CN109541662A - A kind of localization method and device - Google Patents
A kind of localization method and device Download PDFInfo
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- CN109541662A CN109541662A CN201811345069.2A CN201811345069A CN109541662A CN 109541662 A CN109541662 A CN 109541662A CN 201811345069 A CN201811345069 A CN 201811345069A CN 109541662 A CN109541662 A CN 109541662A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/46—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being of a radio-wave signal type
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- Radar, Positioning & Navigation (AREA)
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- General Physics & Mathematics (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The embodiment provides a kind of localization method and devices, are related to field of locating technology, solve the problems, such as how accurately to position to object in complex environment.This method includes when determining to obtain less than GPS signal, obtaining the first positioning signal；Wherein, the distance L that first positioning signal includes target to be positioned relative to the azimuth angle theta of the base station 5G and target to be positioned to drive test unit, distance L and target detection to be positioned to the signal strength of drive test unit be inversely proportional, target to be positioned and drive test unit are respectively positioned in the coverage area of the base station 5G, corresponding first precision coordinate in each base station 5G, corresponding second precision coordinate of each drive test unit；According to the first positioning signal, the current location of target to be positioned is determined.The embodiment of the present invention is used for the manufacture of display device.
Description
Technical field
The present invention relates to field of locating technology more particularly to a kind of localization method and devices.
Background technique
For intelligent transportation system, location technology is particularly important one of key technology.It is acquisition personnel, to be positioned
The current location information of target is a basic link in intelligent transportation system.Most common positioning method is that the whole world is fixed
Position system (full name in English: Global Positioning System, referred to as: GPS) positioning.
Although GPS positioning technology possesses higher precision, up to 10 meters or so；But in underground garage, tunnel, interior
Etc. more complex environment, precision generates deviation or can not position.
It can be seen from the above, GPS positioning technology is used in the prior art, in the more complex ring such as underground garage, tunnel, interior
Border has that precision generates deviation or can not position.
Summary of the invention
The embodiment of the present invention provides a kind of localization method and device, solves and uses GPS positioning technology in the prior art,
In the more complex environment such as underground garage, tunnel, interior, there are problems that precision generates deviation or can not position.
In order to achieve the above objectives, the embodiment of the present invention adopts the following technical scheme that
First aspect, the embodiment of the present invention provide a kind of localization method, comprising: when determining acquisition less than GPS signal, obtain
Take the first positioning signal；Wherein, the first positioning signal includes azimuth angle theta and to be positioned mesh of the target to be positioned relative to the base station 5G
Mark the distance L of drive test unit, distance L and target detection to be positioned to the signal strength of drive test unit be inversely proportional, it is to be positioned
Target and drive test unit are respectively positioned in the coverage area of the base station 5G, corresponding first precision coordinate in each base station 5G, Mei Gelu
Survey corresponding second precision coordinate of unit；According to the first positioning signal, the current location of target to be positioned is determined.
By above scheme it is found that since the problems such as high-rise structures in urban environment, magnetic field influence, leads to GPS signal not
When good, the localization method that the embodiment of the present invention provides, by combining the opposite of target to be positioned and the base station 5G and drive test unit
Position, and by the second precision coordinate of the first precision coordinate of the known base station 5G and drive test unit, still can determine to
The current location for positioning target, to solve the problems, such as how accurately to position to object in complex environment.
Optionally, when determining acquisition less than GPS signal, the first positioning signal is obtained, comprising: determine to obtain and believe less than GPS
Number when, obtain azimuth angle theta of the target to be positioned at the first moment relative to the base station 5G1With target to be positioned to drive test unit away from
From L1And azimuth angle theta of the target to be positioned at the second moment relative to the base station 5G2With target to be positioned to the distance of drive test unit
L2；According to the first positioning signal, the current location of target to be positioned is determined, comprising: according to the first moment relative to the base station 5G
Azimuth angle theta1With the distance L of target to be positioned to drive test unit1And second azimuth angle theta of the moment relative to the base station 5G2With it is undetermined
Distance L of the position target to drive test unit2, determine the current location of target to be positioned.
Optionally, this method further include: when determination gets GPS signal, obtain the second positioning signal；Wherein, second is fixed
Position signal includes RTK differential signal；According to GPS signal and RTK differential signal, the current location of target to be positioned is determined.
Optionally, when determination gets GPS signal, the second positioning signal is obtained, comprising: when determination gets GPS signal,
Obtain the first precision coordinate of the base station 5G；According to the first precision coordinate of the precision coordinate of 5G base station and the base station 5G, RTK is determined
Differential signal.
Second aspect, the embodiment of the present invention provide a kind of positioning device, comprising: acquiring unit, it is true for processing unit
When fixed acquisition is less than GPS signal, the first positioning signal is obtained；Wherein, the first positioning signal includes target to be positioned relative to 5G
The distance L of the azimuth angle theta of base station and target to be positioned to drive test unit, the drive test unit that distance L is arrived with target detection to be positioned
Signal strength be inversely proportional, target to be positioned and drive test unit are respectively positioned in the coverage area of the base station 5G, and each base station 5G is corresponding
One the first precision coordinate, corresponding second precision coordinate of each drive test unit；Processing unit is also used to according to acquiring unit
The first positioning signal obtained, determines the current location of target to be positioned.
Optionally, acquiring unit obtains target to be positioned when being specifically used for the determining acquisition of processing unit less than GPS signal
In azimuth angle theta of first moment relative to the base station 5G1With the distance L of target to be positioned to drive test unit1And target to be positioned exists
Azimuth angle theta of second moment relative to the base station 5G2With the distance L of target to be positioned to drive test unit2；Processing unit is specifically used for
Azimuth angle theta of the first moment obtained according to acquiring unit relative to the base station 5G1With the distance L of target to be positioned to drive test unit1
And second azimuth angle theta of the moment relative to the base station 5G2With the distance L of target to be positioned to drive test unit2, determine mesh to be positioned
Target current location.
Optionally, when being also used to processing unit and determining that acquiring unit gets GPS signal, it is fixed to obtain second for acquiring unit
Position signal；Wherein, the second positioning signal includes RTK differential signal；Processing unit, specifically for what is obtained according to acquiring unit
GPS signal and RTK differential signal, determine the current location of target to be positioned.
Optionally, acquiring unit obtains the first of the base station 5G when getting GPS signal specifically for processing unit is determining
Precision coordinate；Processing unit, specifically for the first of the base station 5G obtained according to the precision coordinate and acquiring unit of 5G base station
Precision coordinate determines RTK differential signal.
The third aspect, the embodiment of the present invention provide a kind of computer storage medium, including instruction, when its on computers
When operation, so that computer executes the described in any item localization methods provided such as above-mentioned first aspect.
Fourth aspect, the embodiment of the present invention provide a kind of positioning device, comprising: communication interface, processor, memory,
Bus；For storing computer executed instructions, processor is connect with memory by bus memory, when positioning device is run
When, processor executes the computer executed instructions of memory storage, so that positioning device is executed as above-mentioned first aspect provides
Described in any item localization methods.
It is to be appreciated that any positioning device of above-mentioned offer is corresponding for executing first aspect presented above
Method, therefore, attainable beneficial effect can refer in method and the following detailed description of first aspect above
The beneficial effect of corresponding scheme, details are not described herein again.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is a kind of logical architecture figure of the middle 5G base station baseband unit for localization method that the embodiment of the present invention provides；
Fig. 2 is that a kind of middle base station the 5G frequency for localization method that the embodiment of the present invention provides penetrates the logical architecture figure of unit；
Fig. 3 is a kind of one of the flow diagram for localization method that the embodiment of the present invention provides；
Fig. 4 is the two of the flow diagram for a kind of localization method that the embodiment of the present invention provides；
Fig. 5 is the three of the flow diagram for a kind of localization method that the embodiment of the present invention provides；
Fig. 6 is the positioning scene figure in a kind of localization method that the embodiment of the present invention provides；
Fig. 7 is a kind of one of the structural schematic diagram for positioning device that the embodiment of the present invention provides；
Fig. 8 is a kind of second structural representation for positioning device that the embodiment of the present invention provides.
Appended drawing reference:
Positioning device -10；
Acquiring unit -101；Processing unit -102.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
For the ease of clearly describing the technical solution of the embodiment of the present invention, in an embodiment of the present invention, use " the
One ", the printed words such as " second " distinguish function and the essentially identical identical entry of effect or similar item, and those skilled in the art can
To understand that the printed words such as " first ", " second " are not to be defined to quantity and execution order.
In embodiments of the present invention, " illustrative " or " such as " etc. words for indicate make example, illustration or explanation.This
Be described as in inventive embodiments " illustrative " or " such as " any embodiment or design scheme be not necessarily to be construed as comparing
Other embodiments or design scheme more preferably or more advantage.Specifically, use " illustrative " or " such as " etc. words purport
Related notion is being presented in specific ways.
In the description of the embodiment of the present invention, unless otherwise indicated, the meaning of " plurality " is refer to two or more.Example
Such as, multiple networks refer to two or more networks.
The terms "and/or", only a kind of incidence relation for describing affiliated partner, indicates that there may be three kinds of passes
System, for example, A and/or B, can indicate: individualism A exists simultaneously A and B, these three situations of individualism B.Symbol herein
Number "/" indicates that affiliated partner is that relationship such as A/B perhaps indicates A or B.
It is complicated for road conditions in actual traffic in actual application, but being directed to can involved by intelligent transportation field
There can be complicated road conditions, as urban central zone high-rise, dense boulevard, viaduct, Mountain Tunnels, underground are stopped
The regions such as parking lot cause GPS positioning system precision to will receive very big influence since satellite-signal is blocked；In extreme case
Under, since GPS signal can not be received, and lead to not be positioned；To solve the above problems, the embodiment of the present invention passes through
Localization method, it is contemplated that compare GPS signal, and the range of the construction covering of base station is wide, and (Mountain Tunnels, underground parking, field are vertical
Handing over can cover in bridge, dense boulevard and high-rise), therefore, pass through the 5th third-generation mobile communication technology (English
Full name: 5th-Generation, referred to as: 5G) base station 5G extensive antenna (Massive MIMO) so that it is determined that the positioning mesh
The azimuth relative to the base station 5G is marked, while the present invention also introduces drive test unit (full name in English: Road Side Unit, letter
Claim: RSU), according to target detection to be positioned to the signal strength of drive test unit determine the target range to be positioned drive test list
The distance of member, so as to which the current location of the target to be positioned is determined more accurately；Therefore, the feelings poor in GPS signal
Under condition, the current location of the target to be positioned still can be determined.
In order to facilitate understanding, several concepts are first introduced here, comprising:
The embodiment of the present invention provide localization method in, 5G base station platform include Base Band Unit (full name in English:
Building Base band Unit, referred to as: BBU) with frequency penetrate unit (full name in English: Radio Remote Unit, referred to as:
RRU).The BBU logical architecture of the base station 5G is as shown in Figure 1；The RRU logical architecture of the base station 5G is as shown in Figure 2.BBU is placed on computer room,
RRU upper tower is connected between BBU and RRU by optical fiber.Baseband radio separates so that the reduction of computer room occupied area, radio-frequency feed line loss
Consumption reduces, and improves radio frequency covering efficiency.BBU is responsible for the entire base station system of integrated control & management, completes at uplink and downlink base band
Function is managed, and the physical interface with radio frequency unit, transmission network is provided, completes information exchange.The logically difference of function,
It can be divided into baseband processing unit, main control unit, transmission interface unit etc. inside BBU, as shown in Figure 1.Wherein, main control unit master
Realize that the control management of Base Band Unit, signaling processing, data exchange, system clock such as provide at the functions；Baseband processing unit is used
In completing the baseband protocols processing such as Signal coding modulation, scheduling of resource, data encapsulation, provide between Base Band Unit and radio frequency unit
Interface；Transmission interface unit is responsible for providing the coffret connecting with core net.RRU is communicated by baseband radio interface with BBU,
Complete the conversion of baseband signal and radiofrequency signal.The hardware structure of RRU is as shown in Fig. 2, mainly include interface unit, downlink signal
Processing unit, uplink signal processing unit, power amplifier unit, low noise unit, Duplexer Unit etc. constitute downlink signal process chain
Road and uplink signal handle link.Wherein, interface unit provides the forward pass interface between BBU, sends and receivees baseband I Q letter
Number (wherein, I (in-phase) indicates same phase, and Q (quadrature) indicates orthogonal, with I phase difference 90 degree), using general public
Radio interface (full name in English: Common Public Radio Interface, abbreviation: CPRI) agreement or wireless base station (English
Literary full name: Open BaseStation Architecture Initiative, referred to as: OBSAI) agreement；Downlink signal processing
Unit completes the signal processing functions such as signal up-conversion, digital-to-analogue conversion, radio-frequency modulations；Uplink signal processing unit is mainly completed to believe
The functions such as number filtering, mixing, analog-to-digital conversion, down coversion；Power amplifier and low noise unit respectively put downlink and uplink signal
Greatly；Duplexer is supported receiving and transmitting signal to be multiplexed and is filtered to receiving and transmitting signal.
One GPS receiver is placed on 5G base station and is observed, the first of the base station 5G measured precisely sits
It is designated as (Lng5G, Lat5G).The precision coordinate of known 5G base stationCalculate base station to satellite distance
Correction (△ Lng5G, △ Lat5G), that is, real time dynamic differential signal, calculation method be shown in formula (1):
Positioning device of the base station 5G into communication range broadcasts real time dynamic differential (full name in English: Real Time
Kinematic, referred to as: RTK) information i.e. (△ Lng5G, △ Lat5G)。
In the localization method that the embodiment of the present invention provides, by drive test unit (RSU) fixed signal lamppost by the road,
On electric pole, lamppost, precision coordinate position is known asA single-hop is built using communication module
Communication network, drive test unit base station are communicated with all targets to be positioned in communication range, and dedicated short-range communication can be used
Technology (full name in English: Dedicated Short Range Communications, abbreviation: DSRC), (English is complete for long term evolution
Claim: Long Term Evolution-Vehicle, referred to as: LTE-V) the generally acknowledged car networking communication technology such as the communication technology.
Drive test unit (RSU) is communicated with the target to be positioned in communication range, passes through the signal of communication that receives
Intensity obtains target to be positioned to the range information of drive test unit, if the distance is L.What embodiment through the invention provided determines
Position method, the current location of target to be positioned can be located in centered on drive test unit, L be radius circumference on, and according to
The azimuth angle theta of the target to be positioned relative to the base station 5G, may thereby determine that the current location of the target to be positioned, specific real
Existing mode is as follows:
Embodiment one
The embodiment of the present invention provides a kind of localization method, includes: as shown in Figure 3 and Figure 5
When S101, determining acquisition are less than GPS signal, the first positioning signal is obtained；Wherein, the first positioning signal includes undetermined
Position target relative to the azimuth angle theta of the base station 5G and target to be positioned to the distance L of drive test unit, examine by distance L and target to be positioned
The signal strength of the drive test unit measured is inversely proportional, and target to be positioned and drive test unit are respectively positioned in the coverage area of the base station 5G,
Corresponding first precision coordinate in each base station 5G, corresponding second precision coordinate of each drive test unit.
It should be noted that in actual application, the areas such as down town of underground parking, tunnel or building dense
Domain, GPS signal is poor, cannot achieve real-time GPS signal and receives.In the case where no satellite-signal, pass through 5G
The beam position of Massive MIMO limits, and azimuth angle theta of the target to be positioned relative to the base station 5G can be obtained.Meanwhile by connecing
Distance L of the available target to be positioned of drive test cell signal intensity received to drive test unit.Without satellite-signal situation scene
Schematic diagram is as shown in Figure 3, it is assumed that the system time of target to be positioned is the first moment t1When, the azimuth relative to the base station 5G is
θ1(angle with direct north), the distance to drive test unit are L1；The goal systems time to be positioned is t2When, relative to 5G base
The azimuth stood is θ2, the distance to drive test unit is L2。
Firstly, being coordinately transformed as shown in Figure 6, by the latitude and longitude coordinates (Lng of the base station 5G5G, Lat5G) and 5G benchmark
The latitude and longitude coordinates stoodIt is transformed into using drive test unit as the angular coordinate in the plane right-angle coordinate of origin.
The current location of drive test unit is (0,0), current location (the first accurate coordinate) calculating process of the base station 5G in this coordinate system
It is as follows, see formula (2):
Note: in formula (2)It is angle system.Pass through turning for formula (2)
It changes, the accurate coordinate (x of first of the base station 5G after being converted5G,y5G)。
Using the current location of the base station 5G as endpoint, θ1The ray l in direction1, equation expression is as shown in formula (3):
l1:x-x5G=(y-y5G)×tanθ1, formula (3)；
Using 5G base station location as endpoint, θ2The ray l in direction2, equation expression is as shown in formula (4):
l2:x-x5G=(y-y5G)×tanθ2, formula (4)；
Using RSU base station location as the center of circle, L1For the circle of radius, equation is indicated as shown in formula (5):
Using RSU base station location as the center of circle, L2For the circle of radius, equation is indicated as shown in formula (6):
A1, B1For using the current location of the base station 5G as the θ of endpoint1The ray l in direction1With using the current location of RSU as the center of circle
Radius is L1Circle intersection point (i.e. the first moment t1The possible current location of target to be positioned be A1Or B1), simultaneous formula
(3) A is solved with formula (5)1And B1Current position coordinates.
A2, B2For using the current location of the base station 5G as the θ of endpoint2The ray l in direction2With using the current location of RSU as the center of circle
Radius is L2Circle intersection point (i.e. the second moment t2The possible current location of target to be positioned be A2Or B2), simultaneous formula
(4) A is solved with formula (6)2And B2Current position coordinates.
Target to be positioned is calculated in the first moment t1To the second moment t2Possible operating range, is respectively as follows:The travel speed of known target to be positioned is v, is received twice
The time interval of message is △ t=t1-t2.Receiving in message time interval, the distance of target travel to be positioned be x=△ t ×
v.Calculate xiWith the difference of x, the situation of absolute value minimum, target as to be positioned is in t1、t2Moment corresponding current location.I.e.
t2The current location of moment target to be positioned is Bi, meet the restriction of formula (7):
When being above without satellite-signal, is limited using the current location of 5G Massive MIMO wave beam and RSU is combined to believe
Number to the current location of target to be positioned carry out fusion positioning positioning method.
Wherein, after using beam forming technique, the base station 5G must use the wave beam of multiple and different directions that could cover completely
Lid cell.During downlink, successively using the beam transmission wireless signal being differently directed, which sweeps referred to as wave beam for base station
Retouch (Beam sweeping)；At the same time, user measures the wireless signal (Beam that different beams are launched
Measurement), and to base station report relevant information (Beam reporting), base station determines that alignment should according to user report
The best launching beam (Beam determination) of user；Therefore, positioning device can obtain mesh to be positioned to the base station 5G
Mark the azimuth angle theta relative to the base station 5G.
S102, according to the first positioning signal, determine the current location of target to be positioned.
Optionally, when determining acquisition less than GPS signal, the first positioning signal is obtained, comprising: determine to obtain and believe less than GPS
Number when, obtain azimuth angle theta of the target to be positioned at the first moment relative to the base station 5G1With target to be positioned to drive test unit away from
From L1And azimuth angle theta of the target to be positioned at the second moment relative to the base station 5G2With target to be positioned to the distance of drive test unit
L2；According to the first positioning signal, the current location of target to be positioned is determined, comprising: according to the first moment relative to the base station 5G
Azimuth angle theta1With the distance L of target to be positioned to drive test unit1And second azimuth angle theta of the moment relative to the base station 5G2With it is undetermined
Distance L of the position target to drive test unit2, determine the current location of target to be positioned.
By above scheme it is found that since the problems such as high-rise structures in urban environment, magnetic field influence, leads to GPS signal not
When good, the localization method that the embodiment of the present invention provides, by combining the opposite of target to be positioned and the base station 5G and drive test unit
Position, and by the second precision coordinate of the first precision coordinate of the known base station 5G and drive test unit, still can determine to
The current location for positioning target, to solve the problems, such as how accurately to position to object in complex environment.
Embodiment two, the embodiment of the present invention provide a kind of localization method, include: as shown in Figure 4 and Figure 5
When S103, determination get GPS signal, the second positioning signal is obtained；Wherein, the second positioning signal includes RTK poor
Sub-signal.
S104, according to GPS signal and RTK differential signal, determine the current location of target to be positioned.
Optionally, when determination gets GPS signal, the second positioning signal is obtained, comprising: when determination gets GPS signal,
Obtain the first precision coordinate of the base station 5G；According to the first precision coordinate of the precision coordinate of 5G base station and the base station 5G, RTK is determined
Differential signal.
It should be noted that GPS receiver can receive in actual application in most traffic scenes
GPS signal be (Lngv,Latv), the RTK differential signal of GPS signal and 5G base station broadcast that target to be positioned is obtained itself
Differential positioning is carried out, obtains the current location of revised more accurate target to be positioned, Differential positioning formula is as follows, sees public affairs
Formula (8):
By above scheme it is found that when positioning device it is available to GPS signal when, in order to more accurately orient this to
The accurate location for positioning target, can be modified by the location information in RTK Difference signal pair GPS signal, so as to
More accurately orient the current location of the target to be positioned.
Embodiment three
The embodiment of the present invention provides a kind of positioning device 10, includes: as shown in Figure 7
Acquiring unit 101 when determining acquisition less than GPS signal for processing unit 102, obtains the first positioning signal；Its
In, the first positioning signal include target to be positioned relative to the azimuth angle theta of the base station 5G and target to be positioned to drive test unit away from
From L, distance L and target detection to be positioned to the signal strength of drive test unit be inversely proportional, target to be positioned and drive test unit are equal
In the coverage area of the base station 5G, corresponding first precision coordinate in each base station 5G, corresponding one of each drive test unit the
Two precision coordinates.
Processing unit 102 is also used to the first positioning signal obtained according to acquiring unit, determines the current of target to be positioned
Position.
Optionally, acquiring unit 101 are specifically used for processing unit 102 and determine that acquisition is undetermined when obtaining less than GPS signal
Azimuth angle theta of the position target at the first moment relative to the base station 5G1With the distance L of target to be positioned to drive test unit1And it is to be positioned
Azimuth angle theta of the target at the second moment relative to the base station 5G2With the distance L of target to be positioned to drive test unit2；Processing unit
102, the azimuth angle theta specifically for the first moment for being obtained according to acquiring unit 101 relative to the base station 5G1It is arrived with target to be positioned
The distance L of drive test unit1And second azimuth angle theta of the moment relative to the base station 5G2With target to be positioned to the distance of drive test unit
L2, determine the current location of target to be positioned.
Optionally, acquiring unit 101 are also used to processing unit 102 and determine that acquiring unit 101 when getting GPS signal, obtains
Take the second positioning signal；Wherein, the second positioning signal includes RTK differential signal；Processing unit 102 is specifically used for according to acquisition
The GPS signal and RTK differential signal that unit 101 obtains, determine the current location of target to be positioned.
Optionally, acquiring unit 101 obtain the base station 5G when getting GPS signal specifically for processing unit 102 is determining
The first precision coordinate；Processing unit 102, specifically for what is obtained according to the precision coordinate and acquiring unit 101 of 5G base station
First precision coordinate of the base station 5G, determines RTK differential signal.
Wherein, all related contents for each step that above method embodiment is related to can quote corresponding function module
Function description, effect details are not described herein.
Using integrated module, positioning device includes: storage unit, processing unit and acquiring unit.
Processing unit is for carrying out control management to the movement of positioning device, for example, processing unit is for supporting positioning device to execute Fig. 3
In process S101 and S102；Acquiring unit is used to support the information exchange of positioning device and other equipment.Storage unit is used for
Store the program code and data of positioning device.
Wherein, using processing unit as processor, storage unit is memory, and acquiring unit is for communication interface.Wherein,
Positioning device referring to fig. 8, including communication interface 501, processor 502, memory 503 and bus 504, communication interface
501, processor 502 is connected by bus 504 with memory 503.
Processor 502 can be a general central processor (Central Processing Unit, CPU), micro process
Device, application-specific integrated circuit (Application-Specific Integrated Circuit, ASIC) or one or more
A integrated circuit executed for controlling application scheme program.
Memory 503 can be read-only memory (Read-Only Memory, ROM) or can store static information and instruction
Other kinds of static storage device, random access memory (Random Access Memory, RAM) or letter can be stored
The other kinds of dynamic memory of breath and instruction, is also possible to Electrically Erasable Programmable Read-Only Memory (Electrically
Erasable Programmable Read-only Memory, EEPROM), CD-ROM (Compact Disc Read-
Only Memory, CD-ROM) or other optical disc storages, optical disc storage (including compression optical disc, laser disc, optical disc, digital universal
Optical disc, Blu-ray Disc etc.), magnetic disk storage medium or other magnetic storage apparatus or can be used in carrying or store to have referring to
Enable or data structure form desired program code and can by any other medium of computer access, but not limited to this.
Memory, which can be, to be individually present, and is connected by bus with processor.Memory can also be integrated with processor.
Wherein, memory 503 is used to store the application code for executing application scheme, and is controlled by processor 502
System executes.Communication interface 501 is used to carry out information exchange, such as the information exchange with remote controler with other equipment.Processor 502
For executing the application code stored in memory 503, to realize method described in the embodiment of the present application.
In addition, a kind of calculating storage media (or medium) is also provided, including carrying out in above-described embodiment when executed
The instruction for the method operation that positioning device executes.In addition, also providing a kind of computer program product, including above-mentioned calculating stores matchmaker
Body (or medium).
It should be understood that in various embodiments of the present invention, magnitude of the sequence numbers of the above procedures are not meant to execute suitable
Sequence it is successive, the execution of each process sequence should be determined by its function and internal logic, the implementation without coping with the embodiment of the present invention
Process constitutes any restriction.
Those of ordinary skill in the art may be aware that list described in conjunction with the examples disclosed in the embodiments of the present disclosure
Member and algorithm steps can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions are actually
It is implemented in hardware or software, the specific application and design constraint depending on technical solution.Professional technician
Each specific application can be used different methods to achieve the described function, but this realization is it is not considered that exceed
The scope of the present invention.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
In several embodiments provided herein, it should be understood that disclosed system, apparatus and method, it can be with
It realizes by another way.For example, apparatus embodiments described above are merely indicative, for example, the unit
It divides, only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple units or components
It can be combined or can be integrated into another system, or some features can be ignored or not executed.Another point, it is shown or
The mutual coupling, direct-coupling or communication connection discussed can be through some interfaces, the indirect coupling of equipment or unit
It closes or communicates to connect, can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.
It, can be with if the function is realized in the form of SFU software functional unit and when sold or used as an independent product
It is stored in a computer readable storage medium.Based on this understanding, technical solution of the present invention is substantially in other words
The part of the part that contributes to existing technology or the technical solution can be embodied in the form of software products, the meter
Calculation machine software product is stored in a storage medium, including some instructions are used so that a computer equipment (can be a
People's computer, server or network equipment etc.) it performs all or part of the steps of the method described in the various embodiments of the present invention.
And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory (full name in English: read-only memory, English letter
Claim: ROM), random access memory (full name in English: random access memory, English abbreviation: RAM), magnetic disk or light
The various media that can store program code such as disk.
It is to be appreciated that any positioning device of above-mentioned offer is corresponding for executing embodiment one presented above
Method, therefore, attainable beneficial effect can refer in method and the following detailed description of foregoing embodiments one
The beneficial effect of corresponding scheme, details are not described herein again.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, protection scope of the present invention should be based on the protection scope of the described claims.
Claims (10)
1. a kind of localization method characterized by comprising
When determining acquisition less than GPS signal, the first positioning signal is obtained；Wherein, first positioning signal includes mesh to be positioned
Mark relative to the base station 5G azimuth angle theta and the target to be positioned to drive test unit distance L, the distance L and mesh to be positioned
The signal strength for marking the drive test unit detected is inversely proportional, and the target to be positioned and the drive test unit are respectively positioned on the 5G base
In the coverage area stood, corresponding first precision coordinate in each base station 5G, corresponding one second accurate seat of each drive test unit
Mark；
According to first positioning signal, the current location of the target to be positioned is determined.
2. localization method according to claim 1, which is characterized in that determine that acquisition first is fixed when obtaining less than GPS signal
Position signal, comprising:
When determining acquisition less than GPS signal, azimuth angle theta of the target to be positioned at the first moment relative to the base station 5G is obtained1With
Distance L of the target to be positioned to drive test unit1And side of the target to be positioned at the second moment relative to the base station 5G
Parallactic angle θ2With the distance L of the target to be positioned to drive test unit2；
According to first positioning signal, the current location of the target to be positioned is determined, comprising:
Azimuth angle theta according to first moment relative to the base station 5G1With the distance L of the target to be positioned to drive test unit1With
And azimuth angle theta of second moment relative to the base station 5G2With the distance L of the target to be positioned to drive test unit2, determine institute
State the current location of target to be positioned.
3. localization method according to claim 1, which is characterized in that the method also includes:
When determination gets GPS signal, the second positioning signal is obtained；Wherein, second positioning signal includes RTK difference letter
Number；
According to the GPS signal and the RTK differential signal, the current location of the target to be positioned is determined.
4. localization method according to claim 3, which is characterized in that when the determination gets GPS signal, obtain second
Positioning signal, comprising:
When the determination gets GPS signal, the first precision coordinate of the base station 5G is obtained；
According to the first precision coordinate of the precision coordinate of 5G base station and the base station 5G, RTK differential signal is determined.
5. a kind of positioning device characterized by comprising
Acquiring unit when determining acquisition less than GPS signal for processing unit, obtains the first positioning signal；Wherein, described first
Positioning signal include the target to be positioned relative to the azimuth angle theta of the base station 5G and the target to be positioned to drive test unit away from
From L, the distance L and target detection to be positioned to the signal strength of drive test unit be inversely proportional, the target to be positioned and institute
It states drive test unit to be respectively positioned in the coverage area of the base station 5G, corresponding first precision coordinate in each base station 5G, Mei Gelu
Survey corresponding second precision coordinate of unit；
The processing unit is also used to first positioning signal obtained according to the acquiring unit, determines described to be positioned
The current location of target.
6. positioning device according to claim 5, which is characterized in that it is true to be specifically used for processing unit for the acquiring unit
When fixed acquisition is less than GPS signal, azimuth angle theta of the target to be positioned at the first moment relative to the base station 5G is obtained1With it is described
Distance L of the target to be positioned to drive test unit1And azimuth angle theta of the target to be positioned at the second moment relative to the base station 5G2
With the distance L of the target to be positioned to drive test unit2；
The processing unit, the orientation specifically for first moment for being obtained according to the acquiring unit relative to the base station 5G
Angle θ1With the distance L of the target to be positioned to drive test unit1And azimuth angle theta of second moment relative to the base station 5G2With
Distance L of the target to be positioned to drive test unit2, determine the current location of the target to be positioned.
7. positioning device according to claim 6, which is characterized in that the acquiring unit is also used to the processing unit
When determining that the acquiring unit gets GPS signal, the second positioning signal is obtained；Wherein, second positioning signal includes RTK
Differential signal；
The processing unit, specifically for the GPS signal and the RTK differential signal obtained according to the acquiring unit,
Determine the current location of the target to be positioned.
8. positioning device according to claim 5, which is characterized in that it is single to be specifically used for the processing for the acquiring unit
When member determination gets GPS signal, the first precision coordinate of the base station 5G is obtained；
The processing unit, specifically for the base station 5G according to the precision coordinate of 5G base station and acquiring unit acquisition
The first precision coordinate, determine RTK differential signal.
9. a kind of computer storage medium, including instruction, when run on a computer, so that computer executes such as above-mentioned power
Benefit requires the described in any item localization methods of 1-4.
10. a kind of positioning device, comprising: communication interface, processor, memory, bus；Memory is for storing computer execution
Instruction, processor are connect with memory by bus, and when positioning device operation, processor executes the computer of memory storage
It executes instruction, so that positioning device executes such as the described in any item localization methods of the claims 1-4.
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