CN111505570A - Ultra-wideband two-dimensional positioning method based on linear search - Google Patents
Ultra-wideband two-dimensional positioning method based on linear search Download PDFInfo
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- CN111505570A CN111505570A CN202010329147.0A CN202010329147A CN111505570A CN 111505570 A CN111505570 A CN 111505570A CN 202010329147 A CN202010329147 A CN 202010329147A CN 111505570 A CN111505570 A CN 111505570A
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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
- G01S5/0036—Transmission from mobile station to base station of measured values, i.e. measurement on mobile and position calculation on base station
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- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
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- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
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Abstract
The application relates to an ultra-wideband two-dimensional positioning method based on linear search, which comprises the following steps: controlling each base station to receive positioning information sent by a target terminal; respectively recording the receiving time of each base station for receiving the positioning information, and calculating the time difference of the receiving time of every two base stations; calculating the distance difference between the target terminal and each two base stations according to the time difference; generating a position hyperbolic equation of the target terminal according to the plurality of distance differences, and performing linear processing on the position hyperbolic equation to obtain a linear equation set; and calculating the position of the target terminal through a linear equation set. The position of the target terminal is calculated through the linear equation set after linearization, linearization is achieved through setting of undetermined parameters, the structural characteristic that the linear equation has a closed solution is fully utilized, and compared with a convex optimization algorithm, the constraint condition is often loosened, and the overall optimization of a calculation result is guaranteed.
Description
Technical Field
The invention relates to the technical field of computers, in particular to an ultra-wideband two-dimensional positioning method and device based on linear search, computer equipment and a storage medium.
Background
With the development of wireless communication technology and the improvement of data processing capability, wireless positioning technology is becoming more and more popular. The wireless location technology mainly uses various wireless network communication characteristic parameters including time of arrival (TOA), time difference of arrival (TDOA), and direction of arrival (DOA) to measure and estimate to realize the location of the mobile terminal. The position of the mobile terminal is determined by utilizing wireless communication and parameter measurement, and the positioning information can be used for supporting position service and optimizing network management, thereby improving the position service quality and the network performance. The technical field of wireless positioning can be divided into wide area positioning and short distance wireless positioning, and the technology which is more suitable for short distance wireless positioning is Ultra Wide Band (UWB), and the ultra wide band measurement can reach nanosecond time measurement precision.
Although the ultra-wideband measurement can reach the nanosecond time measurement accuracy, the ultra-wideband measurement transmits data by sending and receiving extremely narrow pulses with nanosecond or below, and the measurement speed is slow. Therefore, the traditional wireless positioning method has the problem of slow measurement speed.
Disclosure of Invention
Based on the above, in order to solve the above technical problems, an ultra-wideband two-dimensional positioning method, an apparatus, a computer device and a storage medium based on linear search are provided.
An ultra-wideband two-dimensional positioning method based on linear search, the method comprising:
controlling each base station to receive positioning information sent by a target terminal;
respectively recording the receiving time of each base station for receiving the positioning information, and calculating the time difference between the receiving time of every two base stations;
calculating the distance difference between the target terminal and each two base stations according to the time difference;
generating a position hyperbolic equation of the target terminal according to the distance differences, and performing linear processing on the position hyperbolic equation to obtain a linear equation set;
and calculating to obtain the position of the target terminal through the linear equation system.
Further, the method further comprises:
acquiring a radio wave propagation speed representing an information propagation speed at which the target terminal transmits information to each of the base stations;
the generating a hyperbolic equation of the position of the target terminal according to the distance difference includes:
and generating a hyperbolic equation of the position of the target terminal according to the radio wave propagation speed and the distance difference.
Further, the obtaining of the position of the target terminal through the calculation of the linear equation system includes:
traversing and searching the undetermined parameters in the linear equation set, and generating a position estimation value in each traversing process;
and obtaining the position of the target terminal according to the position estimation value and the linear equation set.
Further, the obtaining the position of the target terminal according to the position estimation value and the linear equation set includes:
substituting the position estimation value into the position hyperbolic equation to obtain an equation result;
and carrying out error estimation on the equation result and the distance difference through a minimum mean square error evaluation criterion, and calculating to obtain the position of the target terminal under the minimum mean square error evaluation criterion.
Further, the method further comprises:
respectively acquiring two-dimensional coordinates of each base station;
the calculating the distance difference between the target terminal and each two base stations according to the time difference comprises:
and calculating the distance difference between the target terminal and each two base stations according to the time difference and the two-dimensional coordinates of each base station.
An ultra-wideband two-dimensional positioning device based on linear search, the device comprising:
the control module is used for controlling each base station to receive the positioning information sent by the target terminal;
the time difference calculation module is used for respectively recording the receiving time of each base station for receiving the positioning information and calculating the time difference of the receiving time of every two base stations;
a distance difference calculating module, configured to calculate a distance difference between the target terminal and each two base stations according to the time difference;
the linear processing module is used for generating a position hyperbolic equation of the target terminal according to the distance differences and carrying out linear processing on the position hyperbolic equation to obtain a linear equation set;
and the position acquisition module is used for calculating to obtain the position of the target terminal through the linear group program.
A computer device comprising a memory and a processor, the memory storing a computer program, the processor implementing the following steps when executing the computer program:
controlling each base station to receive positioning information sent by a target terminal;
respectively recording the receiving time of each base station for receiving the positioning information, and calculating the time difference between the receiving time of every two base stations;
calculating the distance difference between the target terminal and each two base stations according to the time difference;
generating a position hyperbolic equation of the target terminal according to the distance differences, and performing linear processing on the position hyperbolic equation to obtain a linear equation set;
and calculating to obtain the position of the target terminal through the linear equation system.
A computer device comprising a memory and a processor, the memory storing a computer program, the processor implementing the following steps when executing the computer program:
controlling each base station to receive positioning information sent by a target terminal;
respectively recording the receiving time of each base station for receiving the positioning information, and calculating the time difference between the receiving time of every two base stations;
calculating the distance difference between the target terminal and each two base stations according to the time difference;
generating a position hyperbolic equation of the target terminal according to the distance differences, and performing linear processing on the position hyperbolic equation to obtain a linear equation set;
and calculating to obtain the position of the target terminal through the linear equation system.
According to the ultra-wideband two-dimensional positioning method based on linear search, each base station is controlled to receive positioning information sent by a target terminal; respectively recording the receiving time of each base station for receiving the positioning information, and calculating the time difference of the receiving time of every two base stations; calculating the distance difference between the target terminal and each two base stations according to the time difference; generating a position hyperbolic equation of the target terminal according to the plurality of distance differences, and performing linear processing on the position hyperbolic equation to obtain a linear equation set; and calculating the position of the target terminal through a linear equation set. The position of the target terminal is calculated through the linear equation set after linearization, linearization is achieved through setting of undetermined parameters, the structural characteristic that the linear equation has a closed solution is fully utilized, and compared with a convex optimization algorithm, the constraint condition is often loosened, and the overall optimization of a calculation result is guaranteed.
Drawings
FIG. 1 is a diagram of an application environment of an ultra-wideband two-dimensional positioning method based on linear search in one embodiment;
FIG. 2 is a flow chart illustrating a linear search based ultra-wideband two-dimensional positioning method according to an embodiment;
FIG. 3 is a block diagram of an embodiment of an ultra-wideband two-dimensional positioning device based on linear search;
FIG. 4 is a diagram illustrating an internal structure of a computer device according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The ultra-wideband two-dimensional determination method based on linear search can be applied to the application environment shown in fig. 1. As shown in fig. 1, the application environment includes a computer device 110, a base station 120, and a target terminal 130, wherein there may be a plurality of base stations 120. The computer device 110 may control the respective base stations 120 to receive the positioning information transmitted by the target terminal 130. The computer device 110 may record the receiving time of each base station 120 for receiving the positioning information, and calculate the time difference between the receiving time of each two base stations 120. The computer device 110 can calculate the distance difference between the target terminal 130 and each two base stations 120 according to the time difference. The computer device 110 can generate a position hyperbolic equation of the target terminal 130 according to the plurality of distance differences and perform linear processing on the position hyperbolic equation to obtain a linear equation set. The computer device 110 may calculate the location of the target terminal by a system of linear equations. Wherein the computer device 110 may be, but is not limited to, a server, a cluster of servers, and the like.
In one embodiment, as shown in fig. 2, there is provided an ultra-wideband two-dimensional determination method based on linear search, comprising the following steps:
The target terminal may be a terminal that needs to be located. The positioning information may be information that the target terminal transmits to the base station and indicates the location of the target terminal.
The target terminal may send positioning information to each base station, respectively. The computer device can be connected with each base station, and the computer device can control each base station to receive the positioning information sent by the target terminal respectively.
And 204, respectively recording the receiving time of each base station for receiving the positioning information, and calculating the time difference between the receiving time of every two base stations.
Each base station has a receiving time when receiving the positioning information, and because the distances between each base station and the target terminal are different, the receiving time of each base station receiving the positioning information is also different. The computer device may record the time of receipt of the positioning information by each base station, respectively. The computer device may calculate the time difference between the reception times of every two base stations, respectively. For example, there are 4 base stations in total, base station a, base station B, base station C, and base station D, respectively, and the computer device may calculate a time difference between the reception times of base station a and base station B, a time difference between the reception times of base station a and base station C, a time difference between the reception times of base station a and base station D, a time difference between the reception times of base station B and base station C, a time difference between the reception times of base station B and base station D, and a time difference between the reception times of base station C and base station D.
And step 206, calculating the distance difference between the target terminal and each two base stations according to the time difference.
The distance difference between the target terminal and each two base stations can be used to represent the difference between the distance from the target terminal to one base station and the distance from the target terminal to another base station. After the computer device calculates the time difference between the receiving times of every two base stations, the distance difference between the target terminal and every two base stations can be calculated according to the time difference. For example, the time difference calculated by the computer device is a time difference between reception times of the base station a and the base station B, a time difference between reception times of the base station a and the base station C, and a time difference between reception times of the base station B and the base station C, respectively, and the computer device may calculate a distance difference between a distance from the target terminal to the base station a and a distance from the target terminal to the base station B, a distance difference between a distance from the target terminal to the base station a and a distance from the target terminal to the base station C, and a distance difference between a distance from the target terminal to the base station B and a distance from the target terminal to the base station C, based on the time difference between reception times of the base station a and the.
And 208, generating a position hyperbolic equation of the target terminal according to the plurality of distance differences, and performing linear processing on the position hyperbolic equation to obtain a linear equation set.
The location hyperbolic equation may be a system of hyperbolic equations relating to the location of the target terminal. The computer device can generate a position hyperbolic equation of the target terminal according to the obtained plurality of distance differences, and perform linear processing on the position hyperbolic equation to obtain a linear equation set.
And step 210, calculating to obtain the position of the target terminal through a linear equation set.
After the computer equipment obtains the linear equation set, the linear equation set can be solved, and then the position of the target terminal is calculated.
In the embodiment, each base station is controlled to receive the positioning information sent by the target terminal; respectively recording the receiving time of each base station for receiving the positioning information, and calculating the time difference of the receiving time of every two base stations; calculating the distance difference between the target terminal and each two base stations according to the time difference; generating a position hyperbolic equation of the target terminal according to the plurality of distance differences, and performing linear processing on the position hyperbolic equation to obtain a linear equation set; and calculating the position of the target terminal through a linear equation set. The technical scheme is provided. According to the technical scheme, the distance difference is calculated through the time difference of the receiving time of the two base stations, the position of the target terminal is calculated through a linear equation set after a series of linearization processing is carried out on a position hyperbolic equation, linearization is realized through setting of undetermined parameters, the structural characteristics that the linear equation has a closed solution are fully utilized, the calculation efficiency and the calculation precision are improved, compared with a convex optimization algorithm, the constraint condition is often loosened, the scheme guarantees the global optimization of the calculation result, and the calculation precision is improved.
In one embodiment, the ultra-wideband two-dimensional determination method based on linear search may further include a process of generating a location hyperbolic equation, where the process includes: acquiring a radio wave propagation speed, wherein the radio wave propagation speed is used for expressing the information propagation speed of information sent by a target terminal to each base station; and generating a hyperbolic equation of the position of the target terminal according to the radio wave propagation speed and the distance difference.
The radio propagation speed may be used to indicate an information propagation speed at which the target terminal transmits information to each base station, and may be a specific numerical value stored in the computer device. The computer device can acquire the radio wave propagation speed from a memory thereof, and further generate a hyperbolic equation of the position of the target terminal according to the radio wave propagation speed and the distance difference.
In the present embodiment, let the location of the target terminal MS be the coordinates (X, y) and the location of the known one base station BS be the coordinates (X)i，Yi) The distance between the target terminal MS and the base station BS is
Ri 2＝(Xi-x)2+(Yi-y)2＝Ki-2Xix-2Yiy+x2+y2Wherein, K isi＝Xi 2+Yi 2. Let Ri,1Representing the actual distance difference between the target terminal MS and the base station BS, the computer device may generate a hyperbolic equation of the position of the target terminal based on the electric wave propagation speed and the distance difference, as
Where c is the propagation velocity of the radio wave and di,1The distance difference between the target terminal and each two base stations is shown.
Specifically, the computer device may linearize the generated positional hyperbolic equation. Because of the fact that
Then it is determined that,
when i is 1, the formula can be obtained
And then calculate out
Wherein, Xi,1＝Xi-X1，Yi,1＝Yi-Y1If x, y, R1 are considered as unknowns, a system of linear equations can be obtained as
At N numberWhen the base station participates in positioning, the linear equation system can be written as
However, in this system of equations, the vector [ x y R1]TIn R1Since f (x, y) does not satisfy independent conditions, it cannot be directly obtained by a closed-form solution method. In order to be able to determine the coordinates (x, y) quickly, a coefficient matrix can be assumed
Wherein (x)i,yi)i＝1...NRepresenting N base station coordinates, coefficient matrix
Wherein r isi1,i＝2...NRepresenting the distance value and assuming a known quantity, and performing the pending coefficient search after the algorithm is the key to realize the conversion of the position hyperbolic equation from non-linearity to linearity.
In one embodiment, the method for ultra-wideband two-dimensional location based on linear search may further include a process of calculating a location of the target terminal through a linear equation set, where the specific process includes: traversing and searching undetermined parameters in the linear equation set, and generating a position estimation value in each traversing process; and obtaining the position of the target terminal according to the position estimation value and the linear equation set.
In one embodiment, the method for ultra-wideband two-dimensional determination based on linear search may further include: substituting the position estimation value into a position hyperbolic equation to obtain an equation result; and carrying out error estimation on the equation result and the distance difference through a minimum mean square error evaluation criterion, and calculating to obtain the position of the target terminal under the minimum mean square error evaluation criterion.
The computer equipment can be called r1100, the coordinate X ═ inv (S) is calculatedT*S)*STM, the computer device can calculate the distance difference d from the coordinate X to each base stationi1N, i ═ 2. The computer device can be based on linear equations and error calculation rate formulas
An erroneous calculation rate of the distance difference is calculated. The computer equipment can find out r1And (5) calculating to obtain the position of the target terminal according to the minimum value of err when the terminal is 1.
The computer device may randomly determine one reference base station from the respective base stations, wherein the two-dimensional coordinates of the reference base station may be set as reference coordinates (0, 0). The search radius and the search step size may be preset specific values. The computer device may perform base station search with the reference coordinate as an origin and the search radius as a radius, and perform the next search according to the search step after completing one search. For example, if the search radius is R and the search Step size is Step, the search code may be:
the code comprises three loops, wherein Pos is the result of last positioning, Pos1 is the position obtained by searching, N is the number of base stations, and the complexity of the algorithm is
Assuming Step size Step is 1, the complexity is O (4R)2N)＝O(R2N). In this embodiment, in order to improve the two-dimensional coordinate (x, y) search speed, the search may be performed according to eight directions of the last positioning point, and the code may be:
where T denotes the number of searches and is proportional to the search radius R, the computational complexity of the search method is O (8TN) ═ O (rn).
In one embodiment, the method for ultra-wideband two-dimensional location based on linear search may further include a process of calculating a distance difference between the target terminal and each two base stations, where the process includes: respectively acquiring two-dimensional coordinates of each base station; and calculating the distance difference between the target terminal and each two base stations according to the time difference and the two-dimensional coordinates of each base station.
The computer device can respectively obtain the two-dimensional coordinates of each base station, and further calculate the distance difference from the target terminal to each two base stations according to the time difference and the two-dimensional coordinates of each base station. For example, the two-dimensional coordinates of the base station acquired by the computer device are base station a (2,5), base station B (2,8), and base station C (5,6), respectively, the time difference between the receiving times of the positioning information received by base station a and base station B acquired by the computer device is 3 seconds, the time difference between the receiving times of the positioning information received by base station a and base station C is 4 seconds, and the time difference between the receiving times of the positioning information received by base station B and base station C is 2 seconds, respectively, the computer device may obtain the distance difference between the target terminal to base station a and base station B, the distance between the target terminal to base station a and base station C, and the distance between the target terminal to base station B and base station C.
It should be understood that, although the steps in the above-described flowcharts are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a portion of the steps in the above-described flowcharts may include multiple sub-steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of performing the sub-steps or the stages is not necessarily sequential, but may be performed alternately or alternatingly with other steps or at least a portion of the sub-steps or stages of other steps.
In one embodiment, as shown in fig. 3, there is provided an ultra-wideband two-dimensional positioning device based on linear search, comprising: a control module 310, a time difference calculation module 320, a distance difference calculation module 330, a linear processing module 340, and a position acquisition module 350, wherein:
a control module 310, configured to control each base station to receive the positioning information sent by the target terminal.
The time difference calculating module 320 is configured to record the receiving time of each base station for receiving the positioning information, and calculate the time difference between the receiving times of every two base stations.
And a distance difference calculating module 330, configured to calculate a distance difference between the target terminal and each two base stations according to the time difference.
And the linear processing module 340 is configured to generate a position curve bi-equation of the target terminal according to the plurality of distance differences, and perform linear processing on the position bi-equation to obtain a linear equation set.
And a position obtaining module 350, configured to obtain the position of the target terminal through calculation of a linear equation set.
In one embodiment, an ultra-wideband two-dimensional positioning device based on linear search is provided, further comprising: the system comprises a radio wave propagation speed acquisition module, a radio wave propagation speed acquisition module and a radio wave propagation speed calculation module, wherein the radio wave propagation speed acquisition module is used for acquiring a radio wave propagation speed which is used for indicating the information propagation speed of a target terminal for sending information to each base station; the linear processing module 340 is further configured to generate a hyperbolic equation of the position of the target terminal according to the propagation velocity and the distance difference of the electric wave.
In one embodiment, the position obtaining module 350 is further configured to perform traversal search on the undetermined parameters in the linear equation set, and generate a position estimation value in each traversal process; and obtaining the position of the target terminal according to the position estimation value and the linear equation set.
In one embodiment, the location obtaining module 350 is further configured to substitute the location estimation value into a location hyperbolic equation to obtain an equation result; and carrying out error estimation on the equation result and the distance difference through a minimum mean square error evaluation criterion, and calculating to obtain the position of the target terminal under the minimum mean square error evaluation criterion.
In one embodiment, the ultra-wideband two-dimensional positioning device based on linear search further comprises a two-dimensional coordinate acquisition module, configured to acquire two-dimensional coordinates of each base station respectively; the location obtaining module 350 is further configured to calculate a distance difference between the target terminal and each two base stations according to the time difference and the two-dimensional coordinates of each base station.
In one embodiment, a computer device is provided, which may be a server, the internal structure of which may be as shown in fig. 4. The computer apparatus includes a processor, a memory, a network interface, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The network interface of the computer device is used for communicating with an external computer device through a network connection. The computer program is executed by a processor to implement a linear search based ultra-wideband two-dimensional positioning method. The input device of the computer equipment can be a key, a track ball or a touch pad arranged on the shell of the computer equipment, and can also be an external keyboard, a touch pad or a mouse and the like.
Those skilled in the art will appreciate that the architecture shown in fig. 4 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is provided, comprising a memory and a processor, the memory having a computer program stored therein, the processor implementing the following steps when executing the computer program:
controlling each base station to receive positioning information sent by a target terminal;
respectively recording the receiving time of each base station for receiving the positioning information, and calculating the time difference of the receiving time of every two base stations;
calculating the distance difference between the target terminal and each two base stations according to the time difference;
generating a position hyperbolic equation of the target terminal according to the plurality of distance differences, and performing linear processing on the position hyperbolic equation to obtain a linear equation set;
and calculating the position of the target terminal through a linear equation set.
In one embodiment, the processor, when executing the computer program, further performs the steps of: acquiring a radio wave propagation speed, wherein the radio wave propagation speed is used for expressing the information propagation speed of information sent by a target terminal to each base station; and generating a hyperbolic equation of the position of the target terminal according to the radio wave propagation speed and the distance difference.
In one embodiment, the processor, when executing the computer program, further performs the steps of: traversing and searching undetermined parameters in the linear equation set, and generating a position estimation value in each traversing process; and obtaining the position of the target terminal according to the position estimation value and the linear equation set.
In one embodiment, the processor, when executing the computer program, further performs the steps of: substituting the position estimation value into a position hyperbolic equation to obtain an equation result; and carrying out error estimation on the equation result and the distance difference through a minimum mean square error evaluation criterion, and calculating to obtain the position of the target terminal under the minimum mean square error evaluation criterion.
In one embodiment, the processor, when executing the computer program, further performs the steps of: respectively acquiring two-dimensional coordinates of each base station; and calculating the distance difference between the target terminal and each two base stations according to the time difference and the two-dimensional coordinates of each base station.
In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of:
controlling each base station to receive positioning information sent by a target terminal;
respectively recording the receiving time of each base station for receiving the positioning information, and calculating the time difference of the receiving time of every two base stations;
calculating the distance difference between the target terminal and each two base stations according to the time difference;
generating a position hyperbolic equation of the target terminal according to the plurality of distance differences, and performing linear processing on the position hyperbolic equation to obtain a linear equation set;
and calculating the position of the target terminal through a linear equation set.
In one embodiment, the computer program when executed by the processor further performs the steps of: acquiring a radio wave propagation speed, wherein the radio wave propagation speed is used for expressing the information propagation speed of information sent by a target terminal to each base station; and generating a hyperbolic equation of the position of the target terminal according to the radio wave propagation speed and the distance difference.
In one embodiment, the computer program when executed by the processor further performs the steps of: traversing and searching undetermined parameters in the linear equation set, and generating a position estimation value in each traversing process; and obtaining the position of the target terminal according to the position estimation value and the linear equation set.
In one embodiment, the computer program when executed by the processor further performs the steps of: substituting the position estimation value into a position hyperbolic equation to obtain an equation result; and carrying out error estimation on the equation result and the distance difference through a minimum mean square error evaluation criterion, and calculating to obtain the position of the target terminal under the minimum mean square error evaluation criterion.
In one embodiment, the computer program when executed by the processor further performs the steps of: respectively acquiring two-dimensional coordinates of each base station; and calculating the distance difference between the target terminal and each two base stations according to the time difference and the two-dimensional coordinates of each base station.
It will be understood by those of ordinary skill in the art that all or a portion of the processes of the methods of the embodiments described above may be implemented by a computer program that may be stored on a non-volatile computer-readable storage medium, which when executed, may include the processes of the embodiments of the methods described above, wherein any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. An ultra-wideband two-dimensional positioning method based on linear search is characterized by comprising the following steps:
controlling each base station to receive positioning information sent by a target terminal;
respectively recording the receiving time of each base station for receiving the positioning information, and calculating the time difference between the receiving time of every two base stations;
calculating the distance difference between the target terminal and each two base stations according to the time difference;
generating a position hyperbolic equation of the target terminal according to the distance differences, and performing linear processing on the position hyperbolic equation to obtain a linear equation set;
and calculating to obtain the position of the target terminal through the linear equation system.
2. The linear search based ultra-wideband two-dimensional positioning method of claim 1, further comprising:
acquiring a radio wave propagation speed representing an information propagation speed at which the target terminal transmits information to each of the base stations;
the generating a hyperbolic equation of the position of the target terminal according to the distance difference includes:
and generating a hyperbolic equation of the position of the target terminal according to the radio wave propagation speed and the distance difference.
3. The ultra-wideband two-dimensional positioning method based on linear search according to claim 1, wherein the calculating the position of the target terminal by the system of linear equations comprises:
traversing and searching undetermined parameters in the linear equation set, and generating a position estimation value in each traversing process;
and obtaining the position of the target terminal according to the position estimation value and the linear equation set.
4. The ultra-wideband two-dimensional positioning method based on linear search according to claim 3, wherein the obtaining the position of the target terminal according to the position estimation value and the linear equation system comprises:
substituting the position estimation value into the position hyperbolic equation to obtain an equation result;
and carrying out error estimation on the equation result and the distance difference through a minimum mean square error evaluation criterion, and calculating to obtain the position of the target terminal under the minimum mean square error evaluation criterion.
5. The linear search based ultra-wideband two-dimensional positioning method of claim 1, further comprising:
respectively acquiring two-dimensional coordinates of each base station;
the calculating the distance difference between the target terminal and each two base stations according to the time difference comprises:
and calculating the distance difference between the target terminal and each two base stations according to the time difference and the two-dimensional coordinates of each base station.
6. An ultra-wideband two-dimensional positioning apparatus based on linear search, the apparatus comprising:
the control module is used for controlling each base station to receive the positioning information sent by the target terminal;
the time difference calculation module is used for respectively recording the receiving time of each base station for receiving the positioning information and calculating the time difference of the receiving time of every two base stations;
a distance difference calculating module, configured to calculate a distance difference between the target terminal and each two base stations according to the time difference;
the linear processing module is used for generating a position hyperbolic equation of the target terminal according to the distance differences and carrying out linear processing on the position hyperbolic equation to obtain a linear equation set;
and the position acquisition module is used for calculating to obtain the position of the target terminal through the linear group program.
7. The apparatus of claim 6, further comprising:
a speed acquisition module, configured to acquire a radio wave propagation speed, where the radio wave propagation speed is used to indicate an information propagation speed at which the target terminal sends information to each base station;
and the linear processing module is further used for generating a hyperbolic equation of the position of the target terminal according to the electric wave propagation speed and the distance difference.
8. The apparatus of claim 6, wherein the system of linear equations includes undetermined parameters; the location acquisition module is further configured to: traversing and searching the undetermined parameters in the linear equation set, and generating a position estimation value in each traversing process; and obtaining the position of the target terminal according to the position estimation value and the linear equation set.
9. A computer device comprising a memory and a processor, the memory storing a computer program, wherein the processor implements the steps of the method of any one of claims 1 to 5 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 5.
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