CN109922426B - Planar two-dimensional base station positioning method and device - Google Patents
Planar two-dimensional base station positioning method and device Download PDFInfo
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Abstract
The disclosure provides a planar two-dimensional base station positioning method and device. The method comprises the following steps: receiving a positioning request signal sent by a positioning terminal and acquiring current clock information T1The positioning request signal carries clock information T when the positioning terminal sends the positioning request signal2Receiving the positioning reply signal sent by the main positioning base station and obtaining the current clock information T3The positioning reply signal carries the clock information T when the main positioning base station receives the positioning request signal4Clock information T when sending positioning reply signal5Receiving positioning confirmation signal sent by positioning terminal and obtaining current clock information T6The positioning confirmation signal carries the clock information T when the positioning terminal receives the positioning reply signal7Acquiring clock information T when the main positioning base station receives the positioning confirmation signal8Based on T1、T2、T3、T4、T5、T6、T7And T8Determining the distance R from the positioning terminal to the main positioning base station0And the distance R from the positioning terminal to the slave positioning base station1Based on R0And R1The position of the positioning terminal is determined, and the complexity and the cost of planar two-dimensional positioning are reduced.
Description
Technical Field
The present disclosure relates to the field of positioning technologies, and in particular, to a method and an apparatus for positioning a planar two-dimensional base station.
Background
With the development of scientific technology, the application of positioning technology is more and more extensive, and great convenience is brought to the life of users. The positioning of a base station is an important positioning method, and can position a positioning terminal in a radio coverage area.
In the prior art, when performing planar two-dimensional positioning, TOA (Time Of Arrival) is a positioning method based on a reverse link, and may measure propagation times Of signals Of a positioning terminal to reach a plurality Of positioning base stations, and then convert the propagation times into distances, thereby determining a location Of the positioning terminal.
However, when positioning is performed through TOA, at least 3 positioning base stations are required to complete planar two-dimensional positioning, so that the power supply and power supply network environment required by planar two-dimensional positioning is complex, and the costs of erection, use and maintenance are high.
Disclosure of Invention
The present disclosure aims to provide a method and an apparatus for positioning a planar two-dimensional base station, so as to reduce the complexity of power supply and network supply required by planar two-dimensional positioning and reduce the cost.
In order to achieve the above purpose, the technical scheme adopted by the disclosure is as follows:
in a first aspect, the present disclosure provides a planar two-dimensional base station positioning method, applied to a slave positioning base station, the method including:
receiving a positioning request signal sent by a positioning terminal and acquiring current clock information T1The positioning request signal carries clock information T when the positioning terminal sends the positioning request signal2；
Receiving a positioning reply signal sent by a main positioning base station and acquiring current clock information T3The positioning reply signal is sent by the main positioning base station after receiving the positioning request signal, and the positioning reply signal carries clock information T when the main positioning base station receives the positioning request signal4Clock information T when sending the positioning reply signal5；
Receiving a positioning confirmation signal sent by the positioning terminal and acquiring current clock information T6The positioning confirmation signal is sent by the positioning terminal when receiving the positioning reply signal, and the positioning confirmation signal carries clock information T when the positioning terminal receives the positioning reply signal7；
Acquiring clock information T when the main positioning base station receives the positioning confirmation signal8；
Based on T1、T2、T3、T4、T5、T6、T7And T8Respectively determining the distances R from the positioning terminal to the main positioning base station0And the distance R from the positioning terminal to the slave positioning base station1Based on R0And R1And determining the position information of the positioning terminal.
In a second aspect, the present disclosure further provides a planar two-dimensional base station positioning apparatus, applied to slave positioning base stations, the apparatus including:
a first receiving module, configured to receive a positioning request signal sent by a positioning terminal and obtain current clock information T1The positioning request signal carries clock information T when the positioning terminal sends the positioning request signal2；
A second receiving module, configured to receive a positioning reply signal sent by the master positioning base station and obtain current clock information T3The positioning reply signal is sent by the main positioning base station after receiving the positioning request signal, and the positioning reply signal carries clock information T when the main positioning base station receives the positioning request signal4Clock information T when sending the positioning reply signal5；
A third receiving module, configured to receive the positioning acknowledgement signal sent by the positioning terminal and obtain current clock information T6The positioning confirmation signal is sent by the positioning terminal when receiving the positioning reply signal, and the positioning confirmation signal carries clock information T when the positioning terminal receives the positioning reply signal7；
An obtaining module, configured to obtain clock information T when the positioning acknowledgement signal is received by the master positioning base station8；
A determination module for determining a value based on T1、T2、T3、T4、T5、T6、T7And T8Respectively determining the distances R from the positioning terminal to the main positioning base station0And the distance R from the positioning terminal to the slave positioning base station1Based on R0And R1Determining location information of the positioning terminal。
In a third aspect, the present disclosure also provides an electronic device, including a computer-readable storage medium storing a computer program and a processor, where the computer program is read by the processor and executed to implement the method in the first aspect.
In a fourth aspect, the present disclosure also proposes a computer-readable storage medium, on which a computer program is stored, which, when read and executed by a processor, implements the method of the first aspect.
In the embodiment of the present disclosure, first, clock information T obtained from a positioning base station when a positioning request signal is transmitted to a positioning terminal2Clock information T when receiving the positioning request signal from the positioning base station1Clock information T when the main positioning base station receives the positioning request signal4Clock information T when the main positioning base station sends the positioning reply signal5Receiving the clock information T of the positioning reply signal from the positioning base station3And clock information T when the positioning terminal receives the positioning reply signal7Clock information T when receiving a positioning confirmation signal transmitted from the positioning terminal from a positioning base station6Clock information T when the main positioning base station receives the positioning confirmation signal8. Secondly, since the speed of signal transmission is fixed, the clock information, i.e. T, that can be transmitted between the positioning terminal, the master positioning base station and the slave positioning base station based on the above signals1、T2、T3、T4、T5、T6、T7And T8Respectively determining the distances R from the positioning terminal to the main positioning base station0And the distance R from the positioning terminal to the slave positioning base station1And is further based on R0And R1The position information of the positioning terminal is determined, so that the positioning terminal can be positioned through 2 positioning base stations, the complexity of power supply and power supply networks required by plane two-dimensional positioning is reduced, and the cost is also reduced.
Additional features and advantages of the disclosure will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the disclosure. The objectives and other advantages of the disclosure may be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
To more clearly illustrate the technical solutions of the present disclosure, the drawings needed for the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present disclosure, and therefore should not be considered as limiting the scope, and those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
Fig. 1 shows a schematic diagram of a base station positioning system provided by the present disclosure;
fig. 2 is a flow chart of a planar two-dimensional base station positioning method provided by the present disclosure;
fig. 3 illustrates a schematic diagram of signal transceiving in a base station positioning system provided by the present disclosure;
fig. 4 shows a timing diagram of another planar two-dimensional base station positioning method provided by the present disclosure;
fig. 5 illustrates a schematic diagram of a base station location provided by the present disclosure;
fig. 6 shows a functional block schematic diagram of a planar two-dimensional base station positioning device provided by the present disclosure;
fig. 7 shows a functional block schematic diagram of another planar two-dimensional base station positioning device provided by the present disclosure;
fig. 8 shows a functional block schematic diagram of another planar two-dimensional base station positioning device provided by the present disclosure;
fig. 9 shows a functional module schematic diagram of an electronic device provided by the present disclosure.
Detailed Description
The technical solution in the present disclosure will be clearly and completely described below with reference to the accompanying drawings in the present disclosure. Wherein like reference numbers and letters denote like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
Before explaining the present disclosure in detail, an application scenario of the present disclosure will be described.
Base station positioning has been widely used in various indoor or outdoor scenes such as warehouses, nursing homes, prisons, shopping malls, exhibition halls, tunnels, squares, airports, stadiums, and the like, to position various objects such as persons, articles, vehicles, and the like.
Referring to fig. 1, the base station positioning system includes a plurality of positioning base stations 101, a server 102 and a positioning terminal 103. The positioning base stations 101 and the server 102 may be disposed in a scene (such as a mall or an exhibition hall) in which base station positioning is required, the positioning terminal 103 may be disposed on an object (such as a person or an unmanned aerial vehicle) in the scene in which base station positioning is required, and each positioning base station 101 may be in communication connection with the server 102 and other positioning base stations 101 in a wired or wireless manner, and the positioning base station 101 may also be in communication connection with the positioning terminal 103 in a wireless manner. Each positioning base station 101 may communicate with the positioning terminal 103 through a wireless communication signal, and send clock information in the communication process to the server 102, and the server 102 may determine a measurement distance between each positioning base station 101 and the positioning terminal 103 according to the acquired clock information, thereby determining a position of the positioning terminal 103.
The positioning base station 101 is a radio transceiver station capable of communicating information with the positioning terminal 103 in a certain radio coverage area.
It should be noted that the plurality of positioning base stations 101 disposed in the same scenario may include one master positioning base station 101 and at least one slave positioning base station 101, and any one positioning base station 101 as the master positioning base station 101 or the slave positioning base station 101 may be determined by the server 102.
For example, the plurality of positioning base stations 101 may be configured as the master positioning base station 101 by the server 102 in turn, and the other positioning base stations 101 may be configured as the slave positioning base stations 101, thereby increasing the robustness of the system.
Wherein the master positioning base station 101 may send and receive wireless communication signals, and the slave positioning base station 101 only receives wireless communication signals and may send wireless communication signals to the server.
The positioning terminal 103 can communicate with the positioning base station 101.
It should be noted that the positioning terminal 103 can be disposed on an object to be positioned in an external, embedded or portable manner, for example, when a person is positioned, the positioning terminal 103 may include a watch or a bracelet, so as to be worn on the person; when locating an item, the location terminal 103 may be embedded on the item.
The Wireless communication signal for performing Wireless communication may include a UWB (ultra wide band) signal, but may also include other Wireless communication signals, such as a RFID (radio frequency Identification) signal, a WIFI (Wireless-Fidelity) signal, a bluetooth signal, or a ZIGBEE (ZIGBEE protocol) signal.
The server 102 is a device having computing capabilities, such as a personal computer or workstation. The server 102 may manage each positioning base station 101 and process data from each positioning base station 101, such as configuring, controlling, upgrading, detecting heartbeats, etc. for each positioning base station 101.
The server 102 may include an upper computer solution unit and a database.
The server 102 may communicate with the positioning terminal 103 through a wireless communication signal.
The clock information is information that can indicate time obtained from the system clock, and may include a timestamp, for example.
When the above-mentioned base station positioning system is used to perform planar two-dimensional positioning, the positioning terminal 103 may send a positioning request signal in a broadcast manner; each master positioning base station 101 monitors the positioning request signal, and each master positioning base station 101 can reply a positioning reply signal to the positioning request signal; the positioning terminal 103 replies a positioning confirmation signal to the primary positioning base station 101 that first feeds back a positioning reply signal; and the slave positioning base station 101 corresponding to the master positioning base station 101 monitors the signal, so as to obtain clock information of the positioning terminal 103, the master positioning base station 101, and the slave positioning base station 101 that are sending and receiving the positioning request signal, the positioning reply signal, and the positioning confirmation signal, so as to send the monitored clock information to the server 102, and since the speed of signal transmission is fixed, the server 102 can determine the distance relationship between the positioning terminal 103 and the master positioning base station 101 and the slave positioning base station 101, respectively, based on the clock information sent by the slave positioning base station 101, that is, the time length of signal transmission among the positioning terminal 103, the master positioning base station 101, and the slave positioning base station 101, and further determine the position information of the positioning terminal 103, thereby completing positioning.
The positioning request signal is a signal that the positioning terminal 103 sends to request positioning.
The positioning reply signal is a signal in which the primary positioning base station 101 responds to the positioning request signal.
The positioning confirmation signal is a confirmation signal sent by the positioning terminal 103 for the positioning reply signal.
The clock information is information indicating time, and may include a time stamp, for example.
The location information is information describing the location of the positioning terminal 103, and may include coordinates or longitude and latitude.
It should be noted that the positioning terminal 103 may send the positioning request signal according to a preset frequency, so as to implement a periodic or real-time positioning process.
It should be noted that, in practical applications, clock information of the positioning terminal 103, the master positioning base station 101, and the slave positioning base station 101, which are transmitting and receiving the positioning request signal, the positioning reply signal, and the positioning confirmation signal, may be transmitted to any one of the positioning terminal 103, the master positioning base station 101, and the slave positioning base station 101, so that the positioning terminal 103, the master positioning base station 101, or the slave positioning base station 101 determines the position information of the positioning terminal 103.
After the application scenario of the present disclosure is introduced, a detailed description will be given of a planar two-dimensional base station positioning method provided by the present disclosure.
Fig. 2 is a schematic flow chart of a planar two-dimensional base station positioning method according to the present disclosure. The method is applied to the slave positioning base station shown in fig. 1. It should be noted that the planar two-dimensional base station positioning method according to the present disclosure is not limited by the specific sequence shown in fig. 2 and described below, and it should be understood that, in other embodiments, the sequence of some steps in the planar two-dimensional base station positioning method according to the present disclosure may be interchanged according to actual needs, or some steps may be omitted or deleted. The flow shown in fig. 2 will be explained in detail below.
In order to timely sense the positioning requirement of the positioning terminal, the positioning request signal of the positioning terminal can be received, and in order to ensure that the position of the positioning terminal can be determined subsequently, that is, the positioning terminal is subjected to planar two-dimensional positioning, the positioning request signal carries clock information T when the positioning terminal sends the positioning request signal2The slave positioning base station can acquire the clock information T when receiving the positioning request signal1。
Referring to fig. 3, the positioning terminal may generate current clock information T when transmitting the positioning request signal2And will T2Carried in the positioning request signal. After the positioning terminal sends the positioning request signal, the positioning request signal sent by the positioning terminal can be obtained from the positioning base station, and the current clock information T is determined1。
Where the boxes in figure 3 represent the antenna delay.
To ensure that the position of the positioning terminal can be determined subsequently, the slave positioning base station may receive a positioning reply signal from the master positioning base station and acquire the current clock information T3And the positioning reply signal carries T4And T5。
Referring to fig. 3, after the positioning terminal sends the positioning request signal, the master positioning base station may obtain the positioning request signal sent by the positioning terminal and determine the current clock information T4And sending a positioning reply signal to the positioning terminal and the slave server, and sending clock information T when the positioning reply signal is sent5Carried in the positioning reply signal, therefore, the slave positioning base station can receive the positioning reply signal sent by the master positioning base station and determine the clock information T when receiving the positioning reply signal3。
It should be noted that, if the master positioning base station sends a positioning request signal to the slave positioning base station and the positioning terminal, the slave positioning base station may directly receive the positioning request signal; if the main positioning base station only sends a positioning request signal to the positioning terminal, the positioning request signal also carries a base station identifier of the main positioning base station and a terminal identifier of the positioning terminal, and when the slave positioning base station detects the positioning request signal carrying the base station identifier and the terminal identifier, the slave positioning base station determines to receive a positioning reply signal sent by the main positioning base station aiming at the positioning request signal of the positioning terminal.
The base station identifier is information for identifying a positioning base station, and may include a base station name, a base station number, or a base station ID (Identification card).
The terminal identifier is information for identifying the positioning terminal, and the terminal identifier may include a name, a number, or an ID of the positioning terminal.
In order to ensure that the position of the positioning terminal can be determined subsequently, the slave positioning base station can receive a positioning confirmation signal from the positioning terminal and determine the clock information T when the positioning confirmation signal is received6And the positioning confirmation signal also carries T7。
Referring to fig. 3, after the primary positioning base station sends the positioning reply signal, the positioning terminal may receive the positioning reply signal and determine the clock information T when receiving the positioning reply signal7And the positioning terminal may transmit the positioning confirmation signal in a broadcast form, so that the positioning confirmation signal may be received from the positioning base station and the clock information T at the time of receiving the positioning confirmation signal may be determined6。
In order to ensure that the position of the positioning terminal can be determined subsequently, the slave positioning base station can determine the clock information T when the master positioning base station receives the positioning confirmation signal sent by the positioning terminal8。
Referring to fig. 3, after the positioning terminal sends the positioning confirmation signal, the master positioning base station may receive the positioning confirmation signal and determine the clock information T when receiving the positioning confirmation signal8. When the primary positioning base station determines T8Then, T can be8To the slave positioning base station.
Since the speed of signal transmission is fixed, in order to determine the distance relationship between the positioning terminal and the master positioning base station and the slave positioning base station respectively based on the time length of signal transmission among the positioning terminal, the master positioning base station and the slave positioning base station, the distance relationship between the positioning terminal and the master positioning base station and the slave positioning base station is determined, and therefore the distance relationship between the positioning terminal and the slave positioning base station is determinedThe position information is used for completing positioning, namely, the positioning of the positioning terminal can be completed through two positioning base stations, the complexity of power supply and network supply required by plane two-dimensional positioning is reduced, the cost is reduced, and the slave positioning base stations can be based on T1、T2、T3、T4、T5、T6、T7And T8Respectively determining the distances R from the positioning terminal to the main positioning base station0And the distance R from the positioning terminal to the slave positioning base station1And is further based on R0And R1And determining the position information of the positioning terminal.
Wherein R is0And R1The measurement distance from the positioning terminal to the master positioning base station and the measurement distance from the positioning terminal to the slave positioning base station can be respectively.
May be based on T1、T2、T3、T4、T5、T6、T7And T8Determining the transmission time length of the signals between the positioning terminal and the master positioning base station, between the positioning terminal and the slave positioning base station, and between the master positioning base station and the slave positioning base station, and determining the position relationship between the positioning terminal and the master positioning base station and the slave positioning base station based on the transmission time length and the transmission speed (namely the light speed) of the signals, thereby determining the position of the positioning terminal. Alternatively, in another alternative embodiment of the present disclosure, since the positioning terminal, the master positioning base station and the slave positioning base station form a closed triangle, under the condition of low time delay or low requirement on positioning precision in the signal transmission process, the transmission time lengths of signals between the positioning terminal and the master positioning base station, between the positioning terminal and the slave positioning base station, and between the master positioning base station and the slave positioning base station are respectively the same as the ratios of the distances between the positioning terminal and the master positioning base station, between the positioning terminal and the slave positioning base station, and between the master positioning base station and the slave positioning base station, so that, the distance between the positioning terminal and the master positioning base station, the transmission duration between the positioning terminal and the master positioning base station, between the positioning terminal and the slave positioning base station, and between the master positioning base station and the slave positioning base station can be determined according to the preset distance between the master positioning base station and the slave positioning base station and the preset signal transmission duration.And the distance between the positioning terminal and the slave positioning base station.
In the embodiment of the present disclosure, first, clock information T obtained from a positioning base station when a positioning request signal is transmitted to a positioning terminal2Clock information T when receiving the positioning request signal from the positioning base station1Clock information T when the main positioning base station receives the positioning request signal4Clock information T when the main positioning base station sends the positioning reply signal5Receiving the clock information T of the positioning reply signal from the positioning base station3And clock information T when the positioning terminal receives the positioning reply signal7Clock information T when receiving a positioning confirmation signal transmitted from the positioning terminal from a positioning base station6Clock information T when the main positioning base station receives the positioning confirmation signal8. Secondly, since the speed of signal transmission is fixed, the clock information, i.e. T, that can be transmitted between the positioning terminal, the master positioning base station and the slave positioning base station based on the above signals1、T2、T3、T4、T5、T6、T7And T8Respectively determining the distances R from the positioning terminal to the main positioning base station0And the distance R from the positioning terminal to the slave positioning base station1And is further based on R0And R1The position information of the positioning terminal is determined, so that the positioning terminal can be positioned through 2 positioning base stations, the complexity of power supply and power supply networks required by plane two-dimensional positioning is reduced, and the cost is also reduced.
Fig. 4 is a timing diagram of a planar two-dimensional base station positioning method according to the present disclosure. The plane two-dimensional base station positioning method is applied to interaction among a positioning terminal, a main positioning base station, a slave positioning base station and a server. It should be noted that the planar two-dimensional base station positioning method according to the present disclosure is not limited by the specific sequence shown in fig. 4 and described below, and it should be understood that, in other embodiments, the sequence of some steps in the planar two-dimensional base station positioning method according to the present disclosure may be interchanged according to actual needs, or some steps may be omitted or deleted. It should be further noted that step NA and step NB represent two steps whose execution order is not time-related, where N represents a step number. The flow shown in fig. 4 will be explained in detail below.
Step 401, the positioning terminal broadcasts a positioning request signal.
Wherein, the positioning request signal carries the clock information T when the positioning terminal sends the positioning request signal2。
Step 402A, receiving a positioning request signal sent by a positioning terminal from a positioning base station and acquiring current clock information T1。
Wherein, the positioning base station receives the positioning request signal sent by the positioning terminal and obtains the current clock information T1For the manner of this, reference may be made to the related description of step 201 in the foregoing, and details are not repeated here.
Step 402B, the main positioning base station receives the positioning request signal sent by the positioning terminal and obtains the current clock information T4。
The main positioning base station receives a positioning request signal sent by a positioning terminal and acquires current clock information T4The method can receive the positioning request signal sent by the positioning terminal from the positioning base station and acquire the current clock information T1In a similar manner, the description is omitted here.
In step 403, the master positioning base station sends a positioning reply signal.
That is, the positioning reply signal is carried and sent by the primary positioning base station after receiving the positioning request signal. Wherein, the positioning reply signal carries the clock information T when the main positioning base station receives the positioning request signal4Clock information T when sending positioning reply signal5。
In addition, in another optional embodiment of the present disclosure, the positioning reply signal may not carry T4Instead, the primary positioning base station directly transmits T4To the slave positioning base station.
Step 404A, receiving the positioning reply signal sent by the master positioning base station from the slave positioning base station and obtaining the current clock information T3。
Wherein the slave positioningThe base station receives the positioning reply signal sent by the main positioning base station and acquires the current clock information T3For the manner of (2), reference may be made to the related description in the foregoing step 202, and details are not repeated here.
Step 404B, the positioning terminal receives the positioning reply signal sent by the master positioning base station and obtains the current clock information T7。
The positioning terminal receives a positioning reply signal sent by the main positioning base station and acquires the current clock information T7The method can receive the positioning reply signal sent by the master positioning base station from the slave positioning base station and acquire the current clock information T3In a similar manner, the description is omitted here.
In step 405, the positioning terminal broadcasts a positioning confirmation signal.
That is, the positioning confirmation signal is sent by the positioning terminal when receiving the positioning reply signal. Wherein the positioning confirmation signal carries the clock information T when the positioning terminal receives the positioning reply signal7。
Additionally, in another alternative embodiment of the present disclosure, T7The positioning terminal may not be carried in the positioning confirmation signal, but may directly transmit the positioning confirmation signal to the slave positioning base station.
Step 406A, receiving the positioning confirmation signal sent by the positioning terminal from the positioning base station and obtaining the current clock information T6。
Wherein, the positioning base station receives the positioning confirmation signal sent by the positioning terminal and acquires the current clock information T6For the manner of (3), reference may be made to the related description in the foregoing step 203, and details are not repeated here.
Step 406B, the master positioning base station receives the positioning acknowledgement signal sent by the positioning terminal and obtains the current clock information T8。
The main positioning base station receives a positioning confirmation signal sent by the positioning terminal and acquires the current clock information T8The method can receive the positioning confirmation signal sent by the positioning terminal from the positioning base station and acquire the current clock information T6In a similar manner, the description is omitted here.
Step 407, the slave positioning base station obtains the clock information T when the master positioning base station receives the positioning acknowledgement signal8。
Wherein, the slave positioning base station acquires the clock information T when the master positioning base station receives the positioning confirmation signal8For the manner of (3), reference may be made to the related description in the foregoing step 204, and details are not repeated here.
As can be seen from the foregoing, the slave positioning base station may not send information to the master positioning base station and the positioning terminal, but monitor the communication process between the master positioning base station and the positioning terminal, so as to obtain the T1、T2、T3、T4、T5、T6、T7And T8。
Step 408, the slave positioning base station sends T1、T2、T3、T4、T5、T6、T7And T8And sending to the server.
In order to determine the position information of the positioning terminal by the server, thereby reducing the load of the positioning base station, and simultaneously facilitating the improvement of the accuracy and the efficiency of determining the position information of the positioning terminal by the excellent data processing capacity of the server, the positioning base station can determine the position information of the positioning terminal by T1、T2、T3、T4、T5、T6、T7And T8And sending to the server.
In addition, in another optional embodiment of the present disclosure, T may also be jointly determined by the master positioning base station and the slave positioning base station1、T2、T3、T4、T5、T6、T7And T8Sending to a server, e.g. by primary positioning base station4、T5And T8Sending to the server, the slave positioning base station sending T1、T2、T3、T6And T7Sending the data to a server; alternatively, as can be seen from the foregoing, the position information of the positioning terminal may also be determined by the slave positioning base station, the master positioning base station, or the positioning terminal, and therefore in another optional embodiment of the present disclosure, the slave positioning base station may also determine the position information of the positioning terminalWill not change T1、T2、T3、T4、T5、T6、T7And T8And sending to the server.
In step 409, the server determines the location information of the positioning terminal.
Wherein the server is based on T1、T2、T3、T4、T5、T6、T7And T8Respectively determining the distances R from the positioning terminal to the main positioning base station0And the distance R from the positioning terminal to the slave positioning base station1Based on R0And R1And determining the position information of the positioning terminal.
That is, by the server, based on T1、T2、T3、T4、T5、T6、T7And T8Respectively determining the distances R from the positioning terminal to the main positioning base station0And the distance R from the positioning terminal to the slave positioning base station1Based on R0And R1And determining the position information of the positioning terminal.
Alternatively, it may be based on T2、T4、T5And T7Determining R0Based on T1、T3、T4、T5、T6、T8、R0And a preset distance R between the master positioning base station and the slave positioning base station2Determining R1。
Wherein R is2May be the actual distance between the master and slave positioning base stations.
Can be based on T by equation 12、T4、T5And T7Determining R0：
R0＝0.5c[(T7-T2)λtag-(T5-T4)λmbs]-τmbs-τtag(formula 1)
Wherein λ istagFor locating the clock conversion coefficient of the terminal, the clock conversion coefficient is used for T1、T2、T3、T4、T5、T6、T7Or T8When the clock information comprises a time stamp, converting the time stamp into physical time; lambda [ alpha ]mbsPositioning a clock conversion coefficient of the base station for the master; tau ismbsAntenna delay of the primary positioning base station; tau istagDelaying an antenna for positioning a terminal; and c is the speed of light.
Can be based on T by equation 21、T3、T4、T5、T6、T8、R0And a preset distance R between the master positioning base station and the slave positioning base station2Determining R1：
Wherein λ issbsConverting coefficients for the clocks of the slave positioning base stations; tau issbsFor antenna delay from positioning base station, R2Is the distance between the master positioning base station and the slave positioning base station.
In addition, λ is defined astag、λmbs、λsbs、τtag、τmbs、τsbsAnd R2Can be obtained by setting in advance.
Alternatively, it may be based on R0And the height difference between the positioning terminal and the main positioning base station, and determining the projection distance D from the positioning terminal to the main positioning base station in the two-dimensional plane where the main positioning base station and the slave positioning base station are positioned1Based on R1And the height difference between the positioning terminal and the slave positioning base station, and determining the projection distance D of the positioning terminal to the slave positioning base station in the two-dimensional plane2Based on D1、D2、R2And the preset terminal direction information, and determining the position information of the positioning terminal.
It should be noted that, the height difference between the positioning terminal and the master positioning base station and the height difference between the positioning terminal and the slave positioning base station may be obtained by presetting, or of course, the heights of the positioning terminal, the master positioning base station, and the slave positioning base station may also be obtained by presetting, and then the height difference between the positioning terminal and the master positioning base station and the height difference between the positioning terminal and the slave positioning base station may be respectively determined and obtained based on the heights of the positioning terminal, the master positioning base station, and the slave positioning base station.
Due to R0、D1And the height difference between the positioning terminal and the main positioning base station, namely three sides of a right triangle respectively, wherein R0Is a hypotenuse, and thus can be based on R by the Pythagorean theorem0And determining the height difference between the positioning terminal and the main positioning base station1. Similarly, may be represented by R1And determining D by the height difference between the positioning terminal and the slave positioning base station2。
Referring to fig. 5, point M represents the projection of the master positioning base station on the two-dimensional plane where the master positioning base station and the slave positioning base station are located, and point S represents the projection of the slave positioning base station on the two-dimensional plane where the master positioning base station and the slave positioning base station are located, so that the positions of points M and S are known. Point F1And F2Respectively representing the projections of the positioning terminal possibly in the two-dimensional plane of the master and slave positioning base stations, and point F1And F2Symmetrical about the line on which the MS lies. With triangular MSF1OF as an example1Vertical and triangular MSF1Due to MF1Is D1，F1S is D2MS is D3Therefore, the lengths of the MO and the SO can be determined according to the pythagorean theorem. Based on SO length, OF1And the position of point S, i.e. point F can be determined1The position of (a).
Wherein D is3Can be obtained by setting in advance, or, because of R2Height difference between master positioning base station and slave positioning base station and D3Each having three sides of a right angle, and wherein R2Is a hypotenuse, and thus can be based on R by the Pythagorean theorem2Determining the height difference of the master positioning base station and the slave positioning base station3。
When it is determined that two pieces of position information of F1 and F2 are obtained, the correct direction of the positioning terminal currently at the master positioning base station or the slave positioning base station can be determined through the preset terminal direction information, so that one piece of correct position information is determined in F1 and F2.
The terminal direction information is information for explaining the direction of a main positioning base station or a slave positioning base station where the positioning terminal is located. The terminal direction information may include at least one of a terminal historical position, a terminal speed direction, and a positioning base station effective area.
The terminal history position is the position of the positioning terminal before the current time. The direction in which the positioning terminal is currently located at the master positioning base station or the slave positioning base station may be the same as the direction in which the terminal history position of the positioning terminal is located at the master positioning base station or the slave positioning base station.
For example, in the schematic diagram shown in fig. 5, before the current time, as can be seen from the terminal historical positions of the positioning terminals, the positioning terminals are all located below the straight line of the MS, and therefore, the positioning terminal may also be located below the straight line of the MS at the current time, that is, F1 is determined to be the current location of the positioning terminal.
The terminal speed direction is the speed direction in which the positioning terminal moves. The speed and direction information of the Positioning terminal can be obtained by other sensors built in the Positioning terminal, such as a GPS (Global Positioning System) or an inertial sensor. Since the movement of the terminal is a continuous process, the effective position of the positioning terminal can be determined according to the change (increase/decrease) of the distance from the positioning result of the positioning terminal to the connection line of the positioning base station between the historical time and the current time and the moving speed and direction of the positioning terminal. For example, in the schematic diagram shown in fig. 5, if the continuous positioning result of the positioning terminal is that the terminal gradually gets closer to the connection line of the two positioning base stations from a position far from the positioning base stations, and the moving speed direction is downward, it may be determined that the effective positioning position is above the connection line of the positioning base stations, that is, F2 is determined as the position where the positioning terminal is currently located.
The effective area of the base station is an effective positioning area corresponding to the positioning base station, and the effective area of the positioning base station can be obtained by determining in advance. For example, for a positioning base station arranged beside a wall, the positioning terminal may not be located in an area of the positioning base station close to the wall, that is, for the positioning base station, only a partial area far from the wall is valid, and therefore, the partial valid area may be used as the base station valid area of the positioning base station in advance.
The two determined position information can be compared with the effective area of the base station respectively, so that the position information in the effective area of the base station is selected as the position information of the positioning terminal.
Optionally, when determining the position information of the positioning terminal, in order to facilitate operations such as identifying the position of the positioning terminal and subsequently managing the positioning terminal, the position information may be converted by a vector method or a rotation matrix method based on a rectangular planar coordinate system in which the slave positioning base station or the master positioning base station is located, so as to obtain the converted position information, that is, coordinates of the positioning terminal in the rectangular planar coordinate system.
Of course, in practical applications, the position information before conversion may include coordinates of the positioning terminal in a relative coordinate system where the positioning terminal, the slave base station, and the master base station are located, and correspondingly, the position information after conversion may include longitude and latitude of the positioning terminal.
And step 410, the server feeds back the position information to the positioning terminal.
In order for the positioning terminal to determine the current location of the positioning terminal, the server may send the determined location information to the positioning terminal.
The server may send the location information to the master positioning base station or the slave positioning base station, so as to send the location information to the positioning terminal through the master positioning base station or the slave positioning base station.
Of course, in practical applications, the server may also feed back the position information to the positioning terminal through other means, such as bluetooth or WIFI (WIreless Fidelity).
In the embodiment of the present disclosure, first, clock information T obtained from a positioning base station when a positioning request signal is transmitted to a positioning terminal2Clock information T when receiving the positioning request signal from the positioning base station1Clock information T when the main positioning base station receives the positioning request signal4Clock information T when the main positioning base station sends the positioning reply signal5Receiving the positioning reply from the positioning base stationClock information T of signal3And clock information T when the positioning terminal receives the positioning reply signal7Clock information T when receiving a positioning confirmation signal transmitted from the positioning terminal from a positioning base station6Clock information T when the main positioning base station receives the positioning confirmation signal8. Secondly, since the speed of signal transmission is fixed, the clock information, i.e. T, that can be transmitted between the positioning terminal, the master positioning base station and the slave positioning base station based on the above signals1、T2、T3、T4、T5、T6、T7And T8Respectively determining the distances R from the positioning terminal to the main positioning base station0And the distance R from the positioning terminal to the slave positioning base station1And is further based on R0And R1The position information of the positioning terminal is determined, so that the positioning terminal can be positioned through 2 positioning base stations, the complexity of power supply and power supply networks required by plane two-dimensional positioning is reduced, and the cost is also reduced.
In addition, T may be1、T2、T3、T4、T5、T6、T7And T8Sending to the server, thereby determining the distance R from the positioning terminal to the main positioning base station through the server0And the distance R from the positioning terminal to the slave positioning base station1And is further based on R0And R1The position information of the positioning terminal is determined, and the reliability and the efficiency of positioning are improved.
In addition, the position information obtained by positioning can be fed back to the positioning terminal, so that the positioning terminal can conveniently determine the current position of the positioning terminal.
Fig. 6 is a functional block diagram of a planar two-dimensional base station positioning apparatus 600 according to the present disclosure. The planar two-dimensional base station positioning apparatus 600 is applied to slave positioning base stations. It should be noted that the basic principle and the technical effects of the planar two-dimensional base station positioning apparatus 600 provided in the present embodiment are the same as those of the corresponding method embodiments described above, and for a brief description, reference may be made to corresponding contents in the method embodiments for a part not mentioned in the present embodiment. The planar two-dimensional base station positioning apparatus 600 includes:
a first receiving module 601, configured to receive a positioning request signal sent by a positioning terminal and obtain current clock information T1The positioning request signal carries clock information T when the positioning terminal sends the positioning request signal2；
A second receiving module 602, configured to receive a positioning reply signal sent by a master positioning base station and obtain current clock information T3The positioning reply signal is sent by the main positioning base station after receiving the positioning request signal, and the positioning reply signal carries clock information T when the main positioning base station receives the positioning request signal4Clock information T when sending the positioning reply signal5；
A third receiving module 603, configured to receive a positioning confirmation signal sent by the positioning terminal and obtain current clock information T6The positioning confirmation signal is sent by the positioning terminal when receiving the positioning reply signal, and the positioning confirmation signal carries clock information T when the positioning terminal receives the positioning reply signal7；
An obtaining module 604, configured to obtain clock information T when the positioning acknowledgement signal is received by the master positioning base station8；
A determination module 605 for determining the value based on T1、T2、T3、T4、T5、T6、T7And T8Respectively determining the distances R from the positioning terminal to the main positioning base station0And the distance R from the positioning terminal to the slave positioning base station1Based on R0And R1And determining the position information of the positioning terminal.
Optionally, referring to fig. 7, the apparatus further includes:
a sending module 606 for sending T1、T2、T3、T4、T5、T6、T7And T8Sending the data to a server;
the determining module 605 is specifically configured to:
by the server, T1、T2、T3、T4、T5、T6、T7And T8Respectively determining the distances R from the positioning terminal to the main positioning base station0And the distance R from the positioning terminal to the slave positioning base station1Based on R0And R1And determining the position information of the positioning terminal.
Optionally, the determining module 605 is specifically configured to:
based on T2、T4、T5And T7Determining R0；
Based on T1、T3、T4、T5、T6、T8、R0And the preset distance R between the master positioning base station and the slave positioning base station2Determining R1。
Optionally, the determining module 605 is specifically configured to:
based on R0And the height difference between the positioning terminal and the main positioning base station, and determining the projection distance D from the positioning terminal to the main positioning base station in the two-dimensional plane where the main positioning base station and the slave positioning base station are positioned1；
Based on R1And the height difference between the positioning terminal and the slave positioning base station, and determining the projection distance D of the positioning terminal to the slave positioning base station in the two-dimensional plane2；
Based on D1、D2、R2And the preset terminal direction information, and determining the position information of the positioning terminal.
Optionally, referring to fig. 8, the apparatus further includes:
a feedback module 607, configured to feed back the position information to the positioning terminal.
The above-mentioned apparatus is used for executing the method provided by the foregoing embodiment, and the implementation principle and technical effect are similar, which are not described herein again.
These above modules may be one or more integrated circuits configured to implement the above methods, such as: one or more Application Specific Integrated Circuits (ASICs), or one or more microprocessors (DSPs), or one or more Field Programmable Gate Arrays (FPGAs), among others. For another example, when one of the above modules is implemented in the form of a processing element scheduler code, the processing element may be a general-purpose processor, such as a Central Processing Unit (CPU) or other processor capable of calling program code. For another example, these modules may be integrated together and implemented in the form of a system-on-a-chip (SOC).
Fig. 9 is a schematic diagram of a functional module of an electronic device according to the present disclosure. The electronic device may include a computer-readable storage medium 901 storing a computer program and a processor 902, and the processor 902 may call the computer program stored in the computer-readable storage medium 901. The above-described method embodiments may be implemented when the computer program is read and executed by the processor 902. The specific implementation and technical effects are similar, and are not described herein again.
Optionally, the present disclosure also provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is read and executed by a processor, the above method embodiments may be implemented.
The above description is only a preferred embodiment of the present disclosure and is not intended to limit the present disclosure, and various modifications and changes may be made to the present disclosure by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present disclosure should be included in the protection scope of the present disclosure.
Claims (6)
1. A planar two-dimensional base station positioning method is applied to a slave positioning base station, and comprises the following steps:
receiving a positioning request signal sent by a positioning terminal and acquiring current clock information T1The positioning request signal carries the positioning terminal to send the positioning request signalClock information T of time of number2；
Receiving a positioning reply signal sent by a main positioning base station and acquiring current clock information T3The positioning reply signal is sent by the main positioning base station after receiving the positioning request signal, and the positioning reply signal carries clock information T when the main positioning base station receives the positioning request signal4Clock information T when sending the positioning reply signal5；
Receiving a positioning confirmation signal sent by the positioning terminal and acquiring current clock information T6The positioning confirmation signal is sent by the positioning terminal when receiving the positioning reply signal, and the positioning confirmation signal carries clock information T when the positioning terminal receives the positioning reply signal7；
Acquiring clock information T when the main positioning base station receives the positioning confirmation signal8；
Based on T1、T2、T3、T4、T5、T6、T7And T8Respectively determining the distances R from the positioning terminal to the main positioning base station0And the distance R from the positioning terminal to the slave positioning base station1Based on R0And R1Determining the position information of the positioning terminal;
based on T1、T2、T3、T4、T5、T6、T7And T8Respectively determining the distances R from the positioning terminal to the main positioning base station0And the distance R from the positioning terminal to the slave positioning base station1The method comprises the following steps:
based on T2、T4、T5And T7Determining R0；
Based on T1、T3、T4、T5、T6、T8、R0And the preset distance R between the master positioning base station and the slave positioning base station2Determining R1；
Based on R0And R1Determining the position information of the positioning terminal, including:
based on R0And the height difference between the positioning terminal and the main positioning base station, and determining the projection distance D from the positioning terminal to the main positioning base station in the two-dimensional plane where the main positioning base station and the slave positioning base station are positioned1；
Based on R1And the height difference between the positioning terminal and the slave positioning base station, and determining the projection distance D of the positioning terminal to the slave positioning base station in the two-dimensional plane2；
Based on D1、D2、R2And the preset terminal direction information, and determining the position information of the positioning terminal.
2. The planar two-dimensional base station positioning method of claim 1, wherein the method further comprises:
will T1、T2、T3、T4、T5、T6、T7And T8Sending the data to a server;
based on T1、T2、T3、T4、T5、T6、T7And T8Respectively determining the distances R from the positioning terminal to the main positioning base station0And the distance R from the positioning terminal to the slave positioning base station1Based on R0And R1Determining the position information of the positioning terminal, including:
by the server, based on T1、T2、T3、T4、T5、T6、T7And T8Respectively determining the distances R from the positioning terminal to the main positioning base station0And the distance R from the positioning terminal to the slave positioning base station1Based on R0And R1And determining the position information of the positioning terminal.
3. As claimed in claim 1 or 2The planar two-dimensional base station positioning method is characterized in that the base station positioning method is based on R0And R1After determining the location information of the positioning terminal, the method further comprises:
and feeding back the position information to the positioning terminal.
4. A planar two-dimensional base station positioning apparatus, for use in positioning a base station, the apparatus comprising:
a first receiving module, configured to receive a positioning request signal sent by a positioning terminal and obtain current clock information T1The positioning request signal carries clock information T when the positioning terminal sends the positioning request signal2；
A second receiving module, configured to receive a positioning reply signal sent by the master positioning base station and obtain current clock information T3The positioning reply signal is sent by the main positioning base station after receiving the positioning request signal, and the positioning reply signal carries clock information T when the main positioning base station receives the positioning request signal4Clock information T when sending the positioning reply signal5；
A third receiving module, configured to receive the positioning acknowledgement signal sent by the positioning terminal and obtain current clock information T6The positioning confirmation signal is sent by the positioning terminal when receiving the positioning reply signal, and the positioning confirmation signal carries clock information T when the positioning terminal receives the positioning reply signal7；
An obtaining module, configured to obtain clock information T when the positioning acknowledgement signal is received by the master positioning base station8；
A determination module for determining a value based on T1、T2、T3、T4、T5、T6、T7And T8Respectively determining the distances R from the positioning terminal to the main positioning base station0And the distance R from the positioning terminal to the slave positioning base station1Based on R0And R1Determining the determinationPosition information of the bit terminal;
the determining module is specifically configured to:
based on T2、T4、T5And T7Determining R0；
Based on T1、T3、T4、T5、T6、T8、R0And the preset distance R between the master positioning base station and the slave positioning base station2Determining R1；
The determining module is specifically configured to:
based on R0And the height difference between the positioning terminal and the main positioning base station, and determining the projection distance D from the positioning terminal to the main positioning base station in the two-dimensional plane where the main positioning base station and the slave positioning base station are positioned1；
Based on R1And the height difference between the positioning terminal and the slave positioning base station, and determining the projection distance D of the positioning terminal to the slave positioning base station in the two-dimensional plane2；
Based on D1、D2、R2And the preset terminal direction information, and determining the position information of the positioning terminal.
5. The planar two-dimensional base station positioning apparatus of claim 4, wherein the apparatus further comprises:
a transmission module for transmitting T1、T2、T3、T4、T5、T6、T7And T8Sending the data to a server;
the determining module is specifically configured to:
by the server, based on T1、T2、T3、T4、T5、T6、T7And T8Respectively determining the distances R from the positioning terminal to the main positioning base station0And the distance R from the positioning terminal to the slave positioning base station1Based on R0And R1Determining the position of the positioning terminalAnd setting information.
6. The planar two-dimensional base station positioning apparatus of claim 4 or 5, wherein the apparatus further comprises:
and the feedback module is used for feeding back the position information to the positioning terminal.
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| CN113498009A (en) * | 2020-03-18 | 2021-10-12 | 比亚迪股份有限公司 | Positioning method and device, medium and equipment for railway vehicle |
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