CN111896961A - Position determination method and device, electronic equipment and computer readable storage medium - Google Patents
Position determination method and device, electronic equipment and computer readable storage medium Download PDFInfo
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- CN111896961A CN111896961A CN202010628760.2A CN202010628760A CN111896961A CN 111896961 A CN111896961 A CN 111896961A CN 202010628760 A CN202010628760 A CN 202010628760A CN 111896961 A CN111896961 A CN 111896961A
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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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
Abstract
The present disclosure relates to a position determination method, comprising: the first receiver receives ultrasonic waves sent by a transmitter to obtain a first ultrasonic signal, and the second receiver receives ultrasonic waves sent by the transmitter to obtain a second ultrasonic signal; determining a first position of the transmitter in a coordinate system where the first device is located according to the first ultrasonic signal and the second ultrasonic signal; and determining a third position of the first equipment in the coordinate system where the transmitter is located according to the first position and the second position of the transmitter. According to the embodiment of the disclosure, only one transmitter is needed in the process of determining the angle, so that the synchronization of clocks among a plurality of transmitters is not needed to be considered, the ultrasonic waves are received through two receivers, the same ultrasonic signal sent by the transmitters at the same moment can be received, the ultrasonic signals sent by the ultrasonic transmitters twice can be avoided waiting, and the position can be determined quickly.
Description
Technical Field
The present disclosure relates to the field of positioning technologies, and in particular, to a position determining method, a position determining apparatus, an electronic device, and a computer-readable storage medium.
Background
The conventional Positioning technology is mainly implemented according to a Global Positioning System (GPS), but the GPS has low accuracy for Positioning an indoor object, and when communication with an indoor specified device is required, the device cannot be accurately positioned due to the problem of Positioning accuracy, and even an incorrect device may be positioned, so that a technical problem of performing false communication with the incorrect device may occur.
In order to improve the accuracy of indoor positioning, in the related art, an implementation by ultrasonic waves is proposed. The current realization mode is that a plurality of ultrasonic transmitter are arranged indoors, every ultrasonic transmitter can send the ultrasonic signal of different frequency, be provided with ultrasonic receiver on the object that awaits measuring, the ultrasonic wave can receive the ultrasonic signal that ultrasonic transmitter sent to distinguish different ultrasonic signal according to the difference of frequency, and then confirm the moment of receiving to different ultrasonic signal, and the time difference between the moment, confirm the distance between ultrasonic receiver and different ultrasonic transmitter according to the time difference at last.
The present approach requires clock synchronization between the different ultrasound transmitters due to the need to determine the reception times for the different ultrasound signals, and requires reception of ultrasound at two times for determining the distance between the ultrasound receiver and the different ultrasound transmitters due to the need for two or more ultrasound receivers, with the time interval between reception of ultrasound at two times being at least equal to the time interval between transmission of ultrasound by the ultrasound transmitter, resulting in a longer waiting time.
Disclosure of Invention
The present disclosure provides a position determination method, a position determination apparatus, and an electronic device to solve the deficiencies in the related art.
According to a first aspect of the embodiments of the present disclosure, a position determining method is provided, which is applied to a first device, where the first device includes at least a first receiver and a second receiver, and the method includes:
the first receiver receives ultrasonic waves sent by a transmitter to obtain a first ultrasonic signal, and the second receiver receives ultrasonic waves sent by the transmitter to obtain a second ultrasonic signal;
determining a first position of the transmitter in a coordinate system where the first device is located according to the first ultrasonic signal and the second ultrasonic signal;
and determining a third position of the first equipment in the coordinate system where the transmitter is located according to the first position and the second position of the transmitter.
Optionally, the determining the first position of the transmitter in the coordinate system in which the first device is located according to the first ultrasonic signal and the second ultrasonic signal comprises:
determining a cross-correlation function of the first and second ultrasonic signals;
determining an argument when the cross-correlation function takes a maximum value, and calculating a time difference between the reception of the first ultrasonic signal and the reception of the second ultrasonic signal according to the sampling frequencies of the first receiver and the second receiver and the argument;
calculating a difference value between a first distance from the transmitter to the first receiver and a second distance from the transmitter to the second receiver according to the time difference and the propagation speed of the ultrasonic signal;
determining an angle between a direction from the first receiver to the transmitter and a direction from the first receiver to the second receiver based on the difference and a third distance between the first receiver and the second receiver;
determining the first position according to the first distance and the angle.
Optionally, before determining the position of the first device according to the first distance and the angle, the method further comprises:
calculating a first power of the ultrasonic signal received by the first receiver and a second power of the ultrasonic signal received by the second receiver;
determining a second ratio of the first distance to the second distance according to a first ratio of the second power to the first power;
and determining the first distance and the second distance according to the difference value and the second ratio.
Optionally, the first power is an average of powers of the ultrasonic signals received by the first receiver, and the second power is an average of powers of the ultrasonic signals received by the second receiver.
Optionally, the determining a cross-correlation function of the first and second ultrasound signals comprises:
processing the ultrasonic signals received by the first receiver and the second receiver respectively to obtain a first discrete signal and a second discrete signal;
determining a cross-correlation function of the first discrete signal and the second discrete signal.
Optionally, the determining an angle between the direction from the first receiver to the transmitter and the direction from the first receiver to the second receiver according to the difference and a third distance between the first receiver and the second receiver comprises:
and determining the angle according to the absolute value of the difference and the inverse cosine value of the third distance.
Optionally, the determining an angle between the direction from the first receiver to the transmitter and the direction from the first receiver to the second receiver according to the difference and a third distance between the first receiver and the second receiver comprises:
determining the angle from the first distance, the second distance, and the third distance.
Optionally, the first device further comprises a third receiver, and the determining the first position of the transmitter in the coordinate system in which the first device is located according to the first ultrasonic signal and the second ultrasonic signal comprises:
determining the first position based on the first distance, the second distance, the third distance, a fourth distance from the transmitter to the third receiver, and a fifth distance between the third receiver and the first receiver.
According to a second aspect of the embodiments of the present disclosure, a position determining apparatus is provided, which is applied to a first device, the first device at least includes a first receiver and a second receiver, the apparatus includes:
the signal receiving module is configured to receive the ultrasonic wave emitted by the transmitter through the first receiver to obtain a first ultrasonic signal, and receive the ultrasonic wave emitted by the transmitter through the second receiver to obtain a second ultrasonic signal;
a first position determination module configured to determine a first position of the transmitter in a coordinate system in which the first device is located based on the first ultrasonic signal and the second ultrasonic signal;
a second position determination module configured to determine a third position of the first device in a coordinate system in which the transmitter is located based on the first position and the second position of the transmitter.
Optionally, the first position determination module comprises:
a function determination submodule configured to determine a cross-correlation function of the first ultrasonic signal and the second ultrasonic signal;
a time difference calculation sub-module configured to determine an argument at which the cross-correlation function takes a maximum value, calculate a time difference of receiving the first ultrasonic signal and the second ultrasonic signal according to sampling frequencies of the first receiver and the second receiver and the argument;
a difference calculation sub-module configured to calculate a difference between a first distance from the transmitter to the first receiver and a second distance from the transmitter to the second receiver, based on the time difference and the propagation speed of the ultrasonic signal;
an angle determination sub-module configured to determine an angle between a direction from the first receiver to the transmitter and a direction from the first receiver to the second receiver based on the difference and a third distance between the first receiver and the second receiver;
a position determination submodule configured to determine the first position from the first distance and the angle.
Optionally, the apparatus further comprises:
a power calculation module configured to calculate a first power of the ultrasonic signal received by the first receiver and a second power of the ultrasonic signal received by the second receiver;
a ratio determination module configured to determine a second ratio of the first distance to the second distance according to a first ratio of the second power to the first power;
a distance determination module configured to determine the first distance and the second distance from the difference and the second ratio.
Optionally, the first power is an average of powers of the ultrasonic signals received by the first receiver, and the second power is an average of powers of the ultrasonic signals received by the second receiver.
Optionally, the function determining sub-module is configured to process the ultrasonic signals received by the first receiver and the second receiver respectively to obtain a first discrete signal and a second discrete signal; and determining a cross-correlation function of the first discrete signal and the second discrete signal.
Optionally, the angle determination submodule is configured to determine the angle according to an absolute value of the difference and an inverse cosine value of the third distance.
Optionally, the angle determination submodule is configured to determine the angle according to the first distance, the second distance and the third distance.
Optionally, the first device further comprises a third receiver, and the distance determining module is further configured to determine the first position according to the first distance, the second distance, the third distance, a fourth distance from the transmitter to the third receiver, and a fifth distance between the third receiver and the first receiver.
According to a third aspect of the embodiments of the present disclosure, an electronic device is provided, including:
a processor;
a memory for storing processor-executable instructions;
wherein the processor is configured to implement the method of any of the above embodiments.
According to a fourth aspect of the embodiments of the present disclosure, a computer-readable storage medium is proposed, on which a computer program is stored, which when executed by a processor implements the steps in the method according to any of the embodiments described above.
The technical scheme provided by the embodiment of the disclosure can have the following beneficial effects:
according to the embodiment of the disclosure, only one transmitter is needed in the process of determining the angle, so that the synchronization of clocks among a plurality of transmitters is not needed to be considered, the ultrasonic waves are received through two receivers, the same ultrasonic signal sent by the transmitters at the same moment can be received, the ultrasonic signals transmitted by the ultrasonic transmitters twice can be avoided, and the angle can be determined quickly.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.
Fig. 1 is a schematic flow chart diagram illustrating a method of position determination in accordance with an embodiment of the present disclosure.
Fig. 2 is a schematic flow chart diagram illustrating another method of position determination in accordance with an embodiment of the present disclosure.
Fig. 3 is a schematic flow chart diagram illustrating yet another method of position determination, in accordance with an embodiment of the present disclosure.
Fig. 4 is a schematic view of an application scenario of the position determination method according to an embodiment of the present disclosure.
Fig. 5 is a schematic flow chart diagram illustrating yet another method of position determination, in accordance with an embodiment of the present disclosure.
Fig. 6 is a schematic flow chart diagram illustrating yet another method of position determination, in accordance with an embodiment of the present disclosure.
Fig. 7 is a schematic flow chart diagram illustrating yet another method of position determination, in accordance with an embodiment of the present disclosure.
Fig. 8 is a schematic flow chart diagram illustrating yet another method of position determination in accordance with an embodiment of the present disclosure.
Fig. 9 is a schematic view of another application scenario of the position determination method according to an embodiment of the present disclosure.
Fig. 10 is a schematic block diagram illustrating a position determining apparatus according to an embodiment of the present disclosure.
Fig. 11 is a schematic block diagram illustrating a first position determination module in accordance with an embodiment of the present disclosure.
Fig. 12 is a schematic block diagram illustrating another position determining apparatus according to an embodiment of the present disclosure.
Fig. 13 is a schematic block diagram illustrating an apparatus for position determination in accordance with an embodiment of the present disclosure.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.
Fig. 1 is a schematic flow chart diagram illustrating a method of position determination in accordance with an embodiment of the present disclosure. The method shown in this embodiment may be applied to a first device, which includes but is not limited to an electronic device such as a mobile phone, a tablet, a wearable device, an industrial sensor, and an internet of things device.
The first device comprises at least a first receiver and a second receiver, which can receive the ultrasonic signal, wherein a third distance between the first receiver and the second receiver is known, and a second position of a transmitter for transmitting the ultrasonic signal is also known, for example the second position can be transmitted to the first device by the transmitter in advance.
As shown in fig. 1, the position determination method may include the steps of:
in step S101, receiving, by the first receiver, an ultrasonic wave emitted by a transmitter to obtain a first ultrasonic signal, and receiving, by the second receiver, an ultrasonic wave emitted by the transmitter to obtain a second ultrasonic signal;
in step S102, determining a first position of the transmitter in a coordinate system in which the first device is located according to the first ultrasonic signal and the second ultrasonic signal;
in step S103, a third position of the first device in the coordinate system of the transmitter is determined according to the first position and the second position of the transmitter.
In one embodiment, the emitters may be arranged in a fixed position, for example the second position where the emitter is located is known, wherein the second position may be represented by coordinates in a world coordinate system. The transmitter can be located the second equipment, the second equipment can be cell-phone, panel computer, wearable equipment, industrial sensor, thing networking device etc. electronic equipment, also can be an independent transmitter.
The transmitter is used for emitting ultrasonic waves, and the transmitter comprises a signal exciter, a digital-to-analog converter and a signal transmitter (such as a loudspeaker, an earphone and an ultrasonic transmitter), wherein the signal exciter can comprise an exciter and a filter, the ultrasonic exciter can generate band-pass ultrasonic signals, the band-pass ultrasonic signals are converted into analog signals through the digital-to-analog converter, and finally the analog signals are emitted by the signal transmitter. The wavelength/frequency of the emitted ultrasonic signal is known and the first receiver and the second receiver may sample the ultrasonic signal emitted by the transmitter at the same frequency.
It should be noted that the distance between the transmitter and each receiver on the first device satisfies the far-field condition. And the distance between each receiver, e.g. the third distance between the first receiver and the second receiver, is larger than 1/2 wavelengths of the ultrasonic signal, e.g. the frequency of the ultrasonic signal is 24kHz, then the third distance is larger than 7.1 mm.
In one embodiment, the third position of the first device is unknown, but the first position of the transmitter in the coordinate system in which the first device is located may be determined first, for example, the position of the first receiver represents the position of the first device, then the coordinate system is established with the first receiver as the origin, and the first position of the transmitter in the coordinate system may be determined, the relative position of the first receiver with respect to the transmitter may be determined according to the first position, and the third position of the first receiver in the coordinate system in which the transmitter is located (i.e., the world coordinate system) may be determined according to the relative position and the second position of the transmitter in the world coordinate system.
According to the embodiment of the disclosure, only one transmitter is needed in the process of determining the position, so that the synchronization of clocks among a plurality of transmitters is not needed to be considered, the ultrasonic waves are received through two receivers, the same ultrasonic signal sent by the transmitters at the same moment can be received, the ultrasonic signals transmitted by the ultrasonic transmitters twice do not need to be waited, and the position can be determined quickly.
According to the embodiment of the disclosure, when the transmitter and the first device are located indoors, accurate indoor positioning can be achieved, that is, the third position of the first device in the room is accurately determined, and then when communication with the first device is required, a communication signal can be sent to the third position, for example, the base station device can transmit a beam to the direction where the third position is located in a beam scanning manner to perform good communication with the third device, for example, a routing device near the third position, specifically, a routing device in the room where the third position is located can be turned on, so that the third device can access the routing device and then access a network for communication.
Fig. 2 is a schematic flow chart diagram illustrating another method of position determination in accordance with an embodiment of the present disclosure. As shown in fig. 2, the determining the first position of the transmitter in the coordinate system of the first device according to the first ultrasonic signal and the second ultrasonic signal comprises:
in step S1021, a cross-correlation function of the first and second ultrasonic signals is determined;
in one embodiment, the first ultrasonic signal may be about the time t at which the first receiver receives the first ultrasonic signal1Function s of1(t)＝a1s(t1) The second ultrasonic signal may be about the time t at which the second ultrasonic signal is received by the second receiver2Function s of2(t)＝a2s(t2) Wherein a is1And a2Is a signal gain coefficient, which can be determined empirically or set as needed, since it is not applied to a specific a in the subsequent calculation process1And a2Therefore, this embodiment does not limit this.
Fig. 3 is a schematic flow chart diagram illustrating yet another method of position determination, in accordance with an embodiment of the present disclosure. As shown in fig. 3, the determining a cross-correlation function of the first ultrasonic signal and the second ultrasonic signal comprises:
in step S10211, the ultrasonic signals received by the first receiver and the second receiver are processed respectively to obtain a first discrete signal and a second discrete signal;
in step S10212, a cross-correlation function of the first discrete signal and the second discrete signal is determined.
Due to the function s1(t)＝a1s(t1) Sum function s2(t)＝a2s(t2) Both are functions corresponding to analog signals, which are not convenient for calculation, so that the first ultrasonic signal and the second ultrasonic signal can be processed respectively to obtain a first discrete signal and a second discrete signal.
For example, the first ultrasonic signal and the second ultrasonic signal may be processed by an analog-to-digital converter to obtain discrete digital signals, where the first ultrasonic signal may be processed to obtain a first discrete signal s1(n)＝a1s(n1Δ T), a second discrete signal s can be obtained by processing the second ultrasonic signal2(n)＝a2s(n2ΔT)。
The first receiver and the second receiver may be at the same frequency fsSampling the ultrasonic signal emitted by the emitter, wherein delta T is 1/fs. And based on the Nyquist sampling theorem, the sampling frequency fsGreater than or equal to 2 times the frequency of the ultrasonic signal, e.g., the first and second ultrasonic signals have a frequency of 24kHz, then the sampling frequency may be greater than or equal to 48 kHz.
The cross-correlation function Rs of the first and second discrete signals may then be determined1s2(l) In the case of a liquid crystal display device, in particular,
in step S1022, an argument when the cross-correlation function takes the maximum value is determined, and a time difference between the reception of the first ultrasonic signal and the reception of the second ultrasonic signal is calculated from the sampling frequencies of the first receiver and the second receiver and the argument.
In one embodiment, the cross-correlation function may be considered as an autocorrelation function, and then based on the nature of the autocorrelation function, when n is known1＝n2When-l, i.e. l ═ n2-n1While, Rs1s2(l) Take the maximum value, then it can beWhere l is n2-n1Substitution of Rs1s2(l) And then on Rs1s2(l) Solving to obtain Rs1s2(l) The value of the argument l is taken to be the maximum value, that is, the time difference between the reception of the ultrasonic signal by the first receiver and the second receiver is l Δ T.
In step S1023, a difference between a first distance from the transmitter to the first receiver and a second distance from the transmitter to the second receiver is calculated according to the time difference and the propagation speed of the ultrasonic signal.
In one embodiment, the first distance L from the transmitter to the first receiver may be calculated knowing the propagation velocity of the ultrasonic signal, e.g. the propagation velocity in air is v1Second distance L from the transmitter to the second receiver2D ═ vl Δ T ═ L1-L2。
In step S1024, determining an angle between a direction from the first receiver to the transmitter and a direction from the first receiver to the second receiver according to the difference and a third distance between the first receiver and the second receiver;
in step S1025, the first position is determined according to the first distance and the angle.
Fig. 4 is a schematic view of an application scenario of the position determination method according to an embodiment of the present disclosure. As shown in fig. 4, since the distance between the transmitter and each receiver on the first device satisfies the far-field condition, the transmitter, the first receiver and the second receiver are located on the same plane, and the positions of the transmitter, the first receiver and the second receiver can form a triangle, and the first distance L from the transmitter to the first receiver1A second distance L from the transmitter to the second receiver2Difference value L of1-L2＝d＝vlΔT。
An angle a between the direction from the first receiver to the transmitter and the direction from the first receiver to the second receiver may be calculated based on the difference and a third distance D between the first receiver and the second receiver.
After obtaining the angle, the position of the first device may be determined further based on the first distance and the angle, for example, the first distance and the angle may directly form a polar coordinate to represent the first position, or an abscissa and an ordinate of the first position may be calculated based on a trigonometric function.
Fig. 5 is a schematic flow chart diagram illustrating yet another method of position determination, in accordance with an embodiment of the present disclosure. As shown in fig. 5, before determining the position of the first device from the first distance and the angle, the method further comprises:
in step S104, calculating a first power of the ultrasonic signal received by the first receiver and a second power of the ultrasonic signal received by the second receiver;
in step S105, determining a second ratio of the first distance to the second distance according to a first ratio of the second power to the first power;
in step S106, the first distance and the second distance are determined according to the difference and the second ratio.
In one embodiment, three kinds of attenuation mainly exist in the process of ultrasonic wave propagation, namely diffusion attenuation, absorption attenuation and scattering attenuation, wherein the diffusion attenuation is in direct proportion to the square of the distance from a receiver to a transmitter, the absorption attenuation is in direct proportion to the square of the frequency of the ultrasonic wave, and the scattering attenuation is in direct proportion to the square or the fourth power of the frequency of the ultrasonic wave according to the relation between the size of particles in a medium in which the ultrasonic wave propagates and the wavelength.
Since the ultrasonic waves received by the first receiver and the second receiver propagate in the same medium and are received by the same ultrasonic waves, so that the wavelengths are equal and the frequencies are equal, then the absorption attenuation and the scattering attenuation are the same for the first ultrasonic signal and the second ultrasonic signal, so that the factor affecting the power of the first ultrasonic signal and the second ultrasonic signal is mainly the diffusion attenuation.
Formula based on sound intensity at a point
Where ρ is the density of the medium in which the ultrasonic wave propagates, for example, air, which has a density of 1.293kg/m3ω is the angular frequency of the ultrasonic signal, specifically equal to 2 pi f, f is the frequency of the ultrasonic signal, a is the amplitude of the ultrasonic signal, which can be determined from the above discrete signal, v is the propagation velocity of the ultrasonic signal in a medium, for example, air, and then v is 340m/s, which are known, so that the sound intensity of the first ultrasonic signal and the second ultrasonic signal can be calculated.
But there is a time difference of l Δ T between the ultrasonic signals received by the two receivers, the first power of the first ultrasonic signal and the second power of the second ultrasonic signal can be further calculated based on l in the time difference and the above-mentioned sound intensity.
Specifically, the first power
Second power
And based on the relation between the distance in the diffusion attenuation and the formula, a second ratio can be obtained:
And due to L1-L2Then, one can further get:
optionally, the first power is an average of powers of the ultrasonic signals received by the first receiver, and the second power is an average of powers of the ultrasonic signals received by the second receiver.
In one embodiment, due to the existence of noise, the power of the ultrasonic signals received by the first receiver and the second receiver may fluctuate, and therefore, the average value of the power of the ultrasonic signals received by the first receiver can be calculated as the first power, and the average value of the power of the ultrasonic signals received by the second receiver can be calculated as the second power.
Fig. 6 is a schematic flow chart diagram illustrating yet another method of position determination, in accordance with an embodiment of the present disclosure. As shown in fig. 6, the determining an angle between the direction from the first receiver to the transmitter and the direction from the first receiver to the second receiver according to the difference and a third distance between the first receiver and the second receiver comprises:
in step S10241, the angle is determined according to an absolute value of the difference and an inverse cosine value of the third distance.
In one embodiment, the absolute value | D | of the difference and the inverse cosine value of the third distance D may be calculated as the angle, i.e., α ═ arccos (| D |/D).
Fig. 7 is a schematic flow chart diagram illustrating yet another method of position determination, in accordance with an embodiment of the present disclosure. As shown in fig. 7, the determining an angle between the direction from the first receiver to the transmitter and the direction from the first receiver to the second receiver according to the difference and a third distance between the first receiver and the second receiver comprises:
in step S10242, the angle is determined according to the first distance, the second distance, and the third distance.
In one embodiment, the following can be calculated in the manner described in the above embodiments:
the angle may then be determined from the first, second and third distances, and, in particular,
fig. 8 is a schematic flow chart diagram illustrating yet another method of position determination in accordance with an embodiment of the present disclosure. As shown in fig. 8, the first device further comprises a third receiver, and the determining the first position of the transmitter in the coordinate system of the first device according to the first ultrasonic signal and the second ultrasonic signal comprises:
in step S1026, the first position is determined according to the first distance, the second distance, the third distance, a fourth distance from the transmitter to the third receiver, and a fifth distance between the third receiver and the first receiver.
Fig. 9 is a schematic view of another application scenario of the position determination method according to an embodiment of the present disclosure. As shown in fig. 9, a third receiver may be provided on the first device in addition to the first receiver and the second receiver.
In one embodiment, a fourth distance L from the transmitter to the third receiver may be determined according to the manner of determining the first distance and/or the second distance3For example, the second receiver in the embodiment shown in fig. 4 may be replaced by a third receiver, and then the fourth distance may be determined in the manner described above for determining the second distance.
Further, a spatial rectangular coordinate system may be constructed, for example, with the position of the first receiver as an origin, assuming that coordinates of the position of the transmitter in the rectangular coordinate system are (x, y, z), and the third distance and the fifth distance are equal and both are D, the following equation may be obtained:
x2+y2+z2＝L1 2；
x2+(y-D)2+z2＝L2 2；
(x-D)2+y2+z2＝L3 2；
solving the system of equations formed by these three equations, the above coordinates can be obtained, specifically:
of course, the coordinates may also be expressed in polar coordinates:
r＝L1；
γ＝arccos(z/r)；
wherein, a line connecting the origin to the emitter can be projected to a plane where the x-axis and the y-axis are located, the obtained projection is shown as a dotted line in fig. 9, and θ represents an angle between the x-axis and the dotted line.
Corresponding to the embodiments of the position determination method described above, the present disclosure also provides embodiments of a position determination apparatus.
Fig. 10 is a schematic block diagram illustrating a position determining apparatus according to an embodiment of the present disclosure. The apparatus shown in this embodiment may be applied to a first device, where the first device includes, but is not limited to, an electronic device such as a mobile phone, a tablet computer, a wearable device, an industrial sensor, and an internet of things device.
The first device comprises at least a first receiver and a second receiver, which can receive the ultrasonic signal, wherein a third distance between the first receiver and the second receiver is known, as is a second position of the transmitter for transmitting the ultrasonic signal.
As shown in fig. 10, the position determining apparatus may include:
a signal receiving module 101 configured to receive the ultrasonic wave emitted by the transmitter through the first receiver to obtain a first ultrasonic signal, and receive the ultrasonic wave emitted by the transmitter through the second receiver to obtain a second ultrasonic signal;
a first position determination module 102 configured to determine a first position of the transmitter in a coordinate system in which the first device is located, based on the first ultrasonic signal and the second ultrasonic signal;
a second position determination module 103 configured to determine a third position of the first device in the coordinate system where the transmitter is located according to the first position and the second position of the transmitter.
Fig. 11 is a schematic block diagram illustrating a first position determination module in accordance with an embodiment of the present disclosure. As shown in fig. 11, the first position determination module 102 includes:
a function determination submodule 1021 configured to determine a cross-correlation function of the first and second ultrasound signals;
a time difference calculation submodule 1022 configured to determine an argument at which the cross-correlation function takes a maximum value, and calculate a time difference between receiving the first ultrasonic signal and the second ultrasonic signal according to sampling frequencies of the first receiver and the second receiver and the argument;
a difference calculation submodule 1023 configured to calculate a difference between a first distance from the transmitter to the first receiver and a second distance from the transmitter to the second receiver, based on the time difference and the propagation speed of the ultrasonic signal;
an angle determination submodule 1024 configured to determine an angle between a direction from the first receiver to the transmitter and a direction from the first receiver to the second receiver according to the difference and a third distance between the first receiver and the second receiver;
a position determination submodule 1025 configured to determine the first position based on the first distance and the angle.
Fig. 12 is a schematic block diagram illustrating another position determining apparatus according to an embodiment of the present disclosure. As shown in fig. 12, the apparatus further includes:
a power calculation module 104 configured to calculate a first power of the ultrasonic signal received by the first receiver and a second power of the ultrasonic signal received by the second receiver;
a ratio determination module 105 configured to determine a second ratio of the first distance to the second distance according to a first ratio of the second power to the first power;
a distance determination module 106 configured to determine the first distance and the second distance according to the difference and the second ratio.
Optionally, the first power is an average of powers of the ultrasonic signals received by the first receiver, and the second power is an average of powers of the ultrasonic signals received by the second receiver.
Optionally, the function determining sub-module is configured to process the ultrasonic signals received by the first receiver and the second receiver respectively to obtain a first discrete signal and a second discrete signal; and determining a cross-correlation function of the first discrete signal and the second discrete signal.
Optionally, the angle determination submodule is configured to determine the angle according to an absolute value of the difference and an inverse cosine value of the third distance.
Optionally, the angle determination submodule is configured to determine the angle according to the first distance, the second distance and the third distance.
Optionally, the distance determining module is further configured to determine the first position according to the first distance, the second distance, the third distance, a fourth distance from the transmitter to the third receiver, and a fifth distance between the third receiver and the first receiver.
With regard to the apparatus in the above embodiments, the specific manner in which each module performs operations has been described in detail in the embodiments of the related method, and will not be described in detail here.
For the device embodiments, since they substantially correspond to the method embodiments, reference may be made to the partial description of the method embodiments for relevant points. The above-described embodiments of the apparatus are merely illustrative, wherein the modules described as separate parts may or may not be physically separate, and the parts displayed as modules may or may not be physical modules, may be located in one place, or may be distributed on a plurality of network modules. Some or all of the modules can be selected according to actual needs to achieve the purpose of the disclosed solution. One of ordinary skill in the art can understand and implement it without inventive effort.
An embodiment of the present disclosure also provides an electronic device, including:
a processor;
a memory for storing processor-executable instructions;
wherein the processor is configured to implement the method of any of the above embodiments.
Embodiments of the present disclosure also provide a computer-readable storage medium, on which a computer program is stored, which when executed by a processor implements the steps in the method according to any of the above embodiments.
Fig. 13 is a schematic block diagram illustrating an apparatus 1300 for position determination in accordance with an embodiment of the present disclosure. For example, apparatus 1300 may be a mobile phone, a computer, a digital broadcast terminal, a messaging device, a game console, a tablet device, a medical device, an exercise device, a personal digital assistant, and so forth.
Referring to fig. 13, the apparatus 1300 may include one or more of the following components: a processing component 1302, a memory 1304, a power component 1306, a multimedia component 1308, an audio component 1310, an input/output (I/O) interface 1312, a sensor component 1314, and a communication component 1316.
The processing component 1302 generally controls overall operation of the device 1300, such as operations associated with display, telephone calls, data communications, camera operations, and recording operations. The processing component 1302 may include one or more processors 1320 to execute instructions to perform all or part of the steps of the methods described above. Further, the processing component 1302 can include one or more modules that facilitate interaction between the processing component 1302 and other components. For example, the processing component 1302 may include a multimedia module to facilitate interaction between the multimedia component 1308 and the processing component 1302.
The memory 1304 is configured to store various types of data to support operations at the apparatus 1300. Examples of such data include instructions for any application or method operating on device 1300, contact data, phonebook data, messages, pictures, videos, and so forth. The memory 1304 may be implemented by any type or combination of volatile or non-volatile memory devices such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disks.
The multimedia component 1308 includes a screen between the device 1300 and the user that provides an output interface. In some embodiments, the screen may include a Liquid Crystal Display (LCD) and a Touch Panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive an input signal from a user. The touch panel includes one or more touch sensors to sense touch, slide, and gestures on the touch panel. The touch sensor may not only sense the boundary of a touch or slide action, but also detect the duration and pressure associated with the touch or slide operation. In some embodiments, the multimedia component 1308 includes a front facing camera and/or a rear facing camera. The front camera and/or the rear camera may receive external multimedia data when the apparatus 1300 is in an operation mode, such as a photographing mode or a video mode. Each front camera and rear camera may be a fixed optical lens system or have a focal length and optical zoom capability.
The audio component 1310 is configured to output and/or input audio signals. For example, the audio component 1310 includes a Microphone (MIC) configured to receive external audio signals when the apparatus 1300 is in an operating mode, such as a call mode, a recording mode, and a voice recognition mode. The received audio signals may further be stored in the memory 1304 or transmitted via the communication component 1316. In some embodiments, the audio component 1310 also includes a speaker for outputting audio signals.
The I/O interface 1312 provides an interface between the processing component 1302 and peripheral interface modules, which may be keyboards, click wheels, buttons, etc. These buttons may include, but are not limited to: a home button, a volume button, a start button, and a lock button.
The sensor assembly 1314 includes one or more sensors for providing various aspects of state assessment for the device 1300. For example, the sensor assembly 1314 may detect the open/closed state of the device 1300, the relative positioning of components, such as a display and keypad of the device 1300, the sensor assembly 1314 may also detect a change in the position of the device 1300 or a component of the device 1300, the presence or absence of user contact with the device 1300, orientation or acceleration/deceleration of the device 1300, and a change in the temperature of the device 1300. The sensor assembly 1314 may include a proximity sensor configured to detect the presence of a nearby object without any physical contact. The sensor assembly 1314 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor assembly 1314 may also include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.
The communication component 1316 is configured to facilitate communications between the apparatus 1300 and other devices in a wired or wireless manner. The apparatus 1300 may access a wireless network based on a communication standard, such as WiFi, 2G or 3G, 4G LTE, 5G NR, or a combination thereof. In an exemplary embodiment, the communication component 1316 receives broadcast signals or broadcast related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communications component 1316 also includes a Near Field Communications (NFC) module to facilitate short-range communications. For example, the NFC module may be implemented based on Radio Frequency Identification (RFID) technology, infrared data association (IrDA) technology, Ultra Wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.
In an exemplary embodiment, the apparatus 1300 may be implemented by one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), controllers, micro-controllers, microprocessors or other electronic components for performing the methods described in any of the above embodiments.
In an exemplary embodiment, a non-transitory computer readable storage medium comprising instructions, such as the memory 1304 comprising instructions, executable by the processor 1320 of the apparatus 1300 to perform the method described above is also provided. For example, the non-transitory computer readable storage medium may be a ROM, a Random Access Memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
It will be understood that the present disclosure is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.
Claims (18)
1. A method of position determination, applicable to a first device comprising at least a first receiver and a second receiver, the method comprising:
the first receiver receives ultrasonic waves sent by a transmitter to obtain a first ultrasonic signal, and the second receiver receives ultrasonic waves sent by the transmitter to obtain a second ultrasonic signal;
determining a first position of the transmitter in a coordinate system where the first device is located according to the first ultrasonic signal and the second ultrasonic signal;
and determining a third position of the first equipment in the coordinate system where the transmitter is located according to the first position and the second position of the transmitter.
2. The method of claim 1, wherein determining the first position of the transmitter in the coordinate system in which the first device is located based on the first ultrasonic signal and the second ultrasonic signal comprises:
determining a cross-correlation function of the first and second ultrasonic signals;
determining an argument when the cross-correlation function takes a maximum value, and calculating a time difference between the reception of the first ultrasonic signal and the reception of the second ultrasonic signal according to the sampling frequencies of the first receiver and the second receiver and the argument;
calculating a difference value between a first distance from the transmitter to the first receiver and a second distance from the transmitter to the second receiver according to the time difference and the propagation speed of the ultrasonic signal;
determining an angle between a direction from the first receiver to the transmitter and a direction from the first receiver to the second receiver based on the difference and a third distance between the first receiver and the second receiver;
determining the first position according to the first distance and the angle.
3. The method of claim 2, wherein prior to determining the position of the first device from the first distance and the angle, the method further comprises:
calculating a first power of the ultrasonic signal received by the first receiver and a second power of the ultrasonic signal received by the second receiver;
determining a second ratio of the first distance to the second distance according to a first ratio of the second power to the first power;
and determining the first distance and the second distance according to the difference value and the second ratio.
4. The method of claim 3, wherein the first power is an average of the power of the ultrasonic signal received by the first receiver and the second power is an average of the power of the ultrasonic signal received by the second receiver.
5. The method of claim 2, wherein the determining the cross-correlation function of the first ultrasonic signal and the second ultrasonic signal comprises:
processing the ultrasonic signals received by the first receiver and the second receiver respectively to obtain a first discrete signal and a second discrete signal;
determining a cross-correlation function of the first discrete signal and the second discrete signal.
6. The method of claim 2, wherein determining an angle between a direction from the first receiver to the transmitter and a direction from the first receiver to the second receiver based on the difference and a third distance between the first receiver and the second receiver comprises:
and determining the angle according to the absolute value of the difference and the inverse cosine value of the third distance.
7. The method of claim 2, wherein determining an angle between a direction from the first receiver to the transmitter and a direction from the first receiver to the second receiver based on the difference and a third distance between the first receiver and the second receiver comprises:
determining the angle from the first distance, the second distance, and the third distance.
8. The method of claim 2, wherein the first device further comprises a third receiver, and wherein determining the first position of the transmitter in the coordinate system in which the first device is located based on the first ultrasonic signal and the second ultrasonic signal comprises:
determining the first position based on the first distance, the second distance, the third distance, a fourth distance from the transmitter to the third receiver, and a fifth distance between the third receiver and the first receiver.
9. A position determining apparatus, adapted for use with a first device including at least a first receiver and a second receiver, the apparatus comprising:
the signal receiving module is configured to receive the ultrasonic wave emitted by the transmitter through the first receiver to obtain a first ultrasonic signal, and receive the ultrasonic wave emitted by the transmitter through the second receiver to obtain a second ultrasonic signal;
a first position determination module configured to determine a first position of the transmitter in a coordinate system in which the first device is located based on the first ultrasonic signal and the second ultrasonic signal;
a second position determination module configured to determine a third position of the first device in a coordinate system in which the transmitter is located based on the first position and the second position of the transmitter.
10. The apparatus of claim 9, wherein the first position determination module comprises:
a function determination submodule configured to determine a cross-correlation function of the first ultrasonic signal and the second ultrasonic signal;
a time difference calculation sub-module configured to determine an argument at which the cross-correlation function takes a maximum value, calculate a time difference of receiving the first ultrasonic signal and the second ultrasonic signal according to sampling frequencies of the first receiver and the second receiver and the argument;
a difference calculation sub-module configured to calculate a difference between a first distance from the transmitter to the first receiver and a second distance from the transmitter to the second receiver, based on the time difference and the propagation speed of the ultrasonic signal;
an angle determination sub-module configured to determine an angle between a direction from the first receiver to the transmitter and a direction from the first receiver to the second receiver based on the difference and a third distance between the first receiver and the second receiver;
a position determination submodule configured to determine the first position from the first distance and the angle.
11. The apparatus of claim 10, further comprising:
a power calculation module configured to calculate a first power of the ultrasonic signal received by the first receiver and a second power of the ultrasonic signal received by the second receiver;
a ratio determination module configured to determine a second ratio of the first distance to the second distance according to a first ratio of the second power to the first power;
a distance determination module configured to determine the first distance and the second distance from the difference and the second ratio.
12. The apparatus of claim 11, wherein the first power is an average of powers of the ultrasonic signals received by the first receiver, and wherein the second power is an average of powers of the ultrasonic signals received by the second receiver.
13. The apparatus of claim 10, wherein the function determination sub-module is configured to process the ultrasonic signals received by the first receiver and the second receiver, respectively, to obtain a first discrete signal and a second discrete signal; and determining a cross-correlation function of the first discrete signal and the second discrete signal.
14. The apparatus of claim 10, wherein the angle determination submodule is configured to determine the angle based on an absolute value of the difference and an inverse cosine value of the third distance.
15. The apparatus of claim 10, wherein the angle determination submodule is configured to determine the angle based on the first distance, the second distance, and the third distance.
16. The apparatus of claim 10, wherein the first device further comprises a third receiver, and wherein the distance determination module is further configured to determine the first position based on the first distance, the second distance, the third distance, a fourth distance from the transmitter to the third receiver, and a fifth distance between the third receiver and the first receiver.
17. An electronic device, comprising:
a processor;
a memory for storing processor-executable instructions;
wherein the processor is configured to implement the method of any one of claims 1 to 8.
18. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 8.
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