CN109587632B - Positioning method and device - Google Patents
Positioning method and device Download PDFInfo
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- CN109587632B CN109587632B CN201910007851.1A CN201910007851A CN109587632B CN 109587632 B CN109587632 B CN 109587632B CN 201910007851 A CN201910007851 A CN 201910007851A CN 109587632 B CN109587632 B CN 109587632B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W56/00—Synchronisation arrangements
- H04W56/001—Synchronization between nodes
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
Abstract
The invention provides a positioning method and a positioning device, which relate to the technical field of space positioning, and record the positioning time of each positioning base station for receiving positioning signals when monitoring and receiving the positioning signals sent by positioning labels; searching the pre-stored synchronous signal time of each positioning base station; according to the positioning time and the synchronizing signal time, the position information of the positioning label is calculated, the position calculation of the positioning label is carried out among a plurality of positioning base stations by utilizing the positioning time and the synchronizing signal time, the synchronization with the time of the positioning label is not needed, the positioning label is positioned together through the plurality of positioning base stations, and the accuracy of the position information of the positioning label is ensured.
Description
Technical Field
The present invention relates to the field of spatial positioning technologies, and in particular, to a positioning method and apparatus.
Background
Along with the development of society, people demand for positioning services is also higher and higher, traditional GPS (Global Positioning System ) positioning services cannot meet the indoor positioning demands, and the problem of low precision exists, at present, the research of an indoor positioning method becomes a popular research field, and at present, widely adopted indoor positioning technologies such as Bluetooth wifi and the like still cannot meet the demands of people for precision although the technologies have the advantages of low cost and easy popularization.
The existing indoor positioning method is provided with a main base station and a plurality of auxiliary base stations which are in communication connection with the main base station, and under the condition that communication is blocked by steel plates and the like in a three-dimensional space, the traditional positioning method cannot find a proper position of the main base station and keeps good communication relation with all the auxiliary base stations, so that the problem that positioning accuracy is not high or positioning dead angles exist inevitably in the three-dimensional space is caused, and the application range of the traditional positioning method is influenced.
Disclosure of Invention
In view of the above, the present invention aims to provide a positioning method and a positioning device, so as to solve the technical problems of dead angle or inaccurate positioning in the conventional positioning method.
In a first aspect, an embodiment of the present invention provides a positioning method, where the method is applied to a positioning server, and the positioning server is connected to a plurality of positioning base stations, and the method includes: monitoring whether a positioning signal sent by a positioning label is received or not; if yes, recording the positioning time of each positioning base station for receiving the positioning signals; searching a prestored synchronous signal time of each positioning base station; and calculating the position information of the positioning tag according to the positioning time and the synchronous signal time.
With reference to the first aspect, an embodiment of the present invention provides a first possible implementation manner of the first aspect, where the positioning base station includes a plurality of master base stations, and a plurality of slave base stations connected to each master base station; each main base station and a plurality of slave base stations connected with the main base stations are distributed in a designated positioning area, and the main base stations of the plurality of positioning areas are in communication connection; the method further comprises the steps of: randomly selecting one of the main base stations to mark as a reference main base station; and sending a first synchronization signal to other main base stations through the reference main base station according to a preset first synchronization period, and synchronizing each main base station.
With reference to the first possible implementation manner of the first aspect, the embodiment of the present invention provides a second possible implementation manner of the first aspect, where the method further includes: and transmitting second synchronizing signals to a plurality of slave base stations connected with the master base station through the master base station according to a preset second synchronizing period, and synchronizing each slave base station in the designated area.
With reference to the first possible implementation manner of the first aspect, an embodiment of the present invention provides a third possible implementation manner of the first aspect, wherein the step of calculating the location information of the location tag according to the location time and the synchronization signal time includes:
calculating the distance difference between the positioning label and each slave base station and the master base station connected with the slave base station according to the positioning time and the synchronous signal time;
the distance difference is marked as position information of the positioning tag in the positioning area.
With reference to the first possible implementation manner of the first aspect, the embodiment of the present invention provides a fourth possible implementation manner of the first aspect, wherein if the transmission delay of each primary base station is τ t The receiving time delay is tau r The step of calculating the position information of the positioning tag according to the positioning time and the synchronous signal time comprises the following steps:
calculating the time delay distance difference of the positioning label to each slave base station and the master base station connected with the slave base station according to the positioning time and the synchronous signal time;
the time delay distance difference is marked as the position information of the positioning label in the positioning area.
With reference to the third possible implementation manner or the fourth possible implementation manner of the first aspect, the embodiment of the present invention provides a fifth possible implementation manner of the first aspect, where the method further includes: and carrying out coordinate transformation on the position information of the positioning label in the positioning area so as to calculate the absolute position information of the positioning label.
In a second aspect, an embodiment of the present invention further provides a positioning device, where the positioning device is applied to a positioning server, and the positioning server is connected to a plurality of positioning base stations, and the device includes: the monitoring module is used for monitoring whether a positioning signal sent by the positioning tag is received or not; the recording module is used for recording the positioning time of each positioning base station for receiving the positioning signals if the monitoring module monitors that the positioning signals sent by the positioning labels are received; the searching module is used for searching the prestored synchronous signal time of each positioning base station; and the calculating module is used for calculating the position information of the positioning tag according to the positioning time and the synchronous signal time.
With reference to the second aspect, an embodiment of the present invention provides a first possible implementation manner of the second aspect, where the positioning base station includes a plurality of master base stations, and a plurality of slave base stations connected to each master base station; each main base station and a plurality of slave base stations connected with the main base stations are distributed in a designated positioning area, and the main base stations of the plurality of positioning areas are in communication connection; the apparatus further comprises: the selecting module is used for randomly selecting one of the main base stations to mark as a reference main base station; and the first synchronization module is used for transmitting a first synchronization signal to other main base stations through the reference main base station according to a preset first synchronization period and synchronizing each main base station.
With reference to the first possible implementation manner of the second aspect, an embodiment of the present invention provides a second possible implementation manner of the second aspect, where the apparatus further includes: and the second synchronization module is used for transmitting second synchronization signals to a plurality of slave base stations connected with the master base station according to a preset second synchronization period by the master base station and synchronizing each slave base station in the designated area.
With reference to the first possible implementation manner of the second aspect, an embodiment of the present invention provides a third possible implementation manner of the second aspect, where the apparatus further includes: and the conversion module is used for carrying out coordinate conversion on the position information of the positioning label in the positioning area so as to calculate the absolute position information of the positioning label.
The embodiment of the invention has the following beneficial effects:
the embodiment of the invention provides a positioning method and a positioning device, which are applied to a positioning server, wherein the positioning server is connected with a plurality of positioning base stations, and the positioning time of each positioning base station for receiving positioning signals is recorded when the positioning signals sent by positioning labels are monitored; searching a prestored synchronous signal time of each positioning base station; and calculating the position information of the positioning tag according to the positioning time and the synchronous signal time. And the positioning label is positioned through the plurality of positioning base stations together without synchronizing the time of the positioning label by utilizing the positioning time and the synchronizing signal time, so that the accuracy of the position information of the positioning label is ensured.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and drawings.
In order to make the above objects, features and advantages of the present invention more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the description below are some embodiments of the invention and that other drawings may be obtained from these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flowchart of a positioning method according to an embodiment of the present invention;
fig. 2 is a schematic layout azimuth diagram of a positioning base station according to an embodiment of the present invention;
FIG. 3 is a signal flow diagram according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a positioning device according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of another positioning device according to an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The existing positioning method can not accurately position the positioning label in the three-dimensional space, and based on the positioning method and the positioning device, the positioning label can be accurately positioned.
For the sake of understanding the present embodiment, a positioning method disclosed in the present embodiment is first described in detail.
Embodiment one:
the embodiment of the invention provides a positioning method, such as a flow chart of the positioning method shown in fig. 1, the method is applied to a positioning server, the positioning server is connected with a plurality of positioning base stations, and the method comprises the following steps:
s102, monitoring whether a positioning signal sent by a positioning label is received or not;
s104, if yes, recording the positioning time of each positioning base station for receiving the positioning signals;
s106, searching the pre-stored synchronous signal time of each positioning base station;
s108, calculating positioning label position information according to the positioning time and the synchronous signal time.
In a specific implementation, positioning communication is usually performed between a positioning tag and a plurality of positioning base stations, and between a positioning base station and a positioning server by using an Ultra Wideband (UWB) communication mode, where the positioning tag generally includes hardware equipment that needs to be positioned, for example, an intelligent chest card worn by a worker, an intelligent helmet positioning module, a mobile equipment positioning module, etc., and the specific communication mode and the type of the specific positioning tag can be set according to actual situations, which is not limited by the embodiment of the present invention.
The embodiment of the invention provides a positioning method which is applied to a positioning server, wherein the positioning server is connected with a plurality of positioning base stations, and the positioning time of each positioning base station for receiving positioning signals is recorded when the positioning signals sent by positioning labels are monitored; searching a prestored synchronous signal time of each positioning base station; and calculating the position information of the positioning tag according to the positioning time and the synchronous signal time. And the positioning label is positioned through the plurality of positioning base stations together without synchronizing the time of the positioning label by utilizing the positioning time and the synchronizing signal time, so that the accuracy of the position information of the positioning label is ensured.
The positioning method is generally applied to a working building of a petrochemical device, the working building is generally a three-dimensional building, and in order to ensure that positioning labels can be accurately positioned on different building layers of the working building, base stations of the three-dimensional building are required to be arranged. In order to avoid the problem that building shielding exists among different layers of a three-dimensional building, the positioning base stations among different building layers cannot be smoothly communicated. Based on the above, in the working building to be positioned, a plurality of positioning base stations are set, wherein the positioning base stations comprise a plurality of master base stations and a plurality of slave base stations connected with each master base station; each master base station and a plurality of slave base stations connected with the master base station are distributed in a designated positioning area, and the master base stations of the plurality of positioning areas are in communication connection.
Generally, since a working building is a three-dimensional building and includes a plurality of building layers, the division principle of a designated positioning area is generally to divide each building layer into one positioning area, and one three-dimensional building area includes at least one positioning area. For ease of illustration, fig. 2 shows a layout orientation diagram of a positioning base station. Specifically, the three-dimensional stereo area is divided into two positioning areas, each of which includes a master base station and three slave base stations, such as a master base station M0, a master base station M4, slave base stations S1, S2 and S3 communicatively connected to M0, and slave base stations S5, S6 and S7 communicatively connected to M4 shown in fig. 2. The dividing principle of the specific positioning area, and the specific layout and naming principles of the master base station and the slave base stations in the positioning area can be set according to actual conditions.
Since each positioning base station has its own operation time axis, when the positioning base station uses the TDOA (Time difference of Arrival, signal arrival time difference) algorithm to locate the positioning tag, the time of each positioning base station needs to be kept synchronous. The time of one reference base station needs to be set as the reference base station, and as the problem that normal communication cannot be performed between the slave base stations in different positioning areas exists, the time synchronization between the positioning base stations is usually performed in a step-by-step synchronization mode, namely, the time synchronization between the master base stations in different positioning areas is ensured, and then the master base station is utilized to perform the time synchronization on the slave base stations in the same positioning area.
Based on this, the method further comprises:
(1) Randomly selecting one of the main base stations to mark as a reference main base station;
(2) And sending a first synchronization signal to other main base stations through the reference main base station according to a preset first synchronization period, and synchronizing each main base station.
In the process of time synchronization between the master base stations, the master base station also needs to synchronize the slave base stations in the same positioning area. Specifically, the method further comprises:
and transmitting second synchronizing signals to a plurality of slave base stations connected with the master base station through the master base station according to a preset second synchronizing period, and synchronizing each slave base station in the designated area.
In particular, fig. 3 shows a signal flow diagram based on the layout orientation of the positioning base station shown in fig. 2. Wherein M0 is a reference master base station, and the time axis of each positioning base station is a time axis of the base station and is not related to other positioning base stations.
On the time axis of operation of the master base station, the solid black frame represents that the master base station transmits a second synchronization signal to the slave base station according to a preset second synchronization period: the signal of the second synchronization signal sent by M0 flows to the short-dashed line portion as shown in fig. 3; the signal of the second synchronization signal sent out by M4 flows to the long-dashed line portion as shown in fig. 3.
On the time axis on which each positioning base station runs by itself, the grid frame represents the synchronization signal time of receiving the second synchronization signal from the base station;
to ensure time synchronization of all positioning base stations, the first synchronization signal sent by the reference master base station is usually sent together with the second synchronization signal, as shown in fig. 3, the first synchronization signal sent by M0 to M4; the synchronization signal time at which M4 receives the first synchronization signal is also represented by a grid box.
Specifically, time synchronization between the positioning base stations is generally performed in a star-type synchronization manner, the period duration of the first synchronization period and the second synchronization period is generally set to 100ms, the specific synchronization manner and the specific period duration are set according to actual situations, and the embodiment of the invention is not limited thereto.
In addition, the positioning tag represented by the blank box in fig. 3 emits a positioning signal, and the signal of the positioning tag emitting the positioning signal flows to the solid line portion as shown in fig. 3. On a time axis operated by the plurality of positioning base stations, the diagonal line boxes represent positioning time corresponding to the time when each positioning base station receives the positioning signals.
It should be noted that, in order to ensure the integrity of the signals and prevent the loss in the signal communication process, the first synchronization signal and the second synchronization signal may generally be predetermined signal contents, and may further include a time signal of a signal sender, that is, a time signal of the master base station, where the first synchronization signal and the second synchronization signal are only used to trigger the master base station or the slave base station to pre-store the self time when receiving the first synchronization signal and the second synchronization signal, and the pre-stored self time is the synchronization signal time. The positioning signal may be a predetermined positioning content, and may further include a time signal of the positioning tag, where the positioning signal is mainly used to trigger the positioning base station to record the time when the positioning signal is received, i.e. the positioning time. The contents of the first synchronization signal, the second synchronization signal, and the positioning signal may be set according to actual situations, which is not limited in the embodiment of the present invention.
Further, when the positioning tag transmits the positioning signal, the step of calculating the position information of the positioning tag according to the positioning time and the synchronization signal time includes:
calculating the distance difference between each positioning label and a master base station connected with the slave base station according to the positioning time and the synchronous signal time, wherein the calculation formula of the distance difference is as follows:
taking a three-dimensional building as an example, wherein the three-dimensional building only comprises two positioning areas, each positioning area comprises n-1 slave base stations, the reference master base station is marked as 0, and the marks of the slave base stations in the same positioning area corresponding to 0 are sequentially increased, such as 1,2 … n-1; the main base station identification of the other layer is n, and the identifications of the slave base stations in the same positioning area corresponding to n are sequentially increased, such as n+1, n+2 … n-1; r is R i0 、R in The distance difference between the i-th slave base station and the master base stations identified as 0 and n, respectively, for the positioning tag; c is the speed of light; t is t i0 、t in The time difference, t, between the reception of the positioning time by the ith slave base station and the reception of the second synchronization signal by the ith slave base station by the master base station identified as 0 and n, respectively 0 、t n The time difference between the receiving positioning time of the main base station and the sending of the second synchronous signal by the main base station is respectively marked as 0 and n; d, d i0 、d n0 Straight line distances between the ith slave base station and the master base stations identified as 0 and n, respectively, where d i0 、d n0 Is a pre-measured distance parameter.
The distance difference is marked as position information of the positioning tag in the positioning area.
Specifically, taking the layout azimuth schematic diagram of the positioning base station shown in fig. 2 and the signal flow diagram shown in fig. 3 as examples, the calculation formula of the distance difference is as follows:
because the main base station transmits the first synchronous signal and the second synchronous signal under the internal central processing unit, a certain time delay exists when the first synchronous signal and the second synchronous signal are formally transmitted through the antenna, the time delay is the transmission delay of the main base station, and similarly, when the positioning base station receives the first synchronous signal or the second synchronous signal from the antenna and the positioning signal, a certain time delay exists in the process of transmitting the signal to the central processing unit in the positioning base station, and the time delay is the receiving delay of the positioning base station. For the plurality of positioning base stations, the types and the models of the positioning base stations are generally the same, so that the transmission time delays of the plurality of positioning base stations are the same, the reception time delays of the plurality of positioning base stations are the same, and in order to ensure the positioning accuracy of the positioning method, time compensation needs to be performed on the transmission time delays and the reception time delays of the positioning base stations, and the method further comprises:
if the transmission delay of each main base station is tau t The receiving time delay is tau r The step of calculating the position information of the positioning tag according to the positioning time and the synchronous signal time comprises the following steps:
calculating the time delay distance difference of the positioning label to each slave base station and the master base station connected with the slave base station according to the positioning time and the synchronous signal time, wherein the calculation formula of the time delay distance difference is as follows:
the time delay distance difference is marked as the position information of the positioning label in the positioning area.
Because the distance difference calculated by the positioning server according to the positioning time and the synchronization signal time is the relative position of the positioning label relative to the positioning area and is not the absolute position of the positioning label, the method further comprises the following steps:
and carrying out coordinate transformation on the position information of the positioning label in the positioning area so as to calculate the absolute position information of the positioning label.
In specific implementation, the actual position coordinates of the positioning base station are usually pre-known position parameters, and the absolute position signals of the positioning tag can be calculated according to the actual position coordinates of the positioning base station by utilizing the principle of coordinate conversion, and the absolute position signals usually comprise longitude and latitude information of the positioning tag.
In summary, the embodiment of the invention has the following beneficial effects:
(1) The main base stations are set in different areas, and the main base stations in different areas are in communication connection, so that the smoothness of communication among the positioning base stations in the three-dimensional space is ensured, the time synchronization of a plurality of positioning base stations is ensured, and the positioning accuracy is ensured.
(2) And the time compensation is carried out by adopting the transmitting time delay and the receiving time delay, so that the positioning accuracy is further improved.
(3) In the process of calculating the distance difference, the method can synchronously complete the time synchronization among a plurality of positioning base stations, thereby ensuring the premise that the positioning method requires the time synchronization of the plurality of positioning base stations.
Embodiment two:
corresponding to the method provided in the foregoing embodiment, the embodiment of the present invention further provides a positioning device, and referring to a schematic structural diagram of a positioning device shown in fig. 4, the device is applied to a positioning server, where the positioning server is connected to a plurality of positioning base stations, and the device includes the following modules:
a monitoring module 402, configured to monitor whether a positioning signal sent by a positioning tag is received;
a recording module 404, configured to record a positioning time of each positioning base station receiving the positioning signal if the monitoring module monitors that the positioning signal sent by the positioning tag is received;
a searching module 406, configured to search for a pre-stored synchronization signal time of each positioning base station;
a calculating module 408, configured to calculate positioning tag position information according to the positioning time and the synchronization signal time.
In order to avoid the problem that building shielding exists among different layers of a three-dimensional building, the positioning base stations among different building layers cannot be smoothly communicated. Based on the above, in the working building to be positioned, a plurality of positioning base stations are set, wherein each positioning base station comprises a plurality of master base stations and a plurality of slave base stations connected with each master base station; each main base station and a plurality of slave base stations connected with the main base stations are distributed in a designated positioning area, and the main base stations of the plurality of positioning areas are in communication connection;
generally, since a working building is a three-dimensional building and includes a plurality of building layers, the division principle of a designated positioning area is generally to divide each building layer into one positioning area, and one three-dimensional building area includes at least one positioning area. Thus, on the basis of one positioning device shown in fig. 4, another positioning system is provided according to an embodiment of the present invention, and the other positioning device shown in fig. 5 is a schematic structural diagram.
The apparatus further comprises: a selecting module 502, configured to randomly select one of the main base stations to be marked as a reference main base station;
in order to ensure time synchronization of the plurality of positioning base stations, the apparatus further comprises:
the first synchronization module 504 is configured to send a first synchronization signal to other master base stations through the reference master base station according to a preset first synchronization period, and perform synchronization on each master base station.
And a second synchronization module 506, configured to synchronize each slave base station in the designated area by sending, by the master base station, a second synchronization signal to a plurality of slave base stations connected to the master base station according to a second synchronization period set in advance.
Because the distance difference calculated by the positioning server according to the positioning time and the synchronization signal time is the relative position of the positioning label relative to the positioning area, and is not the absolute position of the positioning label, the device further comprises: the conversion module 508 is configured to coordinate-convert the position information of the positioning tag in the positioning area to calculate absolute position information of the positioning tag.
The positioning device provided by the embodiment of the invention has the same technical characteristics as the positioning method provided by the embodiment, so that the same technical problems can be solved, and the same technical effects can be achieved.
The computer program product of the positioning device provided by the embodiment of the present invention includes a computer readable storage medium storing program codes, where the instructions included in the program codes may be used to execute the method described in the foregoing method embodiment, and specific implementation may refer to the method embodiment and will not be described herein.
It will be clear to those skilled in the art that, for convenience and brevity of description, reference may be made to the corresponding process in the foregoing method embodiment for the specific working process of the apparatus described above, which is not described herein again.
Finally, it should be noted that:
the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of methods, apparatus and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In the several embodiments provided in this application, it should be understood that the disclosed methods and apparatus may be implemented in other ways. The above-described apparatus embodiments are merely illustrative, for example, the division of the units is merely a logical function division, and there may be other manners of division in actual implementation, and for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some communication interface, device or unit indirect coupling or communication connection, which may be in electrical, mechanical or other form.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in 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 this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform 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, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The above examples are only specific embodiments of the present invention for illustrating the technical solution of the present invention, but not for limiting the scope of the present invention, and although the present invention has been described in detail with reference to the foregoing examples, it will be understood by those skilled in the art that the present invention is not limited thereto: any person skilled in the art may modify or easily conceive of the technical solution described in the foregoing embodiments, or perform equivalent substitution of some of the technical features, while remaining within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention, and are intended to be included in the scope of the present invention. Therefore, the protection scope of the invention is subject to the protection scope of the claims.
Claims (5)
1. A positioning method, wherein the method is applied to a positioning server, the positioning server being connected to a plurality of positioning base stations, the method comprising:
monitoring whether a positioning signal sent by a positioning label is received or not;
if yes, recording the positioning time of each positioning base station for receiving the positioning signals;
searching a prestored synchronization signal time of each positioning base station;
calculating the position information of the positioning tag according to the positioning time and the synchronous signal time; calculating the position information of the positioning tag by using a signal arrival time difference TDOA algorithm;
the positioning base station comprises a plurality of master base stations and a plurality of slave base stations connected with each master base station;
each master base station and a plurality of slave base stations connected with the master base station are distributed in a designated positioning area, and the master base stations of a plurality of positioning areas are in communication connection;
the method further comprises the steps of:
randomly selecting one of the main base stations to mark as a reference main base station;
transmitting a first synchronization signal to other main base stations through the reference main base station according to a preset first synchronization period, and synchronizing each main base station;
the method further comprises the steps of:
transmitting a second synchronization signal to a plurality of slave base stations connected with the master base station through the master base station according to a preset second synchronization period, and synchronizing each slave base station in a designated area;
if the transmission delay of each main base station is tau t The receiving time delay is tau r The step of calculating the position information of the positioning tag according to the positioning time and the synchronization signal time comprises the following steps:
calculating the time delay distance difference of the positioning label to each slave base station and the master base station connected with the slave base station according to the positioning time and the synchronous signal time; the calculation formula of the delay distance difference is as follows:
wherein R is i0 Distance difference between the i-th slave base station and the master base station identified as 0, R n0 For locating the linear distance difference between the tag and the master base station identified as 0 and n; c is the speed of light; t is t i0 、t in The time difference, t, between the reception of the positioning time by the ith slave base station and the reception of the second synchronization signal by the ith slave base station by the master base station identified as 0 and n, respectively n0 Receiving a second synchronization signal time difference, t, sent by a master base station identified as 0 and n for the positioning tag 0 、t n The time difference between the receiving positioning time of the main base station and the sending of the second synchronous signal by the main base station is respectively marked as 0 and n; d, d i0 、d n0 The linear distance between the ith and nth slave base stations, respectively, and the master base station identified as 0, where d i0 、d n0 For the pre-measured distance parameter, the transmission delay of each main base station is tau t The receiving time delay is tau r ；
And marking the time delay distance difference as the position information of the positioning label in the positioning area.
2. The method of claim 1, wherein the step of calculating location information of the location tag based on the location time and the synchronization signal time comprises:
calculating the distance difference between the positioning label and each slave base station and the master base station connected with the slave base station according to the positioning time and the synchronous signal time;
and marking the distance difference as the position information of the positioning label in the positioning area.
3. The method according to claim 1 or 2, characterized in that the method further comprises:
and carrying out coordinate transformation on the position information of the positioning label in the positioning area so as to calculate the absolute position information of the positioning label.
4. A positioning device, comprising: the apparatus is applied to a positioning server, the positioning server is connected with a plurality of positioning base stations, and the apparatus comprises:
the monitoring module is used for monitoring whether a positioning signal sent by the positioning tag is received or not;
the recording module is used for recording the positioning time of each positioning base station for receiving the positioning signals if the monitoring module monitors that the positioning signals sent by the positioning labels are received;
the searching module is used for searching the prestored synchronous signal time of each positioning base station;
the calculating module is used for calculating the position information of the positioning tag according to the positioning time and the synchronous signal time;
the positioning base station comprises a plurality of master base stations and a plurality of slave base stations connected with each master base station;
each master base station and a plurality of slave base stations connected with the master base station are distributed in a designated positioning area, and the master base stations of a plurality of positioning areas are in communication connection;
the apparatus further comprises:
the selecting module is used for randomly selecting one of the main base stations to mark as a reference main base station;
the first synchronization module is used for sending a first synchronization signal to other main base stations through the reference main base station according to a preset first synchronization period, and synchronizing each main base station;
the apparatus further comprises:
a second synchronization module, configured to send, by the master base station, a second synchronization signal to a plurality of slave base stations connected to the master base station according to a second synchronization period set in advance, and synchronize each slave base station in a designated area;
the positioning method of the device further comprises the following steps: the calculation formula of the delay distance difference is as follows:
wherein R is i0 To locate the distance difference between the tag to the ith slave base station and the master base station identified as 0, R n0 For locating the linear distance difference between the tag and the master base station identified as 0 and n; c is the speed of light; t is t i0 、t in The time difference, t, between the reception of the positioning time by the ith slave base station and the reception of the second synchronization signal by the ith slave base station by the master base station identified as 0 and n, respectively n0 Receiving a second synchronization signal time difference, t, sent by a master base station identified as 0 and n for the positioning tag 0 、t n The time difference between the receiving positioning time of the main base station and the sending of the second synchronous signal by the main base station is respectively marked as 0 and n; d, d i0 、d n0 The linear distance between the ith and nth slave base stations, respectively, and the master base station identified as 0, where d i0 、d n0 For the pre-measured distance parameter, the transmission delay of each main base station is tau t The receiving time delay is tau r 。
5. The apparatus of claim 4, wherein the apparatus further comprises:
and the conversion module is used for carrying out coordinate conversion on the position information of the positioning label in the positioning area so as to calculate the absolute position information of the positioning label.
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| CN114222362B (en) * | 2021-12-15 | 2024-03-15 | 武汉乾阳智能科技有限公司 | Positioning method and positioning device |
| CN114268899B (en) * | 2021-12-21 | 2022-10-28 | 中国科学技术大学 | Self-calibration method for base station of audio indoor positioning system |
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