CN114814726B

CN114814726B - Method and device for determining spatial orientation of target entity

Info

Publication number: CN114814726B
Application number: CN202210744839.0A
Authority: CN
Inventors: 刘羽; 裴禾; 罗琴瑶; 王少辰
Original assignee: Hunan Normal University
Current assignee: Hunan Normal University
Priority date: 2022-06-29
Filing date: 2022-06-29
Publication date: 2022-10-18
Anticipated expiration: 2042-06-29
Also published as: CN114814726A

Abstract

The application provides a method and a device for determining a spatial orientation of a target entity, and relates to the technical field of positioning. Firstly, synchronizing a clock signal to a slave base station, then receiving a first positioning signal sent by a target entity and a second positioning signal fed back by the slave base station, and recording time information of the received first positioning signal; the first positioning signal comprises movement direction, acceleration and movement angle information, the movement direction, the acceleration and the movement angle are obtained through a gyroscope and an accelerometer, the position information of the target entity is determined according to the time information and the second positioning signal, and finally the real space position of the target entity is determined according to the position information, the movement direction, the acceleration and the movement angle of the target entity. The method and the device for determining the spatial orientation of the target entity have the advantage of higher positioning accuracy.

Description

Method and device for determining spatial orientation of target entity

Technical Field

The present application relates to the field of positioning technologies, and in particular, to a method and an apparatus for determining a spatial orientation of a target entity.

Background

UWB (Ultra wide band) is a carrier-free communication technology that uses non-sinusoidal narrow pulses on the nanosecond to microsecond level to transmit data. Centimeter-level positioning can be realized by using UWB signals, and the method is very suitable for places with high positioning precision requirements.

However, when positioning is performed by using the UWB technology, a problem of signal interference may occur, for example, in some indoor places, when there are many metal structures, interference of UWB signals is large, and positioning accuracy is reduced.

In view of this, the prior art has a problem that when UWB positioning is used, the positioning accuracy is low.

Disclosure of Invention

The present application aims to provide a method and an apparatus for determining a spatial orientation of a target entity, so as to solve the problem of low UWB positioning accuracy in the prior art.

In order to achieve the above purpose, the embodiments of the present application employ the following technical solutions:

in one aspect, an embodiment of the present application provides a method for determining a spatial orientation of a target entity, which is applied to a master base station of a UWB positioning system, where the UWB positioning system further includes a slave base station and the target entity, the target entity is provided with a gyroscope and an accelerometer, and the method includes:

synchronizing a clock signal to the slave base station;

receiving a first positioning signal sent by the target entity and a second positioning signal fed back by the slave base station, and recording time information of receiving the first positioning signal; the first positioning signal comprises information of a motion direction, an acceleration and a motion angle, and the motion direction, the acceleration and the motion angle are obtained through the gyroscope and the accelerometer;

determining the position information of the target entity according to the time information and the second positioning signal;

and determining the real space orientation of the target entity according to the position information, the motion direction, the acceleration and the motion angle of the target entity.

Optionally, the step of receiving the first positioning signal sent by the target entity includes:

a dock for acquiring the first positioning signal;

and when the wharf is a target wharf, using the positioning data behind the wharf as the required positioning data.

and when the target entity is in an editing mode, editing the wharf of the first positioning signal, and storing the edited wharf.

Optionally, the wharf of the first positioning signal includes a master wharf and a slave wharf, and after the step of determining the real space orientation of the target entity according to the position information of the target entity, the motion direction, the acceleration and the motion angle, the method further includes:

and sending the real space position corresponding to the slave wharf to a target entity associated with the master wharf.

Optionally, the method further comprises:

determining a distance between a target entity associated with the master terminal and a target entity associated with the slave terminal;

and when the distance is larger than a first threshold value or the distance is smaller than a second threshold value, generating an early warning instruction, and sending the early warning instruction to a target entity associated with the main wharf.

Optionally, the step of determining the real spatial orientation of the target entity according to the position information of the target entity, the motion direction, the acceleration and the motion angle includes:

and fusing the position information, the motion direction, the acceleration and the motion angle of the target entity according to a Kalman filtering model to determine the real space orientation of the target entity.

Optionally, the step of receiving the second positioning signal fed back from the base station includes:

and receiving the time stamp fed back from the base station.

On the other hand, this application embodiment still provides a spatial orientation of target entity and confirms device, is applied to UWB positioning system's main base station, UWB positioning system still includes from base station and target entity, the last gyroscope and the accelerometer that is provided with of target entity, the device includes:

a signal transmitting unit for synchronizing a clock signal to the slave base station;

a signal receiving unit, configured to receive a first positioning signal sent by the target entity and a second positioning signal fed back from the base station, and record time information of receiving the first positioning signal; the first positioning signal comprises information of a motion direction, an acceleration and a motion angle, and the motion direction, the acceleration and the motion angle are acquired through the gyroscope and the accelerometer;

the signal processing unit is used for determining the position information of the target entity according to the time information and the second positioning signal;

and the signal processing unit is also used for determining the real space orientation of the target entity according to the position information, the motion direction, the acceleration and the motion angle of the target entity.

Optionally, the signal receiving unit includes:

the signal acquisition module is used for acquiring the wharf of the first positioning signal;

and the signal determining module is used for taking the positioning data behind the wharf as the required positioning data when the wharf is a target wharf.

Optionally, the signal receiving unit is further configured to edit the dock of the first positioning signal when the target entity is in an editing mode, and store the edited dock.

Compared with the prior art, the method has the following beneficial effects:

the method is applied to a main base station of a UWB positioning system, the UWB positioning system also comprises a slave base station and a target entity, a gyroscope and an accelerometer are arranged on the target entity, firstly, a synchronous clock signal is selected from the slave base station, then a first positioning signal sent by the target entity and a second positioning signal fed back by the slave base station are received, and time information of the received first positioning signal is recorded; the first positioning signal comprises movement direction, acceleration and movement angle information, the movement direction, the acceleration and the movement angle are obtained through a gyroscope and an accelerometer, the position information of the target entity is determined according to the time information and the second positioning signal, and finally the real space position of the target entity is determined according to the position information, the movement direction, the acceleration and the movement angle of the target entity. On one hand, when the method and the device are used for space positioning, the clock signal of the master base station is firstly used for synchronizing the clock of the master base station and the clock of the slave base station, and therefore the accuracy in determining the position information of the target entity can be guaranteed. On the other hand, the position information, the motion direction, the acceleration and the motion angle of the target entity are adopted to determine the real space orientation of the target entity, so that inertial navigation is fused for positioning, and the positioning accuracy is higher.

In order to make the aforementioned objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and it will be apparent to those skilled in the art that other related drawings can be obtained from the drawings without inventive effort.

Fig. 1 is a schematic diagram of interaction between a base station and a tag in the prior art.

Fig. 2 is a diagram illustrating positioning using multiple base stations in the prior art.

Fig. 3 is a schematic layout diagram of a UWB positioning system according to an embodiment of the present application.

Fig. 4 is a schematic block diagram of a master base station according to an embodiment of the present disclosure.

Fig. 5 is an exemplary flowchart of a method for determining a spatial orientation of a target entity according to an embodiment of the present application.

Fig. 6 is a block diagram of an apparatus for determining a spatial orientation of a target entity according to an embodiment of the present application.

In the figure: 100-a master base station; 101-a processor; 102-a memory; 103-a communication interface; 200-means for determining the spatial orientation of the target entity; 210-a signal transmitting unit; 220-a signal receiving unit; 230-signal processing unit.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined or explained in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not construed as indicating or implying relative importance.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.

Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.

UWB (Ultra wide band) is a carrier-free communication technology, and when positioning is performed by using the UWB technology, a TDOA (Time Difference Of Arrival) method is generally used for the positioning.

TDOA location is a method of location using time differences. By measuring the time of arrival of the signal at the base station, the distance of the signal source can be determined. The location of the signal can be determined by the distance from the signal source to each base station (circle is made with the base station as the center and the distance as the radius). However, the absolute time is generally difficult to measure, and by comparing the absolute time difference of the arrival of the signal at each base station, a hyperbola with the base station as the focus and the distance difference as the major axis can be made, and the intersection point of the hyperbola is the position of the signal.

For example, referring to fig. 1, fig. 1 includes a base station a, a base station B and a base station C, when the tag moves to the position of the point X, because the distance between the point X and each base station is different, if the tag sends a test signal at this time, the time when the base station a, the base station B and the base station C receive the test signal is a1, B1 and C1, respectively. The time difference between the base station A and the base station B is calculated to be a1-B1, and the time difference between the base station B and the base station C is calculated to be B1-C1. If the tag continues to move to the point Y, the time difference between the base station a and the base station B at this time is calculated as a2-B2, and the time difference between the base station B and the base station C is calculated as B2-C2. Since the coordinates of base station a, base station B, and base station C are known, the following equations can be followed:

range difference = time difference electromagnetic wave velocity;

the distance difference is determined by coordinates of the base station a, the base station B and the tag, and the coordinates of the tag are unknown quantities, so that a position curve based on the time difference can be drawn, and the position curve is a hyperbolic curve. Similarly, another hyperbola can be determined through the time difference between the base station B and the base station C and the coordinates of the base station B and the base station C, and the intersection point of the two hyperbolas is the position of the label, so that the specific position of the label is determined.

Referring to fig. 2, fig. 2 is a schematic diagram illustrating positioning by using a plurality of base stations, wherein a hyperbola 1 can be determined according to a time difference and a coordinate between a base station a and a base station B, a hyperbola 2 can be determined according to a time difference and a coordinate between a base station B and a base station C, and an intersection point of the hyperbola 1 and the hyperbola 2 is a coordinate when the tag is located at a point X at this time.

However, as described in the background art, in practical applications, in some indoor locations, there are many metal structures, which may cause interference of UWB signals to be large, and thus, positioning accuracy is reduced.

In view of this, the present application provides a method for determining a spatial orientation of a target entity, which improves positioning accuracy by using a method combining inertial navigation and UWB positioning technologies.

It should be noted that the spatial orientation determination of the target entity provided in the present application can be applied to a master base station of a UWB positioning system, please refer to fig. 3, the UWB positioning system further includes slave base stations and target entities, the master base station is in communication connection with each slave base station, so as to implement data interaction, and the target entity is positioned through the master base station and the slave base stations.

Fig. 4 shows a schematic structural block diagram of a main base station 100 provided in the embodiment of the present application, where the main base station includes a memory 102, a processor 101, and a communication interface 103, and the memory 102, the processor 101, and the communication interface 103 are electrically connected to each other directly or indirectly to implement transmission or interaction of data. For example, the components may be electrically connected to each other via one or more communication buses or signal lines.

The memory 102 may be configured to store software programs and modules, such as program instructions or modules corresponding to the frozen soil zonal mapping apparatus provided in the embodiment of the present application, and the processor 101 executes the software programs and modules stored in the memory 102 to execute various functional applications and data processing, thereby executing the step of determining the spatial orientation of the target entity provided in the embodiment of the present application. The communication interface 103 may be used for communicating signaling or data with other node devices.

The Memory 102 may be, but is not limited to, a Random Access Memory (RAM), a Read Only Memory (ROM), a Programmable Read-Only Memory (PROM), an Erasable Read-Only Memory (EPROM), an electrically Erasable Programmable Read-Only Memory (EEPROM), and the like.

The processor 101 may be an integrated circuit chip having signal processing capabilities. The Processor 101 may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; 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.

It will be appreciated that the configuration shown in figure 4 is merely illustrative and that the primary base station may also include more or fewer components than shown in figure 4 or have a different configuration than that shown in figure 4. The components shown in fig. 4 may be implemented in hardware, software, or a combination thereof. Also, in one implementation, the slave base station is identical in structure to the master base station.

The following takes a main base station as an exemplary execution subject, and exemplarily illustrates the determination of the spatial orientation of the target entity provided by the embodiment of the present application.

As an alternative implementation, referring to fig. 5, the determining the spatial orientation of the target entity includes:

s102, synchronizing the clock signal to the slave base station.

S104, receiving a first positioning signal sent by a target entity and a second positioning signal fed back from a base station, and recording time information of the received first positioning signal; the first positioning signal comprises movement direction, acceleration and movement angle information, and the movement direction, the acceleration and the movement angle are obtained through the gyroscope and the accelerometer.

And S106, determining the position information of the target entity according to the time information and the second positioning signal.

And S108, determining the real space orientation of the target entity according to the position information, the motion direction, the acceleration and the motion angle of the target entity.

When determining the spatial orientation of the target entity, at least three base stations need to be set, for example, 4 base stations may be set, or 5 base stations may also be set, which may be applied according to actual conditions, so as to ensure that the entire indoor space is covered. For example, the space of target entities provided by the present applicationThe position determining method can be positioning in a large-scale market, on the basis, because the occupied areas of the markets are different, if the market A is 1000m ² Then 3 base stations are needed; if mall A is 5000m ² It may need to set 5 base stations to fully cover all areas, so as to ensure that the target entity can be accurately positioned when moving in the space, no matter moving to any area.

In addition, the present application is not limited to the master base station and the slave base stations, and for example, in one implementation, the slave base stations and the master base station have the same structure, and one of all the base stations may be selected as the master base station, and the remaining base stations may be set as the slave base stations, and the slave base stations may synchronize the acquired data to the master base station.

Certainly, the present application also does not limit the target entity, for example, the target entity may be a positioning tag, and only needs to perform data interaction with the master base station and the slave base station. For example, the command transmitted by the master base station may be received and signals may be transmitted to the master base station and the slave base station.

As an implementation manner, the specific structure of the target entity is not limited, for example, it may be a bracelet, and when the user shops in a shopping mall, the user only needs to carry the bracelet to know the current position of the user in real time, and then can determine the distance between each shop and the user, and the user cannot get lost in the shopping mall. Of course, the target entity may be a tag, etc., and is not limited herein.

In order to realize positioning by combining inertial navigation, a gyroscope and an accelerometer are arranged in the target entity, and inertial navigation data such as the motion direction, the acceleration and the motion angle of the current position can be acquired.

When the target entity needs to be located, there may be a difference in actual crystal oscillators between different base stations because clocks between the master base station and the slave base station may not be uniform. On the basis, in order to unify the clocks, the master base station synchronizes a clock signal to each slave base station, and of course, the master base station can also synchronize a clock signal to a target entity, so that all the devices can operate under the unified clock in the UWB positioning system.

The synchronous clock signal is directed to the slave base station or the target entity to send a clock signal, and the slave base station or the target entity adjusts the clock signal of the slave base station or the target entity by taking the clock signal as a time base.

After synchronizing the clock signals, the UWB positioning system may be utilized to determine location information of the target entity. For example, in one implementation, a test enable signal may be sent to the target entity through the master base station to enable the target entity to feed back a first positioning signal, which may be received by the master base station and the slave base station, and due to the different locations of the target entity, the time points at which the master base station and the slave base station receive the first positioning signal are also different. For example, when the target entity is located at position 1, the master base station receives the first positioning signal 0.1S earlier than the slave base station; and when the target entity is positioned at the position 2, the main base station receives a first positioning signal 0.2S after the slave base station.

In another implementation, the target entity may also send the first positioning signal periodically, for example, the target entity sends the positioning signal every 0.2S, so that the master base station and the slave base station perform real-time positioning on the target entity.

When the main base station receives the first positioning signal, it records the time information of the received first positioning signal and analyzes the first positioning signal, for example, when the first positioning signal carries the motion direction, acceleration and motion angle information, the main base station can analyze all inertial navigation data through the first positioning signal. When the slave base station receives the first positioning signal, it may directly forward to the master base station, or may also record the time information of receiving the first positioning signal, and analyze the first positioning signal, which is not limited herein.

When the master base station receives the second positioning signal sent by the slave base station, the distances between the target entity and the master base station and between the target entity and the slave base station can be determined. It should be noted that, if the slave base station directly forwards the first positioning signal to the master base station after receiving the first positioning signal, when the master base station receives the second positioning signal from the slave base station, the time spent from the slave base station to the master base station may be actually included, so that the finally determined position information may have a deviation.

Therefore, in the present application, preferably, when the first positioning signal is received from the base station, the timestamp of the received first positioning signal is recorded, the second positioning signal is generated by the timestamp and sent to the master base station, and the master base station can obtain the corresponding timestamp after analyzing the second positioning signal, and then position the target entity by using the TDOA positioning method as shown in fig. 2, so as to determine the position information of the target entity.

In addition, in order to improve the accuracy of positioning the target entity, the real spatial orientation of the target entity needs to be determined according to the position information, the motion direction, the acceleration and the motion angle of the target entity.

According to the method for determining the spatial orientation of the target entity, on one hand, because the method utilizes the synchronous clock signal of the master base station firstly when the space positioning is carried out, the clock of the master base station is synchronous with that of the slave base station, and the accuracy when the position information of the target entity is determined can be further ensured. On the other hand, the position information, the motion direction, the acceleration and the motion angle of the target entity are adopted to determine the real space orientation of the target entity, so that inertial navigation is fused for positioning, and the positioning accuracy is higher.

When the real space orientation of the target entity is determined by using inertial navigation, the position information, the motion direction, the acceleration and the motion angle of the target entity can be fused according to a Kalman filtering model to determine the real space orientation of the target entity. Wherein, the resolving formula is as follows:

Xk＝Fk*Xk-1+Bk*Uk

wherein x is the state of a target entity, p is the position of the target entity, v is the velocity of the target entity, pk is the covariance matrix at the time k, xk is the state of the target entity at the time k, xk-1 is the state of the target entity at the time k-1, fk is a prediction matrix transformed from the state Xk-1 to the state Xk, Δ t is the time difference between the time k and the time k-1, a is the acceleration of the target entity at the time k, bk is the control matrix, uk is the control vector, and Qk is the covariance matrix.

Through the Kalman filtering model, the position information of the target entity calculated according to the UWB positioning signals and the movement speed and the acceleration measured based on the inertial measurement element (gyroscope and accelerometer) are simultaneously used as input parameters, and when the position information of the target entity drifts, the calculation of the movement speed and the acceleration is used for correcting, so that the real space position of the calculated target entity is closer to the real position, errors caused by the position calculation of the target entity when the UWB positioning signals are interfered are avoided, and the calculation precision of the position information of the target entity is improved.

In practical applications, interference caused by clutter signals may also occur, for example, the target entity does not send a positioning signal, but the master base station and the slave base station may also receive an interference signal, thereby achieving wrong positioning, or when the positioning signal and the interference signal occur simultaneously, the master base station cannot distinguish which signal is used for positioning.

In view of the above, in order to perform positioning by using the first positioning signal sent by the target entity quickly, the step S104 includes:

and S1041, acquiring a wharf of the first positioning signal.

And S1042, when the wharf is a target wharf, using the positioning data behind the wharf as required positioning data.

In this application promptly, first locating signal is provided with the pier, and with the mode through discernment pier, can judge whether for interference signal. Wherein, the pier is generally a string of character string, for example, 010101 is the pier, and after main base station received first locating signal, can carry out pier discernment earlier, if the pier of first locating signal is 010101, then indicate that this signal sends for the target entity, can resolve the positioning data behind the pier to as the positioning data of demand, for example the positioning data behind the pier includes data such as direction of motion, acceleration and motion angle information. When the dock of the first positioning signal is not 010101, it indicates that the signal is not a positioning signal transmitted by the target entity, and the signal is not analyzed.

Of course, as an implementation, all the docks of the target entities are consistent, for example, the docks are 010101; as another implementation, the wharfs of the target entity may also have a difference, for example, the wharf of the target entity includes two types, which are 010101 and 000000, the main base station first acquires the wharf of the first positioning signal after receiving the first positioning signal, and when the wharf is 010101 or 000000, it is determined that the first positioning signal is sent by the target entity, otherwise, the first positioning signal is an interference signal.

It should be noted that, in practical applications, the dock may be used to determine not only whether it is an interference signal, but also the type of the user. For example, the wharf is divided into 010101 and 000000, so that the target entities can be divided into two categories, specifically, the target entities have different colors, sizes, shapes, and the like. And, one type of target entity is used by a common customer, another type of target entity is used by a VIP customer, and the target entity used by the VIP customer may have more functions, for example, it may be used not only for positioning, but also for adding functions such as intelligent recommendation, finding a distance from a destination, and the like, and is not limited herein.

Moreover, in another alternative implementation, in addition to the above functions, the dock may be used to implement a customized service, for example, before S104, the method further includes:

and S103, when the target entity is in the editing mode, editing the wharf of the first positioning signal, and storing the edited wharf.

That is, in this embodiment, the wharf of each target entity may be changed, for example, when the wharf is not edited, the wharf of each target entity is consistent, for example, the wharf is 010101, and when any user uses the wharf, the wharf may be edited to indicate that the target entity is being used.

It should be noted that, as an implementation, the wharf may be randomly generated, for example, when the user a uses the target entity a, the wharf of the target entity a is 001001 when the wharf of the target entity a is editing, and after the user a finishes using, the wharf of the target entity a returns to zero and returns to the initial wharf again. When the user B reuses the target entity a, the dock of the target entity a is 001101 when editing. The randomness of the first positioning signal can be improved by randomly setting the wharf using the target entity each time, and the condition that the interference signal also carries the same wharf is further reduced.

As another implementation, the dock may be fixed, for example, when the user registers, the system automatically distributes to the user a dock, for example, the dock used by user a is 000001, and the dock used by user B is 010001. When user a is using the target entity, the target entity is set in edit mode and the quay of the target entity is changed to 000001, and when user B is using the target entity, the target entity is set in edit mode and the quay of the target entity is changed to 010001.

Through the implementation mode, on one hand, customized management of the user can be achieved, namely when the number of the target entities is 1000, no matter which target entity is used by the user, the wharf is edited as the special wharf of the user, so that interaction of signals between the target entity and the main base station is achieved, meanwhile, the user is identified by the aid of the wharf, and customized services for the user can be added on the basis of user identification. For a certain market, the user has selected to eat the chafing dish in the market when shopping last time, so that when the user shops again, similar merchants are recommended intelligently, and details are not repeated herein.

It should be noted that, in the present application, the method for editing the dock of the first positioning signal may be that the main base station first sends an instruction to the target entity to make the target entity be in an editing mode, and then sends the dock to the target entity to make the target entity change the dock of the target entity, and when the target entity sends the first positioning signal again, the dock of the first positioning signal is the changed dock.

Moreover, by customizing the wharf of the target entity, management between the target entity and the target entity can also be achieved. For example, in an alternative implementation, the wharf of the first positioning signal may include a master wharf and a slave wharf, where the master wharf is associated with the slave wharf, and a target entity corresponding to the master wharf may be used to manage a target entity corresponding to the slave wharf, and on this basis, after S108, the method further includes:

and S110, sending the real space orientation corresponding to the slave wharf to a target entity associated with the master wharf.

For example, when a user shops at a shopping mall, the user may carry a child or drive a car, and the child may run to other areas to play and be difficult to find once the user is distracted. Or when the user drives the car, because the market parking stall is more, and general user is not familiar with the parking stall in the market, therefore after the shopping is accomplished, the condition that the user can't find oneself parking position may appear.

And through the mode of setting up principal and subordinate's pier, can utilize the processing of user to the condition more, for example, the user can oneself carry the target entity that the principal pier corresponds, wears the target entity that corresponds from the pier on child's body simultaneously, then when the user is shopping, still can see child's current position in real time. Or, the target entity corresponding to the slave wharf can be placed on the vehicle, and when the user needs to find the vehicle, the position of the vehicle can be directly checked, so that the user can find the vehicle conveniently.

It should be noted that, the number of the target entities corresponding to the slave wharfs is not limited in the present application, for example, the target entity corresponding to the master wharf and the target entity corresponding to the slave wharf are in a one-to-one relationship, or the target entity corresponding to the master wharf and the target entity corresponding to the slave wharf are in a one-to-two relationship, and then the spatial orientations of the target entities corresponding to the two slave wharfs can be simultaneously viewed through the target entity corresponding to the master wharf.

It should be further noted that when the spatial orientation of the target entity corresponding to the slave wharf is viewed, the target entity corresponding to the master wharf may be viewed directly, and in this case, the target entity may be a device with a display screen. Alternatively, the user may also view the space orientation of the target entity corresponding to the dock through another device, for example, a smart terminal product such as a mobile phone, which is not limited herein.

Further, to be able to function as a prompt for a user, in one implementation, the method further comprises:

and S112, determining the distance between the target entity associated with the main wharf and the target entity associated with the auxiliary wharf.

And S114, when the distance is larger than the first threshold value or smaller than the second threshold value, generating an early warning instruction, and sending the early warning instruction to a target entity associated with the main wharf.

The main base station can simultaneously acquire the spatial orientation of the target entity associated with the main wharf and the spatial orientation of the target entity associated with the auxiliary wharf, so that the distance between the main base station and the auxiliary wharf can be determined through the spatial orientations of the main base station and the auxiliary wharf. And when the distance is larger than a certain value or smaller than a certain value, a corresponding early warning is given to the user. The pre-warning means includes but is not limited to vibration, beeping, etc.

For example, since some children are active, but may be dangerous if they are far from the parent, when the distance between them is greater than the first threshold, an early warning signal is sent to the target entity associated with the main dock to warn, for example, the first threshold is set to 100m. And when the user needs to find the vehicle, when the distance between the user and the vehicle is smaller than the second threshold value, the main base station can also send an early warning signal to a target entity associated with the main wharf for early warning, and if the second threshold value is set to be 10m.

Therefore, by editing the wharf of the target entity, customized service for the user can be realized on the basis of positioning.

Based on the foregoing implementation manner, please refer to fig. 6, an embodiment of the present application further provides an apparatus 200 for determining a spatial orientation of a target entity, which is applied to a master base station of a UWB positioning system, where the UWB positioning system further includes a slave base station and the target entity, and the target entity is provided with a gyroscope and an accelerometer, and the apparatus includes:

a signal transmitting unit 210 for synchronizing a clock signal to the slave base station.

It is understood that the above S102 may be performed by the signal transmission unit 210.

A signal receiving unit 220, configured to receive a first positioning signal sent by a target entity and a second positioning signal fed back from a base station, and record time information of receiving the first positioning signal; the first positioning signal comprises movement direction, acceleration and movement angle information, and the movement direction, the acceleration and the movement angle are obtained through the gyroscope and the accelerometer.

It is understood that the above S104 may be performed by the signal receiving unit 220.

The signal processing unit 230 is configured to determine the location information of the target entity according to the time information and the second positioning signal.

It is understood that S106 described above may be performed by the signal processing unit 230.

The signal processing unit 230 is further configured to determine a real space orientation of the target entity according to the position information, the motion direction, the acceleration, and the motion angle of the target entity.

It is understood that S108 described above may be performed by the signal processing unit 230.

The signal receiving unit 220 includes:

and the signal acquisition module is used for acquiring the wharf of the first positioning signal.

It is to be understood that the communication signal acquiring module may execute S1041 described above.

It is understood that the signal determination module may perform S1042 described above.

Optionally, the signal receiving unit 220 is configured to edit the dock of the first positioning signal when the target entity is in the editing mode, and store the edited dock.

Of course, each step in the above embodiments may correspond to a virtual module, and the virtual module is configured to execute the corresponding step.

In summary, the present application provides a method and an apparatus for determining a spatial orientation of a target entity, where the method is applied to a master base station of a UWB positioning system, the UWB positioning system further includes a slave base station and a target entity, the target entity is provided with a gyroscope and an accelerometer, firstly, a synchronous clock signal is selected from the slave base station, then, a first positioning signal sent by the target entity and a second positioning signal fed back from the slave base station are received, and time information of the received first positioning signal is recorded; the first positioning signal comprises movement direction, acceleration and movement angle information, the movement direction, the acceleration and the movement angle are obtained through a gyroscope and an accelerometer, the position information of the target entity is determined according to the time information and the second positioning signal, and finally the real space position of the target entity is determined according to the position information, the movement direction, the acceleration and the movement angle of the target entity. On one hand, when the space positioning is carried out, the clock signal is synchronized by the main base station, so that the clock of the main base station is synchronized with that of the slave base station, and the accuracy of the position information of the target entity can be ensured. On the other hand, the position information, the motion direction, the acceleration and the motion angle of the target entity are adopted to determine the real space orientation of the target entity, so that inertial navigation is fused for positioning, and the positioning accuracy is higher.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The apparatus embodiments described above are merely illustrative and, for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s).

It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved.

It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

In addition, each functional module in the embodiments of the present application may be integrated together to form an independent part, or each module may exist alone, or two or more modules may be integrated to form an independent part.

The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: u disk, removable hard disk, read only memory, random access memory, magnetic or optical disk, etc. for storing program codes.

Although the present invention is disclosed above, the present invention is not limited thereto. Various changes and modifications may be effected therein by one skilled in the art without departing from the spirit and scope of the invention as defined in the appended claims.

Claims

1. A method for determining the spatial orientation of a target entity is applied to a master base station of a UWB positioning system, and is characterized in that the UWB positioning system further comprises a slave base station and the target entity, wherein a gyroscope and an accelerometer are arranged on the target entity, and the method comprises the following steps:

synchronizing a clock signal to the slave base station;

when the target entity is in an editing mode, editing the wharf of the first positioning signal, and storing the edited wharf;

receiving a first positioning signal sent by the target entity and a second positioning signal fed back from the base station, and recording time information of the received first positioning signal; the first positioning signal comprises information of a motion direction, an acceleration and a motion angle, and the motion direction, the acceleration and the motion angle are acquired through the gyroscope and the accelerometer;

determining the real space orientation of the target entity according to the position information, the motion direction, the acceleration and the motion angle of the target entity; wherein the content of the first and second substances,

the wharf of the first positioning signal comprises a master wharf and a slave wharf, and after the step of determining the real space orientation of the target entity according to the position information of the target entity, the motion direction, the acceleration and the motion angle, the method further comprises:

sending a real spatial orientation corresponding to the slave wharf to a target entity associated with the master wharf;

the method further comprises the following steps:

2. The method of determining spatial orientation of a target entity of claim 1 wherein the step of receiving a first positioning signal transmitted by the target entity comprises:

a dock for acquiring the first positioning signal;

3. The method of claim 1, wherein the step of determining the true spatial orientation of the target entity based on the position information of the target entity, the motion direction, the acceleration, and the motion angle comprises:

4. The method of determining spatial orientation of a target entity of claim 1 wherein the step of receiving the second positioning signal fed back from the base station comprises:

and receiving the time stamp fed back from the base station.

5. The utility model provides a spatial orientation of target entity confirms device, is applied to UWB positioning system's master base station, characterized by that, UWB positioning system still includes from base station and target entity, the last gyroscope and the accelerometer of being provided with of target entity, the device includes:

the signal receiving unit is used for editing the wharf of the first positioning signal when the target entity is in an editing mode and storing the edited wharf;

the signal processing unit is also used for determining the real space orientation of the target entity according to the position information, the motion direction, the acceleration and the motion angle of the target entity; wherein, the first and the second end of the pipe are connected with each other,

the wharf of the first positioning signal comprises a master wharf and a slave wharf, and the signal sending unit is further configured to send a real space orientation corresponding to the slave wharf to a target entity associated with the master wharf;

the signal processing unit is further used for determining the distance between a target entity associated with the main wharf and a target entity associated with the auxiliary wharf; and when the distance is larger than a first threshold value or the distance is smaller than a second threshold value, generating an early warning instruction, and sending the early warning instruction to a target entity associated with the main wharf.

6. The apparatus for determining spatial orientation of a target entity of claim 5, wherein the signal receiving unit comprises:

the signal acquisition module is used for acquiring a wharf of the first positioning signal;