CN109541662B - Positioning method and device - Google Patents
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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
Abstract
The embodiment of the invention provides a positioning method and a positioning device, relates to the technical field of positioning, and solves the problem of accurately positioning an object in a complex environment, wherein the method comprises the steps of acquiring a first positioning signal when determining that a GPS signal cannot be acquired, wherein the first positioning signal comprises an azimuth angle theta of a target to be positioned relative to a 5G base station and a distance L from the target to be positioned to a drive test unit, the distance L is in inverse proportion to the signal strength of the drive test unit detected by the target to be positioned, the target to be positioned and the drive test unit are both positioned in the coverage range of the 5G base station, each 5G base station corresponds to a first precise coordinate, each drive test unit corresponds to a second precise coordinate, and the current position of the target to be positioned is determined according to the first positioning signal.
Description
Technical Field
The present invention relates to the field of positioning technologies, and in particular, to a positioning method and apparatus.
Background
For intelligent transportation systems, positioning technology is one of the key technologies that are particularly important. Obtaining the current position information of personnel and a target to be positioned is a basic link in an intelligent traffic system. The most common Positioning method is Global Positioning System (GPS) Positioning.
Although the GPS positioning technology has higher precision, which can reach about 10 meters; but in more complex environments such as underground garages, tunnels, indoor and the like, deviation or positioning cannot be achieved due to precision.
Therefore, the GPS positioning technology is adopted in the prior art, and the problem that precision deviation is generated or positioning cannot be carried out in complex environments such as underground garages, tunnels and indoor environments is solved.
Disclosure of Invention
The embodiment of the invention provides a positioning method and a positioning device, which solve the problem that precision deviation or positioning failure occurs in complex environments such as underground garages, tunnels, indoor spaces and the like by adopting a GPS positioning technology in the prior art.
In order to achieve the above purpose, the embodiment of the invention adopts the following technical scheme:
the first aspect and the embodiment of the invention provide a positioning method which comprises the steps of acquiring a first positioning signal when determining that a GPS signal cannot be acquired, wherein the first positioning signal comprises an azimuth angle theta of a target to be positioned relative to a 5G base station and a distance L from the target to be positioned to a drive test unit, the distance L is in inverse proportion to the signal intensity of the drive test unit detected by the target to be positioned, the target to be positioned and the drive test unit are both positioned in the coverage range of the 5G base station, each 5G base station corresponds to a first precise coordinate, each drive test unit corresponds to a second precise coordinate, and the current position of the target to be positioned is determined according to the first positioning signal.
According to the scheme, when GPS signals are poor due to the problems of high-rise buildings, magnetic field influence and the like in the urban environment, the positioning method provided by the embodiment of the invention can still determine the current position of the target to be positioned by combining the relative positions of the target to be positioned, the 5G base station and the drive test unit and by knowing the first precise coordinate of the 5G base station and the second precise coordinate of the drive test unit, so that the problem of accurately positioning an object in a complex environment is solved.
Optionally, when it is determined that the GPS signal cannot be obtained, obtaining the first positioning signal includes: when the GPS signal is determined not to be acquired, acquiring the azimuth angle theta of the target to be positioned relative to the 5G base station at the first moment1And distance L from the target to be located to the drive test unit1And the azimuth angle theta of the target to be positioned relative to the 5G base station at the second moment2And distance L from the target to be located to the drive test unit2(ii) a Determining the current position of the target to be positioned according to the first positioning signal, comprising: according to the azimuth angle theta of the first time relative to the 5G base station1And distance L from the target to be located to the drive test unit1And azimuth angle theta of the second time relative to the 5G base station2And distance L from the target to be located to the drive test unit2And determining the current position of the target to be positioned.
Optionally, the method further includes: when the GPS signal is determined to be acquired, acquiring a second positioning signal; wherein the second positioning signal comprises an RTK differential signal; and determining the current position of the target to be positioned according to the GPS signal and the RTK differential signal.
Optionally, when determining to acquire the GPS signal, acquiring the second positioning signal includes: when the GPS signal is determined to be acquired, acquiring a first precise coordinate of a 5G base station; and determining the RTK differential signal according to the precise coordinates of the 5G base station and the first precise coordinates of the 5G base station.
The second aspect and the embodiment of the invention provide a positioning device which comprises an acquisition unit and a processing unit, wherein the acquisition unit is used for acquiring a first positioning signal when the processing unit determines that a GPS signal cannot be acquired, the first positioning signal comprises an azimuth angle theta of a target to be positioned relative to a 5G base station and a distance L from the target to be positioned to a drive test unit, the distance L is in inverse proportion to the signal intensity of the drive test unit detected by the target to be positioned, the target to be positioned and the drive test unit are both positioned in the coverage range of the 5G base station, each 5G base station corresponds to a first precise coordinate, each drive test unit corresponds to a second precise coordinate, and the processing unit is further used for determining the current position of the target to be positioned according to the first positioning signal acquired by the acquisition unit.
Optionally, the obtaining unit is specifically configured to, when the processing unit determines that the GPS signal cannot be obtained, obtain an azimuth angle θ of the target to be located with respect to the 5G base station at the first time1And distance L from the target to be located to the drive test unit1And the azimuth angle theta of the target to be positioned relative to the 5G base station at the second moment2And distance L from the target to be located to the drive test unit2(ii) a A processing unit, specifically configured to obtain an azimuth angle θ relative to the 5G base station according to the first time obtained by the obtaining unit1And distance L from the target to be located to the drive test unit1And azimuth angle theta of the second time relative to the 5G base station2And distance L from the target to be located to the drive test unit2And determining the current position of the target to be positioned.
Optionally, the acquiring unit is further configured to acquire a second positioning signal when the processing unit determines that the acquiring unit acquires the GPS signal; wherein the second positioning signal comprises an RTK differential signal; and the processing unit is specifically used for determining the current position of the target to be positioned according to the GPS signal and the RTK differential signal acquired by the acquisition unit.
Optionally, the obtaining unit is specifically configured to obtain a first precise coordinate of the 5G base station when the processing unit determines that the GPS signal is obtained; and the processing unit is specifically used for determining the RTK differential signal according to the precise coordinate of the 5G base station and the first precise coordinate of the 5G base station acquired by the acquisition unit.
A third aspect, an embodiment of the present invention provides a computer storage medium, which includes instructions, when executed on a computer, cause the computer to execute the positioning method according to any one of the above-mentioned first aspect.
In a fourth aspect, an embodiment of the present invention provides a positioning apparatus, including: communication interface, processor, memory, bus; the memory is used for storing computer-executable instructions, the processor is connected with the memory through the bus, and when the positioning device runs, the processor executes the computer-executable instructions stored in the memory so as to enable the positioning device to execute the positioning method provided by any one of the above first aspects.
It can be understood that any one of the positioning apparatuses provided above is used to perform the method according to the first aspect provided above, and therefore, the beneficial effects that can be achieved by the positioning apparatus refer to the method according to the first aspect and the beneficial effects of the solutions in the following detailed description, which are not described herein again.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a logic architecture diagram of a base band unit of a 5G base station in a positioning method according to an embodiment of the present invention;
fig. 2 is a diagram of a logical architecture of a 5G base station radio unit in a positioning method according to an embodiment of the present invention;
fig. 3 is a flowchart illustrating a positioning method according to an embodiment of the present invention;
fig. 4 is a second schematic flowchart of a positioning method according to an embodiment of the present invention;
fig. 5 is a third schematic flowchart of a positioning method according to an embodiment of the present invention;
fig. 6 is a positioning scene diagram in a positioning method according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of a positioning device according to an embodiment of the present invention;
fig. 8 is a second schematic structural diagram of a positioning device according to an embodiment of the present invention.
Reference numerals:
a positioning device-10;
an acquisition unit-101; a processing unit-102.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
For the convenience of clearly describing the technical solutions of the embodiments of the present invention, in the embodiments of the present invention, the words "first", "second", and the like are used for distinguishing the same items or similar items with basically the same functions and actions, and those skilled in the art can understand that the words "first", "second", and the like are not limited in number or execution order.
In the embodiments of the present invention, words such as "exemplary" or "for example" are used to mean serving as examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "e.g.," an embodiment of the present invention is not necessarily to be construed as preferred or advantageous over other embodiments or designs. Rather, use of the word "exemplary" or "such as" is intended to present concepts related in a concrete fashion.
In the description of the embodiments of the present invention, the meaning of "a plurality" means two or more unless otherwise specified. For example, a plurality of networks refers to two or more networks.
The term "and/or" herein is merely an association describing an associated object, meaning that three relationships may exist, e.g., a and/or B, may mean: a exists alone, A and B exist simultaneously, and B exists alone. The symbol "/" herein denotes a relationship in which the associated object is or, for example, a/B denotes a or B.
In practical application, for a complex road condition in actual traffic, but for a possibly complex road condition related to the field of intelligent traffic, such as high-rise buildings in a central area of a city, dense shade roads, overpasses, mountain tunnels, underground parking lots and other areas, the accuracy of a GPS positioning system is greatly influenced due to the fact that satellite signals are shielded; in extreme cases, positioning cannot be performed due to the fact that GPS signals cannot be received; in order to solve the above problems, in the positioning method according to the embodiment of the present invention, in consideration of that the coverage range of the base station is wide (the mountainous tunnels, underground parking, overpasses, dense shade streets, and high-rise buildings can be covered) by comparing with the GPS signals, the azimuth of the positioning target relative to the 5G base station is determined by using a fifth Generation mobile communication technology (full english name: 5th-Generation, abbreviated as 5G) and a large-scale antenna (Massive MIMO) of the 5G base station, and meanwhile, a Road test Unit (full name: Road Side Unit, abbreviated as RSU) is further introduced to determine the distance from the target to be positioned to the Road test Unit according to the signal strength of the Road test Unit detected by the target to be positioned, so as to determine the current position of the target to be positioned more accurately; therefore, under the condition of poor GPS signals, the current position of the target to be positioned can still be determined.
For ease of understanding, several concepts are first introduced herein, including:
in the positioning method provided by the embodiment of the invention, the 5G Base station platform comprises a baseband Unit (BBU for short) and a Radio Unit (RRU for short). The BBU logic architecture of the 5G base station is shown in FIG. 1; the RRU logic architecture of the 5G base station is shown in fig. 2. The BBU is placed in a machine room, the RRU is placed on a tower, and the BBU and the RRU are connected through optical fibers. The base band radio frequency separation enables the floor area of a machine room to be reduced, the radio frequency feeder loss is reduced, and the radio frequency coverage efficiency is improved. The BBU is responsible for centralized control and management of the whole base station system, completes the uplink and downlink baseband processing functions, provides physical interfaces with the radio frequency unit and the transmission network, and completes information interaction. According to different logic functions, the BBU may be divided into a baseband processing unit, a master control unit, a transmission interface unit, and the like, as shown in fig. 1. The main control unit mainly realizes the functions of control management, signaling processing, data exchange, system clock supply and the like of the baseband unit; the baseband processing unit is used for completing baseband protocol processing such as signal coding modulation, resource scheduling, data encapsulation and the like and providing an interface between the baseband unit and the radio frequency unit; the transmission interface unit is responsible for providing a transmission interface connected with the core network. And the RRU is communicated with the BBU through a baseband radio frequency interface to complete the conversion of the baseband signal and the radio frequency signal. The hardware architecture of the RRU is shown in fig. 2, and mainly includes an interface unit, a downlink signal processing unit, an uplink signal processing unit, a power amplifier unit, a low noise amplifier unit, a duplexer unit, and the like, which form a downlink signal processing link and an uplink signal processing link. The Interface unit provides a fronthaul Interface with the BBU, receives and transmits baseband IQ signals (wherein I (in-phase) represents in-phase, Q (quadrature) represents quadrature, and the phase difference between the I and the baseband IQ signals is 90 degrees), and adopts Common Public Radio Interface (Common Public Radio Interface, CPRI for short) protocol or wireless base station (Open base Architecture Initiative, OBSAI for short) protocol; the downlink signal processing unit completes signal processing functions such as signal up-conversion, digital-to-analog conversion, radio frequency modulation and the like; the uplink signal processing unit mainly completes the functions of signal filtering, frequency mixing, analog-to-digital conversion, down-conversion and the like; the power amplification and low noise amplification unit respectively amplifies the downlink and uplink signals; the duplexer supports the multiplexing of the transmitting and receiving signals and filters the transmitting and receiving signals.
A GPS receiver is arranged on a 5G reference station for observation, and the first accurate coordinate of the 5G base station is measured to be (L ng)5G，Lat5G). Has already been used forKnowing the precise coordinates of the 5G reference station
The distance correction from the reference station to the satellite is calculated (△L ng)5G，△Lat5G) I.e. real-time dynamic differential signals, the calculation method is shown in formula (1):
the 5G base station broadcasts Real Time Kinematic (RTK) information (△L ng) to the positioning devices within communication range5G，△Lat5G)。
In the positioning method provided by the embodiment of the invention, the positioning method is fixed on a signal lamp post, a telegraph pole and a street lamp post beside a road through a road test unit (RSU), and the precise coordinate position is known as
A single-hop communication network is established by utilizing a communication module, a drive test unit base station communicates with all targets to be positioned in a communication Range, and recognized Vehicle networking communication technologies such as Dedicated Short Range Communications (DSRC) and long Term Evolution (L TE-V) communication technologies can be adopted.
The method comprises the following steps that a road test unit (RSU) is communicated with a target to be positioned in a communication range, distance information from the target to be positioned to the RSU is obtained through the strength of a received communication signal, and the distance is set to be L. according to the positioning method provided by the embodiment of the invention, the current position of the target to be positioned can be positioned on a circle which takes the RSU as a center and L as a radius, and the current position of the target to be positioned can be determined according to the azimuth angle theta of the target to be positioned relative to a 5G base station, and the specific implementation mode is as follows:
example one
An embodiment of the present invention provides a positioning method, as shown in fig. 3 and 5, including:
and S101, when the GPS signal is determined not to be acquired, acquiring a first positioning signal, wherein the first positioning signal comprises an azimuth angle theta of the target to be positioned relative to the 5G base station and a distance L from the target to be positioned to the drive test unit, the distance L is in inverse proportion to the signal strength of the drive test unit detected by the target to be positioned, the target to be positioned and the drive test unit are both positioned in the coverage range of the 5G base station, each 5G base station corresponds to a first precise coordinate, and each drive test unit corresponds to a second precise coordinate.
It should be noted that, in practical applications, in areas such as underground parking lots, tunnels or building-dense city centers, GPS signals are poor, and real-time GPS signal reception cannot be achieved, in the absence of satellite signals, the azimuth angle θ of the target to be positioned with respect to the 5G base station can be obtained through the beam position limitation of 5 gmasseive MIMO, meanwhile, the distance L from the target to be positioned to the drive test unit can be obtained through the received signal strength of the drive test unit, the scenario diagram of the satellite-free situation is shown in fig. 3, and it is assumed that the system time of the target to be positioned is the first time t1The azimuth angle with respect to the 5G base station is theta1(angle from true north) distance to drive test unit L1(ii) a The time of a target system to be positioned is t2The azimuth angle with respect to the 5G base station is theta2Distance to drive test unit L2。
First, as shown in FIG. 6, coordinate transformation is performed to convert latitude and longitude coordinates of the 5G base station (L ng)5G，Lat5G) And latitude and longitude coordinates of 5G reference station
And converting the angular coordinate into an angular coordinate in a plane rectangular coordinate system with the drive test unit as an origin. The current position of the drive test unit in the coordinate system is (0,0), and the current position (first accurate coordinate) of the 5G base station is calculated as follows, see formula (2):
note: in the formula (2)
All are angle systems. Through the conversion of the formula (2), a first accurate coordinate (x) of the converted 5G base station is obtained5G,y5G)。
Using the current position of the 5G base station as an end point, theta1Directional ray l1The equation is expressed as shown in equation (3):
l1:x-x5G＝(y-y5G)×tanθ1equation (3);
using 5G base station position as end point, theta2Directional ray l2The equation is expressed as shown in equation (4):
l2:x-x5G＝(y-y5G)×tanθ2equation (4);
l taking the position of RSU base station as the center of circle1For a circle of radius, the equation is expressed as shown in equation (5):
l taking the position of RSU base station as the center of circle2For a circle of radius, the equation is expressed as shown in equation (6):
A1，B1theta is an end point of the current position of the 5G base station1Directional ray l1And L radius from the current position of the RSU1Is (i.e. the first time t)1The possible current position of the target to be positioned is A1Or B1) The formula (3) and the formula (5) are simultaneously solved to obtain A1And B1The current position coordinates of the vehicle.
A2，B2Theta is an end point of the current position of the 5G base station2Directional ray l2And L radius from the current position of the RSU2Is (i.e. the second time t)2To be positioned target ofThe possible current position is A2Or B2) The simultaneous formula (4) and the formula (6) are solved to obtain A2And B2The current position coordinates of the vehicle.
Calculating the first time t of the target to be positioned1To a second time t2Possible driving distances are:
knowing that the driving speed of the target to be positioned is v, the time interval between two message receptions is △ t ═ t1-t2During the message-receiving time interval, the distance traveled by the target to be located is x △ t × viThe difference value of x is the minimum absolute value, namely the target to be positioned is at t1、t2The current position corresponding to the moment. I.e. t2The current position of the target to be positioned at the moment is BiSatisfying the definition of equation (7):
when the satellite signal is not available, the current position of the 5G Massive MIMO wave beam is limited and combined with the RSU signal to perform fusion positioning on the current position of the target to be positioned.
Wherein, after adopting the beam forming technology, the 5G base station must use a plurality of beams with different directions to completely cover the cell. In a downlink process, a base station sequentially uses beams with different directions to transmit wireless signals, and the process is called Beam scanning (Beam scanning); at the same time, the user measures the wireless signals (Beam measurement) emitted by different beams and reports the related information (Beam reporting) to the base station, and the base station determines the best emitting Beam (Beam determination) aiming at the user according to the user report; therefore, the positioning device can acquire the azimuth angle θ of the target to be positioned relative to the 5G base station from the 5G base station.
And S102, determining the current position of the target to be positioned according to the first positioning signal.
Optionally, when it is determined that the GPS signal cannot be acquired, the first positioning signal is acquired,the method comprises the following steps: when the GPS signal is determined not to be acquired, acquiring the azimuth angle theta of the target to be positioned relative to the 5G base station at the first moment1And distance L from the target to be located to the drive test unit1And the azimuth angle theta of the target to be positioned relative to the 5G base station at the second moment2And distance L from the target to be located to the drive test unit2(ii) a Determining the current position of the target to be positioned according to the first positioning signal, comprising: according to the azimuth angle theta of the first time relative to the 5G base station1And distance L from the target to be located to the drive test unit1And azimuth angle theta of the second time relative to the 5G base station2And distance L from the target to be located to the drive test unit2And determining the current position of the target to be positioned.
According to the scheme, when GPS signals are poor due to the problems of high-rise buildings, magnetic field influence and the like in the urban environment, the positioning method provided by the embodiment of the invention can still determine the current position of the target to be positioned by combining the relative positions of the target to be positioned, the 5G base station and the drive test unit and by knowing the first precise coordinate of the 5G base station and the second precise coordinate of the drive test unit, so that the problem of accurately positioning an object in a complex environment is solved.
In a second embodiment, an embodiment of the present invention provides a positioning method, as shown in fig. 4 and 5, including:
s103, when the GPS signal is determined to be acquired, acquiring a second positioning signal; wherein the second positioning signal comprises an RTK differential signal.
And S104, determining the current position of the target to be positioned according to the GPS signal and the RTK differential signal.
Optionally, when determining to acquire the GPS signal, acquiring the second positioning signal includes: when the GPS signal is determined to be acquired, acquiring a first precise coordinate of a 5G base station; and determining the RTK differential signal according to the precise coordinates of the 5G base station and the first precise coordinates of the 5G base station.
It should be noted that, in most traffic scenarios in practical applications, the GPS signal received by the onboard GPS receiver is (L ng)v,Latv) The GPS information obtained by the target to be positionedAnd carrying out differential positioning on the signal and an RTK differential signal broadcasted by the 5G base station to obtain the corrected more accurate current position of the target to be positioned, wherein the differential positioning formula is as follows, and is shown in a formula (8):
according to the scheme, when the positioning device can acquire the GPS signal, in order to more accurately position the accurate position of the target to be positioned, the position information in the GPS signal can be corrected through the RTK differential signal, so that the current position of the target to be positioned can be more accurately positioned.
EXAMPLE III
An embodiment of the present invention provides a positioning device 10, as shown in fig. 7, including:
the acquiring unit 101 is configured to acquire a first positioning signal when the processing unit 102 determines that the GPS signal cannot be acquired, where the first positioning signal includes an azimuth angle θ of the target to be positioned relative to the 5G base station and a distance L from the target to be positioned to the drive test unit, the distance L is inversely proportional to the signal strength of the drive test unit detected by the target to be positioned, the target to be positioned and the drive test unit are both located within a coverage area of the 5G base station, each 5G base station corresponds to one first precise coordinate, and each drive test unit corresponds to one second precise coordinate.
The processing unit 102 is further configured to determine a current position of the target to be positioned according to the first positioning signal acquired by the acquisition unit.
Optionally, the obtaining unit 101 is specifically configured to, when the processing unit 102 determines that the GPS signal cannot be obtained, obtain an azimuth angle θ of the target to be positioned with respect to the 5G base station at the first time1And distance L from the target to be located to the drive test unit1And the azimuth angle theta of the target to be positioned relative to the 5G base station at the second moment2And distance L from the target to be located to the drive test unit2(ii) a A processing unit 102, specifically configured to obtain an azimuth angle θ relative to the 5G base station according to the first time obtained by the obtaining unit 1011And distance L from the target to be located to the drive test unit1And the second time is oppositeAzimuth theta at 5G base station2And distance L from the target to be located to the drive test unit2And determining the current position of the target to be positioned.
Optionally, the obtaining unit 101 is further configured to, when the processing unit 102 determines that the obtaining unit 101 obtains the GPS signal, obtain a second positioning signal; wherein the second positioning signal comprises an RTK differential signal; the processing unit 102 is specifically configured to determine a current position of the target to be positioned according to the GPS signal and the RTK differential signal acquired by the acquisition unit 101.
Optionally, the obtaining unit 101 is specifically configured to obtain a first precise coordinate of the 5G base station when the processing unit 102 determines that the GPS signal is obtained; the processing unit 102 is specifically configured to determine the RTK differential signal according to the precise coordinates of the 5G base station and the first precise coordinates of the 5G base station acquired by the acquisition unit 101.
All relevant contents of each step related to the above method embodiment may be referred to the functional description of the corresponding functional module, and the function thereof is not described herein again.
In the case of an integrated module, the positioning device comprises: the device comprises a storage unit, a processing unit and an acquisition unit. The processing unit is used for controlling and managing the action of the positioning device, for example, the processing unit is used for supporting the positioning device to execute the processes S101 and S102 in fig. 3; the acquisition unit is used for supporting the information interaction between the positioning device and other equipment. And the storage unit is used for storing the program codes and the data of the positioning device.
For example, the processing unit is a processor, the storage unit is a memory, and the obtaining unit is a communication interface. The positioning device shown in fig. 8 includes a communication interface 501, a processor 502, a memory 503, and a bus 504, where the communication interface 501 and the processor 502 are connected to the memory 503 through the bus 504.
The processor 502 may be a general-purpose Central Processing Unit (CPU), a microprocessor, an Application-Specific Integrated Circuit (ASIC), or one or more Integrated circuits configured to control the execution of programs in accordance with the teachings of the present disclosure.
The Memory 503 may be a Read-Only Memory (ROM) or other type of static storage device that can store static information and instructions, a Random Access Memory (RAM) or other type of dynamic storage device that can store information and instructions, an electrically erasable Programmable Read-Only Memory (EEPROM), a Compact Disc Read-Only Memory (CD-ROM) or other optical Disc storage, optical Disc storage (including Compact Disc, laser Disc, optical Disc, digital versatile Disc, blu-ray Disc, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer, but is not limited to these. The memory may be self-contained and coupled to the processor via a bus. The memory may also be integral to the processor.
The memory 503 is used for storing application program codes for executing the scheme of the application, and the processor 502 controls the execution. The communication interface 501 is used for information interaction with other devices, such as a remote controller. The processor 502 is configured to execute application program code stored in the memory 503 to implement the methods described in the embodiments of the present application.
Further, a computing storage medium (or media) is also provided, comprising instructions which, when executed, perform the method operations performed by the positioning apparatus in the above embodiments. Additionally, a computer program product is also provided, comprising the above-described computing storage medium (or media).
It should be understood that, in various embodiments of the present invention, the sequence numbers of the above-mentioned processes do not mean the execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus, and method may be implemented in other ways. For example, the above-described device embodiments are merely illustrative, and for example, the division of the units is only one logical functional division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U disk, a removable hard disk, a read-only memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
It can be understood that any one of the positioning devices provided above is used to execute a corresponding method of the embodiments provided above, and therefore, the beneficial effects that can be achieved by the positioning device can refer to the beneficial effects of the method of the first embodiment above and the corresponding scheme in the following detailed description, and are not described again here.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (8)
1. A method of positioning, comprising:
the method comprises the steps of obtaining a first positioning signal when a GPS signal is determined not to be obtained, wherein the first positioning signal comprises an azimuth angle theta of a target to be positioned relative to a 5G base station and a distance L from the target to be positioned to a drive test unit, the distance L is in inverse proportion to the signal strength of the drive test unit detected by the target to be positioned, the target to be positioned and the drive test unit are both positioned in the coverage range of the 5G base station, each 5G base station corresponds to a first precise coordinate, and each drive test unit corresponds to a second precise coordinate;
determining the current position of the target to be positioned according to the first positioning signal;
when determining that the GPS signal can not be obtained, obtaining a first positioning signal, comprising:
when the GPS signal is determined not to be acquired, acquiring the azimuth angle theta of the target to be positioned relative to the 5G base station at the first moment1And the distance L from the target to be positioned to the drive test unit1And the azimuth angle theta of the target to be positioned relative to the 5G base station at the second moment2And the distance L from the target to be positioned to the drive test unit2；
Determining the current position of the target to be positioned according to the first positioning signal, including:
according to the azimuth angle theta of the first time relative to the 5G base station1And the distance L from the target to be positioned to the drive test unit1And the azimuth angle theta of the second time relative to the 5G base station2And the distance L from the target to be positioned to the drive test unit2And determining the current position of the target to be positioned.
2. The method of claim 1, further comprising:
when the GPS signal is determined to be acquired, acquiring a second positioning signal; wherein the second positioning signal comprises an RTK differential signal;
and determining the current position of the target to be positioned according to the GPS signal and the RTK differential signal.
3. The method according to claim 2, wherein said determining to acquire the second positioning signal when acquiring the GPS signal comprises:
when the GPS signal is determined to be acquired, acquiring a first precise coordinate of the 5G base station;
and determining the RTK differential signal according to the precise coordinate of the 5G base station and the first precise coordinate of the 5G base station.
4. A positioning device, comprising:
the system comprises a processing unit, an acquisition unit and a control unit, wherein the processing unit is used for acquiring a first positioning signal when determining that a GPS signal cannot be acquired, the first positioning signal comprises an azimuth angle theta of a target to be positioned relative to a 5G base station and a distance L from the target to be positioned to a drive test unit, the distance L is in inverse proportion to the signal intensity of the drive test unit detected by the target to be positioned, the target to be positioned and the drive test unit are both positioned in the coverage range of the 5G base station, each 5G base station corresponds to a first precise coordinate, and each drive test unit corresponds to a second precise coordinate;
the processing unit is further configured to determine a current position of the target to be positioned according to the first positioning signal acquired by the acquisition unit;
the acquiring unit is specifically configured to, when the processing unit determines that the GPS signal cannot be acquired, acquire an azimuth angle θ of the target to be positioned with respect to the 5G base station at the first time1And the distance L from the target to be positioned to the drive test unit1And the azimuth angle theta of the target to be positioned relative to the 5G base station at the second moment2And the distance L from the target to be positioned to the drive test unit2；
The processing unit is specifically configured to obtain an azimuth angle θ of the first time relative to the 5G base station according to the obtained azimuth angle θ1And the distance L from the target to be positioned to the drive test unit1And the azimuth angle theta of the second time relative to the 5G base station2And the distance L from the target to be positioned to the drive test unit2And determining the current position of the target to be positioned.
5. The positioning apparatus according to claim 4, wherein the acquiring unit is further configured to acquire a second positioning signal when the processing unit determines that the acquiring unit acquires the GPS signal; wherein the second positioning signal comprises an RTK differential signal;
the processing unit is specifically configured to determine a current position of the target to be positioned according to the GPS signal and the RTK differential signal acquired by the acquisition unit.
6. The positioning apparatus according to claim 4, wherein the obtaining unit is specifically configured to obtain the first precise coordinate of the 5G base station when the processing unit determines that the GPS signal is obtained;
the processing unit is specifically configured to determine an RTK differential signal according to the precise coordinate of the 5G base station and the first precise coordinate of the 5G base station acquired by the acquiring unit.
7. A computer storage medium comprising instructions which, when run on a computer, cause the computer to perform the positioning method according to any one of claims 1-3.
8. A positioning device, comprising: communication interface, processor, memory, bus; the memory is used for storing computer-executable instructions, the processor is connected with the memory through the bus, and when the positioning device runs, the processor executes the computer-executable instructions stored in the memory so as to enable the positioning device to execute the positioning method according to any one of the claims 1-3.
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| CN114667550A (en) * | 2019-11-18 | 2022-06-24 | 邱海燕 | Parking lot guiding method |
| CN113329324B (en) * | 2020-02-28 | 2023-04-04 | 华为技术有限公司 | Communication method and related equipment |
| CN113365206A (en) * | 2020-03-04 | 2021-09-07 | 北京沃东天骏信息技术有限公司 | Method and device for determining terminal position |
| CN111596673A (en) * | 2020-07-27 | 2020-08-28 | 江苏广宇科技产业发展有限公司 | Smart driving cloud auxiliary system based on 5G |
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| CN1744763A (en) * | 2005-09-30 | 2006-03-08 | 上海贝豪通讯电子有限公司 | Combined positioning-method in TD-SCDMA and WIFI system |
| US20080261623A1 (en) * | 2007-04-18 | 2008-10-23 | Kamran Etemad | Techniques to enhance location estimation in an ofdma based system |
| CN101400103B (en) * | 2007-09-28 | 2011-08-03 | 大唐移动通信设备有限公司 | Method, system and device for positioning mobile terminal |
| CN101631349B (en) * | 2008-07-14 | 2011-08-31 | 中国移动通信集团设计院有限公司 | Method, device and wireless operation maintenance center for positioning terminal |
| US9491651B2 (en) * | 2012-10-01 | 2016-11-08 | Telefonaktiebolaget Lm Ericsson (Publ) | Adjusting measurement requirements for parallel uplink wireless signal measurements |
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| CN107798861B (en) * | 2017-11-30 | 2021-03-02 | 湖北汽车工业学院 | Vehicle cooperative formation driving method and system |
| CN108594172B (en) * | 2018-04-08 | 2022-06-14 | 深圳市盛路物联通讯技术有限公司 | Method, storage medium, system and central processing unit for radio frequency signal distance measurement |
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