CN104808175A - Tracking and positioning method and device - Google Patents
Tracking and positioning method and device Download PDFInfo
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- CN104808175A CN104808175A CN201510232358.1A CN201510232358A CN104808175A CN 104808175 A CN104808175 A CN 104808175A CN 201510232358 A CN201510232358 A CN 201510232358A CN 104808175 A CN104808175 A CN 104808175A
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- 238000000034 method Methods 0.000 title claims abstract description 32
- 230000000052 comparative effect Effects 0.000 claims description 21
- 230000004807 localization Effects 0.000 claims description 15
- 238000010586 diagram Methods 0.000 claims description 12
- 238000013459 approach Methods 0.000 claims description 9
- 230000008859 change Effects 0.000 claims description 9
- 238000006243 chemical reaction Methods 0.000 claims description 6
- 230000002708 enhancing effect Effects 0.000 claims description 6
- 238000001914 filtration Methods 0.000 claims description 5
- 230000005540 biological transmission Effects 0.000 claims description 2
- 230000002618 waking effect Effects 0.000 claims description 2
- 230000036541 health Effects 0.000 description 4
- 238000004891 communication Methods 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 241001465754 Metazoa Species 0.000 description 2
- 230000000903 blocking effect Effects 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000011835 investigation Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000005855 radiation Effects 0.000 description 2
- 238000000060 site-specific infrared dichroism spectroscopy Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
Classifications
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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
- G01S5/04—Position of source determined by a plurality of spaced direction-finders
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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
-
- 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
- G01S5/0294—Trajectory determination or predictive filtering, e.g. target tracking or Kalman filtering
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses a tracking and positioning method and a tracking and positioning device, which can effectively perform tracking and positioning and have high accuracy, thereby providing safety guarantee for users. The invention relates to a tracking and positioning method, which comprises the following steps: directionally receiving signals transmitted by the positioning device facing at least two directions to obtain at least two signal strengths; comparing at least two signal strengths, and determining the azimuth information of high signal strength according to the comparison result; and tracking and positioning according to the determined azimuth information. Positioning accuracy is higher in this scheme, is applicable to indoor moreover.
Description
Technical field
The present invention relates to the communications field, particularly relate to a kind of method for tracking and positioning and device.
Background technology
GPS (GPS, Global Positioning System) its principle of work is the distance between the satellite of measuring known location to receiver user, and then the data of comprehensive multi-satellite just can know the particular location of receiver.
A lot of Intelligent worn device has positioning function now, but be all based on GPS substantially, although GPS precision is fine, but generally all can not use in the place can not looking at sky straight, and GPS can only by the passive reception of equipment, need, by other channel, the GPS information received is sent to follower, therefore there is significant limitation.
Summary of the invention
The invention provides a kind of method for tracking and positioning and device, effectively can carry out track and localization, degree of accuracy is high, and then provides safety guarantee for user.
A kind of method for tracking and positioning in the present invention, comprising:
Towards the signal of at least both direction directive reception locating device transmitting, obtain at least two signal intensities;
More at least two signal intensities, and according to the azimuth information of comparative result determination high signal intensity;
Track and localization is carried out according to determined azimuth information.
Optionally,
Towards the signal of at least both direction directive reception locating device transmitting, also comprise before obtaining at least two signal intensity steps:
Wake-up positioning apparatus, specifically comprises:
Transmission wakes information up to locating device, controls locating device according to waking Information recovering duty up;
Or,
Control locating device by the timer that locating device is built-in to resume work state in the schedule time.
Optionally,
The signal that locating device sends is send by WIFI or bluetooth the signal carrying identifying information.
Optionally,
Towards the signal of at least both direction directive reception locating device transmitting, obtain at least two signal intensity steps and comprise:
Carry out filtering according to identifying information, determine the signal that locating device is launched.
Optionally,
More at least two signal intensities, and comprise according to the azimuth information step of comparative result determination high signal intensity:
Signal intensity is converted to audio amplitude intensity, when approach signal source, signal intensity strengthens, and the corresponding enhancing of audio amplitude, by the azimuth information of audio amplitude Strength Changes determination high signal intensity.
Optionally,
More at least two signal intensities, and comprise according to the azimuth information step of comparative result determination high signal intensity:
Signal intensity is converted to numerical value in order to display, when approach signal source, signal intensity strengthens, and the corresponding enhancing of numerical value, by the azimuth information of numerical value change determination high signal intensity.
Optionally,
Described signal intensity shown by column diagram, when approach signal source, signal intensity strengthens, and column diagram is corresponding increases the azimuth information being determined high signal intensity by column diagram change.
Present invention also offers a kind of tracing positioning apparatus, comprising:
Acquiring unit, for the signal towards at least both direction directive reception locating device transmitting, obtains at least two signal intensities;
Comparing unit, for more at least two signal intensities, and according to the azimuth information of comparative result determination high signal intensity;
Performance element, for carrying out track and localization according to determined azimuth information.
Optionally,
This device also comprises:
Wakeup unit, for wake-up positioning apparatus;
Determining unit, for carrying out filtering according to identifying information, determines the signal that locating device is launched.
Optionally,
Comparing unit comprises:
First conversion subelement, for being converted to audio amplitude intensity by signal intensity;
Or,
Second conversion subelement, for being converted to numerical value in order to display by signal intensity.
As can be seen from the above technical solutions, the embodiment of the present invention has the following advantages:
First towards the signal of at least both direction directive reception locating device transmitting, at least two signal intensities are obtained; More at least two signal intensities, and according to the azimuth information of comparative result determination high signal intensity; Track and localization is carried out according to determined azimuth information.Thus effectively can carry out track and localization, degree of accuracy is high, and then provides safety guarantee for user.
In addition, can dormant state be entered at locating device when idle, can signal transmitting be carried out after being waken up, thus save the energy; Filtering is carried out according to identifying information, determine the signal that locating device is launched, when the target of carrying locating device is moved, the audio amplitude change that tracing positioning apparatus can also be changed by signal intensity and numerical value change help the real time position situation of change of user's master goal.
Accompanying drawing explanation
Fig. 1 is a kind of method for tracking and positioning embodiment process flow diagram in the present invention;
Fig. 2 is another embodiment process flow diagram of a kind of method for tracking and positioning in the present invention;
Fig. 3 is a kind of tracing positioning apparatus example structure schematic diagram in the present invention.
Embodiment
The invention provides a kind of method for tracking and positioning, device, effectively can carry out track and localization, degree of accuracy is high, and then provides safety guarantee for user.
Refer to Fig. 1, a kind of method for tracking and positioning embodiment in the present invention, comprising:
101, towards the signal of at least both direction directive reception locating device transmitting, at least two signal intensities are obtained;
In the present embodiment, after tracing positioning apparatus is opened, can receiving positioner send signal, it should be noted that, this locating device is worn on it target in advance, can be worn on clothes or shoes if target is people, if target animal can adopt hanging wearing, user is by determining that the position of receiver is to determine tracking position of object.
It should be noted that, the mode that user can be turn-taked by original place, towards the signal that multiple directions directive reception locating device is launched, obtain at least two signal intensities.Health due to user has blocked the side of tracing positioning apparatus, and namely user's Signal reception is after one's death more weak, and therefore this tracing positioning apparatus becomes a positioning antenna, can directive reception user towards signal.
102, more at least two signal intensities, and according to the azimuth information of comparative result determination high signal intensity;
In the present embodiment, this tracing positioning apparatus compares at least two signal intensities obtained, and obtains comparative result.Concrete comparison procedure will describe in subsequent embodiment.
103, track and localization is carried out according to determined azimuth information.
In the present embodiment, first towards the signal of at least both direction directive reception locating device transmitting, obtain at least two signal intensities; Then more at least two signal intensities, obtain comparative result; Last according to comparative result, determine the azimuth information of high signal intensity.In this programme, user comes the position of track and localization locating device according to the broadcasting of signal power or display, thus positioning precision is higher, and is applicable to indoor.
Refer to Fig. 2, another embodiment of a kind of method for tracking and positioning in the embodiment of the present invention, comprising:
201, wake-up positioning apparatus;
In the present embodiment, in order to save the electric energy of locating device, increase the service life, locating device can enter dormant state when idle, and locating device does not work in the dormant state; And when need before locating device transmits, to need wake-up positioning apparatus.AM can have two kinds of methods: one is sent by tracing positioning apparatus to wake information up, and locating device receives state of resuming work after this wakes information up; Another kind is locating device built-in timer, to resume work state in the schedule time, and certainly concrete awakening method is not limited to above-mentioned two kinds.
202, towards the signal of at least both direction directive reception locating device transmitting, at least two signal intensities are obtained;
In the present embodiment, tracing positioning apparatus can receive the signal of all devices in certain limit, and wherein equipment comprises the signal that panel computer, mobile phone and hand-held radio telephone are launched, and comprises the signal of locating device at above-mentioned signal.
It should be noted that the signal that locating device sends is send by WIFI or bluetooth the signal carrying identifying information.This identifying information is used for determining which signal is that locating device sends, and this identifying information can be service set (SSID, Service Set Identifier), but is not limited to SSID.
In the present embodiment, tracing positioning apparatus can receive multi-signal from all directions, and determines which information number is that locating device sends according to identifying information.Carry out filtering according to identifying information, determine the signal that locating device is launched;
203, more at least two signal intensities, and according to the azimuth information of comparative result determination high signal intensity;
Signal intensity is converted to audio amplitude intensity, when approach signal source, signal intensity strengthens, and the corresponding enhancing of audio amplitude, by the azimuth information of audio amplitude Strength Changes determination high signal intensity.
Signal intensity is converted to numerical value in order to display, when approach signal source, signal intensity strengthens, and the corresponding enhancing of numerical value, by the azimuth information of numerical value change determination high signal intensity.
Described signal intensity shown by column diagram further, when approach signal source, signal intensity strengthens, and column diagram is corresponding increases the azimuth information being determined high signal intensity by column diagram change.
204, track and localization is carried out according to determined azimuth information.
In the present embodiment, this tracing positioning apparatus compares at least two signal intensities obtained, and obtains comparative result.
It should be noted that, signal intensity can be converted to audio amplitude intensity by this tracing positioning apparatus, or signal intensity is converted to video information intuitively shows.
Concrete can be pointed out by loudspeaker, such as bleep;
Or, signal intensity is shown with bar graph form; Or visual effect display is on screen, such as energy post.
During normal use, tracing positioning apparatus, as mobile phone is positioned at front, due to human body blocking tracking means signal, for same radiation intensity, the signal of coming from rear will be significantly less than front, is so just equivalent to constitute a directional antenna.When user holds after mobile phone this locality turns around, just can judge which orientation locating device is in, thus can towards the direction finding of specifying.Meanwhile, when user is near target, signal intensity also can be more and more stronger, thus can definitely target position.More specifically, when tracking means is in user front, handheld device received signal strength is comparatively strong, then send rapid bleep and (or) show stronger energy post.And when user turns round, because health is to the stop of wireless signal, the signal intensity that handheld device receives is more weak, then send bleep more slowly and (or) the lower energy post of display.After user is revolved and turned around, the direction that can judge roughly according to the height of the rapid degree of bleep and (or) energy post, then towards this direction finding.Due to more and more close to target device, then signal intensity can be more and more stronger, thus bleep is more rapid, and energy post is higher, thus definitely investigation.
If mobile phone has gyroscope, can also by gyroscope, the angle rotated according to user and the signal intensity of current reception, draw out the figure at similar radar interface, user just can navigate to the orientation of target device more intuitively.
In the present embodiment, first wake-up positioning apparatus, then, tracing positioning apparatus, towards the signal of at least both direction directive reception locating device transmitting, obtains at least two signal intensities; Then, more at least two signal intensities, obtain comparative result; Last according to comparative result, determine the azimuth information of high signal intensity.In this programme, user comes the position of track and localization locating device according to the broadcasting of signal power or display, thus positioning precision is higher, and is applicable to indoor.Compared with the first embodiment, in the second embodiment, with the addition of wake-up positioning apparatus step and filter step, saved electric energy on the one hand, enhance the accuracy of location on the other hand.
Be illustrated method for tracking and positioning embodiment a kind of in the embodiment of the present invention above, refer to Fig. 3 below, in the embodiment of the present invention, a kind of tracing positioning apparatus embodiment specifically comprises:
Acquiring unit 301, for the signal towards at least both direction directive reception locating device transmitting, obtains at least two signal intensities;
Comparing unit 302, for more at least two signal intensities, and according to the azimuth information of comparative result determination high signal intensity;
Performance element 303, for carrying out track and localization according to determined azimuth information.
Wherein comparing unit comprises the first converting unit 3021 and the second converting unit 3022 further;
First conversion subelement 3021, for being converted to audio amplitude intensity by signal intensity;
Second conversion subelement 3022, for being converted to numerical value in order to display by signal intensity.
Wakeup unit 305, for wake-up positioning apparatus.In order to save the electric energy of locating device, increase the service life, locating device can enter dormant state when idle, and locating device does not work in the dormant state; And when need before locating device transmits, to need wake-up positioning apparatus.AM can have two kinds of methods: one is sent by tracing positioning apparatus to wake information up, and locating device receives state of resuming work after this wakes information up; Another kind is locating device built-in timer, to resume work state in the schedule time, and certainly concrete awakening method is not limited to above-mentioned two kinds.
Below with the example in a reality, the correspondence in a kind of tracing positioning apparatus embodiment between unit is described.
After tracing positioning apparatus is opened, wakeup unit 305 wake-up positioning apparatus.
In order to save the electric energy of locating device, increase the service life, locating device can enter dormant state when idle, and locating device does not work in the dormant state; And when need before locating device transmits, to need wake-up positioning apparatus.AM can have two kinds of methods: one is sent by tracing positioning apparatus to wake information up, and locating device receives state of resuming work after this wakes information up; Another kind is locating device built-in timer, to resume work state in the schedule time, and certainly concrete awakening method is not limited to above-mentioned two kinds.
Acquiring unit 301, towards the signal of at least both direction directive reception locating device transmitting, obtains at least two signal intensities.
It should be noted that, this locating device is worn on it target in advance, can be worn on clothes or shoes if target is people, if target animal can adopt hanging wearing, user is by determining that the position of receiver is to determine tracking position of object.
It should be noted that, the mode that user can be turn-taked by original place, towards the signal that multiple directions directive reception locating device is launched, obtain at least two signal intensities.Health due to user has blocked the side of tracing positioning apparatus, and namely user's Signal reception is after one's death more weak, and therefore this tracing positioning apparatus becomes a positioning antenna, can directive reception user towards signal.
Comparing unit 302, for more at least two signal intensities, and according to the azimuth information of comparative result determination high signal intensity.Then performance element 303, for carrying out track and localization according to determined azimuth information.
It should be noted that, signal intensity can be converted to audio amplitude intensity by the first converting unit 3021, and signal intensity can be converted to numerical value in order to display by the second converting unit 3022.
Concrete can be pointed out by loudspeaker, such as bleep;
Or, signal intensity is shown with bar graph form; Or visual effect display is on screen, such as energy post.
During normal use, tracing positioning apparatus, as mobile phone is positioned at front, due to human body blocking tracking means signal, for same radiation intensity, the signal of coming from rear will be significantly less than front, is so just equivalent to constitute a directional antenna.When user holds after mobile phone this locality turns around, just can judge which orientation locating device is in, thus can towards the direction finding of specifying.Meanwhile, when user is near target, signal intensity also can be more and more stronger, thus can definitely target position.More specifically, when tracking means is in user front, handheld device received signal strength is comparatively strong, then send rapid bleep and (or) show stronger energy post.And when user turns round, because health is to the stop of wireless signal, the signal intensity that handheld device receives is more weak, then send bleep more slowly and (or) the lower energy post of display.After user is revolved and turned around, the direction that can judge roughly according to the height of the rapid degree of bleep and (or) energy post, then towards this direction finding.Due to more and more close to target device, then signal intensity can be more and more stronger, thus bleep is more rapid, and energy post is higher, thus definitely investigation.
If mobile phone has gyroscope, can also by gyroscope, the angle rotated according to user and the signal intensity of current reception, draw out the figure at similar radar interface, user just can navigate to the orientation of target device more intuitively.
In the present embodiment, first towards the signal of at least both direction directive reception locating device transmitting, obtain at least two signal intensities; Then more at least two signal intensities, obtain comparative result; Last according to comparative result, determine the azimuth information of high signal intensity.In this programme, user comes the position of track and localization locating device according to the broadcasting of signal power or display, thus positioning precision is higher, and is applicable to indoor.
In several embodiments that the application provides, should be understood that, disclosed system, apparatus and method, can realize by another way.Such as, device embodiment described above is only schematic, such as, the division of described unit, be only a kind of logic function to divide, actual can have other dividing mode when realizing, such as multiple unit or assembly can in conjunction with or another system can be integrated into, or some features can be ignored, or do not perform.Another point, shown or discussed coupling each other or direct-coupling or communication connection can be by some interfaces, and the indirect coupling of device or unit or communication connection can be electrical, machinery or other form.
The described unit illustrated as separating component or can may not be and physically separates, and the parts as unit display can be or may not be physical location, namely can be positioned at a place, or also can be distributed in multiple network element.Some or all of unit wherein can be selected according to the actual needs to realize the object of the present embodiment scheme.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, also can be that the independent physics of unit exists, also can two or more unit in a unit integrated.Above-mentioned integrated unit both can adopt the form of hardware to realize, and the form of SFU software functional unit also can be adopted to realize.
If described integrated unit using the form of SFU software functional unit realize and as independently production marketing or use time, can be stored in a computer read/write memory medium.Based on such understanding, the part that technical scheme of the present invention contributes to prior art in essence in other words or all or part of of this technical scheme can embody with the form of software product, this computer software product is stored in a storage medium, comprising some instructions in order to make a computer equipment (can be personal computer, server, or the network equipment etc.) perform all or part of step of method described in each embodiment of the present invention.And aforesaid storage medium comprises: USB flash disk, portable hard drive, ROM (read-only memory) (ROM, Read-OnlyMemory), random access memory (RAM, Random Access Memory), magnetic disc or CD etc. various can be program code stored medium.
The above, above embodiment only in order to technical scheme of the present invention to be described, is not intended to limit; Although with reference to previous embodiment to invention has been detailed description, those of ordinary skill in the art is to be understood that: it still can be modified to the technical scheme described in foregoing embodiments, or carries out equivalent replacement to wherein portion of techniques feature; And these amendments or replacement, do not make the essence of appropriate technical solution depart from the spirit and scope of various embodiments of the present invention technical scheme.
Claims (10)
1. a method for tracking and positioning, is characterized in that, comprising:
Towards the signal of at least both direction directive reception locating device transmitting, obtain at least two signal intensities;
At least two signal intensities relatively, and according to the azimuth information of comparative result determination high signal intensity;
Track and localization is carried out according to determined azimuth information.
2. method for tracking and positioning according to claim 1, is characterized in that,
The described signal towards at least both direction directive reception locating device transmitting, also comprises before obtaining at least two signal intensity steps:
Wake described locating device up, specifically comprise:
Transmission wakes information up to locating device, control described locating device according to described in wake Information recovering duty up;
Or, control described locating device by the timer that described locating device is built-in and to resume work state in the schedule time.
3. method for tracking and positioning according to claim 1, is characterized in that,
The signal that described locating device sends is send by WIFI or bluetooth the signal carrying identifying information.
4. method for tracking and positioning according to claim 3, is characterized in that,
The described signal towards at least both direction directive reception locating device transmitting, obtains at least two signal intensity steps and comprises:
Carry out filtering according to described identifying information, determine the signal that described locating device is launched.
5. method for tracking and positioning according to claim 1, is characterized in that,
Described relatively described at least two signal intensities, and to comprise according to the azimuth information step of comparative result determination high signal intensity:
Described signal intensity is converted to audio amplitude intensity, and when approach signal source, signal intensity strengthens, and the corresponding enhancing of audio amplitude, by the azimuth information of audio amplitude Strength Changes determination high signal intensity.
6. method for tracking and positioning according to claim 1, is characterized in that,
Described relatively described at least two signal intensities, and to comprise according to the azimuth information step of comparative result determination high signal intensity:
Described signal intensity is converted to numerical value in order to display, when approach signal source, signal intensity strengthens, and the corresponding enhancing of numerical value, by the azimuth information of numerical value change determination high signal intensity.
7. method for tracking and positioning according to claim 6, is characterized in that, described signal intensity is shown by column diagram, and when approach signal source, signal intensity strengthens, and column diagram is corresponding to be increased, and is determined the azimuth information of high signal intensity by column diagram change.
8. a tracing positioning apparatus, is characterized in that, comprising:
Acquiring unit, for the signal towards at least both direction directive reception locating device transmitting, obtains at least two signal intensities;
Comparing unit, at least two signal intensities described in relatively, and according to the azimuth information of comparative result determination high signal intensity;
Performance element, for carrying out track and localization according to determined azimuth information.
9. tracing positioning apparatus according to claim 8, is characterized in that,
Described device also comprises:
Wakeup unit, for waking described locating device up.
10. tracing positioning apparatus according to claim 8, is characterized in that,
Described comparing unit comprises:
First conversion subelement, for being converted to audio amplitude intensity by described signal intensity;
Or,
Second conversion subelement, for being converted to numerical value in order to display by described signal intensity.
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| CN201510232358.1A CN104808175A (en) | 2015-05-08 | 2015-05-08 | Tracking and positioning method and device |
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