CN112311482B

CN112311482B - Positioning method, device, system, receiving node, transmitting node and storage medium

Info

Publication number: CN112311482B
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: 2023-06-09
Anticipated expiration: 2040-11-26
Also published as: CN112311482A

Abstract

The application relates to a positioning method, a positioning device, a positioning system, a receiving node, a transmitting node and a storage medium. The positioning method comprises the following steps: acquiring positioning signals respectively broadcasted by a plurality of transmitting nodes, and extracting characteristic information carried by target positioning signals broadcasted by each transmitting node, wherein the characteristic information is used for representing the broadcasting direction of the target positioning signals broadcasted by the transmitting nodes; 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 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 positioning method can improve the positioning accuracy.

Description

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

Technical Field

The present disclosure 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, the positioning is mainly performed by a received signal strength indicator (Received Signal Strength Indication, RSSI). The RSSI positioning refers to transmitting positioning signals to a terminal through three base stations which are not collinear with each other, analyzing the positioning signals to obtain RSSI values of the positioning signals when the terminal receives the positioning signals, determining straight line distances between the terminal and the three base stations according to the RSSI values, and using the straight line distances between the terminal and the three base stations as radiuses to make circles, wherein points where the three circles intersect are the position information of the terminal.

However, the positioning error is large by the manner in which the positioning is performed by the RSSI.

Disclosure of Invention

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

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

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

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 node 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 characteristic information carried by the positioning signals in different directions is different, so as to indicate a receiving node which receives the positioning signals to position, and the positioning mode of the receiving node comprises the following steps:

Acquiring target positioning signals respectively broadcasted by a plurality of transmitting nodes, and extracting characteristic information carried by the target positioning signals broadcasted by each transmitting node, wherein the target characteristic information is used for referring to the broadcasting direction of the target positioning signals broadcasted by the transmitting nodes;

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

broadcasting positioning signals in multiple directions, wherein the positioning signals carry characteristic information, the characteristic information carried by the positioning signals in different directions is different 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 target positioning signals broadcast by each transmitting node, the characteristic information set acquires positioning signals respectively broadcast by multiple transmitting nodes through the receiving node, and extracts the characteristic information carried by the target positioning signals broadcast by each transmitting node to be combined;

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 for use with a receiving node, the apparatus comprising:

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

the screening module is used for screening at least one group of target node groups from the plurality of transmitting nodes according to the broadcasting direction, and each group of target node groups comprises 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 of each group and the broadcasting direction corresponding to each target transmitting node.

A positioning apparatus for use with a transmitting node, the apparatus comprising:

The broadcasting 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 which receives the positioning signals to position, and the positioning mode of the receiving node comprises the following steps:

the broadcasting module is used for broadcasting positioning signals in multiple directions, the positioning signals carry characteristic information, the characteristic information carried by the positioning signals in different directions is different, so that a receiving node receiving the positioning signals is indicated to feed back a characteristic information set, the characteristic information set comprises characteristic information corresponding to target positioning signals broadcast by each transmitting node, the characteristic information set acquires the positioning signals respectively broadcast by a plurality of transmitting nodes through the receiving node, and the characteristic information carried by the target positioning signals broadcast by each transmitting node is extracted and combined;

The screening module is used for receiving the characteristic information set fed back by the receiving 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;

A positioning system, comprising:

each transmitting node is used for broadcasting positioning signals in multiple directions, the positioning signals carry characteristic information, and the positioning signals in different directions carry different characteristic information;

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 referring to 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 broadcast direction, where each group of target node groups includes at least two target transmitting nodes, and position 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.

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

A computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the method described above.

According to the positioning method, the device, the system, the receiving node, the transmitting node and the storage medium, after the positioning signals are respectively broadcast by the plurality of nodes, the receiving node acquires the positioning signals, extracts the characteristic information carried by the positioning signals, and screens out the target node groups from the plurality of transmitting node groups according to the broadcasting directions represented by the characteristic information, so that the receiving node is positioned according to the position information of each target transmitting node of each group and the broadcasting directions corresponding to each target transmitting node.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1A is a schematic diagram of an application environment of a positioning method in one embodiment;

FIG. 1B is a block diagram of a transmitting node according to one embodiment;

FIG. 2 is a flow chart of a positioning method according to an embodiment;

FIG. 3 is a detailed flow chart of step 230 of FIG. 1, provided by one embodiment;

FIG. 4A is a schematic diagram of two transmitting nodes for two-dimensional positioning of a receiving node according to one embodiment;

FIG. 4B is a schematic diagram of two transmitting nodes for two-dimensional positioning of a receiving node according to another embodiment;

FIG. 5 is another detailed flow chart of step 230 of FIG. 1 provided by one embodiment;

FIG. 6 is a schematic diagram of three transmitting nodes for three-dimensional positioning of a receiving node according to one embodiment;

FIG. 7 is a detailed flow chart of step 230 of FIG. 1, according to one embodiment;

FIG. 8 is a flow chart of another positioning method according to an embodiment;

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

FIG. 10 is a block diagram of another positioning device according to one embodiment;

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 will be further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.

It will be understood that the terms "first," "second," and the like, as used herein, may be used to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish one element from another element. 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 the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, the meaning of "plurality" is at least two, such as two, three, etc., unless explicitly defined otherwise. In the description of the present application, the meaning of "several" means at least one, such as one, two, etc., unless explicitly defined otherwise.

Referring to fig. 1A, fig. 1A is a schematic view of an application environment of a positioning method in one 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 positioning signals in a plurality of directions, wherein the positioning signals carry characteristic information, and the positioning signals in different directions carry different characteristic information. The receiving node 120 performs positioning according to the positioning signals respectively broadcast by the plurality of 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 may 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 illustrating a structure of a transmitting node according to one 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 transmit paths, respectively corresponding to an adjustable matching network 114 and an antenna 115. Wherein the antennas on the plurality of transmit paths are arranged in different directions. The adjustable matching network is used for modulating characteristic information corresponding to the antenna setting direction. The transmitting node firstly correlates the broadcasting directions with the characteristic information one by one, and modulates the characteristic information corresponding to the broadcasting directions 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 flow chart of a positioning method according to an embodiment. The positioning method in the embodiment of the present application is described by taking 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 broadcasted by a plurality of transmitting nodes, and extracting feature information carried by a target positioning signal broadcasted by each transmitting node, wherein the feature information is used for representing a broadcasting direction of the target positioning signal broadcasted by the transmitting node.

The positioning signal refers to a signal which is broadcast by a transmitting node and contains characteristic information. The target positioning signal refers to a positioning signal that is ultimately 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 signals broadcast by each transmitting node along different directions is different, and the receiving node can only receive the positioning signals broadcast by each transmitting node towards one direction, so that the broadcasting direction of the target positioning signals broadcast by the transmitting node can be determined by extracting the characteristic information carried by the target positioning signals, 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 after the positioning signal is obtained, the source of the positioning signal may be determined.

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

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

Step 220, at least one target node group is selected from the plurality of transmitting nodes according to the broadcasting direction, and each target node group includes 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, meaning 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, which is not limited herein. In this embodiment, the target node groups are one or more groups. The more target node groups, the more accurate the positioning, but the higher the computational effort required, the more target node groups can be selected as needed for positioning, and the more target node groups can be positioned as needed.

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.

Wherein the location information refers to information characterizing the location of the transmitting node. Specifically, the location information of the target transmitting node can be determined according to the device identifier by the device 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.

According to the positioning method, after the plurality of nodes respectively broadcast positioning signals, the receiving node acquires the positioning signals, extracts characteristic information carried by the positioning signals, and screens out target node groups from the plurality of transmitting node groups according to the broadcasting directions represented by the characteristic information, so that the receiving node is positioned according to the position information of each target transmitting node of each group and the broadcasting directions corresponding to each target transmitting node.

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

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

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

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

In one embodiment, the values of the characteristic information are linearly related to the corresponding angle differences in the broadcast direction. In this embodiment, characteristic information is described as frequency information. Illustratively, the transmitting node writes frequency information corresponding to each direction into the positioning signal and then broadcasts it out through the transceiver, the radio frequency front end. Wherein, the relation between the broadcasting direction and the frequency information is as follows:

θ＝k°，f＝f ₀ +ak；

wherein θ represents a broadcasting direction, k is an anticlockwise angle difference (k is more than or equal to 0 and less than 360) between the direction and a reference direction, f is the frequency carried by a positioning signal, f0 is the initial frequency transmitted along the reference direction, and a is the frequency interval between two adjacent directions, and then the angle difference between the broadcasting direction of a transmitting node and the reference direction can be determined according to the size of frequency information by a receiving node, so that the broadcasting direction is 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 embodiment, 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 two-dimensional location coordinates, so that two-dimensional positioning of the receiving node may be implemented; the location information may also include three-dimensional location coordinates, and thus may enable three-dimensional positioning of the receiving node, which is not limited herein.

Referring to fig. 3, fig. 3 is a detailed flow chart of step 230 of fig. 1 according to one embodiment. The embodiment is suitable for a scene of realizing two-dimensional positioning on the receiving node. In this embodiment, each target node group includes two target transmitting nodes, 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 in each group and the broadcasting direction corresponding to each target transmitting node includes:

step 310, determining first distance information between 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 the location of the target transmitting node, which is not limited herein. The first distance information refers to the distance of two target transmitting nodes of each group in two-dimensional space. Specifically, the first distance information may be determined by using a mathematical theorem according to the two-dimensional position coordinates of each target transmitting node, and the manner how to calculate the first distance information is not limited herein.

Step 320, two-dimensional positioning is performed 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 broadcasting direction and the first distance information corresponding to each target transmitting node in each group, the two-dimensional positioning can be performed on the receiving node by using the mathematical theorem, so as to obtain the position information of the receiving node in the two-dimensional space.

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

and determining the colinear information of any two of the plurality of transmitting nodes and the receiving node according to the broadcasting direction, and taking the corresponding two transmitting nodes as a group of target nodes when the colinear information is characterized as non-colinear.

In this embodiment, the collineation information is information that characterizes whether two transmitting nodes and receiving nodes are simultaneously collineation, and the collineation information includes at least two kinds of collineation and non-collineation. Because two-dimensional positioning is required for the receiving node, two transmitting nodes which are not collinear with the receiving node at the same time are required to be positioned, and the corresponding two transmitting nodes when the collinear information is characterized as being not collinear are used as a group of target nodes.

In one embodiment, the two-dimensional positioning of the receiving nodes is performed by using the target node group as a group, and in one embodiment, step 320 of two-dimensional positioning of the receiving nodes according to the broadcasting direction corresponding to each target transmitting node of each group and the first distance information includes:

taking a connecting line between two target transmitting nodes as a target datum line, and determining a target datum direction mapped by the target datum line;

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 the 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 taken as the origin of the target reference direction, so that the target angle information of each target transmitting node and the receiving node in the reference two-dimensional coordinate system is determined. The reference two-dimensional coordinate system refers to a coordinate system for determining target angle information between a transmitting node and a 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 a schematic diagram illustrating two transmitting nodes 110 performing two-dimensional positioning of a receiving node 120 according to one embodiment. In fig. 4A, point n and point m are the target transmitting node 110 and point O is the receiving node 120. Wherein m is ₁ Broadcasting the corresponding target positioning signal for point m, n ₂ The broadcast direction of the corresponding target positioning signal is broadcast for point n. The point m can be used as the origin of the reference two-dimensional coordinate system, the connecting line between the point m and the point n is used as the X axis, and the direction of the point m-n is used as the positive direction of the X axis to establish the reference two-dimensional coordinate reference system. Assuming that the reference direction of the broadcast positioning signal of point m and point n is the direction of m- & gt n, the broadcast direction corresponding to point m is theta ₁ The broadcasting direction corresponding to the point n is theta ₂ Then the target angle information corresponding to point m is omn =θ ₁ Target angle information corresponding to point n is onm =180-theta ₂ And then 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 side angle theorem, so that accurate positioning is realized.

Referring to FIG. 4B, FIG. 4B provides for one embodimentIs a schematic diagram of two-dimensional positioning of the receiving node 120 by the other two transmitting nodes 110. In fig. 4B, point n and point m are the target transmitting node 110 and point O is the receiving node 120. Wherein m is ₁ Broadcasting the corresponding target positioning signal for point m, n ₂ The broadcast direction of the corresponding target positioning signal is broadcast for point n. The point m can be used as the origin of the reference two-dimensional coordinate system, the connecting line between the point m and the point n is used as the X axis, and the direction of the point m-n is used as the positive direction of the X axis to establish the reference two-dimensional coordinate reference system. Assuming that the reference direction of the broadcast positioning signal of point m and point n is the direction of m- & gt n, the broadcast direction corresponding to point m is theta ₁ The broadcasting direction corresponding to the point n is theta ₂ Then the target angle information corresponding to the point m is omn =360-theta ₁ Target angle information corresponding to point n + onm =θ ₂ -180 °, and the position information of point o can be determined by the angular edge angle theorem based on the first distance information X between point m and point n.

It should be understood that the above manner of determining the two-dimensional position information of the receiving node using the corner rule is merely an example, and the two-dimensional position information of the receiving node may be determined by the target angle information and the first distance information corresponding to each target transmitting node, which is not limited herein.

Referring to fig. 5, fig. 5 is another detailed flow chart of step 230 of fig. 1 provided by an embodiment. The embodiment is suitable for a scene of realizing three-dimensional positioning of the receiving node. In this embodiment, a group of target node groups is taken as a group, each group of target node groups includes three target transmitting nodes, and the position information includes three-dimensional position coordinates. As shown in fig. 5, step 230 of locating 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 includes:

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. Alternatively, 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, which is not limited herein. The altitude may be a distance between a location where the transmitting node broadcasts the positioning signal and the reference surface, for example, a distance between a location where the transmitting node broadcasts the positioning signal and the ground. The positioning parameter refers to a parameter for positioning the receiving node. In this embodiment, the positioning parameters include second distance information and relative directions between every two target transmitting nodes. The second distance information refers to the distance of the two target transmitting nodes in three-dimensional space. The 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 or 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 step 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 the step, the second distance information, the relative direction and the broadcasting 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 mathematical vectors, so that the three-dimensional positioning of the receiving node is realized.

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

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

In this embodiment, the coplanarity information is information indicating whether three transmitting nodes and receiving nodes are coplanar at the same time, and the coplanarity information includes at least two kinds of 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 three transmitting nodes which are corresponding to the coplanar information are characterized as a group of target nodes.

Referring to fig. 6, fig. 6 is a schematic diagram illustrating three transmitting nodes 110 performing three-dimensional positioning of a receiving node 120 according to one 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 is ₃ Broadcasting the corresponding target positioning signal for point m, n ₃ Broadcasting the corresponding broadcasting direction of the target positioning signal for the point n, l ₃ The broadcast direction of the corresponding target positioning signal is broadcast for the 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, thereby obtaining the mathematical vector between the point m and the point n. Similarly, the mathematical vector between point m and point l, and the mathematical vector between point n and point l, can be determined. Based on the mathematical vector between point m and point n, the mathematical vector between m and point l, and the mathematical vector between point m and point l, and the broadcasting direction m corresponding to point m ₃ Broadcast direction n corresponding to point n ₃ Broadcast direction l corresponding to point l ₃ Three-dimensional location information of the receiving node 120 is determined.

Referring to fig. 7, fig. 7 is a detailed flow chart of step 230 of fig. 1 according to one embodiment. The embodiment is suitable for the situation that the target node groups are multiple groups. In one embodiment, the target node groups are at least two, and step 230 of locating 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 includes:

Step 710, 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, and determining the candidate position information corresponding to each group.

The candidate location information refers to location information of the receiving node determined by each target node group. In the step, each group of target node groups is positioned respectively to obtain candidate position information corresponding to each group. Reference may be made to the description of any of the above embodiments for how each target node group obtains the corresponding candidate location information, which is not limited.

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 process refers to a process of performing smoothing calculation in combination with each group of corresponding candidate position information to obtain position information of the receiving node. In this embodiment, specifically, the smoothing process may use an algorithm to fit each set of candidate location information, for example, after determining each set of candidate location information, weighting the candidate location information corresponding to each set by using RSSI (other parameters may also be used) as a weighting coefficient, to obtain location information of the receiving node.

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 middle point is taken as the position information of the receiving node. When the target node group is larger than two groups and performs two-dimensional positioning, a circle is formed through positioning points corresponding to each group, and the circle center is used as the position information of the receiving node. When the target node group is larger than two groups and three-dimensional positioning is performed, the ball is formed through positioning points corresponding to each group, and the center of the ball is used as the position information of the receiving node.

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

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

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

and broadcasting positioning signals in a plurality of directions, wherein 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 receiving the positioning signals to position.

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

Referring to fig. 8, fig. 8 is a flow chart of another positioning method according to an embodiment. The positioning method of the present embodiment is described by taking the transmitting node in fig. 1 as an example, and the present embodiment is applicable to determining the location information of the receiving node at 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 in 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 positioning signals respectively broadcast by multiple transmitting nodes through the receiving node, and extracts the characteristic information carried by the target positioning signal broadcast by each transmitting node to be combined.

In this step, the transmitting node broadcasts positioning signals to a plurality of broadcasting directions, and then the receiving node receiving the positioning signals generates a characteristic information set according to the acquired positioning signals respectively broadcasted by the plurality of transmitting nodes, and feeds back the characteristic information set to the transmitting node, and the transmitting node locates the receiving node according to the characteristic information set.

Step 820, receiving the feature 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, where each group of target node groups includes at least two target transmitting nodes.

In the step, a characteristic information set fed back by the receiving node is acquired, so that the receiving node is positioned through the characteristic information set. In this embodiment, the method of screening out the target node group may refer to the processing procedure of the receiving node in any of the above embodiments, which is not described in detail in this embodiment.

Step 830, locating 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.

In this embodiment, the manner how the transmitting node locates the receiving node may refer to the processing procedure of the receiving node in any of the foregoing 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, these steps are not necessarily performed in order as indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps of fig. 2, 3, 5, 7 and 8 may include multiple sub-steps or phases that are not necessarily performed at the same time, but may be performed at different times, nor does the order in which the sub-steps or phases are performed necessarily occur in sequence, but may be performed alternately or alternately with at least some of the other steps or other steps.

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

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

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

and a positioning module 930, configured to position 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.

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 broadcasting direction determining module is used for determining the broadcasting direction of each transmitting node 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 angle difference corresponding to the broadcasting direction.

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

a first determining unit configured to determine 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 two-dimensionally positioning the receiving nodes 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 take a line between two target transmitting nodes as a target reference line, and determine a target reference direction mapped by the target reference line;

In one embodiment, each target node group includes three target transmitting nodes, the location information includes three-dimensional location coordinates, and the positioning module 930 includes:

a second determining unit, configured to determine a positioning parameter according to the three-dimensional position coordinate, where the positioning parameter includes second distance information and a relative direction between every two target transmitting nodes;

and the second positioning unit is used for carrying out three-dimensional positioning on the receiving nodes 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 group is at least two groups, and the positioning module 930 includes:

the positioning unit is used for 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, and determining candidate position information corresponding to each group;

and the smoothing unit is used for carrying out smoothing processing on 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 co-linear information between any two of the plurality of transmitting nodes and the receiving node according to the broadcast direction, and characterize the co-linear information as a group of target nodes when the corresponding two transmitting nodes are not co-linear; or alternatively, the first and second heat exchangers may be,

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

In one embodiment, another positioning device is also provided, and the positioning device of this embodiment is described taking the transmitting node running in 1 as an example. In this embodiment, the positioning device includes:

and the broadcasting module is used for broadcasting positioning signals to a plurality of directions, wherein 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 which receives the positioning signals to position. In this embodiment, the manner how the receiving node performs positioning according to the positioning signals broadcast by the plurality of transmitting nodes respectively may refer to the description of any one of the above embodiments, which is not limited.

Referring to fig. 10, fig. 10 is a block diagram illustrating another positioning device according to an embodiment. The positioning device of the present embodiment is described by taking the transmitting node in fig. 1 as an example, and the present embodiment is applicable to determining the location information of the receiving node at 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:

the broadcasting module 1010 is configured to broadcast positioning signals in multiple directions, where the positioning signals carry feature information, the feature 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 feature information set, where the feature information set includes feature information corresponding to a target positioning signal broadcast by each transmitting node, and the feature information set obtains, by the receiving node, positioning signals broadcast by multiple transmitting nodes respectively, and extracts, by the receiving node, feature information carried by the target positioning signal broadcast by each transmitting node, where the feature information is combined;

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 plurality of 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 1030 is configured to position 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.

In this embodiment, the manner how the transmitting node locates the receiving node may refer to the locating device applied to the receiving node in any of the foregoing embodiments, which is not described in detail.

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

For specific limitations of the positioning device, reference may be made to the above limitations of the positioning method, and no further description is given here. The various modules in the positioning device described above may be implemented in whole or in part by software, hardware, and combinations thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above 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 positioning signals in different directions carry different characteristic information.

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

It will be appreciated that, for the process of screening 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 location information of each target transmitting node of each group and the broadcast direction corresponding to each target transmitting node, the transmitting node may also perform the process of locating the receiving node, which may be referred to as 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 computing and control capabilities to support 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 is executable by a processor for implementing a positioning method as provided in the following embodiments. The internal memory provides a cached operating environment for 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 POS (Point of Sales), a car-mounted computer, and a wearable device.

The implementation of each module in the positioning device 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. Program modules of the computer program may be stored in the memory of the receiving node or the transmitting node. Which when executed by a processor, performs the steps of the methods described in the embodiments of the present application.

Embodiments of the present application also provide 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 a 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. The nonvolatile 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 DRAM (SLDRAM), memory bus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

The above examples only represent a few embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the present application. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application is to be determined by the claims appended hereto.

Claims

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

acquiring positioning signals respectively broadcasted by a plurality of transmitting nodes, and extracting characteristic information carried by a target positioning signal broadcasted by each transmitting node, wherein the characteristic information is used for representing the broadcasting direction of the target positioning signal broadcasted by the transmitting node, the characteristic information at least comprises at least one of frequency information, coding information and time slot information, and the numerical value of the characteristic information is linearly related to the angle difference corresponding to the broadcasting direction; the transmitting nodes broadcast positioning signals to a plurality of directions respectively, and the positioning signals in different directions carry different characteristic information;

Acquiring a mapping relation between the characteristic information and the broadcasting direction associated with each transmitting node, and determining the broadcasting direction of each transmitting node broadcasting target positioning signal according to the characteristic information and the mapping relation;

2. The positioning method as set forth in claim 1, wherein each target node group includes two target transmitting nodes, the location information includes two-dimensional location coordinates, and the positioning the receiving nodes according to the location information of each target transmitting node of each group and the broadcasting direction corresponding to each target transmitting node includes:

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 directions corresponding to each target transmitting node of each group and the first distance information.

3. The positioning method as set forth in claim 2, wherein said two-dimensionally positioning the receiving node according to the broadcasting direction corresponding to each target transmitting node of each group and the first distance information, comprises:

4. The positioning method as set forth in claim 1, wherein each target node group includes three target transmitting nodes, the position information includes three-dimensional position coordinates, and the 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 includes:

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 nodes according to the second distance information, the relative direction and the broadcasting direction corresponding to each target transmitting node.

5. The positioning method as set forth in claim 1, wherein the target node groups are at least two, 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 includes:

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, 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.

6. The method of claim 1, wherein said screening at least one set of target nodes from said plurality of transmitting nodes based on said broadcast direction comprises:

determining colinear information of any two of a plurality of transmitting nodes and receiving nodes according to the broadcasting direction, and taking the corresponding two transmitting nodes as a group of target node groups when the colinear information is characterized as non-colinear; or alternatively, the first and second heat exchangers may be,

7. The positioning method according to any one of claims 1-6, wherein the method further comprises:

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

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

acquiring target positioning signals respectively broadcasted by a plurality of transmitting nodes, and extracting characteristic information carried by the target positioning signals broadcasted by each transmitting node, wherein the characteristic information is used for referring to the broadcasting direction of the target positioning signals broadcasted by the transmitting nodes, the characteristic information at least comprises at least one of frequency information, coding information and time slot information, and the numerical value of the characteristic information is linearly related to the angle difference corresponding to the broadcasting direction;

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

broadcasting positioning signals in multiple directions, wherein the positioning signals carry characteristic information, the characteristic information carried by the positioning signals in different directions is different 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 target positioning signals broadcast by each transmitting node, the characteristic information set acquires positioning signals respectively broadcast by multiple transmitting nodes through the receiving node, and extracts the characteristic information carried by the target positioning signals broadcast by each transmitting node to be combined; the characteristic information at least comprises at least one of frequency information, coding information and time slot information, and the numerical value of the characteristic information is linearly related to the angle difference corresponding to the broadcasting direction;

Acquiring a mapping relation between the characteristic information and the broadcasting direction associated with each transmitting node, and determining the broadcasting direction of each transmitting node for broadcasting a target positioning signal according to the characteristic information and the mapping relation;

10. A positioning apparatus for use with a receiving node, the apparatus comprising:

the receiving module is used for acquiring target positioning signals respectively broadcasted by a plurality of transmitting nodes and extracting characteristic information carried by the target positioning signals broadcasted by each transmitting node, wherein the characteristic information is used for indicating the broadcasting direction of the target positioning signals broadcasted by the transmitting nodes; the transmitting nodes broadcast positioning signals to a plurality of directions respectively, and the positioning signals in different directions carry different characteristic information; the characteristic information at least comprises at least one of frequency information, coding information and time slot information, and the numerical value of the characteristic information is linearly related to the angle difference corresponding to the broadcasting direction;

The screening module is used for acquiring the mapping relation between the characteristic information and the broadcasting direction associated with each transmitting node, and determining the broadcasting direction of each transmitting node broadcasting target positioning signal according to the characteristic information and the mapping relation; 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;

11. A positioning apparatus for use with a transmitting node, the apparatus comprising:

12. A positioning apparatus for use with a transmitting node, the apparatus comprising:

the broadcasting module is used for broadcasting positioning signals in multiple directions, the positioning signals carry characteristic information, the characteristic information carried by the positioning signals in different directions is different, so that a receiving node receiving the positioning signals is indicated to feed back a characteristic information set, the characteristic information set comprises characteristic information corresponding to target positioning signals broadcast by each transmitting node, the characteristic information set acquires the positioning signals respectively broadcast by a plurality of transmitting nodes through the receiving node, and the characteristic information carried by the target positioning signals broadcast by each transmitting node is extracted and combined; the characteristic information at least comprises at least one of frequency information, coding information and time slot information, and the numerical value of the characteristic information is linearly related to the angle difference corresponding to the broadcasting direction;

The screening module is used for acquiring the mapping relation between the characteristic information and the broadcasting direction associated with each transmitting node, and determining the broadcasting direction of each transmitting node broadcasting target positioning signal according to the characteristic information and the mapping relation; 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;

13. A positioning system, comprising:

the receiving node is used for acquiring target positioning signals respectively broadcasted by a plurality of transmitting nodes and extracting characteristic information carried by the target positioning signals broadcasted by each transmitting node, wherein the characteristic information is used for referring to the broadcasting direction of the target positioning signals broadcasted by the transmitting nodes, the characteristic information at least comprises at least one of frequency information, coding information and time slot information, and the numerical value of the characteristic information is linearly related to the angle difference corresponding to the broadcasting direction;

The receiving node is further configured to obtain a mapping relationship between the feature information and the broadcasting direction associated with each transmitting node, and determine a broadcasting direction of the target positioning signal broadcast by each transmitting node according to the feature information and the mapping relationship; and screening at least one group of target node groups from the plurality of transmitting nodes according to the broadcasting directions, 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 directions corresponding to each target transmitting node.

14. A receiving node comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the method of any of claims 1 to 7 when the computer program is executed.

15. A transmitting node comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the method of claim 8 or 9 when executing the computer program.

16. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1-9.