CN107677990A - A kind of positioner and localization method - Google Patents
A kind of positioner and localization method Download PDFInfo
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- CN107677990A CN107677990A CN201711055646.XA CN201711055646A CN107677990A CN 107677990 A CN107677990 A CN 107677990A CN 201711055646 A CN201711055646 A CN 201711055646A CN 107677990 A CN107677990 A CN 107677990A
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- 238000000034 method Methods 0.000 title claims abstract description 30
- 230000004807 localization Effects 0.000 title claims abstract description 16
- 230000008054 signal transmission Effects 0.000 claims description 4
- 230000003111 delayed effect Effects 0.000 claims description 3
- 238000005259 measurement Methods 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims description 2
- 241001062009 Indigofera Species 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 5
- 238000012800 visualization Methods 0.000 description 4
- 238000000691 measurement method Methods 0.000 description 3
- 238000002594 fluoroscopy Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000011664 signaling Effects 0.000 description 2
- 230000001934 delay Effects 0.000 description 1
- 238000009795 derivation Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000001931 thermography Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
Abstract
A kind of positioner and localization method, the positioner include：Master seeks module；The master, which seeks module, includes first antenna, the second antenna, ultra-broadband signal phase discriminator and controller, the first antenna and second antenna, and the controller electrically connects with the ultra-broadband signal phase discriminator respectively；The first antenna and second antenna receive the first positioning signal that device to be positioned is sent respectively；Wherein, the signal phase discriminator is used to determine that first positioning signal reaches the first antenna and the first phase of second antenna is poor；The controller is used for according to the first phase is poor and the distance between the first antenna and second antenna determination device to be positioned seek relative to the master first angle of module.The application determines the distance between device to be positioned and positioner and angle by ultra-broadband signal, improves accuracy.
Description
Technical field
The invention belongs to the positioning field that communicates, and in particular to a kind of positioner and localization method.
Background technology
At present, the location equipment that in the market uses, the position for being positioned equipment can only be substantially shown merely.Can not be accurate
Display distance and angle.
The content of the invention
The present invention is intended to provide a kind of positioner, enable a user to accurately to treat positioning object and positioned.
Above-mentioned positioner, including：Master seeks module；The master, which seeks module, includes first antenna, the second antenna, ultra wide band
Signal phase discriminator and controller, the first antenna and second antenna, and the controller respectively with the ultra wide band
Signal phase discriminator electrically connects；The first antenna and second antenna receive the first positioning letter that device to be positioned is sent respectively
Number；Wherein, the signal phase discriminator is used to determine that first positioning signal reaches the first antenna and second antenna
First phase it is poor；The controller is used for according to the first phase is poor and the first antenna and second antenna
The distance between determine that the device to be positioned seeks the first angle of module relative to the master.
Above-mentioned positioner, first positioning signal are ultra wide band positioning signal.
Above-mentioned positioner, the master seek module also with mobile terminal wireless connection；The mobile terminal is used to show
The device to be positioned seeks the positional information of module relative to the master.
Above-mentioned positioner, the master seek module and pass through bluetooth connection with the mobile terminal.
Above-mentioned positioner, the master seek module and are encapsulated as the first electronic tag.
Above-mentioned positioner, the positioner also include being sought module, the first antenna and second antenna
The positioning signal of ultra wide band second for being looked around for block transmission is received respectively；Wherein, the signal phase discriminator is used for described in determination
The positioning signal of ultra wide band second reaches the first antenna and the second phase of second antenna is poor；The controller be used for according to
According to the second phase is poor and the distance between the first antenna and second antenna determine that described to be looked around for block relative
The second angle of module is sought in the master；The mobile terminal, which is shown, described is looked around for block relative to the master and is sought the position of module
Information；The module of being sought is encapsulated as the second electronic tag.
Above-mentioned positioner, the mobile terminal captured in real-time simultaneously show actual environment picture.
On the other hand, the present invention is intended to provide a kind of localization method, enables a user to accurately treat positioning object
Positioned.
Above-mentioned localization method, comprised the following steps based on positioner, this method described in above-mentioned any one：
Step 1, according to formula
Determine the condition of being looked for something for the main distance for seeking module；
Wherein
C is the light velocity；
t1Module, which is sought, for the master sends ultra-broadband signal to the positioning signal transmission time of device to be positioned；
t2Block, which is looked around for, for the master receives the response signal to the positioning signal that the device to be positioned returns
Time；
treplyFor delay of the ultra-broadband signal in the device to be positioned；
Step 2, according to formulaDevice to be positioned is calculated relative to the main angle for seeking module；
Wherein,
α is described in the ultra-broadband signal that the device to be positioned obtained by signal phase discriminator measurement is sent reaches
The phase difference of first antenna and second antenna；
D is the distance between the first antenna and second antenna；
λ is the wavelength of the ultra-broadband signal.
On the other hand, the present invention is intended to provide a kind of localization method, enables a user to accurately treat positioning object
Positioned.
Above-mentioned localization method, based on the positioner described in above-mentioned any one, this method comprises the following steps：
S1：Master seeks module and is sending ultra-broadband signal at the t1 moment；
S2：Device to be positioned receives the ultra-broadband signal, by the treply that is delayed, response signal is returned into the master and sought
Module；
S3：The master seeks the response signal that module receives return at the t1 moment；
S4：According to formulaCalculate the master and seek module and institute
The distance between device to be positioned is stated, wherein, Distance is distance therebetween, and c is the light velocity；
S5：Measure the positioning signal that the device to be positioned is sent and reach the first antenna and the phase of second antenna
Potential difference, and, the distance between the first antenna and second antenna；
S6：According toCalculate the angle that the device to be positioned seeks module relative to the master.
S7：According to the master seek the distance between module and the device to be positioned and the device to be positioned relative to
The master seeks the angle of module, determines the position of the device to be positioned.
Above-mentioned localization method, also comprises the following steps：
The master is sought into the distance between module and the device to be positioned and the device to be positioned relative to described
The main angle for seeking module is sent to screen display.
The application determines the distance between device to be positioned and positioner and angle by ultra-broadband signal, improves
Accuracy.
Brief description of the drawings
Fig. 1 is the method flow schematic diagram positioned by positioner in one embodiment of the invention；
Fig. 2 is the method flow schematic diagram positioned by positioner in one embodiment of the invention；
Fig. 3 is the method flow schematic diagram positioned by positioner in one embodiment of the invention；
Fig. 4 is the method flow schematic diagram positioned by positioner in one embodiment of the invention
Fig. 5 is the principle schematic of the calculating angle in one embodiment of the invention；
Fig. 6 is the principle schematic of the calculating distance in one embodiment of the invention；
Fig. 7 is the effect diagram of the positioner in one embodiment of the invention；
Fig. 8 is the structural representation of the positioner in one embodiment of the invention.
Embodiment
Fig. 1 is refer to, in the embodiment of the application one, by the method for positioner positioning, is comprised the following steps：
S1：Positioner receives the positioning signal that positioning signal dispensing device is sent, and is calculated according to the positioning signal
Go out angle in the horizontal direction between the positioning signal dispensing device and the positioner；
S2：The positioner calculates the distance in its horizontal direction between the positioning signal dispensing device；
S3：The positioner captured in real-time actual environment picture；And
S4：The actual environment picture, the angle and the distance are shown on the positioner.
In the present embodiment, the positioning signal is UWB (Ultra Wideband) signal, but is not limited thereto.
In the application other embodiment, positioning signal can be other any signals.Illustrated below by taking UWB signal as an example.
When user A is looked for by the person of seeking B using this method, UWB signal dispensing device is placed on B body.Now UWB
Signaling device sends UWB signal, and visualization device receives the signal afterwards and calculates signaling device and visualization
Angle in the horizontal direction and distance between equipment.A holds visualization device captured in real-time and display environment picture simultaneously.Most
Angle and distance are together displayed (as shown in Figure 6) with environment picture afterwards.After display, A holds the visualization device, presses
Searching B is carried out according to the angle and distance prompted in equipment, while according to the environment picture moving in equipment.So it can reach root
B purpose is found according to live actual environment.
Fig. 2 and Fig. 5 be refer in the embodiment of the application one, by the aerial array in the positioner, calculated
The angle.In the present embodiment, above-mentioned angle is calculated using phase difference measurement method, but be not limited thereto.This area skill
Art personnel can select other method to calculate angle, such as Time-of-Flight etc. according to actual conditions.Belong to the application institute
Within the scope of claimed.Below by taking phase difference measurement method as an example.Received together by 2 antennas measured in aerial array
The phase difference of one UWB signal, angle, θ can be calculated.
Here is derivation formula：
Same UWB signal arrives separately at first antenna and the range difference of the second antenna is：(d is two days to p=d sin θs
The spacing of line)；
Signal wavelength is：(c is the light velocity, and f is carrier frequency)
If α is the phase difference of the arrival aerial array that UWB signal phase discriminator is tried to achieve in figure, then：
I.e.SoI.e.
Because the frequency of UWB signal is higher (being typically 3GHz~7GHz), i.e., wavelength X is several centimetres of yardstick, so
Less range difference p, it can also obtain obvious phase difference α.
In the present embodiment, the spacing d of two antennas, value are equal to or slightly less thanBecause if value is more thanMeeting
There are multiple solutions.
Fig. 3 and Fig. 6 are refer to, in the embodiment of the application one, real time distance is carried out by UWB signal, precision can reach
10cm.Due to UWB signal dispensing device and the clock of reception device and asynchronous, so actual pass through TWR (Two-Way
Ranging) algorithm is carried out.Specific method is：Positioner sends positioning signal at the t1 moment and starts to survey (by taking UWB pulses as an example)
Away from UWB signal dispensing device (being positioned end) receives the pulse after undergoing flight time ToF (Time of Flight), and passes through
After crossing treply delays (CPU processing time etc.), response signal is also sent.Again after the ToF times, the signal person of being initiated receives
Arrive.
It is known：UWB radio signal transmissions speed is equal to light velocity c；
Treply is the set time, can be by measuring and being calculated.
So, the distance between two electronic tags are：
Fig. 7 and Fig. 8 are refer to, the application also provides a kind of positioner A, including：Shell 100, positioning signal reception dress
Put, computing module, camera device and display screen.Wherein positioning signal reception device is arranged in the shell, fixed for receiving
Positioning signal transmitted by the sender unit of position.Computing module is arranged in the shell, for according to the positioning signal
Calculate the distance and angle between the positioning signal dispensing device and the positioning signal reception device in the horizontal direction.Take the photograph
As device is arranged on the case surface, for captured in real-time actual environment picture.Display screen is arranged on the case surface, uses
In display actual environment picture, the distance and the angle.
In the embodiment of the application one, positioning signal reception device is UWB signal reception device.
Fig. 5 is refer to, in the embodiment of the application one, computing module further comprises：Processor and aerial array, and day
Linear array further comprises but is not limited to first antenna, the second antenna and UWB signal phase discriminator.Wherein first antenna and second day
Line is used to receive the UWB signal.UWB signal phase discriminator connects first antenna, second antenna and the processing
Device, for calculating the angle using phase difference measurement method.
In the embodiment of the application one, positioner also includes：Hot-probing device and/or x-ray fluoroscopy device, wherein, institute
State hot-probing device to be used to detect the heat in actual environment, and thermal imaging picture, the distance are shown in the display screen
And the angle；The x-ray fluoroscopy device is used to have an X-rayed the shelter in actual environment, and perspective is shown in the display screen
Picture, the distance and the angle.
In the embodiment of the application one, the positioner is smart mobile phone.
In the embodiment of the application one, the positioner is intelligent watch.
In the embodiment of the application one, there is provided a kind of localization method, based on positioner, the party described in above-mentioned any one
Method comprises the following steps：
Step 1, according to formula
Determine the condition of being looked for something for the main distance for seeking module；
Wherein
C is the light velocity；
t1Module, which is sought, for the master sends ultra-broadband signal to the positioning signal transmission time of device to be positioned；
t2Block, which is looked around for, for the master receives the response signal to the positioning signal that the device to be positioned returns
Time；
treplyFor delay of the ultra-broadband signal in the device to be positioned；
Step 2, according to formulaDevice to be positioned is calculated relative to the main angle for seeking module；
Wherein,
α is described in the ultra-broadband signal that the device to be positioned obtained by signal phase discriminator measurement is sent reaches
The phase difference of first antenna and second antenna；
D is the distance between the first antenna and second antenna；
λ is the wavelength of the ultra-broadband signal.
As shown in figure 4, in the embodiment of the application one, there is provided a kind of localization method, based on described in above-mentioned any one
Positioner, this method comprise the following steps：
S1：Master seeks module and is sending ultra-broadband signal at the t1 moment；
S2：Device to be positioned receives the ultra-broadband signal, by the treply that is delayed, response signal is returned into the master and sought
Module；
S3：The master seeks the response signal that module receives return at the t1 moment；
S4：According to formulaCalculate the master and seek module and institute
The distance between device to be positioned is stated, wherein, Distance is distance therebetween, and c is the light velocity；
S5：Measure the positioning signal that the device to be positioned is sent and reach the first antenna and the phase of second antenna
Potential difference, and, obtain known the distance between the first antenna and second antenna；
S6：According toCalculate the angle that the device to be positioned seeks module relative to the master.
S7：According to the master seek the distance between module and the device to be positioned and the device to be positioned relative to
The master seeks the angle of module, determines the position of the device to be positioned.
Above-mentioned localization method, also comprises the following steps：
The master is sought into the distance between module and the device to be positioned and the device to be positioned relative to described
The main angle for seeking module is sent to screen display.
In the above-described embodiments, the screen in positioner and localization method it is not necessary to.In other realities of the application
Apply in example, can also there is no display device, use other devices, such as audible device instead, no any annunciator is set, belonged to
In the claimed scope of those skilled in the art.
The application determines the distance between device to be positioned and positioner and angle by ultra-broadband signal, improves
Accuracy.Further, by real time environment picture and positioner and it is positioned the distance between device and angle combines
It has been shown that, convenient found in actual environment are positioned device.
So far, although those skilled in the art will appreciate that detailed herein have shown and described multiple showing for the present invention
Example property embodiment, still, still can be direct according to present disclosure without departing from the spirit and scope of the present invention
It is determined that or derive many other variations or modifications for meeting the principle of the invention.Therefore, the scope of the present invention is understood that and recognized
It is set to and covers other all these variations or modifications.
Claims (10)
1. a kind of positioner, including：
Master seeks module；
The master, which seeks module, includes first antenna, the second antenna, ultra-broadband signal phase discriminator and controller, the first antenna and
Second antenna, and the controller electrically connect with the ultra-broadband signal phase discriminator respectively；
The first antenna and second antenna receive the first positioning signal that device to be positioned is sent respectively；
Wherein, the signal phase discriminator is used to determine that first positioning signal reaches the first antenna and second antenna
First phase it is poor；The controller is used for according to the first phase is poor and the first antenna and second antenna
The distance between determine that the device to be positioned seeks the first angle of module relative to the master.
2. positioner according to claim 1, it is characterised in that first positioning signal is ultra wide band positioning letter
Number.
3. positioner according to claim 2, it is characterised in that the master seeks module and also wirelessly connected with mobile terminal
Connect；The mobile terminal is used to show that the device to be positioned seeks the positional information of module relative to the master.
4. positioner according to claim 3, it is characterised in that the master seeks module and passes through indigo plant with the mobile terminal
Tooth connects.
5. according to the positioner described in claim 1-4 any one, it is characterised in that the master seeks module and is encapsulated as
One electronic tag.
6. according to the positioner described in claim 1-5 any one, it is characterised in that the positioner also includes being sought
Module, the first antenna and second antenna receive the positioning signal of ultra wide band second for being looked around for block transmission respectively；
Wherein, the signal phase discriminator is used to determining that the positioning signal of ultra wide band second to reach the first antenna and described second day
The second phase of line is poor；
The controller is used for according to the second phase is poor and the distance between the first antenna and second antenna
Determine described to be looked around for block relative to the master and seek the second angle of module；The mobile terminal shows that described to be looked around for block relative
The positional information of module is sought in the master；The module of being sought is encapsulated as the second electronic tag.
7. the positioner according to claim 3 or 4, it is characterised in that the mobile terminal captured in real-time is simultaneously shown existing
Real environment picture.
8. a kind of localization method, comprised the following steps based on positioner, this method as described in claim 1-7 any one：
Step 1, according to formula
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Determine the condition of being looked for something for the main distance for seeking module；
Wherein
C is the light velocity；
t1Module, which is sought, for the master sends ultra-broadband signal to the positioning signal transmission time of device to be positioned；
t2The time that block receives the response signal to the positioning signal that the device to be positioned returns is looked around for for the master；
treplyFor delay of the ultra-broadband signal in the device to be positioned；
Step 2, according to formulaDevice to be positioned is calculated relative to the main angle for seeking module；
Wherein,
α is that the ultra-broadband signal that the device to be positioned obtained by signal phase discriminator measurement is sent reaches described first
The phase difference of antenna and second antenna；
D is the distance between the first antenna and second antenna；
λ is the wavelength of the ultra-broadband signal.
9. a kind of localization method, based on the positioner as described in claim 1-7 any one, this method includes following step
Suddenly：
Master seeks module and is sending ultra-broadband signal at the t1 moment；
Device to be positioned receives the ultra-broadband signal, by the treply that is delayed, response signal is returned into the master and seeks module；
The master seeks the response signal that module receives return at the t1 moment；
According to formulaCalculate the master and seek module and described to be positioned
The distance between device, wherein, Distance is distance therebetween, and c is the light velocity；
The phase difference that the positioning signal that the device to be positioned is sent reaches the first antenna and second antenna is measured, with
And the distance between the first antenna and second antenna；
According toCalculate the angle that the device to be positioned seeks module relative to the master.
The distance between module and the device to be positioned and the device to be positioned are sought relative to the master according to the master
The angle of module is sought, determines the position of the device to be positioned.
10. localization method according to claim 9, it is characterised in that also comprise the following steps：
The master is sought into the distance between module and the device to be positioned and the device to be positioned is sought relative to the master
The angle of module is sent to screen display.
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| CN108989920A (en) * | 2018-07-18 | 2018-12-11 | 江苏鑫丰舞台设备有限公司 | A kind of Eco-drive stage speaker |
| CN108999808A (en) * | 2018-08-14 | 2018-12-14 | 珠海格力电器股份有限公司 | A kind of fan control device, method and fan |
| CN109212471A (en) * | 2018-07-04 | 2019-01-15 | 北京全迹科技有限公司 | A kind of locating base station, system and method |
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