CN112311482A

CN112311482A - Positioning method, device, system, receiving node, transmitting node and storage medium

Info

Publication number: CN112311482A
Application number: CN202011346707.XA
Authority: CN
Inventors: 肖翔宇
Original assignee: Oppo Chongqing Intelligent Technology Co Ltd
Current assignee: Oppo Chongqing Intelligent Technology Co Ltd
Priority date: 2020-11-26
Filing date: 2020-11-26
Publication date: 2021-02-02
Anticipated expiration: 2040-11-26
Also published as: CN112311482B

Abstract

The application relates to a positioning method, a device, a system, a receiving node, a transmitting node and a storage medium. The positioning method comprises the following steps: acquiring positioning signals respectively broadcast by a plurality of transmitting nodes, and extracting characteristic information carried by a target positioning signal broadcast by each transmitting node, wherein the characteristic information is used for representing the broadcasting direction of the target positioning signal broadcast by the transmitting node; screening at least one group of target node groups from the plurality of transmitting nodes according to the broadcasting direction, wherein each group of target node groups comprises at least two target transmitting nodes; and positioning the receiving nodes according to the position information of each target transmitting node of each group and the broadcasting direction corresponding to each target transmitting node. The positioning method can improve the positioning accuracy.

Description

Positioning method, device, system, receiving node, transmitting node and storage medium

Technical Field

The present application relates to the field of positioning technologies, and in particular, to a positioning method, apparatus, system, receiving node, transmitting node, and storage medium.

Background

Currently, a common positioning method is to perform positioning mainly through Received Signal Strength Indication (RSSI). The RSSI positioning refers to transmitting a positioning signal to a terminal through three base stations which are not collinear, analyzing the positioning signal when the terminal receives the positioning signal to obtain an RSSI value of the positioning signal, determining the linear distance between the terminal and the three base stations according to the RSSI value, making a circle by taking the linear distance between the terminal and the three base stations as the radius, and taking the point where the three circles intersect as the position information of the terminal.

However, the positioning error is large by the RSSI.

Disclosure of Invention

The embodiment of the application provides a positioning method, a positioning device, a positioning system, a receiving node, a transmitting node and a storage medium, and can improve the positioning accuracy.

A positioning method is applied to a receiving node, and comprises the following steps:

acquiring positioning signals respectively broadcast by a plurality of transmitting nodes, and extracting characteristic information carried by a target positioning signal broadcast by each transmitting node, wherein the characteristic information is used for representing the broadcasting direction of the target positioning signal broadcast by the transmitting node;

screening at least one group of target node groups from the plurality of transmitting nodes according to the broadcasting direction, wherein each group of target node groups comprises at least two target transmitting nodes;

and positioning the receiving nodes according to the position information of each target transmitting node of each group and the broadcasting direction corresponding to each target transmitting node.

A positioning method applied to a transmitting node, the method comprising:

broadcasting positioning signals to a plurality of directions, wherein the positioning signals carry characteristic information, the positioning signals in different directions carry different characteristic information to indicate receiving nodes receiving the positioning signals to perform positioning, and the mode of positioning the receiving nodes comprises the following steps:

acquiring target positioning signals respectively broadcast by a plurality of transmitting nodes, and extracting characteristic information carried by the target positioning signals broadcast by each transmitting node, wherein the target characteristic information is used for indicating the broadcasting direction of the target positioning signals broadcast by the transmitting nodes;

A positioning method applied to a transmitting node, the method comprising:

broadcasting positioning signals to multiple directions, wherein the positioning signals carry characteristic information, the characteristic information carried by the positioning signals in different directions is different so as to indicate a receiving node receiving the positioning signals to feed back a characteristic information set, the characteristic information set comprises characteristic information corresponding to a target positioning signal broadcast by each transmitting node, and the characteristic information set is formed by acquiring the positioning signals respectively broadcast by the plurality of transmitting nodes through the receiving node and extracting and combining the characteristic information carried by the target positioning signal broadcast by each transmitting node;

receiving the characteristic information set fed back by the receiving node, and screening at least one group of target node groups from the plurality of transmitting nodes according to the broadcasting direction, wherein each group of target node groups comprises at least two target transmitting nodes;

A positioning apparatus applied to a receiving node, the apparatus comprising:

the receiving module is used for acquiring target positioning signals respectively broadcast by a plurality of transmitting nodes and extracting characteristic information carried by the target positioning signals broadcast by each transmitting node, wherein the target characteristic information is used for indicating the broadcasting direction of the target positioning signals broadcast by the transmitting nodes;

a screening module, configured to screen at least one group of target node groups from the multiple transmitting nodes according to the broadcast direction, where each group of target node groups includes at least two target transmitting nodes;

and the positioning module is used for positioning the receiving nodes according to the position information of each target transmitting node in each group and the broadcasting direction corresponding to each target transmitting node.

A positioning apparatus applied to a transmitting node, the apparatus comprising:

a broadcast module, configured to broadcast a positioning signal to multiple directions, where the positioning signal carries feature information, and the feature information carried by the positioning signals in different directions is different, so as to instruct a receiving node that receives the positioning signal to perform positioning, where the receiving node positioning manner includes:

the broadcast module is used for broadcasting positioning signals to a plurality of directions, the positioning signals carry characteristic information, the characteristic information carried by the positioning signals in different directions is different so as to indicate a receiving node receiving the positioning signals to feed back a characteristic information set, the characteristic information set comprises characteristic information corresponding to a target positioning signal broadcast by each transmitting node, and the characteristic information set is formed by acquiring the positioning signals respectively broadcast by the plurality of transmitting nodes through the receiving node and extracting and combining the characteristic information carried by the target positioning signal broadcast by each transmitting node;

the screening module is used for receiving the characteristic information set fed back by the receiving node and screening at least one group of target node groups from the plurality of transmitting nodes according to the broadcasting direction, wherein each group of target node groups comprises at least two target transmitting nodes;

A positioning system, comprising:

the system comprises a plurality of transmitting nodes, a plurality of receiving nodes and a plurality of positioning nodes, wherein each transmitting node is used for broadcasting a positioning signal to a plurality of directions, the positioning signal carries characteristic information, and the characteristic information carried by the positioning signals in different directions is different;

the receiving node is used for acquiring target positioning signals respectively broadcast by a plurality of transmitting nodes and extracting characteristic information carried by the target positioning signals broadcast by each transmitting node, and the target characteristic information is used for indicating the broadcasting direction of the target positioning signals broadcast by the transmitting nodes;

the receiving node is further configured to screen at least one group of target node groups from the plurality of transmitting nodes according to the broadcasting direction, each group of target node groups includes at least two target transmitting nodes, and the receiving node is positioned according to the position information of each target transmitting node in each group and the broadcasting direction corresponding to each target transmitting node.

A receiving node comprising a memory storing a computer program and a processor implementing the steps of the method described above when executing the computer program.

A transmitting node comprising a memory storing a computer program and a processor implementing the steps of the method described above when executing the computer program.

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 above-mentioned method.

According to the positioning method, the device, the system, the receiving node, the transmitting node and the storage medium, after the plurality of nodes broadcast the positioning signals respectively, the receiving node acquires the positioning signals and extracts the characteristic information carried by the positioning signals, and screens out the target node group from the plurality of transmitting node groups according to the broadcasting direction represented by the characteristic information, so that the receiving node is positioned according to the position information of each target transmitting node in each group and the broadcasting direction corresponding to each target transmitting node, because the positioning mode is that the receiving node is positioned according to the broadcasting direction represented by the characteristic information carried by the positioning signals and the position information of the target transmitting nodes, the positioning is not dependent on the signal intensity value of the positioning signals, and the positioning of the receiving node cannot be influenced even if the shielding object exists on the signal transmission path of the transmitting node and the receiving node to weaken the signal intensity of the positioning signals, the positioning accuracy is improved.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

FIG. 1A is a diagram of an exemplary location method;

fig. 1B is a block diagram of a transmitting node according to an embodiment;

fig. 2 is a schematic flowchart of a positioning method according to an embodiment;

FIG. 3 is a flowchart detailing step 230 of FIG. 1 according to an exemplary embodiment;

fig. 4A is a diagram illustrating two-dimensional positioning of a receiving node by two transmitting nodes according to an embodiment;

fig. 4B is a diagram illustrating another two-dimensional positioning of a receiving node by two transmitting nodes according to an embodiment;

FIG. 5 is another flowchart detailing step 230 of FIG. 1, according to an embodiment;

FIG. 6 is a diagram illustrating an embodiment of three transmitting nodes positioning a receiving node in three dimensions;

FIG. 7 is a flowchart detailing step 230 of FIG. 1 according to an embodiment;

FIG. 8 is a schematic flow chart diagram illustrating an alternative positioning method, according to an embodiment;

FIG. 9 is a block diagram of a positioning device according to an embodiment;

FIG. 10 is a block diagram of an alternative embodiment of a pointing device;

fig. 11 is a schematic diagram of an internal structure of a receiving node in one embodiment.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

It will be understood that, as used herein, the terms "first," "second," and the like may be used herein to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish one element from another. For example, the first distance information may be referred to as second distance information, and similarly, the second distance information may be referred to as first distance information, without departing from the scope of the present application. Both the first distance information and the second distance information are distance information, but they are not the same distance information.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise. In the description of the present application, "a number" means at least one, such as one, two, etc., unless specifically limited otherwise.

Referring to fig. 1A, fig. 1A is a schematic diagram of an application environment of a positioning method in an embodiment. As shown in fig. 1A, the application environment includes a plurality of transmitting nodes 110 and receiving nodes 120. The plurality of transmitting nodes 110 broadcast the positioning signals to a plurality of directions respectively, the positioning signals carry characteristic information, and the characteristic information carried by the positioning signals in different directions is different. The receiving node 120 performs positioning according to the positioning signals respectively broadcast by the transmitting nodes 110 and the position information of the transmitting nodes 110. In this embodiment, the transmitting node 110 may be a device or apparatus, such as a base station, that can transmit a positioning signal carrying characteristic information, and the receiving node 120 may be a device or apparatus, such as an electronic device, that performs positioning according to the positioning signal broadcast by the transmitting node 110.

Referring to fig. 1B, fig. 1B is a block diagram of a transmitting node according to an embodiment. As shown in fig. 1B, the transmitting node 110 includes a baseband chip 111, a transceiver 112, a radio frequency front end 113, and a plurality of tunable matching networks 114 and antennas 115 corresponding to the transmitting paths, respectively. Wherein the antennas on the plurality of transmit paths are arranged in different directions. The adjustable matching network is used for modulating the characteristic information corresponding to the antenna setting direction. The transmitting node firstly associates the broadcasting direction with the characteristic information one by one, and modulates the characteristic information corresponding to the broadcasting direction through the adjustable matching network, so that the positioning signals are broadcasted outwards through the antennas arranged along different directions.

Referring to fig. 2, fig. 2 is a flowchart illustrating a positioning method according to an embodiment. The positioning method in the embodiment of the present application is described by taking the positioning method executed on the receiving node in fig. 1 as an example. As shown in fig. 2, the positioning method includes steps 210 to 230.

Step 210, obtaining positioning signals respectively broadcast by a plurality of transmitting nodes, and extracting feature information carried by a target positioning signal broadcast by each transmitting node, where the feature information is used to characterize a broadcast direction in which the transmitting node broadcasts the target positioning signal.

The positioning signal refers to a signal which is broadcast by the transmitting node and contains characteristic information. The target positioning signal refers to a positioning signal finally used for positioning. The broadcast direction refers to the direction in which the transmitting node broadcasts the positioning signal. Specifically, the characteristic information carried by the positioning signal broadcast by each transmitting node along different directions is different, and the receiving node can generally only receive the positioning signal broadcast by each transmitting node in one direction, so that the broadcasting direction of the target positioning signal broadcast by the transmitting node can be determined by extracting the characteristic information carried by the target positioning signal, and the relative direction of the receiving node and the transmitting node is determined. It should be noted that the positioning signal may also carry a device identifier corresponding to each transmitting node, and the source of the positioning signal may be determined after the positioning signal is obtained.

In one embodiment, the positioning method further includes, when the number of the positioning signals is multiple, the step of determining a signal strength value corresponding to each positioning signal, and using the positioning signal with the largest signal strength value as the target positioning signal broadcast by each transmitting node.

In this embodiment, specifically, if the positioning signal in one direction is received by the receiving node after being reflected or refracted, the receiving node receives a plurality of positioning signals from one receiving node. In this embodiment, when receiving a plurality of positioning signals from one transmitting node, the positioning signal with the largest signal strength value is used as the target positioning signal broadcasted by the transmitting node by determining the signal strength value corresponding to each positioning signal, so that the positioning signal received by reflection or refraction can be eliminated, and the positioning accuracy can be further improved.

Step 220, screening at least one group of target node groups from the plurality of transmitting nodes according to the broadcasting direction, wherein each group of target node groups comprises at least two target transmitting nodes.

Wherein, the target transmitting node refers to one of a plurality of transmitting nodes. In this embodiment, each target node group includes at least two target transmitting node groups, which means that each target node group includes two or more target transmitting nodes. Specifically, the number of target transmitting nodes included in each target node group is related to the positioning requirement, and is not limited herein. In this embodiment, the target node group is one or more groups. The more the number of the target node groups is, the more accurate the positioning is, but the higher the calculation force is required, the appropriate number of the target node groups can be selected as required for positioning, and the method is not particularly limited herein.

And step 230, positioning the receiving node according to the position information of each target transmitting node of each group and the broadcasting direction corresponding to each target transmitting node.

The position information refers to information representing the position of the transmitting node. Specifically, the position information of the target transmitting node can be determined according to the equipment identifier carried by the positioning signal. In this step, the receiving node is positioned according to the position information of each target transmitting node of each group and the broadcasting direction corresponding to each target transmitting node, so as to obtain the positioning information of the receiving node.

In the positioning method of this embodiment, after the plurality of nodes broadcast the positioning signals respectively, the receiving node acquires the positioning signals, extracting the characteristic information carried by the positioning signal, screening out a target node group from the plurality of transmitting node groups according to the broadcasting direction represented by the characteristic information, thereby positioning the receiving nodes according to the position information of each target transmitting node of each group and the broadcasting direction corresponding to each target transmitting node, because the positioning mode is to position the receiving node according to the broadcast direction represented by the characteristic information carried by the positioning signal and the position information of the target transmitting node, the positioning is carried out without depending on the signal strength value of the positioning signal, even if the shelter exists on the signal transmission path of the transmitting node and the receiving node to weaken the signal strength of the positioning signal, the positioning of the receiving node is not influenced, and the positioning accuracy is improved.

In one embodiment, before the step 220 of screening out at least one target node group from the plurality of transmitting nodes according to the broadcasting direction, the method may further include:

acquiring a mapping relation between the characteristic information associated with each transmitting node and a broadcasting direction;

and determining the broadcasting direction of each transmitting node for broadcasting the target positioning signal according to the characteristic information and the mapping relation.

In this embodiment, the mapping relationship means that each piece of feature information corresponds to a certain broadcast direction. The broadcast direction of the transmitting node broadcasting the target positioning signal can be determined according to the extracted feature information and the mapping relation. Specifically, the characteristic information includes at least one of a type of the characteristic information and a numerical value of the characteristic information. Optionally, the characteristic information at least includes at least one of frequency information, coding information, and time slot information. Wherein, the frequency information refers to the transmitting frequency of the positioning signal. The encoding information refers to an encoding included in a packet of the positioning signal, for example, 1, 2, 3, and so on. The time slot information refers to the time at which the positioning signal was transmitted. In this embodiment, the characteristic information carried in different directions is different, and may be different types of characteristic information carried in different directions, for example, the a direction carries frequency information, the B direction carries coding information, and the C direction carries time slot information; the types of the feature information carried in different directions may also be the same, but the values of the feature information are different, for example, the a direction carries a first frequency, the B direction carries a second frequency, and the C direction carries a third frequency, and the first frequency, the second frequency, and the third frequency are different from each other, and the manner of carrying different feature information in different directions is not limited herein.

In one embodiment, the value of the characteristic information is linearly related to the corresponding angular difference of the broadcasting direction. In this embodiment, the description will be made with the characteristic information as the frequency information. For example, the transmitting node writes frequency information corresponding to each direction into the positioning signal, and then broadcasts the frequency information to the outside through the transceiver and the radio frequency front end. The relationship between the broadcast direction and the frequency information is as follows:

θ＝k°，f＝f₀+ak；

wherein θ represents a broadcasting direction, k is an angle difference between the direction and a reference direction counterclockwise (k is greater than or equal to 0 and less than 360), f is a frequency carried by the positioning signal, f0 is an initial frequency transmitted along the reference direction, and a is a frequency interval between two adjacent directions, and then the angle difference between the broadcasting direction of the transmitting node and the reference direction can be determined according to the size of the frequency information by the receiving node, so that the broadcasting direction can be determined according to the angle difference.

It is to be understood that the manner of determining the broadcasting direction is not limited to the form mentioned in the above embodiments, as long as the broadcasting direction can be determined by the frequency size, and is not limited herein.

It should be noted that the location information may include a two-dimensional location coordinate, and thus two-dimensional positioning may be implemented on the receiving node; the position information may further include three-dimensional position coordinates, and then three-dimensional positioning may be performed on the receiving node, which is not limited herein.

Referring to fig. 3, fig. 3 is a flowchart illustrating a refinement of step 230 in fig. 1 according to an embodiment. The embodiment is suitable for a scene of realizing two-dimensional positioning on the receiving node. In this embodiment, each group of target nodes includes two target transmitting nodes, and the location information includes two-dimensional location coordinates, as shown in fig. 3, step 230 of locating the receiving node according to the location information of each target transmitting node of each group and the broadcast direction corresponding to each target transmitting node includes:

and 310, determining first distance information between the two target transmitting nodes of each group according to the two-dimensional position coordinates.

The two-dimensional position coordinates refer to position coordinates in a two-dimensional space. Alternatively, the two-dimensional position coordinates may include longitude and latitude; the two-dimensional coordinate may also be a coordinate configured according to a location where the target transmitting node is located, and is not limited herein. The first distance information refers to the distance of two target transmitting nodes in each group in a two-dimensional space. Specifically, the first distance information may be determined by using a mathematical theorem through two-dimensional position coordinates of each target transmitting node, and a manner of how to calculate the first distance information is not limited herein.

And 320, performing two-dimensional positioning on the receiving nodes according to the broadcasting direction corresponding to each target transmitting node of each group and the first distance information.

In this step, according to the broadcast direction and the first distance information corresponding to each target transmitting node of each group, the receiving node can be two-dimensionally positioned by using the mathematical theorem, so that the position information of the receiving node in the two-dimensional space is obtained.

It should be noted that, in this embodiment, the manner of screening out at least one target node group from the plurality of transmitting nodes according to the broadcast direction may include:

and determining collinear information of any two of the plurality of transmitting nodes and the receiving node according to the broadcasting direction, and representing the two corresponding transmitting nodes as a group of target node groups when the collinear information is not collinear.

In this embodiment, the collinear information refers to information indicating whether two transmitting nodes and a receiving node are collinear at the same time, and the collinear information at least includes collinear and non-collinear. Because the receiving node needs to be positioned in two dimensions, two transmitting nodes which are not collinear at the same time with the receiving node need to be positioned, and the two corresponding transmitting nodes are used as a group of target node groups when collinear information is represented as being not collinear.

In an embodiment, a manner of performing two-dimensional positioning on a receiving node by using a group of target nodes is described, and in an embodiment, the step 320 of performing two-dimensional positioning on the receiving node according to a broadcast direction corresponding to each target transmitting node of each group and the first distance information includes:

a connecting line between two target transmitting nodes is used as a target datum line, and a target datum direction mapped by the target datum line is determined;

determining target angle information of each target transmitting node and the receiving node in a reference two-dimensional coordinate system according to the broadcasting direction corresponding to each target transmitting node and the target reference direction;

and determining two-dimensional position information of the receiving node according to the target angle information corresponding to each target transmitting node and the first distance information.

In the present embodiment, the target reference direction may be a direction parallel to the target reference line. Specifically, one of the two target transmitting nodes is respectively used as an origin of the target reference direction, so as to determine target angle information of each target transmitting node and the receiving node in the reference two-dimensional coordinate system. The reference two-dimensional coordinate system refers to a coordinate system for determining target angle information between the transmitting node and the receiving node in a two-dimensional space. In this embodiment, after determining the target angle information and the first distance information corresponding to each target transmitting node, the two-dimensional position information of the receiving node may be determined by using the angle-edge-angle theorem.

Referring to FIG. 4A, FIG. 4A is an embodimentA schematic illustration of two transmitting nodes 110 performing two-dimensional positioning of a receiving node 120 is provided. In fig. 4A, point n and point m are the target transmitting nodes 110 and point O is the receiving node 120. Wherein m is₁Broadcasting the corresponding target-locating signal's broadcast direction, n, for point m₂The broadcast direction of the corresponding target-locating signal is broadcast for point n. Then, a reference two-dimensional coordinate reference system can be established by taking the point m as the origin of the reference two-dimensional coordinate system, taking the connecting line between the point m and the point n as the X axis, and taking the direction of the point m → n as the positive direction of the X axis. Assuming that the reference direction of the broadcast positioning signals of the point m and the point n is the direction of m → n, the broadcast direction corresponding to the point m is theta₁The broadcast direction corresponding to the point n is theta₂If the target angle information corresponding to the point m is equal to theta omn₁The target angle information corresponding to the point n is 180-theta onm₂And according to the first distance information X between the point m and the point n, the position information of the point o can be determined through the angle and corner theorem, so that accurate positioning is realized.

Referring to fig. 4B, fig. 4B is a schematic diagram of another two-dimensional positioning of the receiving node 120 by two transmitting nodes 110 according to an embodiment. In fig. 4B, point n and point m are the target transmitting nodes 110 and point O is the receiving node 120. Wherein m is₁Broadcasting the corresponding target-locating signal's broadcast direction, n, for point m₂The broadcast direction of the corresponding target-locating signal is broadcast for point n. Then, a reference two-dimensional coordinate reference system can be established by taking the point m as the origin of the reference two-dimensional coordinate system, taking the connecting line between the point m and the point n as the X axis, and taking the direction of the point m → n as the positive direction of the X axis. Assuming that the reference direction of the broadcast positioning signals of the point m and the point n is the direction of m → n, the broadcast direction corresponding to the point m is theta₁The broadcast direction corresponding to the point n is theta₂If the target angle information corresponding to the point m is 360-theta omn₁Target angle information ═ onm corresponding to point n ═ θ₂180 DEG, and according to the first distance information X between the point m and the point n, the position information of the point o can be determined by the corner edge theorem.

It is to be understood that the above-mentioned manner of determining the two-dimensional position information of the receiving node by using the corner-edge theorem is only an example, as long as the two-dimensional position information of the receiving node is determined by the target angle information and the first distance information corresponding to each target transmitting node, and is not limited herein.

Referring to fig. 5, fig. 5 is another flowchart detailing step 230 of fig. 1 according to an embodiment. The embodiment is suitable for a scene for realizing three-dimensional positioning of the receiving node. In this embodiment, a target node group is taken as a group, each target node group includes three target transmitting nodes, and the position information includes three-dimensional position coordinates. As shown in fig. 5, step 230, locating the receiving node according to the location information of each target transmitting node in each group and the broadcast direction corresponding to each target transmitting node, includes:

and step 510, determining positioning parameters according to the three-dimensional position coordinates, wherein the positioning parameters comprise second distance information and relative directions between every two target transmitting nodes.

The three-dimensional position coordinates refer to position coordinates in a three-dimensional space. Optionally, the three-dimensional position coordinates may include longitude, latitude, and altitude; the three-dimensional position coordinates may also be coordinates configured according to the position of the target transmitting node, and are not limited herein. The height may be a distance between a position where the transmitting node broadcasts the positioning signal and a reference plane, for example, a distance between a position where the transmitting node broadcasts the positioning signal and the ground. The positioning parameter refers to a parameter for positioning a receiving node. In this embodiment, the positioning parameters include second distance information and relative direction between every two target transmitting nodes. The second distance information refers to the distance between two target transmitting nodes in three-dimensional space. Relative direction refers to the direction between every two target transmitting nodes. Since the three-dimensional position coordinates of each transmitting node are known, the second distance information and the relative direction of each two target transmitting nodes can be determined by using a mathematical formula and the like according to the three-dimensional position coordinates of each target transmitting node, and the manner how to calculate the second distance information and the relative direction is not limited here.

And 520, performing three-dimensional positioning on the receiving node according to the second distance information, the relative direction and the broadcasting direction corresponding to each target transmitting node.

In this step, the second distance information, the relative direction and the broadcast direction corresponding to each target transmitting node are used as known conditions, and the three-dimensional position information of the receiving node is obtained by establishing a three-dimensional coordinate system and utilizing a mathematical vector, so that the three-dimensional positioning of the receiving node is realized.

It should be noted that, the manner of screening out at least one target node group from the plurality of transmitting nodes according to the broadcasting direction may include:

and determining coplanarity information of any three transmitting nodes and receiving nodes according to the broadcasting direction, and representing the three corresponding transmitting nodes as a group of target node groups when the coplanarity information is not coplanar.

In this embodiment, the coplanarity information refers to information that characterizes whether three transmitting nodes and receiving nodes are coplanar at the same time, and the coplanarity information at least includes coplanarity and non-coplanarity. Because the receiving node needs to be positioned in three dimensions, three transmitting nodes which are not coplanar with the receiving node at the same time need to be positioned, and the coplanar information is characterized in that the three transmitting nodes corresponding to the non-coplanarity are used as a group of target node groups.

Referring to fig. 6, fig. 6 is a schematic diagram illustrating three-dimensional positioning of a receiving node 120 by three transmitting nodes 110 according to an embodiment. In fig. 6, point m, point n, and point l are three target transmitting nodes 110, and point O is a receiving node 120. Wherein m is₃Broadcasting the corresponding target-locating signal's broadcast direction, n, for point m₃Broadcasting the corresponding target-locating-signal broadcasting direction, l, for point n₃The broadcast direction of the corresponding target-locating signal is broadcast for point l. And determining second distance information and relative direction between the point m and the point n by using the mathematical vector according to the three-dimensional position coordinates of the point m and the point n, namely obtaining the mathematical vector between the point m and the point n. Similarly, a mathematical vector between point m and point l, and a mathematical vector between point n and point l may be determined. According to the mathematical vector between the point m and the point n, the mathematical vector between the point m and the point l, and the broadcasting direction m corresponding to the point m₃Point, pointn corresponding to the broadcast direction n₃Broadcast direction l corresponding to point l₃Three-dimensional position information of the receiving node 120 is determined.

Referring to fig. 7, fig. 7 is a flowchart illustrating a refinement of step 230 in fig. 1 according to an embodiment. The embodiment is suitable for the condition that the target node group is a plurality of groups. In one embodiment, the target node groups are at least two groups, and the step 230 of locating the receiving node according to the location information of each target transmitting node in each group and the broadcasting direction corresponding to each target transmitting node includes:

and 710, positioning the receiving nodes according to the position information of each target transmitting node of each group and the broadcasting direction corresponding to each target transmitting node, and determining candidate position information corresponding to each group.

The candidate position information refers to position information of receiving nodes determined by each group of target nodes. In this step, each group of target node groups is located, and candidate position information corresponding to each group is obtained. For how each target node group obtains corresponding candidate location information, reference may be made to the description of any of the above embodiments, which is not limited in this embodiment.

And 720, performing smoothing processing on the candidate position information corresponding to each group to obtain the position information of the receiving node.

The smoothing processing refers to a processing procedure of performing smoothing calculation by combining each group of corresponding candidate position information to obtain the position information of the receiving node. In this embodiment, specifically, the smoothing process may use an algorithm to fit the candidate position information corresponding to each group, for example, after determining the candidate position information corresponding to each group, weighting the candidate position information corresponding to each group by using RSSI (or other parameters) as a weighting coefficient, so as to obtain the position information of the receiving node.

Illustratively, when the target node groups are two groups, two positioning points are determined according to the candidate position information corresponding to each group, the two positioning points are connected, and the intermediate point is taken as the position information of the receiving node. And when the target node group is more than two groups and carries out two-dimensional positioning, making a circle through the positioning point corresponding to each group, and taking the circle center as the position information of the receiving node. And when the target node group is more than two groups and carries out three-dimensional positioning, making a ball through the positioning point corresponding to each group, and taking the center of the ball as the position information of the receiving node.

It is to be understood that the smoothing processing manner is not limited to the manner mentioned in the above embodiment, as long as the manner of obtaining the location information of the receiving node by performing smoothing calculation in combination with each set of corresponding candidate location information can be implemented.

In this embodiment, when the target node groups are multiple groups, the candidate location information corresponding to each group is determined, and then the candidate location information corresponding to each group is smoothed to obtain the location information of the receiving node.

In an embodiment, another positioning method is provided, and the positioning method of this embodiment is described by taking the example of the positioning method running on the transmitting node in fig. 1. In one embodiment, a positioning method comprises:

broadcasting positioning signals to a plurality of directions, wherein the positioning signals carry characteristic information, and the positioning signals in different directions carry different characteristic information so as to indicate receiving nodes receiving the positioning signals to carry out positioning.

In this step, the transmitting node broadcasts the positioning signals to multiple directions, and the receiving node can perform positioning according to the positioning signals broadcast by the multiple transmitting nodes respectively. In this embodiment, as to how the receiving node performs positioning according to the positioning signals respectively broadcast by the plurality of transmitting nodes, reference may be made to the description of any of the above embodiments, which is not limited in this embodiment.

Referring to fig. 8, fig. 8 is a schematic flowchart of another positioning method according to an embodiment. The positioning method of the present embodiment is described by taking the example of the positioning method running on the transmitting node in fig. 1 as an example, and the present embodiment is suitable for determining the position information of the receiving node on the transmitting node side. As shown in fig. 8, in one embodiment, the positioning method includes steps 810 to 830:

step 810, broadcasting positioning signals to multiple directions, wherein the positioning signals carry characteristic information, the characteristic information carried by the positioning signals in different directions is different, so as to indicate a receiving node receiving the positioning signals to feed back a characteristic information set, the characteristic information set comprises characteristic information corresponding to a target positioning signal broadcast by each transmitting node, the characteristic information set obtains the positioning signals respectively broadcast by the multiple transmitting nodes through the receiving node, and extracts and combines the characteristic information carried by the target positioning signal broadcast by each transmitting node.

In this step, the transmitting node broadcasts the positioning signals to a plurality of broadcasting directions, and then the receiving node that receives the positioning signals generates a feature information set according to the obtained positioning signals respectively broadcast by the plurality of transmitting nodes, and feeds back the feature information set to the transmitting node, and the transmitting node positions the receiving node according to the feature information set.

And 820, receiving the characteristic information set fed back by the receiving node, and screening at least one group of target node groups from the plurality of transmitting nodes according to the broadcasting direction, wherein each group of target node groups comprises at least two target transmitting nodes.

In this step, a feature information set fed back by the receiving node is obtained, so that the receiving node is positioned by the feature information set. In this embodiment, as to how to screen out the target node group, reference may be made to a processing procedure of the receiving node in any of the above embodiments, which is not described in detail in this embodiment.

And 830, positioning the receiving node according to the position information of each target transmitting node of each group and the broadcasting direction corresponding to each target transmitting node.

In this embodiment, as for how the transmitting node locates the receiving node, reference may be made to the processing procedure of the receiving node in any of the above embodiments, which is not described in detail in this embodiment.

It should be understood that although the steps in the flowcharts of fig. 2, 3, 5, 7 and 8 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 2, 3, 5, 7 and 8 may include multiple sub-steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of performing the sub-steps or stages is not necessarily sequential, but may be performed alternately or alternatingly with other steps or at least some of the sub-steps or stages of other steps.

Referring to fig. 9, fig. 9 is a block diagram of a positioning apparatus according to an embodiment. The positioning apparatus of the present embodiment is described by taking the example of operating on the receiving node in fig. 1. As shown in fig. 9, the positioning apparatus includes a receiving module 910, a screening module 920, and a positioning module 930, wherein:

a receiving module 910, configured to obtain target positioning signals respectively broadcast by multiple transmitting nodes, and extract feature information carried by the target positioning signal broadcast by each transmitting node, where the target feature information is used to refer to a broadcast direction in which the transmitting node broadcasts the target positioning signal;

a screening module 920, configured to screen at least one group of target node groups from the multiple transmitting nodes according to the broadcast direction, where each group of target node groups includes at least two target transmitting nodes;

a positioning module 930, configured to position the receiving node according to the position information of each target transmitting node in each group and the broadcast direction corresponding to each target transmitting node.

In one embodiment, the apparatus further comprises:

and the acquisition module is used for acquiring the mapping relation between the characteristic information associated with each transmitting node and the broadcasting direction.

And the broadcast direction determining module is used for determining the broadcast direction of each transmitting node for broadcasting the target positioning signal according to the characteristic information and the mapping relation.

In one embodiment, the characteristic information includes at least one of frequency information, coding information and time slot information, and the value of the characteristic information is linearly related to the corresponding angle difference of the broadcasting direction.

In one embodiment, each set of target nodes includes two target transmitting nodes, the location information includes two-dimensional location coordinates, and the positioning module 930 includes:

the first determining unit is used for determining first distance information between two target transmitting nodes of each group according to the two-dimensional position coordinates;

and the first positioning unit is used for carrying out two-dimensional positioning on the receiving node according to the broadcasting direction corresponding to each target transmitting node of each group and the first distance information.

In one embodiment, the first positioning unit is specifically configured to use a connection line between two target transmission nodes as a target reference line, and determine a target reference direction mapped by the target reference line;

In one embodiment, each set of target nodes includes three target transmitting nodes, the position information includes three-dimensional position coordinates, and the positioning module 930 includes:

the second determining unit is used for determining positioning parameters according to the three-dimensional position coordinates, wherein the positioning parameters comprise second distance information and relative directions between every two target transmitting nodes;

and the second positioning unit is used for carrying out three-dimensional positioning on the receiving node according to the second distance information, the relative direction and the broadcasting direction corresponding to each target transmitting node.

In one embodiment, the target node groups are at least two groups, and the location module 930 includes:

the positioning unit is used for positioning the receiving nodes according to the position information of each target transmitting node in each group and the broadcasting direction corresponding to each target transmitting node, and determining candidate position information corresponding to each group;

and the smoothing unit is used for smoothing the candidate position information corresponding to each group to obtain the position information of the receiving node.

In one embodiment, the screening module 920 is specifically configured to determine collinear information between any two of the plurality of transmitting nodes and the receiving node according to the broadcast direction, and use two corresponding transmitting nodes when the collinear information is characterized as being non-collinear as a set of target node groups; or the like, or, alternatively,

In one embodiment, the receiving module 910 is further configured to determine a signal strength value corresponding to each positioning signal when the number of the positioning signals is multiple, and use the positioning signal with the largest signal strength value as the target positioning signal broadcast by each transmitting node.

In an embodiment, another positioning apparatus is further provided, and the positioning apparatus of this embodiment is described by taking the transmitting node operating in 1 as an example. In this embodiment, the positioning device includes:

the broadcast module is used for broadcasting positioning signals to a plurality of directions, the positioning signals carry characteristic information, and the positioning signals in different directions carry different characteristic information so as to indicate receiving nodes receiving the positioning signals to carry out positioning. In this embodiment, as to how the receiving node performs positioning according to the positioning signals respectively broadcast by the plurality of transmitting nodes, reference may be made to the description of any of the above embodiments, which is not limited in this embodiment.

Referring to fig. 10, fig. 10 is a block diagram of another positioning apparatus according to an embodiment. The positioning apparatus of the present embodiment is described by taking the example of operating on the transmitting node in fig. 1 as an example, and the present embodiment is suitable for determining the position information of the receiving node on the transmitting node side. As shown in fig. 10, in one embodiment, the positioning apparatus includes a broadcasting module 1010, a screening module 1020, and a positioning module 1030, wherein:

a broadcasting module 1010, configured to broadcast positioning signals to multiple directions, where the positioning signals carry characteristic information, and the characteristic information carried by the positioning signals in different directions is different, so as to indicate a receiving node that receives the positioning signals to feed back a characteristic information set, where the characteristic information set includes characteristic information corresponding to a target positioning signal broadcast by each transmitting node, and the characteristic information set is formed by acquiring, by the receiving node, positioning signals respectively broadcast by multiple transmitting nodes and extracting and combining the characteristic information carried by the target positioning signal broadcast by each transmitting node;

a screening module 1020, configured to receive the feature information set fed back by the receiving node, and screen at least one group of target node groups from the multiple transmitting nodes according to the broadcast direction, where each group of target node groups includes at least two target transmitting nodes;

a positioning module 1030, configured to position the receiving node according to the location information of each target transmitting node in each group and a broadcast direction corresponding to each target transmitting node.

In this embodiment, as for how the transmitting node locates the receiving node, reference may be made to the locating device applied to the receiving node in any of the above embodiments, which is not described in detail in this embodiment.

The division of the modules in the positioning apparatus is merely for illustration, and in other embodiments, the positioning apparatus may be divided into different modules as needed to complete all or part of the functions of the positioning apparatus.

For the specific definition of the positioning device, reference may be made to the above definition of the positioning method, which is not described herein again. The modules in the positioning device can be wholly or partially implemented by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.

In one embodiment, there is also provided a positioning system comprising a plurality of transmitting nodes and receiving nodes, wherein:

each transmitting node is used for broadcasting positioning signals to a plurality of directions, the positioning signals carry characteristic information, and the characteristic information carried by the positioning signals in different directions is different.

The receiving node is used for acquiring target positioning signals respectively broadcast by a plurality of transmitting nodes and extracting characteristic information carried by the target positioning signals broadcast by each transmitting node, wherein the target characteristic information is used for indicating the broadcasting direction of the target positioning signals broadcast by the transmitting nodes;

It is to be understood that, for the processing procedure of screening out at least one group of target nodes from the plurality of transmitting nodes according to the broadcast direction and locating the receiving node according to the position information of each target transmitting node of each group and the broadcast direction corresponding to each target transmitting node, may also be executed by the transmitting node, and reference may be made to the description of any of the above embodiments.

Fig. 11 is a schematic diagram of an internal structure of a receiving node in one embodiment. As shown in fig. 11, the receiving node includes a processor and a memory connected by a system bus. Wherein the processor is configured to provide computational and control capabilities to support the operation of the entire receiving node. The memory may include a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The computer program can be executed by a processor for implementing a positioning method provided in the following embodiments. The internal memory provides a cached execution environment for the operating system computer programs in the non-volatile storage medium. The electronic device may be any terminal device such as a mobile phone, a tablet computer, a PDA (Personal Digital Assistant), a Point of Sales (POS), a vehicle-mounted computer, and a wearable device.

The implementation of each module in the positioning apparatus provided in the embodiments of the present application may be in the form of a computer program. The computer program may be run on a receiving node or a transmitting node. The computer program may constitute program modules that may be stored on the memory of the receiving node or the transmitting node. Which when executed by a processor, performs the steps of the method described in the embodiments of the present application.

The embodiment of the application also provides a computer readable storage medium. One or more non-transitory computer-readable storage media containing computer-executable instructions that, when executed by one or more processors, cause the processors to perform the steps of the positioning method.

A computer program product comprising instructions which, when run on a computer, cause the computer to perform a positioning method.

Any reference to memory, storage, database, or other medium used herein may include non-volatile and/or volatile memory. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM), which acts as external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms, such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), Enhanced SDRAM (ESDRAM), synchronous Link (Synchlink) DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and bus dynamic RAM (RDRAM).

The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. A positioning method applied to a receiving node, the method comprising:

2. The method of claim 1, wherein the method further comprises:

3. The positioning method according to claim 2, wherein the characteristic information includes at least one of frequency information, coding information and time slot information, and the value of the characteristic information is linearly related to the angular difference corresponding to the broadcasting direction.

4. The method of claim 1, wherein each group of target nodes comprises two target transmitting nodes, the location information comprises two-dimensional location coordinates, and the positioning the receiving node according to the location information of each target transmitting node of each group and the broadcasting direction corresponding to each target transmitting node comprises:

determining first distance information between two target transmitting nodes of each group according to the two-dimensional position coordinates;

and carrying out two-dimensional positioning on the receiving nodes according to the broadcasting direction corresponding to each target transmitting node of each group and the first distance information.

5. The method according to claim 4, wherein said two-dimensionally locating the receiving node according to the broadcast direction corresponding to each target transmitting node of each group and the first distance information comprises:

6. The method of claim 1, wherein each group of target nodes comprises three target transmitting nodes, the position information comprises three-dimensional position coordinates, and the positioning the receiving node according to the position information of each target transmitting node of each group and the broadcasting direction corresponding to each target transmitting node comprises:

determining positioning parameters according to the three-dimensional position coordinates, wherein the positioning parameters comprise second distance information and relative directions between every two target transmitting nodes;

and carrying out three-dimensional positioning on the receiving node according to the second distance information, the relative direction and the broadcasting direction corresponding to each target transmitting node.

7. The method as claimed in claim 1, wherein the target node groups are at least two groups, and said positioning the receiving node according to the location information of each target transmitting node in each group and the broadcast direction corresponding to each target transmitting node comprises:

positioning the receiving nodes according to the position information of each target transmitting node of each group and the broadcasting direction corresponding to each target transmitting node, and determining candidate position information corresponding to each group;

and smoothing the candidate position information corresponding to each group to obtain the position information of the receiving node.

8. The method of claim 1, wherein said screening at least one target node group from said plurality of transmitting nodes according to said broadcast direction comprises:

determining collinear information of any two transmitting nodes and a receiving node according to the broadcasting direction, and representing the collinear information as two corresponding transmitting nodes as a group of target node groups when the collinear information is not collinear; or the like, or, alternatively,

9. The method of any one of claims 1-8, wherein the method further comprises:

and when the number of the positioning signals is multiple, determining a signal strength value corresponding to each positioning signal, and using the positioning signal with the maximum signal strength value as a target positioning signal broadcasted by each transmitting node.

10. A positioning method applied to a transmitting node, the method comprising:

11. A positioning method applied to a transmitting node, the method comprising:

12. A positioning apparatus, applied to a receiving node, the apparatus comprising:

13. A positioning apparatus, applied to a transmitting node, the apparatus comprising:

14. A positioning apparatus, applied to a transmitting node, the apparatus comprising:

15. A positioning system, comprising:

16. A receiving node comprising a memory and a processor, the memory storing a computer program, characterized in that the processor realizes the steps of the method of any of claims 1 to 9 when executing the computer program.

17. A transmitting node comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, realizes the steps of the method of claim 10 or 11.

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 according to any one of claims 1-11.