CN111263299A - Positioning method, positioning device, electronic equipment and storage medium - Google Patents

Positioning method, positioning device, electronic equipment and storage medium Download PDF

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CN111263299A
CN111263299A CN202010138839.7A CN202010138839A CN111263299A CN 111263299 A CN111263299 A CN 111263299A CN 202010138839 A CN202010138839 A CN 202010138839A CN 111263299 A CN111263299 A CN 111263299A
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base station
coordinate
measured
speed
measurement
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CN111263299B (en
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陈香
张磊
张旭
曹帅
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University of Science and Technology of China USTC
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University of Science and Technology of China USTC
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/025—Services making use of location information using location based information parameters
    • H04W4/027—Services making use of location information using location based information parameters using movement velocity, acceleration information
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination

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  • Computer Networks & Wireless Communication (AREA)
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  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

A method of positioning, comprising: receiving a first signal sent by a first base station and a second signal sent by a second base station, calculating a range difference measurement value of the distance between a measured target and the first base station and the distance between the measured target and the second base station according to the time difference between the received first signal and the received second signal, obtaining a first measurement speed of the measured target relative to the first base station and a second measurement speed of the measured target relative to the second base station, obtaining more than one measurement coordinate according to the range difference measurement value, the first measurement speed and the second measurement speed, calculating an estimation function corresponding to each coordinate point in a region surrounded by the more than one measurement coordinate, and setting the position of the measured target as a coordinate point corresponding to the minimum estimation function. The disclosure also provides a positioning device, an electronic device and a storage medium. The method provided by the disclosure can realize the positioning of the measured target when only two base stations exist, and has the characteristics of high robustness, high positioning precision and the like.

Description

Positioning method, positioning device, electronic equipment and storage medium
Technical Field
The present disclosure relates to the field of positioning technologies, and in particular, to a positioning method and apparatus, an electronic device, and a storage medium.
Background
With the rapid development of digital communication and multimedia services, the importance of location information is continuously increasing, so that the problem of location is receiving wide attention from people. At present, the positioning technology represented by GPS can better realize outdoor positioning, and the solution for indoor accurate positioning is still in the research stage.
Currently, an indoor positioning technology is mainly based on technologies such as Wifi, optics, geomagnetism, and audio, and the indoor positioning method mainly includes a fingerprint method, a positioning method based on a direction angle, a positioning method based on a Time Difference of Arrival (TDOA), and a positioning method based on a Time of Arrival (TOA). The fingerprint method needs to establish and maintain a fingerprint library, and is high in implementation difficulty, low in positioning accuracy and high in later maintenance cost; the positioning method based on the direction angle has higher hardware cost; the positioning methods based on TDOA and TOA can respectively realize high-precision indoor positioning, but compared with the two methods, the positioning method based on TOA requires a stricter clock synchronization condition.
More mature positioning methods based on TDOA include Chan algorithm, Taylor algorithm and the like. The Chan algorithm performs well when the TDOA error follows an ideal gaussian distribution, but in real channels, the TDOA measurement error is large, and the performance of the algorithm is significantly degraded. The Taylor algorithm needs a priori condition, namely an initial value, to ensure the convergence of the algorithm, the calculation amount of the algorithm is large, and the final positioning accuracy depends on the selection of the initial value. The above methods are limited by the conditions of use and are insufficient in performance.
Disclosure of Invention
One aspect of the present disclosure provides a positioning method, including: receiving a first signal sent by a first base station and a second signal sent by a second base station; calculating distance difference measurement values of distances between a measured object and the first base station and between the measured object and the second base station according to the time difference of the received first signal and the second signal; acquiring a first measuring speed of the measured target relative to the first base station and a second measuring speed of the measured target relative to the second base station; obtaining more than one measuring coordinate according to the distance difference measuring value, the first measuring speed and the second measuring speed; and calculating an estimation function corresponding to each coordinate point in an area surrounded by the more than one measurement coordinates, wherein the position of the measured target is the coordinate point corresponding to the minimum estimation function.
Optionally, the obtaining more than one measurement coordinate according to the distance difference measurement value, the first measurement speed, and the second measurement speed includes: acquiring the position of the measured target, the coordinate of the first base station and the coordinate of the second base station at the previous moment; and calculating the more than one measuring coordinate according to the distance difference measuring value, the first measuring speed, the second measuring speed, the position of the measured target at the previous moment, the coordinate of the first base station and the coordinate of the second base station.
Optionally, the number of the second bss is one or more, and a formula for calculating the one or more measurement coordinates is as follows:
Figure BDA0002398297980000021
Figure BDA0002398297980000022
Figure BDA0002398297980000023
Figure BDA0002398297980000024
wherein the more than one measurement coordinates are (x)kYk), the position S of the first base station1Has the coordinates of (x)1，y1) Position S of said second base stationmHas the coordinates of (x)m，ym)，h1、hmRespectively representing the vertical height difference, P, between the measured target and the first base station and the second base station at the known current momentk、Pk-1Respectively representing the current time and the previous time of the measured targetIn the position of (a) in the first,
Figure BDA0002398297980000025
representing the difference of distance, R, at the current moment1，k、Rm，kRespectively, at the current time tkA distance between the measured object and the first base station and the second base station,
Figure BDA0002398297980000031
n, N denotes the total number of base stations, RVD1，k、RVDm，kRespectively representing the moving distance of the measured object relative to the first base station and the second base station in unit time,
Figure BDA0002398297980000032
Figure BDA0002398297980000033
optionally, the calculating an estimation function corresponding to each coordinate point in an area surrounded by the more than one measurement coordinates, where a coordinate point corresponding to the estimation function whose position of the measured target is the minimum includes: respectively calculating the distance difference of the distance between each coordinate point and the first base station and the distance between each coordinate point and the second base station; respectively calculating a first speed of each coordinate point relative to the first base station and a second speed of each coordinate point relative to the second base station; calculating an estimation function corresponding to each coordinate point according to the distance difference, the first speed and the second speed; and recording the coordinate point corresponding to the minimum estimation function as the coordinate of the measured target.
Optionally, the estimation function is:
Figure BDA0002398297980000034
wherein the content of the first and second substances,
Figure BDA0002398297980000035
representing the coordinate position, w, of the measured objectm、wnBoth represent weights, m, N both represent the number of base stations, N represents the total number of base stations,
Figure BDA0002398297980000036
and dm1，kRespectively representing the distance difference value and the distance difference value of the measured target and the first base station and the second base station at the time k,
Figure BDA0002398297980000037
and vn，kRespectively representing the measured speed and the real speed of the measured object relative to each base station, when n is 1,
Figure BDA0002398297980000038
representing said first measured speed, vn，kRepresenting a first velocity of said object under test relative to said first base station, when N is 2 …, N,
Figure BDA0002398297980000039
representing said second measured speed, vn，kRepresenting a second velocity of the measured object relative to a second base station.
Optionally, the method further comprises:
taking the more than one measuring coordinate as a boundary point, and acquiring a maximum rectangular area containing the boundary point in a coordinate system to which the more than one measuring coordinate belongs;
and acquiring each coordinate point in the maximum rectangle.
Optionally, the first signal and the second signal are audio signals.
Another aspect of the present disclosure provides a positioning apparatus, including: the signal receiving module is used for receiving a first signal sent by a first base station and a second signal sent by a second base station; a distance difference calculating module, configured to calculate distance difference measurement values of distances between a target to be measured and the first base station and between the target to be measured and the second base station according to a time difference between the first signal and the second signal; a relative speed obtaining module, configured to obtain a first measurement speed of the target to be measured with respect to the first base station and a second measurement speed of the target to be measured with respect to the second base station; the measurement coordinate calculation module is used for obtaining more than one measurement coordinate according to the range difference measurement value, the first measurement speed and the second measurement speed; and the coordinate positioning module is used for calculating an estimation function corresponding to each coordinate point in an area surrounded by the more than one measuring coordinate, and the position of the measured target is the coordinate point corresponding to the minimum estimation function.
Another aspect of the present disclosure provides an electronic device including: a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the method of any one of the first aspect when executing the computer program.
Another aspect of the disclosure provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the method of any one of the first aspects.
The at least one technical scheme adopted in the embodiment of the disclosure can achieve the following beneficial effects:
the method increases the observed quantity of relative speed, can convert position estimation into a mathematical model problem for solving a nonlinear optimization function by utilizing TDOA information (only two base stations are needed to obtain) and relative speed (RV for short) when at least two base stations exist, obtains a plurality of boundary estimation position coordinates through model solution, and carries out local numerical search on a limited rectangular area defined by the boundary position coordinates to obtain a final target coordinate. Compared with the traditional TDOA-based positioning method which needs two pieces of TDOA information (namely three base stations are needed for obtaining), the method needs less TDOA information and is higher in robustness.
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For a more complete understanding of the present disclosure and the advantages thereof, reference is now made to the following descriptions taken in conjunction with the accompanying drawings, in which:
fig. 1 schematically illustrates a flowchart of a positioning method provided by an embodiment of the present disclosure;
fig. 2 schematically illustrates a model diagram of a positioning method provided by an embodiment of the present disclosure;
fig. 3 schematically illustrates a schematic diagram of solving measurement coordinates of a positioning method provided by an embodiment of the present disclosure;
FIG. 4 is a schematic diagram schematically illustrating another solution to measured coordinates of a positioning method provided by an embodiment of the present disclosure;
FIG. 5 is a schematic diagram illustrating a third solution coordinate of a positioning method provided by an embodiment of the disclosure;
FIG. 6 is a schematic diagram illustrating a search for a position of a target to be measured in an area surrounded by more than one measurement coordinate according to an embodiment of the present disclosure;
fig. 7 is a block diagram schematically illustrating a positioning apparatus provided in an embodiment of the present disclosure;
fig. 8 schematically shows a block diagram of an electronic device provided in an embodiment of the present disclosure.
Detailed Description
Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. It should be understood that the description is illustrative only and is not intended to limit the scope of the present disclosure. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present disclosure.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. The words "a", "an" and "the" and the like as used herein are also intended to include the meanings of "a plurality" and "the" unless the context clearly dictates otherwise. The terms "comprises," "comprising," and the like, as used herein, specify the presence of stated features, steps, operations, and/or components, but do not preclude the presence or addition of one or more other features, steps, operations, or components.
All terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art unless otherwise defined. It is noted that the terms used herein should be interpreted as having a meaning that is consistent with the context of this specification and should not be interpreted in an idealized or overly formal sense.
Some block diagrams and/or flow diagrams are shown in the figures. It will be understood that some blocks of the block diagrams and/or flowchart illustrations, or combinations thereof, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor, create means for implementing the functions/acts specified in the block diagrams and/or flowchart block or blocks.
Accordingly, the techniques of this disclosure may be implemented in hardware and/or software (including firmware, microcode, etc.). In addition, the techniques of this disclosure may take the form of a computer program product on a computer-readable medium having instructions stored thereon for use by or in connection with an instruction execution system. In the context of this disclosure, a computer-readable medium may be any medium that can contain, store, communicate, propagate, or transport the instructions. For example, the computer readable medium can include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, device, or propagation medium. Specific examples of the computer readable medium include: magnetic storage devices, such as magnetic tape or Hard Disk Drives (HDDs); optical storage devices, such as compact disks (CD-ROMs); a memory, such as a Random Access Memory (RAM) or a flash memory; and/or wired/wireless communication links.
Fig. 1 schematically shows a flowchart of a positioning method provided by an embodiment of the present disclosure.
As shown in fig. 1, a positioning method provided by the embodiment of the present disclosure includes steps S1 to S5.
Step S1 receives a first signal transmitted by the first base station and a second signal transmitted by the second base station.
The first base station and the second base station may be audio transmitting base stations, and the first base station may be one base station randomly designated from among all the base stations as a reference base station.
The first signal and the second signal are audio signals.
The target to be detected can receive the audio signals transmitted by the first base station and the second base station through the microphone, and the arrival time of the audio signals is calculated through a related detection algorithm.
The target to be measured can be a non-moving object such as a refrigerator and a television, and can also be a movable object such as a mobile phone and an automobile.
In an embodiment of the present disclosure, the first base station and the second base station may continuously transmit audio signals, and after receiving the first signal and the second signal, the target to be measured calculates the time when the first signal and the second signal are received, that is, the arrival time of the first signal and the arrival time of the second signal, and further calculates the arrival time difference between the first signal and the second signal.
In step S2, a distance difference measure of the distance between the target and the first base station and the distance between the target and the second base station are calculated according to the time difference between the first signal and the second signal.
In an embodiment of the disclosure, the first signal and the second signal are audio signals, the speed of the audio signals propagating in the air is measured, and according to a time difference between the first signal and the second signal received by the target to be measured, a distance difference measurement value of distances between the target to be measured and the first base station and between the target to be measured and the second base station at the current moment can be calculated.
The calculation formula of the distance difference measurement value comprises:
let the time difference be Δ t and the sound velocity be c,
Figure BDA0002398297980000071
representing the distance difference measurement between the measured object and the first base station and the second base station at the time k, then:
Figure BDA0002398297980000072
in step S3, a first measurement speed of the target to be measured relative to the first base station and a second measurement speed relative to the second base station are obtained.
In an embodiment of the present disclosure, the relative speed (i.e., the first measurement speed and the second measurement speed) of the measured object with respect to each base station at the current time may be obtained by a specific positioning system, for example, calculated by a speed estimation algorithm. There are many methods for calculating the relative velocity of the target to be measured according to the positioning system, and the calculation method is common knowledge in the art and will not be described herein.
In step S4, more than one measurement coordinate is obtained according to the differential distance measurement value, the first measurement speed and the second measurement speed.
The step S4 includes steps S41 to S42.
Step S41, the position of the target to be measured at the previous time, the coordinates of the first base station, and the coordinates of the second base station are acquired.
Step S42, calculating more than one measurement coordinate according to the distance difference measurement value, the first measurement speed, the second measurement speed, the position of the target to be measured at the previous time, the coordinate of the first base station, and the coordinate of the second base station.
The one or more measurement coordinates represent a range in which the coordinates of the object under measurement may appear.
Under the condition that the coordinates of the first base station, the second base station and the measured object at the previous moment are known, a calculation model of the coordinates of the measured object at the current moment can be constructed, and one or more measured coordinates of the measured object can be obtained by solving the calculation model.
The number of the second base stations is one or more, and the formula for calculating the more than one measurement coordinate is as follows:
equation 1:
Figure BDA0002398297980000081
equation 2:
Figure BDA0002398297980000082
equation 3:
Figure BDA0002398297980000083
equation 4:
Figure BDA0002398297980000084
wherein the more than one measurement coordinates are (x)k，yk) Position S of the first base station1Has the coordinates of (x)1，y1) Position S of the second base stationmHas the coordinates of (x)m，ym)，h1、hmRespectively representing the vertical height difference, P, between the measured target and the first base station and the second base station at the known current momentk、Pk-1Respectively showing the positions of the measured targets at the current moment and the previous moment,
Figure BDA0002398297980000085
representing the difference in distance, R, at the current time1，k、Rm，kRespectively, at the current time tkThe distance between the measured object and the first base station and the second base station,
Figure BDA0002398297980000086
n, N denotes the total number of base stations, RVD1，k、RVDm，kRespectively represent the moving distance of the measured object relative to the first base station and the second base station in unit time,
Figure BDA0002398297980000087
Figure BDA0002398297980000088
in an embodiment of the present disclosure, when the total number of the base stations is greater than or equal to 2, one base station is selected from the base stations as a first base station, the remaining base stations are all second base stations, each second base station can construct a calculation model of a measured target coordinate with the first base station and the measured target, and measurement coordinates of a plurality of measured targets are obtained by solving each calculation model.
Step S5, an estimation function corresponding to each coordinate point in an area surrounded by more than one measurement coordinate is calculated, and the position of the target to be measured is the coordinate point corresponding to the minimum estimation function.
After the more than one measurement coordinates obtained in step S4 indicate the possible range of the coordinates of the measured object, the local search is performed on all coordinate points within the coordinate range indicated by the more than one measurement coordinates to obtain the coordinates of the measured object.
The step of obtaining the coordinate point in the coordinate area surrounded by the more than one measuring coordinates includes steps S51 to S52.
Step S51, using the one or more measurement coordinates as boundary points, obtaining a maximum rectangular region including the boundary points in the coordinate system to which the one or more measurement coordinates belong.
In step S52, each coordinate point within the maximum rectangle is acquired.
In an embodiment of the present disclosure, the mathematical implementation of obtaining each coordinate point within the maximum rectangular area may be a linear weighted combination of the more than one measured coordinates.
Calculating an estimation function corresponding to each coordinate point in an area surrounded by more than one measurement coordinate, wherein the coordinate point corresponding to the estimation function with the minimum position of the measured object comprises steps S53-S56.
Step S53, respectively calculating the distance difference between each coordinate point and the first base station and the second base station.
The distance difference between each coordinate point and the first base station and the distance difference between each coordinate point and the second base station are calculated according to the following formula:
order (x)k，yk) Represents each coordinate point, h1、hmRespectively representing the vertical height difference, R, between the measured target and the first base station and the second base station at the current moment1，k、Rm，kRespectively, at the current time tkThe distance between the measured target and the first base station and the second base station, and the coordinate of the first base station is (x)1，y1) The coordinates of the second base station are (x)m，ym)，dm1，kRepresenting the distance difference at the current time, then:
Figure BDA0002398297980000091
where m is 2, 3.. N, N denotes the total number of base stations.
In step S54, a first velocity of each coordinate point relative to the first base station and a second velocity of each coordinate point relative to the second base station are calculated respectively.
Figure BDA0002398297980000101
Wherein, PkIndicates the current time tkEach coordinate point, Pk-1Representing the previous time tk-1N, where N is 1, 2, N represents the total number of base stations, and when N is 1, S represents the total number of base stations1Indicating the coordinate position, v, of the first base station1，kRepresents the first speed of the measured object relative to the first base station at the current moment, when N is 2 …, N, SnIndicating the coordinate position, v, of the second base stationn，kAnd the second speed of the measured object relative to the second base station at the current moment is represented.
Step S55, calculating an estimation function corresponding to each coordinate point according to the distance difference, the first speed, and the second speed.
The estimation function is:
Figure BDA0002398297980000102
wherein the content of the first and second substances,
Figure BDA0002398297980000103
indicating the coordinate position of the measured object, wm、wnBoth represent weights, m, N both represent the number of base stations, N represents the total number of base stations,
Figure BDA0002398297980000104
and dm1，kRespectively representing the distance difference value and the distance difference value of the measured object at the time k and the first base station and the second base station,
Figure BDA0002398297980000105
and vn，kRespectively representing the measured speed and the real speed of the measured object relative to each base station, when n is 1,
Figure BDA0002398297980000106
representing a first measured speed, vn，kRepresenting a first velocity of the measured object relative to the first base station, when N is 2 …, N,
Figure BDA0002398297980000107
representing the second measured speed, vn，kRepresenting a second velocity of the measured object relative to the second base station.
wm、wnIs a weight assigned based on the noise level of the metric information (i.e., the range difference measurement and the first and second measurement speeds). W when the noise level of all the measured information is consistent by defaultm、wnIs constant 1.
From the estimation function, a coordinate point corresponding to the minimum function estimation value can be obtained.
Step S56, recording the coordinate point corresponding to the minimum estimation function as the coordinate of the measured object.
The method increases the observed quantity of relative speed, can convert position estimation into a mathematical model problem for solving a nonlinear optimization function by utilizing TDOA information (namely distance difference measurement value, which needs to be obtained by at least two base stations) and RV when at least two base stations exist, obtains a plurality of boundary estimation position coordinates through model solution, and carries out local numerical search on a limited rectangular area surrounded by the boundary position coordinates to obtain final target coordinates. Compared with the traditional TDOA-based positioning method which needs two pieces of TDOA information (namely two distance difference measurement values which need to be obtained by at least three transmitting base stations), the method needs less TDOA information, and has higher possibility of realizing positioning and better robustness on the premise of fewer base stations.
Fig. 2 schematically illustrates a model diagram of a positioning method provided by an embodiment of the present disclosure.
Under the condition that the coordinates of the first base station, the second base station and the measured object at the previous moment are known, a calculation model of the coordinates of the measured object at the current moment can be constructed, and one or more measured coordinates of the measured object can be obtained by solving the calculation model. Fig. 2 shows a two-dimensional schematic diagram of the calculation model, based on which calculation formulas 1 to 4 of one or more measured coordinates in the step S42 can be obtained.
A measurement coordinate can be obtained by solving the following formulas 1-3
Figure BDA0002398297980000111
A measurement coordinate can be obtained by solving the following formulas 1, 2 and 4
Figure BDA0002398297980000112
According to the formulas 3 and 4, a measurement coordinate can be obtained
Figure BDA0002398297980000113
The following describes equations 1 to 3 in detail.
The solution of the calculation formulas 1 to 3 can be regarded as solving the intersection point of two circles, and the solution formulas 1 to 3 are divided into three cases according to the positional relationship of the two circles, which are respectively shown in fig. 3 to 5.
Fig. 3 schematically illustrates a schematic diagram of solving the measurement coordinates of a positioning method provided by an embodiment of the present disclosure.
As shown in FIG. 3, the centers S1 and S2 represent the coordinates of the first base station and the second base station, respectively, and the radius R1，kAnd R2，kRespectively representing the distances between the measured target at the moment k and the first base station and the second base station, intersecting two points, and p represents the measured target.
When two circles intersect at two points, the condition is satisfied: i S1S2||＜R1，k+R2，kThen, equations 1-3 can be simplified as:
Figure BDA0002398297980000121
further, the formula can be simplified as:
Figure BDA0002398297980000122
wherein the content of the first and second substances,
Figure BDA0002398297980000123
then:
Figure BDA0002398297980000124
after the solution of the coordinates is obtained, the smaller group of solutions in the above formula is taken as the solution of the measured coordinates.
Fig. 4 schematically illustrates another schematic diagram for solving measured coordinates of a positioning method provided by the embodiment of the present disclosure.
As shown in fig. 4, when two circles intersect at one point, the condition is satisfied: i S1S2||＝R1，k+R2，kThe solving process is similar to that in fig. 3.
The solution of the measurement coordinates is:
Figure BDA0002398297980000125
wherein the content of the first and second substances,
Figure BDA0002398297980000126
fig. 5 schematically illustrates a schematic diagram of solving measured coordinates according to a third positioning method provided by the embodiment of the present disclosure.
As shown in fig. 5, when the two circles are separated, the condition is satisfied: i S1S2||＞R1，k+R2，kWhen p is at point l1l2At the midpoint, i.e. pl1＝pl2An optimal solution is obtained at that time
Figure BDA0002398297980000127
The solution of (a) is:
Figure BDA0002398297980000128
wherein the content of the first and second substances,
Figure BDA0002398297980000131
fig. 6 schematically illustrates a schematic diagram of searching for a position of a measured target in an area surrounded by more than one measurement coordinate according to an embodiment of the present disclosure.
Obtaining more than one measured coordinate
Figure BDA0002398297980000132
And
Figure BDA0002398297980000133
and then searching the optimal solution of the coordinate position of the measured target in the area enclosed by the measurement coordinates. Searching for coordinates within the area bounded by the measured coordinates may be abstracted into a two-dimensional image representation, as shown in FIG. 6, from
Figure BDA0002398297980000134
Starting points, stepping towards an x axis and a y axis respectively by a step length d, approaching to more than one coordinate, taking all coordinate points which may pass through in the approaching process as each coordinate point in an area enclosed by the measuring coordinates, and calculating an estimation function corresponding to each coordinate point in the area enclosed by more than one measuring coordinates, wherein the position of the measured target is the coordinate point corresponding to the minimum estimation function. Wherein the content of the first and second substances,
Figure BDA0002398297980000135
the step length d can be selected according to the actual positioning accuracy requirement, and can be selected to be 1cm, for example.
Fig. 7 schematically shows a block diagram of a positioning apparatus provided in an embodiment of the present disclosure.
As shown in fig. 7, an embodiment of the present disclosure provides a positioning apparatus 700 including: the system comprises a signal receiving module 710, a distance difference calculating module 720, a relative velocity obtaining module 730, a measured coordinate calculating module 740, and a coordinate positioning module 750.
The signal receiving module 710 is configured to receive a first signal sent by a first base station and a second signal sent by a second base station.
The distance difference calculating module 720 is configured to calculate a distance difference measurement value of the distance between the target to be measured and the first base station and the distance between the target to be measured and the second base station according to the time difference between the received first signal and the received second signal.
The relative velocity obtaining module 730 is configured to obtain a first measurement velocity of the measured object relative to the first base station and a second measurement velocity relative to the second base station.
The measurement coordinate calculation module 740 is configured to obtain at least one measurement coordinate according to the distance difference measurement value, the first measurement speed, and the second measurement speed.
The coordinate positioning module 750 is configured to calculate an estimation function corresponding to each coordinate point in an area surrounded by more than one measurement coordinate, where the position of the target to be measured is the coordinate point corresponding to the minimum estimation function.
It is understood that the signal receiving module 710, the distance difference calculating module 720, the relative velocity obtaining module 730, the measured coordinate calculating module 740, and the coordinate locating module 750 may be combined into one module to be implemented, or any one of them may be split into a plurality of modules. Alternatively, at least part of the functionality of one or more of these modules may be combined with at least part of the functionality of the other modules and implemented in one module. According to an embodiment of the present invention, at least one of the signal receiving module 710, the distance difference calculating module 720, the relative velocity obtaining module 730, the measured coordinate calculating module 740, and the coordinate locating module 750 may be at least partially implemented as a hardware circuit, such as a Field Programmable Gate Array (FPGA), a Programmable Logic Array (PLA), a system on a chip, a system on a substrate, a system on a package, an Application Specific Integrated Circuit (ASIC), or any other reasonable manner of integrating or packaging a circuit, such as hardware or firmware, or an appropriate combination of three implementations of software, hardware, and firmware. Alternatively, at least one of the signal receiving module 710, the distance difference calculating module 720, the relative velocity obtaining module 730, the measured coordinate calculating module 740, and the coordinate locating module 750 may be at least partially implemented as a computer program module, which when executed by a computer, can perform the functions of the corresponding module.
The present disclosure provides a positioning device, which increases an observed quantity of a relative velocity, and can convert position estimation into a mathematical model problem for solving a nonlinear optimization function by using a TDOA information (i.e., a distance difference measurement value, which needs to be obtained by at least two base stations) and the relative velocity RV when there are at least two base stations, obtain a plurality of boundary estimation position coordinates through model solution, and perform local numerical search on a limited rectangular region surrounded by the boundary position coordinates to obtain final target coordinates. Compared with the traditional TDOA-based positioning method which needs two TDOA information (namely two distance difference measurement values which need at least three base stations to obtain), the device needs less TDOA information and has higher robustness.
Fig. 8 schematically shows a block diagram of an electronic device provided in an embodiment of the present disclosure.
As shown in fig. 8, electronic device 800 includes a processor 810, a computer-readable storage medium 820, a signal transmitter 880, and a signal receiver 840. The electronic device 800 may perform a method according to an embodiment of the disclosure.
In particular, processor 810 may include, for example, a general purpose microprocessor, an instruction set processor and/or related chip set and/or a special purpose microprocessor (e.g., an Application Specific Integrated Circuit (ASIC)), and/or the like. The processor 810 may also include on-board memory for caching purposes. Processor 810 may be a single processing unit or a plurality of processing units for performing different actions of a method flow according to embodiments of the disclosure.
Computer-readable storage medium 820 may be, for example, any medium that can contain, store, communicate, propagate, or transport the instructions. For example, a readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, device, or propagation medium. Specific examples of the readable storage medium include: magnetic storage devices, such as magnetic tape or Hard Disk Drives (HDDs); optical storage devices, such as compact disks (CD-ROMs); a memory, such as a Random Access Memory (RAM) or a flash memory; and/or wired/wireless communication links.
The computer-readable storage medium 820 may include a computer program 821, which computer program 821 may include code/computer-executable instructions that, when executed by the processor 810, cause the processor 810 to perform a method according to an embodiment of the present disclosure, or any variation thereof.
The computer program 821 may be configured with, for example, computer program code comprising computer program modules. For example, in an example embodiment, code in computer program 821 may include one or more program modules, including for example 821A, modules 821B, … …. It should be noted that the division and number of modules are not fixed, and those skilled in the art may use suitable program modules or program module combinations according to actual situations, and when the program modules are executed by the processor 810, the processor 810 may execute the method according to the embodiment of the present disclosure or any variation thereof.
According to an embodiment of the present invention, at least one of the signal receiving module 710, the distance difference calculating module 720, the relative velocity obtaining module 730, the measured coordinate calculating module 740, and the coordinate locating module 750 may be implemented as a computer program module described with reference to fig. 8, which, when executed by the processor 810, may implement the corresponding operations described above.
The present disclosure also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the method of any of fig. 1.
Those skilled in the art will appreciate that various combinations and/or combinations of features recited in the various embodiments and/or claims of the present disclosure can be made, even if such combinations or combinations are not expressly recited in the present disclosure. In particular, various combinations and/or combinations of the features recited in the various embodiments and/or claims of the present disclosure may be made without departing from the spirit or teaching of the present disclosure. All such combinations and/or associations are within the scope of the present disclosure.
While the disclosure has been shown and described with reference to certain exemplary embodiments thereof, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the disclosure as defined by the appended claims and their equivalents. Accordingly, the scope of the present disclosure should not be limited to the above-described embodiments, but should be defined not only by the appended claims, but also by equivalents thereof.

Claims (10)

1. A method of positioning, the method comprising:
receiving a first signal sent by a first base station and a second signal sent by a second base station;
calculating distance difference measurement values of distances between a measured object and the first base station and between the measured object and the second base station according to the time difference of the received first signal and the second signal;
acquiring a first measuring speed of the measured target relative to the first base station and a second measuring speed of the measured target relative to the second base station;
obtaining more than one measuring coordinate according to the distance difference measuring value, the first measuring speed and the second measuring speed;
and calculating an estimation function corresponding to each coordinate point in an area surrounded by the more than one measurement coordinates, wherein the position of the measured target is the coordinate point corresponding to the minimum estimation function.
2. The method of claim 1, wherein obtaining one or more measurement coordinates based on the differential distance measurement, the first measurement speed, and the second measurement speed comprises:
acquiring the position of the measured target, the coordinate of the first base station and the coordinate of the second base station at the previous moment;
and calculating the more than one measuring coordinate according to the distance difference measuring value, the first measuring speed, the second measuring speed, the position of the measured target at the previous moment, the coordinate of the first base station and the coordinate of the second base station.
3. The method of claim 2, wherein the number of the second bss is one or more, and the formula for calculating the one or more measurement coordinates is as follows:
Figure FDA0002398297970000011
Figure FDA0002398297970000012
Figure FDA0002398297970000013
Figure FDA0002398297970000014
wherein the more than one measurement coordinates are (x)k，yk) Position S of said first base station1Has the coordinates of (x)1，y1) Position S of said second base stationmHas the coordinates of (x)m，ym)，h1、hmRespectively representing the vertical height difference, P, between the measured target and the first base station and the second base station at the known current momentk、Pk-1Respectively representing the positions of the measured target at the current moment and the previous moment,
Figure FDA0002398297970000021
representing the difference of distance, R, at the current moment1，k、Rm，kRespectively, at the current time tkThe target to be measured and the stationA distance between the first base station and the second base station,
Figure FDA0002398297970000022
n, N denotes the total number of base stations, RVD1，k、RVDm，kRespectively representing the moving distance of the measured object relative to the first base station and the second base station in unit time,
Figure FDA0002398297970000023
Figure FDA0002398297970000024
4. the method of claim 1, wherein calculating an estimation function corresponding to each coordinate point in an area surrounded by the one or more measurement coordinates comprises:
respectively calculating the distance difference of the distance between each coordinate point and the first base station and the distance between each coordinate point and the second base station;
respectively calculating a first speed of each coordinate point relative to the first base station and a second speed of each coordinate point relative to the second base station;
calculating an estimation function corresponding to each coordinate point according to the distance difference, the first speed and the second speed;
and recording the coordinate point corresponding to the minimum estimation function as the coordinate of the measured target.
5. The method of claim 4, wherein the estimation function is:
Figure FDA0002398297970000025
wherein the content of the first and second substances,
Figure FDA0002398297970000026
representing the coordinate position, w, of the measured objectm、wnBoth represent weights, m, N both represent the number of base stations, N represents the total number of base stations,
Figure FDA0002398297970000027
and dm1，kRespectively representing the distance difference value and the distance difference value of the measured target and the first base station and the second base station at the time k,
Figure FDA0002398297970000028
and vn，kRespectively representing the measured speed and the real speed of the measured object relative to each base station, when n is 1,
Figure FDA0002398297970000029
representing said first measured speed, vn，kRepresenting a first velocity of the object under test relative to the first base station, when N2, N,
Figure FDA0002398297970000031
representing said second measured speed, vn，kRepresenting a second velocity of the measured object relative to a second base station.
6. The method of claim 1 or 4, further comprising:
taking the more than one measuring coordinate as a boundary point, and acquiring a maximum rectangular area containing the boundary point in a coordinate system to which the more than one measuring coordinate belongs;
and acquiring each coordinate point in the maximum rectangle.
7. The method of claim 1 or 4, wherein the first signal and the second signal are audio signals.
8. An apparatus, comprising:
the signal receiving module is used for receiving a first signal sent by a first base station and a second signal sent by a second base station;
a distance difference calculating module, configured to calculate distance difference measurement values of distances between a target to be measured and the first base station and between the target to be measured and the second base station according to a time difference between the first signal and the second signal;
a relative speed obtaining module, configured to obtain a first measurement speed of the target to be measured with respect to the first base station and a second measurement speed of the target to be measured with respect to the second base station;
the measurement coordinate calculation module is used for obtaining more than one measurement coordinate according to the range difference measurement value, the first measurement speed and the second measurement speed;
and the coordinate positioning module is used for calculating an estimation function corresponding to each coordinate point in an area surrounded by the more than one measuring coordinate, and the position of the measured target is the coordinate point corresponding to the minimum estimation function.
9. An electronic device, comprising: memory, processor and computer program stored on the memory and executable on the processor, characterized in that the processor implements the steps of the method according to any of claims 1 to 7 when executing the computer program.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 7.
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