CN106772233A - Localization method, relevant device and system - Google Patents
Localization method, relevant device and system Download PDFInfo
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- CN106772233A CN106772233A CN201611265987.5A CN201611265987A CN106772233A CN 106772233 A CN106772233 A CN 106772233A CN 201611265987 A CN201611265987 A CN 201611265987A CN 106772233 A CN106772233 A CN 106772233A
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- position coordinates
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- positioning
- positioning precision
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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
- G01S5/0257—Hybrid positioning
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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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/421—Determining position by combining or switching between position solutions or signals derived from different satellite radio beacon positioning systems; by combining or switching between position solutions or signals derived from different modes of operation in a single system
- G01S19/423—Determining position by combining or switching between position solutions or signals derived from different satellite radio beacon positioning systems; by combining or switching between position solutions or signals derived from different modes of operation in a single system by combining or switching between position solutions derived from different satellite radio beacon positioning systems
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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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/421—Determining position by combining or switching between position solutions or signals derived from different satellite radio beacon positioning systems; by combining or switching between position solutions or signals derived from different modes of operation in a single system
- G01S19/426—Determining position by combining or switching between position solutions or signals derived from different satellite radio beacon positioning systems; by combining or switching between position solutions or signals derived from different modes of operation in a single system by combining or switching between position solutions or signals derived from different modes of operation in a single system
Abstract
The invention discloses a kind of localization method, relevant device and system, it is used to improve positioning precision.The method is：If it is determined that the first equipment successfully obtains position coordinates by positioning, obtain the position coordinates of first equipment that the first equipment positioning is obtained, and the position coordinates that the second equipment positions second equipment for obtaining is obtained, the position coordinates of position coordinates and first equipment according to second equipment determines the revised position coordinates of the first equipment；If it is determined that first equipment obtains position coordinates failure by positioning, the position coordinates of second equipment that the second equipment positioning is obtained is obtained, the position coordinates according to second equipment determines the revised position coordinates of the first equipment.
Description
Technical field
The present invention relates to communication technical field, more particularly to a kind of localization method, relevant device and system.
Background technology
With the development of the communication technology, equipment is more and more to obtaining the demand of the location of itself coordinate.People's
Relation between clothing, food, shelter, row and position coordinates is more and more closer.
In the prior art, in the case of the driving or under occluded environment, equipment is positioned very unstable using GPS
Fixed, positioning precision is poor, and reason is：Gps signal power is weaker, and penetration capacity is poor, easily by surrounding environment influence.
Also, in current location technology, indoor and outdoor location technology linking be not it is much smoother, for example bluetooth, WIFI,
Positioning action of the infrared grade out of doors or played in driving is poor.
For WIFI positioning, because the coverage of WIFI transceivers is small, the region generally within 90 meters of radius, and
And the interference of other signals is highly susceptible to, positioning precision is easily affected out of doors or in the environment of driving.
For infrared ray positioning, infrared ray has of a relatively high indoor position accuracy, but because light can not
Through barrier so that infrared-ray is only capable of line-of-sight propagation, it is difficult to enter using infrared ray out of doors or in the case of driving
Row positioning.
For bluetooth positioning, in complicated space environment, the less stable of Bluetooth system is dry by noise signal
Disturb larger, the positioning out of doors or in the case of driving is unstable.
In sum, it is necessary to seek a kind of new localization method, to improve positioning precision.
The content of the invention
The embodiment of the present invention provides a kind of localization method, relevant device and system, is used to improve positioning precision.
Concrete technical scheme provided in an embodiment of the present invention is as follows：
In a first aspect, a kind of localization method is the embodiment of the invention provides, including：
If it is determined that the first equipment successfully obtains position coordinates by positioning, the described of the first equipment positioning acquisition is obtained
The position coordinates of the first equipment, and the position coordinates of second equipment of the second equipment positioning acquisition is obtained, according to described
The position coordinates of the position coordinates of the second equipment and first equipment determines the revised position coordinates of the first equipment；
If it is determined that first equipment obtains position coordinates failure by positioning, obtain what the second equipment positioning was obtained
The position coordinates of second equipment, the position coordinates according to second equipment determines the revised position of the first equipment
Coordinate.
Second aspect, the embodiment of the invention provides a kind of positioner, including：
First processing module, for if it is determined that the first equipment successfully obtains position coordinates, acquisition described first by positioning
The position coordinates of first equipment that equipment positioning is obtained, and obtain second equipment of the second equipment positioning acquisition
Position coordinates, the position coordinates of position coordinates and first equipment according to second equipment determines first equipment
Revised position coordinates；
Second processing module, for if it is determined that first equipment obtains described by positioning acquisition position coordinates failure
The position coordinates of second equipment that the second equipment positioning is obtained, the position coordinates according to second equipment determines described the
The revised position coordinates of one equipment.
The third aspect, the embodiment of the invention provides a kind of equipment, including described device, and the equipment is described first
Equipment or second equipment.
Fourth aspect, the embodiment of the invention provides a kind of alignment system, including：
Second equipment, the position coordinates of second equipment is obtained for positioning, by the position coordinates of second equipment
It is sent to the first equipment；
First equipment, the position coordinates of first equipment is obtained for obtaining the first equipment positioning, and
Obtain the position coordinates of second equipment that second equipment sends, position coordinates and institute according to second equipment
The position coordinates of the first equipment is stated, the revised position coordinates of the first equipment is determined.
Based on above-mentioned technical proposal, in the embodiment of the present invention, it is determined that the first equipment positioning successfully obtains position coordinates
In the case of, the position coordinates and the second equipment of acquisition of the first equipment that the first equipment positioning of acquisition is obtained position second for obtaining
The position coordinates of equipment, is modified using the position coordinates of the second equipment to the position coordinates of the first equipment, determines that first sets
Standby revised position coordinates, such that it is able in the case where the locating effect of the first equipment is not good enough, by the position of the second equipment
The position coordinates for putting the equipment of coordinate pair first is modified, and reaches the purpose of the Position location accuracy of first equipment that improves；It is determined that
In the case that first equipment is by positioning and obtaining position coordinates failure, the is determined according to the position coordinates that the second equipment positioning is obtained
The revised position coordinates of one equipment, so that still can be according to the position of the second equipment in the case where the first equipment cannot be positioned
Coordinate determines the position coordinates of the first equipment.
Brief description of the drawings
Fig. 1 is position fixing process schematic diagram in the embodiment of the present invention；
Fig. 2 is auxiliary positioning schematic flow sheet in the embodiment of the present invention；
Fig. 3 is arm of force theory schematic diagram in the embodiment of the present invention；
Fig. 4 is the schematic diagram of power function in the embodiment of the present invention；
Fig. 5 be the embodiment of the present invention in additionally arrange standby structural representation；
Fig. 6 is the structural representation of framing signal processing module in the embodiment of the present invention；
Fig. 7 is the structural representation of data transmit-receive module in the embodiment of the present invention；
Fig. 8 is the structural representation of Anneta module in the embodiment of the present invention；
Fig. 9 is the structural representation of positioner in the embodiment of the present invention.
Specific embodiment
In order that the object, technical solutions and advantages of the present invention are clearer, below in conjunction with accompanying drawing the present invention is made into
One step ground is described in detail, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole implementation
Example.Based on the embodiment in the present invention, what those of ordinary skill in the art were obtained under the premise of creative work is not made
All other embodiment, belongs to the scope of protection of the invention.
In order to provide positioning precision, the embodiment of the invention provides a kind of localization method, the main thought of the method be
During first equipment is positioned, the position coordinates positioned using the second equipment is repaiied to the position location coordinate of the first equipment
Just, improving positioning precision.
The embodiment of the present invention is described in further detail with reference to Figure of description.It should be appreciated that described herein
Embodiment be merely to illustrate and explain the present invention, be not intended to limit the present invention.
In following examples, it is assumed that it needs to be determined that the accurate position coordinates of the first equipment, the second equipment positioning acquisition position
Coordinate is used to aid in determining the accurate position coordinates of the first equipment.
In following examples, the first equipment is respectively provided with the energy that the position coordinates of itself is obtained by positioning with the second equipment
Power, and the positioning method that the first equipment is used are identical with the positioning method that the second equipment is used.Also, the first equipment with
The position coordinates of the second equipment from same alignment system.
If for example, the first equipment is positioned by global positioning system (Global Positioning System, GPS) obtaining
The position coordinates of the first equipment is obtained, then the second equipment is also required to be obtained by GPS location the position coordinates of the second equipment, and first
The position coordinates of equipment is obtained with the position coordinates of the second equipment by same satellite fix.
In the embodiment of the present invention, as shown in figure 1, position fixing process is specific as follows：
Step 101：If it is determined that the first equipment successfully obtains position coordinates by positioning, obtain the first equipment positioning and obtain
The position coordinates of first equipment for obtaining, and the position coordinates of second equipment of the second equipment positioning acquisition is obtained,
The position coordinates of position coordinates and first equipment according to second equipment determines that first equipment is revised
Position coordinates.
Wherein, the position coordinates of first equipment is obtained with the position coordinates of second equipment by same alignment system
.
Specifically, if perform the position fixing process shown in Fig. 1 is the first equipment, the first equipment successfully obtains position by positioning
Coordinate is put, or, the first equipment cannot be positioned, i.e., channel location obtains position coordinates failure.First equipment obtains the second equipment
The process of position coordinates for positioning second equipment for obtaining is：First equipment receives the second equipment that the second equipment sends
Position coordinates, the position coordinates of the second equipment is obtained for the second equipment passes through to position.
Specifically, if perform the position fixing process shown in Fig. 1 is the second equipment, the second equipment obtains determining for the first equipment
Position result process be：Second equipment receives the position coordinates that the first equipment is successfully obtained by positioning, or, the second equipment connects
The positioning for receiving the transmission of the first equipment obtains the information of position coordinates failure.Second equipment obtains the mistake of the position coordinates of the second equipment
Cheng Wei：Second equipment obtains the position coordinates of the second equipment by positioning.
It should be noted that perform the position fixing process shown in Fig. 1 can also be in addition to the first equipment and the second equipment
Miscellaneous equipment, referred to as the 3rd equipment, then the 3rd equipment receive the first equipment send first equipment positioning obtain position
Coordinate, or the information that position coordinates failure is obtained by positioning that the first equipment sends is received, and receive the second equipment hair
Second equipment positioning sent obtains position coordinates.
Step 102：If it is determined that first equipment obtains position coordinates failure by positioning, obtain second equipment and determine
The position coordinates of second equipment that position obtains, the position coordinates according to second equipment determines the first equipment amendment
Position coordinates afterwards.
In one specific embodiment, however, it is determined that first equipment successfully obtains the position of first equipment by positioning
Coordinate is put, position coordinates, the position coordinates of second equipment according to first equipment, first equipment corresponding
One weight coefficient and corresponding second weight coefficient of second equipment, determine that the revised position of first equipment is sat
Mark.
In one specific embodiment, in the case where only one the second equipment aids in the first equipment to position, described the
One weight coefficient and second weight coefficient and value be one.
It should be noted that due to the distance between satellite distance and the first equipment and the distance of the equipment of satellite distance second
Between difference can be ignored, the distance between the first equipment and the second equipment value can not be used to the position of the first equipment
The position coordinates for putting coordinate or the second equipment is adjusted, of course for the precision degree for improving positioning, it would however also be possible to employ first sets
The standby value the distance between with the second equipment is adjusted to the position coordinates of the first equipment or the position coordinates of the second equipment.
In one specific embodiment, however, it is determined that first equipment receives the signal intensity of framing signal more than described the
Two equipment receive the signal intensity of framing signal, using distance value between first equipment and second equipment to described the
The position coordinates of two equipment is adjusted；
If it is determined that the signal intensity that first equipment receives framing signal is not more than the second equipment reception positioning letter
Number signal intensity, using the distance between first equipment and described second equipment to the position coordinates of first equipment
It is adjusted.
In one specific embodiment, the signal intensity and the second equipment of framing signal are received by comparing the first equipment
The signal intensity of framing signal is received, the primary and secondary ground of the position coordinates of the first equipment and the position coordinates of the second equipment is determined
Position, and then the revised position coordinates of the first equipment is calculated according to the primary and secondary status for determining, it is specific as follows：
If it is determined that the signal intensity that first equipment receives framing signal receives framing signal more than second equipment
Signal intensity, using the distance between first equipment and described second equipment value to the position coordinates of second equipment
After being adjusted, position coordinates, described first of second equipment after position coordinates, adjustment according to first equipment
Weight coefficient and second weight coefficient, determine the revised position coordinates of the first equipment, wherein, first power
Weight coefficient is more than second weight coefficient；
Otherwise, then using the distance between first equipment and described second equipment value, to the position of first equipment
Put after coordinate is adjusted, according to adjustment after first equipment position coordinates, the position coordinates of second equipment, institute
The first weight coefficient and second weight coefficient are stated, the revised position coordinates of the first equipment is determined, wherein, it is described
First weight coefficient is less than second weight coefficient.
During one implements, by base station reaching time-difference (Observed Time Difference of according to the observation
Arrival, OTDOA) positioning principle, calculate the distance between the first equipment and second equipment.Specifically, by international standard
Change rough position coordinate and the second equipment that tissue OTDOA localization methods of the 3GPP in LTE protocol determines the first equipment
Rough position coordinate, the first equipment and the rough position coordinate of the second equipment determined using OTDOA localization methods, with the present invention
The coordinate system that the position coordinates of position coordinates and the second equipment that the first equipment for obtaining is positioned in embodiment is used is identical, will
The difference of the rough position coordinate of the first equipment and the rough position coordinate of the second equipment is defined as the first equipment and the second equipment
The distance between value.
Assuming that the position coordinates of the first equipment is expressed as (X1, Y1, Z1), the position coordinates of the second equipment is expressed as (X2, Y2,
Z2), the rough position coordinate of the first equipment obtained by OTDOA localization methods is (X11, Y11, Z11), positioned by OTDOA
The rough position coordinate of the first equipment that method is obtained is (X22, Y22, Z22), be starting point with the first equipment, then the first equipment with
The distance between difference between the position coordinates of the second equipment, i.e. the first equipment and the second equipment value, herein also referred to as compensate
Coordinate, is represented by formula 1：
Then the position coordinates to second equipment is adjusted, and is expressed as formula 2：
Then the position coordinates to first equipment is adjusted, and is expressed as formula 3：
For example, as shown in Fig. 2 auxiliary positioning flow is specific as follows：Positioning result according to the first equipment judges that first sets
It is standby whether to position；If can not, the position coordinates according to the second equipment determines the final position coordinates of the first equipment；If
Can, then determine whether the intensity of the framing signal that the first equipment is received, if believe higher than the positioning that the second equipment is received
Number intensity, if being higher than, with the first equipment positioning obtain the first equipment position coordinates based on, with the position of the second equipment
Put supplemented by coordinate, determine the revised position coordinates of the first equipment；If being less than, based on the position coordinates of the second equipment, with
Supplemented by the position coordinates of the first equipment, the revised position coordinates of the first equipment is determined.
In one specific embodiment, the position of position coordinates and second equipment according to first equipment is sat
Mark, determines the revised position coordinates of the first equipment, and detailed process is as follows：First weight coefficient is calculated with described
The product of the position coordinates of one equipment obtains the first product value, and the position for calculating the second weight coefficient and second equipment
The product of coordinate obtains the second product value, and first equipment is determined according to first product value and second product value
Final position coordinates.
In the specific embodiment, it is assumed that the first weight coefficient is expressed as β1, the second weight coefficient is expressed as β2, it is determined that
The procedural representation of the final position coordinates of the first equipment is shown in formula 4:
It should be noted that being to the second equipment in formula 4 using the distance between the first equipment and the second equipment value
The situation that position coordinates is adjusted, if the position coordinates to the second equipment is not adjusted, formula 4 is represented by：
In one specific embodiment, position coordinates, the position coordinates of second equipment according to first equipment,
First weight coefficient and second weight coefficient, determine the revised position coordinates of the first equipment, specific mistake
Journey is as follows：Calculate first weight coefficient and obtain the first product value with the product of the position coordinates of first equipment, and
Calculate the second weight coefficient and obtain the second product value with the product of the position coordinates of second equipment, according to first product
Value and second product value determine the revised position coordinates of the first equipment.
In the specific embodiment, determine the procedural representation of the revised position coordinates of the first equipment for shown in formula 5:
It should be noted that being to the first equipment in formula 5 using the distance between the first equipment and the second equipment value
The situation that position coordinates is adjusted, if the position coordinates to the first equipment is not adjusted, formula 5 is represented by：
In the embodiment of the present invention, however, it is determined that positioning accurate of the positioning precision of first equipment higher than second equipment
Degree, then configure first weight coefficient more than second weight coefficient；If it is determined that the positioning precision of first equipment is low
In the positioning precision of second equipment, then first weight coefficient is configured less than second weight coefficient.
In one specific embodiment, determine that the process of the first weight coefficient and the second weight coefficient is specific as follows：
The first saturation power, corresponding first positioning accurate of first saturation power according to the first device hardware system
Degree, first equipment positioning need the first lowest power, corresponding second positioning precision of first lowest power for meeting
And first equipment receives the power of framing signal, determine that first equipment receives the power corresponding the of framing signal
Three positioning precisions；
Corresponding 4th positioning of the second saturation power, second saturation power according to the second device hardware system
Precision, second equipment positioning need the second lowest power, corresponding 5th positioning accurate of second lowest power for meeting
Degree and second equipment receive the power of framing signal, determine that the power of the second equipment reception framing signal is corresponding
6th positioning precision；
Calculate the 3rd positioning precision and the 6th positioning precision and, by the 6th positioning precision and gained and
The ratio of value, is defined as first weight coefficient, by the 3rd positioning precision and gained and value ratio, is defined as institute
State the second weight coefficient.
Wherein, first parameter receives the inversely proportional relation of power of framing signal with first equipment, with first
Weight coefficient direct proportionality；Second parameter receives the inversely proportional pass of power of framing signal with second equipment
System, with the second weight coefficient direct proportionality.
The determination principle and determination process to weight coefficient are illustrated below.
, with transmission range into inverse correlation, its relation is as shown in Equation 6 for received signal power：
Wherein, PRIt is the receiving power of framing signal, PTThe transmission power of framing signal is represented, r is represented between Transmit-Receive Unit
Distance, n represents propagation factor, and the numerical values recited of propagation factor depends on communication environments.By taking GPS location as an example, gps satellite away from
Range difference from the first equipment and the second equipment equipment can be ignored, and gps satellite is to the first equipment and the second equipment
Transmission power is identical, therefore the first equipment and the respective receiving power of the second equipment are mainly influenceed by propagation factor, and
Propagation factor also further influences the positioning precision of the first equipment and the second equipment.
The size of positioning precision decides the degree of accuracy of the position coordinates that positioning is obtained.When the first equipment and the second equipment
When positioning precision is identical, corresponding first weight coefficient of the first equipment the second weight coefficient corresponding with the second equipment is equal；When
When the positioning precision of the first equipment is higher than the positioning precision of the second equipment, corresponding first weight coefficient of the first equipment is more than second
Corresponding second weight coefficient of equipment；Conversely, when the positioning precision of the first equipment is less than the positioning precision of the second equipment, first
Corresponding first weight coefficient of equipment is less than corresponding second weight coefficient of the second equipment.
In consideration of it, arm of force model in being introduced into physics is closed studying weight of the signal power in adjustment in accuracy algorithm
System.Arm of force theory is as shown in figure 3, be expressed as shown in formula 7：
F1L1=F2L2 (7)
Wherein, L1Represent the length of first arm of force, F1Represent the active force on first arm of force, L2Represent the length of second arm of force
Degree, F2Represent the active force on second arm of force.
Determine the first weight coefficient and the second weight coefficient using arm of force model, it is assumed that for characterizing determining for the first equipment
The numerical value p of position precision1It is equivalent to the directed force F on first arm of force1Size, it is assumed that for characterize the second equipment positioning precision
Numerical value p2It is equivalent to the directed force F on second arm of force2Size.And assume the first weight coefficient β1It is equivalent to first arm of force
Length L1Normalization, it is assumed that the second weight coefficient β2It is equivalent to the length L of second arm of force2Normalization, point (equalization point) is
The cut-point of the first weight coefficient and the second weight coefficient.Formula 8 then can obtain according to formula 7：
p1β1=p2β2And β1+β2=1 (8)
Formula 9 can obtain according to formula 8：
It can be seen from formula 6, the positioning precision of GPS receiver equipment is mainly influenceed by propagation factor n, and positioning precision with
Propagation factor is more severe into positive correlation, i.e. environment residing for GPS receiver equipment, and propagation factor n is bigger, and positioning precision is poorer, fixed
The numerical value of position precision is bigger；Conversely, positioning precision is better, the numerical value of positioning precision is smaller.Learnt according to formula 6, receive signal
Power, into inverse correlation, is expressed as with positioning precision numerical value
Assuming that GPS receiver equipment can normal work, as the receiving power P of framing signalRDuring more than given threshold, GPS
Receiving device can automatically adjust the signal power into base band demodulating, it is to avoid signal is excessive to cause signal saturation and distortion；When fixed
The receiving power P of position signalRWhen very faint, GPS receiver equipment can automatically adjust the signal power into base band demodulating, enable
Enough meet normal work demand.Meanwhile, the receiving power P of positioning precision numerical value p relative locating signalsRIt is monotone decreasing,
Positioning precision is more violent with the change of the receiving power of framing signal in certain limit, especially in received signal power PRIt is weaker
When performance become apparent.To sum up, power function as shown in Figure 4 is introduced to characterize the receiving power two of positioning precision and framing signal
Relation between person.The power function is typically expressed as shown in formula 10：
After the receiving power for introducing positioning precision and framing signal in formula 10, it is represented by shown in formula 11：
GPS receiver equipment can with the size of the receiving power of direct access framing signal, GPS receiver device hardware system
Saturation power is expressed as PH, the corresponding positioning precision of the saturation power is expressed as pH；When received signal power is weaker, to realize
Positioning needs to meet lowest power PLIt is required that, i.e. the receiving sensitivity of GPS receiver equipment, the corresponding positioning precision of the lowest power
Size is expressed as pL.By PHWith pHCorresponding relation, and PLWith pLBetween corresponding relation substitute into formula 11, can obtain formula 12
With shown in formula 13：
During formula 13 substituted into formula 9, the first weight coefficient β is can obtain1With the second weight coefficient β2。
In the embodiment of the present invention, the first weight coefficient, the second weight coefficient, the position coordinates of the first equipment, second are set
Standby position coordinates is substituted into formula 4 or formula 5, you can obtain the revised position coordinates of the first equipment.Or, by the first power
Weight coefficient, the second weight coefficient, the position coordinates of the first equipment, the position coordinates of the second equipment and compensation coordinate substitute into formula
4 and formula 5 in, you can obtain the revised position coordinates of the first equipment.
For example, it is assumed that it is main equipment to need the equipment being accurately positioned, the equipment that auxiliary main equipment is positioned is referred to as
Additionally arrange standby, it is known that the position coordinates that main equipment is calculated is (X1, Y1, Z1) and the intensity of the receiving power of framing signal is PR1,
The position coordinates that auxiliary equipment is calculated is (X2, Y2, Z2) and the intensity of the receiving power of framing signal is PR2, master and slave equipment
Saturation power be respectively PH1、PH2And correspondence positioning precision is respectively pH1、pH2, the receiving sensitivity power difference of master and slave equipment
It is PL1、PL2And correspondence positioning precision pL1、pL2, the compensation coordinate centered on main equipment is (Δ X, Δ Y, Δ Z), in main equipment
In calculate main equipment adjustment after position coordinates be (X, Y, Z).
Wherein, (X1, Y1, Z1)=(15524471.175,16649826.222,13512272.387)；
(X2, Y2, Z2)=(15556812.256,16685234.523,13523232.231)；
(Δ X, Δ Y, Δ Z)=(6.59,8.26,5.59)
PR1=-135dBm, PR2=-115dBm；
PH1=PH2=-110dBm, pH1=pH2=10m；
PL1=PL2=-160dBm, pL1=pL2=1000m.
Formula (13) is substituted into according to known conditions, p can be obtained1=14140.7213, p2=10540.3398；Again by p1, p2Substitute into
Formula (9), can obtain β1=0.42706186, β2=0.57293814；Finally by β1, β2Substitution formula (4) or formula (5) can be obtained
The as revised position coordinates of main equipment.
In the embodiment of the present invention, however, it is determined that first equipment obtains position coordinates failure by positioning, and can be set second
Position coordinates of the standby position coordinates directly as the first equipment；Or, using the distance between the first equipment and second equipment
After value is adjusted to the position coordinates of the second equipment, using adjustment after the second equipment position coordinates as the position of the first equipment
Put coordinate.
It should be noted that the localization method that the embodiment of the present invention is provided, can apply to several scenes, to it is several compared with
For typical scene is described as follows.
1st, closely GPS auxiliary positionings, in the scene, main equipment and additionally arrange it is standby positioned using same gps system,
Main equipment distance additionally arrange it is standby it is relatively near in the case of, it is quick autonomous fixed that auxiliary equipment utilization GPS, AGPS and base station network are realized
Position, and positioning acquisition positional information is sent to main equipment by 4G networks, main equipment will directly additionally arrange the position letter of standby offer
Cease as the positional information of main equipment, it is also possible to standby positional information will be additionally arranged as with reference to the position letter for extrapolating main equipment
Breath.For example, when the scene is to drive to navigate, will additionally arrange for being suspended on outside car, or, when the scene is indoor positioning, will additionally arrange
It is standby to be placed on window side etc..
2nd, remote tracking and monitoring, in the scene, main equipment and additionally arrange it is standby positioned using same gps system,
Main equipment distance additionally arrange it is standby farther out in the case of, main equipment send control instruction to preparation is additionally arranged, and additionally arranges standby according to the control instruction
By 4G networks to main equipment home position information, main equipment combination map software, can rapidly and accurately obtain additionally arrange it is standby
Particular location.To additionally arrange on the standby object for being placed on and needing to detect, just can realize remote real-time tracking monitoring.For example, should
It is article positioning or personage's tracing of the movement etc. with scene.
It should be noted that in the embodiment of the present invention, if assuming to need to position the first equipment, the first equipment is referred to as into master
Equipment, it is standby by being referred to as additionally arranging for the second equipment for aiding in main equipment to be positioned, additionally arrange it is standby can with compatible with GPS, GLONASS,
The multiple positioning modes such as the Big Dipper, AGPS and architecture.And additionally arrange for the 4G standards of major operators are supported, can select according to demand
Select one-segment or multiband aerial.In antenna performance, more excellent in one-band antenna performance, multiband aerial is in compatibility
It is more flexible.
In the embodiment of the present invention, additionally arranging standby external antenna can use built-in day using drawing antenna in main equipment
In the case of line, the receiving sensitivity of main equipment can be greatly promoted, and then improve the antijamming capability of antenna, meanwhile, in signal
In weaker environment, power consumption can be saved.
In the embodiment of the present invention, by 4G networks control can be sent to refer to preparation is additionally arranged according to different demands from main equipment
Order, with by the control instruction control additionally arrange standby working condition so that additionally arrange standby working condition start, shutdown, dormancy,
Switch between several states such as standby, the purpose of power consumption is reduced so as to reach.
In one specific embodiment, it is assumed that the first equipment is the main equipment for needing to be accurately positioned, then auxiliary positioning work is played
The structure of the second equipment is as shown in figure 5, mainly include framing signal processing module, central processing unit (Central
Processing Unit, CPU), power module, data transmit-receive module and Anneta module.Wherein, framing signal processing module
Framing signal for that will receive is converted to positional information by treatment.Data transmit-receive module, supports the corresponding of each operator
The network service of standard (such as 4G), for sending position signalling to main equipment and receiving the instruction that main equipment sends.CPU is integrated with
The function of AGPS, is processed for the signal to framing signal processing module and data transmit-receive module modulation or demodulation.Antenna
Module, including framing signal reception antenna and the dual-mode antenna of network signal.Wherein, Anneta module can be according to support
Communication standard unrestricted choice and disassembling, assembling and replacing.Power module, the instruction that can be sent according to main equipment selects operational module, for example
Shutdown, standby isotype.
During one implements, framing signal processing module can support the treatment of gps signal, framing signal treatment mould
Block can use structure as shown in Figure 6, the system that the framing signal processing module is built using periphery to complete to framing signal
Filtering, the task of power amplification, positional information is demodulated using general demodulator.The framing signal processing module is to logical
The framing signal that gps antenna is received is crossed, after being filtered by one-level SAW filter (SAW), by filtered positioning
Signal is filtered after low-noise amplifier is amplified treatment by two grades of SAW filters (SAW), finally by
Demodulator obtains positional information after being demodulated.Wherein, two grades of SAW filters can be omitted.
During one implements, network (such as 4G network) of the data transmit-receive module mainly using the corresponding standard of operator is complete
Into the transmitting and reception of data, the data transmit-receive module can use structure as shown in Figure 7, and the data transmit-receive module is included successively
The directional coupler of connection, wave filter and duplexer, wherein, receiving path and transmitting are passed through between duplexer and modem
Path is connected, wherein, power amplifier in transmitting path, the power amplifier is used to carry out work(to the signal of modem
Rate passes to duplexer after amplifying.The data transmit-receive module mainly transmitting and reception including network data (4G), including signal
The tasks such as transmission, Frequency Band Selection, filtering, modulation and demodulation, power amplification.Data transmit-receive module is by the corresponding standard of operator
Network and main equipment and AGPS server carry out data interaction, realize main equipment to additionally arranging standby control and additionally arranging standby to master
Equipment transmits positional information.
During one implements, CPU is mainly to framing signal processing module and the letter of data transmit-receive module modulation or demodulation
Number processed, with obtain additionally arrange standby more specific location information and main equipment and additionally arrange it is standby between interactive action.In addition,
The function of AGPS is integrated with CPU, AGPS auxiliary positioning information can be processed, realization additionally arranges wanting for standby quick positioning
Ask.
During one implements, power module is mainly framing signal processing module, data transmit-receive module and CPU and provides
Power supply, controls power supply to be in different working conditions according to actual needs, such as start, shutdown, dormancy, standby.Do not needing
In the state of power supply；Standby shutdown can will be additionally arranged, it is necessary to auxiliary device power-up when using power supply.Under open state,
In the case of not needing real-time continuous acquisition to additionally arrange standby positional information, main equipment send control instruction to preparation is additionally arranged, and additionally arranges standby
Data transmit-receive module according to the control instruction received and dispatched by the dual-mode antenna of network signal (such as 4G signals), indicate power module
Control is additionally arranged for resting state is entered；In the case where needing real-time continuous to obtain positional information, main equipment is standby to additionally arranging
Control instruction is sent, standby data transmit-receive module is additionally arranged according to the control received and dispatched by the dual-mode antenna of network signal (such as 4G signals)
System instruction, indicates power module control to additionally arrange for holding state is operated in.Based on similar control flow, main equipment can control auxiliary
Equipment is shut down or is started shooting.
During one implements, Anneta module can be received and launched to the signal of corresponding band, additionally arrange it is standby can basis
Demand carries out different apolegamys to antenna, and the antenna that can be matched includes network formats (such as the list 4G that logical, the single operator of the whole network provides
Standard) antenna and gps antenna etc..Wherein, (such as 4G believes the reception antenna and network signal of the framing signal in Anneta module
Number) dual-mode antenna respectively positioned at auxiliary equipment body two ends, can be reached using external antenna in the form of strengthen signal receipts
Hair sensitivity and the purpose of enhancing antijamming capability, structure are as shown in Figure 8.
Additionally provide a kind of positioner based on same inventive concept, in the embodiment of the present invention, the positioner it is specific
Implement the description reference can be made to embodiment of the method part, repeat part and repeat no more, as shown in figure 9, the device mainly includes：
First processing module 901, for if it is determined that the first equipment successfully obtains position coordinates by positioning, obtaining described the
The position coordinates of first equipment that one equipment positioning is obtained, and second equipment that the second equipment positioning of acquisition is obtained
Position coordinates, the position coordinates of position coordinates and first equipment according to second equipment determines that described first sets
Standby revised position coordinates；
Second processing module 902, for if it is determined that first equipment obtains institute by positioning acquisition position coordinates failure
The position coordinates of second equipment that the second equipment positioning is obtained is stated, described in the position coordinates determination according to second equipment
The revised position coordinates of first equipment.
In possible implementation method, the first processing module is used for：
Position coordinates, the position coordinates of second equipment according to first equipment, first equipment are corresponding
First weight coefficient and corresponding second weight coefficient of second equipment, determine that the revised position of first equipment is sat
Mark.
In possible implementation method, the first processing module is used for：
The first saturation power, corresponding first positioning accurate of first saturation power according to the first device hardware system
Degree, first equipment positioning need the first lowest power, corresponding second positioning precision of first lowest power for meeting
And first equipment receives the power of framing signal, determine that first equipment receives the power corresponding the of framing signal
Three positioning precisions；
Corresponding 4th positioning of the second saturation power, second saturation power according to the second device hardware system
Precision, second equipment positioning need the second lowest power, corresponding 5th positioning accurate of second lowest power for meeting
Degree and second equipment receive the power of framing signal, determine that the power of the second equipment reception framing signal is corresponding
6th positioning precision；
Calculate the 3rd positioning precision and the 6th positioning precision and, by the 6th positioning precision and gained and
The ratio of value, is defined as first weight coefficient, by the 3rd positioning precision and gained and value ratio, is defined as institute
State the second weight coefficient.
In possible implementation method, the first processing module is used for：
Calculate first weight coefficient and obtain the first product value with the product of the position coordinates of first equipment, and
Calculate the second weight coefficient and obtain the second product value with the product of the position coordinates of second equipment, according to first product
Value and second product value determine the revised position coordinates of the first equipment.
In possible implementation method, the first processing module is additionally operable to：
If it is determined that the positioning precision of first equipment then configures described first higher than the positioning precision of second equipment
Weight coefficient is more than second weight coefficient；
If it is determined that the positioning precision of first equipment then configures described first less than the positioning precision of second equipment
Weight coefficient is less than second weight coefficient.
In possible implementation method, the first processing module is additionally operable to：
The first saturation power, corresponding first positioning accurate of first saturation power according to the first device hardware system
Degree, first equipment positioning need the first lowest power, corresponding second positioning precision of first lowest power for meeting
And first equipment receives the power of framing signal, determine that first equipment receives the power corresponding the of framing signal
Three positioning precisions；
Corresponding 4th positioning of the second saturation power, second saturation power according to the second device hardware system
Precision, second equipment positioning need the second lowest power, corresponding 5th positioning accurate of second lowest power for meeting
Degree and second equipment receive the power of framing signal, determine that the power of the second equipment reception framing signal is corresponding
6th positioning precision；
Calculate the 3rd positioning precision and the 6th positioning precision and, by the 6th positioning precision and gained and
The ratio of value, is defined as first weight coefficient, by the 3rd positioning precision and gained and value ratio, is defined as institute
State the second weight coefficient.
In possible implementation method, the first processing module is used for：
Using the first saturation power of the first device hardware system as default power function input, and will be described
Corresponding first positioning precision of first saturation power obtains first saturation power and described as the output of the power function
The first restriction relation that first positioning precision meets；
First equipment positioning is needed the first lowest power for meeting as the input of the power function, and by institute
Output of corresponding second positioning precision of the first lowest power as the power function is stated, first lowest power and institute is obtained
State the second restriction relation of the second positioning precision satisfaction；
According to first restriction relation and second restriction relation, first parameter and second of the power function is determined
Parameter；
Power, first parameter and second parameter that first equipment receives framing signal are substituted into described
Power function, determines that first equipment receives corresponding 3rd positioning precision of power of framing signal；
And using the second saturation power of the second device hardware system as the power function input, and by institute
Output of corresponding 4th positioning precision of the second saturation power as the power function is stated, second saturation power and institute is obtained
State the 3rd restriction relation of the 4th positioning precision satisfaction；
Second equipment positioning is needed the second lowest power for meeting as the input of the power function, and by institute
Output of corresponding 5th positioning precision of the second lowest power as the power function is stated, second lowest power and institute is obtained
State the 4th restriction relation of the 5th positioning precision satisfaction；
According to the 3rd restriction relation and the 4th restriction relation, the 3rd parameter and the 4th of the power function is determined
Parameter；
Power, the 3rd parameter and the 4th parameter that second equipment receives framing signal are substituted into described
Power function, determines that second equipment receives corresponding 6th positioning precision of power of framing signal；
The sum of the 3rd positioning precision and the 6th positioning precision is calculated, by the 6th positioning precision and gained
It is defined as first weight coefficient with the ratio of value, the 3rd positioning precision is defined as institute with gained and value ratio
State the second weight coefficient.
In possible implementation method, the first processing module is additionally operable to：
If it is determined that the signal intensity that first equipment receives framing signal receives framing signal more than second equipment
Signal intensity, the position coordinates of second equipment is entered using distance value between first equipment and second equipment
Row adjustment；
If it is determined that the signal intensity that first equipment receives framing signal is not more than the second equipment reception positioning letter
Number signal intensity, using the distance between first equipment and described second equipment to the position coordinates of first equipment
It is adjusted.
A kind of equipment is additionally provided based on same inventive concept, in the embodiment of the present invention, the equipment includes said apparatus, should
Equipment can be second setting described by the first equipment, or embodiment of the method part described by embodiment of the method part
It is standby.
A kind of system is additionally provided based on same inventive concept, in the embodiment of the present invention, the system mainly sets including first
Standby and the second equipment, wherein：
Second equipment, the position coordinates of second equipment is obtained for positioning, by the position coordinates of second equipment
It is sent to the first equipment；
First equipment, the position coordinates of first equipment is obtained for obtaining the first equipment positioning, and
Obtain the position coordinates of second equipment that second equipment sends, position coordinates and institute according to second equipment
The position coordinates of the first equipment is stated, the revised position coordinates of the first equipment is determined.
In possible implementation method, first equipment is additionally operable to：
Control instruction is sent to first equipment, controls second equipment to be operated shape by the control instruction
State switches, and the working condition includes start, shutdown, dormancy and standby.
It should be understood by those skilled in the art that, embodiments of the invention can be provided as method, system or computer program
Product.Therefore, the present invention can be using the reality in terms of complete hardware embodiment, complete software embodiment or combination software and hardware
Apply the form of example.And, the present invention can be used and wherein include the computer of computer usable program code at one or more
The shape of the computer program product implemented in usable storage medium (including but not limited to magnetic disk storage and optical memory etc.)
Formula.
The present invention is the flow with reference to method according to embodiments of the present invention, equipment (system) and computer program product
Figure and/or block diagram are described.It should be understood that every first-class during flow chart and/or block diagram can be realized by computer program instructions
The combination of flow and/or square frame in journey and/or square frame and flow chart and/or block diagram.These computer programs can be provided
The processor of all-purpose computer, special-purpose computer, Embedded Processor or other programmable data processing devices is instructed to produce
A raw machine so that produced for reality by the instruction of computer or the computing device of other programmable data processing devices
The device of the function of being specified in present one flow of flow chart or multiple one square frame of flow and/or block diagram or multiple square frames.
These computer program instructions may be alternatively stored in can guide computer or other programmable data processing devices with spy
In determining the computer-readable memory that mode works so that instruction of the storage in the computer-readable memory is produced and include finger
Make the manufacture of device, the command device realize in one flow of flow chart or multiple one square frame of flow and/or block diagram or
The function of being specified in multiple square frames.
These computer program instructions can be also loaded into computer or other programmable data processing devices so that in meter
Series of operation steps is performed on calculation machine or other programmable devices to produce computer implemented treatment, so as in computer or
The instruction performed on other programmable devices is provided for realizing in one flow of flow chart or multiple flows and/or block diagram one
The step of function of being specified in individual square frame or multiple square frames.
Obviously, those skilled in the art can carry out various changes and modification without deviating from essence of the invention to the present invention
God and scope.So, if these modifications of the invention and modification belong to the scope of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to comprising these changes and modification.
Claims (14)
1. a kind of localization method, it is characterised in that including：
If it is determined that the first equipment successfully obtains position coordinates by positioning, the first equipment positioning is obtained described first is obtained
The position coordinates of equipment, and the position coordinates of second equipment of the second equipment positioning acquisition is obtained, according to described second
The position coordinates of the position coordinates of equipment and first equipment determines the revised position coordinates of the first equipment；
If it is determined that first equipment obtains position coordinates failure by positioning, it is described that acquisition the second equipment positioning is obtained
The position coordinates of the second equipment, the position coordinates according to second equipment determines that the revised position of first equipment is sat
Mark.
2. the method for claim 1, it is characterised in that the position coordinates according to second equipment and described first
The position coordinates of equipment determines the revised position coordinates of the first equipment, including：
Position coordinates, the position coordinates of second equipment according to first equipment, first equipment corresponding first
Weight coefficient and corresponding second weight coefficient of second equipment, determine the revised position coordinates of the first equipment.
3. method as claimed in claim 2, it is characterised in that position coordinates according to first equipment, described second set
Standby position coordinates, corresponding first weight coefficient of first equipment and corresponding second weight coefficient of second equipment
Determine the revised position coordinates of the first equipment, including：
Calculate first weight coefficient and obtain the first product value with the product of the position coordinates of first equipment, and calculate
Second weight coefficient obtains the second product value with the product of the position coordinates of second equipment, according to first product value with
And second product value determines the revised position coordinates of the first equipment.
4. method as claimed in claim 2 or claim 3, it is characterised in that position coordinates, described second according to first equipment
The position coordinates of equipment, corresponding first weight coefficient of first equipment and the corresponding second weight system of second equipment
Number, before determining the revised position coordinates of the first equipment, methods described also includes：
If it is determined that the positioning precision of first equipment then configures first weight higher than the positioning precision of second equipment
Coefficient is more than second weight coefficient；
If it is determined that the positioning precision of first equipment then configures first weight less than the positioning precision of second equipment
Coefficient is less than second weight coefficient.
5. method as claimed in claim 2 or claim 3, it is characterised in that position coordinates, described second according to first equipment
The position coordinates of equipment, corresponding first weight coefficient of first equipment and the corresponding second weight system of second equipment
Number, before determining the revised position coordinates of the first equipment, methods described also includes：
The first saturation power, corresponding first positioning precision of first saturation power according to the first device hardware system, institute
State the first lowest power, corresponding second positioning precision of first lowest power and institute that the first equipment positioning needs to meet
The power that the first equipment receives framing signal is stated, determines that first equipment receives corresponding 3rd positioning of power of framing signal
Precision；
The second saturation power, corresponding 4th positioning accurate of second saturation power according to the second device hardware system
Degree, second equipment positioning need the second lowest power, corresponding 5th positioning precision of second lowest power for meeting
And second equipment receives the power of framing signal, determine that second equipment receives the power corresponding the of framing signal
Six positioning precisions；
Calculate the 3rd positioning precision and the 6th positioning precision and, will be the 6th positioning precision and gained and value
Ratio, is defined as first weight coefficient, by the 3rd positioning precision and gained and value ratio, is defined as described the
Two weight coefficients.
6. method as claimed in claim 5, it is characterised in that position coordinates according to first equipment, described second set
Standby position coordinates, corresponding first weight coefficient of first equipment and the corresponding second weight system of second equipment
Number, before determining the revised position coordinates of the first equipment, methods described also includes：
Using the first saturation power of the first device hardware system as default power function input, and by described first
Corresponding first positioning precision of saturation power obtains first saturation power and described first as the output of the power function
The first restriction relation that positioning precision meets；
First equipment positioning needs the first lowest power for meeting as the input of the power function, and by described the
Corresponding second positioning precision of one lowest power obtains first lowest power and described as the output of the power function
The second restriction relation that two positioning precisions meet；
According to first restriction relation and second restriction relation, first parameter and the second ginseng of the power function are determined
Number；
Power, first parameter and second parameter that first equipment receives framing signal are substituted into the power letter
Number, determines that first equipment receives corresponding 3rd positioning precision of power of framing signal；
And using the second saturation power of the second device hardware system as the power function input, and by described
Corresponding 4th positioning precision of two saturation powers obtains second saturation power and described as the output of the power function
The 3rd restriction relation that four positioning precisions meet；
Second equipment positioning needs the second lowest power for meeting as the input of the power function, and by described the
Corresponding 5th positioning precision of two lowest powers obtains second lowest power and described as the output of the power function
The 4th restriction relation that five positioning precisions meet；
According to the 3rd restriction relation and the 4th restriction relation, the 3rd parameter and the 4th ginseng of the power function are determined
Number；
Power, the 3rd parameter and the 4th parameter that second equipment receives framing signal are substituted into the power letter
Number, determines that second equipment receives corresponding 6th positioning precision of power of framing signal；
Calculate the sum of the 3rd positioning precision and the 6th positioning precision, by the 6th positioning precision and gained and value
Ratio be defined as first weight coefficient, the 3rd positioning precision and gained and value ratio is defined as described the
Two weight coefficients.
7. the method as described in claim 1,2 or 3, it is characterised in that determine the revised position coordinates of the first equipment
Before, including：
If it is determined that first equipment receives the letter of the signal intensity more than second equipment reception framing signal of framing signal
Number intensity, is adjusted using distance value between first equipment and second equipment to the position coordinates of second equipment
It is whole；
If it is determined that the signal intensity that first equipment receives framing signal is not more than the second equipment reception framing signal
Signal intensity, is carried out using the distance between first equipment and described second equipment to the position coordinates of first equipment
Adjustment.
8. a kind of positioner, it is characterised in that including：
First processing module, for if it is determined that the first equipment successfully obtains position coordinates, acquisition first equipment by positioning
Position the position coordinates of first equipment for obtaining, and the position for obtaining second equipment of the second equipment positioning acquisition
Coordinate, the position coordinates of position coordinates and first equipment according to second equipment determines the first equipment amendment
Position coordinates afterwards；
Second processing module, for if it is determined that first equipment obtains position coordinates failure, acquisition described second by positioning
The position coordinates of second equipment that equipment positioning is obtained, the position coordinates according to second equipment determines that described first sets
Standby revised position coordinates.
9. device as claimed in claim 8, it is characterised in that the first processing module is used for：
Position coordinates, the position coordinates of second equipment according to first equipment, first equipment corresponding first
Weight coefficient and corresponding second weight coefficient of second equipment, determine the revised position coordinates of the first equipment.
10. device as claimed in claim 9, it is characterised in that the first processing module is additionally operable to：
The first saturation power, corresponding first positioning precision of first saturation power according to the first device hardware system, institute
State the first lowest power, corresponding second positioning precision of first lowest power and institute that the first equipment positioning needs to meet
The power that the first equipment receives framing signal is stated, determines that first equipment receives corresponding 3rd positioning of power of framing signal
Precision；
The second saturation power, corresponding 4th positioning accurate of second saturation power according to the second device hardware system
Degree, second equipment positioning need the second lowest power, corresponding 5th positioning precision of second lowest power for meeting
And second equipment receives the power of framing signal, determine that second equipment receives the power corresponding the of framing signal
Six positioning precisions；
Calculate the 3rd positioning precision and the 6th positioning precision and, will be the 6th positioning precision and gained and value
Ratio, is defined as first weight coefficient, by the 3rd positioning precision and gained and value ratio, is defined as described the
Two weight coefficients.
11. devices as claimed in claim 10, it is characterised in that the first processing module is used for：
Using the first saturation power of the first device hardware system as default power function input, and by described first
Corresponding first positioning precision of saturation power obtains first saturation power and described first as the output of the power function
The first restriction relation that positioning precision meets；
First equipment positioning needs the first lowest power for meeting as the input of the power function, and by described the
Corresponding second positioning precision of one lowest power obtains first lowest power and described as the output of the power function
The second restriction relation that two positioning precisions meet；
According to first restriction relation and second restriction relation, first parameter and the second ginseng of the power function are determined
Number；
Power, first parameter and second parameter that first equipment receives framing signal are substituted into the power letter
Number, determines that first equipment receives corresponding 3rd positioning precision of power of framing signal；
And using the second saturation power of the second device hardware system as the power function input, and by described
Corresponding 4th positioning precision of two saturation powers obtains second saturation power and described as the output of the power function
The 3rd restriction relation that four positioning precisions meet；
Second equipment positioning needs the second lowest power for meeting as the input of the power function, and by described the
Corresponding 5th positioning precision of two lowest powers obtains second lowest power and described as the output of the power function
The 4th restriction relation that five positioning precisions meet；
According to the 3rd restriction relation and the 4th restriction relation, the 3rd parameter and the 4th ginseng of the power function are determined
Number；
Power, the 3rd parameter and the 4th parameter that second equipment receives framing signal are substituted into the power letter
Number, determines that second equipment receives corresponding 6th positioning precision of power of framing signal；
Calculate the sum of the 3rd positioning precision and the 6th positioning precision, by the 6th positioning precision and gained and value
Ratio be defined as first weight coefficient, the 3rd positioning precision and gained and value ratio is defined as described the
Two weight coefficients.
A kind of 12. equipment, it is characterised in that including the device described in claim any one of 8-11, the equipment is described the
One equipment or second equipment.
A kind of 13. alignment systems, it is characterised in that including：
Second equipment, the position coordinates of second equipment is obtained for positioning, and the position coordinates of second equipment is sent
To the first equipment；
First equipment, obtains the position coordinates of first equipment, and obtain for obtaining the first equipment positioning
The position coordinates of second equipment that second equipment sends, position coordinates according to second equipment and described the
The position coordinates of one equipment, determines the revised position coordinates of the first equipment.
14. systems as claimed in claim 13, it is characterised in that first equipment is additionally operable to：
Control instruction is sent to first equipment, is controlled second equipment to be operated state by the control instruction and is cut
Change, the working condition includes start, shutdown, dormancy and standby.
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| CN201611265987.5A CN106772233B (en) | 2016-12-30 | 2016-12-30 | Localization method, relevant device and system |
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| CN201611265987.5A CN106772233B (en) | 2016-12-30 | 2016-12-30 | Localization method, relevant device and system |
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| CN109752745A (en) * | 2019-01-28 | 2019-05-14 | Oppo广东移动通信有限公司 | Split type equipment localization method, device, split type equipment and storage medium |
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| CN111264068A (en) * | 2020-01-20 | 2020-06-09 | 北京小米移动软件有限公司 | Positioning processing method, positioning processing device, base station, terminal equipment and storage medium |
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