CN112533129A - High-precision positioning method - Google Patents

High-precision positioning method Download PDF

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CN112533129A
CN112533129A CN201910795544.4A CN201910795544A CN112533129A CN 112533129 A CN112533129 A CN 112533129A CN 201910795544 A CN201910795544 A CN 201910795544A CN 112533129 A CN112533129 A CN 112533129A
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equipment
positioning
factor
position information
determines
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卢敏
贺媛
吴彤
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Beijing Jinkun Innovation Technology Co ltd
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Beijing Jinkun Innovation Technology Co ltd
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management

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Abstract

The invention discloses a high-precision positioning method, which can preferentially use position information and measurement information of second equipment to obtain a positioning result of first equipment by introducing a confidence factor parameter for quantifying position authenticity, and is suitable for instant high-precision positioning application in unknown scenes, including application fields of emergency rescue, reconnaissance detection and the like.

Description

High-precision positioning method
Technical Field
The invention relates to the field of high-precision positioning, in particular to a high-precision positioning method based on confidence coefficient factors.
Background
In outdoor environments, high-precision positioning is mainly realized by a Global Navigation Satellite System (GNSS) and an enhancement system thereof. The indoor environment is complicated and has more shelters, the multipath effect is serious, and the high-precision positioning is realized, so that the method has certain limitation based on a single signal. For example, UWB-based positioning requires advanced accurate deployment of assisting base stations, while inertial navigation-based positioning cannot work alone for too long due to the cumulative effect of errors, and is not suitable for direct use in emergency rescue, reconnaissance detection, and other applications.
For the application scenario, a feasible idea is to temporarily deploy auxiliary base station devices with self-positioning capability on site, acquire the position information of the auxiliary base stations at the same time, and then assist the terminal in positioning by using the position information and the ranging information of the auxiliary base stations. The existing common positioning method based on the wireless ad hoc network/the wireless sensor network is adopted, and a network node is used as an auxiliary base station to realize certain positioning capability by utilizing a communication link while constructing a wireless communication link. However, such positioning methods have 2 disadvantages: firstly, the method mostly adopts a method based on signal strength RSSI to estimate the distance between the network node and the terminal, and can only be applied to occasions with low requirement on positioning accuracy; secondly, how to acquire the network node position is not deeply studied, and most researches assume that the position of the auxiliary base station can be acquired in advance by installing a GPS device or manually configuring, so that the method is only suitable for outdoor scenes or indoor scenes which can be deployed in advance.
On the other hand, when considering how the terminal prefers to select the assisting base station for assisting positioning, the following schemes are mainly included in the prior art: (1) a distance nearest principle; (2) the geometric topology of the secondary base station; (3) the solution error is minimized. However, under the scenes of emergency rescue, reconnaissance detection and the like, the positioning accuracy of the terminal is also affected by the position error of the deployment of the auxiliary base station, which is rarely considered in the existing research.
Disclosure of Invention
The invention discloses a high-precision positioning method, which helps a positioning system to preferentially use position information and measurement information of an auxiliary base station to obtain a positioning result of a terminal by introducing a confidence factor parameter for quantifying the position authenticity of the auxiliary base station, thereby improving the positioning precision of the positioning system in emergency rescue, reconnaissance detection and other scenes.
The embodiment of the invention provides a high-precision method, which comprises the following steps:
the method comprises the steps that a first device receives position information, measurement information and a confidence factor sent by a second device;
and the first equipment determines a positioning result of the first equipment according to the position information, the measurement information and a confidence coefficient factor sent by the second equipment, wherein the confidence coefficient factor is determined by an estimation error of the position information of the second equipment.
Optionally, the determining, by the first device, a positioning result of the first device according to the location information, the measurement information, and the confidence factor sent by the second device includes:
the first device determines the positioning weight of the second device according to the confidence factor of the second device; the first equipment determines a positioning result of the first equipment according to the position information, the measurement information and the positioning weight of the second equipment; alternatively, the first and second electrodes may be,
the first device determines a geometric accuracy factor according to the position information and the measurement information of the second device, wherein the geometric accuracy factor represents the influence of the spatial geometric distribution of the first device and the second device on the positioning accuracy; the first device determines a first set of the second devices according to the confidence factor and/or the geometric precision factor of the second devices; the first equipment determines a positioning result of the first equipment according to the position information and the measurement information of the second equipment in the first set; alternatively, the first and second electrodes may be,
the first device determines a geometric accuracy factor according to the position information and the measurement information of the second device, wherein the geometric accuracy factor represents the influence of the spatial geometric distribution of the first device and the second device on the positioning accuracy; the first device determines a first set of the second devices according to the confidence factor and/or the geometric precision factor of the second devices; the first device determines a positioning weight of the second device according to the confidence factor of the second device in the first set; and the first equipment determines the positioning result of the first equipment according to the position information, the measurement information and the positioning weight of the second equipment in the first set.
Optionally, before the first device receives the location information, the measurement information, and the confidence factor sent by the second device, the method further includes:
determining position information and a deployment level of the second equipment in a layout plan;
the second equipment performs layer-by-layer advanced deployment according to the position information and the deployment hierarchy in the layout plan;
the second device determines the confidence factor in the layer-by-layer advancing deployment.
Optionally, the determining, by the second device, the confidence factor in the layer-by-layer advancing deployment includes:
the second device determines whether to calibrate the confidence factor in the layer-by-layer evolving deployment based on whether to obtain high precision position information.
Optionally, the high-precision method further includes:
the first device acquires a deployment hierarchy of the second device;
the first device determining a second set of the second devices according to a deployment hierarchy of the second devices;
the first device determines a positioning result of the first device according to the position information, the measurement information and the confidence factor of the second device in the second set, and the method includes:
the first device determines a positioning weight of the second device according to the confidence factor of the second device in the second set; the first device determines a positioning result of the first device according to the position information, the measurement information and the positioning weight of the second device in the second set; alternatively, the first and second electrodes may be,
the first device determines a geometric accuracy factor according to the position information and the measurement information of the second device in the second set, wherein the geometric accuracy factor represents the influence of the spatial geometric distribution of the first device and the second device on the positioning accuracy; the first device determines a third set of the second devices according to the confidence factor and/or the geometric precision factor of the second devices in the second set; the first device determines a positioning result of the first device according to the position information and the measurement information of the second device in the third set; alternatively, the first and second electrodes may be,
the first device determines a geometric accuracy factor according to the position information and the measurement information of the second device in the second set, wherein the geometric accuracy factor represents the influence of the spatial geometric distribution of the first device and the second device on the positioning accuracy; the first device determines a third set of the second devices according to the confidence factor and/or the geometric precision factor of the second devices in the second set; the first device determines a positioning weight of the second device according to the confidence factor of the second device in the third set; and the first equipment determines the positioning result of the first equipment according to the position information, the measurement information and the positioning weight of the second equipment in the third set.
Another embodiment of the present invention provides a high precision method, including:
the second equipment receives a positioning request message sent by the first equipment;
the third equipment acquires the position information, the measurement information and the confidence coefficient factor of the second equipment;
and the third equipment determines the positioning result of the first equipment according to the position information, the measurement information and a confidence factor of the second equipment, wherein the confidence factor is determined by the estimation error of the position information of the second equipment.
Optionally, the determining, by the third device, the positioning result of the first device according to the position information, the measurement information, and the confidence factor of the second device includes:
the third device determines the positioning weight of the second device according to the confidence factor of the second device; the third equipment determines the positioning result of the first equipment according to the position information, the measurement information and the positioning weight of the second equipment; alternatively, the first and second electrodes may be,
the third device determines a geometric accuracy factor according to the position information and the measurement information of the second device, wherein the geometric accuracy factor represents the influence of the spatial geometric distribution of the first device and the second device on the positioning accuracy; the third device determines a fourth set of the second devices according to the confidence factor and/or the geometric precision factor of the second devices; the third device determines a positioning result of the first device according to the position information and the measurement information of the second device in the fourth set; alternatively, the first and second electrodes may be,
the third device determines a geometric accuracy factor according to the position information and the measurement information of the second device, wherein the geometric accuracy factor represents the influence of the spatial geometric distribution of the first device and the second device on the positioning accuracy; the third device determines a fourth set of the second devices according to the confidence factor and/or the geometric precision factor of the second devices; the third device determines a positioning weight of the second device according to the confidence factor of the second device in the fourth set; and the third equipment determines the positioning result of the first equipment according to the position information, the measurement information and the positioning weight of the second equipment in the fourth set.
Optionally, before the second device receives the location request message sent by the first device, the method further includes:
determining position information and a deployment level of the second equipment in a layout plan;
the second equipment performs layer-by-layer advanced deployment according to the position information and the deployment level of the layout plan;
determining a confidence factor for the second device in the layer-by-layer advancing deployment.
Optionally, the determining a confidence factor of the second device in the layer-by-layer advancing deployment includes:
determining whether to calibrate a confidence factor of the second device in the layer-by-layer evolving deployment based on whether to obtain high precision position information for the second device.
Optionally, the high-precision method further includes:
the third device determining a fifth set of the second devices according to a deployment hierarchy of the second devices;
the third device determines a positioning result of the first device according to the position information, the measurement information and the confidence factor of the second device in the fifth set, including:
the third device determines a positioning weight of the second device according to the confidence factor of the second device in the fifth set; the third equipment determines the positioning result of the first equipment according to the position information, the measurement information and the positioning weight of the second equipment in the fifth set; alternatively, the first and second electrodes may be,
the third device determines a geometric accuracy factor according to the position information and the measurement information of the second device in the fifth set, wherein the geometric accuracy factor represents the influence of the spatial geometric distribution of the first device and the second device on the positioning accuracy; the third device determines a sixth set of the second devices according to the confidence factors and/or the geometric precision factors of the second devices in the fifth set; the third device determines a positioning result of the first device according to the position information and the measurement information of the second device in the sixth set; alternatively, the first and second electrodes may be,
the third device determines a geometric accuracy factor according to the position information and the measurement information of the second device in the fifth set, wherein the geometric accuracy factor represents the influence of the spatial geometric distribution of the first device and the second device on the positioning accuracy; the third device determines a sixth set of the second devices according to the confidence factors and/or the geometric precision factors of the second devices in the fifth set; the third device determines a positioning weight of the second device according to the confidence factor of the second device in the sixth set; and the third equipment determines the positioning result of the first equipment according to the position information, the measurement information and the positioning weight of the second equipment in the sixth set.
The technical scheme of the invention at least has the following beneficial effects:
by adopting the embodiment of the invention, the positioning precision can be improved from the following 3 aspects: 1) high-precision distance measurement information and/or high-precision angle measurement information are/is adopted between the first equipment and the second equipment, so that the positioning error caused by the measurement error can be effectively reduced; 2) the second equipment for positioning calculation is selected through the confidence coefficient factor and/or the geometric precision factor of the second equipment, so that the positioning error caused by the deployment position error can be effectively reduced; 3) the second equipment used for positioning calculation is selected through the geometric precision factor of the second equipment, and the positioning error caused by the topological structure can be effectively reduced. Therefore, the embodiment of the invention can quickly realize high-precision positioning in the scene that can not be accurately deployed in advance, and is suitable for high-precision positioning in the scenes of emergency rescue, reconnaissance detection and the like.
Drawings
Fig. 1 is a schematic flow chart of a high-precision positioning method according to an embodiment of the present invention;
fig. 2 is a schematic flowchart of signaling interaction under synchronization according to a second embodiment of the present invention;
fig. 3 is a schematic flowchart of signaling interaction under an asynchronous condition according to a third embodiment of the present invention;
fig. 4 is a schematic flowchart of a positioning method based on combined selection of a confidence factor and a geometric precision factor according to a fourth embodiment of the present invention;
fig. 5 is a schematic flowchart of a positioning method based on weight assignment of confidence factors according to a fifth embodiment of the present invention;
fig. 6 is a schematic diagram of a layout planning method according to a sixth embodiment of the present invention;
fig. 7 is a schematic flowchart of a high-precision positioning method in a layer-by-layer advancing deployment situation with calibration according to a seventh embodiment of the present invention;
fig. 8 is a schematic flowchart of a high-precision positioning method according to an eighth embodiment of the present invention;
fig. 9 is a schematic flowchart of signaling interaction under synchronization conditions according to a ninth embodiment of the present invention;
fig. 10 is a schematic flowchart of signaling interaction under an asynchronous condition according to a tenth embodiment of the present invention.
Detailed Description
In order to make the technical problems, technical solutions and advantages of the present invention more apparent, the following detailed description is given with reference to the accompanying drawings and specific embodiments.
Fig. 1 is a schematic flow chart of a high-precision positioning method according to an embodiment of the present invention, as shown in fig. 1, including the following steps:
s101: the method comprises the steps that a first device receives position information, measurement information and a confidence factor sent by a second device;
s102: and the first equipment determines a positioning result of the first equipment according to the position information, the measurement information and a confidence coefficient factor sent by the second equipment, wherein the confidence coefficient factor is determined by an estimation error of the position information of the second equipment.
One or more of the first device and the second device may be included in embodiments of the present invention. The first Device is a terminal Device with high precision measurement capability and positioning calculation capability, for example, a terminal side Device such as a Mobile Phone (Moblie Phone), a Wearable Device (Wearable Device), a Tablet Personal Computer (Tablet Personal Computer), a Laptop Computer (Laptop Computer), a Personal Digital Assistant (PDA), a Mobile Internet Device (MID), and the like; the second device is a network-side device with high-precision measurement capability, for example, a network-side device such as a Low Power Node (LPN), a pico base station (pico), a home base station (femto), a Relay Node (RN), an Access Point (AP), a Transmission Reception Point (TRP), and the like. It should be noted that the specific types of the first device and the second device are not limited in the embodiments of the present invention.
The high-precision measurement capability of the first device and the second device may include high-precision distance measurement and/or high-precision angle measurement capability, and the implementation manner may include: ultra Wide Band (UWB), lidar, visible light, infrared, Ultrasonic (ultrasounds), and the like. If the method is high-precision Ranging, the method is mainly based on Time of Flight (TOF), and can be a One-Way Ranging (One Way Ranging) method or a Two-Way Ranging (TWR) method; for high-precision angle measurement, a multi-antenna TOF method, a Time Difference of Arrival (TDOA) method, a Phase Difference of Arrival (PDOA) method, or a mixture of TDOA and PDOA may be used. The embodiments of the present invention are not limited.
In the embodiment of the present invention, the position information received by the first device and sent by the second device may include one-dimensional, two-dimensional or three-dimensional coordinate values in a geographic coordinate system or a cartesian coordinate system; the measurement information may include one or more of a measurement timestamp, a ranging result, and an angle measurement result; the confidence factor is used for representing the accuracy of the second device position information, and is an inverse function of the estimation error of the second device position information, and the confidence factor is smaller when the estimation error is larger.
Optionally, the determining, by the first device, the positioning result of the first device according to the location information, the measurement information, and the confidence factor sent by the second device may include the following multiple ways:
the first method is as follows: and (3) a positioning method based on confidence factor weight distribution.
Specifically, the first device determines a positioning weight of the second device according to a confidence factor of the second device; and the first equipment determines the positioning result of the first equipment according to the position information, the measurement information and the positioning weight of the second equipment.
The second method comprises the following steps: a positioning method selected based on the confidence factor and/or the geometric accuracy factor.
Specifically, the first device determines a geometric precision factor according to the position information and the measurement information of the second device, wherein the geometric precision factor represents the influence of the spatial geometric distribution of the first device and the second device on the positioning precision; the first device determines a first set of the second devices according to the confidence factor and/or the geometric precision factor of the second devices; and the first equipment determines the positioning result of the first equipment according to the position information and the measurement information of the second equipment in the first set.
The third method comprises the following steps: the positioning method combining the first mode and the second mode.
Specifically, the first device determines a geometric precision factor according to the position information and the measurement information of the second device, wherein the geometric precision factor represents the influence of the spatial geometric distribution of the first device and the second device on the positioning precision; the first device determines a first set of the second devices according to the confidence factor and/or the geometric precision factor of the second devices; the first device determines a positioning weight of the second device according to the confidence factor of the second device in the first set; and the first equipment determines the positioning result of the first equipment according to the position information, the measurement information and the positioning weight of the second equipment in the first set.
The positioning weight is used to represent the contribution degree or importance of the second device to the positioning result determined by the first device, and may be embodied by the ratio of the position information or the ranging information of the second device when the first device performs positioning calculation. The higher the confidence factor, the heavier the fraction of location information or ranging information corresponding to the second device should be.
The geometric accuracy factor is used to represent the influence of the spatial geometric distribution of the first device and the second device on the positioning accuracy, and can be calculated by using the position information and the measurement information of the second device. The larger the value of the geometric dilution of precision factor, the more likely it is that the spatial geometric distribution representing the first device and the second device will cause a range error to be amplified into the positioning result.
Optionally, before the first device receives the location information, the measurement information, and the confidence factor sent by the second device, the method further includes:
determining position information and a deployment level of the second equipment in a layout plan;
the second equipment performs layer-by-layer advanced deployment according to the position information and the deployment level of the layout plan;
the second device determines a confidence factor for the position information in the layer-by-layer advancing deployment.
The layout plan is determined by the network side, and the execution subject may be temporarily configured by a command control center or may be pre-configured by Operation Administration and Maintenance (OAM).
The deployment level of the second device can be determined by sequentially advancing the connectivity of the spatially partitioned areas. Taking the area containing the known position point as a root node (level 0), adding 1 to the communication hierarchy of the corresponding parent node area of the area according to the shortest path principle when jumping to a new area until the communication hierarchies of all the areas are confirmed, wherein the deployment hierarchy of the second equipment is the communication hierarchy of the area where the second equipment is located. The space division area refers to an area which is spatially blocked by a certain physical entity, and may be, for example, a room, a corridor, a living room, etc. in a residential house, or a foreground, a conference room, a reception room, an employee work area, a supervisor office, etc. in an office space; the known position point refers to a position point which can acquire coordinates through RTK or acquire coordinates under a custom coordinate system through field measurement.
Optionally, the determining, by the second device, a confidence factor of the position information in the layer-by-layer advancing deployment includes: the second device determines whether to calibrate the confidence factor in the layer-by-layer evolving deployment based on whether to obtain high precision position information.
The confidence factor of the second device is dynamically estimated in the process that the second device moves from the known position point to the planned position point in the process of layer-by-layer advancing deployment. And determining whether to calibrate the confidence factor according to whether the second equipment can obtain high-precision position information. If the second equipment cannot obtain high-precision position information in the deployment process, the confidence factor of the second equipment is reduced until the second equipment reaches a planned position point or the second equipment is unavailable after the second equipment is lower than a set threshold; if high accuracy location information is available, the second device may recalibrate the confidence factor to a maximum value at that time. The high-precision position information refers to a high-precision positioning result obtained by the second device in a partial area without depending on interaction of measurement information with other second devices, for example, the second device has an RTK module, centimeter-level high-precision position information can be obtained by RTK in an outdoor open area, and at this time, a confidence factor of the second device is set to a maximum value.
Optionally, the high-precision method according to the real-time embodiment of the present invention further includes:
the first equipment acquires a deployment hierarchy sent by the second equipment;
the first device determines a second set of the second devices according to the deployment hierarchy sent by the second devices;
the first device determines a positioning result of the first device according to the position information, the measurement information and the confidence factor of the second device in the second set, and the method includes:
the first device determines a positioning weight of the second device according to the confidence factor of the second device in the second set; the first device determines a positioning result of the first device according to the position information, the measurement information and the positioning weight of the second device in the second set; alternatively, the first and second electrodes may be,
the first device determines a geometric accuracy factor according to the position information and the measurement information of the second device in the second set, wherein the geometric accuracy factor represents the influence of the spatial geometric distribution of the first device and the second device on the positioning accuracy; the first device determines a third set of the second devices according to the confidence factor and/or the geometric precision factor of the second devices in the second set; the first device determines a positioning result of the first device according to the position information and the measurement information of the second device in the third set; alternatively, the first and second electrodes may be,
the first device determines a geometric accuracy factor according to the position information and the measurement information of the second device in the second set, wherein the geometric accuracy factor represents the influence of the spatial geometric distribution of the first device and the second device on the positioning accuracy; the first device determines a third set of the second devices according to the confidence factor and/or the geometric precision factor of the second devices in the second set; the first device determines a positioning weight of the second device according to the confidence factor of the second device in the third set; and the first equipment determines the positioning result of the first equipment according to the position information, the measurement information and the positioning weight of the second equipment in the third set.
The manner in which the first device acquires the deployment level of the second device may be that the deployment level of the second device is carried in the interaction information between the first device and the second device, or that the deployment levels of all the second devices are configured to the first device in advance through an OAM or a control center and then are acquired in a matching manner when in use.
The second sets determined according to the deployment levels may be one or more, the deployment levels of all the second devices in each second set are the same, and the deployment levels of the second devices in different second sets are different. In addition, the first device may also determine the second set in combination with other information, which may be historical location information of the first device, or signal strength information or ranging information between the first device and the second device.
Fig. 2 is a schematic flowchart of signaling interaction under synchronization conditions according to a second embodiment of the present invention.
In this embodiment, because the first device and the second device maintain accurate time synchronization, a single-direction flight ranging mode of an ultra-wideband signal is adopted between the first device and the second device. As shown in fig. 2, an interactive message, such as a broadcast message, sent by the second device to the first device carries the location information, the confidence factor, and the measurement information of the second device, where the measurement information may be the sending time of the second device sending the ultra-wideband signal. The first device will receive the difference between the time and the time of transmission
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And speed of light
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The multiplication can obtain the ranging result.
Fig. 3 is a schematic flowchart of signaling interaction under an asynchronous condition according to a third embodiment of the present invention.
In this embodiment, a bidirectional flight ranging method of an ultra wide band signal is adopted between the first device and the second device, so that the sending time and the receiving time of the ultra wide band signal can be measured between the first device and the second device for multiple times, multiple times of flight time can be obtained, and the calculation of a ranging result can be completed. Typical crossingThe interaction mechanism is as follows: the first equipment sends a Poll message, and measures and records the sending time T1 of the ultra-wideband signal; after receiving the Poll message, the second device measures and records the receiving time T2 of the ultra-wideband signal; the second device sends a Response message, and measures and records the sending time of the ultra-wideband signal as T3; the first device receives the Response message, measures and records the receiving time T4 of the ultra-wideband signal; the first device sends a Final (Final) message, and measures and records the sending time T5 of the ultra wideband signal, wherein the Final message comprises the T1, the T4 and the T5 recorded by the first device; the second device receives the Final message and measures and records the time of reception T6 of the ultra wideband signal. Therefore, the first device obtains all the transmission times and reception times, i.e., T1, T2, T3, T4, T5, and T6. The first equipment obtains the distance measurement result through the following formula calculation
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：
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After completing the calculation of the distance measurement result, the second device sends an interactive message to the first device, wherein the interactive message carries the position information, the confidence factor and the distance measurement result of the second device
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。
It should be noted that different ranging methods include different ranging message interaction flows, where the number of interactions and parameters included in the message are also different, and the embodiment of the present invention is not limited. Let the number of interactions be
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The position information, the confidence factor and the measurement information of the second device are carried in the interaction information which is sent to the first device by the second device at least once.
Fig. 4 is a schematic flowchart of a positioning method based on combination selection of the confidence factor and the geometric precision factor according to a fourth embodiment of the present invention.
In this embodiment, a bidirectional flight ranging method of an ultra wide band signal is adopted between the first device and the second device, and a three-dimensional positioning method based on spherical intersection is adopted. As shown in fig. 4, the method comprises the following steps:
s401: and the first device receives the position information, the confidence factor and the measurement information sent by the N second devices in the same time period, wherein the measurement information is a ranging result.
S402: if N is greater than or equal to M, the process goes to step S403; otherwise, the process proceeds to step S408. For three-dimensional positioning, M may be an integer greater than or equal to 4.
S403: combining the N second devices in groups of M, and sharing
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And (4) grouping. Assuming that the kth group of second devices corresponds to the label set
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To show that:
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wherein the content of the first and second substances,
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、
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、…、
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and the labels are respectively corresponding to the kth group of second equipment.
S404: calculating corresponding geometric precision factor according to the position information and the ranging information of the kth group of second equipment
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The calculation formula is as follows:
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wherein the content of the first and second substances,
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indicating the last positioning result of the first device,
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、…、
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are respectively corresponding to the reference numerals
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、…、
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Of the second deviceAnd (4) marking.
S405: calculating an average confidence factor for the kth group of second devices
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：
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Wherein the content of the first and second substances,
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、…、
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are respectively corresponding to the reference numerals
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、…、
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The confidence factor of the second device.
S406: give a firstkCombined parameters of confidence factor and geometric precision factor of group second device
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：
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Wherein the content of the first and second substances,
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and
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the combined weights of the geometric precision factor and the confidence coefficient factor respectively satisfy the following conditions:
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，
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. In particular, when
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And is
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When the temperature of the water is higher than the set temperature,
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only with respect to the confidence factor; when in use
Figure DEST_PATH_IMAGE045
And is
Figure 905247DEST_PATH_IMAGE046
When the temperature of the water is higher than the set temperature,
Figure 471358DEST_PATH_IMAGE036
only with respect to the geometric dilution of precision.
S407: selecting parameters in all combinations
Figure 826554DEST_PATH_IMAGE036
A largest group of second devices, corresponding reference numerals being denoted
Figure DEST_PATH_IMAGE047
、…、
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And calculating and acquiring the positioning result of the first equipment according to the position information and the ranging result of the group of second equipment, and assuming that
Figure DEST_PATH_IMAGE049
Is a positioning result to be solved by the first device, and the solving equation is as follows:
Figure 698881DEST_PATH_IMAGE050
wherein the content of the first and second substances,
Figure DEST_PATH_IMAGE051
、
Figure 130999DEST_PATH_IMAGE052
、…、
Figure DEST_PATH_IMAGE053
are respectively corresponding to the reference numerals
Figure 83912DEST_PATH_IMAGE047
、
Figure 943283DEST_PATH_IMAGE054
、…、
Figure 614436DEST_PATH_IMAGE048
The three-dimensional coordinates of the second device.
S408: the first device does not perform the positioning calculation this time.
Fig. 5 is a schematic flowchart of a positioning method based on confidence factor weight assignment according to a fifth embodiment of the present invention.
In this embodiment, a bidirectional flight ranging method using an ultra wide band signal (UWB) is adopted between the first device and the second device, and the first device has an Inertial Measurement Unit (IMU) and adopts a three-dimensional positioning method based on an Extended Kalman Filter (EKF) of the UWB and the IMU. As shown in fig. 5, the method comprises the following steps:
s501: the method comprises the steps that the first equipment receives position information, confidence coefficient factors and measurement information sent by N second equipment in the same time period, wherein the measurement information is a ranging result;
s502: and establishing an EKF state equation based on the IMU data and establishing a position, speed and attitude angle combination, and taking the received ranging results of the N second devices as EKF observed quantities. The confidence factor is used for adjusting a filter gain matrix in the EKF model, and the mathematical expression is as follows:
Figure 787929DEST_PATH_IMAGE056
wherein the content of the first and second substances,
Figure DEST_PATH_IMAGE057
、
Figure 860927DEST_PATH_IMAGE058
and
Figure DEST_PATH_IMAGE059
respectively a one-step estimation covariance matrix, an observation matrix and an observation noise covariance matrix in the EKF model,
Figure 894129DEST_PATH_IMAGE060
to add a new diagonal matrix associated with the confidence factor,
Figure DEST_PATH_IMAGE061
，
Figure 52578DEST_PATH_IMAGE062
on the diagonal line
Figure DEST_PATH_IMAGE063
An element
Figure 826499DEST_PATH_IMAGE064
From the first
Figure 754004DEST_PATH_IMAGE063
Confidence factor of second device
Figure DEST_PATH_IMAGE065
Deciding to satisfy:
Figure 892861DEST_PATH_IMAGE065
the larger the size of the tube is,
Figure 538606DEST_PATH_IMAGE064
the smaller. The present embodiment is not particularly limited
Figure 788322DEST_PATH_IMAGE064
Is calculated byThe method, given as a reference, is one of the following:
Figure DEST_PATH_IMAGE067
s503: obtaining a state vector containing a positioning result of the first device according to the adjusted filter gain matrix K
Figure 835912DEST_PATH_IMAGE068
：
Figure 207988DEST_PATH_IMAGE070
Wherein the content of the first and second substances,
Figure DEST_PATH_IMAGE071
to base the predicted state vector on the last time instant,
Figure 341029DEST_PATH_IMAGE072
and a vector formed by the received ranging results of the N second devices.
It should be noted that the positioning methods provided in the fourth and fifth embodiments of the present invention may also be used in combination. First, the parameters are determined according to the steps S401 to S407 of the fourth embodiment
Figure 394436DEST_PATH_IMAGE036
The largest group of second devices is taken as a third set of second devices; then, the ranging result of the second device in the third set is used as the EKF observed quantity, and EKF positioning is performed according to the fifth embodiment of the steps S502-S503.
Fig. 6 is a schematic diagram of a layout planning method according to a sixth embodiment of the present invention.
In this embodiment, the layout plan of the second device is determined by sequentially advancing the connectivity relationships of the space-divided regions, and includes the number, the deployment position, and the deployment hierarchy of the second device. The spatial division area refers to an area spatially blocked by a certain physical entity, and may be, for example, a room, a corridor, a living room, etc. in a residential home, or may be a foreground, a conference room, a reception room, an employee work area, a supervisor office, etc. in an office space. The connection relation of the space division areas is that each hop to a new area from an area containing a known position point as a root node (level 0) according to the principle of shortest path, the connection level of the area adds 1 to the connection level of the corresponding father node area until the connection levels of all the areas are confirmed, and the deployment level of the second equipment is the connection level of the area where the second equipment is located. The known location point may be a location point for acquiring coordinates by RTK, or a location point for acquiring coordinates in a custom coordinate system by field measurement, and it should be noted that the number of each stage of area is not limited, and is not necessarily only one.
In this embodiment, the first device and the second device have an RTK positioning module and a UWB ranging module at the same time, and a layout plan of the second device in the following typical scenarios is given according to the connectivity relationship of the space division areas:
the first method is as follows: indoor outer two-stage deployment structure.
As shown in fig. 6 (a), the scene to be positioned is a scene of an outdoor + indoor regular rectangular structure, and the building has 2 windowsills on the side opposite to the entrance. Regarding the area outside the entrance as one area outside the room and the areas outside the windowsills 1 and 2 as the other area outside the room, high-precision position information can be obtained by RTK in both of these 2 areas, and therefore they are considered as the 0 th order area; since the indoor area is a single indoor area in the building and is in direct communication with 2 outdoor areas, the indoor area is considered to be a level 1 area. The number and planned positions of the second devices in each area are determined according to the positioning precision requirement, and the second devices are generally deployed in an equally spaced mode as much as possible within the UWB ranging range. Firstly, respectively deploying 2 second devices at the junction positions of the entrance outer side area and the windowsill outer side area and the indoor area, wherein the deployment level is level 0; then, 2 second devices are deployed on the bisectrix of the indoor area, and the deployment hierarchy is level 1. As shown in fig. 6 (b), where the triangle "Δ" represents the planned second device, the included numbers represent the hierarchy of the second device.
The second method comprises the following steps: outdoor + indoor single-layer multilevel deployment structure.
As shown in fig. 6 (c), the scene to be located is a scene of an outdoor + indoor single-layer multi-zone structure, where the indoor space can be divided into a lobby, a hall, a walkway, a room a, and a room B according to space division. Similarly, starting with the area outside the entrance as the 0 th-order area where high-precision position information can be acquired by RTK, when moving indoors, the connectivity of the respective areas is: the entrance (level 0) a pre-living hall (level 1) a hall (level 2) a walkway (level 3) a rooms a and B (level 4). The number and planned positions of the second devices in each area are determined according to the requirement of positioning accuracy, and the second devices are usually deployed in an equally spaced mode as much as possible within the UWB ranging range. Since the second devices in each indoor area are deployed according to the communication relation of the areas, firstly, 4 second devices are deployed in the area outside the entrance, the deployment level is 0 level, and the second devices in the lobby area can be provided with position information and high-precision ranging information; then, 2 second devices are deployed in the lobby area, the deployment level is level 1, and the second devices of level 0 can be combined to provide position information and high-precision ranging information for the second devices in the lobby area; similarly, the layout of the second devices of the hall area, the walkway area, and the rooms a and B is completed in sequence, and the deployment levels are 2 nd, 3 rd, and 4 th levels, respectively. As shown in fig. 6 (d), where the triangle "Δ" represents the planned second device, the included numbers represent the hierarchy of the second device.
The third method comprises the following steps: outdoor + indoor multilayer multilevel deployment structure.
As shown in fig. 6 (e), the scene to be located is a scene of an outdoor + indoor multi-layer multi-zone structure, the indoor is a 2-layer structure, the indoor layer 1 includes 5 zones including a lobby, a hall, a walkway, and rooms 1A and 1B, and the indoor layer 2 includes 4 zones including a walkway, rooms 2A, 2B, and 2C. Starting with the area outside the entrance as the 0 th-level area, and sequentially connecting all areas from outside to inside in the scene to be positioned:
Figure DEST_PATH_IMAGE073
thus, the deployment hierarchy for the second device is as follows: the second device in the area outside the entrance is level 0, the second device in the lobby area is level 1, the second device in the lobby area is level 2, the second device in the 1-level walkway area is level 3, the second devices in rooms 1A and 1B, and the second devices in the 2-level walkways are level 4, and the second devices in rooms 2A, 2B, and 2C are level 5. The number and planned positions of the second devices in each area are determined according to the requirement of positioning accuracy, and are usually deployed in an equally spaced manner as much as possible within the UWB ranging range, and the specific number and positions are shown in fig. 6 (f), wherein a triangle "Δ" represents the planned second devices, and the included numbers represent the hierarchy of the second devices.
Fig. 7 is a schematic flowchart of a high-precision positioning method in the case of layer-by-layer advancing deployment with calibration according to a seventh embodiment of the present invention. As shown in fig. 7, the method comprises the following steps:
s701: and performing space division on the region to be positioned to complete the layout planning of the second equipment, wherein the space division comprises the following steps: the number and the deployment positions of the second devices, and the deployment levels of the second devices are determined according to the area communication relation.
S702: and the second equipment enters a terminal working mode, the confidence coefficient factor is set to be the maximum value from a known position point, and the deployment of the second equipment at the i =0,1, … and L-th layer is carried out in sequence according to the deployment level.
S703: in the deployment process, whether the second device can obtain high-precision position information is judged, and if yes, the step S704 is executed; otherwise, the process proceeds to step S705.
S704: the second device readjusts the confidence factor back to the maximum value and then proceeds to step S706.
S705: and the second equipment estimates the position error in the deployment process and dynamically adjusts the confidence factor according to the position error.
S706: judging whether the second equipment reaches the planned position point, if so, entering a step S707; otherwise, return to step S703.
S707: and the second equipment stops moving and enters a base station working mode.
S708: and the first equipment enters a terminal working mode until all the second equipment is deployed.
S709: the first equipment and the second equipment perform information interaction, and receive the position information, the measurement information, the confidence factor and the deployment level sent by the second equipment.
S710: and the first equipment determines the positioning result of the first equipment according to the position information, the measurement information, the confidence coefficient factor and the deployment level of the second equipment.
The terminal working mode refers to a working mode in which the equipment needs to calculate and obtain the position information of the equipment in real time, and the base station working mode refers to a working mode in which the equipment needs to perform information interaction with the equipment in the terminal working mode to provide high-precision measurement information. It should be noted that, in this embodiment, after the second device on the i-th layer starts to move from a known position point and before the second device reaches a position point planned in advance, the second device is in a terminal operating mode, and the real-time position coordinates of the second device in the moving process are obtained by performing high-precision measurement on the second device that reaches the planned position point on the previous i-1 layer; and after reaching the planned position point, immediately entering a base station working mode to provide high-precision measurement information for the subsequent i +1, …, L-layer second equipment and first equipment.
In this embodiment, the method for estimating the position error of the second device is not limited. Can be as follows: 1) calculating a measurement value, such as a distance measurement value or an angle measurement value, between the second device and other second devices according to the position coordinates of the second device on the ith layer in the deployment process, and then calculating a mean square error with measurement information received through direct information interaction, wherein the mean square error is used as a position error value; 2) and establishing an EKF model of the combination of the position, the speed and the attitude angle, and taking the sum of diagonal elements of the corresponding position state variable in the error covariance matrix as a position error value.
In this embodiment, in the interaction information between the first device and the second device, the deployment level of the second device is also included in addition to the location information, the measurement information, and the confidence factor of the second device. The first device determines a second device set used for calculating a positioning result of the first device according to the received deployment levels of all the second devices, and may select a group of second devices corresponding to the deployment level with the highest number by counting the number of the second devices of each deployment level, or may select a group of second devices corresponding to the deployment level with the strongest signal strength or the closest ranging distance; then, the positioning result of the first device is calculated in the set according to the position information, the measurement information, and the confidence factor of the second device, and the method according to the fourth embodiment or the fifth embodiment may be adopted, or a method combining the fourth embodiment and the fifth embodiment may also be adopted, which is not described herein again.
Fig. 8 is a schematic flowchart of a high-precision positioning method according to an eighth embodiment of the present invention. As shown in fig. 8, the method comprises the following steps:
s801: the second device receives the positioning request message sent by the first device.
S802: and the third equipment receives the position information, the measurement information and the confidence coefficient factor sent by the second equipment.
S803: and the third equipment determines the positioning result of the first equipment according to the position information, the measurement information and the confidence factor sent by the second equipment.
In the embodiment of the invention, one or more of the first device, the second device and the third device can be included. The first Device is a terminal Device with high-precision measurement capability, for example, a Mobile Phone (Moblie Phone), a Wearable Device (Wearable Device), a Tablet Personal Computer (Tablet Personal Computer), a Laptop Computer (Laptop Computer), a Personal Digital Assistant (PDA), a Mobile Internet Device (MID), and other terminal-side devices. The second device is a network-side device with high-precision measurement capability, for example, a network-side device such as a Low Power Node (LPN), a pico base station (pico), a home base station (femto), a Relay Node (RN), an Access Point (AP), a Transmission Reception Point (TRP), and the like. The third device is a server device with positioning solution capability. It should be noted that the specific types of the first device, the second device, and the third device are not limited in the embodiments of the present invention.
In the embodiment of the present invention, the position information received by the third device and sent by the second device may include one-dimensional, two-dimensional or three-dimensional coordinate values in a geographic coordinate system or a cartesian coordinate system; the measurement information may include one or more of a measurement timestamp, a ranging result, and an angle measurement result; the confidence factor is used for representing the accuracy of the second device position information, and is an inverse function of the estimation error of the second device position information, and the confidence factor is smaller when the estimation error is larger.
Optionally, the determining, by the third device, the positioning result of the first device according to the location information, the measurement information, and the confidence factor sent by the second device may include multiple ways:
the first method is as follows: and (3) a positioning method based on confidence factor weight distribution.
Specifically, the third device determines the positioning weight of the second device according to the confidence factor of the second device; and the third equipment determines the positioning result of the first equipment according to the position information, the measurement information and the positioning weight of the second equipment.
The second method comprises the following steps: a positioning method selected based on the confidence factor and/or the geometric accuracy factor.
Specifically, the third device determines a geometric accuracy factor according to the position information and the measurement information of the second device, wherein the geometric accuracy factor represents the influence of the spatial geometric distribution of the first device and the second device on the positioning accuracy; the third device determines a fourth set of the second devices according to the confidence factor and/or the geometric precision factor of the second devices; and the third equipment determines the positioning result of the first equipment according to the position information and the measurement information of the second equipment in the fourth set.
The third method comprises the following steps: the positioning method combining the first mode and the second mode.
Specifically, the third device determines a geometric accuracy factor according to the position information and the measurement information of the second device, wherein the geometric accuracy factor represents the influence of the spatial geometric distribution of the first device and the second device on the positioning accuracy; the third device determines a fourth set of the second devices according to the confidence factor and/or the geometric precision factor of the second devices; the third device determines a positioning weight of the second device according to the confidence factor of the second device in the fourth set; and the third equipment determines the positioning result of the first equipment according to the position information, the measurement information and the positioning weight of the second equipment in the fourth set.
Optionally, before the second device receives the location request message sent by the first device, the method further includes:
determining position information and a deployment level of the second equipment in a layout plan;
the second equipment performs layer-by-layer advanced deployment according to the position information and the deployment level of the layout plan;
determining a confidence factor for the second device in the layer-by-layer advancing deployment.
The execution main body for determining the location information and the deployment level of the second device in the layout plan may be a third device, or may also be an OAM or a control center on the network side, and meanwhile, the third device also needs to acquire the location information and the deployment level of the second device in the layout plan. The layout planning method is the same as the first embodiment, and is not described herein again.
The execution subject for determining the confidence factor in the layer-by-layer advancing deployment may be a third device or a second device, and the second device needs to inform the third device of the confidence factor. The method for determining the confidence factor is the same as that in the first embodiment, and is not described herein again.
Optionally, the high-precision method according to the real-time embodiment of the present invention further includes:
the third device acquires a deployment hierarchy of the second device;
the third device determining a fifth set of the second devices according to a deployment hierarchy of the second devices;
the third device determines a positioning result of the first device according to the position information, the measurement information and the confidence factor of the second device in the second set, including:
the third device determines a positioning weight of the second device according to the confidence factor of the second device in the fifth set; the third equipment determines the positioning result of the first equipment according to the position information, the measurement information and the positioning weight of the second equipment in the fifth set; alternatively, the first and second electrodes may be,
the third device determines a geometric accuracy factor according to the position information and the measurement information of the second device in the fifth set, wherein the geometric accuracy factor represents the influence of the spatial geometric distribution of the first device and the second device on the positioning accuracy; the third device determines a sixth set of the second devices according to the confidence factors and/or the geometric precision factors of the second devices in the fifth set; the third device determines a positioning result of the first device according to the position information and the measurement information of the second device in the sixth set; alternatively, the first and second electrodes may be,
the third device determines a geometric accuracy factor according to the position information and the measurement information of the second device in the fifth set, wherein the geometric accuracy factor represents the influence of the spatial geometric distribution of the first device and the second device on the positioning accuracy; the third device determines a sixth set of the second devices according to the confidence factors and/or the geometric precision factors of the second devices in the fifth set; the third device determines a positioning weight of the second device according to the confidence factor of the second device in the sixth set; and the third equipment determines the positioning result of the first equipment according to the position information, the measurement information and the positioning weight of the second equipment in the sixth set.
The manner in which the third device acquires the deployment hierarchy of the second device may be directly acquired when the third device is used as an execution subject of the second device layout plan, may also be acquired by carrying the deployment hierarchy of the second device in the interaction information between the second device and the third device, and may also be acquired by matching the deployment hierarchies of all the second devices with the third device in advance through an OAM or a control center.
The above-mentioned fifth sets determined according to the deployment levels may be one or more, the deployment levels of all the second devices of each fifth set are the same, and the deployment levels of the second devices in different fourth sets are different. In addition, the first device may further determine the fifth set in combination with other information, which may be historical location information of the first device, or signal strength information, ranging information, or angle measurement information between the first device and the second device.
Fig. 9 is a schematic flowchart of signaling interaction under synchronization conditions according to a ninth embodiment of the present invention.
In this embodiment, because the first device and the second device maintain accurate time synchronization, a single-direction flight ranging mode of an ultra-wideband signal is adopted between the first device and the second device. As shown in fig. 9, a positioning request message is first sent to the second device by the first device, and after receiving the positioning request message, the second device sends to the third device a positioning report message carrying location information, confidence factor, and measurement information of the second device, where the measurement information may be a sending time of the second device sending an ultra wideband signal. The third device will receive the difference between the time and the time of transmission
Figure 299462DEST_PATH_IMAGE001
And speed of light
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The multiplication can obtain the ranging result.
Fig. 10 is a schematic flowchart of signaling interaction under an asynchronous condition according to a tenth embodiment of the present invention.
In this embodiment, a bidirectional flight ranging method of an ultra wide band signal is adopted between the first device and the second device, so that the sending time and the receiving time of the ultra wide band signal can be measured between the first device and the second device for multiple times, multiple times of flight time can be obtained, and the calculation of a ranging result can be completed. A description of a typical interaction mechanism is given in the third embodiment, and is not repeated here.
After completing the calculation of the distance measurement result, the second device sends a positioning report message to the third device, wherein the positioning report message carries the position information, the confidence factor and the distance measurement result of the second device
Figure 134880DEST_PATH_IMAGE003
。
It should be noted that different ranging methods include different ranging message interaction flows, where the number of interactions and parameters included in the message are also different, and the embodiment of the present invention is not limited.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.

Claims (10)

1. A high-precision positioning method is characterized by comprising the following steps:
the method comprises the steps that a first device receives position information, measurement information and a confidence factor sent by a second device;
and the first equipment determines a positioning result of the first equipment according to the position information, the measurement information and a confidence coefficient factor sent by the second equipment, wherein the confidence coefficient factor is determined by an estimation error of the position information of the second equipment.
2. The method of claim 1, wherein the determining, by the first device, the positioning result of the first device according to the location information, the measurement information, and the confidence factor sent by the second device comprises:
the first device determines the positioning weight of the second device according to the confidence factor of the second device; the first equipment determines a positioning result of the first equipment according to the position information, the measurement information and the positioning weight of the second equipment; alternatively, the first and second electrodes may be,
the first device determines a geometric accuracy factor according to the position information and the measurement information of the second device, wherein the geometric accuracy factor represents the influence of the spatial geometric distribution of the first device and the second device on the positioning accuracy; the first device determines a first set of the second devices according to the confidence factor and/or the geometric precision factor of the second devices; the first equipment determines a positioning result of the first equipment according to the position information and the measurement information of the second equipment in the first set; alternatively, the first and second electrodes may be,
the first device determines a geometric accuracy factor according to the position information and the measurement information of the second device, wherein the geometric accuracy factor represents the influence of the spatial geometric distribution of the first device and the second device on the positioning accuracy; the first device determines a first set of the second devices according to the confidence factor and/or the geometric precision factor of the second devices; the first device determines a positioning weight of the second device according to the confidence factor of the second device in the first set; and the first equipment determines the positioning result of the first equipment according to the position information, the measurement information and the positioning weight of the second equipment in the first set.
3. The method of claim 1, wherein prior to the first device receiving the location information, measurement information, and confidence factor sent by the second device, further comprising:
determining position information and a deployment level of the second equipment in a layout plan;
the second equipment performs layer-by-layer advanced deployment according to the position information and the deployment hierarchy in the layout plan;
the second device determines a confidence factor for the second device in the layer-by-layer advancing deployment.
4. The method of claim 3, wherein the second device determining a confidence factor for the second device in the layer-by-layer advancing deployment comprises:
the second device determines whether to calibrate the confidence factor in the layer-by-layer evolving deployment based on whether to obtain high precision position information.
5. The method of any of claims 3-4, wherein the method further comprises:
the first device acquires a deployment hierarchy of the second device;
the first device determining a second set of the second devices according to a deployment hierarchy of the second devices;
the first device determines a positioning result of the first device according to the position information, the measurement information and the confidence factor of the second device in the second set, and the method includes:
the first device determines a positioning weight of the second device according to the confidence factor of the second device in the second set; the first device determines a positioning result of the first device according to the position information, the measurement information and the positioning weight of the second device in the second set; alternatively, the first and second electrodes may be,
the first device determines a geometric accuracy factor according to the position information and the measurement information of the second device in the second set, wherein the geometric accuracy factor represents the influence of the spatial geometric distribution of the first device and the second device on the positioning accuracy; the first device determines a third set of the second devices according to the confidence factor and/or the geometric precision factor of the second devices in the second set; the first device determines a positioning result of the first device according to the position information and the measurement information of the second device in the third set; alternatively, the first and second electrodes may be,
the first device determines a geometric accuracy factor according to the position information and the measurement information of the second device in the second set, wherein the geometric accuracy factor represents the influence of the spatial geometric distribution of the first device and the second device on the positioning accuracy; the first device determines a third set of the second devices according to the confidence factor and/or the geometric precision factor of the second devices in the second set; the first device determines a positioning weight of the second device according to the confidence factor of the second device in the third set; and the first equipment determines the positioning result of the first equipment according to the position information, the measurement information and the positioning weight of the second equipment in the third set.
6. A high-precision positioning method is characterized by comprising the following steps:
the second equipment receives a positioning request message sent by the first equipment;
the third equipment acquires the position information, the measurement information and the confidence coefficient factor of the second equipment;
and the third equipment determines the positioning result of the first equipment according to the position information, the measurement information and a confidence factor of the second equipment, wherein the confidence factor is determined by the estimation error of the position information of the second equipment.
7. The method of claim 6, wherein the third device determining the location result of the first device from the location information, measurement information, and confidence factors of the second device comprises:
the third device determines the positioning weight of the second device according to the confidence factor of the second device; the third equipment determines the positioning result of the first equipment according to the position information, the measurement information and the positioning weight of the second equipment; alternatively, the first and second electrodes may be,
the third device determines a geometric accuracy factor according to the position information and the measurement information of the second device, wherein the geometric accuracy factor represents the influence of the spatial geometric distribution of the first device and the second device on the positioning accuracy; the third device determines a fourth set of the second devices according to the confidence factor and/or the geometric precision factor of the second devices; the third device determines a positioning result of the first device according to the position information and the measurement information of the second device in the fourth set; alternatively, the first and second electrodes may be,
the third device determines a geometric accuracy factor according to the position information and the measurement information of the second device, wherein the geometric accuracy factor represents the influence of the spatial geometric distribution of the first device and the second device on the positioning accuracy; the third device determines a fourth set of the second devices according to the confidence factor and/or the geometric precision factor of the second devices; the third device determines a positioning weight of the second device according to the confidence factor of the second device in the fourth set; and the third equipment determines the positioning result of the first equipment according to the position information, the measurement information and the positioning weight of the second equipment in the fourth set.
8. The method of claim 6, wherein before the second device receives the positioning request message sent by the first device, further comprising:
determining position information and a deployment level of the second equipment in a layout plan;
the second equipment performs layer-by-layer advanced deployment according to the position information and the deployment hierarchy in the layout plan;
determining a confidence factor for the second device in the layer-by-layer advancing deployment.
9. The method of claim 8, wherein said determining a confidence factor for the second device in the layer-by-layer advancing deployment comprises:
determining whether to calibrate a confidence factor of the second device in the layer-by-layer evolving deployment based on whether to obtain high precision position information for the second device.
10. The method of any one of claims 8-9, wherein the method further comprises:
the third device acquires a deployment hierarchy of the second device;
the third device determining a fifth set of the second devices according to a deployment hierarchy of the second devices;
the third device determines a positioning result of the first device according to the position information, the measurement information and the confidence factor of the second device in the fifth set, including:
the third device determines a positioning weight of the second device according to the confidence factor of the second device in the fifth set; the third equipment determines the positioning result of the first equipment according to the position information, the measurement information and the positioning weight of the second equipment in the fifth set; alternatively, the first and second electrodes may be,
the third device determines a geometric accuracy factor according to the position information and the measurement information of the second device in the fifth set, wherein the geometric accuracy factor represents the influence of the spatial geometric distribution of the first device and the second device on the positioning accuracy; the third device determines a sixth set of the second devices according to the confidence factors and/or the geometric precision factors of the second devices in the fifth set; the third device determines a positioning result of the first device according to the position information and the measurement information of the second device in the sixth set; alternatively, the first and second electrodes may be,
the third device determines a geometric accuracy factor according to the position information and the measurement information of the second device in the fifth set, wherein the geometric accuracy factor represents the influence of the spatial geometric distribution of the first device and the second device on the positioning accuracy; the third device determines a sixth set of the second devices according to the confidence factors and/or the geometric precision factors of the second devices in the fifth set; the third device determines a positioning weight of the second device according to the confidence factor of the second device in the sixth set; and the third equipment determines the positioning result of the first equipment according to the position information, the measurement information and the positioning weight of the second equipment in the sixth set.
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Application publication date: 20210319