CN107105498A - Localization method and device - Google Patents

Localization method and device Download PDF

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Publication number
CN107105498A
CN107105498A CN201610095935.1A CN201610095935A CN107105498A CN 107105498 A CN107105498 A CN 107105498A CN 201610095935 A CN201610095935 A CN 201610095935A CN 107105498 A CN107105498 A CN 107105498A
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node
position information
information
arrival
signals
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CN107105498B (en
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杨浔
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Huawei Technologies Co Ltd
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Huawei Technologies Co Ltd
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Mobile Radio Communication Systems (AREA)

Abstract

The present invention provides a kind of localization method and device, and localization method includes：Node to be positioned obtains the signal for the respective positional information of carrying that at least two nodes in channel are sent respectively, and then obtain the respective angle of arrival of at least two signals, at least two signals are the signal for the respective positional information of carrying that at least two nodes are sent respectively, finally according to the respective positional information of at least two nodes and the respective angle of arrival of at least two signals, determine the positional information of node to be positioned, wherein, at least two nodes can carry the positional information of itself in interactive signal, and need the node positioned only to need monitor channel, after the signal for the respective positional information of carrying that at least two nodes are sent respectively is got, just can directly it be positioned, without carrying out interacting for location information with the node of known position information, so as to effectively increase the utilization rate of channel and the efficiency of positioning.

Description

Positioning method and device
Technical Field
The present invention relates to communications technologies, and in particular, to a positioning method and apparatus.
Background
The Global Positioning System (GPS) is widely used due to its extremely high reliability and accurate Positioning accuracy, but in an indoor environment shielded by a building, the GPS signal is extremely weak, so that the Positioning accuracy of the GPS is low, and even the Positioning cannot be completed.
With the rapid development of Wireless technologies, Wireless Local Area Network (WLAN) technologies are widely used in various indoor environments due to their characteristics of wide coverage, fast propagation speed, low network construction cost, etc., and therefore, positioning technologies based on indoor Wireless signals become hot spots in research of indoor positioning technologies.
In the prior art, the positioning of a node to be positioned is usually completed by using distances between the node to be positioned and at least three anchor nodes, wherein the node to be positioned is a node for which position information needs to be determined, and the anchor nodes are nodes for which position information is known. While the time of arrival (TOA) algorithm based on non-synchronization is a common method for determining the distance between the node to be located and the anchor node, fig. 1 shows a signaling flow chart of a specific implementation of the TOA algorithm based on non-synchronization, as shown in fig. 1: a node to be positioned sends a positioning request message to an anchor node and records the messageThe transmission time t 1; after receiving a positioning request message sent by a node to be positioned, an anchor node feeds back an Acknowledgement Character (ACK) to the node to be positioned, wherein in the step, the anchor node records the arrival time t2 of the positioning request message and the time t3 of sending the ACK, and feeds back the difference value of t2, t3 or t3 and t2 to the node to be positioned; and after receiving the ACK fed back by the anchor node, the node to be positioned records the arrival time t4 of the ACK. According to the time, the distance D between the node to be positioned and the anchor node can be determined:where C is the speed of light. As can be seen from the above description, the node to be positioned and the anchor node need to perform at least two interactions to complete one ranging, and need to complete positioning of the node to be positioned, that is, need to determine the distances between the node to be positioned and the three anchor nodes, at least 6 interactions are required, thereby invisibly increasing network load.
In the densely deployed WLAN network, if a large number of nodes to be positioned need positioning, the positioning information will be frequently interacted, so that the channel is occupied by a large number of positioning information, and normal interaction of data information is affected, thereby reducing the utilization rate of the channel.
Disclosure of Invention
Embodiments of the present invention provide a positioning method and apparatus, so as to overcome the problem that a channel is occupied by a large amount of positioning information due to the requirement of positioning in a node in the prior art, thereby reducing transmission of data information in the channel and reducing the utilization rate of the channel.
A first aspect of the present invention provides a positioning method, including: a node to be positioned acquires signals carrying respective position information, which are respectively sent by at least two nodes in a channel; the node to be positioned acquires respective arrival angles of at least two signals, wherein the at least two signals are signals which are respectively sent by the at least two nodes and carry respective position information; and the node to be positioned determines the position information of the node to be positioned according to the respective position information of the at least two nodes and the respective arrival angles of the at least two signals.
In this embodiment, the node to be positioned acquires the signals carrying the respective position information respectively sent by at least two nodes in the channel, further acquiring respective arrival angles of at least two signals, wherein the at least two signals are signals carrying respective position information and respectively sent by at least two nodes, and finally determining the position information of the node to be positioned according to the respective position information of the at least two nodes and the respective arrival angles of the at least two signals, wherein, at least two nodes will carry their own position information in the interactive signal, and the node needing to be positioned only needs to monitor the channel, after the signals carrying the respective position information respectively sent by at least two nodes are obtained, the positioning can be directly carried out, and the positioning information interaction with the nodes with known position information is not needed, so that the utilization rate of the channel and the positioning efficiency are effectively improved.
In some embodiments of the present invention, the at least two signals are signals interacted between the at least two nodes, and the acquiring, by the node to be positioned, signals carrying respective location information and sent by the at least two nodes in the channel includes: and the node to be positioned intercepts and captures signals which are respectively sent by the at least two nodes in the channel and carry respective position information.
In the embodiment, the node to be positioned can directly intercept and capture the signals carrying the respective position information respectively sent by at least two nodes in the channel, and then the intercepted signals are used for positioning, and the interaction of the positioning information with the nodes with known position information is not needed, so that the utilization rate of the channel and the positioning efficiency are effectively improved.
In some embodiments of the present invention, determining, by the node to be located, the location information of the node to be located according to the respective location information of the at least two nodes and the respective arrival angles of the at least two signals includes: the node to be positioned determines a first distance between a first position and a second position, and direction information moving from the first position to the second position, wherein the first position is a position where the node to be positioned acquires a first signal of the at least two signals, the second position is a position where the node to be positioned acquires a second signal of the at least two signals, the first signal is a signal which is sent by a first node of the at least two nodes and carries self-position information, and the second signal is a signal which is sent by a second node of the at least two nodes and carries self-position information; and the node to be positioned determines the position information of the second position as the position information of the node to be positioned according to the first distance, the direction information, the position information of the first node, the position information of the second node, a first arrival angle from a signal which is sent by the first node and carries the position information of the first node to the node to be positioned, and a second arrival angle from a signal which is sent by the second node and carries the position information of the second node to the node to be positioned, wherein the position information of the first node is used for indicating the position of the first node, and the position information of the second node is used for indicating the position of the second node.
In some embodiments of the present invention, determining, by the node to be positioned, the location information of the second location as the location information of the node to be positioned according to the first distance, the direction information, the location information of the first node, the location information of the second node, a first angle of arrival from the signal carrying the location information sent by the first node to the node to be positioned, and a second angle of arrival from the signal carrying the location information sent by the second node to the node to be positioned, includes: the node to be positioned determines a second distance between the second position and a position corresponding to the position information of the first node and a third distance between the second position and a position corresponding to the position information of the second node according to the first distance, the direction information, the position information of the first node, the position information of the second node, the first angle of arrival and the second angle of arrival; and the node to be positioned determines the position information of the second position according to the second distance, the third distance, the second arrival angle, the position information of the first node and the position information of the second node.
In some embodiments of the present invention, the determining, by the node to be located, the location information of the second location according to the second distance, the third distance, the second angle of arrival, the location information of the first node, and the location information of the second node includes: the node to be positioned takes the position corresponding to the position information of the first node as the center of a circle and takes the second distance as the radius to determine a first circular track; the node to be positioned takes the position corresponding to the position information of the second node as the center of a circle and a third distance as the radius to determine a second circular track; determining the position information of two intersection points of the first circular track and the second circular track; and determining the position information of the second position from the position information of each of the two intersection points according to the second arrival angle.
In some embodiments of the present invention, determining, by the node to be located, the location information of the second location according to the first distance, the direction information, the location information of the first node, the location information of the second node, a first angle of arrival from the signal carrying the location information sent by the first node to the node to be located, and a second angle of arrival from the signal carrying the location information sent by the second node to the node to be located, includes: and when the difference between the angle value of the first angle of arrival and the angle value of the second angle of arrival is greater than a preset value, the node to be positioned determines the position information of the second position according to the first distance, the direction information, the position information of the first node, the position information of the second node, the first angle of arrival from the signal carrying the self-position information sent by the first node to the node to be positioned, and the second angle of arrival from the signal carrying the self-position information sent by the second node to the node to be positioned.
In this embodiment, when the difference between the angle value of the first angle of arrival from the signal carrying the self-location information sent by the first node of the at least two nodes to the node to be located and the angle value of the second angle of arrival from the signal carrying the self-location information sent by the second node of the at least two nodes to the node to be located is smaller, that is, the angles of arrival of the two signals are close to being parallel, the method for calculating and obtaining the self-location information of the node to be located is complicated, the time delay of location is increased, and in order to improve the efficiency of location, information corresponding to the angle of arrival whose difference is greater than a preset value may be selected as the signal for determining the location information of the node to be located, so that the efficiency and accuracy of location are effectively improved, and the time delay of location is reduced.
In some embodiments of the present invention, the at least two signals each carry an indication bit, where the indication bit is used to indicate that the signal where the indication bit is located carries position information.
In this embodiment, by setting the indication bit, it is possible to directly determine whether the indication bit is carried in the signal without analyzing the signal by the node to be positioned, so as to determine whether the signal is a signal carrying position information, and if the signal is a signal carrying position information, the signal is analyzed and position information is obtained from the signal, thereby improving the positioning efficiency.
In some embodiments of the present invention, the at least two signals carry physical layer frames, and the indication bits are carried in reserved bits of a header of the physical layer frames.
In some embodiments of the present invention, the at least two signal carrying medium access control MAC layer frames, the indication bit is carried in a header of the MAC layer frame.
In some embodiments of the present invention, the acquiring, by the node to be positioned, signals carrying respective location information, sent by at least two nodes in a channel respectively includes:
and the node to be positioned acquires signals carrying respective position information, which are respectively sent by at least two nodes, from at least two channels.
A second aspect of the present invention provides a positioning apparatus, comprising: an acquisition module and a determination module, wherein the acquisition module and the determination module,
the acquisition module is used for acquiring signals which are respectively sent by at least two nodes in a channel and carry respective position information; the obtaining module is further configured to obtain respective arrival angles of at least two signals, where the at least two signals are signals that carry respective location information and are sent by the at least two nodes, respectively; a determining module, configured to determine the location information of the node to be located according to the location information of the at least two nodes and the arrival angles of the at least two signals.
Further, in an aspect that the at least two signals are signals interacted between the at least two nodes, and in the aspect that the node to be positioned acquires signals carrying respective position information, which are sent by the at least two nodes in the channel, the acquiring module is configured to: and the node to be positioned intercepts and captures signals which are respectively sent by at least two nodes in the channel and carry respective position information.
Further, the determining module is configured to: determining a first distance between a first position and a second position, and direction information moving from the first position to the second position, wherein the first position is a position where the positioning device is located when the acquisition module acquires a first signal of the at least two signals, the second position is a position where the positioning device is located when the acquisition module acquires a second signal of the at least two signals, the first signal is a signal carrying self-position information sent by a first node of the at least two nodes, and the second signal is a signal carrying self-position information sent by a second node of the at least two nodes; and determining the position information of the second position as the position information of the node to be positioned according to the first distance, the direction information, the position information of the first node, the position information of the second node, a first arrival angle from a signal carrying the position information of the first node to the positioning device, which is sent by the first node, and a second arrival angle from a signal carrying the position information of the second node to the positioning device, wherein the position information of the first node is used for indicating the position of the first node, and the position information of the second node is used for indicating the position of the second node.
Further, in an aspect that the location information of the second location is determined as the location information of the node to be located according to the first distance, the direction information, the location information of the first node, the location information of the second node, a first angle of arrival from the signal carrying the location information sent by the first node to the locating apparatus, and a second angle of arrival from the signal carrying the location information sent by the second node to the locating apparatus, the determining module is configured to: determining a second distance between the second position and a position corresponding to the position information of the first node and a third distance between the second position and a position corresponding to the position information of the second node according to the first distance, the direction information, the position information of the first node, the position information of the second node, the first angle of arrival and the second angle of arrival; and determining the position information of the second position according to the second distance, the third distance, the second angle of arrival, the position information of the first node and the position information of the second node.
Further, in an aspect where the location information of the second location is determined according to the second distance, the third distance, the second angle of arrival, the location information of the first node, and the location information of the second node, the determining module is configured to: determining a first circular track by taking the position corresponding to the position information of the first node as a circle center and a second distance as a radius; determining a second circular track by taking the position corresponding to the position information of the second node as a circle center and a third distance as a radius; determining the position information of two intersection points of the first circular track and the second circular track; and determining the position information of the second position from the position information of each of the two intersection points according to the second arrival angle.
Further, in an aspect that the location information of the second location is determined according to the first distance, the direction information, the location information of the first node, the location information of the second node, a first angle of arrival from the positioning apparatus of the signal carrying the self-location information sent by the first node, and a second angle of arrival from the positioning apparatus of the signal carrying the self-location information sent by the second node, the determining module is configured to:
and when the difference between the angle value of the first angle of arrival and the angle value of the second angle of arrival is greater than a preset value, determining the position information of the second position according to the first distance, the direction information, the position information of the first node, the position information of the second node, the first angle of arrival and the second angle of arrival.
Further, the at least two signals both carry indication bits, and the indication bits are used to indicate that the signal where the indication bits are located carries position information.
Further, the at least two signals carry a physical layer frame, and the indication bits are carried in reserved bits of a header of the physical layer frame.
Further, the at least two signals carry a medium access control MAC layer frame, and the indication bit is carried in a header of the MAC layer frame.
Further, in terms of acquiring signals carrying respective location information, which are respectively sent by at least two nodes in a channel, the acquiring module is configured to: and acquiring signals carrying respective position information, which are respectively sent by at least two nodes, from at least two channels.
A third aspect of the present invention provides a positioning apparatus, comprising: a processor, a memory, and a receiver;
the memory for storing program code; the processor, the memory, and the receiver communicate with each other over a bus; the receiver is used for acquiring signals carrying respective position information, which are respectively sent by at least two nodes in a channel; the processor is used for reading the program codes stored in the memory and executing the following operations: the processor is configured to obtain respective arrival angles of at least two signals, where the at least two signals are signals that carry respective location information and are sent by the at least two nodes, respectively; the processor is configured to determine the location information of the node to be located according to the location information of the at least two nodes obtained by the receiver and the arrival angles of the at least two signals obtained by the processor.
Further, the at least two signals are signals interacted between the at least two nodes, and in terms of the signals carrying the respective location information and sent by the at least two nodes in the acquisition channel, the receiver is configured to: and intercepting signals which are respectively sent by the at least two nodes in the channel and carry respective position information.
Further, in an aspect of determining the location information of the node to be located according to the location information of the at least two nodes acquired by the receiver and the arrival angles of the at least two signals acquired by the processor, the processor is configured to: determining a first distance between a first position and a second position, and direction information moving from the first position to the second position, wherein the first position is a position where the positioning device is located when the receiver acquires a first signal of the at least two signals, the second position is a position where the positioning device is located when the receiver acquires a second signal of the at least two signals, the first signal is a signal carrying self-position information sent by a first node of the at least two nodes, and the second signal is a signal carrying self-position information sent by a second node of the at least two nodes; and determining the position information of the second position as the position information of the node to be positioned according to the first distance, the direction information, the position information of the first node, the position information of the second node, a first arrival angle from a signal carrying the position information of the first node to the positioning device, which is sent by the first node, and a second arrival angle from a signal carrying the position information of the second node to the positioning device, wherein the position information of the first node is used for indicating the position of the first node, and the position information of the second node is used for indicating the position of the second node.
Further, in the aspect that the location information of the second location is determined as the location information of the node to be located according to the first distance, the direction information, the location information of the first node, the location information of the second node, a first angle of arrival from the signal carrying the location information sent by the first node to the locating apparatus, and a second angle of arrival from the signal carrying the location information sent by the second node to the locating apparatus, the processor is configured to: determining a second distance between the second position and a position corresponding to the position information of the first node and a third distance between the second position and a position corresponding to the position information of the second node according to the first distance, the direction information, the position information of the first node, the position information of the second node, the first angle of arrival and the second angle of arrival; and determining the position information of the second position according to the second distance, the third distance, the second angle of arrival, the position information of the first node and the position information of the second node.
Further, in the aspect that the location information of the second location is determined according to the second distance, the third distance, the second angle of arrival, the location information of the first node, and the location information of the second node, the processor is configured to: determining a first circular track by taking the position corresponding to the position information of the first node as a circle center and a second distance as a radius; determining a second circular track by taking the position corresponding to the position information of the second node as a circle center and a third distance as a radius; determining the position information of two intersection points of the first circular track and the second circular track; and determining the position information of the second position from the position information of each of the two intersection points according to the second arrival angle.
Further, in the aspect that the location information of the second location is determined according to the first distance, the direction information, the location information of the first node, the location information of the second node, a first angle of arrival from the signal carrying the self-location information sent by the first node to the positioning apparatus, and a second angle of arrival from the signal carrying the self-location information sent by the second node to the positioning apparatus, the processor is configured to: and when the difference between the angle value of the first angle of arrival and the angle value of the second angle of arrival is greater than a preset value, determining the position information of the second position according to the first distance, the direction information, the position information of the first node, the position information of the second node, the first angle of arrival and the second angle of arrival.
Further, the at least two signals both carry indication bits, and the indication bits are used to indicate that the signal where the indication bits are located carries position information.
Further, the at least two signals carry a physical layer frame, and the indication bits are carried in reserved bits of a header of the physical layer frame.
Further, the at least two signals carry a medium access control MAC layer frame, and the indication bit is carried in a header of the MAC layer frame.
Further, in terms of signals carrying respective location information respectively sent by at least two nodes in the acquisition channel, the receiver is configured to: and acquiring signals carrying respective position information, which are respectively sent by at least two nodes, from at least two channels.
The embodiment of the invention provides a positioning aspect and a device, and the method comprises the following steps: the method comprises the steps that a node to be positioned acquires signals which are respectively sent by at least two nodes in a channel and carry respective position information, and further acquires respective arrival angles of the at least two signals, wherein the at least two signals are the signals which are respectively sent by the at least two nodes and carry the respective position information, and finally the position information of the node to be positioned is determined according to the respective position information of the at least two nodes and the respective arrival angles of the at least two signals, wherein the at least two nodes can carry the respective position information in interactive signals, and the node to be positioned only needs to monitor the channel.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a signaling flow chart of a specific implementation of the non-synchronous TOA algorithm;
FIG. 2 is a schematic diagram of a method for positioning a node to be positioned by using two nodes
Fig. 3 is a flowchart of a positioning method according to an embodiment of the present invention;
fig. 4 is a schematic diagram illustrating a node to be positioned monitoring the same channel and acquiring, in the channel, messages carrying respective location information, which are sent by at least two nodes respectively;
fig. 5 is a schematic diagram illustrating a specific implementation method for positioning a node to be positioned in the scenario of fig. 4;
fig. 6 is a schematic diagram illustrating a node to be positioned monitoring at least two channels and acquiring, from the at least two channels, messages carrying respective location information, which are respectively sent by the at least two nodes;
FIG. 7 is a detailed diagram illustrating the calculation of the location information of M' in FIG. 6;
FIG. 8 is a detailed diagram illustrating the calculation of the location information of M' in FIG. 7;
fig. 9 is a schematic structural diagram of a positioning device according to an embodiment of the present invention;
fig. 10 is a schematic structural diagram of a positioning device according to another embodiment of the present invention.
Detailed Description
Indoor Positioning technology has recently received much attention because Positioning signals based on the Global Positioning System (GPS) cannot be received well indoors.
The WIreless indoor positioning technology based on WIreless Fidelity (WiFi) signals is a common indoor allelic mode because it can be based on the existing WIreless Local Area Network (WLAN) facilities without deploying new positioning nodes.
And dense deployment is one of the major issues considered for next generation WLANs. In a densely deployed WLAN, to achieve an easily extendable precise positioning, it is necessary to consider reducing the interaction of positioning information. The main reasons for this are:
1. in the densely deployed WLAN, due to frequent information interaction between the node to be positioned and the access point, the positioning information may not be sent in time, which may cause that the positioning information of the node to be positioned cannot be updated in time, thereby causing a positioning error or failing to position in time.
2. In a densely deployed WLAN, if a large number of nodes to be positioned frequently exchange positioning information because of positioning needs, a channel is occupied by a large amount of positioning information, and normal data information exchange is affected.
Based on the above problems, the present invention provides a new positioning method, which can effectively avoid the problems of channel occupation and positioning delay caused by the transceiving of positioning information.
The scheme of the invention adopts a positioning algorithm based on Angle of Arrival (AOA), and one implementation mode of the algorithm is as follows: in a positioning area, a node to be positioned uses the position information of two nodes with known position information to perform positioning, specifically: the node to be positioned acquires the position information of other two nodes with known position information, the two nodes send messages carrying the position information to the arrival angle of the node to be positioned, and the position information of the node to be positioned can be calculated by combining a cross method.
Another implementation of the positioning algorithm is as follows: in a positioning area, a node to be positioned utilizes the position information of more than two nodes with known position information to position, and the positioning method specifically comprises the following steps: the node to be positioned acquires the message carrying the self-position information sent by more than two nodes and the arrival angle of the message carrying the position information sent by each node, and then respectively calculates the position information of the node to be positioned by using a cross method aiming at each two nodes, and then the average value of the calculated position information is taken, so that the position information of the node to be positioned can be more accurately determined.
This embodiment introduces a specific implementation method for positioning a node to be positioned by using position information of two nodes, and fig. 2 is a schematic diagram illustrating a method for positioning a node to be positioned by using two nodes, as shown in fig. 2, a node R1And a node R2Are two nodes with known location information, and in the present embodiment, node R1And a node R2Position ofThe setting information is represented by coordinate information, assuming a node R1Has the coordinate information of (x)1,y1) Node R2Has the coordinate information of (x)2,y2) And the coordinate information of the position M where the node to be positioned is located is (x)3,y3) ∠β is the arrival angle from node R1 to node to be positioned, received by node to be positioned at position M, and carrying self-position information, ∠α is the arrival angle from node to be positioned, received by node to be positioned at position M, and carrying self-position information, sent by node R2, and carrying self-position information, and then the node to be positioned can calculate the coordinate information (x) corresponding to position M where node to be positioned is located by the following formula3,y3)：
Wherein, a is the distance from the position M of the node to be positioned to the position corresponding to the position information of the node R1, and b is the distance from the position M of the node to be positioned to the position corresponding to the position information of the node R2.
The technical solution of the present invention will be described in detail below with specific examples. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments.
The network considered by the present invention is composed of an Access Point (AP for short) and a Station (STA for short), where the AP and/or a part of the STAs know their current location information, and how the AP and the STAs know their location information, which is not limited in the present invention.
In the present invention, an AP and/or an STA whose location information is known is called a node (R), and the nodes carry their own location information in an interactive message.
The node to be positioned is a node which needs to acquire the position information of the node to be positioned, and the node to be positioned can also be an AP or an STA.
In practical applications, the solution of the present invention can be applied to any communication system that accesses a channel by listening to the channel, for example: the scenario of the WLAN described above.
Fig. 3 is a flowchart of a positioning method according to an embodiment of the present invention, and as shown in fig. 3, the method according to the embodiment may include:
step 101, a node to be positioned acquires signals carrying respective position information, which are respectively sent by at least two nodes in a channel.
Step 102: the node to be positioned acquires respective arrival angles of at least two signals, wherein the at least two signals are signals which are respectively sent by the at least two nodes and carry respective position information.
Wherein, the at least two signals are signals interacted between the at least two nodes.
For example: in the process, the node a may carry its own location information in each signal sent to the node B, and the node B may also carry its own location information in each signal sent to the node B.
If the node a and the node B carry their own location information in each signal sent to the other side, the overhead of the node may be relatively large, and therefore, in practical application, some fixed signals may also carry their own location information, or after a fixed time interval, the signals sent to the other side may carry their own location information.
The location information of the node itself may include, but is not limited to, longitude of the node, and/or latitude of the node, and/or altitude information of the node, etc. which may indicate the location of the node.
Further, in networks such as WLAN, the node to be positioned may directly intercept signals interacted with other nodes from the channel, and further step 101 in the present invention may also be: the node to be positioned intercepts and captures signals which are respectively sent by at least two nodes in the channel and carry respective position information.
Step 103: and the node to be positioned determines the position information of the node to be positioned according to the respective position information of the at least two nodes and the respective arrival angles of the at least two signals.
The positioning method provided by the embodiment of the invention comprises the following steps: the method comprises the steps that a node to be positioned acquires signals which are respectively sent by at least two nodes in a channel and carry respective position information, and further acquires respective arrival angles of the at least two signals, wherein the at least two signals are the signals which are respectively sent by the at least two nodes and carry the respective position information, and finally the position information of the node to be positioned is determined according to the respective position information of the at least two nodes and the respective arrival angles of the at least two signals, wherein the at least two nodes can carry the respective position information in interactive signals, and the node to be positioned only needs to monitor the channel.
Specifically, the step of acquiring, by the node to be located, the signals carrying the respective location information and sent by the at least two nodes in the channel by monitoring the channel may include: the node to be positioned can monitor at least two channels and respectively acquire signals carrying respective position information, which are respectively sent by at least two nodes, from the at least two channels; the node to be positioned can also monitor the same channel, and acquire signals carrying respective position information, which are respectively sent by at least two nodes, in the channel.
In an embodiment of the present invention, fig. 4 is a schematic diagram illustrating a node to be positioned monitoring a same channel and acquiring signals carrying respective location information sent by at least two nodes in the channel, where as shown in fig. 4, N is a location of the node to be positioned, a node R3 and a node R4 are performing signal interaction, and in an interactive DATA signal (DATA) and/or an acknowledgement signal (ACK), carry respective location information, and send the signals carrying respective location information to an opposite side.
It should be noted that, because the time interval between the DATA message (DATA) sent by the node R3 and the node R4 during the signal interaction and/or the acknowledgement message (ACK) is very short, it can be considered that the node to be positioned does not move approximately, that is, the signals carrying the respective location information sent by the node R3 and the node R4 are obtained at the same time at the same location M.
After the node to be positioned acquires the signals carrying the respective location information sent by at least two nodes in the channel, the respective arrival angles of the at least two pieces of information need to be acquired according to the AOA algorithm shown in fig. 2, for example, the arrival angle from the signal carrying the own location information sent by the node R3 to the node to be positioned in fig. 4, and the arrival angle from the signal carrying the own location information sent by the node R4 to the node to be positioned.
The method for acquiring the respective arrival angles of at least two signals by the node to be positioned is the same as that in the prior art, and is not described herein again.
Specifically, the specific method for determining the location information of the node to be positioned in the scenario is similar to that in fig. 2, as shown in fig. 5,
the node to be positioned simultaneously obtains the signal carrying self-position information sent by the first node R5 and the signal carrying self-position information sent by the second node R6 at the position N, obtains a first arrival angle ∠ omega from the signal carrying self-position information sent by the first node R5 to the node to be positioned, and obtains a second arrival angle ∠η from the signal carrying self-position information sent by the second node R6 to the node to be positioned, and then the node to be positioned determines that the coordinate information of the first node R5 is (x) according to the obtained signal carrying self-position information sent by the first node R53,y3) And the node to be positioned determines the coordinate information of the second node R6 as (x) according to the acquired signal which is sent by the second node R6 and carries the self-position information4,y4). Based on the information, the node to be positioned determines a second distance L from the position M of the node to be positioned to the position corresponding to the position information of the first node R5MR5Determining a third distance L from the position M of the node to be positioned to a position corresponding to the position information of the second node R6 by the node to be positionedMR6。
Based on the information, the node to be positioned can calculate the coordinate information (x, y) corresponding to the node to be positioned by the following formula:
in another embodiment of the present invention, fig. 6 is a schematic diagram illustrating a node to be positioned monitoring at least two channels and acquiring, from the at least two channels, signals carrying respective location information, which are respectively sent by the at least two nodes.
As shown in fig. 6, at time T0, node R1 is interacting with node R3, node R1 carries the location information of node R1 itself in a DATA message (DATA) sent to node R3, and/or in an acknowledgement message (ACK) (in this process, node R3 may also carry the location information of node R3 itself in a DATA message (DATA) sent to node R1, and/or in an acknowledgement message (ACK)); at time T1, node R2 is signaling interaction with node R4, and node R2 carries the location information of node R2 itself in a DATA message (DATA) sent to node R4, and/or in an acknowledgement message (ACK) (in the process, node R4 may also carry the location information of node R4 itself in a DATA message (DATA) sent to node R2, and/or in an acknowledgement message (ACK)).
At the time of T0, the node to be positioned acquires, at the position M, a signal carrying position information of itself, which is sent by the node R1, and the node to be positioned acquires the position information of the node R1 from the acquired signal; at time T1, the node to be positioned has moved from position M to position M ', and acquires the signal carrying its own position information sent by node R2 at position M', and the node to be positioned learns the position information of node R2 from the acquired signal.
It should be noted that, in fig. 6, the node acquires the signals carrying the respective location information, which are respectively sent by the at least two nodes, in different channels, and the switching of the node to be located in different channels requires a certain time, that is, the scheme in fig. 6 may also be considered that the signals carrying the respective location information, which are respectively sent by the at least two nodes, are acquired at different locations at different time points.
After the node to be positioned acquires the signals carrying the respective location information sent by at least two nodes in the channel, the respective arrival angles of the at least two pieces of information need to be acquired according to the AOA algorithm shown in fig. 2, for example, the arrival angle from the signal carrying the own location information sent by the node R1 to the node to be positioned in fig. 6, and the arrival angle from the signal carrying the own location information sent by the node R2 to the node to be positioned.
The method for acquiring the respective arrival angles of at least two signals by the node to be positioned is the same as that in the prior art, and is not described herein again.
The specific method for determining the position information of the node to be positioned in the scene comprises the following steps:
the node to be positioned acquires a signal carrying self-position information sent by a first node R1 at a first position M, acquires the position information of the first node R1 from the acquired signal, and further acquires a first arrival angle from the signal carrying self-position information sent by the first node R1 to the node to be positioned; after the node to be positioned moves to the second position M ', a signal carrying self-position information sent by the second node R2 is acquired at the second position M', the node to be positioned acquires the position information of the second node R2 from the acquired signal, and further acquires a second arrival angle from the signal carrying self-position information sent by the second node R2 to the node to be positioned, wherein the position information of the first node R1 is used for indicating the position of the first node R1, and the position information of the second node R2 is used for indicating the position of the first node R2.
The node to be positioned obtains direction information moving from the first position M to the second position M 'and a first distance between the first position M and the second position M' based on the inertial navigation information of the node to be positioned.
And determining second position information based on the first distance, the direction information, the acquired position information of the first node R1, the acquired position information of the second node R2, the first arrival angle and the second arrival angle, and taking the second position information as the position information of the node to be positioned.
Further, the determining, by the node to be located, second location information based on the first distance, the direction information, the acquired location information of the first node R1, the acquired location information of the second node R2, the first arrival angle, and the second arrival angle includes:
determining, by the node to be positioned, a second distance between the second location and a location corresponding to the location information of the first node, and a third distance between the second location and a location corresponding to the location information of the second node, based on the first distance, the direction information, the location information of the first node, the location information of the second node, the first angle of arrival, and the second angle of arrival;
the node to be positioned determines the location information of the second location according to the second distance, the third distance, the second angle of arrival, the location information of the first node, and the location information of the second node.
Further, the determining, by the node to be positioned, the location information of the node to be positioned according to the second distance, the third distance, the second angle of arrival, the location information of the first node, and the location information of the second node includes:
the node to be positioned takes the position corresponding to the position information of the first node as the center of a circle and takes the second distance as the radius to determine a first circular track;
the node to be positioned determines a second circular track by taking the position corresponding to the position information of the second node as the center of a circle and a third distance as the radius;
determining respective position information of two intersection points of the first circular track and the second circular track;
and determining the position information of the second position from the position information of each of the two intersections according to the second arrival angle.
Specifically, fig. 7 is a specific schematic diagram illustrating the calculation of the position information of M' in fig. 6, as shown in fig. 7, where the node to be positioned acquires, at the first position M, a signal which is sent by the first node R1 and carries the position information of itself, and the node to be positioned acquires, from the acquired signal, the position information of the first node R1, and then acquires a first angle of arrival ═ α from the signal which is sent by the first node R1 and carries the position information of itself to the node to be positioned; after the node to be positioned moves to the second position M ', a signal carrying self-position information sent by the second node R2 is acquired at the second position M', and after the node to be positioned acquires the position information of the second node R2 from the acquired signal, a second arrival angle theta from the signal carrying self-position information sent by the second node R2 to the node to be positioned is further acquired.
The node to be positioned obtains the direction information of moving from the first position M to the second position M' based on the inertial navigation information, namely, the angle [ gamma ], [ beta ],
according to the triangle relation, the following steps are carried out:
∠1＝180°-(∠β-∠α)，
∠2＝∠β-∠θ，
∠3＝180-∠1-∠2＝∠6，
∠4＝180-∠3，
∠5＝∠γ-∠θ，
∠7＝180-∠5-∠6，
by combining the angle values, the sine theorem can be used to calculateAnd LOM'：
The point O is an intersection point between the first connection line and the second connection line, the first connection line is a connection line between the first position M where the node to be positioned is located and a position corresponding to a signal carrying self position information sent by the first node R1 acquired at the first position M; the second connecting line is a connecting line between a second position M 'where the node to be positioned is located and a position corresponding to a signal which is sent by the second node R2 and carries the position information of the second node at the second position M';obtaining the distance L between the position corresponding to the signal carrying the self-position information sent by the second node R2 and the point O for the node to be positioned at the second position MOM'Is the distance between the second position M' where the node to be positioned is located and the point O.
Because:in combination with the above-mentioned calculated values become knownIs the third distance between the second position M' where the node to be positioned is located and the position corresponding to the position information of the second node R2.
Combining the above calculation results, the method can be implemented by the cosine theoremTo obtain
Wherein,
is the second distance between the second position M' where the node to be positioned is located and the position corresponding to the position information of the first node R1.
Further, as shown in fig. 8, the node to be positioned uses the position corresponding to the position information of the first node R1 as the center of the circle and uses the second distanceDetermining a first circular trajectory for the radius; the node to be positioned uses the position corresponding to the position information of the second node R2 as the center of a circle and uses a third distanceDetermining a second circular track for the radius, determining the position information of each intersection point of the first circular track and the second circular track, and finally determining the position information of the second position, namely the position information of the position M' where the node to be positioned is located from the position information of each intersection point according to the second arrival angle ∠ theta.
When the difference between the angle value of the first angle of arrival from the signal carrying the self-position information sent by the first node to the node to be positioned and the angle value of the second angle of arrival from the signal carrying the self-position information sent by the second node to the node to be positioned is smaller, that is, the two angles are close to being parallel, the method for calculating and obtaining the self-position information of the node to be positioned is complex, the time delay of positioning is increased, and in order to improve the positioning efficiency, a corresponding signal can be selected to be used as the signal for determining the position information of the node to be positioned when the difference between the angle value of the first angle of arrival and the second angle of arrival is larger than a preset value, so that the positioning efficiency is effectively improved. Specifically, the node to be positioned needs to screen the acquired signals carrying the self-position information, determine a difference between arrival angles corresponding to at least two acquired signals carrying the self-position information, and only when the difference is greater than a preset value, the two signals are used by the node to be positioned to calculate the self-position information.
For example: the preset value may be 5 °. However, in practical applications, the preset value may be preset in the system according to practical situations, or may be obtained according to other manners, and the present invention is not limited thereto.
If the node does not carry the position information of the node in each interactive signal, after the node to be positioned acquires the signals sent by other nodes, whether the signal is the signal carrying the position information can be found only after the signal is analyzed, and if the acquired signal does not carry the position information, the signal is discarded, so that the positioning time delay is prolonged and the overhead of the node to be positioned is increased. In order to avoid the problem that the node to be positioned cannot directly know whether the acquired signal carries the position information or not, so that the time delay is increased, an indication bit is added in the signal and is used for indicating the signal carrying the position information where the indication bit is located, and further, after the node to be positioned acquires the signals sent by other nodes, whether the signal contains the indication bit or not is only judged, if the signal contains the indication bit, the signal is analyzed to acquire the position information of other nodes, and if the signal is judged not to contain the indication bit, the signal is directly discarded, so that the positioning efficiency of the node to be positioned is effectively improved.
For example: the indication bit can be represented by 1-bit data, indicating that the signal carries position information when the data corresponding to the indication bit is 1, and indicating that the signal does not carry position information when the data corresponding to the indication bit is 0.
Further, if the at least two acquired signals carry a physical layer frame, the indicator bit may be carried in the physical layer frame, for example: the indicator bit may be carried in a header of an 802.11 physical layer frame.
Specifically, the indication bit may be carried in a reserved bit of a frame header of an 802.11n physical layer frame; the indication bit can also be carried by a reserved bit in a frame header of a physical layer frame of 802.11 ac; in the next generation 802.11 standard 802.11ax, the indicator bit may be added to the header of the physical layer frame, or carried by a reserved bit existing in the header of the physical layer frame.
Optionally, if the obtained at least two signal-bearing Medium Access Control (MAC) layer frames also carry the indicator bit in the MAC layer frame of 802.11. For example, the above-mentioned indication bit may be added in the header of the MAC layer frame.
Specifically, after the MAC layer frame carries the indication bit, a new type field or a new sub-type field may be defined in a type field (type) in a frame control field of the MAC layer frame or a sub-type field (subtype) in a frame control field of the MAC layer frame, where the type field (type) in the prior art defines whether a current frame is a management frame, a data frame, or a control frame; the sub-class field (subtype) in the prior art defines which frame is specific, and table 1 shows the specific definition of the type field (type) or the sub-class field (subtype) defined by 802.11 in the prior art.
TABLE 1
The reserved bits in the type field (type) in the prior art can be utilized to define a new type field, for example: the frame is represented as a management frame carrying location information by 11, or represented as a management frame carrying location information by a reserved bit in a subclass field (subtype) in the prior art.
A new type field (type) or a sub-type field (subtype) can be further defined by expanding the number of bits occupied by the type field (type) or the sub-type field (subtype), for example, the 2-bit type field (type) can be expanded to 3 bits, when the value of the type field (type) is from 100 to 111, the type field can be used to correspond to a corresponding management frame carrying location information, a control frame carrying location information or a data frame carrying location information, for example, 100 represents a management frame carrying location information, 101 represents a control frame carrying location information, and the like; or the extended 4-bit subclass domain (subtype) is 5 bits, for example: 00110 denotes a Probe request or the like carrying position information.
In practical applications, the frame carrying the indication bits and the frame carrying the position information may be any one of a data frame, a management frame, or a control frame.
Table 2 shows the extension of the 802.11 defined type field (type) shown in table 1.
TABLE 2
Table 3 shows the extension of the 802.11 defined sub-class fields shown in table 1.
TABLE 3
It should be noted that the extension of the type field from 2 bits to 3 bits or the extension of the sub-class field from 4 bits to 5 bits used in the above tables 2 and 3 is only an example, and may be extended to other bits in practical applications, and the invention is not limited thereto.
When the node to be positioned determines signals carrying position information sent by a plurality of nodes and the signals all meet the conditions in the invention, the signals can be combined pairwise, the position information of the node to be positioned is calculated according to the method in the invention, and finally the position information is averaged.
Fig. 9 is a schematic structural diagram of a positioning device according to an embodiment of the present invention, and as shown in fig. 9, the positioning device includes: an acquisition module 11 and a determination module 12,
a second aspect of the present invention provides a positioning apparatus, comprising: an acquisition module 11 and a determination module 12,
an obtaining module 11, configured to obtain signals that carry respective location information and are sent by at least two nodes in a channel respectively; the obtaining module 11 is further configured to obtain respective arrival angles of at least two signals, where the at least two signals are signals that carry respective location information and are sent by the at least two nodes, respectively; a determining module 12, configured to determine the location information of the node to be located according to the location information of the at least two nodes and the arrival angles of the at least two signals.
Further, the at least two signals are signals interacted between the at least two nodes, and in an aspect that the node to be positioned acquires signals carrying respective position information, which are respectively sent by the at least two nodes in the channel, the acquiring module 11 is configured to: and the node to be positioned intercepts and captures signals which are respectively sent by at least two nodes in the channel and carry respective position information.
Further, the determining module 12 is configured to: determining a first distance between a first location and a second location, and direction information moving from the first location to the second location, where the first location is a location where the positioning apparatus is located when the obtaining module 11 obtains a first signal of the at least two signals, the second location is a location where the positioning apparatus is located when the obtaining module 11 obtains a second signal of the at least two signals, the first signal is a signal that is sent by a first node of the at least two nodes and carries own location information, and the second signal is a signal that is sent by a second node of the at least two nodes and carries own location information; and determining the position information of the second position as the position information of the node to be positioned according to the first distance, the direction information, the position information of the first node, the position information of the second node, a first arrival angle from a signal carrying the position information of the first node to the positioning device, which is sent by the first node, and a second arrival angle from a signal carrying the position information of the second node to the positioning device, wherein the position information of the first node is used for indicating the position of the first node, and the position information of the second node is used for indicating the position of the second node.
Further, in an aspect that the location information of the second location is determined as the location information of the node to be located according to the first distance, the direction information, the location information of the first node, the location information of the second node, a first angle of arrival from the signal carrying the self-location information sent by the first node to the locating apparatus, and a second angle of arrival from the signal carrying the self-location information sent by the second node to the locating apparatus, the determining module 12 is configured to: determining a second distance between the second position and a position corresponding to the position information of the first node and a third distance between the second position and a position corresponding to the position information of the second node according to the first distance, the direction information, the position information of the first node, the position information of the second node, the first angle of arrival and the second angle of arrival; and determining the position information of the second position according to the second distance, the third distance, the second angle of arrival, the position information of the first node and the position information of the second node.
Further, in terms of determining the location information of the second location according to the second distance, the third distance, the second angle of arrival, the location information of the first node, and the location information of the second node, the determining module 12 is configured to: determining a first circular track by taking the position corresponding to the position information of the first node as a circle center and a second distance as a radius; determining a second circular track by taking the position corresponding to the position information of the second node as a circle center and a third distance as a radius; determining the position information of two intersection points of the first circular track and the second circular track; and determining the position information of the second position from the position information of each of the two intersection points according to the second arrival angle.
Further, in terms of determining the location information of the second location according to the first distance, the direction information, the location information of the first node, the location information of the second node, a first angle of arrival from the signal carrying the self-location information sent by the first node to the positioning apparatus, and a second angle of arrival from the signal carrying the self-location information sent by the second node to the positioning apparatus, the determining module 12 is configured to:
and when the difference between the angle value of the first angle of arrival and the angle value of the second angle of arrival is greater than a preset value, determining the position information of the second position according to the first distance, the direction information, the position information of the first node, the position information of the second node, the first angle of arrival and the second angle of arrival.
Further, the at least two signals both carry indication bits, and the indication bits are used to indicate that the signal where the indication bits are located carries position information.
Further, the at least two signals carry a physical layer frame, and the indication bits are carried in reserved bits of a header of the physical layer frame.
Further, the at least two signals carry a medium access control MAC layer frame, and the indication bit is carried in a header of the MAC layer frame.
Further, in terms of acquiring signals carrying respective location information respectively sent by at least two nodes in a channel, the acquiring module 11 is configured to: and acquiring signals carrying respective position information, which are respectively sent by at least two nodes, from at least two channels.
The apparatus of this embodiment may be used to implement the technical solution of the method embodiment shown in fig. 3, and the implementation principle and the technical effect are similar, which are not described herein again.
Fig. 10 is a schematic structural diagram of a positioning device according to another embodiment of the present invention, and as shown in fig. 10, the positioning device includes: a processor 21, a memory 22 and a receiver 23;
the memory 22 for storing program code; the processor 21, the memory 22 and the receiver 23 communicate with each other through a bus; the receiver 23 is configured to acquire signals carrying respective location information, which are sent by at least two nodes in a channel respectively; the processor 21 is configured to read the program code stored in the memory 22, and perform the following operations: the processor 21 is configured to obtain respective arrival angles of at least two signals, where the at least two signals are signals that are sent by the at least two nodes and carry respective location information; the processor 21 is configured to determine the location information of the node to be located according to the location information of the at least two nodes obtained by the receiver 23 and the arrival angles of the at least two signals obtained by the processor 21.
Further, the at least two signals are signals interacted between the at least two nodes, and in terms of the signals carrying the respective location information and sent by the at least two nodes in the acquisition channel, the receiver 23 is configured to: and intercepting signals which are respectively sent by the at least two nodes in the channel and carry respective position information.
Further, in an aspect of determining the location information of the node to be located according to the location information of the at least two nodes acquired by the receiver 23 and the arrival angles of the at least two signals acquired by the processor 21, the processor 21 is configured to: determining a first distance between a first location and a second location, and direction information moving from the first location to the second location, where the first location is a location where the positioning device is located when the receiver 23 acquires a first signal of the at least two signals, the second location is a location where the positioning device is located when the receiver 23 acquires a second signal of the at least two signals, the first signal is a signal that is sent by a first node of the at least two nodes and carries self-position information, and the second signal is a signal that is sent by a second node of the at least two nodes and carries self-position information; and determining the position information of the second position as the position information of the node to be positioned according to the first distance, the direction information, the position information of the first node, the position information of the second node, a first arrival angle from a signal carrying the position information of the first node to the positioning device, which is sent by the first node, and a second arrival angle from a signal carrying the position information of the second node to the positioning device, wherein the position information of the first node is used for indicating the position of the first node, and the position information of the second node is used for indicating the position of the second node.
Further, in the aspect that the location information of the second location is determined as the location information of the node to be located according to the first distance, the direction information, the location information of the first node, the location information of the second node, a first angle of arrival from the signal carrying the location information sent by the first node to the locating apparatus, and a second angle of arrival from the signal carrying the location information sent by the second node to the locating apparatus, the processor 21 is configured to: determining a second distance between the second position and a position corresponding to the position information of the first node and a third distance between the second position and a position corresponding to the position information of the second node according to the first distance, the direction information, the position information of the first node, the position information of the second node, the first angle of arrival and the second angle of arrival; and determining the position information of the second position according to the second distance, the third distance, the second angle of arrival, the position information of the first node and the position information of the second node.
Further, in the aspect that the location information of the second location is determined according to the second distance, the third distance, the second angle of arrival, the location information of the first node, and the location information of the second node, the processor 21 is configured to: determining a first circular track by taking the position corresponding to the position information of the first node as a circle center and a second distance as a radius; determining a second circular track by taking the position corresponding to the position information of the second node as a circle center and a third distance as a radius; determining the position information of two intersection points of the first circular track and the second circular track; and determining the position information of the second position from the position information of each of the two intersection points according to the second arrival angle.
Further, in the aspect that the location information of the second location is determined according to the first distance, the direction information, the location information of the first node, the location information of the second node, a first angle of arrival from the signal carrying the self-location information sent by the first node to the positioning apparatus, and a second angle of arrival from the signal carrying the self-location information sent by the second node to the positioning apparatus, the processor 21 is configured to: and when the difference between the angle value of the first angle of arrival and the angle value of the second angle of arrival is greater than a preset value, determining the position information of the second position according to the first distance, the direction information, the position information of the first node, the position information of the second node, the first angle of arrival and the second angle of arrival.
Further, the at least two signals both carry indication bits, and the indication bits are used to indicate that the signal where the indication bits are located carries position information.
Further, the at least two signals carry a physical layer frame, and the indication bits are carried in reserved bits of a header of the physical layer frame.
Further, the at least two signals carry a medium access control MAC layer frame, and the indication bit is carried in a header of the MAC layer frame.
Further, in terms of signals carrying respective location information respectively sent by at least two nodes in the acquisition channel, the receiver 23 is configured to: and acquiring signals carrying respective position information, which are respectively sent by at least two nodes, from at least two channels.
The apparatus of this embodiment may be used to implement the technical solution of the method embodiment shown in fig. 3, and the implementation principle and the technical effect are similar, which are not described herein again.
Those of ordinary skill in the art will understand that: all or a portion of the steps of implementing the above-described method embodiments may be performed by hardware associated with program instructions. The program may be stored in a computer-readable storage medium. When executed, the program performs steps comprising the method embodiments described above; and the aforementioned storage medium includes: various media capable of storing program codes, such as Read-Only Memory (ROM), Random Access Memory (RAM), magnetic disk, and optical disk.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims (20)

1. A method of positioning, comprising:
a node to be positioned acquires signals carrying respective position information, which are respectively sent by at least two nodes in a channel;
the node to be positioned acquires respective arrival angles of at least two signals, wherein the at least two signals are signals which are respectively sent by the at least two nodes and carry respective position information;
and the node to be positioned determines the position information of the node to be positioned according to the respective position information of the at least two nodes and the respective arrival angles of the at least two signals.
2. The method of claim 1, wherein the at least two signals are signals interacting between the at least two nodes;
the method for acquiring the signals carrying the respective position information, which are respectively sent by at least two nodes in the channel, by the node to be positioned includes:
and the node to be positioned intercepts and captures signals which are respectively sent by the at least two nodes in the channel and carry respective position information.
3. The method according to claim 1 or 2, wherein the determining, by the node to be positioned, the location information of the node to be positioned according to the location information of each of the at least two nodes and the angle of arrival of each of the at least two signals comprises:
the node to be positioned determines a first distance between a first position and a second position, and direction information moving from the first position to the second position, wherein the first position is a position where the node to be positioned acquires a first signal of the at least two signals, the second position is a position where the node to be positioned acquires a second signal of the at least two signals, the first signal is a signal which is sent by a first node of the at least two nodes and carries self-position information, and the second signal is a signal which is sent by a second node of the at least two nodes and carries self-position information;
and the node to be positioned determines the position information of the second position as the position information of the node to be positioned according to the first distance, the direction information, the position information of the first node, the position information of the second node, a first arrival angle from a signal which is sent by the first node and carries the position information of the first node to the node to be positioned, and a second arrival angle from a signal which is sent by the second node and carries the position information of the second node to the node to be positioned, wherein the position information of the first node is used for indicating the position of the first node, and the position information of the second node is used for indicating the position of the second node.
4. The method of claim 3, wherein the determining, by the node to be positioned, the location information of the second location as the location information of the node to be positioned according to the first distance, the direction information, the location information of the first node, the location information of the second node, a first angle of arrival from the signal carrying the self-location information sent by the first node to the node to be positioned, and a second angle of arrival from the signal carrying the self-location information sent by the second node to the node to be positioned, comprises:
the node to be positioned determines a second distance between the second position and a position corresponding to the position information of the first node and a third distance between the second position and a position corresponding to the position information of the second node according to the first distance, the direction information, the position information of the first node, the position information of the second node, the first angle of arrival and the second angle of arrival;
and the node to be positioned determines the position information of the second position according to the second distance, the third distance, the second arrival angle, the position information of the first node and the position information of the second node.
5. The method of claim 4, wherein the determining, by the node to be positioned, the location information of the second location according to the second distance, the third distance, the second angle of arrival, the location information of the first node, and the location information of the second node comprises:
the node to be positioned takes the position corresponding to the position information of the first node as the center of a circle and takes the second distance as the radius to determine a first circular track;
the node to be positioned takes the position corresponding to the position information of the second node as the center of a circle and a third distance as the radius to determine a second circular track;
the node to be positioned determines the position information of two intersection points of the first circular track and the second circular track;
and the node to be positioned determines the position information of the second position from the respective position information of the two intersection points according to the second angle of arrival.
6. The method according to any of claims 3-5, wherein the determining, by the node to be positioned, the location information of the second location according to the first distance, the direction information, the location information of the first node, the location information of the second node, a first angle of arrival from the signal carrying the self-location information sent by the first node to the node to be positioned, and a second angle of arrival from the signal carrying the self-location information sent by the second node to the node to be positioned, comprises:
and when the difference between the angle value of the first angle of arrival and the angle value of the second angle of arrival is greater than a preset value, the node to be positioned determines the position information of the second position according to the first distance, the direction information, the position information of the first node, the position information of the second node, the first angle of arrival and the second angle of arrival.
7. The method according to any of claims 1-6, wherein said at least two signals each carry indication bits, said indication bits being used to indicate that the signal in which said indication bits are located carries position information.
8. The method of claim 7, wherein the at least two signals carry physical layer frames, and wherein the indication bits are carried in reserved bits of a header of the physical layer frames.
9. The method of claim 7, wherein the at least two signal-bearing Medium Access Control (MAC) layer frames and the indication bit is carried in a header of the MAC layer frames.
10. The method according to any of claims 1-9, wherein the acquiring, by the node to be positioned, the signals carrying the respective location information sent by at least two nodes in the channel comprises:
and the node to be positioned acquires signals carrying respective position information, which are respectively sent by at least two nodes, from at least two channels.
11. A positioning device, comprising: a processor, a memory, and a receiver;
the memory for storing program code;
the processor, the memory, and the receiver communicate with each other over a bus;
the receiver is used for acquiring signals carrying respective position information, which are respectively sent by at least two nodes in a channel;
the processor is used for reading the program codes stored in the memory and executing the following operations:
the processor is configured to obtain respective arrival angles of at least two signals, where the at least two signals are signals that carry respective location information and are sent by the at least two nodes, respectively;
the processor is configured to determine the location information of the node to be located according to the location information of the at least two nodes obtained by the receiver and the arrival angles of the at least two signals obtained by the processor.
12. The apparatus of claim 11, wherein the at least two signals are signals interacted between the at least two nodes, and in terms of signals carrying respective location information sent by the at least two nodes in the acquisition channel, the receiver is configured to:
and intercepting signals which are respectively sent by the at least two nodes in the channel and carry respective position information.
13. The apparatus according to claim 11 or 12, wherein in terms of determining the location information of the node to be located according to the location information of the at least two nodes acquired by the receiver and the angle of arrival of the at least two signals acquired by the processor, the processor is configured to:
determining a first distance between a first position and a second position, and direction information moving from the first position to the second position, wherein the first position is a position where the positioning device is located when the receiver acquires a first signal of the at least two signals, the second position is a position where the positioning device is located when the receiver acquires a second signal of the at least two signals, the first signal is a signal carrying self-position information sent by a first node of the at least two nodes, and the second signal is a signal carrying self-position information sent by a second node of the at least two nodes;
and determining the position information of the second position as the position information of the node to be positioned according to the first distance, the direction information, the position information of the first node, the position information of the second node, a first arrival angle from a signal carrying the position information of the first node to the positioning device, which is sent by the first node, and a second arrival angle from a signal carrying the position information of the second node to the positioning device, wherein the position information of the first node is used for indicating the position of the first node, and the position information of the second node is used for indicating the position of the second node.
14. The apparatus of claim 13, wherein in the aspect of determining, according to the first distance, the direction information, the location information of the first node, the location information of the second node, a first angle of arrival from the first node to the positioning apparatus of a signal carrying self-location information sent by the first node, and a second angle of arrival from the second node to the positioning apparatus of a signal carrying self-location information sent by the second node, the location information of the second location is used as the location information of the node to be positioned, the processor is configured to:
determining a second distance between the second position and a position corresponding to the position information of the first node and a third distance between the second position and a position corresponding to the position information of the second node according to the first distance, the direction information, the position information of the first node, the position information of the second node, the first angle of arrival and the second angle of arrival;
and determining the position information of the second position according to the second distance, the third distance, the second angle of arrival, the position information of the first node and the position information of the second node.
15. The apparatus of claim 14, wherein in the aspect of determining the location information for the second location based on the second distance, the third distance, the second angle of arrival, the location information for the first node, the location information for the second node, the processor is configured to:
determining a first circular track by taking the position corresponding to the position information of the first node as a circle center and a second distance as a radius;
determining a second circular track by taking the position corresponding to the position information of the second node as a circle center and a third distance as a radius;
determining the position information of two intersection points of the first circular track and the second circular track;
and determining the position information of the second position from the position information of each of the two intersection points according to the second arrival angle.
16. The apparatus of any of claims 13-15, wherein in the aspect of determining the location information of the second location according to the first distance, the direction information, the location information of the first node, the location information of the second node, a first angle of arrival from the first node to the positioning apparatus of a signal carrying self-location information sent by the first node, and a second angle of arrival from the second node to the positioning apparatus of a signal carrying self-location information sent by the second node, the processor is configured to:
and when the difference between the angle value of the first angle of arrival and the angle value of the second angle of arrival is greater than a preset value, determining the position information of the second position according to the first distance, the direction information, the position information of the first node, the position information of the second node, the first angle of arrival and the second angle of arrival.
17. The apparatus according to any of claims 11-16, wherein the at least two signals each carry an indication bit, and the indication bit is used to indicate that the signal in which the indication bit is located carries position information.
18. The apparatus of claim 17, wherein the at least two signals carry physical layer frames, and wherein the indication bits are carried in reserved bits of a header of the physical layer frames.
19. The apparatus of claim 17, wherein the at least two signal-bearing Medium Access Control (MAC) layer frames and the indication bit is carried in a header of the MAC layer frames.
20. An apparatus according to any of claims 11-19, wherein in respect of signals carrying respective location information respectively transmitted by at least two nodes in the acquisition channel, the receiver is configured to:
and acquiring signals carrying respective position information, which are respectively sent by at least two nodes, from at least two channels.
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