CN108882191A - Object positioning method, device, computer equipment and storage medium - Google Patents
Object positioning method, device, computer equipment and storage medium Download PDFInfo
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- CN108882191A CN108882191A CN201810697439.2A CN201810697439A CN108882191A CN 108882191 A CN108882191 A CN 108882191A CN 201810697439 A CN201810697439 A CN 201810697439A CN 108882191 A CN108882191 A CN 108882191A
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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
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/33—Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings
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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
- H04W4/029—Location-based management or tracking services
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
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Abstract
This application involves a kind of object positioning method, system, computer equipment and storage mediums.The method includes：The first distance value of each anchor node in object to be positioned and object space is obtained, and obtains the Geometric center coordinates of all subregion of the object space and the second distance value of each anchor node, the subregion includes border region, face region and body region；Angle value is associated with according to what each first distance value and each second distance value determined the object to be positioned and each subregion；Three most relevance angle value are selected according to each association angle value, three most relevance angle value are respectively the corresponding most relevance angle value of the border region, the corresponding most relevance angle value in the face region and the corresponding most relevance angle value of the body region；The location information of the object to be positioned is determined according to the corresponding Geometric center coordinates of three most relevance angle value.This method can realize high-precision positioning while guaranteeing low cost.
Description
Technical field
The present invention relates to indoor positioning technologies fields, more particularly to a kind of object positioning method, device, computer equipment
And storage medium.
Background technique
In recent years, indoor positioning technologies are more and more mature, also get higher therewith to the technical need degree, especially in large size
The public spheres such as complex business area, airport.For example, prison executes structure as important criminal law, intelligent management is to become greatly
Gesture, the management means in prison is mainly labor management and video monitoring at present, there is the positioning that cannot grasp Prison staff in real time
The problem of, and need to consume biggish human and material resources.
It is to calculate positioning by positioning the signal strength RSSI value that label receives in a kind of traditional indoor positioning mode
Distance value between label and each positioning anchor point obtains the location information of positioning label indoors by location algorithm later.This
Kind mode is more demanding to the number and ambient enviroment of anchor node, and it is high-precision fixed to realize while guaranteeing low cost
Position.
Summary of the invention
Based on this, it is necessary in view of the above technical problems, provide it is a kind of realized while guaranteeing low cost it is high-precision
Object localization method, device, computer equipment and the storage medium of positioning.
A kind of object positioning method, the method includes：
The first distance value of each anchor node in object to be positioned and object space is obtained, and obtains the object space
The second distance value of the Geometric center coordinates of all subregion and each anchor node, the subregion include border region, face region
And body region；
The object to be positioned and each sub-district are determined according to each first distance value and each second distance value
The association angle value in domain；
Three most relevance angle value are selected according to each association angle value, three most relevance angle value are respectively institute
State the corresponding most relevance angle value of border region, the corresponding most relevance angle value in the face region and the corresponding maximum of the body region
It is associated with angle value；
The position letter of the object to be positioned is determined according to the corresponding Geometric center coordinates of three most relevance angle value
Breath.
Above-mentioned object positioning method in one of the embodiments, further includes：
Region is carried out to the object space according to the position coordinates of each anchor node and preset division mode to draw
Point；
The Geometric center coordinates of each subregion after dividing are determined according to the position coordinates of each anchor node.
It is each described after the above-mentioned determining division according to the position coordinates of each anchor node in one of the embodiments,
The Geometric center coordinates of subregion, including：
The position coordinates for forming two anchor nodes of each border region are taken into mean value respectively, obtain each border region
Geometric center coordinates；
The position coordinates of the anchor node on each face region are taken into mean value respectively, in the geometry for obtaining each face region
Heart coordinate；
The position coordinates of two anchor nodes of the lie farthest away in each body region are taken into mean value respectively, are obtained each described
The Geometric center coordinates of body region.
The above-mentioned position coordinates according to each anchor node and preset division mode in one of the embodiments,
Region division is carried out to the object space, including：
Determine that the vertical of anchor node described in every two divides face equally according to the position coordinates of each anchor node；
According to it is each it is described vertically divide equally in face of the object space carry out region division.
It is above-mentioned true according to the corresponding Geometric center coordinates of three most relevance angle value in one of the embodiments,
The location information of the fixed object to be positioned, including：
It is determined according to the corresponding Geometric center coordinates of three most relevance angle value by three most relevance angle value
The triangle that the corresponding position point of corresponding Geometric center coordinates is formed；
Determine that the geometric center of the triangle is sat according to the corresponding Geometric center coordinates of three most relevance angle value
Mark；
The location information of the object to be positioned is determined according to the Geometric center coordinates of the triangle.
It is above-mentioned in one of the embodiments, that institute is determined according to each first distance value and each second distance value
Be associated with angle value of the object to be positioned with each subregion is stated, including：
The corresponding each second distance value of Geometric center coordinates with corresponding first distance value of acquisition current sub-region respectively
Difference；
The quadratic sum for determining each difference respectively, according to the anchor node in each quadratic sum and the object space
What number determined the object to be positioned and the current sub-region is associated with angle value.
Above-mentioned object space is prison in one of the embodiments, and above-mentioned object to be positioned is in the prison
Personnel entrained by electronic equipment.
A kind of object positioning device, described device include：
Module is obtained, for obtaining the first distance value of each anchor node in object to be positioned and object space, and is obtained
The second distance value of the Geometric center coordinates of all subregion of the object space and each anchor node, the subregion include
Border region, face region and body region；
Processing module, for determining the object to be positioned according to each first distance value and each second distance value
Angle value is associated with each subregion；
Module is chosen, for selecting three most relevance angle value, three most high pointes according to each association angle value
Joining angle value is respectively the corresponding most relevance angle value of the border region, the corresponding most relevance angle value in the face region and the body
The corresponding most relevance angle value in region；
Locating module, it is described to be positioned for being determined according to the corresponding Geometric center coordinates of three most relevance angle value
The location information of object.
A kind of computer equipment can be run on a memory and on a processor including memory, processor and storage
Computer program, the processor realize following steps when executing the computer program：
The first distance value of each anchor node in object to be positioned and object space is obtained, and obtains the object space
The second distance value of the Geometric center coordinates of all subregion and each anchor node, the subregion include border region, face region
And body region；
The object to be positioned and each sub-district are determined according to each first distance value and each second distance value
The association angle value in domain；
Three most relevance angle value are selected according to each association angle value, three most relevance angle value are respectively institute
State the corresponding most relevance angle value of border region, the corresponding most relevance angle value in the face region and the corresponding maximum of the body region
It is associated with angle value；
The position letter of the object to be positioned is determined according to the corresponding Geometric center coordinates of three most relevance angle value
Breath.
A kind of computer readable storage medium, is stored thereon with computer program, and the computer program is held by processor
Following steps are realized when row：
The first distance value of each anchor node in object to be positioned and object space is obtained, and obtains the object space
The second distance value of the Geometric center coordinates of all subregion and each anchor node, the subregion include border region, face region
And body region；
The object to be positioned and each sub-district are determined according to each first distance value and each second distance value
The association angle value in domain；
Three most relevance angle value are selected according to each association angle value, three most relevance angle value are respectively institute
State the corresponding most relevance angle value of border region, the corresponding most relevance angle value in the face region and the corresponding maximum of the body region
It is associated with angle value；
The position letter of the object to be positioned is determined according to the corresponding Geometric center coordinates of three most relevance angle value
Breath.
Above-mentioned object positioning method, device, computer equipment and storage medium are to obtain object and object space to be positioned
In each anchor node first distance value, and obtain the object space all subregion Geometric center coordinates and each anchor
The second distance value of node, the subregion includes border region, face region and body region, according to each first distance value and respectively
What the second distance value determined the object to be positioned and each subregion is associated with angle value, is selected according to each association angle value
Three most relevance angle value are taken out, are determined according to the corresponding Geometric center coordinates of three most relevance angle value described to be positioned
The location information of object.The present invention program considers border region, face region and body region three aspect factor, without complicated ranging skill
Art ensures that positioning accuracy, can preferably be applied in the scene (for example, prison) more demanding to computational accuracy,
Using this programme, the number and ambient enviroment requirement to anchor node are lower, and the algorithm complexity of this programme is lower, to equipment
Performance it is not high, cost can be saved.
Detailed description of the invention
Fig. 1 is the applied environment figure of object positioning method in one embodiment；
Fig. 2 is the flow diagram of object positioning method in one embodiment；
Fig. 3 is the flow diagram of object positioning method in another embodiment
Fig. 4 is the refinement flow diagram of step S202 or step S304 in one embodiment；
Fig. 5 is the refinement flow diagram of step S204 or step S306 in one embodiment；
Fig. 6 is the structural block diagram of object positioning device in one embodiment；
Fig. 7 is the structural block diagram of object positioning device in another embodiment；
Fig. 8 is the internal structure chart of computer equipment in one embodiment；
Fig. 9 is the internal structure chart of computer equipment in another embodiment.
Specific embodiment
It is with reference to the accompanying drawings and embodiments, right in order to which the objects, technical solutions and advantages of the application are more clearly understood
The application is further elaborated.It should be appreciated that specific embodiment described herein is only used to explain the application, not
For limiting the application.
Object positioning method provided by the invention can be applied in application environment as shown in Figure 1.As shown in Fig. 1,
In the application environment, electronic equipment 102 including at least computer equipment 101, with wireless signal transmission function and multiple
Anchor node 103, these anchor nodes 103 are generally affixed to object space, can periodically send comprising self identification information
Wireless signal, which sends in the form broadcasted, and electronic equipment 102 is generally located in target to be positioned, electronics
Equipment 102 can obtain the id information and rssi measurement value of multiple anchor nodes 103, and be issued by wired or wireless mode；
Computer equipment 101 can receive the identification information and rssi measurement value of multiple anchor nodes 103 of the sending of electronic equipment 102.
Computer equipment 101 can be independent physical server or terminal, is also possible to multiple physical servers and constitutes
Server cluster, the cloud service of the basic cloud computing service such as Cloud Server, cloud database, cloud storage and CDN can be to provide
Device.Terminal can be smart phone, tablet computer, laptop, desktop computer, intelligent sound box, smartwatch etc., but simultaneously
It is not limited to this.Electronic equipment 102 is usually the equipment with wireless transmission function.Anchor node 103 is usually that can emit electricity
The sensor of magnetostatic wave signal.
In one embodiment, as shown in Fig. 2, providing a kind of object positioning method, it is applied in Fig. 1 in this way
It is illustrated, includes the following steps for computer equipment：
Step S201：The first distance value of each anchor node in object to be positioned and object space is obtained, and described in acquisition
The second distance value of the Geometric center coordinates of all subregion of object space and each anchor node, the subregion include border area
Domain, face region and body region；
Here, subregion can be border region (line), be also possible in face region (face), body region (solid), border region
It can be straight line, be also possible to curve, face region can be plane and be also possible to curved surface, and body region can be with the geometry of regular shape
Body is also possible to the solid of irregular shape.Object space can be divided according to default division mode, object space
It is divided into multiple subregions.All subregion can be divides formation in advance, and the Geometric center coordinates of all subregion can be
It precomputes.
Specifically, each anchor node in object space can be ranked up first, obtains object to be positioned and has sorted
Each anchor node first distance value, for example, the first distance value of object to be positioned and i-th of anchor node in object space is
vi, 1≤i≤n, n are the number of anchor node.The Geometric center coordinates of all subregion of object space and ordering each are obtained again
The second distance value of anchor node, for example, the second distance value of q-th of subregion and i-th of anchor node is uqi, 1≤q≤m, m are
The number of subregion.
Step S202：The object to be positioned and each is determined according to each first distance value and each second distance value
The association angle value of the subregion；
It specifically, can be according to preset association analysis algorithm, and in conjunction with each first distance value and each described second
What distance value determined the object to be positioned and each subregion is associated with angle value, can be selected according to all subregion concrete condition
Association analysis algorithm.
Step S203：Three most relevance angle value, three most relevance degree are selected according to each association angle value
Value is respectively the corresponding most relevance angle value of the border region, the corresponding most relevance angle value in the face region and the body region
Corresponding most relevance angle value；
Specifically, the corresponding most relevance angle value of the border region is selected in the corresponding association angle value of border region, in face
The corresponding most relevance angle value in the face region is selected in the corresponding association angle value in region, in the corresponding association angle value of body region
The corresponding most relevance angle value of the body region is selected, totally three most relevance angle value.Three most relevance angle value are corresponding several
What centre coordinate is nearest apart from object to be positioned.
Step S204：The object to be positioned is determined according to the corresponding Geometric center coordinates of three most relevance angle value
Location information.
It is the first distance for obtaining each anchor node in object and object space to be positioned in above-mentioned object positioning method
Value, and the Geometric center coordinates of all subregion of the object space and the second distance value of each anchor node are obtained, it is described
Subregion includes border region, face region and body region, determines institute according to each first distance value and each second distance value
That states object to be positioned and each subregion is associated with angle value, selects three most relevance degree according to each association angle value
Value, the location information of the object to be positioned is determined according to the corresponding Geometric center coordinates of three most relevance angle value.This
Scheme of the invention considers border region, face region and body region three aspect factor, ensures that positioning without complicated ranging technology
Precision can be preferably applied in the scene (for example, prison) more demanding to computational accuracy, using this programme, to anchor section
Number and the ambient enviroment requirement of point are lower, and the algorithm complexity of this programme is lower, Ke Yijie not high to the performance of equipment
Cost-saving.
In one embodiment, as shown in figure 3, providing a kind of object localization method, it is applied in Fig. 1 in this way
It is illustrated, includes the following steps for computer equipment：
Step S301：Area is carried out to object space according to the position coordinates of each anchor node and preset division mode
Domain divides；
Wherein, the object space is divided into multiple subregions after carrying out region division.
Step S302：Determine that the geometric center of all subregion after dividing is sat according to the position coordinates of each anchor node
Mark；
Step S303：The first distance value of each anchor node in object to be positioned and object space is obtained, and described in acquisition
The second distance value of the Geometric center coordinates of all subregion of object space and each anchor node, the subregion include border area
Domain, face region and body region；
Step S304：The object to be positioned and each is determined according to each first distance value and each second distance value
The association angle value of the subregion；
Step S305：Three most relevance angle value, three most relevance degree are selected according to each association angle value
Value is respectively the corresponding most relevance angle value of the border region, the corresponding most relevance angle value in the face region and the body region
Corresponding most relevance angle value；
Step S306：The object to be positioned is determined according to the corresponding Geometric center coordinates of three most relevance angle value
Location information.
The case where for not carrying out object space, can be using the scheme in the present embodiment, in the present embodiment, region division
And the Geometric center coordinates of all subregion be all based on the position coordinates according to each anchor node, can be in order to subsequent
Location Calculation.
It is each described after the above-mentioned determining division according to the position coordinates of each anchor node in one of the embodiments,
The Geometric center coordinates of subregion may include：The position coordinates for forming two anchor nodes of each border region are taken respectively
Mean value obtains the Geometric center coordinates of each border region；The position coordinates of the anchor node on each face region are taken respectively
Mean value obtains the Geometric center coordinates in each face region；Respectively by two anchor sections of the lie farthest away in each body region
The position coordinates of point take mean value, obtain the Geometric center coordinates of each body region.
Specifically, the Geometric center coordinates that each border region can be determined according to following formula (1), according to following
Formula (2) determines the Geometric center coordinates in each face region, determines the several of each body region according to following formula (3)
What centre coordinate.
Wherein, i, j, k are corresponding region footmark,For the Geometric center coordinates of i-th of border region,For
The Geometric center coordinates in j-th of face region,For the Geometric center coordinates of k-th of body region.(xia,yia), (xib,
yib) it is two anchor node coordinates for forming i-th of border region, mjFor the anchor node number for forming j-th of face region, (xjo,yjo)
Form the coordinate of o-th of anchor node in j-th of face region, (xkc,ykc), (xkd,ykd) it is that k-th of body region distance of composition is farthest
Two anchor node coordinates.Here, 1≤i≤m1, 1≤j≤m2, 1≤k≤m3, m1、m2And m3Respectively border region, face region
With the number of body region, m1、m2And m3And value be subregion number.
The above-mentioned position coordinates according to each anchor node and preset division mode in one of the embodiments,
Carrying out region division to the object space may include：Anchor described in every two is determined according to the position coordinates of each anchor node
Node vertically divides face equally；According to it is each it is described vertically divide equally in face of the object space carry out Spacial domain decomposition, will it is each described in
Vertically dividing the area of space encircled a city between face equally is determined as each body region；By the straight line portion between anchor node described in every two
Divide and is determined as each line region；The plane that every at least three anchor nodes are formed is determined as each face region.
Wherein, vertically divide face equally and described vertically divide equally in face of the target according to each for every two anchor node corresponding one
After space carries out Spacial domain decomposition, these are vertically divided face equally and object space have been divided into multiple subspace regions, this is a little
Area of space is each body region.For the method for determination in line region here, for example, between anchor node A and anchor node B
Straight line portion be the corresponding line region anchor node A and anchor node B.For the method for determination in face region here, generally,
The plane that three anchor nodes are formed is face region, but it is considered that have that multiple anchor nodes are coplanar to ask sometimes,
For example, the plane that anchor node A, anchor node B and anchor node C are constituted is face region, if but D anchor node it is flat included in this
On face, then the plane that can be constituted anchor node A, anchor node B, anchor node C and anchor node D is as face region.
Using the scheme of the present embodiment, it is on the one hand easy to implement the region division to object space, on the other hand, is also convenient for
The determination of the location information of subsequent object to be positioned.
In one of the embodiments, as shown in figure 4, it is above-mentioned according to each first distance value and each described second away from
It is associated with angle value from what value determined the object to be positioned and each subregion, may include：
Step S401：The corresponding each second distance value of Geometric center coordinates and corresponding the of current sub-region is obtained respectively
The difference of one distance value；
Here, current sub-region is any one in all subregion, and each subregion can be respectively as current sub-district
Domain executes step step S501 and step S502.
Step S402：The quadratic sum for determining each difference respectively, according to each quadratic sum and the object space
In anchor node number determine the object to be positioned and the current sub-region be associated with angle value.
Specifically, the degree of association of the object to be positioned Yu each subregion can be determined according to following formula (4)
Value.
Wherein, ρquvIndicate object to be positioned and q-th subregion is associated with angle value, uqiIndicate q-th of subregion and i-th
The second distance value of a anchor node, viIndicate the first distance value of i-th of anchor node in object to be positioned and object space, 1
≤ i≤n, n are the number of anchor node, and 1≤q≤m, m are the number of subregion.
It is above-mentioned corresponding according to three most relevance angle value in one of the embodiments, as shown in 501 in figure
Geometric center coordinates determine the location information of the object to be positioned, may include：
Step S501：It is determined according to the corresponding Geometric center coordinates of three most relevance angle value by three maximums
It is associated with the triangle that the corresponding position point of the corresponding Geometric center coordinates of angle value is formed；
Specifically, it is formed using the corresponding position point of the corresponding Geometric center coordinates of three most relevance angle value as vertex
Triangle.For example, the corresponding Geometric center coordinates of three most relevance angle value are respectively WithThen three vertex of triangle are respectivelyWith
Step S502：The several of the triangle are determined according to the corresponding Geometric center coordinates of three most relevance angle value
What centre coordinate；
Step S503：The location information of the object to be positioned is determined according to the Geometric center coordinates of the triangle；
Specifically, the Geometric center coordinates of the triangle can be determined as to the location information of object to be positioned.
Using the scheme of the present embodiment, can determine object to be positioned goes out high-precision location information.
It wherein, can be according to following formula (5) for above-mentioned by the way of vertically dividing face equally and carrying out region division
The location information of object to be positioned is determined with formula (6).
Wherein, (Qx,Qy) be object to be positioned coordinate, { (xi,yi) | 1≤i≤3 } correspond to three most relevance angle value correspondences
Geometric center coordinates, for example, above-mentionedWithWherein,
x4=x1, y4=y1。
Above-mentioned object space can be prison, and above-mentioned object to be positioned is electricity entrained by the personnel in the prison
Sub- equipment.It should be noted that above-mentioned object space is also not necessarily limited to as prison, be also possible to it is other to positioning accuracy request compared with
High and three-dimensional space of the computation complexity as secondary consideration factor.
Scheme to facilitate the understanding of the present invention is illustrated explanation for being applied to prison below.
Prison staff will be configured with the electronic equipment of wireless sensing function, arrange the anchor node being deployed in inside prison
Prison is divided into multiple sides, face and body region by sequence, the anchor node after sequence.In the geometry for calculating each side, face and body region
The heart is based on RSSI ranging technology, according to the unknown node of Prison staff equipment so as to obtain corresponding one group of geometric center
Coordinate is at a distance from anchor node coordinate, the feature of available unknown node.By calculating the feature of unknown node and corresponding
Three Geometric center coordinates nearest apart from unknown node can be obtained in the relevance of one group of geometric center.By three geometric centers
The geometric center of the triangle of coordinate composition is the unknown node coordinate of required Prison staff equipment, to realize Prison staff
Positioning.Specific position fixing process is as follows：
First, it is assumed that there is n anchor node to be deployed in prison, this n anchor node is ranked up as n1,n2,…nn, determine
Anchor node is mutual vertically to divide face equally, and prison is divided into several regions of side, face and body；
Secondly, calculating the Geometric center coordinates of each border region of anchor node composition in prison, face region and body region；
Specifically, the Geometric center coordinates that each border region can be determined according to formula (1) as above, according to as above
Formula (2) determines the Geometric center coordinates in each face region, determines the several of each body region according to formula (3) as above
What centre coordinate.
Then, by the ordering each anchor node distance of the geometrical center to center of each border region, face region and body region according to
The sequence of alignment of each anchor node is ranked up, and obtains each uq, uq={ uqi, it is based on RSSI ranging technology, Prison staff is matched
The unknown node of standby equipment is ranked up to form unknown node feature at a distance from anchor node according to the sequence of alignment of each anchor node
Set v={ vi, wherein.Wherein, 1≤i≤n, n are anchor node total number；
Followed by calculating unknown node characteristic set v and each uqRelevance specifically can pass through public affairs as above
Formula (4) calculates.It is obtained by calculation and acquires three Geometric center coordinates corresponding to three maximal correlation angle value and be
Finally, following formula (5) and formula (6) acquires Geometric center coordinatesInstitute
The Geometric center coordinates of the triangle of composition；Coordinate required by unknown node is (Qx,Qy)。
It should be understood that although each step in the flow chart of Fig. 2-5 is successively shown according to the instruction of arrow,
These steps are not that the inevitable sequence according to arrow instruction successively executes.Unless expressly stating otherwise herein, these steps
Execution there is no stringent sequences to limit, these steps can execute in other order.Moreover, at least one in Fig. 2-5
Part steps may include that perhaps these sub-steps of multiple stages or stage are not necessarily in synchronization to multiple sub-steps
Completion is executed, but can be executed at different times, the execution sequence in these sub-steps or stage is also not necessarily successively
It carries out, but can be at least part of the sub-step or stage of other steps or other steps in turn or alternately
It executes.
In one embodiment, as shown in fig. 6, providing a kind of object positioning device, including：Obtain module 601, processing
Module 602 chooses module 603 and locating module 604, wherein：
Module 601 is obtained, for obtaining the first distance value of each anchor node in object to be positioned and object space, and is obtained
Take the Geometric center coordinates of all subregion of the object space and the second distance value of each anchor node, the subregion packet
Include border region, face region and body region；
Processing module 602, it is described to be positioned for being determined according to each first distance value and each second distance value
Object is associated with angle value with each subregion；
Module 603 is chosen, for selecting three most relevance angle value, three maximums according to each association angle value
Association angle value is respectively the corresponding most relevance angle value of the border region, the corresponding most relevance angle value in the face region and described
The corresponding most relevance angle value of body region；
Locating module 604, for according to the corresponding Geometric center coordinates of three most relevance angle value determine it is described to
Position the location information of object.
In one of the embodiments, as shown in fig. 7, above-mentioned object positioning device, can also include：
Division module 701, for the position coordinates and preset division mode according to each anchor node to the mesh
It marks space and carries out region division；
Centre coordinate computing module 702, it is each described after dividing for being determined according to the position coordinates of each anchor node
The Geometric center coordinates of subregion.
Centre coordinate computing module 702 will can form the two of each border region respectively in one of the embodiments,
The position coordinates of a anchor node take mean value, obtain the Geometric center coordinates of each border region, respectively will be on each face region
The position coordinates of anchor node take mean value, obtain the Geometric center coordinates in each face region, respectively will be in each body region
The position coordinates of two anchor nodes of lie farthest away take mean value, obtain the Geometric center coordinates of each body region.
Division module 701 can determine every two according to the position coordinates of each anchor node in one of the embodiments,
A anchor node vertically divide face equally, according to it is each it is described vertically divide equally in face of the object space carry out region division.
Locating module 604 can be according to the corresponding geometry of three most relevance angle value in one of the embodiments,
Centre coordinate determines the triangle formed by the corresponding position point of the corresponding Geometric center coordinates of three most relevance angle value,
The Geometric center coordinates that the triangle is determined according to the corresponding Geometric center coordinates of three most relevance angle value, according to institute
The Geometric center coordinates for stating triangle determine the location information of the object to be positioned.
Processing module 602 can obtain the Geometric center coordinates pair of current sub-region respectively in one of the embodiments,
The difference of each second distance value answered and corresponding first distance value determines the quadratic sum of each difference respectively, according to each institute
State the pass that the anchor node number in quadratic sum and the object space determines the object to be positioned and the current sub-region
Join angle value.
Specific about object positioning device limits the restriction that may refer to above for object positioning method, herein not
It repeats again.Modules in above-mentioned object positioning device can be realized fully or partially through software, hardware and combinations thereof.On
Stating each module can be embedded in the form of hardware or independently of in the processor in computer equipment, can also store in a software form
In memory in computer equipment, the corresponding operation of the above modules is executed in order to which processor calls.
In one embodiment, a kind of computer equipment is provided, which can be server, internal junction
Composition can be as shown in Figure 8.The computer equipment include by system bus connect processor, memory, network interface and
Database.Wherein, the processor of the computer equipment is for providing calculating and control ability.The memory packet of the computer equipment
Include non-volatile memory medium, built-in storage.The non-volatile memory medium is stored with operating system, computer program and data
Library.The built-in storage provides environment for the operation of operating system and computer program in non-volatile memory medium.The calculating
The database of machine equipment is used for needed for storage object position fixing process or generated data.The network of the computer equipment
Interface is used to communicate with external terminal by network connection.To realize a kind of object when the computer program is executed by processor
Localization method.
In one embodiment, a kind of computer equipment is provided, which can be terminal, internal structure
Figure can be as shown in Figure 9.The computer equipment includes processor, the memory, network interface, display connected by system bus
Screen and input unit.Wherein, the processor of the computer equipment is for providing calculating and control ability.The computer equipment is deposited
Reservoir includes non-volatile memory medium, built-in storage.The non-volatile memory medium is stored with operating system and computer journey
Sequence.The built-in storage provides environment for the operation of operating system and computer program in non-volatile memory medium.The calculating
The network interface of machine equipment is used to communicate with external terminal by network connection.When the computer program is executed by processor with
Realize a kind of object positioning method.The display screen of the computer equipment can be liquid crystal display or electric ink display screen,
The input unit of the computer equipment can be the touch layer covered on display screen, be also possible to be arranged on computer equipment shell
Key, trace ball or Trackpad, can also be external keyboard, Trackpad or mouse etc..
It will be understood by those skilled in the art that structure shown in Fig. 8, Fig. 9, only portion relevant to application scheme
The block diagram of separation structure does not constitute the restriction for the computer equipment being applied thereon to application scheme, specific computer
Equipment may include perhaps combining certain components or with different component cloth than more or fewer components as shown in the figure
It sets.
In one embodiment, a kind of computer equipment is provided, including memory, processor and storage are on a memory
And the computer program that can be run on a processor, processor realize following steps when executing computer program：
The first distance value of each anchor node in object to be positioned and object space is obtained, and obtains the object space
The second distance value of the Geometric center coordinates of all subregion and each anchor node, the subregion include border region, face region
And body region；
The object to be positioned and each sub-district are determined according to each first distance value and each second distance value
The association angle value in domain；
Three most relevance angle value are selected according to each association angle value, three most relevance angle value are respectively institute
State the corresponding most relevance angle value of border region, the corresponding most relevance angle value in the face region and the corresponding maximum of the body region
It is associated with angle value；
The position letter of the object to be positioned is determined according to the corresponding Geometric center coordinates of three most relevance angle value
Breath.
In one embodiment, following steps are also realized when processor executes computer program：
Region is carried out to the object space according to the position coordinates of each anchor node and preset division mode to draw
Point；
The Geometric center coordinates of each subregion after dividing are determined according to the position coordinates of each anchor node.
In one embodiment, it is realized in processor execution computer program described according to the position of each anchor node seat
When mark determines the step of the Geometric center coordinates of each subregion after dividing, following steps are implemented：
The position coordinates for forming two anchor nodes of each border region are taken into mean value respectively, obtain each border region
Geometric center coordinates；
The position coordinates of the anchor node on each face region are taken into mean value respectively, in the geometry for obtaining each face region
Heart coordinate；
The position coordinates of two anchor nodes of the lie farthest away in each body region are taken into mean value respectively, are obtained each described
The Geometric center coordinates of body region.
In one embodiment, it is realized in processor execution computer program described according to the position of each anchor node seat
Be marked with and preset division mode to the object space carry out region division step when, implement following steps：
Determine that the vertical of anchor node described in every two divides face equally according to the position coordinates of each anchor node；
According to it is each it is described vertically divide equally in face of the object space carry out region division.
In one embodiment, it is realized in processor execution computer program described according to three most relevance angle value
When corresponding Geometric center coordinates determine the step of the location information of the object to be positioned, following steps are implemented：
It is determined according to the corresponding Geometric center coordinates of three most relevance angle value by three most relevance angle value
The triangle that the corresponding position point of corresponding Geometric center coordinates is formed；
Determine that the geometric center of the triangle is sat according to the corresponding Geometric center coordinates of three most relevance angle value
Mark；
The location information of the object to be positioned is determined according to the Geometric center coordinates of the triangle.
In one embodiment, it is realized in processor execution computer program described according to each first distance value and each
When the second distance value determines the object to be positioned with the step for being associated with angle value of each subregion, specific implementation is following
Step：
The corresponding each second distance value of Geometric center coordinates with corresponding first distance value of acquisition current sub-region respectively
Difference；
The quadratic sum for determining each difference respectively, according to the anchor node in each quadratic sum and the object space
What number determined the object to be positioned and the current sub-region is associated with angle value.
In one embodiment, a kind of computer readable storage medium is provided, computer program is stored thereon with, is calculated
Machine program realizes following steps when being executed by processor：
The first distance value of each anchor node in object to be positioned and object space is obtained, and obtains the object space
The second distance value of the Geometric center coordinates of all subregion and each anchor node, the subregion include border region, face region
And body region；
The object to be positioned and each sub-district are determined according to each first distance value and each second distance value
The association angle value in domain；
Three most relevance angle value are selected according to each association angle value, three most relevance angle value are respectively institute
State the corresponding most relevance angle value of border region, the corresponding most relevance angle value in the face region and the corresponding maximum of the body region
It is associated with angle value；
The position letter of the object to be positioned is determined according to the corresponding Geometric center coordinates of three most relevance angle value
Breath.
In one embodiment, following steps are also realized when computer program is executed by processor：
Region is carried out to the object space according to the position coordinates of each anchor node and preset division mode to draw
Point；
The Geometric center coordinates of each subregion after dividing are determined according to the position coordinates of each anchor node.
In one embodiment, the position coordinates according to each anchor node are executed by processor in computer program
When determining the step of the Geometric center coordinates of each subregion after dividing, following steps are implemented：
The position coordinates for forming two anchor nodes of each border region are taken into mean value respectively, obtain each border region
Geometric center coordinates；
The position coordinates of the anchor node on each face region are taken into mean value respectively, in the geometry for obtaining each face region
Heart coordinate；
The position coordinates of two anchor nodes of the lie farthest away in each body region are taken into mean value respectively, are obtained each described
The Geometric center coordinates of body region.
In one embodiment, the position coordinates according to each anchor node are executed by processor in computer program
And preset division mode to the object space carry out region division step when, implement following steps：
Determine that the vertical of anchor node described in every two divides face equally according to the position coordinates of each anchor node；
According to it is each it is described vertically divide equally in face of the object space carry out region division.
In one embodiment, it is executed by processor in computer program described according to three most relevance angle value pair
When the Geometric center coordinates answered determine the step of the location information of the object to be positioned, following steps are implemented：
It is determined according to the corresponding Geometric center coordinates of three most relevance angle value by three most relevance angle value
The triangle that the corresponding position point of corresponding Geometric center coordinates is formed；
Determine that the geometric center of the triangle is sat according to the corresponding Geometric center coordinates of three most relevance angle value
Mark；
The location information of the object to be positioned is determined according to the Geometric center coordinates of the triangle.
In one embodiment, it is executed by processor in computer program described according to each first distance value and each institute
When stating second distance value and determining the object to be positioned with the step for being associated with angle value of each subregion, following step is implemented
Suddenly：
The corresponding each second distance value of Geometric center coordinates with corresponding first distance value of acquisition current sub-region respectively
Difference；
The quadratic sum for determining each difference respectively, according to the anchor node in each quadratic sum and the object space
What number determined the object to be positioned and the current sub-region is associated with angle value.
Those of ordinary skill in the art will appreciate that realizing all or part of the process in above-described embodiment method, being can be with
Relevant hardware is instructed to complete by computer program, the computer program can be stored in a non-volatile computer
In read/write memory medium, the computer program is when being executed, it may include such as the process of the embodiment of above-mentioned each method.Wherein,
To any reference of memory, storage, database or other media used in each embodiment provided herein,
Including non-volatile and/or volatile memory.Nonvolatile memory may include read-only memory (ROM), programming ROM
(PROM), electrically programmable ROM (EPROM), electrically erasable ROM (EEPROM) or flash memory.Volatile memory may include
Random access memory (RAM) or external cache.By way of illustration and not limitation, RAM is available in many forms,
Such as static state RAM (SRAM), dynamic ram (DRAM), synchronous dram (SDRAM), double data rate sdram (DDRSDRAM), enhancing
Type SDRAM (ESDRAM), synchronization link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM
(RDRAM), direct memory bus dynamic ram (DRDRAM) and memory bus dynamic ram (RDRAM) etc..
Each technical characteristic of above embodiments can be combined arbitrarily, for simplicity of description, not to above-described embodiment
In each technical characteristic it is all possible combination be all described, as long as however, the combination of these technical characteristics be not present lance
Shield all should be considered as described in this specification.
The several embodiments of the application above described embodiment only expresses, the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the concept of this application, various modifications and improvements can be made, these belong to the protection of the application
Range.Therefore, the scope of protection shall be subject to the appended claims for the application patent.
Claims (10)
1. a kind of object positioning method, which is characterized in that the method includes：
The first distance value of each anchor node in object to be positioned and object space is obtained, and obtains each son of the object space
The second distance value of the Geometric center coordinates in region and each anchor node, the subregion include border region, face region and body
Region；
The object to be positioned and each subregion are determined according to each first distance value and each second distance value
It is associated with angle value；
Three most relevance angle value are selected according to each association angle value, three most relevance angle value are respectively the side
The corresponding most relevance angle value in region, the corresponding most relevance angle value in the face region and the corresponding most relevance of the body region
Angle value；
The location information of the object to be positioned is determined according to the corresponding Geometric center coordinates of three most relevance angle value.
2. object positioning method according to claim 1, which is characterized in that the method also includes：
Region division is carried out to the object space according to the position coordinates of each anchor node and preset division mode；
The Geometric center coordinates of each subregion after dividing are determined according to the position coordinates of each anchor node.
3. object positioning method according to claim 2, which is characterized in that described to be sat according to the position of each anchor node
Mark determines the Geometric center coordinates of each subregion after dividing, including：
The position coordinates for forming two anchor nodes of each border region are taken into mean value respectively, obtain the geometry of each border region
Centre coordinate；
The position coordinates of the anchor node on each face region are taken into mean value respectively, the geometric center for obtaining each face region is sat
Mark；
The position coordinates of two anchor nodes of the lie farthest away in each body region are taken into mean value respectively, obtain each body area
The Geometric center coordinates in domain.
4. object positioning method according to claim 2 or 3, which is characterized in that the position according to each anchor node
It sets coordinate and preset division mode and region division is carried out to the object space, including：
Determine that the vertical of anchor node described in every two divides face equally according to the position coordinates of each anchor node；
According to it is each it is described vertically divide equally carry out Spacial domain decomposition in face of the object space, described vertically divide equally each between face
The area of space in besieged city is determined as each body region；
Straight line portion between anchor node described in every two is determined as each line region；
The plane that every at least three anchor nodes are formed is determined as each face region.
5. object positioning method according to claim 4, which is characterized in that described according to three most relevance angle value
Corresponding Geometric center coordinates determine the location information of the object to be positioned, including：
It is determined according to the corresponding Geometric center coordinates of three most relevance angle value corresponding by three most relevance angle value
Geometric center coordinates corresponding position point formed triangle；
The Geometric center coordinates of the triangle are determined according to the corresponding Geometric center coordinates of three most relevance angle value；
The location information of the object to be positioned is determined according to the Geometric center coordinates of the triangle.
6. object positioning method according to claim 4, which is characterized in that described according to each first distance value and each
The second distance value determines be associated with angle value of the object to be positioned with each subregion, including：
The difference of the Geometric center coordinates corresponding each second distance value and corresponding first distance value of current sub-region is obtained respectively
Value；
The quadratic sum for determining each difference respectively, according to the anchor node number in each quadratic sum and the object space
Determine the object to be positioned and the current sub-region is associated with angle value.
7. object positioning method according to claim 1, which is characterized in that the object space is prison, described undetermined
Position object is electronic equipment entrained by the personnel in the prison.
8. a kind of object positioning device, which is characterized in that described device includes：
Module is obtained, for obtaining the first distance value of each anchor node in object to be positioned and object space, and described in acquisition
The second distance value of the Geometric center coordinates of all subregion of object space and each anchor node, the subregion include border area
Domain, face region and body region；
Processing module, for determining the object to be positioned and each according to each first distance value and each second distance value
The association angle value of the subregion；
Module is chosen, for selecting three most relevance angle value, three most relevance degree according to each association angle value
Value is respectively the corresponding most relevance angle value of the border region, the corresponding most relevance angle value in the face region and the body region
Corresponding most relevance angle value；
Locating module, for determining the object to be positioned according to the corresponding Geometric center coordinates of three most relevance angle value
Location information.
9. a kind of computer equipment including memory, processor and stores the meter that can be run on a memory and on a processor
Calculation machine program, which is characterized in that the processor realizes any one of claims 1 to 7 institute when executing the computer program
The step of stating method.
10. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the computer program
The step of method described in any one of claims 1 to 7 is realized when being executed by processor.
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| CN201810697439.2A CN108882191A (en) | 2018-06-29 | 2018-06-29 | Object positioning method, device, computer equipment and storage medium |
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