CN110703191A - Positioning method, system, device, positioning equipment and storage medium - Google Patents
Positioning method, system, device, positioning equipment and storage medium Download PDFInfo
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- CN110703191A CN110703191A CN201911060832.1A CN201911060832A CN110703191A CN 110703191 A CN110703191 A CN 110703191A CN 201911060832 A CN201911060832 A CN 201911060832A CN 110703191 A CN110703191 A CN 110703191A
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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
- G01S5/0284—Relative positioning
- G01S5/0289—Relative positioning of multiple transceivers, e.g. in ad hoc networks
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
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Abstract
The application provides a positioning method, a positioning system, a positioning device and a storage medium, which are applied to a positioning system. The positioning system comprises at least three positioning devices capable of communicating with each other. The method comprises the steps of obtaining a first distance between first positioning equipment and second positioning equipment and a first signal arrival angle measured by the first positioning equipment during wireless communication. Acquiring a second distance between third positioning equipment and second positioning equipment and a second signal arrival angle measured by the third positioning equipment during wireless communication; and calculating according to the first distance, the second distance, the first signal arrival angle and the second signal arrival angle to obtain the relative position relation between the to-be-positioned point where the second positioning device is deployed and the first reference point where the first positioning device is deployed and the second reference point where the third positioning device is deployed. Because the first positioning device, the second positioning device and the third positioning device are all mobile devices, the positioning method is more flexible.
Description
Technical Field
The present application relates to the field of wireless positioning, and in particular, to a positioning method, system, apparatus, positioning device, and storage medium.
Background
The wireless Positioning is a supplement to a GPS (Global Positioning System) Positioning method, and is suitable for a location where the GPS signal quality is poor. The existing wireless positioning mode mainly uses a fixedly placed base station as reference equipment, and realizes the confirmation of the orientation of the positioning equipment through the communication between the positioning equipment and the base station. Because the base station is fixedly arranged, the problem of poor flexibility exists in the process of providing positioning service for the positioning equipment by taking the base station as reference equipment. Meanwhile, in some remote mountainous areas with few base stations or basements with serious signal shielding, the base station cannot provide corresponding service for the positioning device.
Disclosure of Invention
The embodiment of the application provides a positioning method, a positioning system, a positioning device, positioning equipment and a storage medium, and aims to provide a flexible positioning method.
In order to overcome at least one of the deficiencies in the prior art, an object of the present application is to provide a positioning method, which is applied to a positioning system, where the positioning system includes at least three positioning devices capable of communicating with each other, a first positioning device of the three positioning devices capable of communicating with each other is deployed at a first reference point, a third positioning device is deployed at a second reference point, and a second positioning device is deployed at a point to be positioned; the method comprises the following steps:
acquiring a first distance between the first positioning device and the second positioning device;
acquiring a first signal arrival angle measured by the first positioning equipment when the first positioning equipment is in wireless communication with the second positioning equipment;
acquiring a second distance between the third positioning device and the second positioning device;
acquiring a second signal arrival angle measured by the third positioning equipment when the third positioning equipment is in wireless communication with the second positioning equipment;
and calculating according to the first distance, the second distance, the first signal arrival angle and the second signal arrival angle to obtain the relative position relation between the point to be positioned and the first reference point and the second reference point.
Optionally, the step of obtaining the first distance between the first positioning device and the second positioning device includes:
acquiring a first sending time when the first positioning equipment sends a test signal to the second positioning equipment and a first receiving time when the second positioning equipment receives the test signal;
acquiring a second sending time when the second positioning equipment sends a response signal to the first positioning equipment and a second receiving time when the first positioning equipment receives the response signal;
and calculating to obtain the first distance according to the first sending time, the first receiving time, the second sending time and the second receiving time.
Optionally, the formula for obtaining the first distance by calculating according to the first sending time, the first receiving time, the second sending time, and the second receiving time is as follows:
wherein L is a first distance, t1Is the first transmission time, t2Is the first reception time, t3Is the second transmission time, t4C is the propagation speed of the wireless signal in the air at the second reception time.
Optionally, the positioning device is configured with at least two antennas, and the step of obtaining a first signal angle of arrival measured by the first positioning device when the first positioning device wirelessly communicates with the second positioning device includes:
acquiring the time difference of the two antennas of the first positioning device for receiving the response signal;
and obtaining the first signal arrival angle according to the time difference and the frequency of the response signal.
Optionally, the first reference point, the second reference point and the point to be located are located at different positions in a three-dimensional space, and the method further includes:
and calculating according to the first distance, the second distance, the first signal arrival angle and the second signal arrival angle to obtain the relative position relation of the point to be positioned and the first reference point and the second reference point in the three-dimensional space.
Optionally, the positioning system further comprises a fourth positioning device capable of communicating with the three mutually communicable positioning devices, the fourth positioning device being deployed at a third reference point, the method further comprising:
acquiring a third distance between the fourth positioning device and the second positioning device;
and calculating the relative position relation between the to-be-positioned point and the first reference point, the second reference point and the third reference point according to the first distance, the second distance and the third distance.
A second object of the embodiments of the present application is to provide a positioning system, where the positioning system includes at least three positioning devices capable of communicating with each other, a first positioning device of the three positioning devices capable of communicating with each other is deployed at a first reference point, a third positioning device is deployed at a second reference point, and a second positioning device is deployed at a point to be positioned;
the first positioning equipment is communicated with the second positioning equipment through wireless signals to obtain a first distance between the first positioning equipment and the second positioning equipment and a first signal arrival angle measured by the first positioning equipment during wireless communication;
the third positioning equipment is communicated with the second positioning equipment through wireless signals to obtain a second distance between the third positioning equipment and the second positioning equipment and a second signal arrival angle measured by the third positioning equipment during wireless communication;
and the first positioning equipment, the second positioning equipment or the third positioning equipment calculates and obtains the relative position relation between the to-be-positioned point and the first reference point and the second reference point according to the first distance, the second distance, the first signal arrival angle and the second signal arrival angle.
A third objective of the embodiments of the present application is to provide a positioning apparatus, which is applied to a positioning system, where the positioning system includes at least three positioning devices that can communicate with each other, a first positioning device of the three positioning devices that can communicate with each other is deployed at a first reference point, a third positioning device is deployed at a second reference point, and a second positioning device is deployed at a point to be positioned; the positioning device comprises a first acquisition module, a second acquisition module and a calculation module;
the first obtaining module is configured to obtain a first distance between the first positioning device and the second positioning device, and a first signal arrival angle measured by the first positioning device when the first positioning device is in wireless communication with the second positioning device;
the second obtaining module is configured to obtain a second distance between the third positioning device and the second positioning device, and a second signal arrival angle measured by the third positioning device when the third positioning device is in wireless communication with the second positioning device;
the calculation module is used for calculating and obtaining the relative position relation between the to-be-positioned point and the first reference point and the second reference point according to the first distance, the second distance, the first signal arrival angle and the second signal arrival angle.
It is a fourth object of the embodiments of the present application to provide a positioning apparatus, which includes a processor and a memory, where the memory stores machine executable instructions capable of being executed by the processor, and the processor can execute the machine executable instructions to implement the positioning method.
It is a fifth object of the embodiments of the present application to provide a storage medium, on which a computer program is stored, and when the computer program is executed, the positioning method is implemented.
Compared with the prior art, the method has the following beneficial effects:
the embodiment of the application provides a positioning method, a positioning system, a positioning device, positioning equipment and a storage medium. And calculating and obtaining the relative position relation between the to-be-positioned point where the second positioning equipment is deployed and the first reference point and the second reference point through the distances between the second positioning equipment and the first positioning equipment and between the second positioning equipment and the arrival angles of the signals respectively measured by the first positioning equipment and the third positioning equipment. Because the first positioning device, the second positioning device and the third positioning device are mobile devices, positioning points to be positioned can be positioned in an area which cannot be covered by base station signals. Therefore, compared with the method of fixedly placing the base station, the method has more flexible positioning mode.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
Fig. 1 is a schematic structural diagram of a positioning apparatus provided in an embodiment of the present application;
fig. 2 is a flowchart illustrating steps of a positioning method according to an embodiment of the present application;
FIG. 3 is a schematic diagram of a distance calculation provided by an embodiment of the present application;
FIG. 4 is a schematic diagram of a positioning principle provided in an embodiment of the present application;
FIG. 5 is a second schematic view of the positioning principle provided by the embodiment of the present application;
fig. 6 is a schematic structural diagram of a positioning device according to an embodiment of the present application.
Icon: 100-a first positioning device; 200-a second positioning device; 300-a third positioning device; 400-a fourth positioning device; 110-a positioning device; 120-a memory; 130-a processor; 140-a communication unit; 1101-a first acquisition module; 1102-a second obtaining module; 1103-calculation module.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that: like reference numbers and letters refer to 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.
As introduced in the background art, there is a problem of poor flexibility in positioning a point to be positioned by a base station that is fixedly placed. Meanwhile, for the area that the base station signal can not cover, the positioning service provided by the base station can not be used.
Based on this, the present application provides a positioning method, which is applied to a positioning system, where the positioning system includes at least three positioning devices capable of communicating with each other. Referring to fig. 1, the positioning apparatus includes a positioning device 110, a memory 120, a processor 130, and a communication unit 140.
The elements of the memory 120, the processor 130 and the communication unit 140 are electrically connected to each other directly or indirectly to realize data transmission or interaction. For example, the components may be electrically connected to each other via one or more communication buses or signal lines. The positioning device 110 includes at least one software function module which can be stored in the memory 120 in the form of software or firmware (firmware) or is fixed in an Operating System (OS) of the positioning device. The processor 130 is used to execute executable modules stored in the memory 120, such as software functional modules and computer programs included in the positioning device 110.
The Memory 120 may be, but is not limited to, a Random Access Memory (RAM), a Read Only Memory (ROM), a Programmable Read-Only Memory (PROM), an Erasable Read-Only Memory (EPROM), an electrically Erasable Read-Only Memory (EEPROM), and the like. The memory 120 is used for storing a program, and the processor 130 executes the program after receiving the execution instruction. The communication unit 140 is used for transceiving data signals through a wireless communication module.
The processor 130 may be an integrated circuit chip having signal processing capabilities. The Processor may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; but may also be 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 device, discrete hardware components. The various methods, steps, and logic blocks disclosed in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
Wherein, a first positioning device of the three positioning devices capable of communicating with each other is deployed at a first reference point, a third positioning device is deployed at a second reference point, and a second positioning device is deployed at a point to be positioned. It should be noted that the first positioning device, the second positioning device, and the third positioning device are all devices with the same hardware structure and function, and the embodiment of the present application is only to distinguish them for convenience of description.
Referring to fig. 2 and fig. 2, a flowchart of steps of the positioning method according to an embodiment of the present application is shown, and the steps of the positioning method are described in detail below.
Step S100, a first distance between the first positioning device and the second positioning device is obtained.
Step S200, obtaining a first signal arrival angle measured by the first positioning device when the first positioning device wirelessly communicates with the second positioning device.
Step S300, acquiring a second distance between the third positioning device and the second positioning device.
Step S400, obtaining a second signal arrival angle measured by the third positioning device when the third positioning device wirelessly communicates with the second positioning device.
Step S500, calculating according to the first distance, the second distance, the first signal arrival angle and the second signal arrival angle to obtain the relative position relation between the to-be-positioned point and the first reference point and the second reference point.
For example, referring to fig. 3, in one possible example, a user deploys a first positioning apparatus 100, a second positioning apparatus 200, and a third positioning apparatus 300 at different locations. The first positioning device 100 and the third positioning device 300 are respectively located at a first reference point and a second reference point, and the second positioning device 200 is deployed at a point to be positioned.
Through the process of wireless communication between the second positioning device 200 and the first positioning device 100 and the third positioning device 300, the first distance between the second positioning device 200 and the first positioning device 100 and the first signal arrival angle theta are calculated and obtained1. Similarly, through the wireless communication process between the second positioning device 200 and the third positioning device 300, the second distance between the second positioning device 200 and the third positioning device 300 and the second signal arrival angle θ are calculated and obtained2. And then, defining the relative position relation between the to-be-positioned point and the first reference point and the second reference point through the parameters.
Wherein the first signal reaches angle theta1And a second signal angle of arrival theta1For wireless communication devices (e.g., the first positioning device 100, the second positioning device 200, and the third positioning device 300) to pass throughAnd sensing the arrival direction of the signal of the transmitting node by the hardware equipment, and calculating the obtained relative azimuth or angle between the receiving node and the anchor node.
Taking the first positioning apparatus 100 as an example, the first positioning apparatus 100 includes at least two antennas. The first positioning device 100 obtains the time difference between the two antennas of the first positioning device 100 receiving the response signal; and obtaining the first signal arrival angle according to the time difference and the frequency of the response signal.
In this way, the relative position relationship between the to-be-positioned point where the second positioning device 200 is deployed and the first reference point and the second reference point is calculated and obtained through the distance between the second positioning device 200 and the first positioning device 100 and the distance between the second positioning device 200 and the arrival angle of the signal. Since the first positioning device 100, the second positioning device 200 and the third positioning device 300 are mobile devices, positioning points to be positioned can be located in an area that cannot be covered by base station signals.
For example, in an application environment such as a basement, a corridor, and a disaster relief site where there is no base station signal and GPS signal cannot be covered, the relative position between the user carrying the second positioning apparatus 200 and the user carrying the first positioning apparatus 100 and the second positioning apparatus 200 can be conveniently determined by the first positioning apparatus 100 and the second positioning apparatus 200. Therefore, compared with the method of fixedly placing the base station, the method has more flexible positioning mode.
In particular, in one possible example, the first positioning device 100 is used to calculate the relative position of the point to be positioned and the first reference point and the second reference point; the second positioning device 200 and the third positioning device 300 are used for playing a role of auxiliary positioning in the process of calculating the relative positions of the to-be-positioned point and the first reference point and the second reference point. The user can configure the first positioning device 100, the second positioning device 200 and the third positioning device 300 accordingly, so that they can perform different functions. The configuration manner is not limited to the physical hardware switch or the touch screen manner as long as different function roles can be configured for it.
Referring to fig. 4, the embodiment of the present application takes the first positioning apparatus 100 as an example, and provides a specific implementation manner for acquiring the second distance and the second signal arrival angle between the second positioning apparatus 200 and the second positioning apparatus 200.
The first positioning device 100 sends the test signal to the second positioning device 200, and records a first sending time; the response signal of the second positioning device 200 is acquired and the first moment of reception is recorded.
Further, the first positioning device 100 analyzes the response signal to obtain a second sending time and a second receiving time carried in the response signal, where the second receiving time is a time when the second positioning device 200 receives the test signal, and the second sending time is a time when the second positioning device 200 sends the response signal.
The first positioning device 100 calculates the first distance according to the first sending time, the first receiving time, the second receiving time, and the second receiving time.
Specifically, let the first transmission time be t1The first receiving time is t2The second transmission time is t3The second receiving time is t4The distance between the first positioning apparatus 100 and the second positioning apparatus 200 is L, and L can be expressed as:
wherein C is the propagation speed of the wireless signal in the air, t3-t2It takes time for the second positioning apparatus 200 to process the test signal.
It is worth noting that the test principle for calculating this second distance is the same as the principle for calculating said first distance. The first positioning device 100 sends a request signal to a third positioning device 300, so that the third positioning device 300 sends a test signal to the second positioning device 200, obtains the second distance and the second signal arrival angle, and sends the second distance and the second signal arrival angle to the first positioning device 100.
Optionally, the first reference point, the second reference point, and the point to be located are located at different positions in a three-dimensional space, that is, the first reference point, the second reference point, and the point to be located are not located on the same plane. The first positioning apparatus 100 calculates and obtains the relative position relationship between the to-be-positioned point and the first reference point and the second reference point in the three-dimensional space according to the first distance, the second distance, the first signal arrival angle, and the second signal arrival angle.
Referring to fig. 5, the positioning system further comprises a fourth positioning device 400 capable of communicating with the three mutually communicable positioning devices, the fourth positioning device 400 being deployed at the third reference point.
The first positioning device 100 obtains a third distance between the fourth positioning device 400 and the second positioning device 200. Based on the principle that circles formed by the distances between the same position and the other three positions intersect at the same point, the first positioning device 100 calculates the relative position relationship between the to-be-positioned point and the first reference point, the second reference point, and the third reference point according to the first distance, the second distance, and the third distance.
The embodiment of the present application further provides a positioning system, where the positioning system includes at least three positioning devices capable of communicating with each other, a first positioning device 100 of the three positioning devices capable of communicating with each other is deployed at a first reference point, a third positioning device is deployed at a second reference point, and a second positioning device 200 is deployed at a point to be positioned.
The first positioning device 100 communicates with the second positioning device 200 through a wireless signal to obtain a first distance between the first positioning device 100 and the second positioning device 200 and a first signal arrival angle measured by the first positioning device 100 during wireless communication;
the third positioning device 300 communicates with the second positioning device 200 through a wireless signal to obtain a second distance between the third positioning device 300 and the second positioning device 200 and a second signal arrival angle measured by the third positioning device 300 during wireless communication;
the first positioning device 100, the second positioning device 200, or the third positioning device calculates and obtains the relative position relationship between the to-be-positioned point and the first reference point and the second reference point according to the first distance, the second distance, the first signal arrival angle, and the second signal arrival angle.
Referring to fig. 6, an embodiment of the present application further provides a positioning apparatus 110, which is applied to a positioning system, where the positioning system includes at least three positioning devices that can communicate with each other, a first positioning device 100 of the three positioning devices that can communicate with each other is deployed at a first reference point, a third positioning device is deployed at a second reference point, and a second positioning device 200 is deployed at a point to be positioned; the positioning apparatus 110 includes a first obtaining module 1101, a second obtaining module 1102 and a calculating module 1103.
The first obtaining module 1101 is configured to obtain a first distance between the first positioning apparatus 100 and the second positioning apparatus 200, and a first signal arrival angle measured by the first positioning apparatus 100 when the first positioning apparatus 100 is in wireless communication with the second positioning apparatus 200.
In the present embodiment, the first obtaining module 1101 is configured to perform steps S100-S200 in fig. 2, and reference may be made to the detailed description of steps S100-S200 for a detailed description of the first obtaining module 1101.
The second obtaining module 1102 is configured to obtain a second distance between the third positioning device 300 and the second positioning device 200, and a second signal arrival angle measured by the third positioning device 300 when the third positioning device 300 is in wireless communication with the second positioning device 200.
In this embodiment, the second obtaining module 1102 is configured to perform steps S300-S400 in fig. 2, and the detailed description about the second obtaining module 1102 may refer to the detailed description about steps S300-S400.
The calculating module 1103 is configured to calculate, according to the first distance, the second distance, the first signal arrival angle, and the second signal arrival angle, to obtain a relative position relationship between the to-be-positioned point and the first reference point and the second reference point.
In the present embodiment, the calculating module 1103 is configured to perform step S500 in fig. 2, and reference may be made to the detailed description of step S500 for a detailed description of the calculating module 1103.
The embodiment of the application also provides a positioning device, which comprises a processor and a memory, wherein the memory stores machine executable instructions capable of being executed by the processor, and the processor can execute the machine executable instructions to realize the positioning method.
The embodiment of the application also provides a storage medium, on which a computer program is stored, and when the computer program is executed, the positioning method is realized.
In summary, the embodiments of the present application provide a positioning method, system, apparatus, positioning device, and storage medium. And calculating and obtaining the relative position relation between the to-be-positioned point where the second positioning equipment is deployed and the first reference point and the second reference point through the distances between the second positioning equipment and the first positioning equipment and between the second positioning equipment and the arrival angles of the signals respectively measured by the first positioning equipment and the third positioning equipment. Because the first positioning device, the second positioning device and the third positioning device are mobile devices, positioning points to be positioned can be positioned in an area which cannot be covered by base station signals. Therefore, compared with the method of fixedly placing the base station, the method has more flexible positioning mode.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The above description is only for various embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of changes or substitutions within the technical scope of the present application, and all such changes or substitutions are included in the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. The positioning method is characterized by being applied to a positioning system, wherein the positioning system comprises at least three positioning devices capable of communicating with each other, a first positioning device of the three positioning devices capable of communicating with each other is deployed at a first reference point, a third positioning device is deployed at a second reference point, and a second positioning device is deployed at a point to be positioned; the method comprises the following steps:
acquiring a first distance between the first positioning device and the second positioning device;
acquiring a first signal arrival angle measured by the first positioning equipment when the first positioning equipment is in wireless communication with the second positioning equipment;
acquiring a second distance between the third positioning device and the second positioning device;
acquiring a second signal arrival angle measured by the third positioning equipment when the third positioning equipment is in wireless communication with the second positioning equipment;
and calculating according to the first distance, the second distance, the first signal arrival angle and the second signal arrival angle to obtain the relative position relation between the point to be positioned and the first reference point and the second reference point.
2. The positioning method according to claim 1, wherein the step of obtaining the first distance between the first positioning device and the second positioning device comprises:
acquiring a first sending time when the first positioning equipment sends a test signal to the second positioning equipment and a first receiving time when the second positioning equipment receives the test signal;
acquiring a second sending time when the second positioning equipment sends a response signal to the first positioning equipment and a second receiving time when the first positioning equipment receives the response signal;
and calculating to obtain the first distance according to the first sending time, the first receiving time, the second sending time and the second receiving time.
3. The method according to claim 2, wherein the formula for obtaining the first distance according to the first sending time, the first receiving time, the second sending time and the second receiving time is:
wherein L is a first distance, t1Is the first transmission time, t2Is the first reception time, t3Is the second transmission time, t4C is the propagation speed of the wireless signal in the air at the second reception time.
4. The method according to claim 2, wherein the positioning device is configured with at least two antennas, and the step of obtaining the first signal angle of arrival measured by the first positioning device when the first positioning device is in wireless communication with the second positioning device comprises:
acquiring the time difference of the two antennas of the first positioning device for receiving the response signal;
and obtaining the first signal arrival angle according to the time difference and the frequency of the response signal.
5. The positioning method according to claim 1, wherein the first reference point, the second reference point and the point to be positioned are located at different positions in three-dimensional space, the method further comprising:
and calculating according to the first distance, the second distance, the first signal arrival angle and the second signal arrival angle to obtain the relative position relation of the point to be positioned and the first reference point and the second reference point in the three-dimensional space.
6. The positioning method according to claim 1, wherein the positioning system further comprises a fourth positioning device capable of communicating with the three mutually communicable positioning devices, the fourth positioning device being disposed at a third reference point, the method further comprising:
acquiring a third distance between the fourth positioning device and the second positioning device;
and calculating the relative position relation between the to-be-positioned point and the first reference point, the second reference point and the third reference point according to the first distance, the second distance and the third distance.
7. A positioning system is characterized by comprising at least three positioning devices capable of communicating with each other, wherein a first positioning device of the three positioning devices capable of communicating with each other is deployed at a first reference point, a third positioning device is deployed at a second reference point, and a second positioning device is deployed at a point to be positioned;
the first positioning equipment is communicated with the second positioning equipment through wireless signals to obtain a first distance between the first positioning equipment and the second positioning equipment and a first signal arrival angle measured by the first positioning equipment during wireless communication;
the third positioning equipment is communicated with the second positioning equipment through wireless signals to obtain a second distance between the third positioning equipment and the second positioning equipment and a second signal arrival angle measured by the third positioning equipment during wireless communication;
and the first positioning equipment, the second positioning equipment or the third positioning equipment calculates and obtains the relative position relation between the to-be-positioned point and the first reference point and the second reference point according to the first distance, the second distance, the first signal arrival angle and the second signal arrival angle.
8. The positioning device is characterized by being applied to a positioning system, wherein the positioning system comprises at least three positioning devices capable of communicating with each other, a first positioning device of the three positioning devices capable of communicating with each other is deployed at a first reference point, a third positioning device is deployed at a second reference point, and a second positioning device is deployed at a point to be positioned; the positioning device comprises a first acquisition module, a second acquisition module and a calculation module;
the first obtaining module is configured to obtain a first distance between the first positioning device and the second positioning device, and a first signal arrival angle measured by the first positioning device when the first positioning device is in wireless communication with the second positioning device;
the second obtaining module is configured to obtain a second distance between the third positioning device and the second positioning device, and a second signal arrival angle measured by the third positioning device when the third positioning device is in wireless communication with the second positioning device;
the calculation module is used for calculating and obtaining the relative position relation between the to-be-positioned point and the first reference point and the second reference point according to the first distance, the second distance, the first signal arrival angle and the second signal arrival angle.
9. A positioning device comprising a processor and a memory, the memory storing machine executable instructions executable by the processor to perform the positioning method of any one of claims 1-6.
10. A storage medium, characterized in that a computer program is stored thereon, which, when executed, implements the positioning method of any one of claims 1-6.
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