CN108051778A - Positioning device and method - Google Patents
Positioning device and method Download PDFInfo
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- CN108051778A CN108051778A CN201711257478.2A CN201711257478A CN108051778A CN 108051778 A CN108051778 A CN 108051778A CN 201711257478 A CN201711257478 A CN 201711257478A CN 108051778 A CN108051778 A CN 108051778A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0247—Determining attitude
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/06—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
A kind of positioning device and method, to solve the technical issues of existing relative positioning technology is confined to 2D positioning, the positioning device includes equipment body, and the equipment body includes at least four antennas, and at least four antennas include first antenna, second antenna, third antenna and the 4th antenna, wherein, the first antenna, the distribution of second antenna, the third antenna and the 4th antenna in space is located at different planes respectively；Described at least four antennas are for establishing 3 d space coordinate system, to detect three-dimensional coordinate information of the target device in the three-dimensional system of coordinate.The embodiment of the present disclosure is used to carry out 3D positioning to target device using the three-dimensional system of coordinate of positioning device itself.
Description
Technical field
This disclosure relates to radio direction finding field more particularly to a kind of positioning device and method.
Background technology
At present, with unmanned plane, the development of robot technology, location technology is having been more and more widely used.It is existing
Some ultra wideband location techniques are mainly multiple fixed positions placement UWB (Ultra Wide Band, ultra wide band) in space
Reception device forms a coordinate system using multiple UWB reception devices of placement, in this way, opposite by detecting mobile end equipment
In the distance of every UWB reception devices, so as to calculate the position of the movement end equipment under the coordinate system.The program can be applied
Mobile object positioning in fixed space, still, since multiple UWB reception devices need to arrange in advance and irremovable, leads
Located space is caused to be limited.
To solve the above-mentioned problems, the scheme of relative positioning is proposed in correlation technique, that is, moving end equipment can be self-built
Coordinate system, in this way, the movement end equipment can also detect another equipment in the self-built coordinate of movement end equipment in moving process
Position under system.For example, the movement end equipment can be portable device, in this way, multiple carrier can be in moving process
It is mutually located.
But current relative positioning technology is confined to 2D positioning, can not meet the use need under most of actual conditions
It asks.
The content of the invention
It is a general object of the present disclosure to provide a kind of positioning device and method, to solve existing relative positioning technology limitation
In 2D is positioned the technical issues of.
In order to achieve the above objectives, the embodiment of the present disclosure in a first aspect, provide a kind of positioning device, the positioning device bag
Include equipment body, the equipment body includes at least four antennas, and at least four antennas include first antenna, second day
Line, third antenna and the 4th antenna, wherein, the first antenna, second antenna, the third antenna and described
The distribution of four antennas in space is located at different planes respectively；At least four antennas are used to establish 3 d space coordinate
System, to detect three-dimensional coordinate information of the target device in the three-dimensional system of coordinate.
Using above-mentioned technical proposal, positioning device establishes three-dimensional system of coordinate by least four antennas, in this way, the positioning is set
It is standby to position 3D location information of the other equipment in the three-dimensional system of coordinate of the positioning device in moving process, it positions more
Add accurately, solve the technical issues of existing relative positioning technology is confined to 2D positioning.
In the first possible realization method of first aspect, the first antenna, second antenna, the described 3rd
The distribution of antenna and the 4th antenna in space forms a triangular pyramid.Preferably, distribution of four antennas in space can
To form a straight triangular pyramid, in this way, the three-dimensional system of coordinate can using the right angle electrical of the triangular pyramid as zero point, and with
Straight line where three right-angle sides builds three-dimensional so as to reduce respectively as the XYZ axis of three-dimensional system of coordinate according to aerial position
The conversion of coordinate system.
With reference to first aspect or the first possible realization method of first aspect, second in first aspect are possible
Realization method in, the first antenna, second antenna, the third antenna and the 4th antenna are ultra wide band
UWB antennas.
With reference to first aspect or the first possible realization method of first aspect, the third in first aspect are possible
Realization method in, the positioning device further includes and the fixed sensor device of the relative position of the equipment body；
Wherein, the sensor device is used for, and detects to characterize the positioning device current location compared with it initially
The sensing data of the motion conditions of position；
The equipment body is additionally operable to, and the positioning device that at least four antennas are established described in detection is in the present bit
The three-dimensional coordinate information in three-dimensional system of coordinate under putting, and according to the initial of the sensing data and the sensor device
The three-dimensional coordinate information is converted in the initial coordinate system of the positioning device by sensing data；
Wherein, the initial coordinate system is at least four days described in the positioning device is demarcated in the initial position
The three-dimensional system of coordinate that line is established, the initial sensor data are that the sensor device of calibration is located in the positioning device
The sensing data detected during the initial position.
The third possible realization method with reference to first aspect, in the 4th kind of possible realization method of first aspect
In, the sensor device includes acceleration transducer and gyroscope, wherein, the acceleration transducer and the gyroscope
Relative position is fixed.
The 4th kind of possible realization method with reference to first aspect, in the 5th kind of possible realization method of first aspect
In, the sensor device further includes Electronic Megnetic Compass, wherein, the acceleration transducer and the Electronic Megnetic Compass it is opposite
Position is fixed.
The second aspect of the embodiment of the present disclosure provides a kind of localization method, and the method is applied to described in above-mentioned first aspect
Positioning device, the described method includes：
The target device and the positioning are detected based on flight time TOF measurement technology or both sides' formula method TWR modes
The relative distance value of each antenna of equipment；
According to the relative distance value using reach phase difference or reach the time difference calculate the target device with it is described
The angle information on three side of XYZ axis of three-dimensional system of coordinate of the positioning device under current location, wherein, the positioning device it is each
Antenna transmitting-receiving has clock synchronism；
The target device is calculated in the positioning device in present bit according to the angle Information Pull least square method
The three-dimensional coordinate information in three-dimensional system of coordinate under putting.
In the first possible realization method of second aspect, the method further includes：
It detects to characterize the current location of the positioning device compared with the biography of the motion conditions of its initial position
Sensor data；
The three-dimensional coordinate is believed according to the initial sensor data of the sensing data and the sensor device
Breath is converted in the initial coordinate system of the positioning device；
Wherein, the initial coordinate system is at least four days described in the positioning device is demarcated in the initial position
The three-dimensional system of coordinate that line is established, the initial sensor data are that the sensor device of calibration is located in the positioning device
The sensing data detected during the initial position.
Using the above method, based on the three-dimensional system of coordinate that positioning device itself is established, by measure target device with it is each
The distance between antenna, and according to relative distance value using reach phase difference or reach the time difference calculate target device with it is three-dimensional
Angle information of the coordinate system XYZ axis per one side, and target device can be calculated by least square method according to the angle information
3D location informations in three-dimensional system of coordinate.
With reference to the first possible realization method of second aspect, in second of possible realization method of second aspect
In, the sensing data includes acceleration transducer data and the gyro data, described according to the sensor number
According to this and the three-dimensional coordinate information is converted to the first of the positioning device by the initial sensor data of the sensor device
In beginning coordinate system, including：
The acceleration sensing detected according to the sensor device in the initial position and the current location
Device data and the gyro data determine the first position variation between the three-dimensional system of coordinate and the first initial coordinate system
Information, the first initial coordinate system are to carry the positioning device to carry out coordinate system residing for mobile target object；
The three-dimensional coordinate information is converted in the first initial coordinate system according to the first position change information,
Obtain three-dimensional coordinate information of the target device in the first initial coordinate system.
With reference to second of possible realization method of second aspect, in the third possible realization method of second aspect
In, the sensing data further includes Electronic Megnetic Compass data, and the method further includes：
The Electronic Megnetic Compass detected according to the sensor device in the initial position and the current location
Data, determine the second position change information between the first initial coordinate system and the second initial coordinate system, at the beginning of described second
Beginning coordinate system is the world coordinate system that the positioning device is demarcated in the initial position；
According to three-dimensional seat of the second position change information by the target device in the first initial coordinate system
Mark information is converted in the second initial coordinate system, obtains three-dimensional coordinate of the target device in the second initial coordinate system
Information.
It should be appreciated that above general description and following detailed description are only exemplary and explanatory, not
The disclosure can be limited.
Description of the drawings
In order to illustrate more clearly of the technical solution of the embodiment of the present disclosure, required use in being described below to embodiment
Attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only some embodiments of the present disclosure, for this
For the those of ordinary skill of field, without creative efforts, others are can also be obtained according to these attached drawings
Attached drawing.
Fig. 1 is a kind of structure diagram for positioning device that the embodiment of the present disclosure provides；
Fig. 2 a are the straight triangular pyramids that a kind of four antenna spatial distributions of positioning device that the embodiment of the present disclosure provides are formed
Schematic diagram；
Fig. 2 b are the positive triangular pyramids that a kind of four antenna spatial distributions of positioning device that the embodiment of the present disclosure provides are formed
Schematic diagram；
Fig. 3 is the structure diagram for another positioning device that the embodiment of the present disclosure provides；
Fig. 4 is a kind of three-dimensional system of coordinate of the positioning device of embodiment of the present disclosure offer under current location and its initial seat
Mark the relation schematic diagram of system；
Fig. 5 is a kind of flow diagram for localization method that the embodiment of the present disclosure provides；
Fig. 6 is the flow diagram for another localization method that the embodiment of the present disclosure provides；
Fig. 7 is the structure diagram for another positioning device that the embodiment of the present disclosure provides.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present disclosure, the technical solution in the embodiment of the present disclosure is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only disclosure part of the embodiment, instead of all the embodiments.It is based on
Embodiment in the disclosure, those of ordinary skill in the art are obtained every other without making creative work
Embodiment belongs to the scope of disclosure protection.
The embodiment of the present disclosure provides a kind of positioning device, positioning device 10 as shown in Figure 1, which includes：
Equipment body 11, the equipment body 11 include at least four antennas, and at least four antennas include first antenna (such as Fig. 1
Shown in antenna 110), the second antenna (antenna 111 as shown in Figure 1), third antenna (antenna as shown in Figure 1
112) and the 4th antenna (antenna 113 as shown in Figure 1), wherein, the first antenna, second antenna, described
The distribution of triantennary and the 4th antenna in space is located at different plane (not shown in figure 1)s respectively.Wherein, it is described
At least four antennas are for establishing 3 d space coordinate system, to detect three-dimensional coordinate of the target device in the three-dimensional system of coordinate
Information.
It is set what deserves to be explained is the positioning device can be specifically the portable mobile termianls such as smart mobile phone, tablet computer
It is standby, it can also be the wearable devices such as Intelligent bracelet, intelligent glasses.Embodiment of the present disclosure comparison does not limit.
Using above-mentioned positioning device, the distribution of at least four antennas of the positioning device in space is located at different respectively
Therefore plane, can establish 3 d space coordinate system, to detect the 3D positions of other equipment by least four antennas
Information, in this way, the positioning device in moving process, can position other equipment in the three-dimensional system of coordinate of the positioning device
3D location informations, positioning is more accurate, solves the technical issues of existing relative positioning technology is confined to 2D positioning.
In order to which those skilled in the art is enable more to understand the technical solution that the embodiment of the present disclosure provides, below to positioning
Equipment is described in detail.
In the specific implementation, the first antenna, second antenna, the third antenna and the 4th antenna exist
The distribution in space may be constructed a triangular pyramid, in this way, the coordinate origin of the three-dimensional system of coordinate of positioning device itself structure
Think the vertex of triangular pyramid.It is a kind of to be more preferably achieved in that, the first antenna, second antenna, described 3rd day
The distribution of line and the 4th antenna in space forms a straight triangular pyramid, in this way, the three-dimensional system of coordinate can be with institute
The right angle electrical of triangular pyramid is stated as zero point, and using the straight line where three right-angle sides as the XYZ axis of three-dimensional system of coordinate, from
And reduce the conversion that three-dimensional system of coordinate is built according to aerial position.
Illustratively, Fig. 2 a are the schematic diagrames of straight triangular pyramid that are formed in spatial distribution of four antennas of positioning device, wherein, with
For the A points of the triangular pyramid as local Coordinate System zero point, AC, AB, AD are respectively the XYZ axis of the coordinate system.
Another example, the first antenna, second antenna, the third antenna and the 4th antenna are in sky
Between distribution can also be form a positive triangular pyramid.As shown in Figure 2 b, antenna 110, antenna 111, antenna 112 and antenna 113
O points are commonly connected to, also, the distal point of four antennas is connected and may be constructed positive triangular pyramid.In this way, based on this four
The origin of the three-dimensional system of coordinate of root antenna structure can be with for O points.
Above-mentioned to be merely illustrative, those skilled in the art should know, possess the distribution of four antennas in space
In the case of being located at different planes respectively, can a space three-dimensional be determined by conversion according to the real space position of antenna
Coordinate system, the different simply zero point of coordinate system and XYZ axis, details are not described herein again.Also, in order to be briefly described, Fig. 2 b be with
Straight line represents antenna, in the specific implementation, can carry out reasonable Arrangement according to the specific form of antenna.
In addition, what deserves to be explained is, the first antenna, second antenna, the third antenna and the described 4th
Antenna is ultra wide band UWB antennas.Ultra wide band be it is a kind of with low-power in short distance high speed transmission data wireless communication technique,
It is with strong anti-interference performance, transmission rate is high, very bandwidth is wide, consumes many advantages such as electric energy is small, transmit power is small, the disclosure
Embodiment so that the scope of application of the positioning device is wider using UWB antennas, and versatility is stronger.
Optionally, as shown in figure 3, the positioning device 10 can also include consolidating with the relative position of the equipment body 11
Fixed sensor device 12, wherein, the sensor device 12 is used for, and detects to characterize positioning device current location phase
For the sensing data of the motion conditions of its initial position.In this case, the equipment body 11 is additionally operable to, and detects institute
The three-dimensional coordinate information in three-dimensional system of coordinate of the positioning device of at least four antennas foundation under the current location is stated,
And the three-dimensional coordinate information is converted according to the initial sensor data of the sensing data and the sensor device
Into the initial coordinate system of the positioning device.Wherein, the initial coordinate system is the positioning device in the initial position
When the three-dimensional system of coordinate established of at least four antennas for demarcating, the initial sensor data is the sensor of calibration
The sensing data that device is detected when the positioning device is located at the initial position.
Wherein, which can include at least one processor, which connects getting antenna
After the sensing data that the data and sensor device of receipts detect, 3D of the target device in three-dimensional system of coordinate can be calculated
Conversion between location information and progress coordinate system.Alternatively, which can also include specific integrated circuit
ASIC (Application Specific Integrated Circuit) is arranged to implement the embodiment of the present disclosure
One or more integrated circuits, the disclosure do not limit this.
Positioning device is specifically described below to be presently between the three-dimensional system of coordinate of position foundation and initial coordinate system
Relation.
As shown in figure 4, three-dimensional system of coordinate a is the three-dimensional system of coordinate that positioning device is established in initial position, three-dimensional system of coordinate b
It is the three-dimensional system of coordinate that positioning device is established in current location.Wherein, what deserves to be explained is, the initial position of positioning device is specific
Can refer to positioning device start when the location of or positioning device upon actuation initially enable positioning function when it is residing
Position, it should be appreciated that the position of positioning device includes the information such as orientation, the posture of positioning device.Since positioning device can
Think mobile terminal, therefore, posture may change, such as shown in Fig. 4, due to the movement of positioning device, three-dimensional is sat
Exist although the origin O of mark system a and three-dimensional system of coordinate b is consistent, between reference axis XYZ and X ' Y ' Z ' and deviate.Wherein, this three
Dimension coordinate system a is above-mentioned initial coordinate system.Also, the sensing data that sensor device detects is i.e. for characterizing reference axis
Existing deviation between XYZ and X ' Y ' Z ', based on sensing data, positioning device can be by target device in three-dimensional system of coordinate b
In location information be converted in three-dimensional system of coordinate a.
Acceleration transducer and gyroscope detection may be employed in a kind of possible realization method of the embodiment of the present disclosure
Existing deviation between data characterization XYZ and X ' Y ' Z ' arrived, that is to say, that the sensor device can include gyroscope and
Acceleration transducer, wherein, the relative position of the acceleration transducer and the gyroscope is fixed.In this way, pass through acceleration
Sensor can detect the Gravity changer of positioning device, that is, the posture of positioning device, and positioning can be detected by gyroscope
The angle change of equipment.In this way, based on positioning device current location compared with the Gravity changer and angle change of initial position
Location information of the target device in current three-dimensional system of coordinate can be converted in initial coordinate system.
In the alternatively possible realization method of the embodiment of the present disclosure, the sensor device can also include electronics magnetic
Compass, wherein, the relative position of the acceleration transducer and the Electronic Megnetic Compass is fixed.In this way, what sensor device detected
Variation of the sensing data except that can embody positioning device posture, can also embody the variation in positioning device orientation.
Based on identical inventive concept, the embodiment of the present disclosure also provides a kind of localization method, and the method is applied to positioning
Equipment, for example, positioning device shown in FIG. 1 10, as shown in figure 5, the localization method includes：
S501, each antenna based on flight time TOF measurement technology detection target device with the positioning device
Relative distance value.
What deserves to be explained is TOF (Time Of Flight, flight time) distance measuring method belongs to Bidirectional distance measurement technology,
It is main to be saved using signal in two asynchronous receiver-transmitters (Transceiver) or by the flight time round-trip between reflecting surface to measure
Distance between point, in this way, in the case of no time synchronization, according to TOF and known electromagnetic wave rate, you can sent out
Penetrate the distance of antenna and target device.That is, target can be calculated in the TOF based on each transmitting antenna of positioning device
The distance between equipment and each antenna.
In the specific implementation, the embodiment of the present disclosure can also use other modes measurement antenna and target device between away from
From for example, for ultra-wideband antenna, can also use both sides' formula method (Tow Way Ranging, TWR), the disclosure does not do this
It limits.
S502, according to the relative distance value using reach phase difference or reach the time difference calculate the target device with
The angle information on three side of XYZ axis of three-dimensional system of coordinate of the positioning device under current location.
Wherein, each antenna transmitting-receiving of the positioning device has clock synchronism.
S503, worked as according to the angle Information Pull least square method calculating target device in the positioning device
The three-dimensional coordinate information in three-dimensional system of coordinate under front position.
Illustratively, four ultra-wideband antennas of positioning device spatial distribution form a positive triangular pyramid, and with this positive three
Zero point of the central point of pyramid as local Coordinate System.Based on ultra wide band characteristic, TDOA (Time Difference can be utilized
Of Arrival, reaching time-difference) mode, calculate signal that target device sends compared with four ultra-wideband antennas when
Between it is poor.Further, by calculating, signal that target device is sent can be obtained on four ultra-wideband antennas in antenna two-by-two
Angle before.Similarly, according to phase difference is reached, signal that target device is sent can also be calculated before antenna two-by-two
Angle.
In this way, in the length of side of known positive triangular pyramid, can target device letter be calculated by these angle information
Number launch point compared with the XYZ axis at positive triangular pyramid center angle.In this way, in opposite four antennas of angle and target device
After distance value is known, the distance of target device and positive triangular pyramid center can further be calculated, so as to obtain target device
Using the positive triangular pyramid center as the accurate positionin in the three-dimensional system of coordinate of origin.
Wherein, target device can be the equipment for being equipped with beacon (tag), which can be equipped with anchor node
(anchor) mobile terminal, in this way, the beacon identity based on different target equipment, positioning device can be under local Coordinate System
Obtain the accurate positionin of all target devices in environment.
Using the above method, based on the three-dimensional system of coordinate that positioning device itself is established, by measure target device with it is each
The distance between antenna, and according to relative distance value using reach phase difference or reach the time difference calculate target device with it is three-dimensional
Angle information of the coordinate system XYZ axis per one side, and target device can be calculated by least square method according to the angle information
3D location informations in three-dimensional system of coordinate.
Further, it is contemplated that actual demand, i.e. user may be more desirable to accurately to know target device and user itself it
Between the positioning device that carries of position relationship rather than target device and user between position relationship, therefore, implement in the disclosure
In a kind of possible realization method of example, after step S503, method as shown in Figure 6 can also be included, including：
S504, detect to characterize the current location of the positioning device compared with the motion conditions of its initial position
Sensing data.
S505, the three-dimensional is sat according to the initial sensor data of the sensing data and the sensor device
Mark information is converted in the initial coordinate system of the positioning device.
Wherein, the initial coordinate system is at least four days described in the positioning device is demarcated in the initial position
The three-dimensional system of coordinate that line is established, the initial sensor data are that the sensor device of calibration is located in the positioning device
The sensing data detected during the initial position.
That is, with reference to sensing data, the embodiment of the present disclosure can be taken by the use of initial coordinate system as positioning device
Three-dimensional system of coordinate with person, wherein, the relation for the three-dimensional system of coordinate that initial coordinate system establishes with positioning device in current location has
Body is referred to the above-mentioned explanation to Fig. 4, and details are not described herein again.
In this way, user can not only get target device relative pointing device when carrying positioning device is moved
Be accurately positioned (can before step S504, export the target device that is calculated in step S503 positioning device from
Three-dimensional coordinate information in the three-dimensional system of coordinate built), the position that can also be accurately positioned target device with respect to user itself (is changed
Calculate the location information in initial coordinate system).
With reference to Fig. 3 and the above-mentioned explanation carried out for Fig. 3, the sensor device in positioning device can specifically include adding
Velocity sensor and gyroscope or including acceleration transducer, gyroscope and Electronic Megnetic Compass, therefore, with reference to sensing
Device device, above-mentioned initial coordinate system can be demarcated by following two modes：
The acceleration that the three-dimensional system of coordinate and sensor device that mode one, positioning device are established in initial position detect
Sensing data and gyro data.
In this way, it is described according to the initial sensor data of the sensing data and the sensor device by described three
Dimension coordinate information, which is converted in the initial coordinate system of the positioning device, to be included：According to the sensor device described
The acceleration transducer data and the gyro data that initial position and the current location detect determine described
First position change information between three-dimensional system of coordinate and the first initial coordinate system, the first initial coordinate system is described in carrying
Positioning device carries out the coordinate system residing for mobile target object；According to the first position change information by the three-dimensional coordinate
Information is converted in the first initial coordinate system, obtains three-dimensional seat of the target device in the first initial coordinate system
Mark information.
The localization method that an embodiment of the present disclosure provides in a manner of is illustrated by a specific implement scene below,
For example, positioning device is Intelligent bracelet, then the Intelligent bracelet in definite user correctly wears the Intelligent bracelet (Intelligent bracelet can
By voice or in a manner of showing word user to be prompted correctly to wear upon actuation) when, it is established just based on current posture
Beginning coordinate system.Using the initial coordinate system (i.e. above-mentioned first initial coordinate system) as the coordinate system of user itself, and record current
Sensing data under posture, including acceleration transducer data and gyro data.It afterwards, should with the movement of user
Intelligent bracelet may change with respect to the position of user, and the variation can be recorded by sensing data.In this way,
Position letter after the Intelligent bracelet with any attitude detection to target device under the Intelligent bracelet three-dimensional system of coordinate of itself
After breath, acceleration transducer data based on current acceleration transducer data and gyro data and original records and
Gyro data, you can by location information of the target device under the Intelligent bracelet three-dimensional system of coordinate of itself be converted to user from
In the coordinate system of body, so as to accurately calculate 3D location information of the target device compared with the carrier of positioning device.
The acceleration that the three-dimensional system of coordinate and sensor device that mode two, positioning device are established in initial position detect
Sensing data, gyro data and Electronic Megnetic Compass data.
In this way, after three-dimensional coordinate information of the target device in the first initial coordinate system is obtained in mode one, also
The Electronic Megnetic Compass data that can be detected according to the sensor device in the initial position and the current location,
Determine the second position change information between the first initial coordinate system and the second initial coordinate system, second initial coordinate
System is the world coordinate system that the positioning device is demarcated in the initial position；According to the second position change information by described in
Three-dimensional coordinate information of the target device in the first initial coordinate system is converted in the second initial coordinate system, obtains the mesh
Three-dimensional coordinate information of the marking device in the second initial coordinate system.
Under a certain application scenarios, user may more wonder target device and itself opposite position in world coordinate system
It puts, therefore, can be outside using the posture of acceleration transducer data and gyro data characterization positioning device, it can be with
It using the orientation of Electronic Megnetic Compass data characterization positioning device, is still illustrated by taking Intelligent bracelet as an example, in definite user just
When really wearing the Intelligent bracelet, initial coordinate system is established based on current posture, and records the sensing data under current pose,
It is (i.e. above-mentioned to demarcate initial coordinate system with this including acceleration transducer data, gyro data and Electronic Megnetic Compass data
Second initial coordinate system), and using the initial coordinate system as world coordinate system.In this way, although user is in moving process, from
First initial coordinate system of body deviates with orientation may occur as the second initial coordinate system of world coordinate system, but by right
It, can be by target device in the first initial seat than the Electronic Megnetic Compass data of current Electronic Megnetic Compass data and original records
Location information in mark system is converted in the second initial coordinate system.
Aforesaid way one and mode two meet a variety of demands under actual use scene, put forward the embodiment of the present disclosure
The localization method practicability of confession is stronger, improves user experience.
The embodiment of the present disclosure also provides another positioning device 700, which can be mobile phone, calculates
Machine, digital broadcast terminal, messaging devices, tablet device, Medical Devices, body-building equipment, personal digital assistant etc..
With reference to Fig. 7, positioning device 700 can include following one or more assemblies：Processing component 702, memory 704,
Electric power assembly 706, multimedia component 708, audio component 710, the interface 712 of input/output (I/O), sensor module 714,
And communication component 716.
The integrated operation of the usually control positioning device 700 of processing component 702, such as with display, call, data lead to
Letter, camera operation and record operate associated operation.Processing component 702 can be held including one or more processors 720
Row instruction, to complete all or part of step of above-mentioned localization method.In addition, processing component 702 can include one or more
Module, convenient for the interaction between processing component 702 and other assemblies.For example, processing component 702 can include multi-media module,
To facilitate the interaction between multimedia component 708 and processing component 702.
Memory 704 is configured as storing various types of data to support the operation in positioning device 700.These data
Example include for the instruction of any application program or method that are operated in positioning device 700, contact data, telephone directory
Data, message, picture, video etc..Memory 704 can by any kind of volatibility or non-volatile memory device or it
Combination realize, such as static RAM (SRAM), electrically erasable programmable read-only memory (EEPROM) is erasable
Except programmable read only memory (EPROM), programmable read only memory (PROM), read-only memory (ROM), magnetic memory, soon
Flash memory, disk or CD.
Electric power assembly 706 provides electric power for the various assemblies of positioning device 700.Electric power assembly 706 can include power supply pipe
Reason system, one or more power supplys and other generate, manage and distribute electric power associated component with for positioning device 700.
Multimedia component 708 is included in the screen of one output interface of offer between the positioning device 700 and user.
In some embodiments, screen can include liquid crystal display (LCD) and touch panel (TP).If screen includes touch surface
Plate, screen may be implemented as touch-screen, to receive input signal from the user.Touch panel includes one or more touch
Sensor is to sense the gesture on touch, slide, and touch panel.The touch sensor can not only sense touch or slip
The border of action, but also detect duration and pressure associated with the touch or slide operation.In some embodiments,
Multimedia component 708 includes a front camera and/or rear camera.When positioning device 700 is in operation mode, such as clap
When taking the photograph pattern or video mode, front camera and/or rear camera can receive external multi-medium data.It is each preposition
Camera and rear camera can be a fixed optical lens system or have focusing and optical zoom capabilities.
Audio component 710 is configured as output and/or input audio signal.For example, audio component 710 includes a Mike
Wind (MIC), when positioning device 700 is in operation mode, during such as call model, logging mode and speech recognition mode, microphone
It is configured as receiving external audio signal.The received audio signal can be further stored in memory 704 or via logical
Letter component 716 is sent.In some embodiments, audio component 710 further includes a loud speaker, for exports audio signal.
I/O interfaces 712 provide interface between processing component 702 and peripheral interface module, and above-mentioned peripheral interface module can
To be keyboard, click wheel, button etc..These buttons may include but be not limited to：Home button, volume button, start button and lock
Determine button.
Sensor module 714 includes one or more sensors, for providing the state of various aspects for positioning device 700
Assessment.For example, sensor module 714 can detect opening/closed state of positioning device 700, the relative positioning of component, example
As the component be positioning device 700 display and keypad, sensor module 714 can also detect positioning device 700 or
The position of 700 1 components of positioning device changes, the existence or non-existence that user contacts with positioning device 700, positioning device 700
The temperature change in orientation or acceleration/deceleration and positioning device 700.Sensor module 714 can include proximity sensor, be configured
For detecting the presence of nearby objects without any physical contact.Sensor module 714 can also include optical sensor,
Such as CMOS or ccd image sensor, for being used in imaging applications.In some embodiments, which may be used also
To include acceleration transducer, gyro sensor, Electronic Megnetic Compass, pressure sensor or temperature sensor.
Communication component 716 is configured to facilitate the communication of wired or wireless way between positioning device 700 and other equipment,
It includes at least four antennas, and at least four antennas include first antenna, the second antenna, third antenna and the 4th day
Line, wherein, the first antenna, second antenna, the distribution of the third antenna and the 4th antenna in space
It is located at different planes respectively, to establish 3 d space coordinate system, for detecting target device in the three-dimensional system of coordinate
Three-dimensional coordinate information.
Positioning device 700 can access the wireless network based on communication standard, such as WiFi, 2G or 3G or combination thereof.
In one exemplary embodiment, communication component 716 receives the broadcast from external broadcasting management system via broadcast channel and believes
Number or broadcast related information.In one exemplary embodiment, the communication component 716 further includes near-field communication (NFC) module,
To promote short range communication.For example, NFC module can be based on radio frequency identification (RFID) technology, Infrared Data Association (IrDA) technology,
Ultra wide band (UWB) technology, bluetooth (BT) technology and other technologies are realized.
In the exemplary embodiment, positioning device 700 can be by one or more application application-specific integrated circuit (ASIC), number
Word signal processor (DSP), digital signal processing appts (DSPD), programmable logic device (PLD), field programmable gate array
(FPGA), controller, microcontroller, microprocessor or other electronic components are realized, for performing above-mentioned localization method.
Those skilled in the art will readily occur to other embodiment party of the disclosure after considering specification and putting into practice the disclosure
Case.This application is intended to cover any variations, uses, or adaptations of the disclosure, these modifications, purposes or adaptability
Variation follows the general principle of the disclosure and including the undocumented common knowledge in the art of the disclosure or usual skill
Art means.Description and embodiments are considered only as illustratively, and the true scope and spirit of the disclosure are by following claim
It points out.
It should be appreciated that the present disclosure is not limited to the precise structures that have been described above and shown in the drawings, and
And various modifications and changes may be made without departing from the scope thereof.The scope of the present disclosure is only limited by appended claim.
Claims (10)
1. a kind of positioning device, which is characterized in that the positioning device includes equipment body, and the equipment body includes at least four
Root antenna, at least four antennas include first antenna, the second antenna, third antenna and the 4th antenna, wherein, described the
The distribution of one antenna, second antenna, the third antenna and the 4th antenna in space is located at different respectively
Plane；
Described at least four antennas are for establishing 3 d space coordinate system, to detect target device in the three-dimensional system of coordinate
Three-dimensional coordinate information.
2. positioning device according to claim 1, which is characterized in that the first antenna, second antenna, described
The distribution of triantennary and the 4th antenna in space forms a triangular pyramid.
3. positioning device according to claim 1 or 2, which is characterized in that the first antenna, second antenna, institute
It is ultra wide band UWB antennas to state third antenna and the 4th antenna.
4. positioning device according to claim 1 or 2, which is characterized in that the positioning device further includes and the equipment
The fixed sensor device of relative position of main body；
Wherein, the sensor device is used for, and detects to characterize the positioning device current location compared with its initial position
Motion conditions sensing data；
The equipment body is additionally operable to, and the positioning device that at least four antennas are established described in detection is under the current location
Three-dimensional system of coordinate in three-dimensional coordinate information, and according to the initial sensing of the sensing data and the sensor device
The three-dimensional coordinate information is converted in the initial coordinate system of the positioning device by device data；
Wherein, the initial coordinate system is that at least four antennas are built described in the positioning device is demarcated in the initial position
Vertical three-dimensional system of coordinate, the initial sensor data are described in the sensor device of calibration is located in the positioning device
The sensing data detected during initial position.
5. positioning device according to claim 4, which is characterized in that the sensor device include acceleration transducer and
Gyroscope, wherein, the relative position of the acceleration transducer and the gyroscope is fixed.
6. positioning device according to claim 5, which is characterized in that the sensor device further includes Electronic Megnetic Compass,
Wherein, the relative position of the acceleration transducer and the Electronic Megnetic Compass is fixed.
7. a kind of localization method, which is characterized in that the method is applied to claim 1 to 6 any one of them positioning device,
The described method includes：
The target device and the positioning device are detected based on flight time TOF measurement technology or both sides' formula method TWR modes
Each antenna relative distance value；
The target device and the positioning are calculated using reaching phase difference or reach the time difference according to the relative distance value
The angle information on three side of XYZ axis of three-dimensional system of coordinate of the equipment under current location, wherein, each antenna of the positioning device
Transmitting-receiving has clock synchronism；
The target device is calculated in the positioning device under current location according to the angle Information Pull least square method
Three-dimensional system of coordinate in three-dimensional coordinate information.
8. the method according to the description of claim 7 is characterized in that the method further includes：
It detects to characterize the current location of the positioning device compared with the sensor of the motion conditions of its initial position
Data；
The three-dimensional coordinate information is changed according to the initial sensor data of the sensing data and the sensor device
In the initial coordinate system for calculating the positioning device；
Wherein, the initial coordinate system is that at least four antennas are built described in the positioning device is demarcated in the initial position
Vertical three-dimensional system of coordinate, the initial sensor data are described in the sensor device of calibration is located in the positioning device
The sensing data detected during initial position.
9. according to the method described in claim 8, it is characterized in that, the sensing data include acceleration transducer data with
And the gyro data, it is described according to the initial sensor data of the sensing data and the sensor device by institute
Three-dimensional coordinate information is stated to be converted in the initial coordinate system of the positioning device, including：
The acceleration transducer number detected according to the sensor device in the initial position and the current location
According to this and the gyro data, the first position variation letter between the three-dimensional system of coordinate and the first initial coordinate system is determined
Breath, the first initial coordinate system are to carry the positioning device to carry out coordinate system residing for mobile target object；
The three-dimensional coordinate information is converted in the first initial coordinate system according to the first position change information, is obtained
Three-dimensional coordinate information of the target device in the first initial coordinate system.
10. according to the method described in claim 9, it is characterized in that, the sensing data further includes Electronic Megnetic Compass data,
The method further includes：
According to the Electronic Megnetic Compass data that the sensor device is detected in the initial position and the current location,
Determine the second position change information between the first initial coordinate system and the second initial coordinate system, second initial coordinate
System is the world coordinate system that the positioning device is demarcated in the initial position；
Three-dimensional coordinate of the target device in the first initial coordinate system is believed according to the second position change information
Breath is converted in the second initial coordinate system, obtains three-dimensional coordinate letter of the target device in the second initial coordinate system
Breath.
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| CN201711257478.2A CN108051778A (en) | 2017-12-04 | 2017-12-04 | Positioning device and method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711257478.2A CN108051778A (en) | 2017-12-04 | 2017-12-04 | Positioning device and method |
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| CN201711257478.2A Pending CN108051778A (en) | 2017-12-04 | 2017-12-04 | Positioning device and method |
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Application publication date: 20180518 |