CN104678358A - Positioning method, positioning device and positioning system - Google Patents
Positioning method, positioning device and positioning system Download PDFInfo
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- CN104678358A CN104678358A CN201310625972.5A CN201310625972A CN104678358A CN 104678358 A CN104678358 A CN 104678358A CN 201310625972 A CN201310625972 A CN 201310625972A CN 104678358 A CN104678358 A CN 104678358A
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- information
- auxiliary locator
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/14—Determining absolute distances from a plurality of spaced points of known location
Abstract
The invention discloses a positioning method, a positioning device and a positioning system. The positioning method comprises the steps of obtaining distance information between the same device to be positioned and N auxiliary positioning devices and the positioning information of the N auxiliary positioning devices, wherein the distance information is obtained based on an electromagnetic signal transmitted between the device to be positioned and the N auxiliary positioning devices, and N is a positive integer larger than or equal to 3; according to the obtained distance information and the position information of the N auxiliary positioning devices, determining the position of the device to be positioned. By the technical scheme, the problem of low precision in a positioning scheme, particularly under an indoor environment, in the prior art is solved.
Description
Technical field
The present invention relates to electronic device field, particularly relate to a kind of localization method, locating device and positioning system.
Background technology
The application that various position is relevant, seems more and more important in its purposes of mobile Internet epoch and status, and a lot of military affairs are civilian all depends on accurate location.In the indoor environments such as megastore, public place of entertainment, supermarket shopping center or parking lot, fast and accurately personnel are positioned, for carrying out location Based service (LBS, Location Based Service), as shopping route guidance, stop instruction, specific region business information delivery etc. all have very positive meaning.
Traditional mobile terminal locator meams mainly contains GPS, GSM base station and Zigbee location etc.GPS is comparatively large by building defilade, weather conditions and satellite signals disturbing effect, should not use in indoor or enclosed environment.GSM is then the mode based on cellular mobile communication, itself positioning precision is low general at more than 50m, and its uplink and downlink communication is subject to shielding of building function influence equally, especially under the large-scale indoor environment of people's stream aggregation, communication conditions is severe, and positioning function is difficult to realize.Zigbee is then mainly used in industry spot short-distance networking and communicates with control, Zigbee module exists not general in people's mobile terminal used in everyday, therefore Zigbee to be used to realize location and to need specific mobile terminal device, cost price is too high, is not suitable for the routine use with people.
How to realize accurate location, especially indoor positioning is the anxious technical issues that need to address.
Summary of the invention
The invention provides a kind of localization method, locating device and positioning system, solve the accurate not problem of targeting scheme in prior art, especially under indoor environment.
For solving the problems of the technologies described above, the present invention by the following technical solutions:
A kind of localization method, comprises the following steps:
Obtain the range information between same device to be positioned and N number of auxiliary locator, and the positional information of described N number of auxiliary locator; Described range information draws based on the electromagnetic signal transmitted between described device to be positioned and described N number of auxiliary locator; N be more than or equal to 3 positive integer;
According to the range information got, and the positional information of described N number of auxiliary locator determines the position of described device to be positioned.
Further, the range information between the same device to be positioned of described acquisition and N number of auxiliary locator, and the positional information of described N number of auxiliary locator comprises:
Receive the range information between itself and described N number of auxiliary locator that sent by described device to be positioned or the characteristic information for drawing this range information, and the positional information of described N number of auxiliary locator or identification information;
Or, receive the range information between itself and described device to be positioned that sent by described N number of auxiliary locator or the characteristic information for drawing this range information; And the positional information of described N number of auxiliary locator or identification information;
If receive the characteristic information of this range information, then also comprise and draw range information according to this characteristic information;
If receive the identification information of described N number of auxiliary locator, then also comprise the identification information according to receiving, and in its range of management prestored, the corresponding relation of all auxiliary locator identification informations and its positional information finds out the positional information of described N number of auxiliary locator.
Further, receive the range information between itself and described N number of auxiliary locator that sent by described device to be positioned or the characteristic information for drawing this range information, and before the positional information of described N number of auxiliary locator or identification information, also comprise:
Described N number of auxiliary locator sends electromagnetic signal to described device to be positioned; Described device to be positioned draws the range information between itself and described N number of auxiliary locator or the characteristic information for drawing this range information according to the electromagnetic signal received, and the positional information of described N number of auxiliary locator or identification information; Described device to be positioned is by the range information drawn or be used for the characteristic information drawing this range information, and the positional information of described N number of auxiliary locator or identification information send;
Receive the range information between itself and described device to be positioned that sent by described N number of auxiliary locator or the characteristic information for drawing this range information; And before the positional information of described N number of auxiliary locator or identification information, also comprise:
Described device to be positioned sends electromagnetic signal to described N number of auxiliary locator; Described N number of auxiliary locator draws the range information between itself and described device to be positioned or the characteristic information for drawing this range information according to the electromagnetic signal received, described N number of auxiliary locator is by the range information drawn or be used for the characteristic information drawing this range information, and the positional information of described N number of auxiliary locator or identification information send.
Further, described characteristic information comprises the magnetic-field component of electromagnetic signal and the phase information of electric field component or phase differential transmitted between described device to be positioned and auxiliary locator.
Further, before obtaining the range information between same device to be positioned and N number of auxiliary locator, also comprise:
Judge whether the current quantity M of auxiliary locator is more than or equal to 3, if not, then find out X auxiliary locator around according to the positional information of a current described M auxiliary locator, and control a described X auxiliary locator and described device to be positioned carries out electromagnetic signal transmission, obtain the range information between described device to be positioned and a described X auxiliary locator, and the positional information of a described X auxiliary locator; Wherein M and X sum equals N, and M, X are positive integer.
Further, according to the range information got, and the positional information of described N number of auxiliary locator determines that the position of described device to be positioned comprises:
Respectively with the positional information of each auxiliary locator in described N number of auxiliary locator for the center of circle, with the range information between itself and described device to be positioned for radius draw circle; Using the position of the crossover location of N number of circle as described device to be positioned.
A kind of locating device, comprising:
Acquisition module, for obtaining the range information between same device to be positioned and N number of auxiliary locator, and the positional information of described N number of auxiliary locator; Described range information draws based on the electromagnetic signal transmitted between described device to be positioned and described N number of auxiliary locator; N be more than or equal to 3 positive integer;
Locating module, for the range information got according to acquisition module, and the positional information of described N number of auxiliary locator determines the position of described device to be positioned.
Further, acquisition module comprises reception submodule, range information acquisition submodule, searches submodule and sub module stored:
Receive submodule, for receiving the range information between itself and described N number of auxiliary locator that sent by described device to be positioned or the characteristic information for drawing this range information, and the positional information of described N number of auxiliary locator or identification information;
Or, receive the range information between itself and described device to be positioned that sent by described N number of auxiliary locator or the characteristic information for drawing this range information; And the positional information of described N number of auxiliary locator or identification information;
Range information obtains submodule, for receive that submodule receives be characteristic information for drawing this range information time, draw range information according to this characteristic information;
Search submodule, for receive that submodule receives be the identification information of described N number of auxiliary locator time, according to the identification information received, and the corresponding relation of the auxiliary locator identification information prestored in sub module stored and its positional information finds out the positional information of described N number of auxiliary locator;
Sub module stored, for storing the corresponding relation of all auxiliary locator identification informations and its positional information in its range of management.
Further, locating module comprises graphics module, for respectively with the positional information of each auxiliary locator in described N number of auxiliary locator for the center of circle, with the range information between itself and described device to be positioned for radius draw circle; The crossover location of N number of circle is defined as the position of described device to be positioned.
A kind of positioning system, comprises device to be positioned, N number of auxiliary locator and locating device, N be more than or equal to 3 positive integer:
Device to be positioned is used for sending electromagnetic signal to described N number of auxiliary locator; The electromagnetic signal that described N number of auxiliary locator sends for receiving described device to be positioned; the range information between itself and described device to be positioned or the characteristic information for drawing this range information is drawn respectively according to the electromagnetic signal received; and by the range information drawn or be used for the characteristic information drawing this range information, and the positional information of described N number of auxiliary locator or identification information send to locating device; Locating device is for the range information that receives described N number of auxiliary locator and send or the characteristic information for drawing this range information, and the positional information of described N number of auxiliary locator or identification information; And according to the range information received, and the positional information of described N number of auxiliary locator determines the position of described device to be positioned; If the characteristic information that what locating device did not receive range information and received is for drawing this range information, then also for drawing range information according to this characteristic information; If do not receive the positional information of described N number of auxiliary locator and what receive is the identification information of described N number of auxiliary locator, then also for the identification information according to reception, and in its range of management prestored, the corresponding relation of all auxiliary locator identification informations and its positional information finds out the positional information of described N number of auxiliary locator.
Or described N number of auxiliary locator is used for sending electromagnetic signal respectively to described device to be positioned, carries positional information or the identification information of corresponding auxiliary locator in electromagnetic signal; The electromagnetic signal that device to be positioned sends for receiving described N number of auxiliary locator, electromagnetic signal according to receiving draws the range information between itself and described N number of auxiliary locator or the characteristic information for drawing this range information, and from described electromagnetic signal, parse positional information or the identification information of described N number of auxiliary locator, and by the range information drawn or be used for the characteristic information drawing this range information, and the positional information of described N number of auxiliary locator or identification information send to locating device; Locating device is for the range information that receives described device to be positioned and send or the characteristic information for drawing this range information, and the positional information of described N number of auxiliary locator or identification information; And according to the range information received, and the positional information of described N number of auxiliary locator determines the position of described device to be positioned; If the characteristic information that what locating device did not receive range information and received is for drawing this range information, then also for drawing range information according to this characteristic information; If do not receive the positional information of described N number of auxiliary locator and what receive is the identification information of described N number of auxiliary locator, then also for the identification information according to reception, and in its range of management prestored, the corresponding relation of all auxiliary locator identification informations and its positional information finds out the positional information of described N number of auxiliary locator.
Localization method provided by the invention, locating device and positioning system, location is realized based on electromagnetic positioning, improve the positioning precision of existing targeting scheme, penetration power and jamproof performance stronger, be particularly useful for indoor environment, simultaneously in order to improve distance accuracy, the present invention also utilize same device to be positioned and N(N be more than or equal to 3 positive integer) electromagnetic positioning between individual auxiliary locator positions this device to be positioned.And can by the 13.56MHz beacon equipment extensively existed in existing commercial location, office buildings, the electromagnetic signal sent as 13.56MHz POS and gate inhibition's read write line etc. carries out indoor positioning, greatly simplify the deployment of indoor positioning.Accurate location of the present invention is for carrying out location Based service, and as shopping route guidance, stop instruction, specific region business information delivery etc. all have very positive meaning, accurate indoor positioning can help client to find its required commodity bought fast; Market also can push the commodity favor information in this region to the client within the scope of indoor specific region in addition, reaches the object of precision marketing; Under the emergency circumstance such as fire, accurate indoor positioning can help rescue personnel to find position residing for personnel to be rescued fast, effectively implements relief.
Accompanying drawing explanation
The process flow diagram of the localization method that Fig. 1 provides for one embodiment of the invention;
The schematic diagram of the locating device that Fig. 2 provides for one embodiment of the invention;
The schematic diagram of the positioning system that Fig. 3 provides for one embodiment of the invention;
The schematic diagram of the positioning system that Fig. 4 provides for another embodiment of the present invention;
The schematic diagram of the positioning system that Fig. 5 provides for another embodiment of the present invention;
Fig. 6 is the process flow diagram of the localization method of positioning system shown in Fig. 5;
Fig. 7 is for adopting the schematic diagram of the device location information to be positioned that localization method is determined shown in Fig. 6.
Embodiment
By reference to the accompanying drawings the present invention is described in further detail below by embodiment.
The process flow diagram of the localization method that Fig. 1 provides for one embodiment of the invention, as shown in Figure 1, comprises following flow process:
S101, obtain range information between same device to be positioned and N number of auxiliary locator and the positional information of described N number of auxiliary locator; Described range information draws based on the electromagnetic signal transmitted between described device to be positioned and described N number of auxiliary locator; N be more than or equal to 3 positive integer.
The embodiment of step S101 is including, but not limited to following cited:
Mode one: send electromagnetic signal to described N number of auxiliary locator by device to be positioned; Described N number of auxiliary locator receiving electromagnetic signals; the range information between itself and described device to be positioned or the characteristic information for drawing this range information is drawn respectively according to the electromagnetic signal received; and by the range information drawn or be used for the characteristic information drawing this range information, and the positional information of described N number of auxiliary locator or identification information send to locating device; The range information that locating device will receive between described device to be positioned and N number of auxiliary locator, and the positional information of described N number of auxiliary locator; If what do not receive range information and receive is characteristic information for drawing this range information, then locating device can draw range information according to this characteristic information; If do not receive the positional information of described N number of auxiliary locator and what receive is the identification information of described N number of auxiliary locator, then locating device can according to the identification information received, and in its range of management prestored, the corresponding relation of all auxiliary locator identification informations and its positional information finds out the positional information of described N number of auxiliary locator.
Mode two: send electromagnetic signal by N number of auxiliary locator respectively to same device to be positioned, carry positional information or the identification information of corresponding auxiliary locator in electromagnetic signal; Device to be positioned receives the electromagnetic signal that described N number of auxiliary locator sends, electromagnetic signal according to receiving draws the range information between itself and described N number of auxiliary locator or the characteristic information for drawing this range information, and from described electromagnetic signal, parse positional information or the identification information of described N number of auxiliary locator, and by the range information drawn or be used for the characteristic information drawing this range information, and the positional information of described N number of auxiliary locator or identification information send to locating device; Locating device receives range information that described device to be positioned sends or the characteristic information for drawing this range information, and the positional information of described N number of auxiliary locator or identification information; If the characteristic information that what locating device did not receive range information and received is for drawing this range information, then also draw range information according to this characteristic information; If do not receive the positional information of described N number of auxiliary locator and what receive is the identification information of described N number of auxiliary locator, then also according to the identification information received, and in its range of management prestored, the corresponding relation of all auxiliary locator identification informations and its positional information finds out the positional information of described N number of auxiliary locator.
Wherein, characteristic information is the intermediate information that electromagnetic signal carries out finding range; Including, but not limited to: the magnetic-field component of the electromagnetic signal transmitted between device to be positioned and auxiliary locator and the phase information of electric field component or phase differential.No matter be device to be positioned, or auxiliary locator, according to the electromagnetic signal received draw range information process between two sides including, but not limited to: compare the magnetic-field component of electromagnetic signal and the phase differential of electric field component, determine the range information between two sides according to phase differential.
Preferably, the frequency of the electromagnetic signal transmitted between the present invention's device to be positioned and auxiliary locator is 500KHz to 50MHz, and that more excellent is 13.56MHz.The coverage of electromagnetic signal can be that radius is the regional extent of 0m to 15m centered by the transmit leg of electromagnetic signal, or centered by the transmit leg of electromagnetic signal, radius is the regional extent of 0m to 8m.
Preferably, device to be positioned is mobile terminal; Auxiliary locator is existing can transmission or the equipment of receiving electromagnetic signals, such as, be extensively arranged on the 13.56MHz card reader in market.
The range information that S102, basis get, and the positional information of described N number of auxiliary locator determines the position of described device to be positioned.
The specific implementation of step 102 including, but not limited to: respectively with the positional information of each auxiliary locator in described N number of auxiliary locator for the center of circle, with the range information between itself and described device to be positioned for radius draws circle; Using the position of the crossover location of N number of circle as described device to be positioned.The mode that device to be positioned and auxiliary locator carry out electromagnetic positioning device to be positioned can only be positioned at this auxiliary locator for the center of circle and with range information between the two for radius circumferentially, and device to be positioned can be positioned at a little by the locator meams of device to be positioned and N number of auxiliary locator, therefore more accurate.
In certain embodiments, if in step S101 current of locating device get same device to be positioned and M(M be less than or equal to 3 positive integer) positional information of range information between individual auxiliary locator and a described M auxiliary locator; Namely inadequate 3 of the quantity of auxiliary locator, then cannot realize the location be accurate to a little, and now, locating device can continue following steps A and step B:
Steps A, find out X auxiliary locator around according to the positional information of a described M auxiliary locator;
Step B, control a described X auxiliary locator and described device to be positioned carries out electromagnetic signal transmission, obtain the range information between described device to be positioned and a described X auxiliary locator, and the positional information of a described X auxiliary locator, then enter step S102; Wherein M and X sum equals N, and M, X are positive integer.
Wherein, steps A is including, but not limited to the positional information that stores all auxiliary locators in its range of management in advance on the positioning device, according to the positional information of a described M auxiliary locator and the positional information with all auxiliary locators prestored, X auxiliary locator around a described M auxiliary locator just can be found out.
Step B is including, but not limited to step B1 or step B2:
Step B1, activate the electromagnetic signal receive channel of a described X auxiliary locator; described X auxiliary locator receives the electromagnetic signal of described device transmission to be positioned; the range information between itself and described device to be positioned or the characteristic information for drawing this range information is drawn respectively according to the electromagnetic signal received; and by the range information drawn or be used for the characteristic information drawing this range information, and the positional information of a described X auxiliary locator or identification information send to locating device; The range information that locating device will receive between described device to be positioned and X auxiliary locator, and the positional information of a described X auxiliary locator; If what do not receive range information and receive is characteristic information for drawing this range information, then locating device can draw range information according to this characteristic information; If do not receive the positional information of a described X auxiliary locator and what receive is the identification information of a described X auxiliary locator, then locating device can according to the identification information received, and in its range of management prestored, the corresponding relation of all auxiliary locator identification informations and its positional information finds out the positional information of a described X auxiliary locator.
Step B2: the electromagnetic signal emitting channel activating a described X auxiliary locator, sends electromagnetic signal by a described X auxiliary locator respectively to this device to be positioned, carries positional information or the identification information of corresponding auxiliary locator in electromagnetic signal; Device to be positioned receives the electromagnetic signal that described X auxiliary locator sends, electromagnetic signal according to receiving draws the range information between itself and a described X auxiliary locator or the characteristic information for drawing this range information, and from described electromagnetic signal, parse positional information or the identification information of a described X auxiliary locator, and by the range information drawn or be used for the characteristic information drawing this range information, and the positional information of a described X auxiliary locator or identification information send to locating device; Locating device receives range information that described device to be positioned sends or the characteristic information for drawing this range information, and the positional information of a described X auxiliary locator or identification information; If the characteristic information that what locating device did not receive range information and received is for drawing this range information, then also draw range information according to this characteristic information; If do not receive the positional information of a described X auxiliary locator and what receive is the identification information of a described X auxiliary locator, then also according to the identification information received, and in its range of management prestored, the corresponding relation of all auxiliary locator identification informations and its positional information finds out the positional information of a described X auxiliary locator.
The schematic diagram of the locating device that Fig. 2 provides for one embodiment of the invention, as shown in Figure 2, locating device 2 comprises acquisition module 21 and locating module 22, wherein:
Acquisition module 21 is for obtaining the range information between same device to be positioned and N number of auxiliary locator, and the positional information of described N number of auxiliary locator; Described range information draws based on the electromagnetic signal transmitted between described device to be positioned and described N number of auxiliary locator; N be more than or equal to 3 positive integer.
The range information of locating module 22 for getting according to acquisition module 21, and the positional information of described N number of auxiliary locator determines the position of described device to be positioned.
In certain embodiments, acquisition module 21 comprises reception submodule 211, range information obtains submodule 212, searches submodule 213 and sub module stored 214, wherein:
Receive submodule 211 for receiving the range information between itself and described N number of auxiliary locator that sent by described device to be positioned or the characteristic information for drawing this range information, and the positional information of described N number of auxiliary locator or identification information;
Or, receive the range information between itself and described device to be positioned that sent by described N number of auxiliary locator or the characteristic information for drawing this range information; And the positional information of described N number of auxiliary locator or identification information;
Range information obtains submodule 212, for receive that submodule 211 receives be characteristic information for drawing this range information time, draw range information according to this characteristic information;
Search submodule 213 for receive that submodule receives be the identification information of described N number of auxiliary locator time, according to the identification information received, and the corresponding relation of the auxiliary locator identification information prestored in sub module stored and its positional information finds out the positional information of described N number of auxiliary locator;
Sub module stored 214, for storing the corresponding relation of all auxiliary locator identification informations and its positional information in its range of management.
In certain embodiments, locating module 22 comprises graphics module, for respectively with the positional information of each auxiliary locator in described N number of auxiliary locator for the center of circle, with the range information between itself and described device to be positioned for radius draw circle; The crossover location of N number of circle is the position of described device to be positioned.
In certain embodiments, locating device 2 also comprises judge module 23, search module 24, before judge module 23 gets the range information between same device to be positioned and N number of auxiliary locator for acquisition module 21, judge whether the current quantity M of auxiliary locator is more than or equal to 3, when search module 24 is no for the judged result of judge module 23, from sub module stored, X auxiliary locator is around found out according to the positional information of a current described M auxiliary locator, and control a described X auxiliary locator and described device to be positioned carries out electromagnetic signal transmission, acquisition module 21 obtains the range information between described device to be positioned and a described X auxiliary locator again, and the positional information of a described X auxiliary locator, wherein M and X sum equals N, and M, X are positive integer.
The schematic diagram of the positioning system that Fig. 3 provides for one embodiment of the invention, as shown in Figure 3, positioning system 3 comprise device 31 to be positioned, N number of auxiliary locator (P1, P2, P3 to Pn) and locating device 32, N be more than or equal to 3 positive integer, wherein,
Device 31 to be positioned is for sending electromagnetic signal to described N number of auxiliary locator (P1, P2, P3 to Pn);
The electromagnetic signal that described N number of auxiliary locator (P1, P2, P3 to Pn) sends for receiving device 31 to be positioned; the range information between itself and device to be positioned 31 or the characteristic information for drawing this range information is drawn respectively according to the electromagnetic signal received; and by the range information drawn or be used for the characteristic information drawing this range information, and the positional information of described N number of auxiliary locator (P1, P2, P3 to Pn) or identification information send to locating device 32;
Locating device 32 is for the range information that receives described N number of auxiliary locator (P1, P2, P3 to Pn) and send or the characteristic information for drawing this range information, and the positional information of described N number of auxiliary locator (P1, P2, P3 to Pn) or identification information; If the characteristic information that what locating device 32 did not receive range information and received is for drawing this range information, then also for drawing range information according to this characteristic information; If do not receive the positional information of described N number of auxiliary locator (P1, P2, P3 to Pn) and what receive is the identification information of described N number of auxiliary locator (P1, P2, P3 to Pn), then also for the identification information according to reception, and in its range of management prestored, the corresponding relation of all auxiliary locator identification informations and its positional information finds out the positional information of described N number of auxiliary locator (P1, P2, P3 to Pn); Locating device 32 is according to the range information got, and the positional information of described N number of auxiliary locator (P1, P2, P3 to Pn) determines the position of device 31 to be positioned.
In certain embodiments, if current of locating device 32 gets the range information between device 31 to be positioned and M auxiliary locator, and the positional information of a described M auxiliary locator; Then locating device 32 is also for finding out X auxiliary locator around according to the positional information of a described M auxiliary locator, and control a described X auxiliary locator and device to be positioned 31 carries out electromagnetic signal transmission, obtain the range information between device 31 to be positioned and a described X auxiliary locator, and the positional information of a described X auxiliary locator, wherein M and X sum equals N, and M, X are positive integer; The most all, the range information that locating device 32 gets according to the range information between device 31 to be positioned and N number of auxiliary locator, and the positional information of described N number of auxiliary locator determines the position of device 31 to be positioned.
The schematic diagram of the positioning system that Fig. 4 provides for another embodiment of the present invention, as shown in Figure 4, positioning system 4 comprise device 41 to be positioned, N number of auxiliary locator (K1, K2, K3 to Kn) and locating device 42, N be more than or equal to 3 positive integer, wherein:
Described N number of auxiliary locator (K1, K2, K3 to Kn), for sending electromagnetic signal respectively to device 41 to be positioned, carries positional information or the identification information of corresponding auxiliary locator in electromagnetic signal;
Device 41 to be positioned is for receiving described N number of auxiliary locator (K1, K2, K3 to Kn) electromagnetic signal that sends, electromagnetic signal according to receiving draws itself and described N number of auxiliary locator (K1, K2, K3 to Kn) between range information or characteristic information for drawing this range information, and from described electromagnetic signal, parse described N number of auxiliary locator (K1, K2, K3 to Kn) positional information or identification information, and by the range information drawn or be used for the characteristic information drawing this range information, and described N number of auxiliary locator (K1, K2, K3 to Kn) positional information or identification information send to locating device,
Locating device 42 is for the range information that receives described device to be positioned 41 and send or characteristic information for drawing this range information, and the positional information of described N number of auxiliary locator (K1, K2, K3 to Kn) or identification information; And according to the range information received, and the positional information of described N number of auxiliary locator (K1, K2, K3 to Kn) determines the position of device 41 to be positioned; If the characteristic information that what locating device 42 did not receive range information and received is for drawing this range information, then also for drawing range information according to this characteristic information; If do not receive the positional information of described N number of auxiliary locator (K1, K2, K3 to Kn) and what receive is the identification information of described N number of auxiliary locator (K1, K2, K3 to Kn), then also for the identification information according to reception, and in its range of management prestored, the corresponding relation of all auxiliary locator identification informations and its positional information finds out the positional information of described N number of auxiliary locator (K1, K2, K3 to Kn).
In certain embodiments, if current of locating device 42 gets the range information between device 41 to be positioned and M auxiliary locator, and the positional information of a described M auxiliary locator; If then locating device 42 is also for finding out X auxiliary locator around according to the positional information of a described M auxiliary locator, and control a described X auxiliary locator and device to be positioned 41 carries out electromagnetic signal transmission, obtain the range information between device 41 to be positioned and a described X auxiliary locator, and the positional information of a described X auxiliary locator, wherein M and X sum equals N, and M, X are positive integer; Finally, the range information that locating device 42 gets according to the range information between device 41 to be positioned and N number of auxiliary locator, and the positional information of described N number of auxiliary locator determines the position of device 41 to be positioned.
The schematic diagram of the positioning system that Fig. 5 provides for another embodiment of the present invention, as shown in Figure 5, positioning system comprises: device to be positioned, N number of auxiliary locator (P1, P2, P3 to Pn), via node and locating device, N be more than or equal to 3 positive integer, wherein locating device can be background system.Device to be positioned possesses electromagnetic signal emitting function, N number of auxiliary locator (P1, P2, P3 to Pn) possesses electromagnetic signal receiving function, and via node mainly plays the effect carrying out signal transfer between device to be positioned and N number of auxiliary locator (P1, P2, P3 to Pn).Auxiliary locator (P1, P2, P3 to Pn) mainly comprises phase detector, signal amplification circuit and electromagnetic signal receiving antenna.Auxiliary locator can be connected with via node by wired or wireless mode, receives the order of via node and feedback data information.Via node can comprise a microcontroller (MCU) and a multichannel device, can be connected by multichannel device with one or more auxiliary locator.Locating device can rely on operation software on a general-purpose computer to perform response function.Fig. 6 is the process flow diagram of the localization method of positioning system shown in Fig. 5, comprises following flow process:
S601, device to be positioned in its plane of movement, continue or with the outside transmission of electromagnetic signals in certain hour interval; This electromagnetic signal carries the identification information of device to be positioned.
S602, one of them auxiliary locator of via node successful activation P1 receive this electromagnetic signal in this electromagnetic signal range of receiving, amplify, phase demodulation, obtain the electric field component of electromagnetic signal and the phase differential of magnetic-field component; Modulation /demodulation is carried out to the electromagnetic signal received, obtains the identification information of device to be positioned.
The identification information of electromagnetic signal phase differential, positional information and device to be positioned is sent to via node by S603, auxiliary locator P1.
S604, via node auxiliary locator P1 is sent to electromagnetic signal phase differential, positional information, device to be positioned identification information together feed back to locating device 32.
S605, locating device 32 find out auxiliary locator P2, auxiliary locator P3 around auxiliary locator P1 according to the positional information of all auxiliary locators in the positional information of auxiliary locator P1 and its range of management of prestoring.
S606, locating device 32, by via node, activate above-mentioned auxiliary locator P2, auxiliary locator P3.Auxiliary locator P2, auxiliary locator P3 receive the electromagnetic signal that device to be positioned is launched, and equally the identification information of electromagnetic signal phase differential, positional information and device to be positioned are sent to via node.
S607, via node auxiliary locator P2, auxiliary locator P3 are sent to electromagnetic signal phase differential, positional information, device to be positioned identification information together feed back to locating device 32.
The electromagnetic signal phase differential that S608, locating device 32 are sent to according to auxiliary locator P1, P2 and P3, the positional information of auxiliary locator P1, P2, P3 and the identification information of device to be positioned, determine the position of device to be positioned.Suppose that the positional information of auxiliary locator P1, P2, P3 is respectively Q1, Q2, Q3, the confidence distance of auxiliary locator P1, P2, P3 and device to be positioned is respectively r1, r2, r3, then the position of device to be positioned is the crossover location G of three circles, as shown in Figure 7.
The present invention utilize same device to be positioned and N(N be more than or equal to 3 positive integer) electromagnetic positioning between individual auxiliary locator positions this device to be positioned, can realize accurate location.And can by the 13.56MHz beacon equipment extensively existed in existing commercial location, office buildings, the electromagnetic signal sent as 13.56MHzPOS and gate inhibition's read write line etc. carries out indoor positioning, greatly simplify the deployment of indoor positioning, for carrying out location Based service, as shopping route guidance, stop instruction, specific region business information delivery etc. all have very positive meaning.
Above content is in conjunction with concrete embodiment further description made for the present invention, can not assert that specific embodiment of the invention is confined to these explanations.For general technical staff of the technical field of the invention, without departing from the inventive concept of the premise, some simple deduction or replace can also be made, all should be considered as belonging to protection scope of the present invention.
Claims (10)
1. a localization method, is characterized in that, comprises the following steps:
Obtain the range information between same device to be positioned and N number of auxiliary locator, and the positional information of described N number of auxiliary locator; Described range information draws based on the electromagnetic signal transmitted between described device to be positioned and described N number of auxiliary locator; N be more than or equal to 3 positive integer;
According to the range information got, and the positional information of described N number of auxiliary locator determines the position of described device to be positioned.
2. localization method as claimed in claim 1, it is characterized in that, the range information between the same device to be positioned of described acquisition and N number of auxiliary locator, and the positional information of described N number of auxiliary locator comprises:
Receive the range information between itself and described N number of auxiliary locator that sent by described device to be positioned or the characteristic information for drawing this range information, and the positional information of described N number of auxiliary locator or identification information;
Or, receive the range information between itself and described device to be positioned that sent by described N number of auxiliary locator or the characteristic information for drawing this range information; And the positional information of described N number of auxiliary locator or identification information;
If receive the characteristic information of this range information, then also comprise and draw range information according to this characteristic information;
If receive the identification information of described N number of auxiliary locator, then also comprise the identification information according to receiving, and in its range of management prestored, the corresponding relation of all auxiliary locator identification informations and its positional information finds out the positional information of described N number of auxiliary locator.
3. localization method as claimed in claim 2, it is characterized in that, receive the range information between itself and described N number of auxiliary locator that sent by described device to be positioned or the characteristic information for drawing this range information, and before the positional information of described N number of auxiliary locator or identification information, also comprise:
Described N number of auxiliary locator sends electromagnetic signal to described device to be positioned; Described device to be positioned draws the range information between itself and described N number of auxiliary locator or the characteristic information for drawing this range information according to the electromagnetic signal received, and the positional information of described N number of auxiliary locator or identification information; Described device to be positioned is by the range information drawn or be used for the characteristic information drawing this range information, and the positional information of described N number of auxiliary locator or identification information send;
Receive the range information between itself and described device to be positioned that sent by described N number of auxiliary locator or the characteristic information for drawing this range information; And before the positional information of described N number of auxiliary locator or identification information, also comprise:
Described device to be positioned sends electromagnetic signal to described N number of auxiliary locator; Described N number of auxiliary locator draws the range information between itself and described device to be positioned or the characteristic information for drawing this range information according to the electromagnetic signal received, described N number of auxiliary locator is by the range information drawn or be used for the characteristic information drawing this range information, and the positional information of described N number of auxiliary locator or identification information send.
4. localization method as claimed in claim 2, it is characterized in that, described characteristic information comprises the magnetic-field component of electromagnetic signal and the phase information of electric field component or phase differential transmitted between described device to be positioned and auxiliary locator.
5. localization method as claimed in claim 1, is characterized in that, before obtaining the range information between same device to be positioned and N number of auxiliary locator, also comprise:
Judge whether the current quantity M of auxiliary locator is more than or equal to 3, if not, then find out X auxiliary locator around according to the positional information of a current described M auxiliary locator, and control a described X auxiliary locator and described device to be positioned carries out electromagnetic signal transmission, obtain the range information between described device to be positioned and a described X auxiliary locator, and the positional information of a described X auxiliary locator; Wherein M and X sum equals N, and M, X are positive integer.
6. the localization method as described in any one of claim 1 to 5, is characterized in that, according to the range information got, and the positional information of described N number of auxiliary locator determines that the position of described device to be positioned comprises:
Respectively with the positional information of each auxiliary locator in described N number of auxiliary locator for the center of circle, with the range information between itself and described device to be positioned for radius draw circle; Using the position of the crossover location of N number of circle as described device to be positioned.
7. a locating device, is characterized in that, comprising:
Acquisition module, for obtaining the range information between same device to be positioned and N number of auxiliary locator, and the positional information of described N number of auxiliary locator; Described range information draws based on the electromagnetic signal transmitted between described device to be positioned and described N number of auxiliary locator; N be more than or equal to 3 positive integer;
Locating module, for the range information got according to acquisition module, and the positional information of described N number of auxiliary locator determines the position of described device to be positioned.
8. locating device as claimed in claim 7, is characterized in that, acquisition module comprises reception submodule, range information obtains submodule, searches submodule and sub module stored:
Receive submodule, for receiving the range information between itself and described N number of auxiliary locator that sent by described device to be positioned or the characteristic information for drawing this range information, and the positional information of described N number of auxiliary locator or identification information;
Or, receive the range information between itself and described device to be positioned that sent by described N number of auxiliary locator or the characteristic information for drawing this range information; And the positional information of described N number of auxiliary locator or identification information;
Range information obtains submodule, for receive that submodule receives be characteristic information for drawing this range information time, draw range information according to this characteristic information;
Search submodule, for receive that submodule receives be the identification information of described N number of auxiliary locator time, according to the identification information received, and the corresponding relation of the auxiliary locator identification information prestored in sub module stored and its positional information finds out the positional information of described N number of auxiliary locator;
Sub module stored, for storing the corresponding relation of all auxiliary locator identification informations and its positional information in its range of management.
9. locating device as claimed in claim 8 or 9, it is characterized in that, locating module comprises graphics module, for respectively with the positional information of each auxiliary locator in described N number of auxiliary locator for the center of circle, with the range information between itself and described device to be positioned for radius draw circle; The crossover location of N number of circle is defined as the position of described device to be positioned.
10. a positioning system, is characterized in that, comprises device to be positioned, N number of auxiliary locator and locating device, N be more than or equal to 3 positive integer:
Device to be positioned is used for sending electromagnetic signal to described N number of auxiliary locator; The electromagnetic signal that described N number of auxiliary locator sends for receiving described device to be positioned; the range information between itself and described device to be positioned or the characteristic information for drawing this range information is drawn respectively according to the electromagnetic signal received; and by the range information drawn or be used for the characteristic information drawing this range information, and the positional information of described N number of auxiliary locator or identification information send to locating device; Locating device is for the range information that receives described N number of auxiliary locator and send or the characteristic information for drawing this range information, and the positional information of described N number of auxiliary locator or identification information; And according to the range information received, and the positional information of described N number of auxiliary locator determines the position of described device to be positioned; If the characteristic information that what locating device did not receive range information and received is for drawing this range information, then also for drawing range information according to this characteristic information; If do not receive the positional information of described N number of auxiliary locator and what receive is the identification information of described N number of auxiliary locator, then also for the identification information according to reception, and in its range of management prestored, the corresponding relation of all auxiliary locator identification informations and its positional information finds out the positional information of described N number of auxiliary locator.
Or described N number of auxiliary locator is used for sending electromagnetic signal respectively to described device to be positioned, carries positional information or the identification information of corresponding auxiliary locator in electromagnetic signal; The electromagnetic signal that device to be positioned sends for receiving described N number of auxiliary locator, electromagnetic signal according to receiving draws the range information between itself and described N number of auxiliary locator or the characteristic information for drawing this range information, and from described electromagnetic signal, parse positional information or the identification information of described N number of auxiliary locator, and by the range information drawn or be used for the characteristic information drawing this range information, and the positional information of described N number of auxiliary locator or identification information send to locating device; Locating device is for the range information that receives described device to be positioned and send or the characteristic information for drawing this range information, and the positional information of described N number of auxiliary locator or identification information; And according to the range information received, and the positional information of described N number of auxiliary locator determines the position of described device to be positioned; If the characteristic information that what locating device did not receive range information and received is for drawing this range information, then also for drawing range information according to this characteristic information; If do not receive the positional information of described N number of auxiliary locator and what receive is the identification information of described N number of auxiliary locator, then also for the identification information according to reception, and in its range of management prestored, the corresponding relation of all auxiliary locator identification informations and its positional information finds out the positional information of described N number of auxiliary locator.
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