CN112929820A - Positioning direction detection method, positioning terminal and computer readable storage medium - Google Patents
Positioning direction detection method, positioning terminal and computer readable storage medium Download PDFInfo
- Publication number
- CN112929820A CN112929820A CN202110168378.2A CN202110168378A CN112929820A CN 112929820 A CN112929820 A CN 112929820A CN 202110168378 A CN202110168378 A CN 202110168378A CN 112929820 A CN112929820 A CN 112929820A
- Authority
- CN
- China
- Prior art keywords
- antenna
- positioning
- information
- tested
- distance
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/10—Position of receiver fixed by co-ordinating a plurality of position lines defined by path-difference measurements, e.g. omega or decca systems
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/06—Selective distribution of broadcast services, e.g. multimedia broadcast multicast service [MBMS]; Services to user groups; One-way selective calling services
-
- 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
- H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
Landscapes
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Multimedia (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention provides a positioning azimuth detection method, a positioning terminal and a computer readable storage medium, wherein the positioning terminal is provided with a first antenna, a second antenna and a third antenna, and a tested device is provided with a fourth antenna; when the positioning terminal detects an instruction for positioning the tested equipment, the first antenna, the second antenna and the third antenna are controlled to receive positioning data sent by the fourth antenna; obtaining first positioning information corresponding to the first antenna, second positioning information corresponding to the second antenna and third positioning information corresponding to the third antenna according to the positioning data; and determining the distance angle information of the equipment to be tested according to the first positioning information and the second positioning information, and determining the azimuth information of the equipment to be tested according to the second positioning information and the third positioning information. According to the invention, the third antenna is added on the positioning terminal, and the second positioning information and the third positioning information are utilized to determine the azimuth information of the equipment to be tested together, so that misjudgment caused by virtual images is eliminated, and the accuracy of positioning the equipment to be tested is improved.
Description
Technical Field
The present invention relates to the field of positioning technologies, and in particular, to a positioning direction detection method, a positioning terminal, and a computer-readable storage medium.
Background
UWB technology began as an impulse communication technology that emerged in the 60's of the 20 th century. UWB technology utilizes ultra-wide baseband pulses with extremely wide frequency spectrum for communication, so it is also called baseband communication technology, wireless carrier communication technology, and is mainly used in military radars, positioning and low interception/low detection communication systems. Communication systems with a relative bandwidth greater than 0.2 or 500MHz at any moment of transmission are known as UWB systems and can be used for civil goods. Because the UWB technology has the characteristics of high data transmission rate (up to 1Gbit/s), strong multipath interference resistance, low power consumption, low cost, strong penetration capability, low interception rate, spectrum sharing with other existing wireless communication systems, and the like, the UWB technology becomes the preferred technology for wireless personal area network communication (WPAN).
With the release of the 802.15.4z standard, in recent years, UWB has a blowout trend in the industry of positioning terminals (such as mobile phones), and UWB schemes are vigorously distributed by manufacturers of large terminals. UWB is used for doing distance and angle measurement in the positioning terminal, but after measuring distance and angle, still has the location virtual image problem, can't obtain the position of the equipment that awaits measuring promptly.
Therefore, the prior art has defects and needs to be improved and developed.
Disclosure of Invention
The present invention provides a positioning orientation detection method, a positioning terminal and a computer readable storage medium, aiming at solving the problem that the orientation of a device to be measured cannot be known only by measuring the distance and the angle when positioning the device to be measured in the prior art.
The technical scheme adopted by the invention for solving the technical problem is as follows:
a positioning azimuth detection method is used for positioning equipment to be detected by a positioning terminal, wherein the positioning terminal is provided with a first antenna, a second antenna and a third antenna, and the equipment to be detected is provided with a fourth antenna;
the positioning orientation detection method comprises the following steps:
when the positioning terminal detects an instruction for positioning the device to be tested, the first antenna, the second antenna and the third antenna are controlled to receive the positioning data sent by the fourth antenna;
obtaining first positioning information corresponding to the first antenna, second positioning information corresponding to the second antenna and third positioning information corresponding to the third antenna according to the positioning data;
and determining the distance angle information of the equipment to be tested according to the first positioning information and the second positioning information, and determining the azimuth information of the equipment to be tested according to the second positioning information and the third positioning information.
In a further implementation manner, when the positioning terminal detects an instruction to position the device under test, the controlling the first antenna, the second antenna, and the third antenna to receive the positioning data sent by the fourth antenna includes:
when a positioning terminal detects an instruction for positioning a device to be tested, the positioning terminal initiates UWB broadcasting;
when the tested device receives UWB broadcast and initiates positioning to the positioning terminal, the first antenna, the second antenna and the third antenna are controlled to receive positioning data sent by the fourth antenna;
wherein, the positioning data comprises sending time.
In a further implementation manner, the first antenna, the second antenna and the third antenna are sequentially distributed in an L shape; the obtaining of first positioning information corresponding to the first antenna, second positioning information corresponding to the second antenna, and third positioning information corresponding to the third antenna according to the positioning data includes:
calculating a first space flight time and a first distance between the first antenna and the fourth antenna according to the sending time in the positioning data;
calculating a second space flight time and a second distance between a second antenna and a fourth antenna according to the sending time in the positioning data;
and calculating a third space flight time and a third distance between a third antenna and a fourth antenna according to the sending time in the positioning data.
In a further implementation manner, the determining distance angle information of the device under test according to the first positioning information and the second positioning information includes:
calculating the time difference between the first antenna and the second antenna according to the first space flight time and the second flight time;
and calculating angle information of the terminal to be detected according to the time difference, and storing the first distance, the second distance and the angle information as distance and angle information.
In a further implementation manner, the determining the orientation information of the device under test according to the second positioning information and the third positioning information includes:
comparing the second spatial time-of-flight to the third spatial time-of-flight;
and if the second space flight time is smaller than the third space flight time, determining that the device to be tested is positioned on one side of the second antenna, which is far away from the third antenna.
In further implementations, after comparing the second spatial time-of-flight to the third spatial time-of-flight, further comprising:
and if the second space flight time is greater than the third space flight time, determining that the device to be tested is positioned on one side of the second antenna facing the third antenna.
In a further implementation, a distance between the first antenna and the second antenna is the same as a distance between the second antenna and the third antenna.
In a further implementation, the distance between the first antenna and the second antenna is 0.9 times the half wavelength of the first antenna.
The present invention also provides a positioning terminal, wherein the positioning terminal comprises: a memory, a processor and a positioning orientation detection program stored on the memory and executable on the processor, the positioning orientation detection program, when executed by the processor, implementing the steps of the positioning orientation detection method as described above.
The present invention also provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program executable for implementing the steps of the positioning orientation detecting method as described above.
The invention provides a positioning direction detection method, a positioning terminal and a computer readable storage medium, wherein the positioning direction detection method is used for positioning a tested device by the positioning terminal, the positioning terminal is provided with a first antenna, a second antenna and a third antenna, and the tested device is provided with a fourth antenna; the positioning orientation detection method comprises the following steps: when the positioning terminal detects an instruction for positioning the device to be tested, the first antenna, the second antenna and the third antenna are controlled to receive the positioning data sent by the fourth antenna; obtaining first positioning information corresponding to the first antenna, second positioning information corresponding to the second antenna and third positioning information corresponding to the third antenna according to the positioning data; and determining the distance angle information of the equipment to be tested according to the first positioning information and the second positioning information, and determining the azimuth information of the equipment to be tested according to the second positioning information and the third positioning information. According to the invention, the third antenna is added on the hardware of the positioning terminal, and the positioning information between the third antenna and the equipment to be tested and the positioning information between the second antenna and the equipment to be tested are utilized to jointly determine the orientation information of the equipment to be tested, so that misjudgment caused by virtual images is eliminated, and the accuracy of positioning the equipment to be tested is improved.
Drawings
FIG. 1 is a flow chart of a preferred embodiment of a method for detecting a location and orientation in accordance with the present invention.
Fig. 2 is a schematic diagram of the positioning principle in the prior art.
FIG. 3 is a schematic diagram of a positioning principle of a preferred embodiment of the method for detecting a positioning direction in the present invention.
Fig. 4 is a detailed flowchart of step S100 in the preferred embodiment of the method for detecting a location and orientation of the present invention.
Fig. 5 is a detailed flowchart of step S200 in the preferred embodiment of the method for detecting a location and orientation of the present invention.
Fig. 6 is a specific flowchart of "determining distance and angle information of the device under test according to the first positioning information and the second positioning information" in step S300 in the preferred embodiment of the positioning and orientation detecting method of the present invention.
Fig. 7 is a specific flowchart of "determining the orientation information of the device under test according to the second positioning information and the third positioning information" in step S300 in the positioning orientation detection method according to the present invention.
Fig. 8 is a functional block diagram of a preferred embodiment of the positioning terminal of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer and clearer, the present invention is further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Aiming at the problem of virtual images, the invention provides a measurement scheme which can eliminate the problem of virtual images by matching with hardware design.
In terms of hardware, in the prior art, two antennas are arranged in a positioning terminal (such as a mobile phone and a watch), one antenna is arranged on a device to be measured, and three antennas are used for measuring distance and angle. The invention adds an antenna on the positioning terminal, and utilizes the added antenna to detect the direction.
Specifically, the positioning azimuth detection method is used for positioning the equipment to be detected by the positioning terminal, and the positioning terminal is provided with a first antenna, a second antenna and a third antenna which are 3 antennas in total; and a fourth antenna is arranged on the tested device. It is to be understood that the first antenna, the second antenna, the third antenna, and the fourth antenna are all UWB antennas.
Referring to fig. 1, fig. 1 is a flow chart of a positioning and orientation detecting method according to the present invention. As shown in fig. 1, the positioning and orientation detecting method according to the embodiment of the present invention includes the following steps:
and S100, when the positioning terminal detects an instruction for positioning the device to be tested, controlling the first antenna, the second antenna and the third antenna to receive the positioning data sent by the fourth antenna.
Specifically, the fourth antenna in the terminal to be tested sends positioning data to the three antennas in the positioning terminal respectively.
In a conventional positioning manner, referring to fig. 2, an antenna C is a UWB antenna of a measured object, an antenna a and an antenna B are UWB antennas on a positioning terminal (e.g., a mobile phone), a distance d between the antenna a and the antenna B is a known distance, x and y are distances to be determined, a distance r can be measured by measuring a data transmission delay between the antenna C and the antenna a, and angles α and β are calculated by measuring a phase difference (r-p) from a signal transmitted from the antenna C to the antenna a and the antenna B.
The specific calculation process is as follows:
r2＝x2+y2
the distances x and y can be obtained from the above equations (1) and (2). Meanwhile, positive and negative values can be obtained in equation (2), that is, a virtual image, such as the virtual image shown in fig. 2, is included in the localization. In order to eliminate the virtual image and only keep the positioning azimuth information of the actual device to be tested, the present invention adds an antenna D to the positioning terminal, please refer to fig. 3, and the distance between the antenna D and the antenna B is also D. That is, the first antenna, the second antenna, the third antenna, and the fourth antenna are referred to as the antennas a, B, D, and C, respectively.
In an implementation manner, referring to fig. 4, the step S100 specifically includes:
step S110, when a positioning terminal detects an instruction for positioning the tested device, the positioning terminal initiates UWB broadcasting;
and step S120, when the tested device receives UWB broadcast and initiates positioning to the positioning terminal, controlling the first antenna, the second antenna and the third antenna to receive positioning data sent by the fourth antenna.
Wherein, the positioning data comprises sending time.
Specifically, a positioning terminal (such as a mobile phone) serves as a host terminal to initiate UWB broadcasting; after receiving the UWB broadcast, the tested device returns a feedback to indicate that the UWB broadcast is received, synchronously sends a data to initiate positioning, and adds a time stamp in a data frame of the data to indicate the sending time.
The step S100 is followed by: step S200, obtaining first positioning information corresponding to the first antenna, second positioning information corresponding to the second antenna and third positioning information corresponding to the third antenna according to the positioning data.
That is, due to the difference in the positions of the first antenna, the second antenna, and the third antenna, the data corresponding to the signals sent by the fourth antenna on the device under test reaching each antenna is also different. Therefore, the positioning terminal obtains first positioning information corresponding to the first antenna, second positioning information corresponding to the second antenna, and third positioning information corresponding to the third antenna according to the positioning data.
In one implementation, the first antenna, the second antenna and the third antenna are sequentially distributed in an L shape. Referring to fig. 5, the step S200 specifically includes:
step S210, calculating according to the sending time in the positioning data to obtain a first space flight time and a first distance between a first antenna and a fourth antenna;
step S220, calculating according to the sending time in the positioning data to obtain a second space flight time and a second distance between a second antenna and a fourth antenna;
step S230, calculating a third space flight time and a third distance between the third antenna and the fourth antenna according to the sending time in the positioning data.
That is, the first positioning information includes a first spatial time of flight and a first distance between the first antenna and the fourth antenna; the second positioning information comprises a second spatial time of flight and a second distance between the second antenna and the fourth antenna; the third positioning information includes a third spatial time of flight and a third distance between a third antenna and a fourth antenna. That is, the positioning terminal calculates the space flight time of the antenna C to the antenna a by using the positioning data received by the antenna a, and further calculates the distance r. The positioning terminal can also calculate the space flight time of the antenna C reaching the antenna B by using the positioning data received by the antenna B. The positioning terminal can also calculate the space flight time from the antenna C to the antenna D by using the positioning data received by the antenna D.
The step S200 is followed by: step S300, determining distance and angle information of the equipment to be tested according to the first positioning information and the second positioning information, and determining orientation information of the equipment to be tested according to the second positioning information and the third positioning information.
That is to say, the invention can measure the distance angle information between the device to be measured and the positioning terminal, and can also measure the orientation information of the device to be measured, thereby eliminating misjudgment caused by ghost.
In an implementation manner, referring to fig. 6, the step S300 of "determining distance and angle information of the device under test according to the first positioning information and the second positioning information" specifically includes:
step S311, calculating a time difference between the first antenna and the second antenna according to the first space flight time and the second flight time;
step S312, calculating according to the time difference to obtain angle information of the terminal to be measured, and storing the first distance, the second distance and the angle information as distance angle information.
That is, the positioning terminal can calculate the time difference between the arrival of the antenna C at the antenna a and the arrival of the antenna B by using the positioning data received by the antenna B, and then can calculate the angles α and β. At this point, y has two solutions, the true position and the aerial image. The invention can continuously judge the real orientation of the equipment to be tested.
In a further implementation manner, referring to fig. 7, the step S300 of "determining the orientation information of the device to be tested according to the second positioning information and the third positioning information" specifically includes:
step S321, comparing the second space flight time with the third space flight time;
step S322a, if the second space time of flight is smaller than the third space time of flight, determining that the device under test is located on a side of the second antenna facing away from the third antenna.
Specifically, the fact that the device to be tested is located on the side, away from the third antenna, of the second antenna means that a connecting line formed by connecting the first antenna and the second antenna is used as a boundary line, and the device to be tested and the third antenna are located on two sides of the boundary line respectively. For example, if a connection line between the first antenna and the second antenna is disposed parallel to the screen of the positioning terminal, a connection line between the second antenna and the third antenna is disposed perpendicular to the screen of the positioning terminal, and the third antenna is disposed on a side of the second antenna facing away from the screen, that is, the third antenna is disposed on the back side of the positioning terminal. When the second space flight time is detected to be smaller than the third space flight time, the tested device is proved to be positioned in front of the screen of the positioning terminal.
For example, the positioning terminal of the present invention calculates the time difference between the arrival of antenna C at antenna B and the arrival of antenna D by using the data received by antenna D, and if the time of arrival of antenna C at antenna B (i.e. the second spatial flight time) is shorter than the time of arrival of antenna C at antenna D (i.e. the third spatial flight time), the position of the device under test is above antenna a and antenna B, i.e. at antenna C (taking the direction of fig. 3 as an example).
In a further implementation manner, the step S321 is followed by:
step S322b, if the second space time of flight is greater than the third space time of flight, determining that the device under test is located on a side of the second antenna facing the third antenna.
Specifically, the fact that the device to be tested is located on the side, facing the third antenna, of the second antenna means that a connecting line formed by connecting the first antenna and the second antenna is used as a boundary line, and the device to be tested and the third antenna are located on the same side of the boundary line. For example, if a connection line between the first antenna and the second antenna is disposed parallel to the screen of the positioning terminal, a connection line between the second antenna and the third antenna is disposed perpendicular to the screen of the positioning terminal, and the third antenna is disposed on a side of the second antenna facing away from the screen, that is, the third antenna is disposed on the back side of the positioning terminal. And when the second space flight time is detected to be larger than the third space flight time, the tested device is proved to be positioned behind the screen of the positioning terminal.
For example, if antenna C arrives at antenna B longer in time (i.e., the second spatial time-of-flight) than antenna C arrives at antenna D (i.e., the third spatial time-of-flight), the device under test is located below antenna a and antenna B (taking the orientation of fig. 3 as an example).
In one implementation, a distance between the first antenna and the second antenna is the same as a distance between the second antenna and the third antenna. That is, the distance between the antenna D and the antenna B is also set to D.
In a further implementation, the distance between the first antenna and the second antenna is 0.9 times the half wavelength of the first antenna. That is, in the present invention, each antenna is a UWB antenna, and the distance between the first antenna and the second antenna, and the distance between the second antenna and the third antenna in the positioning terminal are related to the performance of the UWB antenna. In particular, d may have a value slightly less than one-half wavelength, for example, 0.9 times one-half wavelength. The wavelength refers to the wavelength of the UWB antenna, and the frequency band of the UWB antenna is generally 6489.6-7987.2 Mm.
Further, as shown in fig. 8, based on the above positioning direction detection method, the present invention also provides a positioning terminal, which can be a mobile positioning terminal capable of positioning, such as a smart phone and a watch of a user, and includes a processor 10 and a memory 20. Fig. 8 shows only some of the components of the positioning terminal, but it is to be understood that not all of the shown components are required to be implemented, and that more or fewer components may be implemented instead.
The memory 20 may in some embodiments be an internal storage unit of the positioning terminal, such as a hard disk or a memory of the positioning terminal. The memory 20 may also be an external storage location terminal of the location terminal in other embodiments, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, which are provided on the location terminal. Further, the memory 20 may also include both an internal storage unit of the positioning terminal and an external storage positioning terminal. The memory 20 is used for storing application software installed in the positioning terminal and various data, such as program codes for installing the positioning terminal. The memory 20 may also be used to temporarily store data that has been output or is to be output. In one embodiment, the memory 20 stores a positioning direction detection program 30, and the positioning direction detection program 30 can be executed by the processor 10 to implement the positioning direction detection method of the present application.
The processor 10 may be a Central Processing Unit (CPU), a microprocessor or other data Processing chip in some embodiments, and is used for executing the program codes stored in the memory 20 or Processing data, such as executing the positioning and orientation detection method.
The positioning azimuth detection method is used for positioning a device to be detected by a positioning terminal, the positioning terminal is provided with a first antenna, a second antenna and a third antenna, and the device to be detected is provided with a fourth antenna.
In one embodiment, the following steps are implemented when the processor 10 executes the position location detection program 30 in the memory 20:
when the positioning terminal detects an instruction for positioning the device to be tested, the first antenna, the second antenna and the third antenna are controlled to receive the positioning data sent by the fourth antenna;
obtaining first positioning information corresponding to the first antenna, second positioning information corresponding to the second antenna and third positioning information corresponding to the third antenna according to the positioning data;
and determining the distance angle information of the equipment to be tested according to the first positioning information and the second positioning information, and determining the azimuth information of the equipment to be tested according to the second positioning information and the third positioning information.
According to the invention, the third antenna is added on the hardware of the positioning terminal, and the positioning information between the third antenna and the equipment to be tested and the positioning information between the second antenna and the equipment to be tested are utilized to jointly determine the orientation information of the equipment to be tested, so that misjudgment caused by virtual images is eliminated, and the accuracy of positioning the equipment to be tested is improved.
When the positioning terminal detects an instruction for positioning the device to be tested, the positioning terminal controls the first antenna, the second antenna and the third antenna to receive the positioning data sent by the fourth antenna, and the method comprises the following steps:
when a positioning terminal detects an instruction for positioning a device to be tested, the positioning terminal initiates UWB broadcasting;
when the tested device receives UWB broadcast and initiates positioning to the positioning terminal, the first antenna, the second antenna and the third antenna are controlled to receive positioning data sent by the fourth antenna;
wherein, the positioning data comprises sending time.
Specifically, a positioning terminal (such as a mobile phone) serves as a host terminal to initiate UWB broadcasting; after receiving the UWB broadcast, the tested device returns a feedback to indicate that the UWB broadcast is received, synchronously sends a data to initiate positioning, and adds a time stamp in a data frame of the data to indicate the sending time.
The first antenna, the second antenna and the third antenna are sequentially distributed in an L shape; the obtaining of first positioning information corresponding to the first antenna, second positioning information corresponding to the second antenna, and third positioning information corresponding to the third antenna according to the positioning data includes:
calculating a first space flight time and a first distance between the first antenna and the fourth antenna according to the sending time in the positioning data;
calculating a second space flight time and a second distance between a second antenna and a fourth antenna according to the sending time in the positioning data;
and calculating a third space flight time and a third distance between a third antenna and a fourth antenna according to the sending time in the positioning data.
That is, the first positioning information includes a first spatial time of flight and a first distance between the first antenna and the fourth antenna; the second positioning information comprises a second spatial time of flight and a second distance between the second antenna and the fourth antenna; the third positioning information includes a third spatial time of flight and a third distance between a third antenna and a fourth antenna.
The determining the distance and angle information of the device to be tested according to the first positioning information and the second positioning information includes:
calculating the time difference between the first antenna and the second antenna according to the first space flight time and the second flight time;
and calculating angle information of the terminal to be detected according to the time difference, and storing the first distance, the second distance and the angle information as distance and angle information.
The determining the orientation information of the device to be tested according to the second positioning information and the third positioning information includes:
comparing the second spatial time-of-flight to the third spatial time-of-flight;
and if the second space flight time is smaller than the third space flight time, determining that the device to be tested is positioned on one side of the second antenna, which is far away from the third antenna.
Specifically, the fact that the device to be tested is located on the side, away from the third antenna, of the second antenna means that a connecting line formed by connecting the first antenna and the second antenna is used as a boundary line, and the device to be tested and the third antenna are located on two sides of the boundary line respectively.
After comparing the second spatial time-of-flight to the third spatial time-of-flight, further comprising:
and if the second space flight time is greater than the third space flight time, determining that the device to be tested is positioned on one side of the second antenna facing the third antenna.
Specifically, the fact that the device to be tested is located on the side, facing the third antenna, of the second antenna means that a connecting line formed by connecting the first antenna and the second antenna is used as a boundary line, and the device to be tested and the third antenna are located on the same side of the boundary line.
The distance between the first antenna and the second antenna is the same as the distance between the second antenna and the third antenna.
The distance between the first antenna and the second antenna is 0.9 times of one-half wavelength of the first antenna.
The present invention also provides a computer-readable storage medium storing a computer program executable for implementing the steps of the positioning orientation detecting method as described above.
In summary, the positioning direction detecting method, the positioning terminal and the computer readable storage medium disclosed in the present invention are used for positioning a device under test by the positioning terminal, wherein the positioning terminal is provided with a first antenna, a second antenna and a third antenna, and the device under test is provided with a fourth antenna; the positioning orientation detection method comprises the following steps: when the positioning terminal detects an instruction for positioning the device to be tested, the first antenna, the second antenna and the third antenna are controlled to receive the positioning data sent by the fourth antenna; obtaining first positioning information corresponding to the first antenna, second positioning information corresponding to the second antenna and third positioning information corresponding to the third antenna according to the positioning data; and determining the distance angle information of the equipment to be tested according to the first positioning information and the second positioning information, and determining the azimuth information of the equipment to be tested according to the second positioning information and the third positioning information. According to the invention, the third antenna is added on the hardware of the positioning terminal, and the positioning information between the third antenna and the equipment to be tested and the positioning information between the second antenna and the equipment to be tested are utilized to jointly determine the orientation information of the equipment to be tested, so that misjudgment caused by virtual images is eliminated, and the accuracy of positioning the equipment to be tested is improved.
Of course, it will be understood by those skilled in the art that all or part of the processes of the methods of the above embodiments may be implemented by a computer program instructing relevant hardware (such as a processor, a controller, etc.), and the program may be stored in a computer readable storage medium, and when executed, the program may include the processes of the above method embodiments. The storage medium may be a memory, a magnetic disk, an optical disk, etc.
It is to be understood that the invention is not limited to the examples described above, but that modifications and variations may be effected thereto by those of ordinary skill in the art in light of the foregoing description, and that all such modifications and variations are intended to be within the scope of the invention as defined by the appended claims.
Claims (10)
1. A positioning azimuth detection method is used for positioning equipment to be detected by a positioning terminal, and is characterized in that a first antenna, a second antenna and a third antenna are arranged on the positioning terminal, and a fourth antenna is arranged on the equipment to be detected;
the positioning orientation detection method comprises the following steps:
when the positioning terminal detects an instruction for positioning the device to be tested, the first antenna, the second antenna and the third antenna are controlled to receive the positioning data sent by the fourth antenna;
obtaining first positioning information corresponding to the first antenna, second positioning information corresponding to the second antenna and third positioning information corresponding to the third antenna according to the positioning data;
and determining the distance angle information of the equipment to be tested according to the first positioning information and the second positioning information, and determining the azimuth information of the equipment to be tested according to the second positioning information and the third positioning information.
2. The method according to claim 1, wherein the controlling the first antenna, the second antenna and the third antenna to receive the positioning data transmitted by the fourth antenna when the positioning terminal detects the instruction for positioning the device under test comprises:
when a positioning terminal detects an instruction for positioning a device to be tested, the positioning terminal initiates UWB broadcasting;
when the tested device receives UWB broadcast and initiates positioning to the positioning terminal, the first antenna, the second antenna and the third antenna are controlled to receive positioning data sent by the fourth antenna;
wherein, the positioning data comprises sending time.
3. The method according to claim 2, wherein the first antenna, the second antenna and the third antenna are sequentially distributed in an L shape; the obtaining of first positioning information corresponding to the first antenna, second positioning information corresponding to the second antenna, and third positioning information corresponding to the third antenna according to the positioning data includes:
calculating a first space flight time and a first distance between the first antenna and the fourth antenna according to the sending time in the positioning data;
calculating a second space flight time and a second distance between a second antenna and a fourth antenna according to the sending time in the positioning data;
and calculating a third space flight time and a third distance between a third antenna and a fourth antenna according to the sending time in the positioning data.
4. The method according to claim 3, wherein the determining distance angle information of the device under test according to the first positioning information and the second positioning information comprises:
calculating the time difference between the first antenna and the second antenna according to the first space flight time and the second flight time;
and calculating angle information of the terminal to be detected according to the time difference, and storing the first distance, the second distance and the angle information as distance and angle information.
5. The method according to claim 3, wherein the determining the orientation information of the device under test according to the second positioning information and the third positioning information includes:
comparing the second spatial time-of-flight to the third spatial time-of-flight;
and if the second space flight time is smaller than the third space flight time, determining that the device to be tested is positioned on one side of the second antenna, which is far away from the third antenna.
6. The method of claim 5, wherein after comparing the second spatial time-of-flight to the third spatial time-of-flight, further comprising:
and if the second space flight time is greater than the third space flight time, determining that the device to be tested is positioned on one side of the second antenna facing the third antenna.
7. The positioning orientation detection method according to claim 3, wherein a distance from the first antenna to the second antenna is the same as a distance from the second antenna to the third antenna.
8. The method according to claim 3, wherein the distance between the first antenna and the second antenna is 0.9 times the half wavelength of the first antenna.
9. A positioning terminal, comprising: a memory, a processor and a positioning orientation detection program stored on the memory and executable on the processor, the positioning orientation detection program when executed by the processor implementing the steps of the positioning orientation detection method according to any one of claims 1 to 8.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program executable for implementing the steps of the positioning orientation detection method according to any one of claims 1 to 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110168378.2A CN112929820B (en) | 2021-02-07 | 2021-02-07 | Positioning azimuth detection method, positioning terminal and computer readable storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110168378.2A CN112929820B (en) | 2021-02-07 | 2021-02-07 | Positioning azimuth detection method, positioning terminal and computer readable storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112929820A true CN112929820A (en) | 2021-06-08 |
| CN112929820B CN112929820B (en) | 2023-05-23 |
Family
ID=76171086
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110168378.2A Active CN112929820B (en) | 2021-02-07 | 2021-02-07 | Positioning azimuth detection method, positioning terminal and computer readable storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112929820B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113422850A (en) * | 2021-06-17 | 2021-09-21 | Oppo广东移动通信有限公司 | Electronic equipment |
| CN113687300A (en) * | 2021-08-20 | 2021-11-23 | 维沃移动通信有限公司 | Positioning method and device and electronic equipment |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108627799A (en) * | 2018-04-28 | 2018-10-09 | 纳恩博（北京）科技有限公司 | Location communication device, localization method and computer storage media |
| US20190285678A1 (en) * | 2018-03-15 | 2019-09-19 | Rohde & Schwarz Gmbh & Co. Kg | Test arrangement and test method |
| CN112118530A (en) * | 2020-08-10 | 2020-12-22 | 苏州寻波科技有限公司 | Positioning system and method based on wifi channel state information |
| CN112163061A (en) * | 2020-10-10 | 2021-01-01 | Oppo广东移动通信有限公司 | User positioning method and device, storage medium and electronic equipment |
-
2021
- 2021-02-07 CN CN202110168378.2A patent/CN112929820B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20190285678A1 (en) * | 2018-03-15 | 2019-09-19 | Rohde & Schwarz Gmbh & Co. Kg | Test arrangement and test method |
| CN108627799A (en) * | 2018-04-28 | 2018-10-09 | 纳恩博（北京）科技有限公司 | Location communication device, localization method and computer storage media |
| CN112118530A (en) * | 2020-08-10 | 2020-12-22 | 苏州寻波科技有限公司 | Positioning system and method based on wifi channel state information |
| CN112163061A (en) * | 2020-10-10 | 2021-01-01 | Oppo广东移动通信有限公司 | User positioning method and device, storage medium and electronic equipment |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113422850A (en) * | 2021-06-17 | 2021-09-21 | Oppo广东移动通信有限公司 | Electronic equipment |
| CN113687300A (en) * | 2021-08-20 | 2021-11-23 | 维沃移动通信有限公司 | Positioning method and device and electronic equipment |
| WO2023020415A1 (en) * | 2021-08-20 | 2023-02-23 | 维沃移动通信有限公司 | Positioning method and apparatus, and electronic device |
| CN113687300B (en) * | 2021-08-20 | 2024-05-10 | 维沃移动通信有限公司 | Positioning method and device and electronic equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112929820B (en) | 2023-05-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US9860866B2 (en) | Systems and methods providing transmit diversity to combat multipath effects in position estimation | |
| US9706358B2 (en) | Distance determination of a mobile device | |
| US20180076875A1 (en) | Method and apparatus for non-linear antenna array angle of arrival detection | |
| US10241188B2 (en) | Method and apparatus for obtaining time of arrival TOA when mobile terminal is located | |
| CN112929820B (en) | Positioning azimuth detection method, positioning terminal and computer readable storage medium | |
| US10349214B2 (en) | Localization using access point | |
| US11422220B2 (en) | Method and apparatus for determining the angle of departure | |
| US20230266425A1 (en) | Estimating a Location of a User Equipment | |
| WO2023020415A1 (en) | Positioning method and apparatus, and electronic device | |
| CN113655437A (en) | Ranging method, ranging apparatus, and storage medium | |
| CN112153557B (en) | Wireless positioning method, positioning device and network equipment | |
| KR102416604B1 (en) | Mehtod and device for precise positioning for wireless communication system | |
| US11656319B2 (en) | Method for adjusting length of Golay sequence for object recognition and electronic device therefor | |
| Gallo et al. | WMPS: A positioning system for localizing legacy 802.11 devices | |
| CN113029147B (en) | Estimation method for air propagation delay of direct wave | |
| CN111683403B (en) | Base station registration method, device, electronic equipment and storage medium | |
| CN113242097A (en) | Underwater positioning method and related device | |
| CN113471700A (en) | Antenna control method, antenna control device, storage medium and electronic equipment | |
| JP2003329757A (en) | Radio method and apparatus for measuring position | |
| CN114390669A (en) | Method for determining arrival angle and related device | |
| WO2024140796A1 (en) | Transmission processing method and apparatus, and terminal and network-side device | |
| US9883342B2 (en) | Localization using access point | |
| CN113766424B (en) | Unmanned aerial vehicle indoor positioning method, unmanned aerial vehicle indoor positioning device, computer equipment and storage medium | |
| CN114337932B (en) | Self-adaptive pilot frequency symbol sending method, device and medium based on UWB system | |
| US20230284192A1 (en) | Method and apparatus for carrier-phase positioning with multiple frequencies |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |