CN110730502B - Positioning method and device - Google Patents
Positioning method and device Download PDFInfo
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- CN110730502B CN110730502B CN201911013166.6A CN201911013166A CN110730502B CN 110730502 B CN110730502 B CN 110730502B CN 201911013166 A CN201911013166 A CN 201911013166A CN 110730502 B CN110730502 B CN 110730502B
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Abstract
The invention provides a positioning method and a positioning device, wherein the positioning method comprises the steps of splitting a plurality of positioning data of a positioning tag into N positioning data combinations, and positioning the positioning tag according to each positioning data combination in the N positioning data combinations to obtain N virtual positioning results, wherein N is a positive integer; obtaining N estimated data combinations according to the N virtual positioning results, wherein each estimated data combination comprises a plurality of estimated data, and the estimated data is reversely determined according to the virtual positioning results and has the same meaning with the positioning data in the positioning data combinations; and determining a target positioning result according to the error of the estimated data combination and the positioning data combination, solving the problem of low accuracy of a positioning system in the related technology, and achieving the effect of improving the positioning accuracy.
Description
Technical Field
The invention relates to the field of communication, in particular to a positioning method and a positioning device.
Background
The wireless positioning system is generally composed of a positioning tag, a positioning base station, a positioning engine, a monitoring host and the like, realizes monitoring of position information, track information and the like of people or objects in an area through a wireless positioning technology, is used for plant inspection, equipment inspection, material positioning and the like, and is widely applied to industries such as electric power, metallurgy, petrochemical industry, rail transit and the like.
The positioning system in the related art has low accuracy of the positioning result, cannot meet high positioning requirements, and has no solution to the problem of low accuracy of the positioning system in the related art.
Disclosure of Invention
The embodiment of the invention provides a positioning method and a positioning device, which are used for at least solving the problem of lower positioning accuracy in the related technology.
According to an embodiment of the present invention, there is provided a positioning method including:
splitting a plurality of positioning data of a positioning tag into N positioning data combinations, and positioning the positioning tag according to each positioning data combination in the N positioning data combinations to obtain N virtual positioning results, wherein N is a positive integer;
obtaining N estimated data combinations according to the N virtual positioning results, wherein each estimated data combination comprises a plurality of estimated data, and the estimated data is the data which is reversely determined according to the virtual positioning results and has the same meaning with the positioning data in the positioning data combinations;
and determining an object positioning result according to the error of the estimation data combination and the positioning data combination.
Optionally, before splitting the plurality of positioning data of the positioning tag into N positioning data combinations, the method further comprises: acquiring original positioning data of the positioning tag; screening the original positioning data according to the signal quality information of the original positioning data to obtain a plurality of positioning data, wherein the positioning data meets a preset condition, and the preset condition at least comprises one of the following conditions: the total signal quality of the positioning data is greater than a preset first threshold, and the ratio of the signal quality of the direct signal in the positioning data to the total signal quality of the positioning data is greater than a preset second threshold.
Optionally, splitting the plurality of positioning data into N positioning data combinations comprises: and splitting the plurality of positioning data into N positioning data combinations when the number of the plurality of positioning data is larger than a preset third threshold.
Optionally, obtaining N estimated data combinations according to the N virtual positioning results includes:
determining the estimation data inversely according to the virtual positioning result and the position of the first positioning device when the positioning data indicates a first distance between the positioning tag and the first positioning device, wherein the estimation data is used for indicating an estimated first distance between the positioning tag and the first positioning device;
and determining the estimation data reversely according to the virtual positioning result, the position of the first positioning device and the position of the second positioning device when the positioning data indicates the distance difference between the positioning tag and the first positioning device and the second positioning device, wherein the estimation data is used for indicating the estimated distance difference between the positioning tag and the first positioning device and the second positioning device.
Optionally, determining an object location result from the error of the combination of estimated data and the combination of location data comprises: determining a residual error of a positioning data combination corresponding to each virtual positioning result in the N virtual positioning results and an estimation data combination corresponding to each virtual positioning result to obtain N residual errors; and determining a target positioning result according to the N residual errors.
Optionally, determining a target positioning result according to the N residual errors includes: and taking a positioning result corresponding to the minimum residual error in the N residual errors as the target positioning result.
According to another embodiment of the present invention, there is also provided a positioning apparatus including:
the device comprises a splitting module, a judging module and a processing module, wherein the splitting module is used for splitting a plurality of positioning data of a positioning tag into N positioning data combinations, and positioning the positioning tag according to each positioning data combination in the N positioning data combinations to obtain N virtual positioning results, wherein N is a positive integer;
the estimation module is used for obtaining N estimation data combinations according to the N virtual positioning results, wherein each estimation data combination comprises a plurality of estimation data, and the estimation data is reversely determined according to the virtual positioning results and has the same meaning with the positioning data in the positioning data combinations;
and the determining module is used for determining a target positioning result according to the error of the estimation data combination and the positioning data combination.
Optionally, the apparatus further comprises: the system comprises an acquisition module, a processing module and a processing module, wherein the acquisition module is used for acquiring original positioning data of a positioning tag before splitting a plurality of positioning data of the positioning tag into N positioning data combinations; the screening module is used for screening the original positioning data according to the signal quality information of the original positioning data to obtain a plurality of positioning data, wherein the positioning data meets a preset condition, and the preset condition at least comprises one of the following conditions: the total signal quality of the positioning data is greater than a preset first threshold, and the ratio of the signal quality of the direct signal in the positioning data to the total signal quality of the positioning data is greater than a preset second threshold.
Optionally, the splitting module includes: the splitting unit is configured to split the plurality of positioning data into N positioning data combinations when the number of the plurality of positioning data is greater than a preset third threshold.
Optionally, the estimation module includes: a first estimating unit, configured to determine, in a case where the positioning data indicates a first distance between the positioning tag and a first positioning apparatus, the estimation data inversely according to the virtual positioning result and a position of the first positioning apparatus, where the estimation data indicates an estimated first distance between the positioning tag and the first positioning apparatus; or, a second estimating unit, configured to determine, based on the virtual positioning result, a position of the first positioning device, and a position of the second positioning device, the estimated data reversely when the positioning data indicates a distance difference between the positioning tag and the first positioning device and the second positioning device, wherein the estimated data indicates an estimated distance difference between the positioning tag and the first positioning device and the second positioning device.
Optionally, the determining module includes: a first determining unit, configured to determine a residual error of a positioning data combination corresponding to each of the N virtual positioning results and an estimated data combination corresponding to each of the N virtual positioning results, so as to obtain N residual errors; and the second determining unit is used for determining a target positioning result according to the N residual errors.
Optionally, the second determining unit includes: a determining subunit, configured to use a positioning result corresponding to a minimum residual error of the N residual errors as the target positioning result.
According to a further embodiment of the present invention, there is also provided a storage medium having a computer program stored therein, wherein the computer program is arranged to perform the steps of any of the above method embodiments when executed.
According to yet another embodiment of the present invention, there is also provided an electronic device, including a memory in which a computer program is stored and a processor configured to execute the computer program to perform the steps in any of the above method embodiments.
According to the embodiment of the invention, a plurality of positioning data of the positioning tag are divided into N positioning data combinations, and the positioning tag is positioned according to each positioning data combination in the N positioning data combinations respectively to obtain N virtual positioning results, wherein N is a positive integer; obtaining N estimated data combinations according to the N virtual positioning results, wherein each estimated data combination comprises a plurality of estimated data, and the estimated data is reversely determined according to the virtual positioning results and has the same meaning with the positioning data in the positioning data combinations; and determining a target positioning result according to the error of the estimated data combination and the positioning data combination, so that the problem of low accuracy of a positioning system in the related technology can be solved, and the effect of improving the positioning accuracy is achieved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
fig. 1 is a block diagram of a hardware structure of a base station of a positioning method according to an embodiment of the present invention;
FIG. 2 is a flow chart of a positioning method according to an embodiment of the invention;
FIG. 3 is a block diagram of a positioning device according to an embodiment of the present invention;
FIG. 4 is a flow chart of a process for determining a location result according to an alternative embodiment of the present invention;
FIG. 5 is a flow diagram of a process for culling positioning data corresponding to a reflection signal in accordance with an alternative embodiment of the invention;
fig. 6 is a flow chart of a process for determining a target location result according to an alternative embodiment of the present invention.
Detailed Description
The invention will be described in detail hereinafter with reference to the accompanying drawings in conjunction with embodiments. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order.
Example 1
The method provided by the first embodiment of the present application may be executed in a base station or a similar computing device. Taking the operation on the base station as an example, fig. 1 is a hardware structure block diagram of the base station of the positioning method according to the embodiment of the present invention. As shown in fig. 1, the base station 10 may include one or more (only one shown in fig. 1) processors 102 (the processor 102 may include, but is not limited to, a processing device such as a microprocessor MCU or a programmable logic device FPGA) and a memory 104 for storing data, and optionally may further include a transmission device 106 for communication functions and an input-output device 108. It will be understood by those skilled in the art that the structure shown in fig. 1 is only an illustration, and is not intended to limit the structure of the base station. For example, the base station 10 may also include more or fewer components than shown in fig. 1, or have a different configuration than shown in fig. 1.
The memory 104 can be used for storing computer programs, for example, software programs and modules of application software, such as computer programs corresponding to the positioning method in the embodiment of the present invention, and the processor 102 executes various functional applications and data processing by running the computer programs stored in the memory 104, so as to implement the above-mentioned method. The memory 104 may include high speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include memory remotely located from the processor 102, which may be connected to the base station 10 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The transmission device 106 is used for receiving or transmitting data via a network. Specific examples of the network described above may include a wireless network provided by a communication provider of the base station 10. In one example, the transmission device 106 includes a Network adapter (NIC), which can be connected to other Network devices through a base station so as to communicate with the internet. In one example, the transmission device 106 may be a Radio Frequency (RF) module, which is used for communicating with the internet in a wireless manner.
In the present embodiment, a positioning method operating in the above-mentioned base station or similar computing device is provided, and fig. 2 is a flowchart of the positioning method according to the embodiment of the present invention, as shown in fig. 2, the flowchart includes the following steps:
step S202, splitting a plurality of positioning data of the positioning tag into N positioning data combinations, and positioning the positioning tag according to each positioning data combination of the N positioning data combinations to obtain N virtual positioning results, wherein N is a positive integer;
step S204, obtaining N estimated data combinations according to the N virtual positioning results, wherein each estimated data combination comprises a plurality of estimated data, and the estimated data is reversely determined according to the virtual positioning results and has the same meaning with the positioning data in the positioning data combinations;
in step S206, the target positioning result is determined according to the error of the combination of the estimated data and the positioning data.
Through the steps, the plurality of positioning data of the positioning tag are split into N positioning data combinations, and the positioning tag is positioned according to each positioning data combination in the N positioning data combinations respectively to obtain N virtual positioning results, wherein N is a positive integer; obtaining N estimated data combinations according to the N virtual positioning results, wherein each estimated data combination comprises a plurality of estimated data, and the estimated data is reversely determined according to the virtual positioning results and has the same meaning with the positioning data in the positioning data combinations; and determining a target positioning result according to the error of the estimated data combination and the positioning data combination, thereby solving the problem of low accuracy of a positioning system in the related technology and achieving the effect of improving the positioning accuracy.
It should be noted that the "virtual positioning result" in this embodiment may indicate that the positioning result is only a positioning result calculated from the positioning data, is an intermediate value for determining the "target positioning result", and is not a final "target positioning result".
It should be further noted that, in the process of splitting the plurality of positioning data into N positioning data combinations in the embodiment of the present invention, the plurality of positioning data may be split into N data combinations that are not repeated, for example, 20 positioning data are obtained after the screening, and every 5 positioning data in the 20 positioning data may form one positioning data combination, and thus 4 positioning data combinations are formed in total; it may also be that the plurality of positioning data are split into N positioning data combinations with repetition therebetween, for example, the above-mentioned 20 positioning data may be split into 4 groups of data combinations, where each group of data combinations may include more than 5 positioning data, for example, 6, 8 and so on positioning data. That is, the positioning data is split into N positioning data combinations, each positioning data combination includes M positioning data, where N × M may be greater than or equal to the number of the "multiple positioning data" described above.
It should be further noted that, in the embodiment of the present invention, the "estimation data is data reversely determined according to the virtual positioning result and having the same meaning as the positioning data" may mean that the estimation data and the positioning data express the same content, but the specific value of the content may be different; for example, when the positioning data represents the distance of a to B, then the estimation data also represents the distance of a to B, but the positioning data is measured and the estimation data is derived theoretically from the virtual positioning results.
In an optional embodiment, before splitting the plurality of positioning data of the positioning tag into N positioning data combinations, the method further comprises: acquiring original positioning data of a positioning tag; the method comprises the following steps of screening original positioning data according to signal quality information of the original positioning data to obtain a plurality of positioning data, wherein the positioning data meet preset conditions, and the preset conditions at least comprise one of the following conditions: the total signal quality of the positioning data is greater than a preset first threshold, and the ratio of the signal quality of the direct signal in the positioning data to the total signal quality of the positioning data is greater than a preset second threshold.
It should be noted that if the total signal quality of a certain positioning data is low, it indicates that the positioning data is likely to be reflected or refracted positioning data, and the error of the type of positioning data is large, so the embodiment of the present invention can select positioning data whose total signal quality is greater than the preset first threshold, and satisfy the condition that the total signal quality of the positioning data is good, so that positioning data with high error can be excluded, and the positioning accuracy is improved; in addition, if the ratio of the signal quality of the direct signal in a certain positioning data to the total signal quality of the positioning data is small, it indicates that more data subjected to reflection, refraction and the like is included in the positioning data, and the error of the positioning data is large, so the embodiment of the invention can also select the positioning data in which the ratio of the signal quality of the direct signal in the positioning data to the total signal quality of the positioning data is larger than a preset second threshold value, and in the type of positioning data, the indirect signals such as reflection, refraction and the like are less, so that the positioning data with high error can be excluded, and the positioning accuracy is improved. Of course, the embodiment of the present invention may also select the positioning data that satisfies the above two conditions at the same time.
In an optional embodiment, splitting the plurality of positioning data into N positioning data combinations comprises: and under the condition that the quantity of the plurality of positioning data is greater than a preset third threshold value, splitting the plurality of positioning data into N positioning data combinations. It should be noted that, in the case where the load of the positioning system is high, the third threshold value may be set to a large value.
In an alternative embodiment, obtaining N combinations of estimated data from the N virtual positioning results comprises:
determining estimation data inversely according to the virtual positioning result and the position of the first positioning device under the condition that the positioning data indicate a first distance between the positioning tag and the first positioning device, wherein the estimation data are used for indicating the estimated first distance between the positioning tag and the first positioning device;
and in the case that the positioning data indicate the distance difference between the positioning tag and the first positioning device and the second positioning device, reversely determining estimation data according to the virtual positioning result, the position of the first positioning device and the position of the second positioning device, wherein the estimation data are used for indicating the estimated distance difference between the positioning tag and the first positioning device and the second positioning device.
It should be noted that, since different positioning modes such as a tof (time Of flight) mode and a tdoa (time difference Of arrival) mode exist in the positioning, the positioning data in the specific positioning mode is different. It should be further noted that the positioning device in this embodiment may be a positioning base station.
In an alternative embodiment, determining the object localization result from the error of the combination of estimated data and the combination of localization data comprises: determining residual errors of a positioning data combination corresponding to each virtual positioning result in the N virtual positioning results and an estimation data combination corresponding to each virtual positioning result to obtain N residual errors; and determining a target positioning result according to the N residual errors.
In an alternative embodiment, determining the target location result from the N residual errors includes: and taking the positioning result corresponding to the minimum residual error in the N residual errors as a target positioning result.
Alternatively, the main body of the above steps may be a base station, a terminal, or similar operation device, but is not limited thereto.
In this embodiment, a positioning device is further provided, and the positioning device is used to implement the above embodiments and preferred embodiments, which have already been described and are not described again. As used below, the term "module" may be a combination of software and/or hardware that implements a predetermined function. Although the means described in the embodiments below are preferably implemented in software, an implementation in hardware, or a combination of software and hardware is also possible and contemplated.
Fig. 3 is a block diagram of a positioning apparatus according to an embodiment of the present invention, as shown in fig. 3, including:
the splitting module 31 is configured to split the multiple positioning data of the positioning tag into N positioning data combinations, and position the positioning tag according to each of the N positioning data combinations, to obtain N virtual positioning results, where N is a positive integer;
an estimating module 33, configured to obtain N estimated data combinations according to the N virtual positioning results, where each estimated data combination includes a plurality of estimated data, and the estimated data is data having the same meaning as the positioning data in the positioning data combination, which is determined inversely according to the virtual positioning results;
a determining module 35 for determining a target positioning result based on the error of the combination of the estimated data and the positioning data.
Through the module, the plurality of positioning data of the positioning tag are split into N positioning data combinations, and the positioning tag is positioned according to each positioning data combination in the N positioning data combinations respectively to obtain N virtual positioning results, wherein N is a positive integer; obtaining N estimated data combinations according to the N virtual positioning results, wherein each estimated data combination comprises a plurality of estimated data, and the estimated data is reversely determined according to the virtual positioning results and has the same meaning with the positioning data in the positioning data combinations; and determining a target positioning result according to the error of the estimated data combination and the positioning data combination, thereby solving the problem of low accuracy of a positioning system in the related technology and achieving the effect of improving the positioning accuracy.
In an alternative embodiment, the apparatus further comprises: the acquisition module is used for acquiring original positioning data of the positioning tag before splitting the plurality of positioning data of the positioning tag into N positioning data combinations; the screening module is used for screening the original positioning data according to the signal quality information of the original positioning data to obtain a plurality of positioning data, wherein the positioning data meet preset conditions, and the preset conditions at least comprise one of the following conditions: the total signal quality of the positioning data is greater than a preset first threshold, and the ratio of the signal quality of the direct signal in the positioning data to the total signal quality of the positioning data is greater than a preset second threshold.
In an optional embodiment, the splitting module includes: the splitting unit is used for splitting the plurality of positioning data into N positioning data combinations under the condition that the number of the plurality of positioning data is larger than a preset third threshold value.
In an alternative embodiment, the estimation module comprises: a first estimation unit configured to determine estimation data inversely according to a virtual positioning result and a position of the first positioning device, in a case where the positioning data indicates a first distance between the positioning tag and the first positioning device, wherein the estimation data indicates an estimated first distance between the positioning tag and the first positioning device; or, a second estimating unit, configured to determine estimation data inversely according to the virtual positioning result, the position of the first positioning device, and the position of the second positioning device, in a case that the positioning data indicates a difference in distance between the positioning tag and the first positioning device and the second positioning device, wherein the estimation data indicates an estimated difference in distance between the positioning tag and the first positioning device and the second positioning device.
In an alternative embodiment, the determining module includes: a first determining unit, configured to determine a residual error of a positioning data combination corresponding to each of the N virtual positioning results and an estimated data combination corresponding to each of the N virtual positioning results, so as to obtain N residual errors; and the second determining unit is used for determining a target positioning result according to the N residual errors.
In an optional embodiment, the second determining unit includes: and the determining subunit is used for taking the positioning result corresponding to the minimum residual error in the N residual errors as the target positioning result.
It should be noted that, the above modules may be implemented by software or hardware, and for the latter, the following may be implemented, but not limited to: the modules are all positioned in the same processor; alternatively, the modules are respectively located in different processors in any combination.
Alternative embodiments
The embodiment of the invention provides a positioning method, which combines the signal quality in positioning data to screen and integrate the positioning data so as to find the positioning data with the highest precision to the greatest extent, and performs positioning calculation according to the screened positioning data.
Fig. 4 is a flowchart of a process of determining a positioning result according to an alternative embodiment of the present invention, and as shown in fig. 4, the process of determining a positioning result includes:
s401, starting;
s402, reading positioning data; for example, reading the entire positioning data; the positioning data needs to contain signal quality information of positioning messages received by each positioning base station and TOF information or TDOA information used for positioning calculation;
s403, eliminating data corresponding to the reflection signals according to the signal quality; for example, the signal quality information in the positioning data is utilized to eliminate the data corresponding to the reflected signal;
s404, screening, integrating and positioning calculation of the residual data; for example, the remaining data is screened and integrated to find the data with higher precision in the positioning data to the maximum extent, and positioning calculation is performed according to the remaining data to obtain a preliminary positioning result, which may be a plurality of positioning coordinates obtained by the preliminary calculation, for example; the remaining positioning data can be subjected to processing procedures such as positioning data recombination, coordinate solving, residual error solving and the like;
s405, outputting a result;
and S406, ending.
After step S403, if the number of remaining data after the filtering exceeds a certain threshold, step S404 may be performed; if the number of the remaining data after the screening does not exceed a certain threshold, the positioning calculation may also be directly performed to obtain the positioning coordinates, and then step S405 is performed.
The embodiment of the invention provides a positioning method, which can be used for screening and integrating the positioning data by combining the signal quality in the positioning data so as to find the positioning data with the highest precision to the greatest extent and perform positioning calculation by using the positioning data.
Fig. 5 is a flowchart of a process of removing positioning data corresponding to a reflection signal according to an alternative embodiment of the present invention, as shown in fig. 5, including:
s501, starting;
s502, reading the signal quality S0；S0Representing the total signal quality of a positioning datum;
s503, reading the first link signal quality S1；S0Representing a signal quality of a direct signal in the positioning data;
s504, judging S0Whether or not it is greater than Thr1If yes, go to step S505; if not, go to step S508;
s505, determining S0And S1A difference of (d); for example, if the read values of S0 and S1 have been converted to dB, the difference is equal to S0-S1; if not converted to dB, the difference is equal to S0/S1;
s506, judging the difference and Thr2If the difference is less than Thr2Then go to step S507, if the difference is greater than Thr2Then go to step S508;
s507, reserving data;
s508, deleting the data;
and S509, ending.
It should be noted that, through the above steps, the positioning data that can be used for positioning can be screened out.
FIG. 6 is a flow chart of a process for determining a target location result according to an alternative embodiment of the present invention, as shown in FIG. 6, including:
s601, starting;
s602, reading data; for example, reading the remaining positioning data after the screening process;
s603, recombining the data; for example, regrouping the remaining positioning data obtained after screening;
s604, solving coordinates by using each group of data; for example, the positioning coordinates of the positioning object are obtained by respectively using the positioning data in each group;
s605, reversely solving estimation data corresponding to the positioning data by using each group of coordinate results; for example, the estimated data corresponding to the positioning coordinates are solved in reverse by using the positioning coordinates of each positioning object obtained in the above steps; the estimated data also corresponds to the positioning data group corresponding to the positioning coordinates;
s606, solving the residual error of each group of positioning data; for example, the residual error is obtained by using the positioning data group corresponding to each positioning coordinate and the estimation data corresponding to each positioning coordinate;
s607, finding out the coordinate result with the minimum residual error;
s608, outputting the result;
and S609, ending.
It should be noted that after the positioning data is filtered, the remaining data will be used for positioning, and these data are recorded as:
Ψ0＝{Dk，k＝1，2，...，K} (1)
where K is the number of remaining data, DkIndicating positioning data associated with the kth positioning base station
The data are recombined, N combinations are in total after recombination, and M positioning data are recorded in each combination as:
Ψn＝{Dn，m，m＝1，2，...，M}，n＝1，2，...，N (2)
wherein D isn,mRepresenting positioning data associated with the m-th positioning base station in the n-th combination
Using the position data Ψn＝{Dn，mAnd M is 1, 2, a, M, and the coordinates of the positioning tag are solved, and the obtained result is:
Xn＝{xn，yn，zn},n＝1，2，...，N (3)
using the resulting coordinates Xn＝{xn，yn，zn-deriving in reverse estimated data corresponding to the positioning data:
wherein the content of the first and second substances,
representing the estimated data corresponding to the positioning data associated with the mth positioning base station in the nth combination by:
for the TOF mode it is,
for the time-out-of-the-track mode,
wherein x(m)、y(m)、z(m)Respectively representing X-axis, Y-axis and Z-axis coordinates of the mth base station;
then, the residual error corresponding to each group of data is calculated:
finding out the minimum value of the residual error, wherein the corresponding coordinate is the final positioning result:
Xi＝{xi，yi，ziwhere i is argmin { e }n，n＝1，2，...，N} (6)
Through the above description of the embodiments, those skilled in the art can clearly understand that the method according to the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but the former is a better implementation mode in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present invention.
Example 2
Embodiments of the present invention also provide a storage medium having a computer program stored therein, wherein the computer program is arranged to perform the steps of any of the above method embodiments when executed.
Alternatively, in the present embodiment, the storage medium may be configured to store a computer program for executing the steps of:
s1, splitting the plurality of positioning data of the positioning tag into N positioning data combinations, and positioning the positioning tag according to each positioning data combination of the N positioning data combinations to obtain N virtual positioning results, wherein N is a positive integer;
s2, obtaining N estimated data combinations according to the N virtual positioning results, wherein each estimated data combination comprises a plurality of estimated data, and the estimated data is the data which is reversely determined according to the virtual positioning results and has the same meaning with the positioning data in the positioning data combinations;
s3, determining the target positioning result according to the error of the combination of the estimated data and the positioning data.
Through the steps, the plurality of positioning data of the positioning tag are split into N positioning data combinations, and the positioning tag is positioned according to each positioning data combination in the N positioning data combinations respectively to obtain N virtual positioning results, wherein N is a positive integer; obtaining N estimated data combinations according to the N virtual positioning results, wherein each estimated data combination comprises a plurality of estimated data, and the estimated data is reversely determined according to the virtual positioning results and has the same meaning with the positioning data in the positioning data combinations; and determining a target positioning result according to the error of the estimated data combination and the positioning data combination, thereby solving the problem of low accuracy of a positioning system in the related technology and achieving the effect of improving the positioning accuracy.
Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments and optional implementation manners, and this embodiment is not described herein again.
Optionally, in this embodiment, the storage medium may include, but is not limited to: various media capable of storing computer programs, such as a usb disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic disk, or an optical disk.
Embodiments of the present invention also provide an electronic device comprising a memory having a computer program stored therein and a processor arranged to run the computer program to perform the steps of any of the above method embodiments.
Optionally, the electronic apparatus may further include a transmission device and an input/output device, wherein the transmission device is connected to the processor, and the input/output device is connected to the processor.
Optionally, in this embodiment, the processor may be configured to execute the following steps by a computer program:
s1, splitting the plurality of positioning data of the positioning tag into N positioning data combinations, and positioning the positioning tag according to each positioning data combination of the N positioning data combinations to obtain N virtual positioning results, wherein N is a positive integer;
s2, obtaining N estimated data combinations according to the N virtual positioning results, wherein each estimated data combination comprises a plurality of estimated data, and the estimated data is the data which is reversely determined according to the virtual positioning results and has the same meaning with the positioning data in the positioning data combinations;
s3, determining the target positioning result according to the error of the combination of the estimated data and the positioning data.
Through the steps, the plurality of positioning data of the positioning tag are split into N positioning data combinations, and the positioning tag is positioned according to each positioning data combination in the N positioning data combinations respectively to obtain N virtual positioning results, wherein N is a positive integer; obtaining N estimated data combinations according to the N virtual positioning results, wherein each estimated data combination comprises a plurality of estimated data, and the estimated data is reversely determined according to the virtual positioning results and has the same meaning with the positioning data in the positioning data combinations; and determining a target positioning result according to the error of the estimated data combination and the positioning data combination, thereby solving the problem of low accuracy of a positioning system in the related technology and achieving the effect of improving the positioning accuracy.
Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments and optional implementation manners, and this embodiment is not described herein again.
It will be apparent to those skilled in the art that the modules or steps of the present invention described above may be implemented by a general purpose computing device, they may be centralized on a single computing device or distributed across a network of multiple computing devices, and alternatively, they may be implemented by program code executable by a computing device, such that they may be stored in a storage device and executed by a computing device, and in some cases, the steps shown or described may be performed in an order different than that described herein, or they may be separately fabricated into individual integrated circuit modules, or multiple ones of them may be fabricated into a single integrated circuit module. Thus, the present invention is not limited to any specific combination of hardware and software.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the principle of the present invention should be included in the protection scope of the present invention.
Claims (12)
1. A method of positioning, comprising:
acquiring original positioning data of a positioning tag;
screening the original positioning data according to the signal quality information of the original positioning data to obtain a plurality of positioning data, wherein the positioning data meets a preset condition, and the preset condition at least comprises one of the following conditions: the total signal quality of the positioning data is greater than a preset first threshold, and the ratio of the signal quality of the direct signal in the positioning data to the total signal quality of the positioning data is greater than a preset second threshold;
splitting a plurality of positioning data of the positioning tag into N positioning data combinations, and positioning the positioning tag according to each positioning data combination of the N positioning data combinations to obtain N virtual positioning results, wherein N is a positive integer;
obtaining N estimated data combinations according to the N virtual positioning results, wherein each estimated data combination comprises a plurality of estimated data, and the estimated data is the data which is reversely determined according to the virtual positioning results and has the same meaning with the positioning data in the positioning data combinations;
and determining an object positioning result according to the error of the estimation data combination and the positioning data combination.
2. The method of claim 1, wherein splitting the plurality of positioning data into N positioning data combinations comprises:
and splitting the plurality of positioning data into N positioning data combinations when the number of the plurality of positioning data is larger than a preset third threshold.
3. The method of claim 1, wherein obtaining N estimated data combinations from the N virtual positioning results comprises:
determining the estimation data inversely according to the virtual positioning result and the position of the first positioning device when the positioning data indicates a first distance between the positioning tag and the first positioning device, wherein the estimation data is used for indicating an estimated first distance between the positioning tag and the first positioning device;
and determining the estimation data reversely according to the virtual positioning result, the position of the first positioning device and the position of the second positioning device when the positioning data indicates the distance difference between the positioning tag and the first positioning device and the second positioning device, wherein the estimation data is used for indicating the estimated distance difference between the positioning tag and the first positioning device and the second positioning device.
4. A method according to any one of claims 1 to 3, wherein determining a target positioning result from the error of the combination of estimated data and the combination of positioning data comprises:
determining a residual error of a positioning data combination corresponding to each virtual positioning result in the N virtual positioning results and an estimation data combination corresponding to each virtual positioning result to obtain N residual errors;
and determining a target positioning result according to the N residual errors.
5. The method of claim 4, wherein determining a target location result from the N residual errors comprises:
and taking a positioning result corresponding to the minimum residual error in the N residual errors as the target positioning result.
6. A positioning device, comprising:
the acquisition module is used for acquiring the original positioning data of the positioning label;
the screening module is used for screening the original positioning data according to the signal quality information of the original positioning data to obtain a plurality of positioning data, wherein the positioning data meets a preset condition, and the preset condition at least comprises one of the following conditions: the total signal quality of the positioning data is greater than a preset first threshold, and the ratio of the signal quality of the direct signal in the positioning data to the total signal quality of the positioning data is greater than a preset second threshold;
the splitting module is used for splitting the plurality of positioning data of the positioning tag into N positioning data combinations, and respectively positioning the positioning tag according to each positioning data combination of the N positioning data combinations to obtain N virtual positioning results, wherein N is a positive integer;
the estimation module is used for obtaining N estimation data combinations according to the N virtual positioning results, wherein each estimation data combination comprises a plurality of estimation data, and the estimation data is reversely determined according to the virtual positioning results and has the same meaning with the positioning data in the positioning data combinations;
and the determining module is used for determining a target positioning result according to the error of the estimation data combination and the positioning data combination.
7. The apparatus of claim 6, wherein the splitting module comprises:
the splitting unit is configured to split the plurality of positioning data into N positioning data combinations when the number of the plurality of positioning data is greater than a preset third threshold.
8. The apparatus of claim 6, wherein the estimation module comprises:
a first estimating unit, configured to determine, in a case where the positioning data indicates a first distance between the positioning tag and a first positioning apparatus, the estimation data inversely according to the virtual positioning result and a position of the first positioning apparatus, where the estimation data indicates an estimated first distance between the positioning tag and the first positioning apparatus; alternatively, the first and second electrodes may be,
a second estimating unit, configured to determine the estimation data inversely according to the virtual positioning result, the position of the first positioning device, and the position of the second positioning device, if the positioning data indicates a distance difference between the positioning tag and the first positioning device and the second positioning device, wherein the estimation data indicates an estimated distance difference between the positioning tag and the first positioning device and the second positioning device.
9. The apparatus of any of claims 6 to 8, wherein the determining module comprises:
a first determining unit, configured to determine a residual error of a positioning data combination corresponding to each of the N virtual positioning results and an estimated data combination corresponding to each of the N virtual positioning results, so as to obtain N residual errors;
and the second determining unit is used for determining a target positioning result according to the N residual errors.
10. The apparatus of claim 9, wherein the second determining unit comprises:
a determining subunit, configured to use a positioning result corresponding to a minimum residual error of the N residual errors as the target positioning result.
11. A computer-readable storage medium, in which a computer program is stored, wherein the computer program is configured to carry out the method of any one of claims 1 to 5 when executed.
12. An electronic device comprising a memory and a processor, wherein the memory has stored therein a computer program, and wherein the processor is arranged to execute the computer program to perform the method of any of claims 1 to 5.
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