning signal; and determining the positioning information of the positioning tag according to the signal-to-noise ratio of each positioning signal.
According to the indoor positioning method, the polarization direction of the positioning antenna can be adjusted in real time, so that electromagnetic pulse signals in various polarization directions sent by the positioning tag can be received, a plurality of positioning signals can be obtained, and a positioning result with higher signal-to-noise ratio strength of the positioning signals can be selected as final positioning information by calculating the signal-to-noise ratio of each positioning signal, thereby avoiding positioning errors, improving positioning accuracy and positioning efficiency.
In some examples of the present application, determining the positioning information of the positioning tag according to the signal-to-noise ratio of each positioning signal includes: and acquiring the positioning signal with the strongest signal-to-noise ratio in the plurality of positioning signals, and determining the positioning information of the positioning tag according to the positioning signal with the strongest signal-to-noise ratio.
In some examples of the application, the polarization direction of the positioning antenna includes horizontal polarization, vertical polarization, and polarization at any positive and negative angle.
In some examples of the application, controlling the positioning antenna to rotate includes: and controlling the positioning antenna to rotate 360 degrees in one plane.
In some examples of the application, the positioning antenna is controlled to rotate 10 ° at a time in one plane.
The computer-readable storage medium according to the present application has stored thereon an indoor positioning program which, when executed by a processor, implements the indoor positioning method described above.
According to the computer readable storage medium, the polarization direction of the positioning antenna can be adjusted in real time, so that electromagnetic pulse signals in various polarization directions sent by the positioning tag can be received, a plurality of positioning signals can be obtained, and a positioning result with higher signal-to-noise ratio strength of the positioning signals can be selected as final positioning information by calculating the signal-to-noise ratio of each positioning signal, thereby avoiding positioning errors, improving positioning accuracy and positioning efficiency.
The positioning device comprises a memory, a processor and an indoor positioning program which is stored in the memory and can run on the processor, wherein the indoor positioning method is realized when the processor executes the indoor positioning program.
According to the positioning equipment provided by the application, the processor executes the indoor positioning program stored on the storage, so that the polarization direction of the positioning antenna can be adjusted in real time, electromagnetic pulse signals in various polarization directions sent by the positioning tag can be received, a plurality of positioning signals can be obtained, and the positioning result with higher signal-to-noise ratio strength of the positioning signals can be selected as final positioning information by calculating the signal-to-noise ratio of each positioning signal, so that positioning errors can be avoided, the positioning accuracy can be improved, and the positioning efficiency can be improved.
An indoor positioning system according to an embodiment of the present application includes: the driving device is used for driving the positioning antenna to rotate so as to change the polarization direction of the positioning antenna; the positioning antenna is used for receiving electromagnetic pulse signals sent by the positioning tag; the positioning base station is used for acquiring a plurality of positioning signals according to electromagnetic pulse signals received by the positioning antenna with the changeable polarization direction and calculating the signal-to-noise ratio of each positioning signal; and the positioning signal processing platform is used for determining the positioning information of the positioning tag according to the signal-to-noise ratio of each positioning signal.
According to the indoor positioning system provided by the embodiment of the application, the polarization direction of the positioning antenna can be adjusted in real time, so that electromagnetic pulse signals in various polarization directions sent by the positioning tag can be received, a plurality of positioning signals can be obtained, and a positioning result with higher signal-to-noise ratio strength of the positioning signals can be selected as final positioning information by calculating the signal-to-noise ratio of each positioning signal, thereby avoiding positioning errors, improving the positioning accuracy and the positioning efficiency.
In some examples of the present application, the positioning signal processing platform is further configured to obtain a positioning signal with a strongest signal-to-noise ratio of the plurality of positioning signals, and determine positioning information of the positioning tag according to the positioning signal with the strongest signal-to-noise ratio.
In some examples of the application, the polarization direction of the positioning antenna includes horizontal polarization, vertical polarization, and polarization at any positive and negative angle.
In some examples of the present application, the positioning signal processing platform is further configured to send a polarization transformation instruction to the driving device through the positioning base station, so that the driving device drives the positioning antenna to rotate by 360 ° in one plane.
In some examples of the application, the positioning antenna is rotated 10 ° at a time in one plane.
Additional aspects and advantages of the application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the application.
Drawings
The foregoing and/or additional aspects and advantages of the application will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:
FIG. 1 is a flow chart of an indoor positioning method according to an embodiment of the present application;
FIG. 2 is a block schematic diagram of an indoor positioning system according to an embodiment of the application;
FIG. 3 is a block diagram of a processor, memory, communication interface, communication bus, according to one embodiment of the application.
Reference numerals:
an indoor positioning system 100;
positioning the antenna 10;
a driving device 20; a drive shaft 21; a drive motor 22; an antenna radio frequency line hub 23;
positioning the base station 30; a positioning signal processing platform 40; positioning the tag 50; a transport switch 60;
a processor 1201; a communication interface 1202; a memory 1203; a communication bus 1204.
Detailed Description
Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the application.
An indoor positioning method and an indoor positioning system 100 according to an embodiment of the present application are described below with reference to fig. 1 and 2.
As shown in fig. 2, the indoor positioning system 100 according to an embodiment of the present application includes: a positioning antenna 10, a driving device 20, a positioning base station 30 and a positioning signal processing platform 40. The positioning antenna 10 is used for receiving electromagnetic pulse signals sent by the positioning tag 50, and it should be noted that, preferably, the number of the positioning antennas 10 is greater than or equal to four, the positioning antenna 10 may also be multiple, the positioning tag 50 may send electromagnetic pulse signals, the polarization direction of the electromagnetic pulse signals sent by the positioning tag 50 may include horizontal polarization, vertical polarization and polarization with any positive and negative angles, and the positioning antenna 10 may receive electromagnetic pulse signals with various polarization directions sent by the positioning tag 50.
The driving device 20 is used for driving the positioning antenna 10 to rotate so as to change the polarization direction of the positioning antenna 10, and it should be explained that the driving device 20 may include a driving shaft 21 and a driving motor 22, one end of the driving shaft 21 may be connected with the driving motor 22, the other end of the driving shaft 21 may be connected with the positioning antenna 10, and the driving motor 22 may drive the positioning antenna 10 to rotate through the driving shaft 21 so as to change the polarization direction of the positioning antenna 10.
The number of the positioning base stations 30 is greater than or equal to four, the number of the positioning base stations 30 can be the same as the number of the positioning antennas 10, the positioning base stations 30 can be in one-to-one correspondence with the positioning antennas 10, the positioning base stations 30 are used for acquiring a plurality of positioning signals according to electromagnetic pulse signals received by the positioning antennas 10 with changeable polarization directions and calculating the signal to noise ratio of each positioning signal, the positioning base stations 30 can be in communication connection with the positioning antennas 10, the positioning antennas 10 with changeable polarization directions can receive the electromagnetic pulse signals sent by the positioning tags 50, the positioning antennas 10 can transmit the electromagnetic pulse signals sent by the received positioning tags 50 to the positioning base stations 30, the positioning base stations 30 can acquire the positioning signals according to the electromagnetic pulse signals transmitted by the received positioning antennas 10, and the positioning base stations 30 can calculate the signal to noise ratio of each positioning signal.
The positioning signal processing platform 40 is configured to determine the positioning information of the positioning tag 50 according to the signal-to-noise ratio of each positioning signal, and it should be explained that the positioning signal processing platform 40 may be communicatively connected with the positioning base station 30, the positioning base station 30 may transmit the calculated signal-to-noise ratio of each positioning signal to the positioning signal processing platform 40, and the positioning signal processing platform 40 may determine the positioning information of the positioning tag 50 according to the signal-to-noise ratio of each positioning signal transmitted by the positioning base station 30.
The indoor positioning system 100 may further include a transmission switch 60, where the transmission switch 60 may be in communication connection with the positioning base station 30 and the positioning signal processing platform 40, specifically, when the positioning base station 30 calculates a signal-to-noise ratio of each positioning signal according to a plurality of electromagnetic pulse signals transmitted by the positioning antenna 10, the positioning base station 30 may transmit the calculated signal-to-noise ratio of each positioning signal to the transmission switch 60, and the transmission switch 60 may transmit the signal-to-noise ratio of each positioning signal transmitted by the positioning base station 30 to the positioning signal processing platform 40, so that an error in a process of transmitting information between the positioning base station 30 and the positioning signal processing platform 40 may be avoided.
As an embodiment, the number of positioning antennas 10 may be 4, the number of 4 positioning antennas 10 may receive electromagnetic pulse signals in various polarization directions sent by the positioning tag 50, the number of driving devices 20 may also be 4, the number of 4 driving devices 20 may respectively drive 1 positioning antenna 10 to rotate to change the polarization direction of the positioning antenna 10, the number of 4 positioning antennas 10 may transmit a plurality of electromagnetic pulse signals sent by the received positioning tag 50 to the positioning base station 30, the positioning base station 30 may obtain a plurality of positioning signals according to the plurality of electromagnetic pulse signals transmitted by the received 4 positioning antennas 10, the positioning base station 30 may calculate a signal-to-noise ratio of each positioning signal, the positioning base station 30 may transmit the calculated signal-to-noise ratio of each positioning signal to the transmission switch 60, the transmission switch 60 may transmit the signal-to-noise ratio of each positioning signal transmitted by the positioning base station 30 to the positioning signal processing platform 40, and the positioning signal processing platform 40 may determine the positioning information of the positioning tag 50 according to the signal-to-noise ratio of each positioning signal received.
Therefore, through the indoor positioning system 100 of the present application, the polarization direction of the positioning antenna 10 can be adjusted in real time, so that electromagnetic pulse signals in various polarization directions sent by the positioning tag 50 can be received, a plurality of positioning signals can be obtained, and a positioning result with higher signal-to-noise ratio strength of the positioning signals can be selected as final positioning information by calculating the signal-to-noise ratio of each positioning signal, thereby avoiding positioning errors, improving positioning accuracy and positioning efficiency.
In some embodiments of the present application, the positioning signal processing platform 40 may be further configured to obtain a positioning signal with a strongest signal-to-noise ratio of the plurality of positioning signals, and determine the positioning information of the positioning tag 50 according to the positioning signal with the strongest signal-to-noise ratio. It should be noted that, the positioning signal processing platform 40 may receive the signal to noise ratios of the plurality of positioning signals transmitted by the positioning base station 30, the positioning signal processing platform 40 may obtain a positioning signal with a strongest signal to noise ratio of the plurality of positioning signals, and the positioning signal processing platform 40 may determine the positioning information of the positioning tag 50 according to the positioning signal with a strongest signal to noise ratio, so that the positioning error may be reduced, and thus the positioning accuracy may be further improved.
In some embodiments of the present application, the polarization direction of the positioning antenna 10 may include horizontal polarization, vertical polarization and polarization with any positive and negative angle, and it should be explained that the driving device 20 may drive the positioning antenna 10 to rotate, and by the driving effect of the driving device 20, the polarization direction of the positioning antenna 10 may be changed into the horizontal polarization, the vertical polarization or the polarization with any positive and negative angle, specifically, the horizontal polarization of the positioning antenna 10 is that the polarization direction of the positioning antenna 10 is parallel to the ground, that is, the polarization direction of the positioning antenna 10 forms 0 ° with the ground, the vertical polarization of the positioning antenna 10 is that the polarization direction of the positioning antenna 10 forms perpendicular to the ground, that is, the polarization direction of the positioning antenna 10 forms any positive and negative angle with the ground, so the arrangement may enable the polarization direction of the positioning antenna 10 to cover all polarization directions, thereby avoiding that the indoor positioning system 100 re-makes the confirmation of the received signal algorithm due to insufficient received signal strength, and further ensuring the positioning efficiency of the indoor positioning system 100.
In some embodiments of the present application, the positioning signal processing platform 40 may also be configured to send a polarization conversion command to the driving device 20 through the positioning base station 30, so that the driving device 20 drives the positioning antenna 10 to rotate 360 ° in one plane. It should be noted that, the driving device 20 may further include an antenna radio frequency line hub 23, the positioning signal processing platform 40 may send a polarization transformation instruction to the positioning base station 30, the positioning base station 30 may transmit the received polarization transformation instruction to the driving device 20, the antenna radio frequency line hub 23 of the driving device 20 may be configured to receive the polarization transformation instruction, after the antenna radio frequency line hub 23 receives the polarization transformation instruction sent by the positioning signal processing platform 40, the driving motor 22 of the driving device 20 may drive the positioning antenna 10 to rotate 360 ° in a plane through the transmission shaft 21, so that the polarization direction of the positioning antenna 10 may cover all polarization directions, and the polarization direction of the positioning antenna 10 may be kept consistent with the polarization direction of the positioning tag 50 at a certain positioning information gathering moment, so that the positioning signal processing platform 40 may obtain a clear signal with a high signal-to-noise ratio, and may avoid re-receiving confirmation of a signal algorithm due to insufficient signal strength, thereby improving the positioning accuracy of the indoor positioning system 100 and also ensuring the positioning efficiency of the indoor positioning system 100.
In some embodiments of the present application, the positioning antenna 10 may rotate 10 ° in one plane each time, it should be explained that, when the antenna rf hub 23 of the driving device 20 receives the polarization conversion command sent by the positioning signal processing platform 40, the driving motor 22 of the driving device 20 may drive the positioning antenna 10 to rotate 10 ° in one plane through the driving shaft 21, after the positioning antenna 10 rotates 10 ° in one plane, the antenna rf hub 23 of the driving device 20 may transmit the result of the driving device 20 driving the positioning antenna 10 to rotate 10 ° to the positioning signal processing platform 40 through the positioning base station 30, after the positioning signal processing platform 40 receives the result of the positioning antenna 10 rotating 10 °, the positioning signal processing platform 40 may determine whether the positioning antenna 10 has rotated 360 °, if the positioning signal processing platform 40 determines that the positioning antenna 10 has not rotated 360%, the positioning signal processing platform 40 receives the signal to noise ratio of the positioning signal after the positioning antenna 10 rotates by 10 degrees, determines the positioning information of the positioning tag 50 according to the signal to noise ratio of the positioning signal after the positioning antenna 10 rotates by 10 degrees, then the positioning signal processing platform 40 continues to send a polarization conversion instruction to the driving device 20, when the antenna radio frequency line hub 23 of the driving device 20 receives the polarization conversion instruction sent by the positioning signal processing platform 40 again, the driving motor 22 of the driving device 20 can drive the positioning antenna 10 to rotate by 10 degrees in one plane again through the transmission shaft 21, if the positioning signal processing platform 40 judges that the positioning antenna 10 has rotated by 360 degrees, the positioning signal processing platform 40 generates the final positioning information of the positioning tag 50 according to the positioning signal with the strongest signal to noise ratio, thereby avoiding positioning deficiency, so that the positioning accuracy of the indoor positioning system 100 can be ensured.
Fig. 1 is a flowchart of an indoor positioning method according to an embodiment of the present application, and the indoor positioning system of the above embodiment may implement the indoor positioning method, as shown in fig. 1, and the indoor positioning method includes the following steps:
s1, controlling the positioning antenna to rotate so as to change the polarization direction of the positioning antenna, wherein the positioning tag sends electromagnetic pulse signals to the positioning antenna, and then controlling the positioning antenna to rotate by a preset angle so as to change the polarization direction of the positioning antenna. The indoor positioning system can comprise a positioning antenna, a driving device, a positioning base station and a positioning signal processing platform, and is the indoor positioning system. The positioning antenna is used for receiving electromagnetic pulse signals sent by the positioning tag, and it is to be noted that the positioning antenna can be also arranged in plurality, preferably, the number of the positioning antennas is greater than or equal to four, the positioning tag can send electromagnetic pulse signals, the polarization direction of the electromagnetic pulse signals sent by the positioning tag can comprise horizontal polarization, vertical polarization and polarization of any positive and negative angles, and the positioning antenna can receive electromagnetic pulse signals in various polarization directions sent by the positioning tag. The driving device is used for controlling the positioning antenna to rotate so as to change the polarization direction of the positioning antenna, and it is to be explained that the driving device can comprise a transmission shaft and a driving motor, one end of the transmission shaft can be connected with the driving motor, the other end of the transmission shaft can be connected with the positioning antenna, and the driving motor can drive the positioning antenna to rotate through the transmission shaft so as to change the polarization direction of the positioning antenna.
S2, receiving electromagnetic pulse signals sent by the positioning tag through the positioning antenna with the changeable polarization direction to obtain a plurality of positioning signals, wherein the positioning signal can be obtained after the positioning antenna rotates once by a preset angle, and the positioning signals can be obtained after the positioning antenna rotates once. The number of the positioning base stations is greater than or equal to four, the number of the positioning base stations can be the same as the number of the positioning antennas, a plurality of positioning base stations can be in one-to-one correspondence with a plurality of positioning antennas, the positioning base stations can be in communication connection with the positioning antennas, the positioning antennas with changeable polarization directions can receive a plurality of electromagnetic pulse signals sent by the positioning tags, the positioning antennas can transmit the received plurality of electromagnetic pulse signals sent by the positioning tags to the positioning base stations, and the positioning base stations can acquire a plurality of positioning signals according to the received plurality of electromagnetic pulse signals transmitted by the positioning antennas.
S3, calculating the signal-to-noise ratio of each positioning signal, wherein the signal-to-noise ratio of each positioning signal can be calculated by the positioning base station.
S4, determining the positioning information of the positioning tag according to the signal-to-noise ratio of each positioning signal, wherein the positioning signal processing platform can be in communication connection with the positioning base station, the positioning base station can transmit the calculated signal-to-noise ratio of each positioning signal to the positioning signal processing platform, and the positioning signal processing platform can determine the positioning information of the positioning tag according to the signal-to-noise ratio of each positioning signal transmitted by the positioning base station.
The indoor positioning system further comprises a transmission switch, the transmission switch can be in communication connection with the positioning base station and the positioning signal processing platform, specifically, when the positioning base station calculates the signal-to-noise ratio of each positioning signal according to a plurality of electromagnetic pulse signals transmitted by the positioning antenna, the positioning base station can transmit the calculated signal-to-noise ratio of each positioning signal to the transmission switch, and the transmission switch can transmit the signal-to-noise ratio of each positioning signal transmitted by the positioning base station to the positioning signal processing platform, so that errors of the positioning base station and the positioning signal processing platform in the process of transmitting information can be avoided.
As an embodiment, the positioning antennas may be set to 4, the 4 positioning antennas may receive electromagnetic pulse signals in various polarization directions sent by the positioning tag, the driving device may also be set to 4, the 4 driving devices may respectively drive 1 positioning antenna to rotate to change the polarization directions of the positioning antenna, the 4 positioning antennas may transmit a plurality of electromagnetic pulse signals sent by the received positioning tag to the positioning base station, the positioning base station may obtain a plurality of positioning signals according to the received plurality of electromagnetic pulse signals transmitted by the 4 positioning antennas, and the positioning base station may calculate a signal-to-noise ratio of each positioning signal, the positioning base station may transmit the calculated signal-to-noise ratio of each positioning signal to the transmission switch, the transmission switch may transmit the signal-to-noise ratio of each positioning signal transmitted by the positioning base station to the positioning signal processing platform, and the positioning signal processing platform may determine positioning information of the positioning tag according to the signal-to-noise ratio of each positioning signal received.
Therefore, the indoor positioning method can adjust the polarization direction of the positioning antenna in real time, thereby receiving electromagnetic pulse signals in various polarization directions sent by the positioning tag, further obtaining a plurality of positioning signals, and selecting a positioning result with higher signal-to-noise ratio strength of the positioning signals as final positioning information by calculating the signal-to-noise ratio of each positioning signal, so that positioning errors can be avoided, positioning accuracy can be improved, and positioning efficiency can be improved.
In some embodiments of the present application, determining positioning information for a positioning tag based on the signal-to-noise ratio of each positioning signal may include: and acquiring the positioning signal with the strongest signal-to-noise ratio in the plurality of positioning signals, and determining the positioning information of the positioning tag according to the positioning signal with the strongest signal-to-noise ratio. It should be noted that, the positioning signal processing platform may receive the signal-to-noise ratios of the plurality of positioning signals transmitted by the positioning base station, the positioning signal processing platform may obtain a positioning signal with a strongest signal-to-noise ratio of the plurality of positioning signals, and the positioning signal processing platform may determine positioning information of the positioning tag according to the positioning signal with a strongest signal-to-noise ratio, thereby reducing positioning errors, and further improving positioning accuracy.
In some embodiments of the present application, the polarization direction of the positioning antenna may include horizontal polarization, vertical polarization and polarization of any positive and negative angle, and it should be explained that, by driving action of the driving device, the polarization direction of the positioning antenna may be changed into horizontal polarization, vertical polarization or polarization of any positive and negative angle, specifically, the horizontal polarization of the positioning antenna is that the polarization direction of the positioning antenna is parallel to the ground, that is, the polarization direction of the positioning antenna forms 0 ° with the ground, the vertical polarization of the positioning antenna forms perpendicular to the ground, that is, the polarization direction of the positioning antenna forms 90 ° with the ground, and the polarization direction of any positive and negative angle of the positioning antenna forms any positive and negative angle with the ground, so the setting may enable the polarization direction of the positioning antenna to cover all polarization directions, thereby avoiding re-confirmation of the received signal algorithm due to insufficient received signal strength, and further ensuring the positioning efficiency of the indoor positioning method.
In some embodiments of the present application, controlling the positioning antenna to rotate may include: the motor drives and controls the positioning antenna to rotate 360 degrees in one plane, and the driving device can also comprise an antenna radio frequency line hub, the positioning signal processing platform can send a polarization conversion instruction to the positioning base station, the positioning base station can transmit the received polarization conversion instruction to the driving device, the antenna radio frequency line hub of the driving device can be used for receiving the polarization conversion instruction, after receiving the polarization conversion instruction sent by the positioning signal processing platform, the antenna radio frequency line hub can drive the positioning antenna to rotate 360 degrees in one plane through a transmission shaft, so that the polarization direction of the positioning antenna covers all polarization directions, and the polarization direction of the positioning antenna is consistent with the polarization direction of the positioning tag at a certain positioning information collection moment, thereby enabling the positioning signal processing platform to obtain a clear signal with high signal to noise ratio, avoiding the re-confirmation of a signal receiving algorithm due to insufficient received signal strength, improving the positioning accuracy of an indoor positioning method, and also guaranteeing the positioning efficiency of the indoor positioning method.
In some embodiments of the present application, the positioning antenna is controlled to rotate 10 ° in one plane each time, it should be explained that the positioning antenna may rotate in order every 10 ° in one plane, when the antenna radio frequency line hub of the driving device receives the polarization conversion instruction sent by the positioning signal processing platform, the driving motor of the driving device may drive the positioning antenna to rotate 10 ° in one plane through the transmission shaft, after the positioning antenna rotates 10 ° in one plane, the antenna radio frequency line hub of the driving device may transmit the result of the driving device driving the positioning antenna to rotate 10 ° to the positioning signal processing platform through the positioning base station, the positioning signal processing platform may determine whether the positioning antenna has rotated 360 ° after the positioning signal processing platform receives the result of the positioning antenna rotating 10 °, if the positioning signal processing platform judges that the positioning antenna does not rotate 360 degrees, the positioning signal processing platform receives the signal to noise ratio of the positioning signal after the positioning antenna rotates 10 degrees, and determines the positioning information of the positioning label according to the signal to noise ratio of the positioning signal after the positioning antenna rotates 10 degrees, then the positioning signal processing platform continuously sends a polarization conversion instruction to the driving device, when the antenna radio frequency line hub of the driving device receives the polarization conversion instruction sent by the positioning signal processing platform again, the driving motor of the driving device can drive the positioning antenna to rotate 10 degrees in one plane again through the transmission shaft, if the positioning signal processing platform judges that the positioning antenna rotates 360 degrees, the positioning signal processing platform generates the final positioning information of the positioning label according to the positioning signal with the strongest signal to noise ratio, thereby avoiding the positioning defect, thereby ensuring the positioning accuracy of the indoor positioning method.
Specifically, as a specific embodiment of the present application, the indoor positioning method described above may include the steps of:
s01, first, the positioning tag transmits an electromagnetic pulse signal to the positioning antenna.
S02, the positioning antenna transmits the electromagnetic pulse signal to the positioning base station.
S03, the positioning base station acquires a plurality of positioning signals according to electromagnetic pulse signals received by the positioning antenna, calculates the signal-to-noise ratio of each positioning signal, and then transmits the positioning signals and corresponding signal-to-noise ratio information to the transmission switch.
S04, the transmission switch transmits the positioning signal and the corresponding signal-to-noise ratio information to the positioning signal processing platform, and the positioning signal processing platform determines positioning information of the positioning tag according to the signal-to-noise ratio of the positioning signal.
S05, the positioning signal processing platform sends a polarization transformation instruction to the transmission switch.
S06, the transmission exchanger transmits the polarization conversion instruction to the driving device through the positioning base station.
S07, the driving device drives the positioning antenna to rotate for a preset angle (10 degrees) each time after receiving the transmission polarization conversion instruction.
S08, the driving device returns the positioning antenna rotation completion instruction to the positioning signal processing platform through the positioning base station and the transmission switch.
S09, the positioning signal processing platform judges whether the positioning antenna finishes polarization change by 360 degrees.
And S10, if the positioning antenna finishes the polarization change by 360 degrees, the positioning information acquisition is finished.
S11, the positioning signal processing platform takes the positioning signal with the strongest signal-to-noise ratio signal as final positioning information to finish positioning work.
In order to achieve the above-described embodiments, the present application proposes a computer-readable storage medium having stored thereon an indoor positioning program which, when executed by a processor, can implement the indoor positioning method of the above-described embodiments.
The computer readable storage medium of the embodiment of the application can adjust the polarization direction of the positioning antenna 10 in real time, thereby receiving electromagnetic pulse signals in various polarization directions sent by the positioning tag 50, further obtaining a plurality of positioning signals, and selecting a positioning result with higher signal-to-noise ratio strength of the positioning signals as final positioning information by calculating the signal-to-noise ratio of each positioning signal, thereby avoiding positioning errors, improving positioning accuracy and positioning efficiency.
In order to implement the above embodiment, the present application further provides a positioning device, where the positioning device includes a memory, a processor, and an indoor positioning program stored in the memory and capable of running on the processor, and when the processor executes the indoor positioning program, the indoor positioning method of the above embodiment can be implemented.
According to the positioning device of the embodiment of the application, the polarization direction of the positioning antenna 10 can be adjusted in real time by executing the indoor positioning program stored in the memory through the processor, so that electromagnetic pulse signals in various polarization directions sent by the positioning tag 50 can be received, a plurality of positioning signals can be obtained, and a positioning result with higher signal-to-noise ratio strength of the positioning signals can be selected as final positioning information by calculating the signal-to-noise ratio of each positioning signal, thereby avoiding positioning errors, improving positioning accuracy and positioning efficiency.
As shown in fig. 3, the positioning device may include at least one processor 1201, at least one communication interface 1202, at least one memory 1203, and at least one communication bus 1204. In the embodiment of the present application, the number of the processor 1201, the communication interface 1202, the memory 1203, and the communication bus 1204 is at least one, and the processor 1201, the communication interface 1202, and the memory 1203 complete communication with each other through the communication bus 1204.
The Memory 1203 may be, but is not limited to, a random access Memory (Random Access Memory, RAM), a Read Only Memory (ROM), a programmable Read Only Memory (Programmable Read-Only Memory, PROM), an erasable Read Only Memory (Erasable Programmable Read-Only Memory, EPROM), an electrically erasable Read Only Memory (Electric Erasable Programmable Read-Only Memory, EEPROM), etc. The memory 1203 is configured to store a program, and the processor 1201 executes the program after receiving an execution instruction, thereby implementing the steps of the indoor positioning method described in the above embodiment.
The processor 1201 may be an integrated circuit chip having signal processing capabilities. The processor may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU), a network processor (NetworkProcessor, NP), etc.; but also Digital Signal Processors (DSPs), application Specific Integrated Circuits (ASICs), field Programmable Gate Arrays (FPGAs) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. The disclosed methods, steps, and logic blocks in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
It should be noted that the logic and/or steps represented in the flowcharts or otherwise described herein, for example, may be considered as a ordered listing of executable instructions for implementing logical functions, and may be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). In addition, the computer readable medium may even be paper or other suitable medium on which the program is printed, as the program may be electronically captured, via, for instance, optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner, if necessary, and then stored in a computer memory.
It is to be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.
In the description of the present application, "plurality" means two or more.
In the description of the present specification, reference to the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the present application have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the spirit and principles of the application, the scope of which is defined by the claims and their equivalents.
Claims (10)
1. An indoor positioning method, comprising:
controlling the positioning antenna to rotate so as to change the polarization direction of the positioning antenna, so that the polarization direction of the positioning antenna is consistent with the polarization direction of the positioning tag at a certain positioning information collection moment;
the method comprises the steps that the number of the positioning base stations is more than or equal to four, electromagnetic pulse signals sent by positioning labels are received through positioning antennas with changeable polarization directions, and therefore a plurality of positioning signals are obtained;
calculating the signal-to-noise ratio of each positioning signal;
determining the positioning information of the positioning tag according to the signal-to-noise ratio of each positioning signal;
the polarization direction of the positioning antenna comprises horizontal polarization, vertical polarization and polarization of any positive and negative angle.
2. The indoor positioning method of claim 1, wherein determining the positioning information of the positioning tag according to the signal-to-noise ratio of each positioning signal comprises:
and acquiring the positioning signal with the strongest signal-to-noise ratio in the plurality of positioning signals, and determining the positioning information of the positioning tag according to the positioning signal with the strongest signal-to-noise ratio.
3. The indoor positioning method according to any one of claims 1-2, wherein controlling the positioning antenna to rotate comprises:
and controlling the positioning antenna to rotate 360 degrees in one plane.
4. An indoor positioning method according to claim 3, wherein the positioning antenna is controlled to rotate 10 ° at a time in one plane.
5. A computer readable storage medium, characterized in that it has stored thereon an indoor positioning program, which when executed by a processor implements the indoor positioning method according to any of claims 1-4.
6. A positioning device comprising a memory, a processor and an indoor positioning program stored on the memory and executable on the processor, the processor implementing the indoor positioning method according to any one of claims 1-4 when executing the indoor positioning program.
7. An indoor positioning system, comprising:
the driving device is used for driving the positioning antenna to rotate so as to change the polarization direction of the positioning antenna, so that the polarization direction of the positioning antenna is consistent with the polarization direction of the positioning tag at a certain positioning information collection moment;
the positioning antenna is used for receiving electromagnetic pulse signals sent by the positioning tag;
the positioning base stations are arranged in number of more than or equal to four and are used for acquiring a plurality of positioning signals according to electromagnetic pulse signals received by the positioning antennas with changeable polarization directions and calculating the signal-to-noise ratio of each positioning signal;
the positioning signal processing platform is used for determining positioning information of the positioning tag according to the signal-to-noise ratio of each positioning signal;
the polarization direction of the positioning antenna comprises horizontal polarization, vertical polarization and polarization of any positive and negative angle.
8. The indoor positioning system of claim 7, wherein the positioning signal processing platform is further configured to obtain a positioning signal with a strongest signal-to-noise ratio of the plurality of positioning signals, and determine positioning information of the positioning tag according to the positioning signal with the strongest signal-to-noise ratio.
9. The indoor positioning system of any of claims 7-8, wherein the positioning signal processing platform is further configured to send a polarization conversion command to the driving device via the positioning base station, so that the driving device drives the positioning antenna to rotate 360 ° in one plane.
10. The indoor positioning system of claim 9, wherein the positioning antenna rotates 10 ° at a time in one plane.
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