CN109959894B - Positioning method and terminal equipment - Google Patents
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- CN109959894B CN109959894B CN201711436701.XA CN201711436701A CN109959894B CN 109959894 B CN109959894 B CN 109959894B CN 201711436701 A CN201711436701 A CN 201711436701A CN 109959894 B CN109959894 B CN 109959894B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/0009—Transmission of position information to remote stations
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/04—Position of source determined by a plurality of spaced direction-finders
Abstract
The invention is applicable to the technical field of communication, and provides a positioning method and terminal equipment. The method comprises the following steps: acquiring the position coordinates of a label of a preset frame number before a current frame; calculating a predicted position coordinate of a current frame label according to the obtained label position coordinate of a preset frame number, and determining a predicted area according to the predicted position coordinate; acquiring position coordinates of each ranging base station for ranging the current frame label and ranging values corresponding to the ranging base stations, and calculating at least one reference position coordinate of the current frame label according to the position coordinates of the ranging base stations and the ranging values corresponding to the ranging base stations; and determining the label position coordinate of the current frame according to the reference position coordinate in the prediction area in the at least one reference position coordinate. The invention realizes the positioning of the label by combining the coordinate information of the label position with the preset frame number and the ranging information of the ranging base station, and can reduce the influence of the ranging value with larger error on the positioning result, thereby improving the positioning precision.
Description
Technical Field
The invention belongs to the technical field of communication, and particularly relates to a positioning method and terminal equipment.
Background
The wireless positioning technology is a technology for positioning the position of a specific object by using an electronic tag based on the wireless technology. The electronic tag may be an electronic device fixed on the positioning object and capable of performing wireless communication such as WiFi communication, bluetooth communication, or ZigBee communication, or may be a wireless communication module on a mobile device such as a mobile phone or a robot. In addition, the mobile device as a whole may be regarded as an electronic tag. The wireless positioning technology measures the distance between the electronic tag and a nearby fixed base station through wireless communication signals, and calculates the position of the mobile tag according to the coordinates of the base station and the distance measurement value, so that the specific target is positioned.
The radio positioning technology can be classified according to different measurement modes Of positioning parameters, and can be classified into a Time Of Arrival (TOA) method for positioning by measuring a radio signal transmission Time, an angle measurement method for positioning a signal source angle measurement, a signal strength measurement method for positioning a signal strength measurement, and the like.
Traditional wireless location technology needs at least three basic stations to carry out the range finding to mobile tag and can realize the location to mobile tag, nevertheless when sheltering from in mobile tag place region is comparatively serious, often is not enough three to the basic station that carries out the range finding to mobile tag, can't fix a position mobile tag under this kind of condition.
Disclosure of Invention
In view of this, embodiments of the present invention provide a positioning method and a terminal device, so as to solve the problem that the current wireless positioning technology cannot position a mobile tag under the condition that there are less than three base stations for performing ranging on the mobile tag.
A first aspect of an embodiment of the present invention provides a positioning method, including:
acquiring the position coordinates of a label of a preset frame number before a current frame;
calculating a predicted position coordinate of a current frame label according to the obtained label position coordinate of a preset frame number, and determining a predicted area according to the predicted position coordinate;
acquiring position coordinates of each ranging base station for ranging the current frame label and ranging values corresponding to the ranging base stations, and calculating at least one reference position coordinate of the current frame label according to the position coordinates of the ranging base stations and the ranging values corresponding to the ranging base stations;
and determining the label position coordinate of the current frame according to the reference position coordinate in the prediction area in the at least one reference position coordinate.
A second aspect of an embodiment of the present invention provides a positioning apparatus, including:
the acquisition module is used for acquiring the position coordinates of the label of a preset frame number before the current frame;
the prediction module is used for calculating the predicted position coordinates of the current frame label according to the acquired label position coordinates of the preset frame number and determining a prediction area according to the predicted position coordinates;
the calculation module is used for acquiring the position coordinates of each ranging base station for ranging the current frame label and the ranging values corresponding to the ranging base stations, and calculating at least one reference position coordinate of the current frame label according to the position coordinates of each ranging base station and the ranging values corresponding to the ranging base stations;
and the processing module is used for determining the label position coordinate of the current frame according to the reference position coordinate in the prediction area in the at least one reference position coordinate.
A third aspect of the embodiments of the present invention provides a positioning terminal device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the positioning method in the first aspect when executing the computer program.
A fourth aspect of embodiments of the present invention provides a computer-readable storage medium, which stores a computer program that, when executed by a processor, implements the positioning method in the first aspect.
Compared with the prior art, the embodiment of the invention has the following beneficial effects: calculating the predicted position coordinates of the current frame label according to the obtained label position coordinates of the preset frame number, and predicting the approximate region of the current frame label according to the label position coordinates of the previous preset frame number; calculating at least one reference position coordinate of the current frame label according to the position coordinate of each ranging base station and the ranging value corresponding to each ranging base station, and determining the reference position coordinates of a plurality of current frame labels according to the ranging information of the ranging base stations; and determining the position coordinates of the label of the current frame according to the reference position coordinates in the prediction area, and positioning the position coordinates of the label of the current frame by combining the prediction area and the ranging information of the ranging base station. The embodiment of the invention realizes the positioning of the label by combining the position coordinate information of the label with the preset frame number and the ranging information of the ranging base station, can accurately position the label under the condition that only two base stations are used for ranging the mobile label, and can reduce the influence of the ranging value with larger error on the positioning result under the condition that more than two base stations are used for ranging the mobile label, thereby improving the positioning precision.
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In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a flowchart of an implementation of a positioning method according to an embodiment of the present invention;
fig. 2 is a flowchart illustrating an implementation of calculating a predicted position coordinate of a current frame tag in the positioning method according to the embodiment of the present invention;
fig. 3 is a flowchart of an implementation of determining a prediction area in a positioning method according to an embodiment of the present invention;
FIG. 4 is a flowchart illustrating an implementation of calculating coordinates of a reference location in a positioning method according to an embodiment of the present invention;
fig. 5 is a flowchart of an implementation of determining a tag position coordinate of a current frame in a positioning method according to an embodiment of the present invention;
FIG. 6 is a schematic view of a positioning device provided in accordance with an embodiment of the present invention;
fig. 7 is a schematic diagram of a positioning terminal device according to an embodiment of the present invention.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.
In order to explain the technical means of the present invention, the following description will be given by way of specific examples.
Fig. 1 is a flowchart of an implementation of the positioning method according to the embodiment of the present invention, which is detailed as follows:
in S101, the tag position coordinates of a preset number of frames before the current frame are acquired.
In this embodiment, the terminal device may locate the tag according to a preset frequency. For example, the terminal device may locate the tag at a frequency of 10 frames per second, and at this time, the terminal device may perform location once every 0.1 second according to the acquired data, and calculate the tag position coordinates of the frame. Since the tag may be in a moving state or a static state, the position coordinates of the tag located in different frames may be the same or different.
The current frame is a data frame in which the terminal equipment is performing label positioning. The preset frame number can be set according to actual requirements, for example, the preset frame number can be 3, 4, and the like. The obtaining of the tag position coordinates of the preset frame number before the current frame may be obtaining of the tag position coordinates of the adjacent preset frame number before the current frame. For example, if the current frame is the 10 th frame and the preset frame number is 3, the tag position coordinates of the 7 th frame, the 8 th frame and the 9 th frame which are positioned before can be acquired; if the preset frame number is 4, the tag position coordinates of the previously located 6 th frame, 7 th frame, 8 th frame and 9 th frame can be acquired.
The tag position coordinates of the preset frame number before the current frame may be the tag position coordinates located by the positioning method in this embodiment, or the tag position coordinates located by a commonly used wireless positioning method. The common wireless positioning method may be a triangular centroid method, a least square method, and the like, which is not limited herein.
In S102, the predicted position coordinates of the current frame tag are calculated according to the acquired tag position coordinates of the preset frame number, and the predicted area is determined according to the predicted position coordinates.
In the present embodiment, the predicted position coordinates are possible position coordinates of the tag. The terminal equipment can predict the possible position coordinates of the current frame label according to the label position coordinates of the preset frame number before the current frame, and determines the prediction area according to the predicted position coordinates. If the label is positioned in two dimensions, the prediction area is a two-dimensional area, for example, the shape of the prediction area may be a circle, an ellipse, a rectangle or other shapes; if the tag is three-dimensionally located, the prediction region is a three-dimensional spatial region, for example, the prediction region may be a sphere, an ellipsoid, a cube, a cuboid, or other three-dimensional shape. The shape of the prediction region may be determined from a motion model of the tag or from the error range of the positioning.
As an embodiment of the present invention, as shown in fig. 2, the calculating the predicted position coordinates of the current frame tag according to the acquired tag position coordinates of the preset frame number in S102 may include:
in S201, the moving speed of the tag is calculated according to the acquired tag position coordinates of the preset number of frames.
In this embodiment, the interval time between each frame is short, for example, if the tag positioning is performed at a frequency of 10 frames per second, the interval time between each frame is 0.1 second; the tag location is performed at a frequency of 20 frames per second, and the interval time between each frame is 0.02 seconds. The motion of the tag in space can be considered approximately as a uniform motion. The moving speed of the label can be calculated by presetting the position coordinates of the label with the frame number and the interval time between two frames.
For example, the moving distance of the tag in the interval time between two frames can be obtained from the tag position coordinates of two adjacent frames before and after the two frames, and the moving speed of the tag in the interval time can be obtained by combining the interval time. The moving speed of the label in a plurality of interval time obtained according to the position coordinates of the label with the preset number of frames is averaged to obtain the average moving speed of the label, and the average moving speed is used as the moving speed of the label.
In S202, the predicted position coordinates of the current frame tag are calculated according to the position coordinates of the previous frame tag and the moving speed.
In this embodiment, the moving distance of the tag can be found from the moving speed of the tag and the time interval between the current frame and the previous frame. And estimating the moving direction of the label according to the acquired label position coordinates of the preset frame number. And calculating the predicted position coordinate of the current frame label according to the position coordinate of the previous frame label, the moving distance of the label and the moving direction of the label.
In this embodiment, the moving speed of the tag is obtained from the tag position coordinates of the preset number of frames, and the predicted position coordinates of the current frame are predicted according to the tag position coordinates and the moving speed of the previous frame. The prediction method is small in calculated data volume, can realize rapid prediction, thereby improving the speed of label positioning, can improve the accuracy of prediction by increasing the number of frames per second, and is convenient for flexible adjustment between speed and accuracy.
As another embodiment of the present invention, the calculating the predicted position coordinates of the current frame tag according to the acquired tag position coordinates of the preset frame number in S102 may include:
and calculating the predicted position coordinates of the current frame label according to the Kalman filtering algorithm and the acquired label position coordinates of the preset frame number.
In this embodiment, the kalman filter algorithm is an algorithm that performs optimal estimation on the system state by using a linear system state equation and inputting and outputting observation data through the system. The Kalman filtering algorithm is an algorithm for seeking a set of recursion estimation by taking the minimum mean square error as the optimal criterion of estimation, and the basic idea is as follows: and updating the estimation of the state variable by using the estimation value of the previous moment and the observation value of the current moment by using a state space model of the signal and the noise, and obtaining the estimation value of the current moment.
Therefore, the kalman filtering algorithm can be used to predict the predicted position coordinates of the current frame tag according to the tag position coordinates of the preset frame number. Because the Kalman filtering algorithm takes the minimum mean square error as the optimal criterion for estimation, the prediction position coordinates of the label of the current frame are predicted through the Kalman filtering algorithm, and the prediction accuracy is higher.
As another embodiment of the present invention, as shown in fig. 3, the determining the prediction area according to the prediction position coordinates in S102 may include:
in S301, a distance threshold is calculated according to the positioning parameter; the positioning parameters comprise the moving speed of the label and the interval time of two-frame positioning.
In this embodiment, the moving speed of the tag may be a maximum moving speed of the tag, an average moving speed of the tag within a preset time period, or the like, or may be a moving speed of the tag predicted according to the coordinates of the tag position of a preset number of frames before the current frame. The distance threshold may be obtained by multiplying the moving speed of the tag by the interval time between two frame fixes.
Alternatively, the location parameters may include, but are not limited to, a ranging error, a moving speed of the tag, and an interval time of two frame location. The ranging error is an error existing when the ranging base station ranges the distance of the tag. The distance threshold value can be obtained by multiplying the moving speed of the tag by the interval time of two-frame positioning and then adding the ranging error, or can be obtained by multiplying the moving speed of the tag by the interval time of two-frame positioning and then multiplying the obtained result by the preset weight coefficient after adding the ranging error. The preset weight coefficient may be a preset value greater than 1, for example, 1.5, 1.8, or 2. And a certain margin is reserved for the distance threshold value through the preset weight coefficient, so that the situation that the prediction region does not contain the real coordinates of the label due to the fact that the distance threshold value is too small is avoided.
In S302, the prediction area is determined according to the distance threshold and the prediction position coordinates.
In this embodiment, the prediction area may be determined with reference to the distance threshold value with the prediction position coordinates as the center. For example, the prediction area is a circular area having the prediction position coordinate as a center and the distance threshold as a radius, or a spherical area having the prediction position coordinate as a center and the distance threshold as a radius. The prediction region may be a rectangular region surrounded by a minimum circumscribed rectangle of a circle having the predicted position coordinate as a center of a circle and having the distance threshold as a radius. The prediction region may also be in other shapes, and is not limited herein.
The distance threshold is calculated according to the positioning parameters, and the prediction area is determined by combining the distance threshold and the prediction position coordinates, so that the range of the prediction area is more appropriate, the positioning error caused by overlarge prediction area is avoided, the fact that the prediction area contains the real coordinates of the label at a higher probability can be ensured, and the positioning precision and the positioning speed are improved.
In S103, the position coordinates of each ranging base station and the ranging values corresponding to each ranging base station for ranging the current frame tag are obtained, and at least one reference position coordinate of the current frame tag is calculated according to the position coordinates of each ranging base station and the ranging values corresponding to each ranging base station.
In this embodiment, the tag may communicate wirelessly with base stations within range of surrounding wireless signals. The base station communicating with the current frame tag is a ranging base station, and the ranging base station can calculate the distance from the tag through the strength of the wireless signal of communication, the propagation time of the wireless signal and the like. The number of the ranging base stations communicating with the tag can be one or more, each ranging base station can calculate to obtain a corresponding ranging value, and the ranging value is a measured distance value between each ranging base station and the tag.
And determining at least one reference position coordinate of the current frame label according to the position coordinate of each ranging base station and the ranging value corresponding to each ranging base station. The number of the reference position coordinates in each positioning process is not fixed, if the number of the ranging base stations in the positioning is large, the number of the reference position coordinates is generally large, and if the number of the ranging base stations in the positioning is small, the number of the reference position coordinates is generally small.
As an embodiment of the present invention, as shown in fig. 4, the calculating at least one reference position coordinate of the current frame tag according to the position coordinate of each ranging base station and the ranging value corresponding to each ranging base station in S103 may include:
in S401, a circle corresponding to each ranging base station is determined with the position coordinates of each ranging base station as a center of a circle and the ranging value corresponding to each ranging base station as a radius.
In this embodiment, one ranging base station corresponds to one circle. The circle center of a circle corresponding to one ranging base station is the position coordinate of the ranging base station, and the radius is the ranging value corresponding to the ranging base station.
In S402, any two circles of the circles corresponding to the respective ranging base stations are combined to form a plurality of circle groups.
Assuming n ranging base stations, the total number of the ranging base stations is n, and any two circles are combined to form the ranging base stationThe number of the circle groups is
For example, if the circles corresponding to the 3 ranging base stations are denoted as a, b, and c, respectively, any two circles are combined to form 3 circle groups, and the two circles included in each circle group are ab, ac, and bc, respectively.
In S403, if two circles in one circle group intersect, the intersection of the two circles is used as the reference position coordinates of the current frame label.
Wherein, two intersection points are generated by the intersection of the two circles, and the two intersection points are both used as the reference position coordinates of the current frame label. Each set of two circles that intersect will result in a corresponding two intersection points.
In S404, if two circles in one circle group are tangent or separated from each other, the reference position coordinate of the current frame label is determined according to the line connecting the centers of the two circles.
In this embodiment, if two circles in one circle group are tangent, only one intersection point will be generated, and if two circles in one circle group are separated, no intersection point will be generated.
In the embodiment, the circles corresponding to the ranging base stations are divided into the plurality of circle groups, and at least one reference position coordinate is determined according to each circle group, so that the reasonability of reference position coordinate selection is ensured, and the positioning accuracy is improved.
As an embodiment of the present invention, the determining the reference position coordinates of the current frame tag according to the connection line between the centers of the two circles in S404 includes:
taking the intersection point of the connecting line of the circle centers of the two circles and the two circles as the reference position coordinates of the current frame label;
or using an equal ratio division point of a connecting line of centers of the two circles as the reference position coordinates of the current frame label, wherein the equal ratio division point is a division point which divides the connecting line of the centers of the circles into two parts with the proportion equal to the radius proportion of the two circles on the connecting line of the centers of the circles.
Two possible implementations are given in this embodiment and are described separately below. In a first implementation manner, if two circles in a circle group are tangent, a line connecting the centers of the two circles has an intersection with the two circles, and the intersection is used as the reference position coordinate of the current frame label. If two circles in one circle group are separated from each other, a connecting line of the centers of the two circles has two intersection points with the two circles, and the two intersection points are used as reference position coordinates of the current frame label. The implementation mode determines the reference position coordinate of the current frame label according to the intersection point of the circle center connecting line and the two circles, and can accurately and reasonably determine the reference position coordinate under the condition that the two circles are tangent or separated.
In the second implementation mode, geometric partitioning points are searched on a circle center connecting line according to the radius proportion of two circles, and the searched geometric partitioning points are used as reference position coordinates of the current frame label. The geometric dividing point divides the circle center connecting line into two sections, and the length ratio of the two sections is equal to the radius ratio of the two circles. For example, if the ratio of the radii of the two circles is 3:5, the ratio of the lengths of the two segments divided by the circle center connecting line by the geometric dividing point is also 3: 5. According to the implementation mode, geometric partitioning points are searched on a circle center connecting line according to the radius proportion of two circles to serve as reference position coordinates, the relation that common ranging errors are in direct proportion to ranging distances is fully considered in the process of determining the reference position coordinates, the influence of the ranging errors on the determination of the reference position coordinates can be reduced as far as possible, and therefore the accuracy of the reference position coordinates is improved.
In S104, the tag position coordinate of the current frame is determined according to the reference position coordinate located in the prediction region in the at least one reference position coordinate.
In this embodiment, some of the calculated reference position coordinates may be located outside the prediction region and some may be located within the prediction region. The reference position coordinates outside the prediction area generally have larger errors, so that the reference position coordinates outside the prediction area are abandoned, and the label position coordinates of the current frame are determined only according to the reference position coordinates inside the prediction area, so that the positioning errors can be further reduced, and the positioning accuracy is improved.
According to the embodiment of the invention, the predicted position coordinate of the current frame label is calculated according to the acquired label position coordinate of the preset frame number, and the approximate region of the current frame label can be predicted according to the label position coordinate of the previous preset frame number; calculating at least one reference position coordinate of the current frame label according to the position coordinate of each ranging base station and the ranging value corresponding to each ranging base station, and determining the reference position coordinates of a plurality of current frame labels according to the ranging information of the ranging base stations; and determining the position coordinates of the label of the current frame according to the reference position coordinates in the prediction area, and positioning the position coordinates of the label of the current frame by combining the prediction area and the ranging information of the ranging base station. The embodiment of the invention realizes the positioning of the label by combining the position coordinate information of the label with the preset frame number and the ranging information of the ranging base station, can accurately position the label under the condition that only two base stations are used for ranging the mobile label, and can reduce the influence of the ranging value with larger error on the positioning result under the condition that more than two base stations are used for ranging the mobile label, thereby improving the positioning precision.
As an embodiment of the present invention, S104 may include:
and averaging the reference position coordinates in the prediction area to obtain a first average coordinate, and taking the first average coordinate as the label position coordinate of the current frame.
In this embodiment, all the reference position coordinates in the prediction region are averaged to obtain a first average value, and the first average value is used as the label position coordinate of the current frame. Since the reference position coordinates within the predicted area have relatively small errors, they can be used for the calculation of the final position. In the embodiment, the reference position coordinates in the prediction region are averaged, and the coordinates are comprehensively considered, so that the error of the positioned label position coordinates of the current frame can be reduced, and the positioning accuracy can be improved.
As another embodiment of the present invention, as shown in fig. 5, S104 may include:
in S501, the number of reference position coordinates in the preset region is compared with a preset number threshold.
In this embodiment, the preset number threshold may be set according to actual conditions, for example, the preset number threshold may be set to 3, 4, and the like. The number of reference position coordinates in the preset area can be confirmed first, and then the number of the reference position coordinates is compared with a preset number threshold.
In S502, if the number of the reference position coordinates in the preset region is smaller than a preset number threshold, averaging the reference position coordinates in the prediction region to obtain a second average coordinate, and using the second average coordinate as the tag position coordinate of the current frame.
In this embodiment, if the number of the reference position coordinates in the preset area is smaller than the preset number threshold, it indicates that the number of the reference position coordinates in the preset area is small in the positioning process, and the reference position coordinates in the prediction area can be directly averaged to obtain a second average coordinate, and the second average coordinate is used as the label position coordinate of the current frame.
In S503, if the number of the reference position coordinates in the preset region is greater than or equal to a preset number threshold, weighting the reference position coordinates in the prediction region, averaging the weighted reference position coordinates to obtain a third average coordinate, and using the third average coordinate as the tag position coordinate of the current frame.
In this embodiment, if the number of the reference position coordinates in the preset area is greater than or equal to the preset number threshold, it indicates that the number of the reference position coordinates in the preset area is large in the positioning process, and at this time, if the reference position coordinates are directly averaged for positioning, a large error may be caused, so that the reference position coordinates in the prediction area may be weighted, the weighted reference position coordinates are averaged to obtain a third average coordinate, and the third average coordinate is used as the tag position coordinate of the current frame. The influence of each reference position coordinate on the positioning result can be adjusted through weighting, the reference position coordinate with larger error can be configured with smaller weight to weaken the influence on the positioning result, and the reference position coordinate with smaller error is configured with larger weight, so that the positioning precision is improved.
Alternatively, the weight of each reference position coordinate may be determined according to the distance between each reference position coordinate and the predicted position coordinate in the predicted area. For example, the distances between the reference position coordinates and the predicted position coordinates are calculated, respectively, and the reference position coordinates having a smaller distance from the predicted position coordinates are assigned a larger weight, and the reference position coordinates having a larger distance from the predicted position coordinates are assigned a smaller weight. Since the closer the predicted position coordinate is, the smaller the error of the reference position coordinate is, the higher the positioning accuracy of the mobile tag can be achieved by the weight adjustment.
Alternatively, the weight of each reference position coordinate may be determined according to the distance between each reference position coordinate and the fourth average coordinate in the prediction region. Firstly, averaging the reference position coordinates in the prediction area to obtain a fourth average coordinate, then respectively calculating the distance between each reference position coordinate and the fourth average coordinate, configuring the reference position coordinate with a smaller distance from the fourth average coordinate with a larger weight, and configuring the reference position coordinate with a larger distance from the fourth average coordinate with a smaller weight. Since the closer the distance to the fourth average coordinate is, the smaller the error of the reference position coordinate is, the higher the positioning accuracy of the mobile tag can be improved by the weight adjustment.
In the embodiment, the influence of each reference position coordinate in the prediction region on the positioning result is adjusted in a weighting mode, and the influence of the reference position coordinate with a large error is reduced by configuring different weights, so that the positioning accuracy of the label position coordinate of the current frame is improved.
According to the embodiment of the invention, the predicted position coordinate of the current frame label is calculated according to the acquired label position coordinate of the preset frame number, and the approximate region of the current frame label can be predicted according to the label position coordinate of the previous preset frame number; calculating at least one reference position coordinate of the current frame label according to the position coordinate of each ranging base station and the ranging value corresponding to each ranging base station, and determining the reference position coordinates of a plurality of current frame labels according to the ranging information of the ranging base stations; and determining the position coordinates of the label of the current frame according to the reference position coordinates in the prediction area, and positioning the position coordinates of the label of the current frame by combining the prediction area and the ranging information of the ranging base station. The embodiment of the invention realizes the positioning of the label by combining the position coordinate information of the label with the preset frame number and the ranging information of the ranging base station, can accurately position the label under the condition that only two base stations are used for ranging the mobile label, and can reduce the influence of the ranging value with larger error on the positioning result under the condition that more than two base stations are used for ranging the mobile label, thereby improving the positioning precision.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.
Fig. 6 shows a schematic diagram of a positioning apparatus provided in an embodiment of the present invention, corresponding to the positioning method described in the above embodiment. For convenience of explanation, only the portions related to the present embodiment are shown.
Referring to fig. 6, the apparatus includes an acquisition module 61, a prediction module 62, a calculation module 63, and a processing module 64.
The obtaining module 61 is configured to obtain a label position coordinate of a preset frame number before a current frame.
And the prediction module 62 is configured to calculate a predicted position coordinate of the current frame tag according to the acquired tag position coordinate of the preset frame number, and determine a prediction region according to the predicted position coordinate.
And a calculating module 63, configured to obtain the position coordinates of each ranging base station and the ranging values corresponding to each ranging base station for ranging the current frame tag, and calculate at least one reference position coordinate of the current frame tag according to the position coordinates of each ranging base station and the ranging values corresponding to each ranging base station.
And the processing module 64 is configured to determine the tag position coordinate of the current frame according to the reference position coordinate located in the prediction region in the at least one reference position coordinate.
Preferably, the prediction module 62 is configured to:
calculating the moving speed of the label according to the obtained label position coordinates of the preset frame number;
and calculating the predicted position coordinate of the current frame label according to the position coordinate of the previous frame label and the moving speed.
Preferably, the prediction module 62 is configured to:
and calculating the predicted position coordinates of the current frame label according to the Kalman filtering algorithm and the acquired label position coordinates of the preset frame number.
Preferably, the prediction module 62 is configured to:
calculating a distance threshold according to the positioning parameters; the positioning parameters comprise the moving speed of the label and the interval time of two-frame positioning;
and determining the prediction area according to the distance threshold and the prediction position coordinate.
Preferably, the calculation module 63 is configured to:
determining a circle corresponding to each ranging base station by taking the position coordinate of each ranging base station as a circle center and the ranging value corresponding to each ranging base station as a radius;
combining any two circles in the circles corresponding to each ranging base station to form a plurality of circle groups;
if two circles in one circle group are intersected, taking the intersection point of the two circles as the reference position coordinate of the current frame label;
and if the two circles in one circle group are tangent or separated, determining the reference position coordinate of the current frame label according to the circle center connecting line of the two circles.
Preferably, the calculation module 63 is configured to:
taking the intersection point of the connecting line of the circle centers of the two circles and the two circles as the reference position coordinates of the current frame label;
or using an equal ratio division point of a connecting line of centers of the two circles as the reference position coordinates of the current frame label, wherein the equal ratio division point is a division point which divides the connecting line of the centers of the circles into two parts with the proportion equal to the radius proportion of the two circles on the connecting line of the centers of the circles.
Preferably, the processing module 64 is configured to:
and averaging the reference position coordinates in the prediction area to obtain a first average coordinate, and taking the first average coordinate as the label position coordinate of the current frame.
Preferably, the processing module 64 is configured to:
comparing the number of the reference position coordinates in the preset area with a preset number threshold;
if the number of the reference position coordinates in the preset area is smaller than a preset number threshold, averaging the reference position coordinates in the prediction area to obtain a second average coordinate, and taking the second average coordinate as the label position coordinate of the current frame;
and if the number of the reference position coordinates in the preset area is greater than or equal to a preset number threshold, weighting the reference position coordinates in the prediction area, averaging the weighted reference position coordinates to obtain a third average coordinate, and taking the third average coordinate as the label position coordinate of the current frame.
According to the embodiment of the invention, the predicted position coordinate of the current frame label is calculated according to the acquired label position coordinate of the preset frame number, and the approximate region of the current frame label can be predicted according to the label position coordinate of the previous preset frame number; calculating at least one reference position coordinate of the current frame label according to the position coordinate of each ranging base station and the ranging value corresponding to each ranging base station, and determining the reference position coordinates of a plurality of current frame labels according to the ranging information of the ranging base stations; and determining the position coordinates of the label of the current frame according to the reference position coordinates in the prediction area, and positioning the position coordinates of the label of the current frame by combining the prediction area and the ranging information of the ranging base station. The embodiment of the invention realizes the positioning of the label by combining the position coordinate information of the label with the preset frame number and the ranging information of the ranging base station, can accurately position the label under the condition that only two base stations are used for ranging the mobile label, and can reduce the influence of the ranging value with larger error on the positioning result under the condition that more than two base stations are used for ranging the mobile label, thereby improving the positioning precision.
Fig. 7 is a schematic diagram of a positioning terminal device according to an embodiment of the present invention. As shown in fig. 7, the positioning terminal device 7 of this embodiment includes: a processor 70, a memory 71 and a computer program 72, such as a positioning program, stored in said memory 71 and executable on said processor 70. The processor 70, when executing the computer program 72, implements the steps in the various positioning method embodiments described above, such as the steps 101 to 104 shown in fig. 1. Alternatively, the processor 70, when executing the computer program 72, implements the functions of the modules/units in the above-described device embodiments, such as the functions of the modules 61 to 64 shown in fig. 6.
Illustratively, the computer program 72 may be partitioned into one or more modules/units that are stored in the memory 71 and executed by the processor 70 to implement the present invention. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution process of the computer program 72 in the positioning terminal device 7. For example, the computer program 72 may be divided into an acquisition module, a prediction module, a calculation module, and a processing module, each of which functions specifically as follows:
the acquisition module is used for acquiring the position coordinates of the label of a preset frame number before the current frame;
the prediction module is used for calculating the predicted position coordinates of the current frame label according to the acquired label position coordinates of the preset frame number and determining a prediction area according to the predicted position coordinates;
the calculation module is used for acquiring the position coordinates of each ranging base station for ranging the current frame label and the ranging values corresponding to the ranging base stations, and calculating at least one reference position coordinate of the current frame label according to the position coordinates of each ranging base station and the ranging values corresponding to the ranging base stations;
and the processing module is used for determining the label position coordinate of the current frame according to the reference position coordinate in the prediction area in the at least one reference position coordinate.
The positioning terminal device 7 may be a desktop computer, a notebook, a palm computer, a cloud server, or other computing devices. The positioning terminal device may include, but is not limited to, a processor 70, a memory 71. It will be understood by those skilled in the art that fig. 7 is only an example of the positioning terminal device 7, and does not constitute a limitation to the positioning terminal device 7, and may include more or less components than those shown, or combine some components, or different components, for example, the positioning terminal device may further include an input-output device, a network access device, a bus, a display, and the like.
The Processor 70 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The storage 71 may be an internal storage unit of the positioning terminal device 7, such as a hard disk or a memory of the positioning terminal device 7. The memory 71 may also be an external storage device of the positioning terminal device 7, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, which are equipped on the positioning terminal device 7. Further, the memory 71 may also include both an internal storage unit and an external storage device of the positioning terminal device 7. The memory 71 is used for storing the computer programs and other programs and data required for the positioning of the terminal device. The memory 71 may also be used to temporarily store data that has been output or is to be output.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus/terminal device and method may be implemented in other ways. For example, the above-described embodiments of the apparatus/terminal device are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method embodiments may be implemented. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain other components which may be suitably increased or decreased as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media which may not include electrical carrier signals and telecommunications signals in accordance with legislation and patent practice.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.
Claims (10)
1. A method of positioning, comprising:
acquiring the position coordinates of a label of a preset frame number before a current frame; the current frame is a data frame of the terminal equipment which is carrying out label positioning;
calculating a predicted position coordinate of a current frame label according to the obtained label position coordinate of a preset frame number, and determining a predicted area according to the predicted position coordinate;
acquiring position coordinates of each ranging base station for ranging the current frame label and ranging values corresponding to the ranging base stations, and calculating at least one reference position coordinate of the current frame label according to the position coordinates of the ranging base stations and the ranging values corresponding to the ranging base stations;
determining the label position coordinate of the current frame according to the reference position coordinate located in the prediction area in the at least one reference position coordinate, including: comparing the number of the reference position coordinates in the preset area with a preset number threshold; if the number of the reference position coordinates in the preset area is smaller than a preset number threshold, averaging the reference position coordinates in the prediction area to obtain a second average coordinate, and taking the second average coordinate as the label position coordinate of the current frame; and if the number of the reference position coordinates in the preset area is greater than or equal to a preset number threshold, weighting the reference position coordinates in the prediction area, averaging the weighted reference position coordinates to obtain a third average coordinate, and taking the third average coordinate as the label position coordinate of the current frame.
2. The positioning method according to claim 1, wherein the calculating the predicted position coordinates of the current frame tag according to the acquired tag position coordinates of the preset frame number comprises:
calculating the moving speed of the label according to the obtained label position coordinates of the preset frame number;
and calculating the predicted position coordinate of the current frame label according to the position coordinate of the previous frame label and the moving speed.
3. The positioning method according to claim 1, wherein the calculating the predicted position coordinates of the current frame tag according to the acquired tag position coordinates of the preset frame number comprises:
and calculating the predicted position coordinates of the current frame label according to the Kalman filtering algorithm and the acquired label position coordinates of the preset frame number.
4. The positioning method of claim 1, wherein said determining a prediction region from said predicted location coordinates comprises:
calculating a distance threshold according to the positioning parameters; the positioning parameters comprise the moving speed of the label and the interval time of two-frame positioning;
and determining the prediction area according to the distance threshold and the prediction position coordinate.
5. The method as claimed in claim 1, wherein said calculating at least one reference position coordinate of the current frame tag according to the position coordinate of each ranging base station and the ranging value corresponding to each ranging base station comprises:
determining a circle corresponding to each ranging base station by taking the position coordinate of each ranging base station as a circle center and the ranging value corresponding to each ranging base station as a radius;
combining any two circles in the circles corresponding to each ranging base station to form a plurality of circle groups;
if two circles in one circle group are intersected, taking the intersection point of the two circles as the reference position coordinate of the current frame label;
and if the two circles in one circle group are tangent or separated, determining the reference position coordinate of the current frame label according to the circle center connecting line of the two circles.
6. The positioning method according to claim 5, wherein the determining the reference position coordinates of the current frame tag according to the connecting line of the centers of the two circles comprises:
taking the intersection point of the connecting line of the circle centers of the two circles and the two circles as the reference position coordinates of the current frame label;
or using an equal ratio division point of a connecting line of centers of the two circles as the reference position coordinates of the current frame label, wherein the equal ratio division point is a division point which divides the connecting line of the centers of the circles into two parts with the proportion equal to the radius proportion of the two circles on the connecting line of the centers of the circles.
7. The positioning method according to any one of claims 1 to 6, wherein the determining the tag position coordinate of the current frame according to the reference position coordinate located in the prediction area in the at least one reference position coordinate comprises:
and averaging the reference position coordinates in the prediction area to obtain a first average coordinate, and taking the first average coordinate as the label position coordinate of the current frame.
8. A positioning device, comprising:
the acquisition module is used for acquiring the position coordinates of the label of a preset frame number before the current frame; the current frame is a data frame of the terminal equipment which is carrying out label positioning;
the prediction module is used for calculating the predicted position coordinates of the current frame label according to the acquired label position coordinates of the preset frame number; determining a prediction area according to the prediction position coordinates;
the calculation module is used for acquiring the position coordinates of each ranging base station for ranging the current frame label and the ranging values corresponding to the ranging base stations, and calculating at least one reference position coordinate of the current frame label according to the position coordinates of each ranging base station and the ranging values corresponding to the ranging base stations;
the processing module is configured to determine a tag position coordinate of the current frame according to a reference position coordinate located in the prediction region in the at least one reference position coordinate, and includes: comparing the number of the reference position coordinates in the preset area with a preset number threshold; if the number of the reference position coordinates in the preset area is smaller than a preset number threshold, averaging the reference position coordinates in the prediction area to obtain a second average coordinate, and taking the second average coordinate as the label position coordinate of the current frame; and if the number of the reference position coordinates in the preset area is greater than or equal to a preset number threshold, weighting the reference position coordinates in the prediction area, averaging the weighted reference position coordinates to obtain a third average coordinate, and taking the third average coordinate as the label position coordinate of the current frame.
9. Positioning terminal device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor realizes the steps of the method according to any of claims 1 to 7 when executing the computer program.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 7.
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| CN110866623A (en) * | 2019-10-23 | 2020-03-06 | 上海能塔智能科技有限公司 | Reserved vehicle taking method and device based on identity verification, storage medium and terminal |
| CN111812692A (en) * | 2020-06-11 | 2020-10-23 | 北京凌阳伟业科技有限公司 | Street lamp positioning method, medium and street lamp |
| CN112171659A (en) * | 2020-08-17 | 2021-01-05 | 深圳市优必选科技股份有限公司 | Robot and method and device for identifying limited area of robot |
| CN112946567B (en) * | 2021-01-26 | 2023-05-02 | 西安电子科技大学 | Moving target fingerprint indoor positioning method based on domain antagonism neural network |
| CN113038368B (en) * | 2021-02-26 | 2023-01-10 | 山东鹰格信息工程有限公司 | Area positioning method, equipment, medium and device based on time division signal technology |
| CN113965989A (en) * | 2021-10-18 | 2022-01-21 | 歌尔科技有限公司 | Positioning method, device, system and storage medium |
| CN116367297A (en) * | 2021-12-21 | 2023-06-30 | 北京罗克维尔斯科技有限公司 | Positioning method, device, equipment and storage medium of mobile terminal |
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