CN106772233B - Localization method, relevant device and system - Google Patents
Localization method, relevant device and system Download PDFInfo
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- CN106772233B CN106772233B CN201611265987.5A CN201611265987A CN106772233B CN 106772233 B CN106772233 B CN 106772233B CN 201611265987 A CN201611265987 A CN 201611265987A CN 106772233 B CN106772233 B CN 106772233B
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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 systems, to improve positioning accuracy.This method are as follows: if it is determined that the first equipment successfully obtains position coordinates by positioning, obtain the position coordinates for first equipment that the first equipment positioning obtains, and the position coordinates for second equipment that the positioning of the second equipment obtains are obtained, the revised position coordinates of the first equipment are determined according to the position coordinates of the position coordinates of second equipment and first equipment；If it is determined that first equipment obtains position coordinates failure by positioning, the position coordinates for second equipment that the second equipment positioning obtains are obtained, determine the revised position coordinates of the first equipment according to the position coordinates of second equipment.
Description
Technical field
The present invention relates to field of communication technology more particularly to a kind of localization methods, relevant device and system.
Background technique
With the development of communication technology, demand of the equipment to the location of itself coordinate is obtained is more and more.People's
Relationship between food, clothing, housing and transportation and position coordinates is more and more closer.
In the prior art, in the case where driving or under occluded environment, equipment is positioned very unstable using GPS
Fixed, positioning accuracy is poor, and reason is: GPS signal power is weaker, and penetration capacity is poor, is easy by surrounding environment influence.
Also, in current location technology, indoor and outdoor location technology linking be not it is much smoother, such as bluetooth, WIFI,
Infrared equal positioning action outdoors or played in driving is poor.
For WIFI positioning, since the coverage area of WIFI transceiver is small, region within generally 90 meters of radius, and
And it is highly susceptible to the interference of other signals, positioning accuracy is easy to be affected outdoors or in the environment of driving.
For infrared ray positioning, infrared ray has relatively high indoor position accuracy, but since light cannot
Across barrier so that infrared-ray is only capable of line-of-sight propagation, be difficult to outdoors or in the case where driving using infrared ray into
Row positioning.
For bluetooth positioning, in complicated space environment, the stability of Bluetooth system is poor, dry by noise signal
Disturb larger, the positioning outdoors or in the case where driving is unstable.
In conclusion needing to seek a kind of new localization method, to improve positioning accuracy.
Summary of the invention
The embodiment of the present invention provides a kind of localization method, relevant device and system, to improve positioning accuracy.
Specific technical solution provided in an embodiment of the present invention is as follows:
In a first aspect, the embodiment of the invention provides a kind of localization methods, comprising:
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 first equipment, and the position coordinates for second equipment that the positioning of the second equipment obtains are obtained, according to described
The position coordinates of second equipment and the position coordinates of first equipment determine 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 obtained
The position coordinates of second equipment determine the revised position of the first equipment according to the position coordinates of second equipment
Coordinate.
Second aspect, the embodiment of the invention provides a kind of positioning devices, comprising:
First processing module, for if it is determined that the first equipment successfully obtains position coordinates, acquisition described first by positioning
The position coordinates for first equipment that equipment positioning obtains, and obtain second equipment that the positioning of the second equipment obtains
Position coordinates determine first equipment according to the position coordinates of the position coordinates of second equipment and first equipment
Revised position coordinates；
Second processing module is used for if it is determined that first equipment is failed by positioning acquisition position coordinates, described in acquisition
The position coordinates for second equipment that the positioning of second equipment obtains determine described the according to the position coordinates of second equipment
The revised position coordinates of one equipment.
The third aspect, the embodiment of the invention provides a kind of equipment, and including the device, the equipment is described first
Equipment or second equipment.
Fourth aspect, the embodiment of the invention provides a kind of positioning systems, comprising:
Second equipment, for positioning the position coordinates for obtaining second equipment, by the position coordinates of second equipment
It is sent to the first equipment；
First equipment obtains the position coordinates of first equipment for obtaining the first equipment positioning, and
The position coordinates for obtaining second equipment that second equipment is sent, according to the position coordinates of second equipment and institute
The position coordinates for stating the first equipment determine the revised position coordinates of the first equipment.
Based on the above-mentioned technical proposal, in the embodiment of the present invention, position coordinates are successfully obtained determining that the first equipment positions
In the case of, the position coordinates and the second equipment of acquisition for obtaining the first equipment that the positioning of the first equipment obtains position second obtained
The position coordinates of equipment are modified the position coordinates of the first equipment using the position coordinates of the second equipment, determine that first sets
Standby revised position coordinates, so as to pass through the position of the second equipment in the case where the locating effect of the first equipment is not good enough
The position coordinates for setting the first equipment of coordinate pair are modified, and achieve the purpose that the positioning accuracy for improving the first equipment；In determination
In the case that first equipment obtains position coordinates failure by positioning, the is determined according to the position coordinates that the positioning of the second equipment obtains
The revised position coordinates of one equipment, thus still can be according to the position of the second equipment in the case where the first equipment can not position
Coordinate determines the position coordinates of the first equipment.
Detailed description of the invention
Fig. 1 is position fixing process schematic diagram in the embodiment of the present invention；
Fig. 2 is auxiliary positioning flow diagram 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 is to additionally arrange standby structural schematic diagram in the embodiment of the present invention；
Fig. 6 is the structural schematic diagram of positioning signal processing module in the embodiment of the present invention；
Fig. 7 is the structural schematic diagram of data transmit-receive module in the embodiment of the present invention；
Fig. 8 is the structural schematic diagram of Anneta module in the embodiment of the present invention；
Fig. 9 is the structural schematic diagram of positioning device in the embodiment of the present invention.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with attached drawing to the present invention make into
It is described in detail to one step, it is clear that described embodiments are only a part of the embodiments of the present invention, rather than whole implementation
Example.Based on the embodiments of the present invention, obtained by those of ordinary skill in the art without making creative efforts
All other embodiment, shall fall within the protection scope of the present invention.
In order to provide positioning accuracy, the embodiment of the invention provides a kind of localization method, the main thought of this method be
During first equipment positions, the position location coordinate of the first equipment is repaired using the position coordinates that the second equipment positions
Just, to improve positioning accuracy.
The embodiment of the present invention is described in further detail with reference to the accompanying drawings of the specification.It should be appreciated that described herein
Embodiment only for the purpose of illustrating and explaining the present invention and is not intended to limit the present invention.
In following embodiment, it is assumed that it needs to be determined that the accurate position coordinates of the first equipment, the positioning of the second equipment obtains position
Coordinate determines the accurate position coordinates of the first equipment for assisting.
In following embodiment, the first equipment and the second equipment all have the energy that the position coordinates of itself are obtained by positioning
Power, and positioning method used by the first equipment are identical as positioning method used by the second equipment.Also, the first equipment with
The position coordinates of second equipment derive from same positioning system.
For example, if the first equipment is obtained by global positioning system (Global Positioning System, GPS) positioning
The position coordinates of the first equipment are obtained, then the second equipment is also required to obtain the position coordinates of the second equipment, and first by GPS positioning
The position coordinates of equipment and the position coordinates of the second equipment are obtained by the same satellite positioning.
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, obtaining the first equipment positioning and obtain
The position coordinates of first equipment obtained, and the position coordinates for second equipment that the positioning of the second equipment obtains are obtained,
Determine that first equipment is revised according to the position coordinates of the position coordinates of second equipment and first equipment
Position coordinates.
Wherein, the position coordinates of first equipment and the position coordinates of second equipment are obtained by same positioning system
?.
Specifically, if executing position fixing process shown in FIG. 1 is the first equipment, the first equipment successfully obtains position by positioning
Coordinate is set, alternatively, the first equipment can not position, i.e., channel location obtains position coordinates failure.First equipment obtains the second equipment
Position the process of the position coordinates of second equipment obtained are as follows: the first equipment receives the second equipment that the second equipment is sent
Position coordinates, the position coordinates of the second equipment are that the second equipment is obtained by positioning.
Specifically, if executing position fixing process shown in FIG. 1 is the second equipment, the second equipment obtains determining for the first equipment
The process of position result are as follows: the second equipment receives the position coordinates that the first equipment is successfully obtained by positioning, alternatively, 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
Journey are as follows: the second equipment obtains the position coordinates of the second equipment by positioning.
It should be noted that executing being also possible in addition to the first equipment and the second equipment of position fixing process shown in FIG. 1
Other equipment, referred to as third equipment, then the position that first equipment positioning that third equipment receives that the first equipment is sent obtains
Coordinate, or the information that position coordinates failure is obtained by positioning that the first equipment is sent 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, it is fixed to obtain second equipment
The position coordinates for second equipment that position obtains determine that first equipment is corrected according to the position coordinates of second equipment
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 set, according to the position coordinates of first equipment, the position coordinates of second 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 second equipment assists the positioning of the first equipment, described the
One weight coefficient and second weight coefficient and value be one.
It should be noted that at a distance from due to the distance between satellite distance and the first equipment and the second equipment of satellite distance
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 setting coordinate or the second equipment are adjusted, and of course for the precision degree for improving positioning, can also be set using first
It is standby that the position coordinates of the first equipment or the position coordinates of the second equipment are adjusted with the distance between the second equipment value.
In one specific embodiment, however, it is determined that the signal strength that first equipment receives positioning signal is greater than described the
Two equipment receive the signal strength of positioning signal, using distance value between first equipment and second equipment to described the
The position coordinates of two equipment are adjusted；
If it is determined that the signal strength that first equipment receives positioning signal receives positioning letter no more than second equipment
Number signal strength, using the distance between first equipment and second equipment to the position coordinates of first equipment
It is adjusted.
In one specific embodiment, the signal strength and the second equipment of positioning signal are received by comparing the first equipment
The signal strength of positioning signal is received, with determining the primary and secondary of the position coordinates of the first equipment and the position coordinates of the second equipment
Position, and then the revised position coordinates of the first equipment are calculated according to determining primary and secondary status, it is specific as follows:
If it is determined that the signal strength that first equipment receives positioning signal, which is greater than second equipment, receives positioning signal
Signal strength, using the distance between first equipment and second equipment value to the position coordinates of second equipment
After being adjusted, according to the position coordinates of first equipment, the position coordinates of second equipment adjusted, described first
Weight coefficient and second weight coefficient determine the revised position coordinates of the first equipment, wherein first power
Weight coefficient is greater than second weight coefficient；
Otherwise, then it is worth using the distance between first equipment and second equipment, to the position of first equipment
It sets after coordinate is adjusted, according to the position coordinates of first equipment adjusted, the position coordinates of second equipment, institute
The first weight coefficient and second weight coefficient are stated, determines the revised position coordinates of the first equipment, wherein described
First weight coefficient is less than second weight coefficient.
One in the specific implementation, 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 the second equipment.Specifically, pass through international standard
Change rough position coordinate and the second equipment that OTDOA localization method of the tissue 3GPP in LTE protocol determines the first equipment
Rough position coordinate, the rough position coordinate of the first equipment and the second equipment that are determined using OTDOA localization method, with the present invention
Coordinate system used by the position coordinates of the first equipment positioned in embodiment and the position coordinates of the second equipment is identical, will
The difference of the rough position coordinate of the rough position coordinate and the second equipment of first equipment is determined as the first equipment and the second equipment
The distance between value.
Assuming that the position coordinates of the first equipment are expressed as (X1, Y1, Z1), the position coordinates of the second equipment are expressed as (X2, Y2,
Z2), the rough position coordinate of the first equipment obtained by OTDOA localization method is (X11, Y11, Z11), it is positioned by OTDOA
The rough position coordinate for the first equipment that method obtains is (X22, Y22, Z22), using the first equipment as starting point, then the first equipment with
Difference between the position coordinates of second equipment, i.e. the distance between the first equipment and the second equipment value, herein also referred to as compensate
Coordinate is represented by formula 1:
Then the position coordinates of second equipment are adjusted, are expressed as formula 2:
Then the position coordinates of first equipment are adjusted, are expressed as formula 3:
For example, as shown in Fig. 2, auxiliary positioning process is specific as follows: judging that first sets according to the positioning result of the first equipment
It is standby whether to position；If cannot, the final position coordinates of the first equipment are determined according to the position coordinates of the second equipment；If
Can, then further judge the intensity for the positioning signal that the first equipment receives, if the positioning letter received higher than the second equipment
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
It sets supplemented by coordinate, determines the revised position coordinates of the first equipment；If being lower than, based on the position coordinates of the second equipment, with
Supplemented by the position coordinates of first equipment, the revised position coordinates of the first equipment are determined.
In one specific embodiment, sat according to the position of the position coordinates of first equipment and second equipment
Mark, determines the revised position coordinates of the first equipment, detailed process is as follows: calculating first weight coefficient and described the
The product of the position coordinates of one equipment obtains the first product value, and calculates the position of the second weight coefficient and second equipment
The product of coordinate obtains the second product value, determines first equipment 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 first equipment is shown in formula 4:
It should be noted that being using the distance between the first equipment and the second equipment value in formula 4 to the second equipment
The case where position coordinates are adjusted, if not being adjusted to the position coordinates of the second equipment, formula 4 be may be expressed as:
In one specific embodiment, according to the position coordinates of first equipment, second equipment position coordinates,
First weight coefficient and second weight coefficient determine the revised position coordinates of the first equipment, specific mistake
Journey is as follows: the product for calculating the position coordinates of first weight coefficient and first equipment obtains the first product value, and
The product for calculating the position coordinates of the second weight coefficient and second equipment obtains the second product value, according to first product
Value and second product value determine the revised position coordinates of the first equipment.
In the specific embodiment, determine that the procedural representation of the revised position coordinates of the first equipment is shown in formula 5:
It should be noted that being using the distance between the first equipment and the second equipment value in formula 5 to the first equipment
The case where position coordinates are adjusted, if not being adjusted to the position coordinates of the first equipment, formula 5 be may be expressed as:
In the embodiment of the present invention, however, it is determined that the positioning accuracy of first equipment is higher than the positioning accurate of second equipment
Degree then configures first weight coefficient greater than second weight coefficient；If it is determined that the positioning accuracy of first equipment is low
In the positioning accuracy 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:
According to the first saturation power of the first device hardware system, corresponding first positioning accurate of first saturation power
Degree, first equipment position the first lowest power for needing to meet, corresponding second positioning accuracy of first lowest power
And first equipment receives the power of positioning signal, determines that first equipment receives the power corresponding the of positioning signal
Three positioning accuracies；
According to the second saturation power of the second device hardware system, corresponding 4th positioning of second saturation power
The second lowest power, corresponding 5th positioning accurate of second lowest power that precision, second equipment positioning need to meet
Degree and second equipment receive the power of positioning signal, determine that the power of the second equipment reception positioning signal is corresponding
6th positioning accuracy；
Calculate the third positioning accuracy and the 6th positioning accuracy and, will the 6th positioning accuracy with it is resulting and
The ratio of value is determined as first weight coefficient, by the third positioning accuracy and resulting and value ratio, is determined as institute
State the second weight coefficient.
Wherein, first parameter and first equipment receive the inversely proportional relationship of power of positioning signal, with first
Weight coefficient direct proportionality；Second parameter and second equipment receive the inversely proportional pass of power of positioning signal
System, with the second weight coefficient direct proportionality.
The determination principle and determination process of weight coefficient are illustrated below.
At inverse correlation, relationship is as shown in formula 6 for received signal power and transmission range:
Wherein, PRIt is the reception power of positioning signal, PTIndicate the transmission power of positioning signal, r is indicated between Transmit-Receive Unit
Distance, n indicates propagation factor, and the numerical values recited of propagation factor depends on communication environments.By taking GPS positioning 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 reception power of the second equipment are mainly influenced by propagation factor, and
Propagation factor also further influences the positioning accuracy of the first equipment and the second equipment.
The size of positioning accuracy decides the accuracy for the position coordinates that positioning obtains.When the first equipment and the second equipment
When positioning accuracy 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 accuracy of first equipment is higher than the positioning accuracy of the second equipment, corresponding first weight coefficient of the first equipment is greater than second
Corresponding second weight coefficient of equipment；Conversely, when the positioning accuracy of the first equipment is lower than the positioning accuracy of the second equipment, first
Corresponding first weight coefficient of equipment the second weight coefficient corresponding less than the second equipment.
In consideration of it, the arm of force model being introduced into physics closes to study 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, L1Indicate the length of first arm of force, F1Indicate the active force on first arm of force, L2Indicate the length of second arm of force
Degree, F2Indicate the active force on second arm of force.
The first weight coefficient and the second weight coefficient are determined using arm of force model, it is assumed that for characterizing determining for the first equipment
The numerical value p of position precision1The directed force F being equivalent on first arm of force1Size, it is assumed that for characterizing the positioning accuracy of the second equipment
Numerical value p2The directed force F being equivalent 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) be
The cut-point of first weight coefficient and the second weight coefficient.Formula 8 then can be obtained according to formula 7:
p1β1=p2β2And β1+β2=1 (8)
Formula 9 can be obtained according to formula 8:
According to formula 6 it is found that the positioning accuracy of GPS receiver equipment is mainly influenced by propagation factor n, and positioning accuracy with
Propagation factor is positively correlated, i.e., environment locating for GPS receiver equipment is more severe, and propagation factor n is bigger, and positioning accuracy is poorer, fixed
The numerical value of position precision is bigger；Conversely, positioning accuracy is better, the numerical value of positioning accuracy is smaller.It is learnt according to formula 6, receives signal
Power and positioning accuracy numerical value are expressed as at inverse correlation
Assuming that GPS receiver equipment can work normally, when the reception power P of positioning signalRWhen greater than given threshold, GPS
Receiving device can automatically adjust the signal power into base band demodulating, avoid signal is excessive signal is caused to be saturated and be distorted；When fixed
The reception 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 reception power P of positioning accuracy numerical value p relative locating signalRIt is monotone decreasing,
Positioning accuracy is more violent with the variation of the reception power of positioning signal in a certain range, 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 reception power two of positioning accuracy and positioning signal
Relationship between person.The power function is typically expressed as shown in formula 10:
After introducing the reception power of positioning accuracy and positioning signal in formula 10, it is represented by shown in formula 11:
GPS receiver equipment can directly acquire the size of the reception power of positioning signal, GPS receiver device hardware system
Saturation power is expressed as PH, the corresponding positioning accuracy of the saturation power is expressed as pH；When received signal power is weaker, Yao Shixian
Positioning needs to meet lowest power PLIt is required that the receiving sensitivity of i.e. GPS receiver equipment, the corresponding positioning accuracy of the lowest power
Size is expressed as pL.By PHWith pHCorresponding relationship and PLWith pLBetween corresponding relationship substitute into formula 11, formula 12 can be obtained
With shown in formula 13:
Formula 13 is substituted into formula 9, the first weight coefficient β can be obtained1With 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 substitute into formula 4 or formula 5, and the revised position coordinates of the first equipment can be obtained.Alternatively, 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, the revised position coordinates of the first equipment can be obtained.
For example, it is assumed that the equipment being accurately positioned is main equipment, the equipment that auxiliary main equipment is positioned is known as
It additionally arranges standby, it is known that the position coordinates that main equipment is calculated are (X1, Y1, Z1) and positioning signal reception power intensity be PR1,
The position coordinates that ancillary equipment is calculated are (X2, Y2, Z2) and positioning signal reception power intensity be PR2, master and slave equipment
Saturation power be respectively PH1、PH2And corresponding positioning accuracy is respectively pH1、pH2, the receiving sensitivity power difference of master and slave equipment
For PL1、PL2And corresponding positioning accuracy pL1、pL2, the compensation coordinate centered on main equipment is (Δ X, Δ Y, Δ Z), in main equipment
In calculate main equipment position coordinates adjusted 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) are substituted into according to known conditions, p can be obtained1=14140.7213, p2=10540.3398；Again by p1, p2It substitutes into
Formula (9), can obtain β1=0.42706186, β2=0.57293814；Finally by β1, β2Substitution formula (4) or formula (5) can obtain
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, can set second
Position coordinates of the standby position coordinates directly as the first equipment；Alternatively, using the distance between the first equipment and the second equipment
After value is adjusted the position coordinates of the second equipment, using the position coordinates of the second equipment adjusted as the position of the first equipment
Set coordinate.
It should be noted that localization method provided by the embodiment of the present invention, can be applied to several scenes, to it is several compared with
It is described as follows for typical scene.
1, short distance GPS auxiliary positioning, in the scene, main equipment and additionally arrange it is standby be all made of same GPS system and positioned,
Standby more recently condition is additionally arranged in main equipment distance, auxiliary equipment utilization GPS, AGPS and base station network are realized quickly autonomous fixed
Position, and positioning is obtained into location information, main equipment is sent to by 4G network, main equipment, which will directly additionally arrange the standby position provided, to be believed
The location information as main equipment is ceased, standby location information can also will be additionally arranged as with reference to the position for extrapolating main equipment and believe
Breath.For example, the scene is that when driving to navigate, will additionally arrange for being suspended on outside vehicle, alternatively, will additionally arrange when the scene is indoor positioning
It is standby to be placed on window side etc..
2, remote tracking and monitoring, in the scene, main equipment and additionally arrange it is standby be all made of same GPS system and positioned,
Main equipment distance additionally arranges in standby farther away situation, and main equipment send control instruction to preparation is additionally arranged, and additionally arranges standby according to the control instruction
By 4G network to main equipment return position information, main equipment combination map software, can rapidly and accurately obtain additionally arrange it is standby
Specific location.It will additionally arrange on the standby object for being placed on and needing to detect, can realize remote real-time tracking monitoring.For example, this is answered
It is article positioning or personage's tracing of the movement etc. with scene.
It should be noted that, if assuming to need to position the first equipment, the first equipment is known as leading in the embodiment of the present invention
Equipment, the second equipment for being used to that main equipment to be assisted to position is known as additionally arranging it is standby, additionally arrange it is standby can with compatible with GPS, GLONASS,
The multiple positioning modes such as Beidou, AGPS and base station location.And the standby 4G standard for supporting major operator is additionally arranged, it 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, built-in day can be used in main equipment using drawing antenna by additionally arranging standby external antenna
In the case where line, the receiving sensitivity of main equipment can be greatly promoted, and then improve the anti-interference ability of antenna, meanwhile, in signal
In weaker environment, power consumption can be saved.
In the embodiment of the present invention, 4G network can be passed through according to different needs from main equipment and send control to refer to preparation is additionally arranged
Enable, with by the control instruction control additionally arrange standby working condition so that additionally arrange standby working condition booting, shutdown, suspend mode,
Switch between several states such as standby, to achieve the purpose that reduce power consumption.
In one specific embodiment, it is assumed that the first equipment is the main equipment for needing to be accurately positioned, then plays auxiliary positioning work
The structure of second equipment is as shown in figure 5, mainly include positioning signal processing module, central processing unit (Central
Processing Unit, CPU), power module, data transmit-receive module and Anneta module.Wherein, positioning signal processing module
For the positioning signal received to be converted to location information by processing.Data transmit-receive module supports the corresponding of each operator
The network service of standard (such as 4G), for sending the instruction that position signal is sent to main equipment and reception main equipment.CPU is integrated with
The function of AGPS, the signal for positioning signal processing module and data transmit-receive module to be modulated or demodulated are handled.Antenna
Module, the dual-mode antenna of receiving antenna and network signal including positioning 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 select operational module, such as
Shutdown, standby isotype.
One in the specific implementation, positioning signal processing module can support the processing of GPS signal, which handles mould
Block can use structure as shown in FIG. 6, and the system which is built using periphery is completed to positioning signal
Filtering, power amplification task, location information is demodulated using general demodulator.The positioning signal processing module is to logical
The positioning signal that GPS antenna receives is crossed, after being filtered by level-one SAW filter (SAW), by filtered positioning
After signal amplifies processing by low-noise amplifier, it is filtered by second level SAW filter (SAW), finally by
Demodulator obtains location information after being demodulated.Wherein, second level SAW filter can be omitted.
One in the specific implementation, data transmit-receive module mainly uses the network (such as 4G network) of the corresponding standard of operator complete
At the transmitting and reception of data, which can be used structure as shown in Figure 7, which includes successively
Directional coupler, filter and the duplexer of connection, wherein pass through receiving path and transmitting between duplexer and modem
Access connection, wherein power amplifier in transmitting path, the power amplifier are used to carry out function to the signal of modem
Duplexer is passed to after rate amplification.The data transmit-receive module mainly includes the transmitting and reception of network data (4G), including signal
The tasks such as transmission, Frequency Band Selection, filtering, modulation and demodulation, power amplification.Data transmit-receive module passes through 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 arrange standby to master
Equipment transmits location information.
One in the specific implementation, CPU is mainly modulated to positioning signal processing module and data transmit-receive module or the letter of demodulation
It number is handled, additionally arranges standby more specific location information and main equipment to obtain and additionally arrange the interactive action between standby.In addition,
It is integrated with the function of AGPS in CPU, AGPS auxiliary positioning information can be handled, realizes to additionally arrange and be wanted for what is quickly positioned
It asks.
One in the specific implementation, power module is mainly that positioning signal processing module, data transmit-receive module and CPU are provided
Power supply controls power supply according to actual needs and is in different working conditions, such as booting, shutdown, suspend mode, standby.It is not needing
In the state of power supply；It can will additionally arrange standby shutdown and need auxiliary device power-up when using power supply.Under open state,
Do not need it is real-time continuous acquisition additionally arrange standby location information in the case where, 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 signal), indicate power module
Control additionally arranges standby into dormant state；In the case where needing real-time continuous acquisition to obtain location information, main equipment is standby to additionally arranging
Control instruction is sent, the control that standby data transmit-receive module is received and dispatched according to the dual-mode antenna by network signal (such as 4G signal) is additionally arranged
System instruction, instruction power module control additionally arrange standby work in standby mode.Based on similar control flow, main equipment can control auxiliary
Equipment shutdown or booting.
One in the specific implementation, Anneta module can be received and be emitted 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, receiving antenna and network signal (such as 4G letter of the positioning signal in Anneta module
Number) dual-mode antenna be located at the both ends of auxiliary equipment body respectively, the receipts of enhancing signal can be reached in the form of external antenna
It sends out sensitivity and enhances the purpose of anti-interference ability, structure is as shown in Figure 8.
Based on the same inventive concept, additionally provide a kind of positioning device in the embodiment of the present invention, the positioning device it is specific
Implement the description reference can be made to embodiment of the method part, overlaps will not be repeated, 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 for first equipment that the positioning of one equipment obtains, and obtain second equipment that the positioning of the second equipment obtains
Position coordinates, determine that described first sets according to the position coordinates of the position coordinates of second equipment and first equipment
Standby revised position coordinates；
Second processing module 902 is used for if it is determined that first equipment obtains institute by positioning acquisition position coordinates failure
The position coordinates for stating second equipment that the positioning of the second equipment obtains, according to the determination of the position coordinates of second equipment
The revised position coordinates of first equipment.
In possible embodiment, the first processing module is used for:
It is corresponding according to the position coordinates of first equipment, the position coordinates of second equipment, first equipment
First weight coefficient and corresponding second weight coefficient of second equipment determine that the revised position of first equipment is sat
Mark.
In possible embodiment, the first processing module is used for:
According to the first saturation power of the first device hardware system, corresponding first positioning accurate of first saturation power
Degree, first equipment position the first lowest power for needing to meet, corresponding second positioning accuracy of first lowest power
And first equipment receives the power of positioning signal, determines that first equipment receives the power corresponding the of positioning signal
Three positioning accuracies；
According to the second saturation power of the second device hardware system, corresponding 4th positioning of second saturation power
The second lowest power, corresponding 5th positioning accurate of second lowest power that precision, second equipment positioning need to meet
Degree and second equipment receive the power of positioning signal, determine that the power of the second equipment reception positioning signal is corresponding
6th positioning accuracy；
Calculate the third positioning accuracy and the 6th positioning accuracy and, will the 6th positioning accuracy with it is resulting and
The ratio of value is determined as first weight coefficient, by the third positioning accuracy and resulting and value ratio, is determined as institute
State the second weight coefficient.
In possible embodiment, the first processing module is used for:
The product for calculating the position coordinates of first weight coefficient and first equipment obtains the first product value, and
The product for calculating the position coordinates of the second weight coefficient and second equipment obtains the second product value, according to first product
Value and second product value determine the revised position coordinates of the first equipment.
In possible embodiment, the first processing module is also used to:
If it is determined that the positioning accuracy of first equipment is higher than the positioning accuracy of second equipment, then described first is configured
Weight coefficient is greater than second weight coefficient；
If it is determined that the positioning accuracy of first equipment is lower than the positioning accuracy of second equipment, then described first is configured
Weight coefficient is less than second weight coefficient.
In possible embodiment, the first processing module is also used to:
According to the first saturation power of the first device hardware system, corresponding first positioning accurate of first saturation power
Degree, first equipment position the first lowest power for needing to meet, corresponding second positioning accuracy of first lowest power
And first equipment receives the power of positioning signal, determines that first equipment receives the power corresponding the of positioning signal
Three positioning accuracies；
According to the second saturation power of the second device hardware system, corresponding 4th positioning of second saturation power
The second lowest power, corresponding 5th positioning accurate of second lowest power that precision, second equipment positioning need to meet
Degree and second equipment receive the power of positioning signal, determine that the power of the second equipment reception positioning signal is corresponding
6th positioning accuracy；
Calculate the third positioning accuracy and the 6th positioning accuracy and, will the 6th positioning accuracy with it is resulting and
The ratio of value is determined as first weight coefficient, by the third positioning accuracy and resulting and value ratio, is determined as institute
State the second weight coefficient.
In possible embodiment, the first processing module is used for:
Using the first saturation power of the first device hardware system as the input of preset power function, and will be described
Output of corresponding first positioning accuracy of first saturation power as the power function obtains first saturation power and described
The first the constraint relationship that first positioning accuracy meets；
Need the first lowest power for meeting as the input of the power function first equipment positioning, and by institute
Output of corresponding second positioning accuracy of the first lowest power as the power function is stated, first lowest power and institute are obtained
State the second the constraint relationship of the second positioning accuracy satisfaction；
According to first the constraint relationship and second the constraint relationship, the first parameter and second of the power function is determined
Parameter；
First equipment is received described in power, first parameter and second parameter substitution of positioning signal
Power function determines that first equipment receives the corresponding third positioning accuracy of power of positioning signal；
And using the second saturation power of the second device hardware system as the input of the power function, and by institute
Output of corresponding 4th positioning accuracy of the second saturation power as the power function is stated, second saturation power and institute are obtained
State the third the constraint relationship of the 4th positioning accuracy satisfaction；
Need the second lowest power for meeting as the input of the power function second equipment positioning, and by institute
Output of corresponding 5th positioning accuracy of the second lowest power as the power function is stated, second lowest power and institute are obtained
State the 4th the constraint relationship of the 5th positioning accuracy satisfaction；
According to the third the constraint relationship and the 4th the constraint relationship, the third parameter and the 4th of the power function is determined
Parameter；
Second equipment is received described in power, the third parameter and the 4th parameter substitution of positioning signal
Power function determines that second equipment receives corresponding 6th positioning accuracy of power of positioning signal；
The sum for calculating the third positioning accuracy and the 6th positioning accuracy, by the 6th positioning accuracy with it is resulting
It is determined as first weight coefficient with the ratio of value, the third positioning accuracy and resulting and value ratio is determined as institute
State the second weight coefficient.
In possible embodiment, the first processing module is also used to:
If it is determined that the signal strength that first equipment receives positioning signal, which is greater than second equipment, receives positioning signal
Signal strength, using distance value between first equipment and second equipment to the position coordinates of second equipment into
Row adjustment；
If it is determined that the signal strength that first equipment receives positioning signal receives positioning letter no more than second equipment
Number signal strength, using the distance between first equipment and second equipment to the position coordinates of first equipment
It is adjusted.
Based on the same inventive concept, a kind of equipment is additionally provided in the embodiment of the present invention, which includes above-mentioned apparatus, should
Equipment can be the first equipment described in embodiment of the method part, is also possible to described in embodiment of the method part second and sets
It is standby.
Based on the same inventive concept, a kind of system is additionally provided in the embodiment of the present invention, which mainly includes first setting
Standby and the second equipment, in which:
Second equipment, for positioning the position coordinates for obtaining second equipment, by the position coordinates of second equipment
It is sent to the first equipment；
First equipment obtains the position coordinates of first equipment for obtaining the first equipment positioning, and
The position coordinates for obtaining second equipment that second equipment is sent, according to the position coordinates of second equipment and institute
The position coordinates for stating the first equipment determine the revised position coordinates of the first equipment.
In possible embodiment, first equipment is also used to:
Control instruction is sent to first equipment, second equipment is controlled by the control instruction and carries out work shape
State switching, the working condition include booting, shutdown, suspend mode and standby.
It should be understood by those skilled in the art that, the embodiment of the present invention can provide as method, system or computer program
Product.Therefore, complete hardware embodiment, complete software embodiment or reality combining software and hardware aspects can be used in the present invention
Apply the form of example.Moreover, it wherein includes the computer of computer usable program code that the present invention, which can be used in one or more,
The shape for 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 be referring to according to the method for the embodiment of the present invention, the process of equipment (system) and computer program product
Figure and/or block diagram describe.It should be understood that every one stream in flowchart and/or the block diagram can be realized by computer program instructions
The combination of process and/or box in journey and/or box and flowchart and/or the block diagram.It can provide these computer programs
Instruct the processor of general purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine, so that being generated by the instruction that computer or the processor of other programmable data processing devices execute for real
The device for the function of being specified in present one or more flows of the flowchart and/or one or more blocks of the block diagram.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works, so that it includes referring to that instruction stored in the computer readable memory, which generates,
Enable the manufacture of device, the command device realize in one box of one or more flows of the flowchart and/or block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device, so that counting
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, thus in computer or
The instruction executed on other programmable devices is provided for realizing in one or more flows of the flowchart and/or block diagram one
The step of function of being specified in a box or multiple boxes.
Obviously, various changes and modifications can be made to the invention without departing from essence of the invention by those skilled in the art
Mind and range.In this way, if these modifications and changes of the present invention belongs to the range of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to include these modifications and variations.
Claims (10)
1. a kind of localization method characterized by comprising
If it is determined that the first equipment successfully obtains position coordinates by positioning, the first equipment positioning obtains described first is obtained
The position coordinates of equipment, and the position coordinates for second equipment that the positioning of the second equipment obtains are obtained, according to described second
The position coordinates of equipment and the position coordinates of first equipment determine the revised position coordinates of the first equipment；
If it is determined that first equipment obtains position coordinates failure by positioning, acquisition the second equipment positioning obtains described
The position coordinates of second equipment determine that the revised position of first equipment is sat according to the position coordinates of second equipment
Mark；
Wherein, first equipment is determined according to the position coordinates of the position coordinates of second equipment and first equipment
Revised position coordinates, specifically include: according to the position coordinates of first equipment, second equipment position coordinates,
Corresponding first weight coefficient of first equipment and corresponding second weight coefficient of second equipment, determine described first
The revised position coordinates of equipment；
Wherein, first weight coefficient and second weight coefficient are determined as follows:
According to the first saturation power of the first device hardware system, corresponding first positioning accuracy of first saturation power, institute
State the first lowest power, corresponding second positioning accuracy of first lowest power and institute that the positioning of the first equipment needs to meet
The power that the first equipment receives positioning signal is stated, determines that first equipment receives the corresponding third positioning of power of positioning signal
Precision；
According to the second saturation power of the second device hardware system, corresponding 4th positioning accurate of second saturation power
Degree, second equipment position the second lowest power for needing to meet, corresponding 5th positioning accuracy of second lowest power
And second equipment receives the power of positioning signal, determines that second equipment receives the power corresponding the of positioning signal
Six positioning accuracies；
Calculate the third positioning accuracy and the 6th positioning accuracy and, by the 6th positioning accuracy and resulting and be worth
Ratio is determined as first weight coefficient, by the third positioning accuracy and ratio that is resulting and being worth, is determined as described the
Two weight coefficients.
2. the method as described in claim 1, which is characterized in that set according to the position coordinates of first equipment, described second
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, comprising:
The product for calculating the position coordinates of first weight coefficient and first equipment obtains the first product value, and calculates
The product of the position coordinates of second weight coefficient and second equipment obtains the second product value, according to first product value with
And second product value determines the revised position coordinates of the first equipment.
3. method according to claim 2, which is characterized in that set according to the position coordinates of first equipment, described second
Standby position coordinates, corresponding first weight coefficient of first equipment and the second equipment corresponding second weight system
Number, before determining the revised position coordinates of the first equipment, the method also includes:
If it is determined that the positioning accuracy of first equipment is higher than the positioning accuracy of second equipment, then first weight is configured
Coefficient is greater than second weight coefficient；
If it is determined that the positioning accuracy of first equipment is lower than the positioning accuracy of second equipment, then first weight is configured
Coefficient is less than second weight coefficient.
4. method according to claim 1 or 2, which is characterized in that the third positioning accuracy and the 6th positioning accuracy,
Specifically determine in the following way:
Using the first saturation power of the first device hardware system as the input of preset power function, and by described first
Output of corresponding first positioning accuracy of saturation power as the power function, obtains first saturation power and described first
The first the constraint relationship that positioning accuracy meets；
Need the first lowest power for meeting as the input of the power function first equipment positioning, and by described the
Output of corresponding second positioning accuracy of one lowest power as the power function obtains first lowest power and described
The second the constraint relationship that two positioning accuracies meet；
According to first the constraint relationship and second the constraint relationship, the first parameter and the second ginseng of the power function are determined
Number；
Power, first parameter and second parameter that first equipment receives positioning signal are substituted into the power letter
Number determines that first equipment receives the corresponding third positioning accuracy of power of positioning signal；
And using the second saturation power of the second device hardware system as the input of the power function, and by described
Output of corresponding 4th positioning accuracy of two saturation powers as the power function obtains second saturation power and described
The third the constraint relationship that four positioning accuracies meet；
Need the second lowest power for meeting as the input of the power function second equipment positioning, and by described the
Output of corresponding 5th positioning accuracy of two lowest powers as the power function obtains second lowest power and described
The 4th the constraint relationship that five positioning accuracies meet；
According to the third the constraint relationship and the 4th the constraint relationship, the third parameter and the 4th ginseng of the power function are determined
Number；
Power, the third parameter and the 4th parameter that second equipment receives positioning signal are substituted into the power letter
Number determines that second equipment receives corresponding 6th positioning accuracy of power of positioning signal.
5. method according to claim 1 or 2, which is characterized in that determine the revised position coordinates of the first equipment it
Before, comprising:
If it is determined that the signal strength that first equipment receives positioning signal is greater than the letter that second equipment receives positioning signal
Number intensity, adjusts the position coordinates of second equipment using distance value between first equipment and second equipment
It is whole；
If it is determined that the signal strength that first equipment receives positioning signal receives positioning signal no more than second equipment
Signal strength is carried out using the position coordinates of the distance between first equipment and second equipment to first equipment
Adjustment.
6. a kind of positioning device characterized by comprising
First processing module, for if it is determined that the first equipment successfully obtains position coordinates, acquisition first equipment by positioning
The position coordinates of first equipment obtained are positioned, and obtain the position for second equipment that the positioning of the second equipment obtains
Coordinate determines that first equipment is corrected according to the position coordinates of the position coordinates of second equipment and first equipment
Position coordinates afterwards；
Second processing module is used for if it is determined that first equipment obtains described second by positioning acquisition position coordinates failure
The position coordinates for second equipment that equipment positioning obtains, determine that described first sets according to the position coordinates of second equipment
Standby revised position coordinates；
Wherein, first equipment is determined according to the position coordinates of the position coordinates of second equipment and first equipment
Revised position coordinates, specifically include: according to the position coordinates of first equipment, second equipment position coordinates,
Corresponding first weight coefficient of first equipment and corresponding second weight coefficient of second equipment, determine described first
The revised position coordinates of equipment；
Wherein, first weight coefficient and second weight coefficient are that the first processing module is determined as follows
:
According to the first saturation power of the first device hardware system, corresponding first positioning accuracy of first saturation power, institute
State the first lowest power, corresponding second positioning accuracy of first lowest power and institute that the positioning of the first equipment needs to meet
The power that the first equipment receives positioning signal is stated, determines that first equipment receives the corresponding third positioning of power of positioning signal
Precision；
According to the second saturation power of the second device hardware system, corresponding 4th positioning accurate of second saturation power
Degree, second equipment position the second lowest power for needing to meet, corresponding 5th positioning accuracy of second lowest power
And second equipment receives the power of positioning signal, determines that second equipment receives the power corresponding the of positioning signal
Six positioning accuracies；
Calculate the third positioning accuracy and the 6th positioning accuracy and, by the 6th positioning accuracy and resulting and be worth
Ratio is determined as first weight coefficient, by the third positioning accuracy and ratio that is resulting and being worth, is determined as described the
Two weight coefficients.
7. device as claimed in claim 6, which is characterized in that the first processing module specifically determines institute in the following way
State third positioning accuracy and the 6th positioning accuracy:
Using the first saturation power of the first device hardware system as the input of preset power function, and by described first
Output of corresponding first positioning accuracy of saturation power as the power function, obtains first saturation power and described first
The first the constraint relationship that positioning accuracy meets；
Need the first lowest power for meeting as the input of the power function first equipment positioning, and by described the
Output of corresponding second positioning accuracy of one lowest power as the power function obtains first lowest power and described
The second the constraint relationship that two positioning accuracies meet；
According to first the constraint relationship and second the constraint relationship, the first parameter and the second ginseng of the power function are determined
Number；
Power, first parameter and second parameter that first equipment receives positioning signal are substituted into the power letter
Number determines that first equipment receives the corresponding third positioning accuracy of power of positioning signal；
And using the second saturation power of the second device hardware system as the input of the power function, and by described
Output of corresponding 4th positioning accuracy of two saturation powers as the power function obtains second saturation power and described
The third the constraint relationship that four positioning accuracies meet；
Need the second lowest power for meeting as the input of the power function second equipment positioning, and by described the
Output of corresponding 5th positioning accuracy of two lowest powers as the power function obtains second lowest power and described
The 4th the constraint relationship that five positioning accuracies meet；
According to the third the constraint relationship and the 4th the constraint relationship, the third parameter and the 4th ginseng of the power function are determined
Number；
Power, the third parameter and the 4th parameter that second equipment receives positioning signal are substituted into the power letter
Number determines that second equipment receives corresponding 6th positioning accuracy of power of positioning signal.
8. a kind of equipment, which is characterized in that including the described in any item devices of claim 6-7, the equipment is described first
Equipment or second equipment.
9. a kind of positioning system characterized by comprising
Second equipment sends the position coordinates of second equipment for positioning the position coordinates for obtaining second equipment
To the first equipment；
First equipment obtains the position coordinates of first equipment for obtaining the first equipment positioning, and obtains
The position coordinates for second equipment that second equipment is sent, according to the position coordinates of second equipment and described the
The position coordinates of one equipment determine the revised position coordinates of the first equipment；
It is described to determine first equipment according to the position coordinates of second equipment and the position coordinates of first equipment
Revised position coordinates, specifically include: according to the position coordinates of first equipment, second equipment position coordinates,
Corresponding first weight coefficient of first equipment and corresponding second weight coefficient of second equipment, determine described first
The revised position coordinates of equipment；
Wherein, first weight coefficient and second weight coefficient are determined as follows:
According to the first saturation power of the first device hardware system, corresponding first positioning accuracy of first saturation power, institute
State the first lowest power, corresponding second positioning accuracy of first lowest power and institute that the positioning of the first equipment needs to meet
The power that the first equipment receives positioning signal is stated, determines that first equipment receives the corresponding third positioning of power of positioning signal
Precision；
According to the second saturation power of the second device hardware system, corresponding 4th positioning accurate of second saturation power
Degree, second equipment position the second lowest power for needing to meet, corresponding 5th positioning accuracy of second lowest power
And second equipment receives the power of positioning signal, determines that second equipment receives the power corresponding the of positioning signal
Six positioning accuracies；
Calculate the third positioning accuracy and the 6th positioning accuracy and, by the 6th positioning accuracy and resulting and be worth
Ratio is determined as first weight coefficient, by the third positioning accuracy and ratio that is resulting and being worth, is determined as described the
Two weight coefficients.
10. system as claimed in claim 9, which is characterized in that first equipment is also used to:
Control instruction is sent to first equipment, the second equipment progress working condition is controlled by the control instruction and is cut
It changes, the working condition includes booting, shutdown, suspend mode and standby.
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| CN107356229B (en) * | 2017-07-07 | 2021-01-05 | 中国电子科技集团公司电子科学研究院 | Indoor positioning method and device |
| JP7132037B2 (en) * | 2018-08-29 | 2022-09-06 | フォルシアクラリオン・エレクトロニクス株式会社 | In-vehicle processing equipment |
| CN109752745B (en) * | 2019-01-28 | 2021-10-26 | Oppo广东移动通信有限公司 | Split type equipment positioning method and device, split type equipment and storage medium |
| CN110730431B (en) * | 2019-10-10 | 2023-04-07 | 中国地铁工程咨询有限责任公司 | Route display system and method based on mobile terminal map |
| US20230034681A1 (en) * | 2020-01-20 | 2023-02-02 | Beijing Xiaomi Mobile Software Co., Ltd. | Positioning processing method and apparatus, base station, terminal device, and storage medium |
| CN113038405B (en) * | 2020-06-10 | 2021-11-23 | 深圳市拓安信计控仪表有限公司 | Pipe network facility positioning method, pipe network facility positioning device and mobile terminal |
| CN111726753A (en) * | 2020-06-30 | 2020-09-29 | 安徽华米信息科技有限公司 | Motion data acquisition method and device, intelligent wearable device and storage medium |
| CN111795697B (en) * | 2020-07-13 | 2022-05-10 | 北京梧桐车联科技有限责任公司 | Equipment positioning method and device, electronic equipment and storage medium |
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