CN111583700A - Positioning method, device, equipment, system, storage medium and garage navigation method - Google Patents
Positioning method, device, equipment, system, storage medium and garage navigation method Download PDFInfo
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- CN111583700A CN111583700A CN202010487925.9A CN202010487925A CN111583700A CN 111583700 A CN111583700 A CN 111583700A CN 202010487925 A CN202010487925 A CN 202010487925A CN 111583700 A CN111583700 A CN 111583700A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/123—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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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
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/123—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams
- G08G1/133—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams within the vehicle ; Indicators inside the vehicles or at stops
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
- G08G1/141—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces
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Abstract
The invention discloses a positioning method, a positioning device, equipment, a positioning system, a storage medium and a garage navigation method, wherein the method comprises the following steps: determining a distance measurement value between a tag to be measured and each positioning base station in a positioning space; determining initial positioning information of the to-be-detected label according to all the ranging values; inputting the initial positioning information into a pre-constructed position fitness model to obtain the fitness corresponding to the initial positioning information; and correcting the initial positioning information according to the fitness to obtain the final positioning information of the to-be-detected label, so that an NLOS error value is eliminated, and the final positioning information of the to-be-detected label is obtained. By adopting the technical scheme of the invention, the positioning performance of the indoor system can be ensured, and the accuracy of the positioning result is improved.
Description
Technical Field
The invention belongs to the technical field of positioning, and particularly relates to a positioning method, a positioning device, equipment, a positioning system, a storage medium and a garage navigation method.
Background
Currently, research on indoor positioning technology focuses on wireless signal technology-based approaches. Common positioning methods are classified into an indoor positioning method that does not require ranging and an indoor positioning method based on ranging. The indoor positioning method based on ranging is convenient and easy to popularize, and is favored in practical application.
The indoor positioning method based on distance measurement is that the distance between a moving point and a fixed point arranged in advance is measured through different wireless signal technologies, and finally the relative position of the moving point in space is deduced according to the geometric relationship by utilizing the distance information and the position of the fixed point. The commonly used wireless signal technology mainly includes Wi-Fi, Bluetooth (Bluetooth), Ultra-wideband (UWB), and the like. The UWB wireless communication technology is rapidly the optimal choice for short-distance high-precision wireless positioning since civilian use due to the ultrahigh time resolution capability, the ultrahigh multipath resistance capability and the ultrahigh wall-penetrating performance. Compared with the meter-level precision of positioning technologies such as Bluetooth and Wi-Fi, the performance of the UWB positioning technology with the theoretical positioning precision of 10cm is obviously much higher. UWB mainly obtains the distance between a mobile point and a fixed point by a Time of arrival (TOA), a Time difference of arrival (TDOA), and the like.
However, under the condition of relatively complex environment, measurement value errors such as TOA and TDOA do not conform to gaussian distribution, which may cause Non-Line of Sight (NLOS) error values to exist in the measurement value errors, and a larger NLOS error value may cause the positioning performance of the indoor positioning system to be rapidly reduced, thereby reducing the accuracy of the positioning result.
Disclosure of Invention
The invention mainly aims to provide a positioning method, a positioning device, equipment, a positioning system, a storage medium and a garage navigation method, so as to solve the problem of low accuracy of positioning results in the prior art.
In view of the above problem, the present invention provides a positioning method, including:
determining a distance measurement value between a tag to be measured and each positioning base station in a positioning space;
determining initial positioning information of the to-be-detected label according to all the ranging values;
inputting the initial positioning information into a pre-constructed position fitness model to obtain the fitness corresponding to the initial positioning information;
and correcting the initial positioning information according to the fitness to obtain the final positioning information of the label to be detected.
Further, in the above positioning method, inputting the initial positioning information into a pre-constructed position fitness model to obtain a fitness corresponding to the initial positioning information, the method includes:
iteratively updating the global optimal value and the optimal particle position based on an improved particle swarm optimization IPSO algorithm until the particle coordinate where the fitness minimum value is located is found as the fitness corresponding to the initial positioning information;
the learning factor of the improved particle swarm optimization IPSO algorithm is changed linearly.
Further, in the above positioning method, the determining a ranging value between the tag to be measured and each positioning base station in the positioning space includes:
sending a positioning request to each positioning base station in the positioning space by using the to-be-detected label;
receiving the positioning request by using each positioning base station in the positioning space, and sending positioning response information after delaying preset time; the response information carries the response time length from the receiving of the positioning request to the sending of the positioning response information;
after the to-be-detected tag receives the positioning response information, determining the waiting time of the to-be-detected tag from the sending of the positioning request to the receiving of each response information;
and determining a ranging value between the tag to be tested and each positioning base station in the positioning space according to the propagation speed of the positioning request, each response time length and each waiting time length.
Further, in the above positioning method, receiving the positioning request by using each positioning base station in the positioning space, and transmitting a positioning response message after delaying a preset time includes:
and receiving the positioning request through at least one available signal transceiving channel of each positioning base station in the positioning space, and transmitting positioning response information through at least one available signal transceiving channel after delaying preset time.
Further, in the above positioning method, the determining the initial positioning information of the to-be-detected tag according to each ranging value includes:
based on a preset fitting calculation formula, correcting each ranging value to obtain a corrected ranging value between the tag to be detected and each positioning base station in the positioning space;
constructing a positioning function based on all the corrected ranging values;
and solving the positioning function by using a weighted least square algorithm to obtain the initial positioning information of the to-be-detected label.
The invention also provides a garage navigation method, which comprises the following steps:
determining the final positioning information of the to-be-detected label arranged on the target vehicle by using the positioning method, thereby determining the position information of the target vehicle;
determining a target parking space of the target vehicle according to the position information of the target vehicle and the position information of the idle parking space in the garage;
and generating traveling route information between the target vehicle and the target parking space so as to navigate the target vehicle to the target parking space according to the traveling route.
Further, in the garage navigation method, determining the target parking space of the target vehicle according to the position information of the target vehicle and the position information of the free parking space in the garage includes:
determining the distance between each free parking space and the target vehicle according to the position information of the target vehicle and the position information of the garage free parking spaces;
and selecting the free parking space with the distance smaller than the preset distance as the target parking space of the target vehicle.
The invention also provides a storage medium having stored thereon a computer program which, when being executed by a processor, carries out the steps of the positioning method as described above.
The invention also provides a positioning device, comprising a memory and a processor;
the memory has stored thereon a computer program which, when being executed by the processor, carries out the steps of the positioning method as described above.
The invention also provides a positioning system, which comprises a label to be detected, a plurality of positioning base stations and positioning equipment, wherein the label to be detected is arranged on the positioning object;
the label to be tested is used for sending positioning requests to the plurality of positioning base stations;
each positioning base station is used for receiving a positioning request sent by the label to be detected and transmitting positioning response information after delaying preset time; the response information carries the response time length from the receiving of the positioning request to the sending of the positioning response information;
the positioning device is used for determining the final positioning information of the to-be-detected label according to the positioning method, so as to position the positioning object.
Compared with the prior art, one or more embodiments in the above scheme can have the following advantages or beneficial effects:
by applying the positioning method, the device, the equipment, the system, the storage medium and the garage navigation method, the distance measurement value between the tag to be measured and each positioning base station in the positioning space is determined; and determining initial positioning information of the to-be-detected label according to all the ranging values, inputting the initial positioning information into a pre-constructed position fitness model, obtaining the fitness corresponding to the initial positioning information, and correcting the initial positioning information by using the obtained fitness, so that an NLOS (non line of sight) error value is eliminated, and the final positioning information of the to-be-detected label is obtained. By adopting the technical scheme of the invention, the positioning performance of the indoor system can be ensured, and the accuracy of the positioning result is improved.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic structural diagram of an embodiment of a positioning system of the present invention;
FIG. 2 is a topology diagram of the positioning system of the present invention;
FIG. 3 is a flow chart of an embodiment of a positioning method of the present invention;
FIG. 4 is a flowchart of a garage navigation method embodiment of the present invention;
FIG. 5 is a schematic structural diagram of an embodiment of a positioning device of the present invention;
FIG. 6 is a schematic structural diagram of an embodiment of a positioning apparatus of the present invention;
fig. 7 is a schematic structural diagram of a garage navigation device according to an embodiment of the present invention.
Detailed Description
The following detailed description of the embodiments of the present invention will be provided with reference to the drawings and examples, so that how to apply the technical means to solve the technical problems and achieve the technical effects can be fully understood and implemented. It should be noted that, as long as there is no conflict, the embodiments and the features of the embodiments of the present invention may be combined with each other, and the technical solutions formed are within the scope of the present invention.
Example one
In order to solve the above technical problems in the prior art, an embodiment of the present invention provides a positioning system.
Fig. 1 is a schematic structural diagram of an embodiment of a positioning system of the present invention, and as shown in fig. 1, the positioning system of this embodiment may include a tag to be measured 10 arranged on a positioning object, a plurality of positioning base stations 11, and a positioning device 12.
In a specific implementation process, the positioning object is preferably a vehicle, the positioning base station 11 is disposed on a wall or other height body capable of covering the periphery of the garage positioning area, and the positioning device 12 is preferably a cloud. The tag 10 to be tested on the vehicle is preferably in UWB communication connection with each base station, and the tag is preferably in communication connection with the cloud through a Subscriber Identity Module (SIM) card. In particular, the positioning system of the present invention may be arranged with reference to fig. 2, in particular fig. 2 is a topological diagram of the positioning system of the present invention. As shown in fig. 2, the tag 10 to be tested and the positioning base station 11 both include a power management module 1, a main control module 2, a UWB wireless transceiver module 3, an antenna 4 and a transceiver indicator lamp 5, the tag 10 to be tested further includes an external battery 101 and a wireless transmission module 103, and the positioning base station 11 further includes a memory 111, a key circuit 112 and a Universal Serial Bus (USB) Serial port 113.
In this embodiment, a tag 10 to be tested, which is provided on a vehicle, is used to send a positioning request to a plurality of positioning base stations 11; each positioning base station 11 receives a positioning request sent by a tag 10 to be tested, and transmits positioning response information after delaying preset time; the response information carries the response time length from receiving the positioning request to sending the positioning response information; the positioning device 12 is used to determine the final positioning information of the tag 10 to be tested, so as to position the positioning object. The specific process of determining the final positioning information of the tag 10 to be tested by the positioning device 12 can be implemented with reference to the second embodiment.
Example two
In order to solve the above technical problems in the prior art, an embodiment of the present invention provides a positioning method.
Fig. 3 is a flowchart of an embodiment of the positioning method of the present invention, and as shown in fig. 3, the positioning method of the present embodiment may specifically include the following steps:
300. determining a distance measurement value between a tag to be measured and each positioning base station in a positioning space;
in practical application, when ranging is performed based on the TOA technology, mathematical problems such as a circular equation and a spherical equation are solved essentially, and in order to obtain a relatively accurate equation set in the measurement process, strict time synchronization between a tag to be measured and a positioning base station and between the positioning base station and the positioning base station is required. When ranging is performed based on the TDOA technology, the mathematical problem of solving a hyperbolic equation and a hyperbolic equation is essentially solved, and different from the TOA technology, an additional positioning base station needs to be added in the measurement process, so that strict time synchronization is not needed between a tag to be measured and a positioning base station, but strict time synchronization is needed between the positioning base station and the positioning base station. Therefore, both the TOA technique and the TDOA technique have a large difficulty in obtaining the timestamp and can cause a large error due to several clock drifts, and therefore, in this embodiment, it may be preferable to obtain the ranging value between the tag to be measured and each positioning base station in the positioning space based on a Time of flight (TOF) positioning algorithm. In the TOF technique, compared with the TOA technique and the TDOA technique, the TOF technique acquires a time period, so that the strict requirement of clock synchronization between different devices is avoided.
Specifically, a to-be-detected tag may be used to send a positioning request to each positioning base station in the positioning space; receiving a positioning request by each positioning base station in a positioning space, and transmitting positioning response information after delaying preset time; wherein the response information carries a response duration from receiving the positioning request to sending the positioning response information. In this embodiment, after the tag to be tested receives the positioning response information, it is determined to send the positioning requestAnd determining each ranging value according to the propagation speed of the positioning request, each response time length and each waiting time length. The propagation speed of the positioning request can be the propagation speed c of the electromagnetic wave in the space, and the waiting time length is set to be TroundResponse duration is TrelayAnd each ranging value is d, then d ═ Tround-Trelay)/2。
301. Determining initial positioning information of the tag to be detected according to all the determined ranging values;
in this embodiment, a positioning function may be constructed based on all the ranging values, and the constructed positioning function is solved by using a weighted least square algorithm, so as to obtain initial positioning information of the tag to be detected.
Specifically, the initial positioning information of the tag to be detected can be determined according to the calculation equation set (1):
wherein, Xi，YiFor positioning the position information of the base station, x and y are the initial positioning information of the label to be measured, Ri，1And the distance measurement value between the label to be measured and the ith positioning base station is obtained.
302. Inputting the initial positioning information into a pre-constructed position fitness model to obtain the fitness corresponding to the initial positioning information;
in practical application, although the TFO technique is adopted, the time stamp is not directly used for ranging, but the time period is used for ranging, but the NLOS error value still may exist, so in this embodiment, the initial positioning information may be input into a pre-constructed position fitness model, and the fitness corresponding to the initial positioning information is obtained, so that the NLOS error value is eliminated by using the obtained fitness.
Specifically, the position fitness function corresponding to the position fitness model is preferably calculated by the following formula (2):
f＝f(1)2+f(2)2+…+f(N-1)2(2) wherein the content of the first and second substances,
x′＝x+nx，y′＝y+ny，nx，nyis the fitness of the initial positioning information.
In this embodiment, the global optimal value and the optimal particle position may be iteratively updated based on an Improved Particle Swarm Optimization (IPSO) algorithm until a particle coordinate where the fitness minimum value is located is found as the fitness corresponding to the initial positioning information, where a learning factor of the IPSO algorithm is linearly changed, so that the convergence speed may be increased, and the calculation efficiency may be Improved.
303. And determining the final positioning information of the label to be detected according to the obtained fitness and the initial positioning information.
Specifically, the obtained fitness and the initial positioning information may be summed to obtain the final positioning information of the to-be-detected tag.
In the positioning method of the embodiment, the distance measurement value between the tag to be measured and each positioning base station in the positioning space is determined; and determining initial positioning information of the to-be-detected label according to all the ranging values, inputting the initial positioning information into a pre-constructed position fitness model, obtaining the fitness corresponding to the initial positioning information, and correcting the initial positioning information by using the obtained fitness, so that an NLOS (non line of sight) error value is eliminated, and the final positioning information of the to-be-detected label is obtained. By adopting the technical scheme of the invention, the positioning performance of the indoor system can be ensured, and the accuracy of the positioning result is improved.
In a specific implementation process, in step 301, "determine the initial positioning information of the tag to be detected according to each ranging value", each ranging value may be corrected based on a preset fitting calculation formula, so as to obtain a corrected ranging value between the tag to be detected and each positioning base station in the positioning space. For example, each positioning base station may be placed within a fixed range of 0.5 to 10m, the tag may be moved once every 0.5m, the distance is measured for 10s each time, after the distance values between the two actually measured within 10s are recorded, all the distance values are calculated to obtain a desired value as a final measured value, and a fitting calculation formula is established according to the measured value and the actual value, so that, in an actual application, after each distance value is obtained, the obtained distance value may be corrected by using the fitting calculation formula to obtain a corrected distance value, so that the corrected distance value is closer to the actual value. Therefore, when the function of the formula (1) is constructed, the original ranging value can be replaced by the corrected ranging value, and then the constructed positioning function is solved by using the weighted least square algorithm, so that the initial positioning information of the to-be-detected label is obtained.
Further, in the above embodiment, when the UWB signal is transmitted in a non-line-of-sight manner, if there is only one signal transceiving channel, it is likely that the signal transmission does not pass or the delay is too large, thereby causing the measurement accuracy to decrease. Therefore, in this embodiment, in order to make UWB signals more selective in non-line-of-sight transmission, a plurality of signal transceiving modules may be disposed on the positioning base station, so as to form a plurality of signal transceiving channels, in this embodiment, preferably 3 signal transceiving channels are disposed at an angle of 120 ° with respect to each other, so that at least one available signal transceiving channel can be ensured to receive and transmit UWB signals. When at least two available signal receiving and transmitting channels are used for receiving and transmitting UWB signals, the number of signal communication can be increased, and therefore the positioning result can be more accurate.
EXAMPLE III
In order to solve the technical problems in the prior art, the embodiment of the invention provides a garage navigation method.
Fig. 4 is a flowchart of an embodiment of the garage navigation method of the present invention, and as shown in fig. 4, the garage navigation method of the present embodiment may specifically include the following steps:
400. determining a distance measurement value between a tag to be measured arranged on a target vehicle and each positioning base station in a positioning space;
401. determining initial positioning information of the tag to be detected according to all the determined ranging values;
402. inputting the initial positioning information into a pre-constructed position fitness model to obtain the fitness corresponding to the initial positioning information;
403. correcting the initial positioning information according to the fitness to obtain final positioning information of the tag to be detected, so as to determine the position information of the target vehicle;
after the final positioning information of the tag to be detected on the target vehicle is obtained, the position information of the target vehicle can be further determined.
404. Determining a target parking space of the target vehicle according to the position information of the target vehicle and the position information of the idle parking spaces in the garage;
in this embodiment, the positioning device may pre-store the position information of each parking space in the garage, and after a vehicle exists in the parking space, the state of the parking space may be set to be occupied, so the positioning device may learn the state information of each parking space, therefore, after a target vehicle enters the garage, the position information of the target vehicle may be learned in real time, and according to the position information of the target vehicle and the position information of a vacant parking space in the garage, the distance between each vacant parking space and the target vehicle may be determined, and a vacant parking space whose distance is smaller than a preset distance may be selected as a target parking space of the target vehicle, so that a vehicle owner may park as soon as possible.
405. And generating traveling route information between the target vehicle and the target parking space so as to guide the target vehicle to the target parking space according to the traveling route.
In a specific implementation process, in order to enable the target vehicle to quickly find the target parking space, the present embodiment may generate the driving route information between the target vehicle and the target parking space based on a time optimal principle, so that the target vehicle can navigate to the target parking space.
In practical application, in order to facilitate vehicle searching for a vehicle owner, a vehicle searching route can be generated according to the positioning information of the vehicle and the positioning information of the user terminal and displayed on the vehicle owner terminal, so that the vehicle owner can conveniently search for the vehicle according to the displayed vehicle searching route. Specifically, when the vehicle searching route is generated, relatively obvious identifications around the vehicles in the underground garage can be displayed together in the vehicle owner terminal, so that the vehicle owner can quickly find the vehicles.
In practical application, the distance between the user terminal and the vehicle can be detected in real time, and when the distance between the user terminal and the vehicle is smaller than a preset threshold value, the vehicle can be controlled to send prompt information, so that the vehicle searching efficiency of a vehicle owner is further improved.
In one implementation, the vehicle may be used by different people, but it is not possible to determine whether the person currently using the vehicle is an illegal user. Therefore, in this embodiment, if the behavior of using the vehicle is detected and the positioning information of the user terminal is inconsistent with the final positioning information of the vehicle, that is, the positioning information of the user terminal is a, and the final positioning information of the vehicle is B, it indicates that the vehicle owner does not reach the parking position of the vehicle, at this time, if the behavior of driving the vehicle is detected, the vehicle can be considered as being used illegally, and a prompt message is sent to the user terminal, so that after the feedback information of the vehicle owner, whether the vehicle is used or not is determined according to the feedback information of the vehicle owner. If the feedback information of the owner of the vehicle indicates that the vehicle is not allowed to be used, alarm information can be generated and sent to the vehicle controller so as to control the vehicle to be forbidden to be used, for example, control a vehicle door to keep a locked state. If the owner's feedback information indicates that use is allowed, the vehicle can be used normally.
Example four
In order to solve the above technical problems in the prior art, an embodiment of the present invention provides a positioning device.
Fig. 5 is a schematic structural diagram of an embodiment of the positioning apparatus of the present invention, and as shown in fig. 5, the positioning apparatus of the present embodiment includes a distance measuring module 50, a positioning module 51, a calculating module 52, and a correcting module 53.
The ranging module 50 is used for determining a ranging value between the tag to be measured and each positioning base station in the positioning space;
specifically, a to-be-detected label is used for sending a positioning request to each positioning base station in a positioning space; receiving a positioning request by each positioning base station in a positioning space, and sending positioning response information after delaying preset time; the response information carries the response time length from the receiving of the positioning request to the sending of the positioning response information; after the to-be-detected tag receives the positioning response information, determining the waiting time from the sending of the positioning request to the receiving of each response information of the to-be-detected tag; and determining and acquiring the ranging value between the tag to be measured and each positioning base station in the positioning space according to the propagation speed of the positioning request, each response time length and each waiting time length.
The positioning module 51 is configured to determine initial positioning information of the tag to be detected according to all the ranging values;
a calculating module 52, configured to input the initial positioning information into a pre-constructed position fitness model, so as to obtain a fitness corresponding to the initial positioning information;
specifically, based on an improved particle swarm optimization IPSO algorithm, the global optimum value and the optimal particle position are updated iteratively until the particle coordinate where the fitness minimum value is located is found as the fitness corresponding to the initial positioning information; the learning factor of the improved particle swarm optimization IPSO algorithm is linearly changed.
And the correcting module 53 is configured to correct the initial positioning information according to the fitness to obtain final positioning information of the tag to be detected.
Further, the positioning module 51 is specifically configured to correct each ranging value based on a preset fitting calculation formula, so as to obtain a corrected ranging value between the tag to be detected and each positioning base station in the positioning space; constructing a positioning function based on all the corrected ranging values; and solving the positioning function by using a weighted least square algorithm to obtain the initial positioning information of the to-be-detected label.
Further, the ranging module 50 is further configured to receive the positioning request through at least one available signal transceiving channel of each positioning base station in the positioning space, and transmit the positioning response information through the at least one available signal transceiving channel after delaying for a preset time.
The positioning device of the above embodiment is used to implement the corresponding positioning method in the foregoing embodiment, and has the beneficial effects of the corresponding positioning method embodiment, which are not described herein again.
EXAMPLE five
In order to solve the technical problems in the prior art, an embodiment of the present invention provides a positioning device.
Fig. 6 is a schematic structural diagram of an embodiment of the positioning apparatus of the present invention, as shown in fig. 6, the positioning apparatus of the present embodiment includes a memory 60 and a processor 61;
the memory 60 has stored thereon a computer program which, when being executed by the processor 61, carries out the steps of the positioning method according to the above embodiment.
EXAMPLE six
In order to solve the technical problems in the prior art, the embodiment of the invention provides a garage navigation device.
Fig. 7 is a schematic structural diagram of a garage navigation apparatus according to an embodiment of the present invention, and as shown in fig. 7, the garage navigation apparatus of the present embodiment includes a first determining module 70, a second determining module 71, and a generating module 72.
A first determining module 70, configured to determine final positioning information of a tag to be detected, which is set on a target vehicle, by using the positioning method in the foregoing embodiment, so as to determine position information of the target vehicle;
the second determining module 71 is configured to determine a target parking space of the target vehicle according to the position information of the target vehicle and the position information of the vacant parking spaces in the garage;
specifically, the distance between each free parking space and the target vehicle is determined according to the position information of the target vehicle and the position information of the free parking spaces in the garage; and selecting the free parking space with the distance less than the preset distance as a target parking space of the target vehicle.
And a generating module 72, configured to generate driving route information between the target vehicle and the target parking space, so as to navigate the target vehicle to the target parking space according to the driving route.
The garage navigation device of the above embodiment is used for implementing the corresponding garage navigation method in the above embodiment, and has the beneficial effects of the corresponding garage navigation method embodiment, which are not described herein again.
EXAMPLE seven
In order to solve the above technical problems in the prior art, embodiments of the present invention provide a storage medium.
The storage medium provided by the embodiment of the invention stores a computer program thereon, and the computer program realizes the steps of the method when being executed by a processor.
It is understood that the same or similar parts in the above embodiments may be mutually referred to, and the same or similar parts in other embodiments may be referred to for the content which is not described in detail in some embodiments.
It should be noted that the terms "first," "second," and the like in the description of the present invention are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Further, in the description of the present invention, the meaning of "a plurality" means at least two unless otherwise specified.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Although the embodiments of the present invention have been described above, the above description is only for the convenience of understanding the present invention, and is not intended to limit the present invention. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. A method of positioning, comprising:
determining a distance measurement value between a tag to be measured and each positioning base station in a positioning space;
determining initial positioning information of the to-be-detected label according to all the ranging values;
inputting the initial positioning information into a pre-constructed position fitness model to obtain the fitness corresponding to the initial positioning information;
and correcting the initial positioning information according to the fitness to obtain the final positioning information of the label to be detected.
2. The positioning method according to claim 1, wherein inputting the initial positioning information into a pre-constructed position fitness model to obtain a fitness corresponding to the initial positioning information comprises:
iteratively updating the global optimal value and the optimal particle position based on an improved particle swarm optimization IPSO algorithm until the particle coordinate where the fitness minimum value is located is found as the fitness corresponding to the initial positioning information;
the learning factor of the improved particle swarm optimization IPSO algorithm is changed linearly.
3. The method according to claim 1, wherein the determining the ranging value between the tag to be measured and each positioning base station in the positioning space comprises:
sending a positioning request to each positioning base station in the positioning space by using the to-be-detected label;
receiving the positioning request by using each positioning base station in the positioning space, and sending positioning response information after delaying preset time; the response information carries the response time length from the receiving of the positioning request to the sending of the positioning response information;
after the to-be-detected tag receives the positioning response information, determining the waiting time of the to-be-detected tag from the sending of the positioning request to the receiving of each response information;
and determining a ranging value between the tag to be tested and each positioning base station in the positioning space according to the propagation speed of the positioning request, each response time length and each waiting time length.
4. The method according to claim 3, wherein the receiving the positioning request by each positioning base station in the positioning space and transmitting the positioning response information after delaying for a preset time comprises:
and receiving the positioning request through at least one available signal transceiving channel of each positioning base station in the positioning space, and transmitting positioning response information through at least one available signal transceiving channel after delaying preset time.
5. The method according to claim 1, wherein the determining the initial positioning information of the tag to be tested according to each ranging value comprises:
based on a preset fitting calculation formula, correcting each ranging value to obtain a corrected ranging value between the tag to be detected and each positioning base station in the positioning space;
constructing a positioning function based on all the corrected ranging values;
and solving the positioning function by using a weighted least square algorithm to obtain the initial positioning information of the to-be-detected label.
6. A garage navigation method, comprising:
determining final positioning information of a tag to be tested, which is arranged on a target vehicle, by using the positioning method according to any one of claims 1 to 5, so as to determine position information of the target vehicle;
determining a target parking space of the target vehicle according to the position information of the target vehicle and the position information of the idle parking space in the garage;
and generating traveling route information between the target vehicle and the target parking space so as to navigate the target vehicle to the target parking space according to the traveling route.
7. The garage navigation method of claim 6, wherein determining the target parking space of the target vehicle according to the position information of the target vehicle and the position information of the garage free parking space comprises:
determining the distance between each free parking space and the target vehicle according to the position information of the target vehicle and the position information of the garage free parking spaces;
and selecting the free parking space with the distance smaller than the preset distance as the target parking space of the target vehicle.
8. A storage medium on which a computer program is stored, which computer program, when being executed by a processor, carries out the steps of the positioning method according to one of claims 1 to 5.
9. A positioning device comprising a memory and a processor;
the memory has stored thereon a computer program which, when being executed by the processor, carries out the steps of the positioning method according to one of claims 1 to 5.
10. A positioning system is characterized by comprising a to-be-detected label arranged on a positioning object, a plurality of positioning base stations and positioning equipment;
the label to be tested is used for sending positioning requests to the plurality of positioning base stations;
each positioning base station is used for receiving a positioning request sent by the label to be detected and transmitting positioning response information after delaying preset time; the response information carries the response time length from the receiving of the positioning request to the sending of the positioning response information;
the positioning device is used for determining the final positioning information of the tag to be tested according to the positioning method of any one of claims 1 to 5, so as to position the positioning object.
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| CN202010487925.9A CN111583700A (en) | 2020-06-01 | 2020-06-01 | Positioning method, device, equipment, system, storage medium and garage navigation method |
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| CN202010487925.9A CN111583700A (en) | 2020-06-01 | 2020-06-01 | Positioning method, device, equipment, system, storage medium and garage navigation method |
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Application publication date: 20200825 |