CN111836192B - Positioning method, device, label, system and storage medium - Google Patents
Positioning method, device, label, system and storage medium Download PDFInfo
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- CN111836192B CN111836192B CN202010728177.9A CN202010728177A CN111836192B CN 111836192 B CN111836192 B CN 111836192B CN 202010728177 A CN202010728177 A CN 202010728177A CN 111836192 B CN111836192 B CN 111836192B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
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- H—ELECTRICITY
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- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
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Abstract
The application provides a positioning method, a positioning device, a label, a positioning system and a storage medium, and relates to the technical field of positioning. In the present application, first, the positioning tag generates a positioning signal. Secondly, the positioning label sends the positioning signal to at least two positioning base stations at intervals of preset duration. And for each sent positioning signal, each positioning base station is used for sending the time information of receiving the positioning signal to a positioning controller, and the positioning controller is used for determining the position information of the positioning tag based on the obtained time difference between at least two pieces of time information. Based on the method, the problem that the performance requirement on the positioning label in the existing positioning technology is high can be solved.
Description
Technical Field
The present application relates to the field of positioning technologies, and in particular, to a positioning method, an apparatus, a tag, a system, and a storage medium.
Background
An Ultra Wideband (UWB) positioning technology based on a positioning tag is widely used because of its high positioning accuracy (centimeter-level, thousands of positioning times per second). However, the inventor has found that in the existing ultra-wideband positioning technology, the positioning tag transmits a positioning signal to the positioning base station based on a notification signal of the system controller, and therefore, a receiving device for receiving the notification signal needs to be provided in the positioning tag, that is, the performance of the positioning tag needs to be high.
Disclosure of Invention
In view of the above, an object of the present application is to provide a positioning method, an apparatus, a tag, a system and a storage medium, so as to solve the problem of high performance requirement for positioning the tag in the existing positioning technology.
In order to achieve the above purpose, the embodiment of the present application adopts the following technical solutions:
a positioning method is applied to a positioning tag in a positioning system, the positioning system also comprises a positioning controller and at least two positioning base stations, and the method comprises the following steps:
generating a positioning signal;
sending the positioning signals to the at least two positioning base stations at intervals of preset duration;
for each sent positioning signal, each positioning base station is configured to send time information of receiving the positioning signal to the positioning controller, and the positioning controller is configured to determine the position information of the positioning tag based on a time difference between at least two obtained time information.
In a preferred option of the embodiment of the present application, in the above positioning method, the positioning tag includes a plurality of positioning tags, and the method is applied to each of the positioning tags, and the step of generating the positioning signal includes:
obtaining preconfigured label identity information, wherein each positioning label has different label identity information;
and generating a positioning signal based on the label identity information.
In a preferred option of the embodiment of the present application, in the positioning method, the step of sending the positioning signal to the at least two positioning base stations every preset time interval includes:
acquiring preconfigured clock start information, wherein the clocks of the positioning labels are asynchronous and respectively have the same clock start information;
and sending the positioning signal to the at least two positioning base stations at intervals of preset time length based on the clock starting information, wherein the preset time length configured by each positioning label is the same.
The embodiment of the present application further provides another positioning method, which is applied to a positioning system, where the positioning system includes a positioning tag, a positioning controller, and at least two positioning base stations, and the method includes:
the positioning tag generates positioning signals, and the positioning signals are sent to the at least two positioning base stations at intervals of preset time length;
for each positioning signal sent by the positioning tag, the at least two positioning base stations respectively send the time information of receiving the positioning signal to the positioning controller;
for each positioning signal sent by the positioning tag, the positioning controller obtains at least two pieces of time information sent by the at least two positioning base stations, and determines the position information of the positioning tag when the positioning signal is sent based on a time difference value between the at least two pieces of time information.
In a preferred option of the embodiment of the present application, in the above positioning method, the clocks of each of the positioning base stations are synchronized, and have the same clock start time and the same window duration, so as to open a window for receiving the positioning signal based on the clock start time at intervals of the window duration, and close the window when the positioning signal is received;
the step of determining the position information of the positioning tag when transmitting the positioning signal based on the time difference between the at least two pieces of time information comprises:
determining whether at least two pieces of target time information exist in the obtained at least two pieces of time information, wherein the at least two pieces of target time information are formed by receiving positioning signals in the same window based on at least two positioning base stations;
if the at least two pieces of target time information exist, determining the position information of the positioning tag when the corresponding positioning signal is sent based on the time difference between the at least two pieces of target time information;
and if the at least two pieces of target time information do not exist, taking the position information determined when the positioning label last sends the positioning signal as the current position information of the positioning label.
In a preferred choice of the embodiment of the present application, in the above positioning method, the window duration is greater than the preset duration, and the window duration is in the order of microseconds, and the preset duration is in the order of microseconds.
The embodiment of the present application further provides a positioning apparatus, which is applied to a positioning tag in a positioning system, the positioning system further includes a positioning controller and at least two positioning base stations, the apparatus includes:
the signal generating module is used for generating a positioning signal;
the signal sending module is used for sending the positioning signals to the at least two positioning base stations at intervals of preset duration;
for each sent positioning signal, each positioning base station is configured to send time information of receiving the positioning signal to the positioning controller, and the positioning controller is configured to determine the position information of the positioning tag based on a time difference between at least two obtained time information.
On the basis, the embodiment of the present application further provides a positioning tag, including:
a memory for storing a computer program;
and the processor is connected with the memory and is used for executing the computer program stored in the memory so as to realize the positioning method.
On the basis, an embodiment of the present application further provides a positioning system, including:
the above-mentioned positioning label;
at least two positioning base stations connected with the positioning label, wherein each positioning base station is used for sending the time information of the received positioning signal to the positioning controller;
and the positioning controller is connected with the at least two positioning base stations and used for determining the position information of the positioning tag based on the time difference value between the time information sent by the at least two positioning base stations.
On the basis of the foregoing, an embodiment of the present application further provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed, the positioning method is implemented.
According to the positioning method, the positioning device, the positioning tag, the positioning system and the storage medium, after the positioning signal is generated, the positioning signal is sent to the at least two positioning base stations at preset time intervals, so that the at least two positioning base stations can receive the positioning signal, and the position information of the positioning tag can be determined based on the time difference value of the at least two positioning base stations receiving the positioning signal respectively. Therefore, the positioning tag can automatically send the positioning signal to the positioning base station, so that the sending of the positioning signal does not depend on the receiving of the notification signal sent by the external equipment any more, and under the condition of ensuring that the effective sending of the positioning signal can be realized, a receiving device does not need to be arranged on the positioning tag to receive the notification signal, and the problem that the performance requirement on the positioning tag is high (namely, the receiving function of the signal is not needed) in the existing positioning technology is further improved. Moreover, the manufacturing cost of the positioning tag can be reduced, devices in the positioning tag are reduced, miniaturization processing of the positioning tag in the integration process can be facilitated, and the application range and the application environment can be wider.
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
Fig. 1 is a system interaction diagram of a positioning system according to an embodiment of the present application.
Fig. 2 is a block diagram of a positioning tag according to an embodiment of the present disclosure.
Fig. 3 is a schematic flowchart of steps included in a positioning method applied to a positioning tag according to an embodiment of the present application.
Fig. 4 is a flowchart illustrating sub-steps included in step S110 in fig. 3.
Fig. 5 is a schematic diagram of signal interaction between multiple positioning tags and a positioning base station according to an embodiment of the present application.
Fig. 6 is a flowchart illustrating sub-steps included in step S120 in fig. 3.
Fig. 7 is a schematic diagram illustrating an effect of a plurality of positioning tags with asynchronous clocks according to an embodiment of the present application.
Fig. 8 is a flowchart illustrating steps included in a positioning method applied to a positioning system according to an embodiment of the present application.
Fig. 9 is a flowchart illustrating sub-steps included in step S230 in fig. 8.
Fig. 10 is a schematic diagram illustrating an effect of the target time information according to the embodiment of the present application.
Fig. 11 is a schematic diagram illustrating a comparison effect between time information of receiving a positioning signal across windows according to an embodiment of the present application.
Fig. 12 is a block diagram illustrating functional modules included in a positioning apparatus applied to a positioning tag according to an embodiment of the present application.
Icon: 10-positioning the label; 12-a memory; 14-a processor; 100-a positioning device; 110-a signal generation module; 120-signal transmission module.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all the embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
As shown in fig. 1, an embodiment of the present application provides a positioning system. The positioning system can comprise a positioning tag, a positioning controller and at least two positioning base stations.
In detail, the positioning tag may be connected to the at least two positioning base stations respectively, and configured to send a positioning signal to each of the positioning base stations respectively. The at least two positioning base stations may be connected to the positioning controller, respectively, and configured to send time information of receiving the positioning signal to the positioning controller. As such, the positioning controller may be configured to determine the location information of the positioning tag based on a time difference between the time information transmitted by the at least two positioning base stations.
With reference to fig. 2, an embodiment of the present application further provides a positioning tag 10, which can be applied to the positioning system (e.g., connected to a positioning base station in the positioning system, respectively). The location tag 10 may include, among other things, a memory 12, a processor 14, and a location device 100.
In detail, the memory 12 and the processor 14 are electrically connected directly or indirectly to enable data transmission or interaction. For example, they may be electrically connected to each other via one or more communication buses or signal lines. The positioning device 100 may include at least one software function module that may be stored in the memory 12 in the form of software or firmware (firmware). The processor 14 is configured to execute an executable computer program stored in the memory 12, for example, a software functional module and a computer program included in the positioning apparatus 100, so as to implement the positioning method provided by the embodiment of the present application, thereby determining the position information of the positioning tag 10.
Alternatively, the Memory 12 may be, but is not limited to, a Random Access Memory (RAM), a Read Only Memory (ROM), a Programmable Read-Only Memory (PROM), an Erasable Read-Only Memory (EPROM), an electrically Erasable Read-Only Memory (EEPROM), and the like.
The Processor 14 may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), a System on Chip (SoC), and the like; but may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components.
It will be appreciated that the configuration shown in fig. 2 is merely illustrative, and that the positioning tag 10 may also include more or fewer components than those shown in fig. 2, or have a different configuration than that shown in fig. 2, for example, and may also include a signal transmission device for transmitting a positioning signal to the above-described positioning base station.
With reference to fig. 3, the embodiment of the present application further provides a positioning method, which can be applied to the positioning tag 10. Wherein the method steps defined by the flow related to the positioning method can be implemented by the positioning tag 10. The specific process shown in fig. 3 will be described in detail below.
Step S110, a positioning signal is generated.
In this embodiment, before the positioning signals need to be sent to at least two positioning tags 10 in the positioning system, the positioning tags 10 may generate the positioning signals first.
And step S120, sending the positioning signals to the at least two positioning base stations at intervals of preset duration.
In this embodiment, after generating the positioning signal based on step S110, the positioning tag 10 may send the positioning signal to at least two positioning base stations in the positioning system at intervals of a preset duration.
For each sent positioning signal, each positioning base station is configured to send time information of receiving the positioning signal to the positioning controller, and the positioning controller is configured to determine the position information of the positioning tag 10 based on a time difference between at least two obtained time information.
Based on the above method, the positioning tag 10 can automatically send the positioning signal to the positioning base station, so that the sending of the positioning signal does not depend on receiving the notification signal sent by the external device, and thus, under the condition that the effective sending of the positioning signal can be ensured, a receiving device does not need to be arranged on the positioning tag 10 to receive the notification signal, thereby improving the problem that the performance requirement on the positioning tag 10 is high (i.e. the positioning tag 10 does not need to have the signal receiving function) in the existing positioning technology. Moreover, the manufacturing cost of the positioning tag 10 can be reduced, and the miniaturization processing of the positioning tag 10 in the integration process can be facilitated by reducing the number of devices in the positioning tag 10, so that the application range and the application environment can be wider.
In the first aspect, it should be noted that, in step S110, a specific manner for generating the positioning signal is not limited, and may be selected according to actual application requirements.
For example, in an alternative example, a signal may be generated arbitrarily and used as the positioning signal.
For another example, in another alternative example, the number of the positioning tags 10 may be multiple as described in conjunction with fig. 4, so that, in order to facilitate the identification of the positioning signal of each positioning tag 10, in conjunction with fig. 5, step S110 may include step S111 and step S113, which is described in detail below.
And step S111, obtaining the pre-configured label identity information.
In this embodiment, for each positioning tag 10, the positioning tag 10 may first obtain tag identity information configured for the positioning tag 10 in advance.
Wherein each of the positioning tags 10 has different tag identity information.
Step S113, generating a positioning signal based on the tag identity information.
In the present embodiment, after obtaining the tag identity information based on step S111, each positioning tag 10 may generate a positioning signal based on the obtained tag identity information. In this way, the positioning base station may determine the corresponding positioning tag 10 based on the tag identity information in the obtained positioning signal, so that the positioning controller may perform the determination processing of the location information for different positioning tags 10 based on different tag identity information.
Optionally, the specific manner of executing step S113 to generate the positioning signal is not limited, and may be selected according to the actual application requirement.
For example, in an alternative example, for each positioning tag 10, the positioning tag 10 may generate a positioning signal only once based on the obtained tag identity information, and thus, the same positioning signal may be transmitted to the positioning base station each time step S130 is executed.
That is, in the above-described example, the generation operation of the positioning signal is performed only once, and there is no relation with the number of times of execution of the transmission operation of the positioning signal.
For another example, in another alternative example, for each positioning tag 10, the positioning tag 10 may generate a positioning signal based on the obtained tag identity information each time the positioning signal needs to be transmitted, so that a different positioning signal may be transmitted to the positioning base station each time step S130 is executed.
That is, in the above example, the number of times of execution of the operation of generating the positioning signal may be plural, and the positioning signal may be generated once every the preset time period.
It can be understood that, in step S113, the specific manner of generating the positioning signal based on the tag identity information may be to generate the positioning signal directly based on the tag identity information, or to generate the positioning signal by combining the tag identity information with other information.
That is, the positioning signal may include only the tag identification information, or may include other information on the basis of the tag identification information. Specifically, the selection may be performed according to the actual application requirement, and is not specifically limited herein.
In the second aspect, it should be noted that, in step S120, a specific manner for sending the positioning signal is not limited, and may also be selected according to actual application requirements.
For example, in an alternative example, the positioning tag 10 may start at any time and then transmit the positioning signal once every preset time interval.
When there are a plurality of positioning tags 10, in order to avoid sending collision between the positioning signals sent by the plurality of positioning tags 10, each positioning tag 10 may be configured, for example, in a time period taking the preset time length as a length, each positioning tag 10 randomly determines a time point, and then, with the time point as a signal sending start point, sends the positioning signal every interval of the preset time length.
It can be understood that, since the signal duration of the positioning signal (e.g. generally less than 1 microsecond) is much less than the preset time duration (e.g. generally greater than 100 microseconds), and considering that the time points determined by each positioning tag 10 are generally not repeated based on a random mechanism, even if there are a plurality of positioning tags 10, a collision between different positioning signals will not occur.
For another example, in another alternative example, in order to achieve high-precision positioning and effectively avoid collision situations between positioning signals, after long-term research, the inventors of the present application have proposed an effective technical solution, which can not only solve the collision situations between positioning signals, but also overcome a technical bias that is long-term and persistent in the existing positioning technology — in order to avoid collision of positioning signals, it is necessary to perform high-precision synchronization processing on clocks of different positioning tags 10, that is, to maintain consistency of clocks, so as to achieve the problem of sending positioning signals at different time points to overcome signal collision.
Based on this, in conjunction with fig. 6, step S130 may include step S131 and step S133, which are described in detail below.
Step S131, clock start information configured in advance is obtained.
In this embodiment, when the positioning tag 10 needs to start positioning, the positioning tag 10 may first obtain the preconfigured clock start information.
The clocks of each of the positioning tags 10 are not synchronized, and have the same clock start information respectively. That is, the same time determined based on the clock of each of the location tags 10 is not actually synchronized.
Step S133, sending the positioning signal to the at least two positioning base stations at a preset time interval based on the clock start information.
In this embodiment, after obtaining the clock start information based on step S131, each of the positioning tags 10 may send the positioning signal to the at least two positioning base stations at intervals of the preset duration based on the clock start information.
Wherein, the preset time length configured for each positioning tag 10 is the same. Therefore, by utilizing the clock asynchronization between different positioning tags 10 (a technical bias exists in the prior art that the clock asynchronization needs to be overcome), it can be effectively ensured that each positioning tag 10 sends the positioning signal each time without colliding with the positioning signal sent by other positioning tags 10.
It is understood that in step S131, since the clocks of each of the positioning tags 10 are required to be asynchronous, in an alternative example, each of the positioning tags 10 may be configured with different clocks, so as to obtain a plurality of positioning tags 10 with asynchronous clocks. In another alternative example, a plurality of locator tags 10 that are not clocked may be derived directly from the fact that the manufacturing process itself may result in the clocks of the different locator tags 10 being not synchronized.
Whether the positioning tags 10 different from the real time exist in the positioning tags 10 with asynchronous clocks is not limited, and the positioning tags 10 can be selected according to actual application requirements.
For example, in an alternative example, the clocks of a plurality of the locator tags 10 are not synchronized to real time. In detail, in a specific application example, in conjunction with fig. 7, there are time differences of 5 microseconds between clocks of a plurality of positioning tags 10 in sequence, the clock of each positioning tag 10 is delayed from the real time, and the delay of the clock with the smallest delay is 5 microseconds.
Thus, if the clock start information is 10 ticks, the first positioning tag (the positioning tag with the smallest delay) will first send a positioning signal in the 5 th microsecond after the real time is 10 ticks, the second positioning tag will first send a positioning signal in the 10 th microsecond after the real time is 10 ticks, the third positioning tag will first send a positioning signal in the 15 th microsecond after the real time is 10 ticks, and the fourth positioning tag will first send a positioning signal in the 20 th microsecond after the real time is 10 ticks, so that each positioning tag 10 sends a positioning signal in the first time at 5 seconds in sequence.
With reference to fig. 8, an embodiment of the present application further provides a positioning method, which can be applied to the positioning system. The specific flow shown in fig. 8 will be described in detail below.
Step S210, the positioning tag 10 generates a positioning signal, and sends the positioning signal to the at least two positioning base stations at preset intervals.
In this embodiment, the positioning tag 10 may send the generated positioning signal to the at least two positioning base stations at preset time intervals.
Step S220, for each positioning signal sent by the positioning tag 10, the at least two positioning base stations respectively send the time information of receiving the positioning signal to the positioning controller.
In this embodiment, after the positioning tag 10 is caused to transmit the positioning signals to the at least two positioning base stations based on step S210, for each positioning signal transmitted by the positioning tag 10, each positioning base station may receive the positioning signal, determine the time information of receiving the positioning signal, and then transmit the time information to the positioning controller.
Step S230, for each positioning signal sent by the positioning tag 10, the positioning controller obtains at least two pieces of time information sent by the at least two positioning base stations, and determines the position information of the positioning tag 10 when sending the positioning signal based on a time difference between the at least two pieces of time information.
In this embodiment, based on step S220, the at least two positioning base stations will send the time information of each received positioning signal to the positioning controller, so that the positioning controller can obtain at least two time information for each positioning signal sent by the positioning tag 10.
In this way, the positioning controller may calculate a time difference between every two time information based on the at least two time information to obtain at least one time difference, and then, in combination with the coordinate information of each positioning base station, may calculate the position information of the positioning tag 10.
In the first aspect, it needs to be noted that, in step S210, the specific manner for generating the positioning signal and sending the positioning signal may refer to the explanation of step S110 and step S120, and is not repeated here.
In the second aspect, it should be noted that, in step S220, a specific manner in which the at least two positioning base stations receive the positioning signals is not limited, and may be selected according to actual application requirements.
For example, in an alternative example, in order to acquire the positioning signal transmitted by each positioning tag 10 each time, each positioning base station may continuously receive each positioning signal and transmit the time information of receiving each positioning signal to the positioning controller.
For another example, in another alternative example, in order to reduce the signal processing amount of the positioning base stations, each of the positioning base stations is provided with an always start time and a window duration for opening a window for receiving a positioning signal every interval of the window duration based on the clock start time and closing the window when the positioning signal is received.
That is, each of the positioning base stations can receive only one positioning signal for each of the window durations.
In the third aspect, it should be noted that, in step S230, a specific manner for determining the position information of the position tag 10 is not limited, and may be selected according to actual application requirements.
For example, in an alternative example, after the positioning controller obtains the time difference between at least two pieces of time information each time, the positioning controller may directly calculate the current position information of the positioning tag 10 based on the obtained time difference.
For another example, in another alternative example, in order to obtain higher accuracy of the calculated position information of the positioning tag 10, the clocks of the positioning base stations are synchronized (e.g., the clocks may be ensured based on the synchronization signal of the positioning controller), and have the same clock start time and the same window duration.
Based on this, in order to enable the opening and closing of the window in each of the positioning base stations to have a simpler control logic and reduce the requirement for the performance of the timer of the positioning base station, with reference to fig. 9, step S230 may include step S231, step S232, and step S233, which is specifically described below.
Step S231, determining whether there are at least two pieces of target time information in the obtained at least two pieces of time information.
In this embodiment, after obtaining the at least two pieces of time information, the positioning controller may determine whether there are at least two pieces of target time information in the at least two pieces of time information. And the at least two pieces of target time information are formed by receiving positioning signals in the same window based on at least two positioning base stations.
And, when it is determined that there are at least two pieces of target time information among the obtained at least two pieces of time information, step S232 may be performed; when it is determined that there are no at least two target time information among the obtained at least two time information, step S233 may be performed.
Step S232, determining the position information of the positioning tag 10 when transmitting the corresponding positioning signal based on the time difference between the at least two pieces of target time information.
In this embodiment, when it is determined that there are at least two pieces of target time information (as shown in fig. 10, for one positioning signal, time information 1 (time information when the first positioning base station receives the positioning signal), time information 2 (time information when the second positioning base station receives the positioning signal), and time information 3 (time information when the third positioning base station receives the positioning signal) as the target time information based on step S231, a time difference between every two pieces of target time information in the at least two pieces of target time information may be calculated, so that at least one time difference may be obtained, and then, the position information of the positioning tag 10 at the time of transmitting the corresponding positioning signal may be determined based on the at least one time difference.
Step S233, using the position information determined when the positioning tag 10 last transmitted the positioning signal as the current position information of the positioning tag 10.
In this embodiment, when it is determined that there are not at least two pieces of target time information (as in fig. 11) based on step S231, since the position information of the positioning tag 10 at the time of transmitting the corresponding positioning signal cannot be determined based on the time information, in order to ensure the continuity of positioning, the position information determined when the positioning tag 10 last transmitted the positioning signal may be used as the current position information of the positioning tag 10.
It should be further explained for step S230 that the obtained target time information, and the number of the positioning base stations are at least two. If the positioning tag 10 is used for positioning in a one-dimensional space, at least two target time information, at least two time information and at least two positioning base stations are provided; if the positioning tag 10 is used for positioning in a two-dimensional space, the target time information, the time information and the positioning base station are at least three; if the positioning tag 10 is used for positioning in a three-dimensional space, the target time information, the time information, and the positioning base station are at least four. The specific number is configured according to actual requirements, and is not specifically limited herein.
It can be understood that, the preset time duration configured for the positioning tag 10 and the window duration configured for the positioning base station are not limited, and may be selected according to actual application requirements.
For example, in an alternative example, in order to ensure real-time determination of the current position of the information of the position tag 10 and avoid the problem of large error in position determination caused by the presence of more positioning signals across a window, the window duration may be greater than the preset duration, and the window duration may be in the order of milliseconds, and the preset duration may be in the order of microseconds.
With reference to fig. 12, the embodiment of the present application further provides a positioning apparatus 100, which can be applied to the positioning tag 10. The positioning apparatus 100 may include a signal generating module 110 and a signal transmitting module 120.
The signal generating module 110 may be configured to generate a positioning signal. In this embodiment, the signal generating module 110 may be configured to execute step S110 shown in fig. 3, and reference may be made to the foregoing description of step S110 for relevant contents of the signal generating module 110.
The signal sending module 120 may be configured to send the positioning signal to the at least two positioning base stations every preset time interval. For each sent positioning signal, each positioning base station is configured to send time information of receiving the positioning signal to the positioning controller, and the positioning controller is configured to determine the position information of the positioning tag 10 based on a time difference between at least two obtained time information. In this embodiment, the signal sending module 120 may be configured to execute step S120 shown in fig. 3, and reference may be made to the foregoing description of step S120 for relevant contents of the signal sending module 120.
In an embodiment of the present application, corresponding to the above positioning method, a computer-readable storage medium is further provided, in which a computer program is stored, and the computer program executes the steps of the above positioning method when running.
The steps executed when the computer program runs are not described in detail herein, and reference may be made to the foregoing explanation of the positioning method.
It is understood that in the various examples above, "plurality" means two or more, such as "plurality of positioning tags 10" means two or more positioning tags 10.
In summary, according to the positioning method, the positioning apparatus, the positioning tag, the positioning system, and the storage medium provided by the present application, after the positioning signal is generated, the positioning signal is sent to the at least two positioning base stations at intervals of a preset duration, so that the at least two positioning base stations can receive the positioning signal, and the position information of the positioning tag can be determined based on the time difference values at which the at least two positioning base stations respectively receive the positioning signal. Therefore, the positioning tag can automatically send the positioning signal to the positioning base station, so that the sending of the positioning signal does not depend on the receiving of the notification signal sent by the external equipment any more, and under the condition of ensuring that the effective sending of the positioning signal can be realized, a receiving device does not need to be arranged on the positioning tag to receive the notification signal, and the problem that the performance requirement on the positioning tag is high (namely, the receiving function of the signal is not needed) in the existing positioning technology is further improved. Moreover, the manufacturing cost of the positioning tag can be reduced, devices in the positioning tag are reduced, miniaturization processing of the positioning tag in the integration process can be facilitated, and the application range and the application environment can be wider.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented in other ways. The apparatus and method embodiments described above are illustrative only, as the flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, an electronic device, or a network device) to perform all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes. It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (8)
1. A positioning method is applied to each positioning tag in a positioning system, wherein the positioning tags are multiple, the positioning system further comprises a positioning controller and at least two positioning base stations, and the method comprises the following steps:
acquiring pre-configured label identity information, and generating a positioning signal based on the label identity information; wherein each positioning label has different label identity information;
acquiring preconfigured clock start information, wherein clocks of each positioning tag are asynchronous and have the same clock start information respectively;
sending the positioning signals to the at least two positioning base stations at intervals of preset duration based on the clock starting information;
the preset time length configured for each positioning label is the same; for the positioning signal sent by each positioning tag each time, each positioning base station is configured to send the time information of receiving the positioning signal to the positioning controller, and the positioning controller is configured to determine the position information of the positioning tag based on the obtained time difference between at least two pieces of time information.
2. A positioning method is applied to a positioning system, the positioning system comprises a plurality of positioning tags, a positioning controller and at least two positioning base stations, and the method comprises the following steps:
each positioning label obtains pre-configured label identity information and generates a positioning signal based on the label identity information; wherein each positioning label has different label identity information;
each positioning label obtains pre-configured clock starting information, and sends the positioning signals to the at least two positioning base stations at intervals of preset duration based on the clock starting information; the clocks of each positioning tag are asynchronous and have the same clock starting information respectively, and the preset time configured for each positioning tag is the same;
for each positioning signal sent by each positioning tag, the at least two positioning base stations respectively send the time information of receiving the positioning signal to the positioning controller;
for the positioning signal sent by each positioning tag every time, the positioning controller obtains at least two pieces of time information sent by the at least two positioning base stations, and determines the position information of the positioning tag when the positioning signal is sent based on the time difference between the at least two pieces of time information.
3. The method of claim 2, wherein the clocks of each of the positioning base stations are synchronized and have the same clock start time and the same window duration, and are configured to open a window for receiving the positioning signal every interval of the window duration based on the clock start time and close the window when the positioning signal is received;
the step of determining the position information of the positioning tag when transmitting the positioning signal based on the time difference between the at least two pieces of time information comprises:
determining whether at least two pieces of target time information exist in the obtained at least two pieces of time information, wherein the at least two pieces of target time information are formed by receiving positioning signals in the same window based on at least two positioning base stations;
if the at least two pieces of target time information exist, determining the position information of the positioning tag when the corresponding positioning signal is sent based on the time difference between the at least two pieces of target time information;
and if the at least two pieces of target time information do not exist, taking the position information determined when the positioning label last sends the positioning signal as the current position information of the positioning label.
4. The method according to claim 3, wherein the window duration is greater than the preset duration, and the window duration is in the order of milliseconds, and the preset duration is in the order of microseconds.
5. A positioning apparatus, applied to each positioning tag in a positioning system, wherein the positioning tag is plural, the positioning system further includes a positioning controller and at least two positioning base stations, the apparatus includes:
the signal generating module is used for acquiring pre-configured label identity information and generating a positioning signal based on the label identity information; wherein each positioning label has different label identity information;
the signal sending module is used for obtaining preconfigured clock starting information, wherein the clocks of the positioning labels are asynchronous and respectively have the same clock starting information;
the signal sending module is further configured to send the positioning signal to the at least two positioning base stations at intervals of a preset duration based on the clock start information;
the preset time length configured by each positioning label is the same; for the positioning signal sent by each positioning tag each time, each positioning base station is configured to send the time information of receiving the positioning signal to the positioning controller, and the positioning controller is configured to determine the position information of the positioning tag based on the obtained time difference between at least two pieces of time information.
6. A positioning tag, comprising:
a memory for storing a computer program;
a processor coupled to the memory for executing the computer program stored by the memory to implement the positioning method of claim 1.
7. A positioning system, comprising:
the positioning tag of claim 6;
at least two positioning base stations connected with the positioning label, wherein each positioning base station is used for sending the time information of the received positioning signal to the positioning controller;
and the positioning controller is connected with the at least two positioning base stations and used for determining the position information of the positioning tag based on the time difference value between the time information sent by the at least two positioning base stations.
8. A computer-readable storage medium, storing a computer program, characterized in that the computer program, when executed, implements the positioning method of claim 1.
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