CN111405656B - Positioning method and system based on ultra-wideband technology - Google Patents
Positioning method and system based on ultra-wideband technology Download PDFInfo
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- CN111405656B CN111405656B CN201910000765.8A CN201910000765A CN111405656B CN 111405656 B CN111405656 B CN 111405656B CN 201910000765 A CN201910000765 A CN 201910000765A CN 111405656 B CN111405656 B CN 111405656B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/0009—Transmission of position information to remote stations
- G01S5/0018—Transmission from mobile station to base station
- G01S5/0027—Transmission from mobile station to base station of actual mobile position, i.e. position determined on mobile
Abstract
The invention discloses a positioning method and a positioning system based on an ultra-wideband technology. The core idea of the positioning method is that an intelligent terminal fusing the ultra-wideband technology reports the positioning capability based on the ultra-wideband technology to a network side or interacts the positioning capability with other intelligent terminals. And the network side provides corresponding types of positioning auxiliary information or positioning results according to different positioning capabilities of different intelligent terminals so as to realize high-precision positioning of the intelligent terminals. The positioning system comprises an intelligent terminal fusing ultra-wideband technology, a network side positioning base station, an intelligent terminal positioning engine and a cloud positioning engine. The method can fully explore the positioning capability of the intelligent terminal, provide reliable and continuous high-precision position service for the intelligent terminal, and has wide application prospects in the fields of Internet of things, Internet of vehicles, unmanned aerial vehicles, unmanned driving and the like.
Description
Technical Field
The invention relates to the field of positioning based on ultra-wideband technology.
Background
With the continuous development of satellite positioning systems, various civil service scenes based on satellite positioning have been maturely and widely applied, such as navigation applications of Baidu and Gao, vehicle service of drip-and-drop vehicles, and the like. But such applications mainly address the navigational positioning of outdoor personnel and vehicles, with positioning accuracies typically in the range of 5-10 meters in urban environments.
However, the demand of people for location services still has larger space and potential, and location information is the most basic element in the era of internet of things. In an indoor environment, people need to perform navigation and positioning on parking spaces and often perform parking space navigation and reverse car searching, or the position navigation service of a competition area of a large-scale sports stadium and the like. Under the complex environment scene, the combination of the WiFi technology, the bluetooth technology, the Zigbee technology, the micro inertial navigation technology, or the like can generally provide a positioning accuracy of 3-5 meters in a good signal coverage area, but the indoor environment is complex and variable, the positioning navigation reliability of the indoor scene is seriously challenged, the positioning accuracy becomes worse, and the problem to be solved is urgently needed to provide a high-accuracy sub-meter-level positioning scheme in the indoor environment. Meanwhile, in an outdoor environment, the outdoor positioning accuracy can be improved based on a dual-frequency GNSS technology or a GNSS enhancement technology of an RTK (real time kinematic) and RTD (real time kinematic) technology, but the application range of the outdoor positioning method is still limited due to the problems of immature dual-frequency chips, deployment of ground enhancement stations, equipment power consumption size and the like in outdoor application, the cost is still high based on the RTK and RTD GNSS enhancement technology, and the outdoor positioning method has larger resistance in consumer-level application.
The invention provides a positioning method and a positioning system suitable for complex environment based on ultra wide band technology, which can fully explore the positioning capability of an intelligent terminal, provide reliable and continuous high-precision position service for the intelligent terminal, not only can improve the positioning precision to sub-meter level, but also provide a feasible approach for consumption-level application, and have wide application prospect in the fields of Internet of things, Internet of vehicles, unmanned aerial vehicles, unmanned driving and the like.
Disclosure of Invention
The invention discloses a positioning method based on ultra-wideband technology, comprising the following steps:
the intelligent terminal fusing the ultra-wideband technology reports the positioning capability based on the ultra-wideband technology to the network side, or directly carries out positioning capability interaction with other intelligent terminals.
The positioning capability mainly depends on the number of antennas used by the intelligent terminal for positioning calculation, and meanwhile, the following factors are referred to, including but not limited to, one or more of the following capabilities, whether time-of-flight ranging is supported, whether measurement of a horizontal plane direction angle is supported, whether measurement of a vertical plane direction angle is supported, whether measurement of signal strength is supported, whether elevation ranging is supported, and the like.
The positioning capability comprises three types of positioning capability without autonomy, positioning capability with partial autonomy and positioning capability with complete autonomy.
Reporting the positioning capability to a network side, namely that the intelligent terminal has to report the identifiers of the three positioning capability types and the number of antennas for positioning calculation to a positioning base station of the network side and transmits the identifiers and the number of antennas to a positioning system through a network; the intelligent terminal can also selectively report the following information to the network side, including but not limited to one or more of the following information, an identifier supporting time-of-flight ranging, an identifier supporting horizontal plane direction angle measurement, an identifier supporting vertical plane direction angle measurement, a range of horizontal plane direction angle measurement, a range of vertical plane direction angle measurement, an identifier supporting signal strength measurement, and an identifier supporting elevation ranging.
According to the intelligent terminals with different positioning capabilities, the interaction between the intelligent terminals and a network side or other intelligent terminals is mainly divided into the following scenes:
case 1: and if the intelligent terminal does not have the autonomous positioning capability, the intelligent terminal requests a network side to solve the position information of the intelligent terminal, and the position information is obtained in a network downlink message mode. The method for calculating the position of the intelligent terminal by the network side can be based on methods such as time of flight (TOF) ranging, time difference of flight (TDOA) (time difference of arrival), enhanced Cell identity identification (E-CID) (enhanced Cell ID) and the like. The invention is not limited in any way.
Case 2: if the intelligent terminal has partial autonomous positioning capability, the intelligent terminal can judge the probability of autonomously resolving the position information; and requesting different information from the network side according to the relation between the probability value and the preset probability threshold value so as to obtain the position information.
The intelligent terminal with partial autonomous positioning capability can judge the probability of autonomously resolving the position information according to the current complex environment and motion state; if the probability of autonomously resolving the position information is higher than a preset threshold value, the intelligent terminal requests auxiliary positioning information from the network side, and the position information of the intelligent terminal is resolved based on the auxiliary positioning information provided by the network side; if the probability of autonomously resolving the position information is lower than a preset threshold value, the intelligent terminal directly requests the network side to resolve the position information and obtains the position information in a network downlink message mode.
The probability of automatically resolving the position information is that one or more combination modes of visible ultra-wideband positioning base station number, the running speed of the intelligent terminal and the ultra-wideband positioning base station number in a measurable direction angle range are utilized, and nonlinear function relation modeling is carried out on the combination modes with one or more combinations of a corresponding visible ultra-wideband positioning base station number reference value, a running speed reference value of the intelligent terminal and the ultra-wideband positioning base station number reference value in the measurable direction angle range, normalization processing is carried out, and a probability value between 0 and 1 is obtained.
The auxiliary positioning information necessarily comprises the unique identification ID of the ultra-wideband positioning base station and the latitude and longitude information of the ultra-wideband positioning base station, and can also optionally provide some other information, including but not limited to one or more of the following information, direction angle information, intersection information, building information, map information and the like.
Case 3: if the intelligent terminal has the completely autonomous positioning capability, the intelligent terminal can request auxiliary positioning information from the network side, and the position information of the intelligent terminal is calculated based on the network auxiliary positioning information provided by the network side.
Case 4: after the positioning capabilities of the intelligent terminals are interacted, the relative distance, the relative direction and the relative elevation between any two intelligent terminals can be measured, so that relative position information can be obtained; and any intelligent terminal resolves the position information of the intelligent terminal through network auxiliary positioning information provided by a network side, and converts the relative position information between any two terminals into absolute position information of another terminal under a unified geodetic coordinate system.
The relative position information is that the intelligent terminal takes the mass center of the intelligent terminal as the origin of coordinates under a customized coordinate system, and obtains the relative position coordinates of another terminal under the customized coordinate system according to the measured relative distance, relative direction and relative elevation of the other terminal relative to the intelligent terminal;
the absolute position information refers to the longitude and latitude of the intelligent terminal under the unified geodetic coordinate system which can be calculated by the intelligent terminal according to the auxiliary positioning information provided by network measurement; meanwhile, according to the relative position information of the other terminal relative to the other terminal, the coordinate system is translated and rotated, and the longitude and latitude of the other terminal in the unified geodetic coordinate system can be obtained.
In Case2, Case3, and Case4, the manner in which the intelligent terminal performs position information calculation based on the network-assisted positioning information may be based on a multi-circle intersection method, a method of a single circle and a direction angle, a method of multiple circles and multiple direction angles, and the like. The invention is not limited in any way.
The invention discloses a positioning system based on an ultra-wideband technology, which comprises an intelligent terminal fusing the ultra-wideband technology, a network side ultra-wideband positioning base station, a cloud server, an intelligent terminal positioning engine and a cloud positioning engine. The intelligent terminal and the network side ultra-wideband positioning base station can carry out bidirectional communication; the intelligent terminal positioning engine is borne in the intelligent terminal and realizes bidirectional communication and logic interconnection with the intelligent terminal; the cloud server and the network side ultra-wideband positioning base station realize bidirectional communication; the cloud positioning engine is borne in the cloud server and realizes bidirectional communication and logic interconnection with the cloud server.
The intelligent terminal positioning engine exists in an intelligent terminal with partial autonomous positioning capability or complete autonomous positioning capability; when the intelligent terminal position information is calculated, the utilized information comprises but is not limited to flight time, horizontal plane direction angle, vertical plane direction angle, signal intensity, elevation ranging information, auxiliary positioning information provided by a network side and position information provided by the network side.
The cloud positioning engine is arranged in a cloud server and has the functions of resolving and converging the position information of the intelligent terminal in the system, processing the positioning request data from all positioning base stations in the system, processing and issuing the positioning position information and processing and issuing the auxiliary positioning information.
The positioning method and system based on the ultra-wideband technology provided by the invention can be suitable for various intelligent terminals, wherein the intelligent terminals comprise but are not limited to smart phones, pads and other types of tablet computers which are embedded with ultra-wideband chips, or special industry application terminals which are self-developed by utilizing the ultra-wideband chips. After the ultra-wideband technology is introduced, the intelligent terminal can provide reliable and continuous high-precision position service in a pulse signal coverage range generated by the ultra-wideband technology, can improve the positioning precision to a sub-meter level, can effectively reduce the power consumption of the whole intelligent terminal for positioning, and has wide application scenes in various fields of military use, civil use, integration of military and civil use and the like, typically fields such as intelligent storage, intelligent parking, intelligent factories, intelligent security and the like.
Drawings
FIG. 1 is a schematic diagram of the method and system of the present invention.
Fig. 2 is a positioning-related signaling flow diagram of embodiment 1.
Fig. 3 is a positioning-related signaling flow diagram of embodiment 2.
Fig. 4 is a positioning-related signaling flow diagram of embodiment 3.
Fig. 5 is a positioning-related signaling flow diagram of embodiment 4.
Fig. 6 is a positioning-related signaling flow diagram of embodiment 5.
Fig. 7 is a positioning-related signaling flow diagram of embodiment 6.
Fig. 8 is a positioning-related signaling flow diagram of embodiment 7.
DETAILED DESCRIPTION OF EMBODIMENT (S) OF INVENTION
Example 1:
example 1 is directed to Case 1, i.e. an intelligent terminal without autonomous location capability, described in the summary of the invention. In embodiment 1, a typical intelligent terminal (intelligent terminal 1) without autonomous positioning capability is characterized in that: the number of antennas used for positioning and resolving of the terminal is 1, only flight time ranging is supported, but direction angle measurement is not supported.
The signaling flow of example 1 is as follows (as shown in fig. 2):
step 201: sending positioning capacity reporting information to an ultra-wideband positioning base station by an intelligent terminal 1 without autonomous positioning capacity;
step 202: after receiving the capability reporting information of the terminal, the ultra-wideband positioning base station feeds back positioning capability reporting confirmation information to the intelligent terminal 1;
step 203: the intelligent terminal 1 sends a position information request to an ultra-wideband positioning base station;
step 204: the ultra-wideband positioning base station forwards a request from the intelligent terminal 1 to the cloud server, namely: forwarding the position information request information;
step 205: the ultra-wideband positioning base station sends relevant positioning measurement aiming at the intelligent terminal 1 to a cloud server, namely: reporting the positioning measurement quantity;
step 206: a cloud positioning engine located in a cloud server performs position calculation on the intelligent terminal 1 according to the positioning request information and the positioning measurement information of the ultra-wideband base station;
step 207: the cloud server sends a position information resolving result of the intelligent terminal 1 to the ultra-wideband positioning base station;
step 208: and the ultra-wideband positioning base station forwards the position information resolving result to the intelligent terminal 1.
Example 2:
embodiment 2 is directed to Case2 described in the summary of the invention, namely, an intelligent terminal with a partially autonomous positioning capability. However, the method belongs to a branch situation in Case2, namely, after the intelligent terminal determines, the intelligent terminal self calculates the position information. In embodiment 2, a typical intelligent terminal (intelligent terminal 2) with a partial autonomous positioning capability is characterized in that: the number of the antennas used for positioning and resolving of the terminal is 2, flight time ranging is supported, and direction angle measurement in a horizontal plane (-pi/2, pi/2) is supported.
The signaling flow of example 2 is as follows (as shown in fig. 3):
step 301: the intelligent terminal 2 with partial autonomous positioning capability sends positioning capability report information to the ultra-wideband positioning base station;
step 302: after receiving the capability reporting information of the terminal, the ultra-wideband positioning base station feeds back positioning capability reporting confirmation information to the intelligent terminal 2;
step 303: the intelligent terminal 2 judges the probability of automatically resolving the position information according to the current complex environment and motion state; in this embodiment, if the probability of autonomously resolving the location information is higher than a preset threshold, the intelligent terminal 2 may perform location resolution by itself;
step 304: the intelligent terminal 2 sends an auxiliary positioning information request to the ultra-wideband positioning base station;
step 305: the ultra-wideband positioning base station forwards a request from the intelligent terminal 2 to the cloud server, namely: forwarding an auxiliary positioning information request;
step 306: the cloud server sends an auxiliary positioning information response of the intelligent terminal 2 to the ultra-wideband positioning base station;
step 307: the ultra-wideband positioning base station forwards the auxiliary positioning information response to the intelligent terminal 2;
step 308: and the intelligent terminal positioning engine in the intelligent terminal 2 calculates the actual position of the intelligent terminal according to the auxiliary positioning information response provided by the network side.
Example 3:
embodiment 3 is directed to Case2 described in the summary of the invention, i.e. an intelligent terminal with partially autonomous location capability. But belongs to another branch situation in Case2, namely, after the intelligent terminal passes the judgment, the intelligent terminal needs a network to provide final position information solution. In embodiment 3, a typical intelligent terminal (intelligent terminal 2) with a partial autonomous positioning capability is characterized in that: the number of the antennas used for positioning and resolving of the terminal is 2, flight time ranging is supported, and direction angle measurement in a horizontal plane (-pi/2, pi/2) is supported.
The signaling flow of example 3 is as follows (as shown in fig. 4):
step 401: the intelligent terminal 2 with partial autonomous positioning capability sends positioning capability report information to the ultra-wideband positioning base station;
step 402: after receiving the capability reporting information of the terminal, the ultra-wideband positioning base station feeds back positioning capability reporting confirmation information to the intelligent terminal 2;
step 403: the intelligent terminal 2 judges the probability of automatically resolving the position information according to the current complex environment and motion state; in this embodiment, if the probability of autonomously resolving the location information is lower than a preset threshold, the intelligent terminal 2 will rely on the network side to perform location resolution;
step 404: the intelligent terminal 2 sends a position information request to the ultra-wideband positioning base station
Step 405: the ultra-wideband positioning base station forwards a request from the intelligent terminal 2 to the cloud server, namely: forwarding the position information request information;
step 406: the ultra-wideband positioning base station sends the relevant positioning measurement for the intelligent terminal 2 to the cloud server, namely: reporting the positioning measurement quantity;
step 407: a cloud positioning engine located in a cloud server performs position calculation on the intelligent terminal 2 according to the positioning request information and the positioning measurement information of the ultra-wideband base station;
step 408: the cloud server sends a position information resolving result of the intelligent terminal 2 to the ultra-wideband positioning base station;
step 409: and the ultra-wideband positioning base station forwards the position information resolving result to the intelligent terminal 2.
Example 4:
embodiment 4 is directed to Case3 described in the summary of the invention, i.e. an intelligent terminal with fully autonomous positioning capability. But belongs to a branch Case in Case3, namely, the intelligent terminal only performs position resolution through auxiliary positioning information provided by the network side. In embodiment 4, a typical intelligent terminal (intelligent terminal 3) with fully autonomous positioning capability is characterized in that: the number of antennas used for positioning and resolving of the terminal is 3, flight time ranging is supported, direction angle measurement in the range of a horizontal plane is supported, and direction angle measurement in the range of a vertical plane is supported.
The signaling flow of example 4 is as follows (as shown in fig. 5):
step 501: the intelligent terminal 3 with the complete autonomous positioning capability sends positioning capability report information to the ultra-wideband positioning base station;
step 502: after receiving the capability reporting information of the terminal, the ultra-wideband positioning base station feeds back positioning capability reporting confirmation information to the intelligent terminal 3;
step 503: the intelligent terminal 3 sends an auxiliary positioning information request to the ultra-wideband positioning base station;
step 504: the ultra-wideband positioning base station forwards a request from the intelligent terminal 3 to the cloud server, namely: forwarding an auxiliary positioning information request;
step 505: the cloud server sends an auxiliary positioning information response of the intelligent terminal 3 to the ultra-wideband positioning base station;
step 506: the ultra-wideband positioning base station forwards the auxiliary positioning information response to the intelligent terminal 3;
step 507: the intelligent terminal positioning engine in the intelligent terminal 3, according to the auxiliary positioning information response provided by the network side, calculates the actual position of itself.
Example 5:
embodiment 5 is directed to Case3 described in the summary of the invention, i.e. an intelligent terminal with fully autonomous positioning capability. However, the method belongs to another branch situation in Case3, that is, the intelligent terminal not only performs position calculation through the auxiliary positioning information provided by the network side, but also can select to query the position information from the network side, and the position information calculated by the intelligent terminal is fused with the position information provided by the network, so that the positioning accuracy is improved. In embodiment 5, a typical intelligent terminal (intelligent terminal 3) with fully autonomous positioning capability is characterized in that: the number of antennas used for positioning and resolving of the terminal is 4, flight time ranging is supported, direction angle measurement in the range of a horizontal plane is supported, and direction angle measurement in the range of a vertical plane is supported.
The signaling flow of example 5 is as follows (as shown in fig. 6):
step 601: the intelligent terminal 3 with the complete autonomous positioning capability sends positioning capability report information to the ultra-wideband positioning base station;
step 602: after receiving the capability reporting information of the terminal, the ultra-wideband positioning base station feeds back positioning capability reporting confirmation information to the intelligent terminal 3;
step 603: the intelligent terminal 3 sends an auxiliary positioning information request to the ultra-wideband positioning base station;
step 604: the ultra-wideband positioning base station forwards a request from the intelligent terminal 3 to the cloud server, namely: forwarding an auxiliary positioning information request;
step 605: the cloud server sends an auxiliary positioning information response of the intelligent terminal 3 to the ultra-wideband positioning base station;
step 606: the ultra-wideband positioning base station forwards the auxiliary positioning information response to the intelligent terminal 3;
step 607: the intelligent terminal positioning engine in the intelligent terminal 3, according to the auxiliary positioning information response provided by the network side, resolves the actual position of itself, namely the position information 1;
step 608: the intelligent terminal 3 sends a position information request to the ultra-wideband positioning base station;
step 609: the ultra-wideband positioning base station forwards a request from the intelligent terminal 3 to the cloud server, namely: forwarding the position information request information;
step 610: the ultra-wideband positioning base station sends the relevant positioning measurement for the intelligent terminal 3 to the cloud server, namely: reporting the positioning measurement quantity;
step 611: a cloud positioning engine located in a cloud server performs position calculation on the intelligent terminal 3 according to the positioning request information and the positioning measurement information of the ultra-wideband base station, namely provides position information 2 of the intelligent terminal 3;
step 612: the cloud server sends a position information resolving result of the intelligent terminal 3 to the ultra-wideband positioning base station;
step 613: the ultra-wideband positioning base station forwards a position information resolving result to the intelligent terminal 3;
step 614: and the intelligent terminal 3 performs fusion according to the position information 1 calculated by the intelligent terminal and the position information 2 provided by the network side, and obtains the fused position information 3 with higher precision.
Example 6:
embodiment 6 is directed to Case4, i.e. an intelligent terminal with fully autonomous positioning capability, described in the summary of the invention. But belongs to a branch Case in Case4, namely, the relative position between any two intelligent terminals is determined. In embodiment 6, a typical intelligent terminal (intelligent terminal 3 and intelligent terminal 4) with fully autonomous positioning capability is characterized in that: the number of antennas used for positioning and resolving of the two terminals is 3, and the two terminals support flight time ranging, direction angle measurement in the range of a horizontal plane [ -pi, pi ], and direction angle measurement in the range of a vertical plane [ -pi/2, pi/2 ].
The signaling flow of example 6 is as follows (as shown in fig. 7):
step 701: the intelligent terminal 3 with the complete autonomous positioning capability sends positioning capability report information to the intelligent terminal 4 with the complete autonomous positioning capability;
step 702: after receiving the capability reporting information of the intelligent terminal 3, the intelligent terminal 4 feeds back positioning capability reporting confirmation information to the intelligent terminal 3;
step 703: the intelligent terminal 4 sends positioning capability reporting information to the intelligent terminal 3;
step 704: after receiving the capability reporting information of the intelligent terminal 4, the intelligent terminal 3 feeds back positioning capability reporting confirmation information to the intelligent terminal 4;
step 705: the positioning engine of the intelligent terminal 3 can calculate the relative distance, the relative direction and the relative elevation of the intelligent terminal 4 relative to the intelligent terminal 3 according to the positioning measurement quantity of the intelligent terminal 4 measured in the interaction process, so as to obtain the relative position coordinate of the intelligent terminal 4 in the user-defined coordinate system;
step 706: the positioning engine of the intelligent terminal 4 can calculate the relative distance, the relative direction and the relative elevation of the intelligent terminal 3 relative to the intelligent terminal 4 according to the positioning measurement quantity of the intelligent terminal 3 measured in the interaction process, so as to obtain the relative position coordinates of the intelligent terminal 3 in the user-defined coordinate system.
Example 7:
embodiment 7 is directed to Case4, i.e. an intelligent terminal with fully autonomous positioning capability, described in the summary of the invention. However, in the Case4, another branch is that any two intelligent terminals can not only measure the relative position, but also one intelligent terminal can calculate its absolute position coordinates by means of the network-side auxiliary positioning information and convert the absolute position coordinates into the absolute position coordinates of the other intelligent terminal according to the relative position of the other intelligent terminal with respect to itself. In embodiment 7, the smart terminal 3 is to acquire absolute position information of the smart terminal 4. A typical intelligent terminal (intelligent terminal 3) with fully autonomous positioning capability is characterized in that: the number of antennas used for positioning and resolving of the terminal is 4, flight time ranging is supported, direction angle measurement in the range of a horizontal plane is supported, and direction angle measurement in the range of a vertical plane is supported; intelligent terminal 4's characteristics lie in: the number of antennas used for positioning and resolving of the terminal is 3, flight time ranging is supported, direction angle measurement in the range of a horizontal plane is supported, and direction angle measurement in the range of a vertical plane is supported.
The signaling flow of example 7 is as follows (as shown in fig. 8):
step 801: the intelligent terminal 3 with the complete autonomous positioning capability sends positioning capability report information to the intelligent terminal 4 with the complete autonomous positioning capability;
step 802: after receiving the capability reporting information of the intelligent terminal 3, the intelligent terminal 4 feeds back positioning capability reporting confirmation information to the intelligent terminal 3;
step 803: the intelligent terminal 4 sends positioning capability reporting information to the intelligent terminal 3;
step 804: after receiving the capability reporting information of the intelligent terminal 4, the intelligent terminal 3 feeds back positioning capability reporting confirmation information to the intelligent terminal 4;
step 805: the positioning engine of the intelligent terminal 3 can calculate the relative distance, the relative direction and the relative elevation of the intelligent terminal 4 relative to the intelligent terminal 3 according to the positioning measurement quantity of the intelligent terminal 4 measured in the interaction process, so as to obtain the relative position coordinate of the intelligent terminal 4 in the user-defined coordinate system;
step 806: the positioning engine of the intelligent terminal 4 can calculate the relative distance, the relative direction and the relative elevation of the intelligent terminal 3 relative to the intelligent terminal 4 according to the positioning measurement quantity of the intelligent terminal 3 measured in the interaction process, so as to obtain the relative position coordinate of the intelligent terminal 3 in the user-defined coordinate system;
step 807: the intelligent terminal 3 sends an auxiliary positioning information request to the ultra-wideband positioning base station;
step 808: the ultra-wideband positioning base station forwards a request from the intelligent terminal 3 to the cloud server, namely: forwarding an auxiliary positioning information request;
step 809: the cloud server sends an auxiliary positioning information response of the intelligent terminal 3 to the ultra-wideband positioning base station;
step 810: the ultra-wideband positioning base station forwards the auxiliary positioning information response to the intelligent terminal 3;
step 811: the intelligent terminal positioning engine in the intelligent terminal 3, according to the auxiliary positioning information response provided by the network side, resolves its own actual absolute position information, and can convert the relative position information of the intelligent terminal 4 (step 805) to obtain the absolute position information of the intelligent terminal 4.
Note: in embodiments 1 to 7, only one possibility of the signaling interaction procedure is given, but reporting of the positioning capability is not excluded and is performed by including in the location request message or the assisted positioning information request message. In any form, are within the scope of the present invention.
Claims (10)
1. A positioning method based on ultra-wideband technology is characterized in that:
the method comprises the steps that an intelligent terminal fusing the ultra-wideband technology reports the positioning capacity based on the ultra-wideband technology to a network side, or directly carries out positioning capacity interaction with other intelligent terminals;
the reporting of the positioning capability to the network side means that,
if the intelligent terminal does not have the autonomous positioning capability, the intelligent terminal requests a network side to solve the position information of the intelligent terminal and obtains the position information in a network downlink message mode; alternatively, the first and second electrodes may be,
if the intelligent terminal has partial autonomous positioning capability, the intelligent terminal judges the probability of autonomously resolving the position information; according to the relation between the probability value and the preset probability threshold value, different information is requested from a network side to obtain position information; alternatively, the first and second electrodes may be,
if the intelligent terminal has the completely autonomous positioning capability, the intelligent terminal requests auxiliary positioning information from a network side, and the position information of the intelligent terminal is calculated based on the network auxiliary positioning information provided by the network side;
the direct location capability interaction with other intelligent terminals means that,
after the positioning capacity interaction, the relative distance, the relative direction and the relative elevation between any two intelligent terminals are measured, so that the relative position information is obtained; and any intelligent terminal resolves the position information of the intelligent terminal through network auxiliary positioning information provided by a network side, and converts the relative position information between any two terminals into absolute position information of another terminal under a unified geodetic coordinate system.
2. A positioning method based on ultra-wideband technology according to claim 1, characterized in that:
the positioning capability depends on the number of antennas used for positioning calculation of the intelligent terminal, and meanwhile, the following factors are referred to, including but not limited to one or more of the following capabilities, whether flight time ranging is supported, whether measurement of a horizontal plane direction angle is supported, whether measurement of a vertical plane direction angle is supported, whether measurement of signal strength is supported, and whether elevation ranging is supported;
the positioning capacity comprises three types of positioning capacity which are not autonomous, partial autonomous and complete autonomous;
reporting the positioning capability to a network side, namely that the intelligent terminal has to report the identifiers of the three positioning capability types and the number of antennas for positioning calculation to a positioning base station of the network side and transmits the identifiers and the number of antennas to a positioning system through a network; the intelligent terminal also reports the following information to the network side, including but not limited to one or more of the following information, an identifier supporting time-of-flight ranging, an identifier supporting horizontal plane direction angle measurement, an identifier supporting vertical plane direction angle measurement, a range of horizontal plane direction angle measurement, a range of vertical plane direction angle measurement, an identifier supporting signal strength measurement, and an identifier supporting elevation ranging.
3. A positioning method based on ultra-wideband technology according to claim 1, characterized in that:
the intelligent terminal with the partially autonomous positioning capability judges the probability of autonomously resolving the position information according to the current complex environment and motion state;
if the probability of autonomously resolving the position information is higher than a preset threshold value, the intelligent terminal requests auxiliary positioning information from the network side, and the position information of the intelligent terminal is resolved based on the auxiliary positioning information provided by the network side;
if the probability of autonomously resolving the position information is lower than a preset threshold value, the intelligent terminal directly requests the network side to resolve the position information and obtains the position information in a network downlink message mode.
4. A positioning method based on ultra-wideband technology according to claim 1, characterized in that:
the probability of automatically resolving the position information is that nonlinear function relation modeling is carried out by utilizing one or more combination modes of visible ultra-wideband positioning base station number, the running speed of the intelligent terminal and the ultra-wideband positioning base station number in a measurable direction angle range, and one or more combinations of a reference value of the visible ultra-wideband positioning base station number, a reference value of the running speed of the intelligent terminal and a reference value of the ultra-wideband positioning base station number in the measurable direction angle range, and normalization processing is carried out to obtain a probability value between 0 and 1.
5. A positioning method based on ultra-wideband technology according to claim 1, characterized in that:
the intelligent terminal with the completely autonomous positioning capability also requests the network side to provide position information, and the intelligent terminal performs linear or nonlinear fusion processing on the position information calculated by the intelligent terminal and the position information provided by the network side to obtain more reliable and higher-precision fused position information.
6. A positioning method based on ultra-wideband technology according to claim 1, characterized in that:
the auxiliary positioning information certainly comprises a unique identification ID of the ultra-wideband positioning base station and longitude and latitude information of the ultra-wideband positioning base station, and also provides some other information, including but not limited to one or more of the following information, direction angle information, intersection information, building information and map information.
7. A positioning method based on ultra-wideband technology according to claim 1, characterized in that:
the relative position information is that the intelligent terminal takes the mass center of the intelligent terminal as the origin of coordinates under a self-defined coordinate system, and the relative position coordinates of the other terminal under the self-defined coordinate system are obtained according to the measured relative distance, relative direction and relative elevation of the other terminal relative to the intelligent terminal;
the absolute position information refers to the longitude and latitude of the intelligent terminal under the unified geodetic coordinate system which can be calculated according to auxiliary positioning information provided by network measurement; and meanwhile, according to the relative position information of the other terminal relative to the other terminal, the coordinate system is translated and rotated to obtain the longitude and latitude of the other terminal in the unified geodetic coordinate system.
8. A positioning system based on ultra-wideband technology is characterized in that:
the positioning system consists of an intelligent terminal fusing ultra-wideband technology, an intelligent terminal positioning engine, a network side ultra-wideband positioning base station, a cloud server and a cloud positioning engine;
the intelligent terminal carries out bidirectional communication with the network side ultra-wideband positioning base station;
the intelligent terminal positioning engine is borne in the intelligent terminal and realizes bidirectional communication and logic interconnection with the intelligent terminal;
the cloud server and the network side ultra-wideband positioning base station realize bidirectional communication;
the cloud positioning engine is borne in the cloud server and realizes bidirectional communication and logic interconnection with the cloud server;
through information interaction and cooperation of the intelligent terminal, the intelligent terminal positioning engine, the network side ultra-wideband positioning base station, the cloud server and the cloud positioning engine, the positioning system can realize the positioning method as claimed in any one of claims 1 to 7.
9. A positioning system based on ultra-wideband technology as claimed in claim 8, characterized in that:
the intelligent terminal positioning engine exists in an intelligent terminal with partial autonomous positioning capability or complete autonomous positioning capability; when the intelligent terminal position information is calculated, the utilized information comprises but is not limited to flight time, horizontal plane direction angle, vertical plane direction angle, signal intensity, elevation ranging information, auxiliary positioning information provided by a network side and position information provided by the network side.
10. A positioning system based on ultra-wideband technology as claimed in claim 8, characterized in that:
the cloud positioning engine exists in a cloud server, and has the functions of resolving and converging position information of intelligent terminals in the system, processing positioning request data from all positioning base stations in the system, processing and issuing positioning position information and processing and issuing auxiliary positioning information.
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| EP4289193A1 (en) * | 2021-02-08 | 2023-12-13 | Qualcomm Incorporated | Impulse radio ultra- wideband (ir-uwb) using long-term evolution (lte) positioning protocol (lpp) |
| CN115056727A (en) * | 2021-09-24 | 2022-09-16 | 博泰车联网科技(上海)股份有限公司 | Method of controlling vehicle device, electronic device, and storage medium |
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