CN110730503A - Positioning method and device - Google Patents
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
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- 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
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Abstract
The invention provides a positioning method and a positioning device, wherein the positioning method comprises the following steps: determining a first positioning error function according to the space geometric relationship between the positioning tag and the plurality of positioning base stations, wherein the first positioning error function is used for indicating the measurement error of the position of the positioning tag; determining a target X-axis coordinate and a target Y-axis coordinate of the positioning tag according to the target Z-axis coordinate and the first positioning error function of the positioning tag, wherein the values of the first positioning error function corresponding to the target X-axis coordinate and the target Y-axis coordinate of the positioning tag meet preset conditions, and the preset conditions comprise: the value of the first positioning error function is a minimum value; the positioning label is positioned according to the target Z-axis coordinate, the target X-axis coordinate and the target Y-axis coordinate, and the positioning method and the positioning device solve the problem that the coordinate deviation of the positioning label in a three-dimensional positioning scene in the related technology is large, and achieve 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. In the related art, the positioning result in the three-dimensional positioning scene has a large deviation, which results in low positioning accuracy, and no solution exists for the problem in the related art that the coordinate deviation of the positioning tag in the three-dimensional positioning scene is large.
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 that the coordinate deviation of a positioning label in a three-dimensional positioning scene in the related technology is large.
According to an embodiment of the present invention, there is provided a positioning method including: determining a first positioning error function according to the space geometric relationship between a positioning tag and a plurality of positioning base stations, wherein the first positioning error function is used for indicating the measurement error of the position of the positioning tag;
determining a target X-axis coordinate and a target Y-axis coordinate of a positioning tag according to a target Z-axis coordinate of the positioning tag and the first positioning error function, wherein values of the first positioning error function corresponding to the target X-axis coordinate and the target Y-axis coordinate of the positioning tag meet preset conditions, and the preset conditions include: the value of the first positioning error function is a minimum value;
and positioning the positioning label according to the target Z-axis coordinate, the target X-axis coordinate and the target Y-axis coordinate.
Optionally, the method further comprises: and determining the target Z-axis coordinate of the positioning tag according to the first elevation information of the positioning tag, the second elevation information of the plurality of positioning base stations and the Z-axis coordinate of the plurality of positioning base stations.
Optionally, the method further comprises: and acquiring the first elevation information according to the positioning messages between the positioning labels and the positioning base stations, and acquiring the second elevation information according to the synchronous messages between the positioning base stations.
Optionally, determining the first positioning error function according to the spatial geometrical relationship between the positioning tag and the plurality of positioning base stations includes:
respectively determining first vectors from a plurality of second positioning base stations to the first positioning base station, wherein the first positioning base station is a reference positioning base station in the plurality of positioning base stations, and the second positioning base station is a positioning base station except the first positioning base station in the plurality of positioning base stations;
determining second vectors of the positioning labels to the plurality of second positioning base stations respectively;
determining a third vector of the positioning tag to the first positioning base station;
determining the first positioning error function according to a spatial geometrical relationship between the positioning tag and the plurality of positioning base stations, wherein the spatial geometrical relationship comprises: the sum of the second vector and the first vector is equal to the third vector.
Optionally, determining the target X-axis coordinate and the target Y-axis coordinate of the positioning tag according to the target Z-axis coordinate of the positioning tag and the first positioning error function includes:
determining a second positioning error function according to the target Z-axis coordinate of the positioning label and the first positioning error function, wherein the second positioning error function is used for indicating the measurement error of the target X-axis coordinate and the target Y-axis coordinate of the positioning label;
and obtaining the target X-axis coordinate and the target Y-axis coordinate of the positioning label according to the second positioning error function by using a least square method.
According to another embodiment of the present invention, there is also provided a positioning apparatus including:
a first determining module, configured to determine a first positioning error function according to a spatial geometric relationship between a positioning tag and a plurality of positioning base stations, where the first positioning error function is used to indicate a measurement error of a position of the positioning tag;
a second determining module, configured to determine a target X-axis coordinate and a target Y-axis coordinate of a positioning tag according to a target Z-axis coordinate of the positioning tag and the first positioning error function, where values of the first positioning error function corresponding to the target X-axis coordinate and the target Y-axis coordinate of the positioning tag satisfy a preset condition, where the preset condition includes: the value of the first positioning error function is a minimum value;
and the positioning module is used for positioning the positioning label according to the target Z-axis coordinate, the target X-axis coordinate and the target Y-axis coordinate.
Optionally, the apparatus further comprises: and the third determining module is used for determining the target Z-axis coordinate of the positioning tag according to the first elevation information of the positioning tag, the second elevation information of the plurality of positioning base stations and the Z-axis coordinate of the plurality of positioning base stations.
Optionally, the apparatus further comprises: and the acquisition module is used for acquiring the first elevation information according to the positioning messages between the positioning labels and the positioning base stations and acquiring the second elevation information according to the synchronous messages between the positioning base stations.
Optionally, the first determining module includes:
a first determining unit, configured to determine first vectors from a plurality of second positioning base stations to the first positioning base station, respectively, where the first positioning base station is a reference positioning base station in the plurality of positioning base stations, and the second positioning base station is a positioning base station other than the first positioning base station in the plurality of positioning base stations;
a second determining unit, configured to determine second vectors of the positioning tags to the plurality of second positioning base stations, respectively;
a third determining unit, configured to determine a third vector of the positioning tag to the first positioning base station;
a fourth determining unit, configured to determine the first positioning error function according to a spatial geometrical relationship between the positioning tag and the plurality of positioning base stations, where the spatial geometrical relationship includes: the sum of the second vector and the first vector is equal to the third vector.
Optionally, the second determining module includes:
a fifth determining unit, configured to determine a second positioning error function according to the target Z-axis coordinate of the positioning tag and the first positioning error function, where the second positioning error function is used to indicate a measurement error of the target X-axis coordinate and the target Y-axis coordinate of the positioning tag;
a sixth determining unit, configured to obtain the target X-axis coordinate and the target Y-axis coordinate of the positioning tag according to the second positioning error function by using a least square method.
According to a further embodiment of the present invention, a computer-readable storage medium is also provided, in which a computer program is stored, wherein the computer program is configured to carry out the steps of any of the above-described 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, the first positioning error function is determined according to the space geometric relationship between the positioning label and the plurality of positioning base stations, and the first positioning error function is used for indicating the measurement error of the position of the positioning label; determining a target X-axis coordinate and a target Y-axis coordinate of the positioning tag according to the target Z-axis coordinate and the first positioning error function of the positioning tag, wherein the values of the first positioning error function corresponding to the target X-axis coordinate and the target Y-axis coordinate of the positioning tag meet preset conditions, and the preset conditions comprise: the value of the first positioning error function is a minimum value; the positioning label is positioned according to the target Z-axis coordinate, the target X-axis coordinate and the target Y-axis coordinate, so that the problem that the coordinate deviation of the positioning label in a three-dimensional positioning scene in the related technology is large can be solved, and the effect of improving the positioning accuracy is achieved.
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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 positioning 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 three-dimensional positioning method according to an alternative embodiment of the 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 positioning base station or a similar computing device. Taking the operation on the positioning base station as an example, fig. 1 is a hardware structure block diagram of the positioning base station of the positioning method according to the embodiment of the present invention. As shown in fig. 1, the positioning base station 10 may include one or more (only one is 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, 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 does not limit the structure of the positioning base station. For example, the positioning 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 positioning 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 that locates 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 this embodiment, a positioning method operating in the positioning base station 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, determining a first positioning error function according to the space geometric relationship between a positioning tag and a plurality of positioning base stations, wherein the first positioning error function is used for indicating the measurement error of the position of the positioning tag;
step S204, determining a target X-axis coordinate and a target Y-axis coordinate of a positioning label according to a target Z-axis coordinate of the positioning label and the first positioning error function, wherein the values of the first positioning error function corresponding to the target X-axis coordinate and the target Y-axis coordinate of the positioning label meet preset conditions, and the preset conditions comprise: the value of the first positioning error function is a minimum value;
and S206, positioning the positioning label according to the target Z-axis coordinate, the target X-axis coordinate and the target Y-axis coordinate.
Through the steps, a first positioning error function is determined according to the space geometric relationship between the positioning tag and the positioning base stations, and the first positioning error function is used for indicating the measurement error of the position of the positioning tag; determining a target X-axis coordinate and a target Y-axis coordinate of the positioning tag according to the target Z-axis coordinate and the first positioning error function of the positioning tag, wherein the values of the first positioning error function corresponding to the target X-axis coordinate and the target Y-axis coordinate of the positioning tag meet preset conditions, and the preset conditions comprise: the value of the first positioning error function is a minimum value; the positioning label is positioned according to the target Z-axis coordinate, the target X-axis coordinate and the target Y-axis coordinate, so that the problem that the coordinate deviation of the positioning label in a three-dimensional positioning scene in the related technology is large can be solved, and the effect of improving the positioning accuracy is achieved.
In an alternative embodiment, the main body for performing the above steps may be a base station, a terminal, etc., but is not limited thereto.
It should be noted that, since some spatial geometric relationships necessarily exist between the positioning tag and the positioning base station, the spatial geometric relationships may be utilized to construct a first positioning error function for indicating the positioning tag error, for example, the first positioning error function may be constructed by using a term shift, an equation transformation, or the like. The closer the function value of the first positioning error function is to the theoretical value, the more accurate the position coordinates of the positioning tag.
In an optional embodiment, the method further comprises: and determining the target Z-axis coordinate of the positioning tag according to the first elevation information of the positioning tag, the second elevation information of the plurality of positioning base stations and the Z-axis coordinate of the plurality of positioning base stations.
In an optional embodiment, determining target Z-axis coordinates of the positioning tag according to the first elevation information, the second elevation information, and a plurality of Z-axis coordinates of a plurality of positioning base stations includes: respectively determining the difference value between the second elevation information and the first elevation information of each of the plurality of positioning base stations to obtain a plurality of elevation differences; for each elevation difference in the elevation differences, determining virtual Z-axis coordinates of a plurality of positioning labels according to the Z-axis coordinates of the positioning base station corresponding to each elevation difference and each elevation difference; and determining the average value of the virtual Z-axis coordinates of the plurality of positioning labels, and taking the average value as the target Z-axis coordinate of the positioning label.
It should be noted that the "virtual Z-axis coordinate" indicates that the Z-axis coordinate of the positioning tag obtained from the coordinates and the elevation difference of the positioning base station is not the final target Z-axis coordinate, but some intermediate values occurring in the process of determining the final target Z-axis coordinate of the positioning tag, and the "virtual Z-axis coordinate" indicates the Z-axis coordinate of the positioning tag obtained from the coordinates of each base station and the elevation difference of the base station and the positioning tag, and in order to improve the positioning accuracy, the virtual Z-axis coordinates may be further processed, for example, averaged, so as to obtain the final target Z-axis coordinate of the positioning tag.
In an optional embodiment, the method further comprises: and acquiring the first elevation information according to the positioning messages between the positioning labels and the positioning base stations, and acquiring the second elevation information according to the synchronous messages between the positioning base stations. It should be noted that the elevation information of the positioning tag and the positioning base station may be determined by an elevation sensor.
In an optional embodiment, determining the first positioning error function according to the spatial geometrical relationship between the positioning tag and the plurality of positioning base stations includes:
respectively determining first vectors from a plurality of second positioning base stations to the first positioning base station, wherein the first positioning base station is a reference positioning base station in the plurality of positioning base stations, and the second positioning base station is a positioning base station except the first positioning base station in the plurality of positioning base stations;
determining second vectors of the positioning labels to the plurality of second positioning base stations respectively;
determining a third vector of the positioning tag to the first positioning base station;
determining the first positioning error function according to a spatial geometrical relationship between the positioning tag and the plurality of positioning base stations, wherein the spatial geometrical relationship comprises: the sum of the second vector and the first vector is equal to the third vector.
It should be noted that, in the embodiment of the present invention, the order of the steps of determining the first vector, the second vector, and the third vector is not limited, and the steps of determining the first vector, the second vector, and the third vector may be executed according to any order.
It should be further noted that, the embodiment of the present invention does not limit the execution sequence of the step of determining the first positioning error function and the step of determining the target Z-axis coordinate of the positioning tag according to the spatial geometric relationship between the positioning tag and the plurality of positioning base stations, and may determine the first positioning error function first or determine the target Z-axis coordinate of the positioning tag first.
In an optional embodiment, determining the target X-axis coordinate and the target Y-axis coordinate of the position tag according to the target Z-axis coordinate of the position tag and the first position error function includes:
determining a second positioning error function according to the target Z-axis coordinate of the positioning label and the first positioning error function, wherein the second positioning error function is used for indicating the measurement error of the target X-axis coordinate and the target Y-axis coordinate of the positioning label;
and obtaining the target X-axis coordinate and the target Y-axis coordinate of the positioning label according to the second positioning error function by using a least square method.
It should be noted that, since the target Z-axis coordinate of the positioning tag is already determined, the target Z-axis coordinate may be substituted into the first positioning error function to obtain a second error function, so that only the X-axis coordinate and the Y-axis coordinate are unknown in the second error function, and the target X-axis coordinate and the target Y-axis coordinate of the positioning tag may be further obtained by using a least square method.
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, the apparatus including:
a first determining module 31, configured to determine a first positioning error function according to a spatial geometric relationship between a positioning tag and a plurality of positioning base stations, where the first positioning error function is used to indicate a measurement error of a position of the positioning tag;
a second determining module 33, configured to determine a target X-axis coordinate and a target Y-axis coordinate of a positioning tag according to a target Z-axis coordinate of the positioning tag and the first positioning error function, where values of the first positioning error function corresponding to the target X-axis coordinate and the target Y-axis coordinate of the positioning tag satisfy a preset condition, where the preset condition includes: the value of the first positioning error function is a minimum value;
and the positioning module 35 is configured to position the positioning tag according to the target Z-axis coordinate, the target X-axis coordinate, and the target Y-axis coordinate.
In an optional embodiment, the apparatus further comprises: and the third determining module is used for determining the target Z-axis coordinate of the positioning tag according to the first elevation information of the positioning tag, the second elevation information of the plurality of positioning base stations and the Z-axis coordinate of the plurality of positioning base stations.
In an optional embodiment, the apparatus further comprises: and the acquisition module is used for acquiring the first elevation information according to the positioning messages between the positioning labels and the positioning base stations and acquiring the second elevation information according to the synchronous messages between the positioning base stations.
In an optional embodiment, the first determining module includes:
a first determining unit, configured to determine first vectors from a plurality of second positioning base stations to the first positioning base station, respectively, where the first positioning base station is a reference positioning base station in the plurality of positioning base stations, and the second positioning base station is a positioning base station other than the first positioning base station in the plurality of positioning base stations;
a second determining unit, configured to determine second vectors of the positioning tags to the plurality of second positioning base stations, respectively;
a third determining unit, configured to determine a third vector of the positioning tag to the first positioning base station;
a fourth determining unit, configured to determine the first positioning error function according to a spatial geometrical relationship between the positioning tag and the plurality of positioning base stations, where the spatial geometrical relationship includes: the sum of the second vector and the first vector is equal to the third vector.
In an optional embodiment, the second determining module includes:
a fifth determining unit, configured to determine a second positioning error function according to the target Z-axis coordinate of the positioning tag and the first positioning error function, where the second positioning error function is used to indicate a measurement error of the target X-axis coordinate and the target Y-axis coordinate of the positioning tag;
a sixth determining unit, configured to obtain the target X-axis coordinate and the target Y-axis coordinate of the positioning tag according to the second positioning error function by using a least square method.
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 following further illustrates embodiments of the present invention with reference to specific scenarios:
illustratively, during the positioning process in the TDOA positioning mode, three-dimensional positioning may be performed according to the flow shown in fig. 4, where fig. 4 is a flow chart of a three-dimensional positioning method according to an alternative embodiment of the present invention, as shown in fig. 4:
s101, starting;
s102, inputting X \ Y \ Z axis coordinates of a base station; for example, three-dimensional coordinates (X, Y, Z) of N positioning base stations (N ≧ 4) can be input;
s103, acquiring elevation information of the base station; for example, activating elevation sensors for positioning a base station and positioning a tag to acquire elevation information of the base station and the tag in real time;
s104, acquiring positioning data (including label elevation information); for example, the positioning data containing the elevation information of the positioning tag is obtained by using the synchronization message between the positioning base stations and the positioning message between the positioning tag and the positioning base station, and the positioning data may include: the difference Rn between the distance from the positioning tag to any one of the N base stations and the distance from the tag to a specific base station (i.e. a reference base station) of the N base stations is obtained, that is, the positioning data includes N distance differences, which is denoted as Rn，1N1, 2,. N, elevation data h of the tag;
s105, constructing a ternary equation set containing X \ Y \ Z axis coordinates; for example, a ternary equation system containing three-dimensional coordinates of the label is constructed by using the positioning data;
s106, solving Z-axis coordinates by using elevation information; for example, the Z-axis coordinate of the positioning tag is solved by using the elevation information of the positioning base station and the positioning tag;
s107, substituting the Z-axis coordinate into a binary equation set containing X \ Y-axis coordinates; for example, the Z-axis coordinates of the positioning base station and the positioning tag are substituted into the ternary equation set obtained in step S105, and are reconstructed into a binary equation set containing two-dimensional coordinates (X, Y) of the positioning tag;
s108, solving X \ Y axis coordinates; for example, solving the X \ Y axis coordinates of the positioning tag according to the above-mentioned system of equations;
s109, outputting a result;
and S110, ending.
It should be noted that, for example, in step S102, X \ Y \ Z axis coordinates of each base station may be input. In order to successfully position, at least 4 base stations are required to provide positioning data;
illustratively, in step S103, the elevation data of the base station and the tag needs to be uploaded periodically, and the elevation information of the base station and the tag is updated in time;
exemplarily, in step S104, the method is based on the positioning data in the classical TDOA mode (TDOA data R)n,1) In the acquisition mode, elevation information (elevation data h) of the positioning tag needs to be additionally acquired. Wherein the elevation information is provided by an elevation sensor at the location tag;
exemplarily, in step S105, a ternary equation system containing three-dimensional coordinates (X, Y, Z) of the location tag is constructed using all the location data (at least 4 location data);
exemplarily, in step S106, according to a relationship between the Z-axis coordinate of the positioning base station and the elevation information thereof, the elevation information of the positioning tag is used to solve the Z-axis coordinate of the positioning tag;
in step S107, the Z-axis coordinates of the positioning base station and the positioning tag are substituted into the ternary equation set obtained in step S105, and a two-dimensional equation set about the two-dimensional coordinates (X, Y) of the positioning tag is obtained through mathematical derivation;
illustratively, in step S108, the X/Y-axis coordinates of the location tag are solved mathematically.
This alternative embodiment is further explained below:
s1, inputting three-dimensional coordinates (X, Y, Z) of N positioning base stations (at least 4, namely N is more than or equal to 4); namely, the three-dimensional coordinates of the N base stations are respectively input as (x)n，yn，zn)，n＝1，2，...，N；
S2, activating the elevation sensors of the positioning base station and the positioning label to realizeAcquiring the elevation information of the base station and the label in time, wherein the elevation data of the N base stations are hn，n＝1，2，...，N；
S3, obtaining positioning data containing positioning label elevation information by using the synchronous message between the positioning base stations and the synchronous message between the positioning label and the positioning base stations, including: locating a difference R between a distance of a tag to any one of the N base stations and a distance of the tag to a particular one of the N base stationsn，1N ═ 1, 2,. N, and elevation data h for the tag; for example, the difference between the distance from the positioning tag to the N base stations and the distance from the tag to a specific base station is measured to be Rn，1N is 1, 2,. cndot.n; measuring to obtain the elevation data of the positioning tag as h;
s4, constructing a ternary equation system containing the three-dimensional coordinates of the label by using the positioning data:
if the three-dimensional coordinates of the location tag are (x, y, z), the system of equations is constructed as follows:
let the vectors from each base station to the 1st base station be
A distance of
The vectors of the labels to the base stations are respectively
A distance of
When there is a measurement error, the error equation is known as
The variable is
This error equation corresponds to the "first positioning error function" in the above-described embodiment;
therefore, the system of equations is constructed as
Wherein,
s5, solving the Z-axis coordinate of the positioning label by using the elevation information of the positioning base station and the positioning label:
for all base stations zn-z＝hn-h，n＝1，2，...，N
So that the Z-axis coordinate of the tag is
Wherein Z isn-(hnH) corresponds to the "virtual Z-axis coordinate of the positioning tag" in the above embodiment.
S6, substituting the Z-axis coordinates of the positioning base station and the positioning label into the ternary equation set obtained in the step S4, and reconstructing the Z-axis coordinates into a binary equation set containing two-dimensional coordinates (X, Y) of the positioning label:
the error equation in expression (1) can be equivalent to:
wherein,
line delta'j，0＝δj，0-2(z1-zn)(z1-z) and substituting the elevation information of expression (2), the error equation can be rewritten as:
∈i＝δ′j，0-2Ri，1R1-2[(x1-xi)(x1-x)+(y1-yi)(y1-y)]
therefore, the reconstructed system of equations is:
{∈i＝δ′j，0-2Ri，1R1-2[(x1-xi)(x1-x)+(y1-yi)(y1-y)]n2, 3., N (3), which corresponds to the "second positioning error function" in the above-described embodiment.
S7, solving X \ Y axis coordinates of the positioning label:
the system of equations according to expression (3) can be equivalently
Wherein
Further, it is possible to obtain:
therefore, the X \ Y axis coordinates of the positioning tag are obtained as follows:
s8, outputting a result:
obtaining the three-dimensional coordinates of the positioning label according to the expressions (2), (4) and (5):
the embodiment of the invention provides a positioning method under a three-dimensional scene for a TDOA (time difference of arrival) positioning mode, utilizes elevation information of a positioning base station and a positioning label to reconstruct an object equation set in a positioning calculation process, and solves the calculation error caused by the property of a hyperboloid in the positioning calculation process; on the other hand, the positioning accuracy in the TDOA mode is further improved by fully utilizing the positioning data.
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 computer-readable storage medium, in which a computer program is stored, wherein the computer program is configured to perform the steps of any of the above-mentioned method embodiments when executed.
Alternatively, in the present embodiment, the above-mentioned computer-readable storage medium may be configured to store a computer program for executing the steps of:
s1, determining a first positioning error function according to the space geometric relationship between the positioning label and a plurality of positioning base stations, wherein the first positioning error function is used for indicating the measurement error of the position of the positioning label;
s2, determining a target X-axis coordinate and a target Y-axis coordinate of a positioning tag according to the target Z-axis coordinate of the positioning tag and the first positioning error function, where values of the first positioning error function corresponding to the target X-axis coordinate and the target Y-axis coordinate of the positioning tag satisfy a preset condition, where the preset condition includes: the value of the first positioning error function is a minimum value;
and S3, positioning the positioning label according to the target Z-axis coordinate, the target X-axis coordinate and the target Y-axis coordinate.
Through the steps, a first positioning error function is determined according to the space geometric relationship between the positioning tag and the positioning base stations, and the first positioning error function is used for indicating the measurement error of the position of the positioning tag; determining a target X-axis coordinate and a target Y-axis coordinate of the positioning tag according to the target Z-axis coordinate and the first positioning error function of the positioning tag, wherein the values of the first positioning error function corresponding to the target X-axis coordinate and the target Y-axis coordinate of the positioning tag meet preset conditions, and the preset conditions comprise: the value of the first positioning error function is a minimum value; the positioning label is positioned according to the target Z-axis coordinate, the target X-axis coordinate and the target Y-axis coordinate, so that the problem that the coordinate deviation of the positioning label in a three-dimensional positioning scene in the related technology is large can be solved, and the effect of improving the positioning accuracy is achieved.
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.
An embodiment of the present invention further provides an electronic device, which includes a memory and a processor, for example, the memory 104 in the positioning base station in the above embodiment 1, where the memory stores a computer program, and the processor is configured to execute the computer program to perform the steps in 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, determining a first positioning error function according to the space geometric relationship between the positioning label and a plurality of positioning base stations, wherein the first positioning error function is used for indicating the measurement error of the position of the positioning label;
s2, determining a target X-axis coordinate and a target Y-axis coordinate of a positioning tag according to the target Z-axis coordinate of the positioning tag and the first positioning error function, where values of the first positioning error function corresponding to the target X-axis coordinate and the target Y-axis coordinate of the positioning tag satisfy a preset condition, where the preset condition includes: the value of the first positioning error function is a minimum value;
and S3, positioning the positioning label according to the target Z-axis coordinate, the target X-axis coordinate and the target Y-axis coordinate.
Through the steps, a first positioning error function is determined according to the space geometric relationship between the positioning tag and the positioning base stations, and the first positioning error function is used for indicating the measurement error of the position of the positioning tag; determining a target X-axis coordinate and a target Y-axis coordinate of the positioning tag according to the target Z-axis coordinate and the first positioning error function of the positioning tag, wherein the values of the first positioning error function corresponding to the target X-axis coordinate and the target Y-axis coordinate of the positioning tag meet preset conditions, and the preset conditions comprise: the value of the first positioning error function is a minimum value; the positioning label is positioned according to the target Z-axis coordinate, the target X-axis coordinate and the target Y-axis coordinate, so that the problem that the coordinate deviation of the positioning label in a three-dimensional positioning scene in the related technology is large can be solved, and the effect of improving the positioning accuracy is achieved.
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:
determining a first positioning error function according to the space geometric relationship between a positioning tag and a plurality of positioning base stations, wherein the first positioning error function is used for indicating the measurement error of the position of the positioning tag;
determining a target X-axis coordinate and a target Y-axis coordinate of a positioning tag according to a target Z-axis coordinate of the positioning tag and the first positioning error function, wherein values of the first positioning error function corresponding to the target X-axis coordinate and the target Y-axis coordinate of the positioning tag meet preset conditions, and the preset conditions include: the value of the first positioning error function is a minimum value;
and positioning the positioning label according to the target Z-axis coordinate, the target X-axis coordinate and the target Y-axis coordinate.
2. The method of claim 1, further comprising:
and determining the target Z-axis coordinate of the positioning tag according to the first elevation information of the positioning tag, the second elevation information of the plurality of positioning base stations and the Z-axis coordinate of the plurality of positioning base stations.
3. The method of claim 2, further comprising:
and acquiring the first elevation information according to the positioning messages between the positioning labels and the positioning base stations, and acquiring the second elevation information according to the synchronous messages between the positioning base stations.
4. The method of claim 1, wherein determining the first positioning error function according to the spatial geometry of the positioning tag and the plurality of positioning base stations comprises:
respectively determining first vectors from a plurality of second positioning base stations to the first positioning base station, wherein the first positioning base station is a reference positioning base station in the plurality of positioning base stations, and the second positioning base station is a positioning base station except the first positioning base station in the plurality of positioning base stations;
determining second vectors of the positioning labels to the plurality of second positioning base stations respectively;
determining a third vector of the positioning tag to the first positioning base station;
determining the first positioning error function according to a spatial geometrical relationship between the positioning tag and the plurality of positioning base stations, wherein the spatial geometrical relationship comprises: the sum of the second vector and the first vector is equal to the third vector.
5. The method of claim 1 or 4, wherein determining the target X-axis coordinate and the target Y-axis coordinate of the position tag from the target Z-axis coordinate of the position tag and the first position error function comprises:
determining a second positioning error function according to the target Z-axis coordinate of the positioning label and the first positioning error function, wherein the second positioning error function is used for indicating the measurement error of the target X-axis coordinate and the target Y-axis coordinate of the positioning label;
and obtaining the target X-axis coordinate and the target Y-axis coordinate of the positioning label according to the second positioning error function by using a least square method.
6. A positioning device, comprising:
a first determining module, configured to determine a first positioning error function according to a spatial geometric relationship between a positioning tag and a plurality of positioning base stations, where the first positioning error function is used to indicate a measurement error of a position of the positioning tag;
a second determining module, configured to determine a target X-axis coordinate and a target Y-axis coordinate of a positioning tag according to a target Z-axis coordinate of the positioning tag and the first positioning error function, where values of the first positioning error function corresponding to the target X-axis coordinate and the target Y-axis coordinate of the positioning tag satisfy a preset condition, where the preset condition includes: the value of the first positioning error function is a minimum value;
and the positioning module is used for positioning the positioning label according to the target Z-axis coordinate, the target X-axis coordinate and the target Y-axis coordinate.
7. The apparatus of claim 6, further comprising:
and the third determining module is used for determining the target Z-axis coordinate of the positioning tag according to the first elevation information of the positioning tag, the second elevation information of the plurality of positioning base stations and the Z-axis coordinate of the plurality of positioning base stations.
8. The apparatus of claim 7, further comprising:
and the acquisition module is used for acquiring the first elevation information according to the positioning messages between the positioning labels and the positioning base stations and acquiring the second elevation information according to the synchronous messages between the positioning base stations.
9. The apparatus of claim 6, wherein the first determining module comprises:
a first determining unit, configured to determine first vectors from a plurality of second positioning base stations to the first positioning base station, respectively, where the first positioning base station is a reference positioning base station in the plurality of positioning base stations, and the second positioning base station is a positioning base station other than the first positioning base station in the plurality of positioning base stations;
a second determining unit, configured to determine second vectors of the positioning tags to the plurality of second positioning base stations, respectively;
a third determining unit, configured to determine a third vector of the positioning tag to the first positioning base station;
a fourth determining unit, configured to determine the first positioning error function according to a spatial geometrical relationship between the positioning tag and the plurality of positioning base stations, where the spatial geometrical relationship includes: the sum of the second vector and the first vector is equal to the third vector.
10. The apparatus of claim 6 or 9, wherein the second determining module comprises:
a fifth determining unit, configured to determine a second positioning error function according to the target Z-axis coordinate of the positioning tag and the first positioning error function, where the second positioning error function is used to indicate a measurement error of the target X-axis coordinate and the target Y-axis coordinate of the positioning tag;
a sixth determining unit, configured to obtain the target X-axis coordinate and the target Y-axis coordinate of the positioning tag according to the second positioning error function by using a least square method.
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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