CN108200534A - A kind of method and apparatus positioned to terminal - Google Patents
A kind of method and apparatus positioned to terminal Download PDFInfo
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- CN108200534A CN108200534A CN201810021883.2A CN201810021883A CN108200534A CN 108200534 A CN108200534 A CN 108200534A CN 201810021883 A CN201810021883 A CN 201810021883A CN 108200534 A CN108200534 A CN 108200534A
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- target terminal
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
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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
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- Position Fixing By Use Of Radio Waves (AREA)
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Abstract
The invention discloses a kind of method and apparatus positioned to terminal, when carrying out indoor tracing and positioning to mobile target to solve to exist in the prior art, the problem of positioning is inaccurate, and efficiency is low.The range information that the acquisition of tracing equipment of the embodiment of the present invention is obtained according to the distance of positioning device in cluster and target terminal, and the position sequence of target terminal is determined according to the range information got, finally the position sequence is handled using gray prediction mode, determines the position of the target terminal subsequent time.Since tracing equipment can obtain range information, the tracing equipment can accurately determine the target terminal position sequence according to the range information, finally the target terminal position sequence is handled to obtain predicted position of lower a moment using the mode of gray prediction, therefore the accuracy of positioning is improved, when solving in the prior art to the indoor tracing and positioning of mobile target progress, position inaccurate, the problem of efficiency is low.
Description
Technical field
The present invention relates to wireless communication technology field, more particularly to a kind of method and apparatus positioned to terminal.
Background technology
At present, activity all in life carries out indoors mostly, needs to position terminal, one side user
Position carries out the push of specific information；It on the other hand, can be according to the position of terminal when article loss or children loss occurs
It puts and is found.
In the prior art, there is many positioning methods, such as traditional GPS (Global Positioning
System, global positioning system), positioning based on base station etc. is suitable for the localization method of spacious environment, but utilizes indoors
It can there are larger errors when GPS positioning and positioning based on base station.
To sum up, when carrying out indoor tracing and positioning to mobile target in the prior art, positioning is inaccurate, and efficiency is low.
Invention content
The present invention provides a kind of method and apparatus positioned to terminal, to solve to exist in the prior art to movement
When target carries out indoor tracing and positioning, the problem of positioning is inaccurate, and efficiency is low.
The embodiment of the present invention provides a kind of method positioned to terminal, and this method includes：
The range information that tracing equipment acquisition is obtained according to the distance of positioning device in cluster and target terminal, wherein the cluster
Middle positioning device is chosen according to the distance between positioning device and target terminal；
The tracing equipment determines the position sequence of the target terminal according to the range information got；
The tracing equipment determines described target terminal lower a moment according to the position sequence using gray prediction mode
Position.
The embodiment of the present invention provides another method positioned to terminal, and this method includes：
Positioning device repeatedly receives other positioning devices in cluster upload and target terminal after determining itself as cluster head
Distance, wherein in the cluster positioning device be according to the distance between positioning device and target terminal choose；
The positioning device according to the distance of itself and the target terminal and other positioning devices upload received with
The distance of target terminal determines multiple range informations；
The multiple range information is sent to tracing equipment by the positioning device, so that the tracing equipment is according to
Multiple range informations determine the position sequence of the target terminal, and are determined according to the position sequence using gray prediction mode
The position at described target terminal lower a moment.
The embodiment of the present invention provides a kind of equipment positioned to terminal, which includes：
At least one processing unit and at least one storage unit, wherein, the storage unit has program stored therein code, when
When said program code is performed by the processing unit so that the processing unit performs following process：
The range information obtained according to the distance of positioning device in cluster and target terminal is obtained, wherein positioning is set in the cluster
Standby chosen according to the distance between positioning device and target terminal；
The range information according to getting determines the position sequence of the target terminal；
The position at described target terminal lower a moment is determined using gray prediction mode according to the position sequence.
The embodiment of the present invention provides a kind of equipment positioned to terminal, which includes：
At least one processing unit and at least one storage unit, wherein, the storage unit has program stored therein code, when
When said program code is performed by the processing unit so that the processing unit performs following process：
After determining itself as cluster head, the distance with target terminal that other positioning devices upload in cluster is repeatedly received,
Positioning device is chosen according to the distance between positioning device and target terminal in wherein described cluster；
According to the distance of itself and the target terminal and other positioning devices received upload and target terminal away from
From determining multiple range informations；
The multiple range information is sent to tracing equipment, so that the tracing equipment is according to the multiple range information
It determines the position sequence of the target terminal, and the target terminal is determined using gray prediction mode according to the position sequence
The position at lower a moment.
The embodiment of the present invention provides a kind of equipment positioned to terminal, which includes：
Acquisition module, for obtaining the range information obtained according to the distance of positioning device in cluster and target terminal, wherein
Positioning device is chosen according to the distance between positioning device and target terminal in the cluster；
First determining module, for determining the position sequence of the target terminal according to the range information got；
Second determining module, for being determined one under the target terminal using gray prediction mode according to the position sequence
The position at quarter.
The embodiment of the present invention provides a kind of equipment positioned to terminal, which includes：
Receiving module, for after determining itself as cluster head, repeatedly receiving other positioning devices in cluster upload and mesh
The distance of terminal is marked, wherein positioning device is chosen according to the distance between positioning device and target terminal in the cluster；
Determining module, for the distance according to itself and the target terminal and other positioning devices received upload with
The distance of target terminal determines multiple range informations；
Sending module, for the multiple range information to be sent to tracing equipment, so that the tracing equipment is according to institute
The position sequence that multiple range informations determine the target terminal is stated, and true using gray prediction mode according to the position sequence
The position at fixed described target terminal lower a moment.
Tracing equipment of the embodiment of the present invention is obtained to be believed according to the distance that the distance of positioning device in cluster and target terminal obtains
It ceases, and the position sequence of target terminal is determined according to the range information got, finally using gray prediction mode to institute's rheme
It puts sequence to be handled, determines the position of the target terminal subsequent time.Due to the tracing equipment in the present invention can obtain away from
From information, and the distance included in the range information is obtained according to the distance of positioning device in cluster and target terminal, institute
The target terminal position sequence can accurately be determined according to the range information by stating tracing equipment, finally to the target
Terminal location sequence is handled to obtain predicted position of lower a moment using the mode of gray prediction, therefore improves the accurate of positioning
Degree solves the problem of when carrying out indoor tracing and positioning to mobile target in the prior art, positioning is inaccurate, and efficiency is low.
Description of the drawings
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly introduced, it should be apparent that, the accompanying drawings in the following description is only some embodiments of the present invention, for this
For the those of ordinary skill in field, without having to pay creative labor, it can also be obtained according to these attached drawings
His attached drawing.
Fig. 1 is a kind of system structure diagram positioned to terminal of the embodiment of the present invention；
Fig. 2 is the schematic diagram that positioning device in cluster is determined in the embodiment of the present invention；
Fig. 3 is the schematic diagram for determining position sequence in the embodiment of the present invention by small echo processing；
Fig. 4 is schematic diagram of the predicted position in cluster in the embodiment of the present invention；
Fig. 5 is that the positioning device in cluster but in cluster can not perceive target terminal to predicted position in the embodiment of the present invention
Schematic diagram；
Fig. 6 device structure schematic diagrams that the first positions terminal for the embodiment of the present invention；
Fig. 7 is second of device structure schematic diagram positioned to terminal of the embodiment of the present invention；
Fig. 8 device structure schematic diagrams that the third positions terminal for the embodiment of the present invention；
Fig. 9 is the 4th kind of device structure schematic diagram positioned to terminal of the embodiment of the present invention；
Figure 10 is a kind of method flow schematic diagram positioned to terminal of the embodiment of the present invention；
Figure 11 is the method flow schematic diagram that another kind of the embodiment of the present invention positions terminal；
Figure 12 is the method flow schematic diagram that the embodiment of the present invention is tracked terminal positioning.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention is made below in conjunction with attached drawing into
It is described in detail to one step, it is clear that described embodiment is only the implementation of part of the embodiment of the present invention rather than whole
Example.Based on the embodiments of the present invention, those of ordinary skill in the art are obtained without making creative work
All other embodiment, shall fall within the protection scope of the present invention.
As shown in Figure 1, a kind of system positioned to terminal of the embodiment of the present invention, including：
Tracing equipment 10, for obtaining the range information obtained according to the distance of positioning device in cluster and target terminal,
Described in cluster positioning device be to be chosen according to the distance between positioning device and target terminal；According to getting away from
From the position sequence that information determines the target terminal；The target is determined using gray prediction mode according to the position sequence
The position at terminal lower a moment.
Positioning device 20, for after determining itself as cluster head, repeatedly receive that other positioning devices in cluster upload with
The distance of target terminal, wherein positioning device is chosen according to the distance between positioning device and target terminal in the cluster；
It is determined according to the distance of the distance of itself and the target terminal and other positioning devices received upload and target terminal more
A range information；The multiple range information is sent to tracing equipment, so that the tracing equipment is according to the multiple distance
Information determines the position sequence of the target terminal, and determines the target using gray prediction mode according to the position sequence
The position at terminal lower a moment.
Tracing equipment of the embodiment of the present invention is obtained to be believed according to the distance that the distance of positioning device in cluster and target terminal obtains
It ceases, and the position sequence of target terminal is determined according to the range information got, finally using gray prediction mode to institute's rheme
It puts sequence to be handled, determines the position of the target terminal subsequent time.Due to the tracing equipment in the present invention can obtain away from
From information, and the distance included in the range information is obtained according to the distance of positioning device each in cluster and target terminal
, the tracing equipment can accurately determine the target terminal position sequence according to the range information, finally to institute
Target terminal position sequence is stated to be handled to obtain predicted position of lower a moment using the mode of gray prediction, therefore improve positioning
Accuracy, solve that when carrying out indoor tracing and positioning to mobile target in the prior art, positioning is inaccurate, and efficiency is low to ask
Topic.
Wherein, the tracing equipment includes but not limited to following part or all of：
Base station, home gateway etc..
Wherein, the tracing equipment can repeatedly obtain the range information when obtaining range information, and obtain every time
The range information is determined according to the distance of positioning device in cluster and target terminal.Positioning device has in wherein described cluster
It is multiple, when obtaining the range information, it can determine whether each positioning device and the distance of the target terminal, final basis in cluster
Each the distance between positioning device and the target determine the range information in the cluster repeatedly obtained.
Specifically, in embodiments of the present invention, the tracing equipment can receive the information of the target terminal transmitting, and
It determines whether the target terminal enters sensing range (or target area), is determining that target terminal enters sensing range
After (or target area), tracing equipment triggers positioning device all in the sensing range (or target area), is triggered
Positioning device can receive the information that the target terminal is launched, and the letter emitted according to the target terminal received
The signal strength carried in breath determines the positioning device and the distance of target terminal.
Wherein, include but not limited in the information of target terminal transmitting following part or all of:
Signal strength, mark of target terminal etc..
In embodiments of the present invention, the mark of the target terminal is mainly used for, when in sensing range (or target area)
During the terminal positioned there are multiple, the tracing equipment can determine the target according to the mark of the target terminal
Whether the moving direction of terminal and the target terminal remove the sensing range (or target area)；Meanwhile the perception model
Mark of the positioning device in (or target area) according to the target terminal is enclosed, determines itself in multiple target terminals
Which target terminal carries out ranging, and determining distance is reported according to signal strength.
Wherein, the position of the positioning device is changeless in sensing range (or target area), and each fixed
Position equipment is all a manually configured in the sensing range (or target area).In implementation process, pass through human configuration
Mode obtains the range information of each positioning device.
The sensing range (or target area) includes but not limited to following part or all of：
The indoor environments such as large supermarket, shopping square, gymnasium.
Specifically, the positioning device is transmitted for carrying out the transmitting-receiving of radio signal with destination node, in force
The positioning device includes but not limited to following part or all of：
Sensor, wireless router etc. can be used for carrying out the communication equipment of radio signal transmitting-receiving.
Optionally, the positioning device judges whether itself is positioning device in the cluster according to following manner：
If the distance with the target terminal, no more than the threshold value, the positioning device determines itself in the cluster
Positioning device.
Specifically, there are a large amount of positioning device in sensing range (or target area), sensing range (or target area
Domain) in all positioning device determine the positioning device to the target terminal according to the signal strength of the target terminal
Distance, and the threshold value stored in determining distance and positioning device is compared, if little with the distance of the target terminal
In the threshold value, then the positioning device determines itself for the positioning device in cluster.
Wherein, the threshold value is preset according to actual demand progress, and the numerical value of the threshold value setting is bigger, the essence of positioning
Degree is higher.
As shown in Fig. 2, the square region in figure is sensing range (or target area), border circular areas is with target end
Centered on end, threshold value is the region of radius (R), and the positioning device in the border circular areas is all the positioning device in cluster.It is false
If there are multiple positioning devices such as positioning device A, B, C, D, E, F, G, each positioning devices in sensing range (or target area)
The information of the target terminal transmitting can be received, and according to determining the signal strength carried in the information received
Be set to device A, the distance of B, C, D, E, F, G to the target terminal, determining distance is respectively 1 meter, 1.2 meters, 1.5 meters, 1.8
Rice, 2 meters, 2.4 meters, 2.6 meters；Assuming that the threshold value stored in all positioning devices is 2 meters, the positioning device to the mesh at this time
The positioning device and positioning device F, G that positioning device of the distance more than 2 meters of mark terminal is not belonging in cluster are not belonging to determine in cluster
Position equipment.
Wherein, the tracing equipment determines the position of target terminal, can be reported according to the positioning device received
Determined with the distance of the target terminal.
In force, the positioning device determines certainly according to the distance with the target terminal and the relationship of the threshold value
Whether body is positioning device in the cluster, what the range information between positioning device and the target terminal in cluster determined
Range information is more accurate, improves positioning accuracy.
Optionally, the positioning device in the cluster includes cluster head positioning device, and all positioning devices in cluster judge
When whether itself is cluster head, it can be sentenced in the following way.
Mode one：After positioning device is according to other positioning devices in the cluster received and the distance of the target terminal, really
Whether fixed itself is cluster head.
Wherein, the positioning device determine itself distance with the target terminal be less than in cluster other positioning devices with
After the distance of the target terminal, determine itself to be cluster head.
Specifically, the signal strength carried in the information that positioning device all in cluster emits according to the target terminal is true
The target terminal is determined to the distance of the positioning device；Determine that itself arrives the distance of the target terminal in each positioning device
Afterwards, determining range information can be sent to arbitrary positioning device in cluster, while the positioning device can receive other in cluster
Positioning device send itself to the target terminal distance；Other positioning devices are received described in the positioning device
After the distance of target terminal, determine whether the distance of itself and the target terminal is less than other positioning devices in the cluster received
With the distance of the target terminal；Determine that itself is fixed less than other in cluster to the distance of the target terminal in the positioning device
After the equipment to the distance of the target terminal of position, determine itself to be cluster head.
For example, there are multiple positioning device A, B, C, D, E in cluster, positioning device A, B, C, D, E are according to the mesh received
The signal strength of terminal is marked, the distance for determining the target terminal to described positioning device A, B, C, D, E is respectively 1 meter, 1.2
Rice, 1.5 meters, 1.8 meters, 2 meters；1 meter determining of distance can be sent to positioning device B, C, D, E by positioning device A at this time, and positioning is set
1.2 meters determining of range information can be sent respectively to positioning device A, C, D, E by standby B, and similarly, positioning device C, D, E can also be incited somebody to action
Itself determining distance to the target terminal is sent to other positioning devices；Positioning device A receive come self-locating devices B,
C, after 1.2 meters, 1.5 meters, 1.8 meters, 2 meters of the distance of D, E, the distance for determining itself (positioning device A) to the target terminal is
1.2 meters, 1.5 meters, 1.8 meters, 2 meters of the no distance less than positioning device B, C, D, E for receiving to the target terminal；It is described fixed
Position device A determine itself to the target terminal 1 meter of distance be less than in cluster other positioning devices to the target terminal away from
After 1.2 meters, 1.5 meters, 1.8 meters, 2 meters, it is cluster head positioning device to determine the positioning device A.
Mode two：Positioning device sends information to tracing equipment, and the tracing equipment carries out cluster according to the information received
The selection of head positioning device.
Wherein, the distance of itself and the target terminal is sent to tracing equipment by the positioning device, described receiving
After tracing equipment indicates itself as the information of cluster head, determine itself to be cluster head.
Specifically, positioning device all in cluster is according to determining the signal strength for the information that the target terminal emits
Target terminal is to the distance of the positioning device；After each positioning device determines itself distance to the target terminal, meeting
The distance to the target terminal that itself is determined is sent to the tracing equipment；The tracing equipment receive it is all fixed
After position equipment is sent to the distance of the target terminal, the distance for determining the positioning device to the target terminal is shortest
Positioning device, and indicate determine it is shortest apart from corresponding positioning device be cluster head, then will instruction information be sent to accordingly
Positioning device；The positioning device determines that itself is after receiving the tracing equipment and indicating the information that itself is cluster head
Cluster head.
For example, there are multiple positioning device A, B, C, D, E in cluster, positioning device A, B, C, D, E are according to the mesh received
The signal strength of terminal is marked, the distance for determining the target terminal to described positioning device A, B, C, D, E is respectively 1 meter, 1.2
Rice, 1.5 meters, 1.8 meters, 2 meters；At this point, positioning device A, B, C, D, E by corresponding 1 meter of distance, 1.2 meters, 1.5 meters, 1.8 meters, 2
Rice is sent to the tracing equipment；The tracing equipment receive all positioning device A, B, C, D, E 1 meter of distance, 1.2 meters,
After 1.5 meters, 1.8 meters, 2 meters, the most short distance for determining the positioning device to the target terminal is 1 meter, and the shortest distance 1
Positioning device corresponding to rice is positioning device A, and the tracing equipment instruction positioning device A is cluster head, and will instruction information hair
Give positioning device A；Positioning device A determines itself to be cluster head after information of the instruction itself for cluster head is received.
In force, when choosing cluster head according to the distance of the positioning device and the target terminal, selected distance mesh
It is cluster head to mark the shortest positioning device of terminal, and cluster head can receive the information that all positioning devices are sent in cluster, in positioning
When improve the precision of positioning.
Optionally, the positioning device repeatedly determines the distance with the target terminal after determining that itself is not cluster head,
And determining distance is reported to cluster head.
Specifically, the positioning device in cluster is determined after itself not being cluster head, itself and the target terminal are repeatedly determined
Distance, and the determining distance is reported into cluster head, make cluster head by receive it is all be not that cluster head positioning device reports
Information merged, and by the information reporting after fusion to the tracing equipment, the tracing equipment is receiving the cluster
After the information that head reports, according to the information reported to obtain range information, and the target is determined according to the range information
The position sequence of terminal finally determines the position at lower a moment according to position sequence.
Wherein, the range information can also be that the tracing equipment itself is arrived according to what positioning device each in cluster reported
What the distance of the target terminal determined.
Wherein, the positioning device determines itself to be that cluster head is mainly determined according to the distance to the target terminal
, it is whole to the target according to itself after the distance to the target terminal that other positioning devices are sent in cluster is received
The distance at end is compared, if itself to the distance of the target terminal be not shortest, it is determined that itself be not cluster head.
Wherein, it is described determine itself be not cluster head positioning device repeatedly determine with the target terminal apart from when, institute
It states and repeatedly determines it can is the periodic distance determined according to the signal strength received with the target terminal, and the period
Time can be according to the number of positioning device in the size of sensing range (or target area) and/or sensing range (or target area)
Amount etc. is set.
In force, determine it itself is not the positioning device of cluster head, the distance to the target terminal that itself is determined
Cluster head is reported to, so that cluster head reports information to merge by what is received, is finally reported to the tracing equipment, the tracking
Equipment meeting basis is not that the distance to the target terminal that the positioning device of cluster head reports determines position sequence, and then under prediction
The location information at a moment, improves positioning accuracy.
In implementation process, it is determined that after the positioning device in cluster, can also close in sensing range (or target area)
The positioning device being not belonging in cluster, and then save the energy of positioning device described in the sensing range (or target area).
Wherein, the positioning device being not belonging in cluster in sensing range (or target area) of closing can be the tracking
The distance between described target terminal that equipment is reported according to the positioning device and the threshold value are compared, when it is described away from
During from more than the threshold value, the tracing equipment indicates that the positioning device is closed；Or the positioning device is according to measurement
The distance between described target terminal is compared with the threshold value stored in itself, determines the distance of the measurement more than described
During threshold value, the positioning device is closed.
In embodiments of the present invention, after the tracing equipment determines the positioning device in cluster, in the determining cluster
The signal strength carried in the information that positioning device emits according to the target terminal determine between the target terminal away from
From before, the positioning device in the determining cluster can perceive the target terminal, it is determined whether can receive institute
State the information of target terminal transmitting.
If the positioning device in the cluster can perceive the information of the target terminal transmitting, according to target end
The signal strength carried in the information of transmitting is held to determine the distance between described target terminal, holds the tracing equipment
The step of determining location information of row and position sequence, the tracing equipment is according to the further predicted position of the position sequence；
If the positioning device in the cluster cannot perceive the target terminal, the positioning device in the cluster will be felt
Information reporting less than the target terminal is known to the tracing equipment, the tracing equipment triggering sensing range (or target area
Domain) in all positioning device redefine whether cluster head and itself are positioning devices in cluster.
Optionally, the tracing equipment is determined using gray prediction mode under the target terminal according to the position sequence
During the position at a moment, the tracing equipment carries out de-noising using small echo processing mode to the position sequence；
The tracing equipment is determined using gray prediction mode one under the target terminal according to the position sequence after de-noising
The position at quarter.
Specifically, the tracing equipment repeatedly obtain according to positioning device each in cluster and target terminal distance obtain away from
From information, multiple location informations can be determined according to the range information of acquisition, the target is determined according to the location information
Then the position sequence of terminal carries out de-noising to the position sequence of the target terminal using small echo processing mode, rejects deviation
Too big range information carries out the distance at lower a moment using the mode of gray prediction to range information remaining in position sequence and believes
Breath prediction finally obtains the predicted position of a subsequent time.
Wherein, when the range information according to acquisition determines location information, can there are many mode, such as：Determine on three sides
Position method, triangulation location etc..
As shown in figure 3, border circular areas represents current cluster, it is assumed that the point in Fig. 3 represents distance of the tracing equipment according to acquisition
There are X in the location information that information determines, determining position(0)(0),X(0)(1),X(0)(2),X(0)(3),X(0)(4),X(0)(5)...X(0)(N), corresponding points X (0) respectively in figure 3, X (1), X (2), X (3), X (4), X (5) ... X (N).
The position sequence that the tracing equipment determines at this time is：X(0)={ X(0)(0),X(0)(1),X(0)(2), X(0)(3),X(0)(4),X(0)(5)...X(0)(N) } position X, can be determined from Fig. 3(0)(0) deviation is larger, is picked when carrying out small echo processing
Except range information X(0)(0), remaining range information X(0)(1),X(0)(2),X(0)(3),X(0)(4),X(0)(5)...X(0)(N) it is
In multiple possible position information of subsequent time, at this time by the possible position sequence table of wavelet de-noising treated subsequent time
It is shown as X(0)={ X(0)(1),X(0)(2),X(0)(3),X(0)(4),X(0)(5)...X(0)(N) } it is, sharp after possible position sequence is determined
The position at lower a moment is carried out with the mode of gray prediction to be predicted, finally obtains the predicted position of a subsequent time, specifically
Prediction process be described in detail below.
The increasing sequence of one-accumulate generation, the increasing sequence such as one institute of formula are carried out to determining possible position sequence
Show：
Formula one：X(1)={ X(1)(1),X(1)(2),X(1)(3),X(1)(4),X(1)(5)...X(1)(N)}
Wherein,
In the increasing sequence X for determining possible position sequence(1)Afterwards, X is determined(1)Close to average generation sequence Z(1), close to equal
It is worth formation sequence as shown in formula two：
Formula two：Z(1)={ Z(1)(1),Z(1)(2),Z(1)(3),Z(1)(4),Z(1)(5)...Z(1)(N)}
Wherein,
Due to X(1)Journey exponential increase, differential equation of first order have exponential growth patterns, therefore X(1)Meet linear differential side
Journey
Wherein, equationAlbefaction equation for GM (1,1) model.
Then for above-mentioned albefaction equation, when meeting primary condition K=K(0), X(1)=X(1)(K0) when solved, obtain
Solution is as shown in formula three：
Formula three：
To the centrifugal pump of periodic sampling as shown in formula four：
Formula four：
It is restored for formula four by regressive methodObtain the predicted position at k+1 moment, position such as five institute of formula of prediction
Show：
Formula five:
During gray prediction, constant a and b in the albefaction equation are estimated by least square method；
Using the principle of least square, estimate that the albefaction equation obtains formula six：
Wherein, in formula six：
Due to Z(1)(2) to Z(1)(N) and X(0)(2) to X(0)N it is) known, therefore B is it is believed that according to true with Y
Fixed B and Y can obtain the numerical value corresponding to a and b in formula six, bring obtained a and b numerical value into formula three and formula respectively
In four, obtainWithCorresponding numerical value, and then the position of prediction can be determined according to formula five.
In force, using small echo processing mode to the position sequence carry out de-noising, reject position sequence in difference compared with
Big range information reduces the error of range information, and then determines described target terminal lower a moment according to remaining range information
Position, the precision of positioning can be improved, ensure that the position at lower a moment of prediction is more accurate.
Optionally, the tracing equipment is determined using gray prediction mode under the target terminal according to the position sequence
After the position at a moment, if the distance between the position at described target terminal lower a moment and the home position of the target terminal are no
More than threshold value, then the tracing equipment continues to execute the distance for obtaining and being obtained according to the distance of positioning device in cluster and target terminal
The step of information；Or
If the distance between the position at described target terminal lower a moment and the home position of the target terminal are more than threshold value,
Then the tracing equipment triggers the positioning device and redefines whether itself is positioning device in cluster；
Wherein, the home position of the target terminal is to determine the target terminal used during positioning device in the cluster
Position.
Specifically, when predicting the position at lower a moment according to the position sequence, the position predicted has a variety of situations, under
It introduces respectively in face.
Situation one：The position of lower a moment of the target terminal is in current cluster.
If the distance between the position at described target terminal lower a moment and the home position of the target terminal are not more than threshold
Value, then the tracing equipment continue to execute repeatedly obtain according to the distance of positioning device each in cluster and target terminal obtain away from
The step of from information.
Specifically, when the position of the subsequent time predicted is in current cluster, i.e., described target terminal it is next
No more than threshold value, the tracing equipment is continuing with working as the distance between the position at moment and the home position of the target terminal
Prevariety is tracked positioning to the target terminal.
In implementation process, the tracing equipment can determine multiple positions of subsequent time according to the range information of acquisition
Information determines position sequence according to location information, is handled including under carrying out small echo to the determining position sequence
The position sequence of one moment possible location information carries out position sequence the prediction bits that subsequent time is determined in gray prediction
It puts.
Wherein, the tracing equipment can determine the information of the predicted position, and the tracing equipment can also basis
The range information of acquisition determines the original position-information of the target terminal, so the tracing equipment can determine it is described
The distance between the position at lower a moment of target terminal and the home position of the target terminal, the target terminal will be determined
The distance between the home position of position and the target terminal at lower a moment of the target terminal and the positioning device
The threshold value included in the information reported is compared.
If it is determined that the distance between the position of the subsequent time of the target terminal and the home position of the target terminal
During no more than threshold value, the position at lower a moment of the target terminal is represented in current cluster, then the positioning device in cluster continues root
The signal strength carried in the information emitted according to the target terminal received carries out the target terminal ranging, described fixed
The determining distance with the target terminal is reported to the cluster head positioning device in current cluster by position equipment, and cluster head positioning device will
Each positioning device is merged with the distance of the target terminal in the cluster received, and the information after fusion is sent to described chase after
Track equipment, the tracing equipment can obtain range information according to the fuse information that the cluster head positioning device received reports, finally
The position at lower a moment can be determined according to range information.
Wherein, the tracing equipment can also individually be reported according to positioning device each in cluster with the target terminal
Distance determines.
Wherein, the current cluster is centered on the home position of the target terminal, and threshold value is the border circular areas of radius.
As shown in figure 4, border circular areas is represented centered on the home position A of the target terminal, threshold value R is the circle of radius
Shape region, the position at described target terminal lower a moment that the tracing equipment predicts are B, and the tracing equipment is according to institute at this time
The location information at described target terminal lower a moment stated the original position-information of target terminal and predicted is determined between the two
Distance for L=1.2, the tracing equipment determines the threshold value R=included in the information that positioning device reports in the cluster received
2, distance L and threshold value R is compared, determines that distance L no more than threshold value R, determines the position of lower a moment of the target terminal
In current cluster.
Situation two：The position predicted is not in current cluster.
If the distance between the position at described target terminal lower a moment and the home position of the target terminal are more than threshold value,
Then the tracing equipment triggers the positioning device and redefines whether itself is positioning device in cluster；
Specifically, when the position at described target terminal lower a moment is not in current cluster, i.e., under described target terminal
The distance between the position at a moment and the home position of the target terminal are more than threshold value, then the tracing equipment will trigger institute
Positioning device all in the sensing range (or target area) where target terminal is stated, again according to the target received
The signal strength carried in the information of terminal transmission determines the distance with the target terminal, and then according to the threshold stored in itself
Value determines whether it is the positioning device in cluster.
In implementation process, the tracing equipment can determine multiple positions of subsequent time according to the range information of acquisition
Information determines position sequence according to location information, is handled including under carrying out small echo to the determining position sequence
The position sequence of one moment possible location information carries out position sequence the prediction bits that subsequent time is determined in gray prediction
It puts.
Wherein, the tracing equipment is the information that can determine the predicted position, and the tracing equipment can be with root
The original position-information of the target terminal is determined according to the range information of acquisition, and then the tracing equipment can determine institute
The distance between the position at lower a moment of target terminal and the home position of the target terminal are stated, the target terminal will determine
The distance between the position at the lower a moment of the target terminal gone out and the home position of the target terminal are set with the positioning
The threshold value included in the standby information reported is compared.
If it is determined that the distance between the position of the subsequent time of the target terminal and the home position of the target terminal
During more than threshold value, the position at lower a moment of the target terminal is represented not in current cluster, then the tracing equipment triggering perceives
All positioning devices in range (or target area), all positioning devices will be again according to the target terminals received
The signal strength carried in the information of transmitting determines the distance between described target terminal, and will determine and target end
The distance between end is reported to the tracing equipment, and the tracing equipment is reported according to all positioning devices received
Distance is determined apart from shortest positioning device, and determines that apart from shortest positioning device be cluster head positioning device, and then is continued
The step of determining positioning device in cluster is performed, it is that then positioning device in cluster is determined to be reported to target terminal distance
Cluster head positioning device in current cluster, cluster head positioning device is by positioning device each in the cluster received and the target terminal
Distance fusion, the information after fusion is sent to the tracing equipment, the tracing equipment can be determined according to the cluster head received
The fuse information that position equipment reports obtains range information, and the position at lower a moment can be finally determined according to range information.
Wherein, the tracing equipment can also individually be reported according to positioning device each in cluster with the target terminal
Distance determines.
Wherein, the current cluster is centered on the home position of the target terminal, and threshold value is the border circular areas of radius.
As shown in figure 5, border circular areas is represented centered on the home position A of the target terminal, threshold value R is the circle of radius
Shape region, the position at described target terminal lower a moment that the tracing equipment predicts are B, and the tracing equipment is according to institute at this time
The location information at described target terminal lower a moment stated the original position-information of target terminal and predicted is determined between the two
Distance for L=2.2, the tracing equipment determines the threshold value R=included in the information that positioning device reports in the cluster received
2, distance L and threshold value R is compared, determine distance L be more than threshold value R, determine the target terminal lower a moment position not
In current cluster.
Wherein, the tracing equipment judges that position of described target terminal lower a moment, can also basis whether in current cluster
The perception information that positioning device reports in cluster determines, if the tracing equipment receives each positioning device in cluster and can perceive
To the message of the target terminal, then judge position of described target terminal lower a moment in current cluster；If the tracing equipment connects
The message of the target terminal can be perceived by receiving part positioning device in cluster, then judges position of described target terminal lower a moment
Not in current cluster, wherein, in the cluster part positioning device be apart from the target terminal home position comparatively farther out
Or in cluster fringe region positioning device.
Wherein, each positioning device carries out the perception of the target terminal into row information constantly.
In force, when being tracked positioning again according to the information of predicted position, determine predicted position whether
In current cluster, if in current cluster, continue tracing and positioning using current cluster；If not in current cluster, and the positioning in cluster is set
The standby moving direction that can perceive the target terminal, then trigger positioning device all in target area and build cluster again, protects
Moment detection target terminal is demonstrate,proved, improves the precision of positioning.
Optionally, the range information that the tracing equipment acquisition is obtained according to the distance of positioning device in cluster and target terminal
Before, the tracing equipment using with the shortest positioning device of the distance of the target terminal as cluster head positioning device；Or according to
The notification message of positioning device determines cluster head positioning device in cluster；
Wherein, the tracing equipment repeatedly obtain according to the distance of positioning device each in cluster and target terminal obtain away from
During from information, the tracing equipment receive that cluster head positioning device in the cluster sends according to positioning device each in cluster and target
The range information that the distance of terminal obtains.
Specifically, the tracing equipment before range information is obtained, is also predefined in cluster as the positioning device of cluster head,
Determine cluster head positioning device mode have it is a variety of, introduce separately below.
Mode one：The tracing equipment is set with the shortest positioning device of the distance of the target terminal as cluster head positioning
It is standby.
In implementation process, carried in the information that each positioning device emits according to the target terminal received in cluster
Signal strength, determine the positioning device to the distance of the target terminal, and determining distance is reported to the tracking
Equipment, the tracing equipment after the range information that the positioning device reports is received, in chosen distance information it is shortest away from
It is determined as cluster head positioning device from corresponding positioning device.
If it is determined that the range information in include multiple shortest range informations, then therefrom it is any choose it is one most short
Range information corresponding to positioning device as cluster head positioning device.
For example, including positioning device A, B, C, D, E, F in cluster, determine described positioning device A, B, C, D, E, F described in
The distance of target terminal is respectively 1 meter, 1.2 meters, 1.4 meters, 1 meter, 2 meters, 1 meter, and the tracing equipment determines the positioning device
The shortest distance to the target terminal is 1 meter, and the positioning device corresponding to 1 meter of the shortest distance has positioning device A, D, F, institute
It states tracing equipment and any one positioning device is selected from positioning device A, D, F as cluster head positioning device, it can be with regioselective
Device A, positioning device D or positioning device F.
Mode two：The notification message of positioning device in cluster determines cluster head positioning device.
In implementation process, each positioning device in cluster can be according in the information of target terminal transmitting received
The signal strength of carrying determines the positioning device to the distance of the target terminal, and determining distance is sent in cluster
Other positioning devices, each positioning device in cluster can receive the range message that other positioning devices are sent in cluster, institute
Positioning device is stated it is determined that itself there are in cluster other positioning devices to the target terminal to the distance of the target terminal
The size of distance, and then determine itself whether to be cluster head or determine that other corresponding positioning devices of the shortest distance are cluster head.
Similarly, the distance of the positioning device to the target terminal have it is multiple identical and it is shortest apart from when, described
A positioning device is arbitrarily selected in positioning device corresponding to identical and shortest distance as cluster head positioning device, and is notified
To other positioning devices in cluster.
Wherein, the cluster head positioning device can receive the range information that arbitrary positioning device is sent in cluster, then will
The range information received is merged into row information, and the range information after fusion is reported to the tracing equipment；And then make institute
It states tracing equipment and range information sequence is determined according to the range information after the fusion received.
In force, the tracing equipment is before range information is determined, it is also necessary to determine the cluster head positioning in the cluster
Equipment makes the range information of other positioning devices in the cluster that the positioning device of the cluster head receives, and the distance that will be received
Information reporting gives the tracing equipment, and the tracing equipment is allow to determine range information according to range information, improves positioning
Precision.
Optionally, the tracing equipment is determined using gray prediction mode under the target terminal according to the position sequence
After the position at a moment, if the positioning device in cluster is perceived less than the target terminal, it is described fixed that the tracing equipment triggers
Position equipment redefines whether itself is positioning device in cluster.
Specifically, in the tracing equipment according to the range information for telling a moment under position sequence determines the target terminal
Afterwards, if all positioning devices in current cluster are all perceived less than the target terminal, all positioning in the cluster are set
Standby to perceive the information reporting less than the target terminal to the tracing equipment, the tracing equipment is in current cluster is received
After all positioning devices all perceive the message less than the target terminal, the tracing equipment will be triggered in entire target area
All positioning devices, the positioning device detect the information of the target terminal transmitting, and according to the information received again
The signal strength of middle carrying determines the distance of itself and the target terminal current location, and by determining distance with being deposited in itself
The threshold value of storage is compared, and redefines whether itself is positioning device in cluster.
In embodiments of the present invention, the tracing equipment triggers the positioning device and redefines whether itself is in cluster
Before positioning device, the positioning device in the cluster can also be reported to the tracing equipment between the target terminal away from
From so that the tracing equipment triggers the positioning device.
Specifically, the positioning device in the cluster can receive the information of the target terminal transmitting, and according to information
The signal strength of middle carrying determines the distance with the target terminal, when the survey that the positioning device is reported to the tracing equipment
It is big or when more than certain numerical value that the distance of amount is wireless, institute in the tracing equipment triggering sensing range (or target area)
Some positioning devices, the positioning device redefine whether itself is threshold value；Wherein described certain numerical value can be existed in advance
It is preset in the tracing equipment.
In force, it when the positioning device in cluster is all perceived less than the target terminal, triggers in entire target area
All positioning devices, the positioning device determines that itself and the target are whole again according to the information that the target terminal emits
The distance at end, and then redefine whether itself is positioning device in cluster, continue to track the target terminal, and to the mesh
Mark terminal is detected, to improve positioning accuracy.
Optionally, the tracing equipment is in the positioning device in determining cluster, if all positioning devices are all perceived less than institute
Target terminal is stated, then the tracing equipment determines that the target terminal removes sensing range.
Specifically, when in cluster positioning device perceive less than the target terminal after, by perceive less than message be sent to
The tracing equipment, the tracing equipment trigger positioning device all in target area where the target terminal, own
Positioning device can detect the target terminal again, when positioning device all in target area is all perceived less than the target
During terminal, all positioning devices in target area can give the information reporting of perception fall short terminal to the tracing equipment,
After then tracing equipment positioning device all in target area is received all perceives the message less than the target terminal,
Judge that the target terminal leaves target area or removes sensing range, the tracing equipment terminates to chase after the target terminal
Track positions.
In force, when positioning devices all in the target area is all perceived less than the target terminal, it is determined that
The target terminal removes presently described target area or sensing range, and current tracing equipment is to the positioning knot of the target terminal
Beam.
In the embodiment of the present invention, the range information that cluster head reports is received in the tracing equipment, and believe according to the distance
The function that breath obtains location information can be performed individually by another entity, and the entity for performing the function can be that Sink is saved
Point, home gateway etc..
In embodiments of the present invention, in the step of being positioned to terminal also exist using notice mode, below it is right
The step of using advice method makes specific introduction.
In force, it in the positioning device in determining cluster, can also be carried out in a manner that the tracing equipment notifies,
And notify that the positioning device is other positioning devices in cluster head positioning device or cluster.
Wherein, the tracing equipment determines that the target enters sensing range according to the information that the target terminal emits
After (or target area), all positioning devices of triggering sensing range (or target area) after the positioning device is triggered, connect
The information of the target terminal transmitting is received, the signal strength that the information emitted according to the target terminal carries determines and the mesh
The distance between terminal is marked, institute will be reported to the threshold value stored in the distance between the target terminal and the positioning device
State final equipment；
The tracing equipment is to receive all positioning devices of sensing range (or target area) reporting with the mesh
It, will the described and mesh after the threshold value stored in the distance between mark terminal and the positioning device is reported to the final equipment
The distance between mark terminal is compared with the threshold value stored in the positioning device, determining described between the target terminal
Distance whether be more than the positioning device in threshold value.
If the tracing equipment determines that the distance between the positioning device and the target are not more than the positioning device
In threshold value, it indicates that it is described to be set the distance between with the target no more than the positioning device of the threshold value for the positioning in cluster
It is standby, and instruction message is notified to corresponding positioning device in sensing range (or target area)；If the tracing equipment determines
The distance between the positioning device and the target terminal are more than the threshold value in the positioning device, then to described in described be more than
The positioning device of threshold value does not make instruction processing or closes the positioning device in positioning device.
As shown in fig. 6, the first equipment for being positioned to terminal of the embodiment of the present invention, the equipment include：It is at least one
Processing unit 600 and at least one storage unit 601, wherein, the storage unit 601 has program stored therein code, when the journey
When sequence code is performed by the processing unit 600 so that the processing unit 600 performs following process：
The range information obtained according to the distance of positioning device in cluster and target terminal is obtained, wherein positioning is set in the cluster
Standby chosen according to the distance between positioning device and target terminal；
The range information according to getting determines the position sequence of the target terminal；
The position at described target terminal lower a moment is determined using gray prediction mode according to the position sequence.
Optionally, the processing unit 600 is specifically used for：
De-noising is carried out to the position sequence using small echo processing mode；
The position at described target terminal lower a moment is determined using gray prediction mode according to the position sequence after de-noising.
Optionally, the processing unit 600 is additionally operable to：
If the distance between the position at described target terminal lower a moment and the home position of the target terminal are not more than threshold
The step of being worth, then continuing to execute the range information that acquisition is obtained according to the distance of positioning device in cluster and target terminal；Or
If the distance between the position at described target terminal lower a moment and the home position of the target terminal are more than threshold value,
It then triggers the positioning device and redefines whether itself is positioning device in cluster；
Wherein, the home position of the target terminal is to determine the target terminal used during positioning device in the cluster
Position.
Optionally, the processing unit 600 is additionally operable to：
Using with the shortest positioning device of the distance of the target terminal as cluster head positioning device；Or it is set according to positioning in cluster
Standby notification message determines cluster head positioning device；
The processing unit 600 is specifically used for：
Receive what the distance according to positioning device in cluster and target terminal that cluster head positioning device is sent in the cluster obtained
Range information.
Optionally, the processing unit 600 is additionally operable to：
If positioning device in cluster is perceived less than the target terminal, triggering the positioning device and redefining itself is
No is the positioning device in cluster.
Optionally, the processing equipment 600 is in the positioning device in determining cluster, if all positioning devices all perceive less than
The target terminal, it is determined that the target terminal removes sensing range.
As shown in fig. 7, second of equipment positioned to terminal of the embodiment of the present invention, the equipment include：
Acquisition module 700, for obtaining the range information obtained according to the distance of positioning device in cluster and target terminal,
Described in cluster positioning device be to be chosen according to the distance between positioning device and target terminal；
First determining module 701, for determining the position-order of the target terminal according to the range information got
Row；
Second determining module 702, for determining the target terminal using gray prediction mode according to the position sequence
The position at lower a moment.
Optionally, second determining module 702 is specifically used for：
De-noising is carried out to the position sequence using small echo processing mode；
The position at described target terminal lower a moment is determined using gray prediction mode according to the position sequence after de-noising.
Optionally, second determining module 702 is additionally operable to：
If the distance between the position at described target terminal lower a moment and the home position of the target terminal are not more than threshold
The step of being worth, then continuing to execute the range information that acquisition is obtained according to the distance of positioning device in cluster and target terminal；Or
If the distance between the position at described target terminal lower a moment and the home position of the target terminal are more than threshold value,
It then triggers the positioning device and redefines whether itself is positioning device in cluster；
Wherein, the home position of the target terminal is to determine the target terminal used during positioning device in the cluster
Position.
Optionally, the acquisition module 700 is additionally operable to：
Using with the shortest positioning device of the distance of the target terminal as cluster head positioning device；Or it is set according to positioning in cluster
Standby notification message determines cluster head positioning device；
The acquisition module 700 is specifically used for：
Receive what the distance according to positioning device in cluster and target terminal that cluster head positioning device is sent in the cluster obtained
Range information.
Optionally, second determining module 702 is additionally operable to：
If positioning device in cluster is perceived less than the target terminal, triggering the positioning device and redefining itself is
No is the positioning device in cluster.
Optionally, second determining module 702 is in the positioning device in determining cluster, if all positioning devices all perceive
Less than the target terminal, it is determined that the target terminal removes sensing range.
As shown in figure 8, the third equipment for being positioned to terminal of the embodiment of the present invention, the equipment include：It is at least one
Processing unit 800 and at least one storage unit 801, wherein, the storage unit 802 has program stored therein code, when the journey
When sequence code is performed by the processing unit 801 so that the processing unit 801 performs following process：
After determining itself as cluster head, the distance with target terminal that other positioning devices upload in cluster is repeatedly received,
Positioning device is chosen according to the distance between positioning device and target terminal in wherein described cluster；
According to the distance of itself and the target terminal and other positioning devices received upload and target terminal away from
From determining multiple range informations；
The multiple range information is sent to tracing equipment, so that the tracing equipment is according to the multiple range information
It determines the position sequence of the target terminal, and the target terminal is determined using gray prediction mode according to the position sequence
The position at lower a moment.
Optionally, the processing equipment 800 is after determining that itself is not cluster head, repeatedly determine with the target terminal away from
From, and determining distance is reported to cluster head.
Optionally, the processing equipment 800 judges whether itself is cluster head according to following manner：
Determine itself distance with the target terminal be less than in cluster other positioning devices and the target terminal away from
From rear, determine itself to be cluster head；Or
The distance of itself and the target terminal is sent to tracing equipment, indicates that itself makees receiving the tracing equipment
After the information of cluster head, determine itself to be cluster head.
Optionally, the processing equipment 800 judges whether itself is positioning device in the cluster according to following manner：
If the distance with the target terminal is not more than the threshold value, it is determined that itself is the positioning device in the cluster.
As shown in figure 9, the 4th kind of equipment positioned to terminal of the embodiment of the present invention, the equipment include：
Receiving module 900, for after determining itself as cluster head, repeatedly receive that other positioning devices in cluster upload with
The distance of target terminal, wherein positioning device is chosen according to the distance between positioning device and target terminal in the cluster；
Determining module 901, for the distance according to itself and the target terminal and other positioning devices received upload
Determine multiple range informations with the distance of target terminal；
Sending module 902, for the multiple range information to be sent to tracing equipment so that the tracing equipment according to
The multiple range information determines the position sequence of the target terminal, and utilizes gray prediction mode according to the position sequence
Determine the position at described target terminal lower a moment.
Optionally, which further includes reporting module, and the reporting module is used for after determining that itself is not cluster head, repeatedly
It determines the distance with the target terminal, and determining distance is reported to cluster head.
Optionally, the receiving module 900 is used to judge whether itself is cluster head according to following manner：
Determine itself distance with the target terminal be less than in cluster other positioning devices and the target terminal away from
From rear, determine itself to be cluster head；Or
The distance of itself and the target terminal is sent to tracing equipment, indicates that itself makees receiving the tracing equipment
After the information of cluster head, determine itself to be cluster head.
Optionally, the determining module 901 is used to judge whether itself is that positioning in the cluster is set according to following manner
It is standby：
If the distance with the target terminal is not more than the threshold value, it is determined that itself is the positioning device in the cluster.
Based on same inventive concept, a kind of method positioned to terminal is additionally provided in the embodiment of the present invention, due to
This method is the method corresponding to the equipment that the embodiment of the present invention positions terminal, and the principle that this method solves the problems, such as
It is similar to the equipment, therefore the implementation of this method may refer to the implementation of equipment, overlaps will not be repeated.
As shown in Figure 10, a kind of method positioned to terminal of the embodiment of the present invention, including：
Step 1000, the range information that tracing equipment acquisition is obtained according to the distance of positioning device in cluster and target terminal,
Positioning device is chosen according to the distance between positioning device and target terminal in wherein described cluster；
Step 1001, the tracing equipment determines the position-order of the target terminal according to the range information got
Row；
Step 1002, the tracing equipment determines the target terminal according to the position sequence using gray prediction mode
The position at lower a moment.
Optionally, the tracing equipment is determined using gray prediction mode under the target terminal according to the position sequence
During the position at a moment, the tracing equipment carries out de-noising using small echo processing mode to the position sequence；
The tracing equipment is determined using gray prediction mode one under the target terminal according to the position sequence after de-noising
The position at quarter.
Optionally, the tracing equipment is determined using gray prediction mode under the target terminal according to the position sequence
After the position at a moment, if the distance between the position at described target terminal lower a moment and the home position of the target terminal are no
More than threshold value, then the tracing equipment continues to execute the distance for obtaining and being obtained according to the distance of positioning device in cluster and target terminal
The step of information；Or
If the distance between the position at described target terminal lower a moment and the home position of the target terminal are more than threshold value,
Then the tracing equipment triggers the positioning device and redefines whether itself is positioning device in cluster；
Wherein, the home position of the target terminal is to determine the target terminal used during positioning device in the cluster
Position.
Optionally, the range information that the tracing equipment acquisition is obtained according to the distance of positioning device in cluster and target terminal
Before, the tracing equipment using with the shortest positioning device of the distance of the target terminal as cluster head positioning device；Or according to
The notification message of positioning device determines cluster head positioning device in cluster；
It is described during the range information that the tracing equipment acquisition is obtained according to the distance of positioning device in cluster and target terminal
Tracing equipment receives what the distance according to positioning device in cluster and target terminal that cluster head positioning device is sent in the cluster obtained
Range information.
Optionally, the tracing equipment is determined using gray prediction mode under the target terminal according to the position sequence
After the position at a moment, if the positioning device in cluster is perceived less than the target terminal, it is described fixed that the tracing equipment triggers
Position equipment redefines whether itself is positioning device in cluster.
Optionally, the tracing equipment is in the positioning device in determining cluster, if all positioning devices are all perceived less than institute
Target terminal is stated, then the tracing equipment determines that the target terminal removes sensing range.
Based on same inventive concept, another method positioned to terminal is additionally provided in the embodiment of the present invention, by
In this method be the method corresponding to the equipment that the embodiment of the present invention positions terminal, and the original that this method solves the problems, such as
Reason is similar to the equipment, therefore the implementation of this method may refer to the implementation of equipment, and overlaps will not be repeated.
As shown in figure 11, the method that another kind of the embodiment of the present invention positions terminal, including：
Step 1100, positioning device repeatedly receives what other positioning devices in cluster uploaded after determining itself as cluster head
With the distance of target terminal, wherein positioning device is according to the selection of the distance between positioning device and target terminal in the cluster
's；
Step 1101, the positioning device is according to the distance of itself and the target terminal and other positioning devices received
It is uploading to determine multiple range informations with target terminal distance；
Step 1102, the multiple range information is sent to tracing equipment by the positioning device, so that the tracking is set
The standby position sequence that the target terminal is determined according to the multiple range information, and it is pre- using grey according to the position sequence
Survey mode determines the position at described target terminal lower a moment.
Optionally, the positioning device repeatedly determines the distance with the target terminal after determining that itself is not cluster head,
And determining distance is reported to cluster head.
Optionally, the positioning device judges whether itself is cluster head according to following manner：
The positioning device determine itself distance with the target terminal be less than in cluster other positioning devices with it is described
After the distance of target terminal, determine itself to be cluster head；Or
The distance of itself and the target terminal is sent to tracing equipment by the positioning device, is set receiving the tracking
After standby instruction itself is as the information of cluster head, determine itself to be cluster head.
Optionally, the positioning device judges whether itself is positioning device in the cluster according to following manner：
If the distance with the target terminal, no more than the threshold value, the positioning device determines itself in the cluster
Positioning device.
Specifically, it is described in detail below in the information and sensing range (or target area) emitted according to the target terminal
In positioning device method that positioning is tracked to the target terminal.
As shown in figure 12, the method that the embodiment of the present invention is tracked target terminal positioning, includes the following steps：
Step 1200, the tracing equipment determines that the target terminal enters sense according to the information that the target terminal emits
After knowing range (or target area), positioning device all in sensing range is triggered；
Step 1201, the signal carried in the information that the positioning device emits according to the target terminal received is strong
Degree determines itself distance with the target terminal；
Step 1202, itself distance with the target terminal determined is reported to described track and set by the positioning device
Standby, the tracing equipment determines the corresponding positioning device of the shortest distance as cluster head positioning device, and indicates that the positioning device is
Cluster head positioning device；
Step 1203, the positioning device is by itself distance with the target terminal determined and the threshold stored in itself
Value is compared, when determining that the distance is not more than the threshold value, it is determined that itself is the positioning device in cluster；
Step 1204, whether the positioning device in the cluster can perceive the target terminal, if institute can be perceived
Target terminal is stated, performs step 1205, otherwise performs step 1200；
Step 1205, the signal carried in the information that the positioning device in cluster emits according to the target terminal received
Intensity determines the distance of itself and the target terminal, and determining distance is reported to cluster head positioning device；
Step 1206, the cluster head positioning device is to receive other positioning devices in cluster reporting with the target terminal
Distance after, the information received is carried out to be fused into range information, and the range information is reported to the tracing equipment；
Step 1207, after the tracing equipment obtains range information, the mesh is determined according to the range information got
Multiple location informations of terminal are marked, and by multiple location information sets synthesising position sequences；
Step 1208, the tracing equipment for the position sequence carry out wavelet noise processing, determine comprising it is multiple can
The position sequence of energy location information；
Step 1209, the tracing equipment is pre- using grey according to the position sequence comprising multiple possible position information
The mode of survey determines the position at described target terminal lower a moment；
Step 1210, the tracing equipment is in the case where determining target terminal behind the position at a moment, determine the position at lower a moment with
The distance in the target terminal home position, and determine the position at described lower a moment and the distance in the target terminal home position
Whether it is more than the threshold value, if no more than the threshold value, performs step 1205；Otherwise step 1200 is performed.
When determining the cluster head positioning device in cluster in force, it can also be determined according to positioning device each in cluster, cluster
In each positioning device the distance of itself and the target terminal can be sent to other positioning devices in cluster, it is each in cluster
Positioning device can all receive the distance between described target terminal that other positioning devices in cluster are sent, and will receive
The distance between each distance and itself determining target terminal are compared, and determine the corresponding positioning of the shortest distance
Equipment is cluster head positioning device.
The embodiment of the present invention can also determine that the positioning in sensing range (or target area) is set by the tracing equipment
Whether standby be positioning device in cluster, and after all positioning devices are triggered, all positioning devices are according to the institute received
State the distance that the signal strength that carries in the information of target terminal transmitting determines itself and the target terminal, and by it is described away from
Be sent to the tracing equipment from the threshold value with being stored in itself, the tracing equipment receive the positioning device with it is described
After the threshold value stored in the distance between target terminal and the positioning device, the distance and the threshold value are compared,
It determines that the distance is not more than the positioning device of the threshold value, and indicates that the distance is not more than the positioning device of the threshold value
Corresponding positioning device is sent to for the positioning device in cluster, and by instruction information.
Wherein, the signal carried in the information that positioning device emits according to the target terminal received in the cluster is strong
Degree determines that the distance of itself and the target terminal is to carry out in the period.
Above by reference to showing according to the method, apparatus (system) of the embodiment of the present application and/or the frame of computer program product
Figure and/or flow chart describe the application.It should be understood that it can realize that block diagram and/or flow illustrate by computer program instructions
One block of figure and the combination of block diagram and/or the block of flowchart illustration.These computer program instructions can be supplied to logical
With computer, the processor of special purpose computer and/or other programmable data processing units, to generate machine so that via meter
The instruction establishment that calculation machine processor and/or other programmable data processing units perform is used to implement block diagram and/or flow chart block
In specified function/action method.
Correspondingly, the application can also be implemented with hardware and/or software (including firmware, resident software, microcode etc.).More
Further, the application can take computer to can be used or the shape of computer program product on computer readable storage medium
Formula there is the computer realized in the medium can be used or computer readable program code, to be made by instruction execution system
It is used with or with reference to instruction execution system.In the present context, computer can be used or computer-readable medium can be with
It is arbitrary medium, can includes, stores, communicates, transmits or transmit program, is made by instruction execution system, device or equipment
It is used with or with reference to instruction execution system, device or equipment.
Obviously, various changes and modifications can be made to the invention without departing from essence of the invention by those skilled in the art
God and range.In this way, if these modifications and changes of the present invention belongs to the range of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to include these modifications and variations.
Claims (22)
- A kind of 1. method positioned to terminal, which is characterized in that this method includes：The range information that tracing equipment acquisition is obtained according to the distance of positioning device in cluster and target terminal, wherein fixed in the cluster Position equipment is chosen according to the distance between positioning device and target terminal；The tracing equipment determines the position sequence of the target terminal according to the range information got；The tracing equipment determines the position at described target terminal lower a moment according to the position sequence using gray prediction mode.
- 2. the method as described in claim 1, which is characterized in that the tracing equipment is pre- using grey according to the position sequence Survey mode determines the position at described target terminal lower a moment, including：The tracing equipment carries out de-noising using small echo processing mode to the position sequence；The tracing equipment determines described target terminal lower a moment according to the position sequence after de-noising using gray prediction mode Position.
- 3. the method as described in claim 1, which is characterized in that the tracing equipment is pre- using grey according to the position sequence After survey mode determines the position at described target terminal lower a moment, further include：If the distance between the position at described target terminal lower a moment and the home position of the target terminal are not more than threshold value, The tracing equipment continues to execute the step of range information that acquisition is obtained according to the distance of positioning device in cluster and target terminal； OrIf the distance between the position at described target terminal lower a moment and the home position of the target terminal are more than threshold value, institute It states tracing equipment and triggers the positioning device and redefine whether itself is positioning device in cluster；Wherein, the home position of the target terminal is to determine the position of the target terminal used during positioning device in the cluster It puts.
- 4. the method as described in claim 1, which is characterized in that the tracing equipment is obtained according to positioning device in cluster and target Before the range information that the distance of terminal obtains, further include：The tracing equipment using with the shortest positioning device of the distance of the target terminal as cluster head positioning device；Or according to cluster The notification message of middle positioning device determines cluster head positioning device；The range information that the tracing equipment acquisition is obtained according to the distance of positioning device in cluster and target terminal, including：The tracing equipment receive that cluster head positioning device in the cluster sends according to positioning device in cluster and target terminal away from From obtained range information.
- 5. the method as described in claim 1, which is characterized in that the tracing equipment is pre- using grey according to the position sequence After survey mode determines the position at described target terminal lower a moment, further include：If the positioning device in cluster is perceived less than the target terminal, it is again true that the tracing equipment triggers the positioning device Whether fixed itself be positioning device in cluster.
- 6. the method as described in claim 3~5 is any, which is characterized in that positioning of the tracing equipment in cluster is determined is set When standby, if all positioning devices are all perceived less than the target terminal, the tracing equipment determines that the target terminal removes Sensing range.
- A kind of 7. method positioned to terminal, which is characterized in that this method includes：Positioning device after determining itself as cluster head, repeatedly receive cluster in other positioning devices upload with target terminal away from From wherein positioning device is chosen according to the distance between positioning device and target terminal in the cluster；The positioning device is according to the distance of itself and the target terminal and the upload of other positioning devices and target received The distance of terminal determines multiple range informations；The multiple range information is sent to tracing equipment by the positioning device, so that the tracing equipment is according to the multiple Range information determines the position sequence of the target terminal, and described in being determined using gray prediction mode according to the position sequence The position at target terminal lower a moment.
- 8. the method for claim 7, which is characterized in that this method further includes：The positioning device after determining that itself is not cluster head, repeatedly determine with the distance of the target terminal, and will determine Distance is reported to cluster head.
- 9. the method for claim 7, which is characterized in that the positioning device according to following manner judge itself whether be Cluster head：The positioning device is determining itself with the distance of the target terminal less than other positioning devices in cluster and the target After the distance of terminal, determine itself to be cluster head；OrThe distance of itself and the target terminal is sent to tracing equipment by the positioning device, is referred to receiving the tracing equipment After showing itself as the information of cluster head, determine itself to be cluster head.
- 10. the method as described in claim 7~9 is any, which is characterized in that the positioning device judges certainly according to following manner Whether body is positioning device in the cluster：If the distance with the target terminal, no more than the threshold value, the positioning device determines itself to determine in the cluster Position equipment.
- 11. a kind of equipment positioned to terminal, which is characterized in that the equipment includes：At least one processing unit and at least One storage unit, wherein, the storage unit has program stored therein code, when said program code is performed by the processing unit When so that the processing unit performs following process：The range information obtained according to the distance of positioning device in cluster and target terminal is obtained, wherein positioning device is in the cluster It is chosen according to the distance between positioning device and target terminal；The range information according to getting determines the position sequence of the target terminal；The position at described target terminal lower a moment is determined using gray prediction mode according to the position sequence.
- 12. equipment as claimed in claim 11, which is characterized in that the processing unit is specifically used for：De-noising is carried out to the position sequence using small echo processing mode；The position at described target terminal lower a moment is determined using gray prediction mode according to the position sequence after de-noising.
- 13. equipment as claimed in claim 11, which is characterized in that the processing equipment is additionally operable to：If the distance between the position at described target terminal lower a moment and the home position of the target terminal are not more than threshold value, The step of continuing to execute the range information that acquisition is obtained according to the distance of positioning device in cluster and target terminal；OrIf the distance between the position at described target terminal lower a moment and the home position of the target terminal are more than threshold value, touch Send out positioning device described and redefine whether itself is positioning device in cluster；Wherein, the home position of the target terminal is to determine the position of the target terminal used during positioning device in the cluster It puts.
- 14. equipment as claimed in claim 11, which is characterized in that the processing unit is additionally operable to：Using with the shortest positioning device of the distance of the target terminal as cluster head positioning device；Or according to positioning device in cluster Notification message determines cluster head positioning device；The processing unit is specifically used for：Receive the distance obtained according to the distance of positioning device in cluster and target terminal that cluster head positioning device is sent in the cluster Information.
- 15. equipment as claimed in claim 11, which is characterized in that the processing unit is additionally operable to：If positioning device in cluster is perceived less than the target terminal, trigger the positioning device redefine itself whether be Positioning device in cluster.
- 16. the equipment as described in claim 13~15 is any, which is characterized in that the processing unit is used in cluster is determined During positioning device, if all positioning devices are all perceived less than the target terminal, it is determined that the target terminal, which removes, perceives model It encloses.
- 17. a kind of equipment positioned to terminal, which is characterized in that the equipment includes：At least one processing unit and at least One storage unit, wherein, the storage unit has program stored therein code, when said program code is performed by the processing unit When so that the processing unit performs following process：After determining itself as cluster head, the distance with target terminal that other positioning devices upload in cluster is repeatedly received, wherein Positioning device is chosen according to the distance between positioning device and target terminal in the cluster；It is uploaded according to itself distance with the target terminal and other positioning devices received true with the distance of target terminal Fixed multiple range informations；The multiple range information is sent to tracing equipment, so that the tracing equipment is determined according to the multiple range information The position sequence of the target terminal, and determined one under the target terminal using gray prediction mode according to the position sequence The position at quarter.
- 18. equipment as claimed in claim 17, which is characterized in that the equipment further includes：After determining that itself is not cluster head, the distance with the target terminal is repeatedly determined, and determining distance is reported to cluster Head.
- 19. equipment as claimed in claim 17, which is characterized in that the processing unit is used to judge itself according to following manner Whether it is cluster head：It is less than in cluster after distance of other positioning devices with the target terminal in the distance for determining itself and the target terminal, Determine itself to be cluster head；OrThe distance of itself and the target terminal is sent to tracing equipment, indicates itself as cluster receiving the tracing equipment After the information of head, determine itself to be cluster head.
- 20. the equipment as described in claim 17~19 is any is characterized in that, the processing unit is used for judging whether it is described Positioning device in cluster：If the distance with the target terminal is not more than the threshold value, it is determined that itself is the positioning device in the cluster.
- 21. a kind of equipment positioned to terminal, which is characterized in that the equipment includes：Acquisition module, for obtaining the range information obtained according to the distance of positioning device in cluster and target terminal, wherein described Positioning device is chosen according to the distance between positioning device and target terminal in cluster；First determining module, for determining the position sequence of the target terminal according to the range information got；Second determining module, for determining described target terminal lower a moment using gray prediction mode according to the position sequence Position.
- 22. a kind of equipment positioned to terminal, which is characterized in that the equipment includes：Receiving module, for after determining itself as cluster head, other positioning devices to upload whole with target in multiple reception cluster The distance at end, wherein positioning device is chosen according to the distance between positioning device and target terminal in the cluster；Determining module, for the distance according to itself and the target terminal and other positioning devices received upload and target The distance of terminal determines multiple range informations；Sending module, for the multiple range information to be sent to tracing equipment, so that the tracing equipment is according to described more A range information determines the position sequence of the target terminal, and determines institute using gray prediction mode according to the position sequence State the position at target terminal lower a moment.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810021883.2A CN108200534B (en) | 2018-01-10 | 2018-01-10 | Method and equipment for positioning terminal |
| PCT/CN2018/099466 WO2019136966A1 (en) | 2018-01-10 | 2018-08-08 | Method and device for positioning terminal |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810021883.2A CN108200534B (en) | 2018-01-10 | 2018-01-10 | Method and equipment for positioning terminal |
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| Publication Number | Publication Date |
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| CN108200534A true CN108200534A (en) | 2018-06-22 |
| CN108200534B CN108200534B (en) | 2020-07-10 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810021883.2A Active CN108200534B (en) | 2018-01-10 | 2018-01-10 | Method and equipment for positioning terminal |
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| CN (1) | CN108200534B (en) |
| WO (1) | WO2019136966A1 (en) |
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Also Published As
| Publication number | Publication date |
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| WO2019136966A1 (en) | 2019-07-18 |
| CN108200534B (en) | 2020-07-10 |
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