CN112929820B - Positioning azimuth detection method, positioning terminal and computer readable storage medium - Google Patents

Positioning azimuth detection method, positioning terminal and computer readable storage medium Download PDF

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CN112929820B
CN112929820B CN202110168378.2A CN202110168378A CN112929820B CN 112929820 B CN112929820 B CN 112929820B CN 202110168378 A CN202110168378 A CN 202110168378A CN 112929820 B CN112929820 B CN 112929820B
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antenna
positioning
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CN112929820A (en
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秦启建
柴慧丹
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Huizhou TCL Mobile Communication 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
    • 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

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  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Physics & Mathematics (AREA)
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  • 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 tested equipment is provided with a fourth antenna; when the positioning terminal detects a positioning tested equipment instruction, 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; distance and angle information of the tested equipment is determined according to the first positioning information and the second positioning information, and azimuth information of the tested equipment is determined 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 azimuth information of the equipment to be measured is determined by utilizing the second positioning information and the third positioning information together, so that misjudgment caused by a virtual image is eliminated, and the accuracy of positioning the equipment to be measured is improved.

Description

Positioning azimuth detection method, positioning terminal and computer readable storage medium
Technical Field
The present invention relates to the field of positioning technologies, and in particular, to a positioning azimuth detection method, a positioning terminal, and a computer readable storage medium.
Background
UWB technology began with the pulse communication technology that arose in the 60 s of the 20 th century. UWB technology uses ultra-wideband pulses with extremely wide frequency spectrum for communication, so is also known as baseband communication technology, wireless carrier communication technology, and is mainly used in military radar, positioning, and low-interception/low-detection communication systems. Communication systems with a relative bandwidth of greater than 0.2 or a bandwidth of greater than 500MHz at any time of transmission are known as UWB systems and are used for consumer goods. The UWB technology is the preferred technology of the wireless personal area network communication technology (WPAN) because the UWB technology has the characteristics of high data transmission rate (up to 1 Gbit/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.
With the release of the 802.15.4z standard, UWB has recently shown a blowout trend in the positioning terminal (e.g., mobile phone) industry, and various large terminal manufacturers are strongly laying out UWB schemes. UWB is used for distance and angle measurement in the positioning terminal, but after measuring distance and angle, there is still the positioning virtual image problem, can't obtain the position of equipment to be measured.
Accordingly, the prior art has drawbacks and needs to be improved and developed.
Disclosure of Invention
The invention aims to solve the technical problems that the prior art is overcome by providing a positioning azimuth detection method, a positioning terminal and a computer readable storage medium, and the method and the terminal aim to solve the problems that only distance and angle are measured when equipment to be detected is positioned in the prior art and the azimuth of the equipment to be detected cannot be known.
The technical scheme adopted for solving the technical problems is as follows:
the positioning azimuth detection method is used for positioning the tested equipment by a positioning terminal, wherein the positioning terminal is provided with a first antenna, a second antenna and a third antenna, and the tested equipment is provided with a fourth antenna;
the positioning azimuth detection method comprises the following steps:
when the positioning terminal detects a positioning tested equipment instruction, 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 distance and angle information of the equipment to be measured according to the first positioning information and the second positioning information, and determining azimuth information of the equipment to be measured according to the second positioning information and the third positioning information.
In a further implementation manner, when the positioning terminal detects a positioning device to be tested instruction, controlling the first antenna, the second antenna and the third antenna to receive positioning data sent by the fourth antenna includes:
when a positioning terminal detects a positioning tested equipment instruction, the positioning terminal initiates UWB broadcasting;
when the tested equipment receives UWB broadcasting and initiates positioning to the positioning terminal, the first antenna, the second antenna and the third antenna are controlled to all receive positioning data sent by the fourth antenna;
wherein the positioning data comprises an emission time.
In a further implementation manner, the first antenna, the second antenna and the third antenna are distributed in an L shape in sequence; the obtaining, according to the positioning data, 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 includes:
calculating to obtain a first space flight time and a first distance between a first antenna and a 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 emission 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 to obtain a time difference between the first antenna and the second antenna according to the first space flight time and the second flight time;
and calculating according to the time difference to obtain angle information of the terminal to be detected, and storing the first distance, the second distance and the angle information as distance angle information.
In a further implementation manner, the determining the azimuth information of the device under test according to the second positioning information and the third positioning information includes:
comparing the second space time of flight with the third space time of flight;
and if the second space flight time is smaller than the third space flight time, determining that the tested equipment is positioned on one side of the second antenna, which is away from the third antenna.
In a further implementation, after the comparing the second space-time with the third space-time, the method further includes:
and if the second space flight time is greater than the third space flight time, determining that the tested equipment is positioned on one side of the second antenna facing the third antenna.
In a further implementation, the distance between the first antenna and the second antenna is the same as the 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 invention also provides a positioning terminal, wherein the positioning terminal comprises: the system comprises a memory, a processor and a positioning orientation detection program stored on the memory and capable of running on the processor, wherein the positioning orientation detection program realizes the steps of the positioning orientation detection method when being executed by the processor.
The present invention also provides a computer readable storage medium storing a computer program executable for implementing the steps of the positioning orientation detection method as described above.
The invention provides a positioning azimuth detection method, a positioning terminal and a computer readable storage medium, wherein the positioning azimuth detection method is used for positioning tested equipment by the positioning terminal, the positioning terminal is provided with a first antenna, a second antenna and a third antenna, and the tested equipment is provided with a fourth antenna; the positioning azimuth detection method comprises the following steps: when the positioning terminal detects a positioning tested equipment instruction, 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 distance and angle information of the equipment to be measured according to the first positioning information and the second positioning information, and determining azimuth information of the equipment to be measured 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 positioned and the positioning information between the second antenna and the equipment to be positioned are utilized to jointly determine the azimuth information of the equipment to be positioned, so that misjudgment caused by a virtual image is eliminated, and the accuracy of positioning the equipment to be positioned is improved.
Drawings
FIG. 1 is a flow chart of a preferred embodiment of a method for detecting a position and orientation in the present invention.
Fig. 2 is a schematic diagram of a positioning principle in the prior art.
FIG. 3 is a schematic diagram of a positioning principle of a preferred embodiment of the positioning orientation detection method of the present invention.
FIG. 4 is a flowchart showing a step S100 in a preferred embodiment of the method for detecting a positioning orientation according to the present invention.
FIG. 5 is a flowchart showing a step S200 in a preferred embodiment of the method for detecting a positioning orientation according to 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 direction detection method of the present invention.
Fig. 7 is a flowchart of "determining the azimuth information of the device under test according to the second positioning information and the third positioning information" in step S300 in the preferred embodiment of the positioning azimuth detection method of 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 more clear and clear, the present invention will be further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Aiming at the virtual image problem, the invention provides a measuring scheme which can eliminate the virtual image problem 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 the distance and the angle. According to the invention, an antenna is added on the positioning terminal, and the added antenna is used for detecting the azimuth.
Specifically, the positioning azimuth detection method is used for positioning the tested equipment by the positioning terminal, wherein the positioning terminal is provided with a first antenna, a second antenna and a third antenna, and the total number of the antennas is 3; and a fourth antenna is arranged on the tested equipment. It is understood that the first antenna, the second antenna, the third antenna and the fourth antenna are UWB antennas.
Referring to fig. 1, fig. 1 is a flowchart of a positioning direction detection method in the present invention. As shown in fig. 1, the positioning azimuth detection method according to the embodiment of the invention includes the following steps:
and step S100, when the positioning terminal detects a positioning tested equipment instruction, controlling the first antenna, the second antenna and the third antenna to receive positioning data sent by the fourth antenna.
Specifically, a fourth antenna in the terminal to be detected transmits positioning data to 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 solved, 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) between signals sent from the antenna C to the antenna a and the antenna B.
The specific calculation process is as follows:
Figure BDA0002938074210000061
Figure BDA0002938074210000062
Figure BDA0002938074210000063
Figure BDA0002938074210000064
r 2 ＝x 2 +y 2
Figure BDA0002938074210000065
the distances of x and y can be obtained according to the above-described formula (1) and formula (2). Meanwhile, positive and negative values can be obtained in the formula (2), that is, a virtual image is included in the positioning, as shown in fig. 2. In order to eliminate the virtual image, only the positioning azimuth information of the actual device to be tested is reserved, an antenna D is added to the positioning terminal, and referring to fig. 3, the distance between the antenna D and the antenna B is also D. That is, the first antenna of the present invention is referred to as an antenna a, the second antenna is referred to as an antenna B, the third antenna is referred to as an antenna D, and the fourth antenna is referred to as an antenna C.
In one implementation, referring to fig. 4, the step S100 specifically includes:
step S110, when a positioning terminal detects a positioning tested device instruction, the positioning terminal initiates UWB broadcasting;
and step S120, when the tested equipment receives UWB broadcasting and initiates positioning to the positioning terminal, controlling the first antenna, the second antenna and the third antenna to all receive positioning data sent by the fourth antenna.
Wherein the positioning data comprises an emission time.
Specifically, a positioning terminal (such as a mobile phone) is used as a host end to initiate UWB broadcasting; after receiving the UWB broadcast, the device under test returns a feedback to indicate that the UWB broadcast is received, synchronously transmits a data to initiate positioning, and adds a timestamp to a data frame of the data to indicate the time of transmission.
The step S100 is followed by: step 200, 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 different positions of the first antenna, the second antenna and the third antenna, the data corresponding to the arrival of the signal sent by the fourth antenna on the tested device to each antenna is also different. Therefore, the positioning terminal obtains the first positioning information corresponding to the first antenna, the second positioning information corresponding to the second antenna and the third positioning information corresponding to the third antenna according to the positioning data.
In one implementation manner, the first antenna, the second antenna and the third antenna are distributed in an L-shape in sequence. Referring to fig. 5, the step S200 specifically includes:
step S210, calculating to obtain a first space flight time and a first distance between a first antenna and a fourth antenna according to the emission time in the positioning data;
step S220, 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 step S230, calculating a third space flight time and a third distance between a third antenna and a fourth antenna according to the emission time in the positioning data.
That is, the first positioning information includes a first space time of flight and a first distance between the first antenna and the fourth antenna; the second positioning information includes a second space time of flight and a second distance between a second antenna and a fourth antenna; the third positioning information includes a third space 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, distance and angle information of the equipment to be measured is determined according to the first positioning information and the second positioning information, and azimuth information of the equipment to be measured is determined according to the second positioning information and the third positioning information.
That is, the invention can measure the distance and angle information of the equipment to be measured and the positioning terminal, and also can measure the azimuth information of the equipment to be measured, thereby eliminating misjudgment caused by virtual shadow.
In one implementation, referring to fig. 6, in step S300, "determining distance angle information of the device under test according to the first positioning information and the second positioning information" specifically includes:
step S311, calculating to obtain a time difference between the first antenna and the second antenna according to the first space flight time and the second flight time;
and step S312, calculating the 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 angle information.
That is, the positioning terminal can calculate the time difference between the arrival of the antenna C at the antennas a and B using the positioning data received by the antenna B, and then can calculate the angles of α and β. At this time, y has two solutions, namely a real position and a virtual image. The invention can continuously judge the true azimuth of the equipment to be tested.
In a further implementation manner, referring to fig. 7, in the step S300, "determining the azimuth information of the device under test 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 flight time is less than the third space flight time, determining that the device under test is located at a side of the second antenna away from the third antenna.
Specifically, the device to be tested being located at one side of the second antenna away from the third antenna means that a connecting line formed by connecting the first antenna and the second antenna is taken as a dividing line, and the device to be tested and the third antenna are located at two sides of the dividing line respectively. For example, if the connection line between the first antenna and the second antenna is disposed parallel to the screen of the positioning terminal, the 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 surface of the positioning terminal. When the second space flight time is detected to be smaller than the third space flight time, then the tested device is proved to be positioned in front of a positioning terminal screen.
For example, the positioning terminal of the present invention calculates the time difference between the arrival of the antenna C at the antenna B and the arrival of the antenna D by using the data received by the antenna D, and if the arrival time of the antenna C at the antenna B (i.e., the second space flight time) is shorter than the arrival time of the antenna C at the antenna D (i.e., the third space flight time), the location of the device under test is above the antennas a and B, i.e., at the antenna C (taking the direction of fig. 3 as an example).
In a further implementation manner, the step S321 further includes:
step S322b, if the second space flight time is greater than the third space flight time, determining that the device under test is located at a side of the second antenna facing the third antenna.
Specifically, the device under test being located on the side of the second antenna facing the third antenna means that the line connecting the first antenna and the second antenna is used as a boundary, and the device under test and the third antenna are located on the same side of the boundary. For example, if the connection line between the first antenna and the second antenna is disposed parallel to the screen of the positioning terminal, the 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 surface of the positioning terminal. When the second space flight time is detected to be greater than the third space flight time, then the tested device is proved to be positioned behind a positioning terminal screen.
For example, if the time for antenna C to reach antenna B (i.e., the second space time of flight) is longer than the time for antenna C to reach antenna D (i.e., the third space time of flight), the location of the device under test is below antenna a and antenna B (in the example of the orientation of fig. 3).
In one implementation, the distance between the first antenna and the second antenna is the same as the distance between the second antenna and the third antenna. That is, the distance between the antennas D and B is set to D as well.
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 be slightly less than one half wavelength, for example, d is 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 megabytes.
Further, as shown in fig. 8, based on the above positioning direction detection method, the present invention further provides a positioning terminal, which can be a mobile positioning terminal capable of positioning a smart phone, a watch, etc. 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 should be understood that not all of the illustrated components are required to be implemented and that more or fewer components may alternatively be implemented.
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 in other embodiments also be an external memory location terminal of the location terminal, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash Card (Flash Card) or the like, which are provided on the location terminal. Further, the memory 20 may also include both an internal memory unit of the positioning terminal and an external memory positioning terminal. The memory 20 is used for storing application software installed on 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 has a positioning orientation detection program 30 stored thereon, and the positioning orientation detection program 30 is executable by the processor 10 to implement the positioning orientation detection method of the present application.
The processor 10 may in some embodiments be a central processing unit (Central Processing Unit, CPU), microprocessor or other data processing chip for executing program code or processing data stored in the memory 20, for example for performing the position and orientation detection method, etc.
The positioning azimuth detection method is used for positioning the tested equipment by the positioning terminal, wherein the positioning terminal is provided with a first antenna, a second antenna and a third antenna, and the tested equipment is provided with a fourth antenna.
In one embodiment, the following steps are implemented when the processor 10 executes the location fix detection program 30 in the memory 20:
when the positioning terminal detects a positioning tested equipment instruction, 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 distance and angle information of the equipment to be measured according to the first positioning information and the second positioning information, and determining azimuth information of the equipment to be measured 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 positioned and the positioning information between the second antenna and the equipment to be positioned are utilized to jointly determine the azimuth information of the equipment to be positioned, so that misjudgment caused by a virtual image is eliminated, and the accuracy of positioning the equipment to be positioned is improved.
When the positioning terminal detects a positioning tested device instruction, 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:
when a positioning terminal detects a positioning tested equipment instruction, the positioning terminal initiates UWB broadcasting;
when the tested equipment receives UWB broadcasting and initiates positioning to the positioning terminal, the first antenna, the second antenna and the third antenna are controlled to all receive positioning data sent by the fourth antenna;
wherein the positioning data comprises an emission time.
Specifically, a positioning terminal (such as a mobile phone) is used as a host end to initiate UWB broadcasting; after receiving the UWB broadcast, the device under test returns a feedback to indicate that the UWB broadcast is received, synchronously transmits a data to initiate positioning, and adds a timestamp to a data frame of the data to indicate the time of transmission.
The first antenna, the second antenna and the third antenna are distributed in an L shape in sequence; the obtaining, according to the positioning data, 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 includes:
calculating to obtain a first space flight time and a first distance between a first antenna and a 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 emission time in the positioning data.
That is, the first positioning information includes a first space time of flight and a first distance between the first antenna and the fourth antenna; the second positioning information includes a second space time of flight and a second distance between a second antenna and a fourth antenna; the third positioning information includes a third space time of flight and a third distance between a third antenna and a fourth antenna.
The determining the distance angle information of the measured device according to the first positioning information and the second positioning information includes:
calculating to obtain a time difference between the first antenna and the second antenna according to the first space flight time and the second flight time;
and calculating according to the time difference to obtain angle information of the terminal to be detected, and storing the first distance, the second distance and the angle information as distance angle information.
The determining the azimuth information of the device to be tested according to the second positioning information and the third positioning information includes:
comparing the second space time of flight with the third space time of flight;
and if the second space flight time is smaller than the third space flight time, determining that the tested equipment is positioned on one side of the second antenna, which is away from the third antenna.
Specifically, the device to be tested being located at one side of the second antenna away from the third antenna means that a connecting line formed by connecting the first antenna and the second antenna is taken as a dividing line, and the device to be tested and the third antenna are located at two sides of the dividing line respectively.
After said comparing said second space-time of flight with said third space-time of flight, further comprising:
and if the second space flight time is greater than the third space flight time, determining that the tested equipment is positioned on one side of the second antenna facing the third antenna.
Specifically, the device under test being located on the side of the second antenna facing the third antenna means that the line connecting the first antenna and the second antenna is used as a boundary, and the device under test and the third antenna are located on the same side of the boundary.
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 the 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 detection method as described above.
In summary, the positioning azimuth detection method, the positioning terminal and the computer readable storage medium disclosed by the invention are used for positioning the tested equipment by the positioning terminal, wherein the positioning terminal is provided with a first antenna, a second antenna and a third antenna, and the tested equipment is provided with a fourth antenna; the positioning azimuth detection method comprises the following steps: when the positioning terminal detects a positioning tested equipment instruction, 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 distance and angle information of the equipment to be measured according to the first positioning information and the second positioning information, and determining azimuth information of the equipment to be measured 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 positioned and the positioning information between the second antenna and the equipment to be positioned are utilized to jointly determine the azimuth information of the equipment to be positioned, so that misjudgment caused by a virtual image is eliminated, and the accuracy of positioning the equipment to be positioned is improved.
Of course, those skilled in the art will appreciate that implementing all or part of the above-described methods may be implemented by a computer program for instructing relevant hardware (such as a processor, a controller, etc.), where the program may be stored in a computer-readable storage medium, and where the program may include the steps of the above-described method embodiments when executed. The storage medium may be a memory, a magnetic disk, an optical disk, or the like.
It is to be understood that the invention is not limited in its application to the examples described above, but is capable of modification and variation in light of the above teachings by those skilled in the art, and that all such modifications and variations are intended to be included within the scope of the appended claims.

Claims (5)

1. The positioning azimuth detection method is used for positioning the tested equipment by a positioning terminal and is characterized in that the positioning terminal is provided with a first antenna, a second antenna and a third antenna, and the tested equipment is provided with a fourth antenna;
the positioning azimuth detection method comprises the following steps:
when the positioning terminal detects a positioning tested equipment instruction, 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;
determining distance angle information of the tested equipment according to the first positioning information and the second positioning information, and determining azimuth information of the tested equipment according to the second positioning information and the third positioning information;
when the positioning terminal detects a positioning tested device instruction, 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:
when a positioning terminal detects a positioning tested equipment instruction, the positioning terminal initiates UWB broadcasting;
when the tested equipment receives UWB broadcasting and initiates positioning to the positioning terminal, the first antenna, the second antenna and the third antenna are controlled to all receive positioning data sent by the fourth antenna;
wherein the positioning data comprises sending time;
the first antenna, the second antenna and the third antenna are distributed in an L shape in sequence; the obtaining, according to the positioning data, 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 includes:
calculating to obtain a first space flight time and a first distance between a first antenna and a 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;
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;
the connecting line between the first antenna and the second antenna is parallel to the positioning terminal, the connecting line between the second antenna and the third antenna is perpendicular to the positioning terminal, and the third antenna is arranged on one side of the second antenna, which is away from the positioning terminal;
the determining the distance angle information of the measured device according to the first positioning information and the second positioning information includes:
calculating to obtain the time difference between the first antenna and the second antenna according to the first space flight time and the second flight time;
calculating angle information of the tested equipment according to the time difference, and storing the first distance, the second distance and the angle information as distance angle information;
the determining the azimuth information of the tested device according to the second positioning information and the third positioning information comprises the following steps:
comparing the second space time of flight with the third space time of flight;
if the second space flight time is smaller than the third space flight time, determining that the tested equipment is positioned at one side of the second antenna, which is away from the third antenna;
the distance between the first antenna and the second antenna is the same as the distance between the second antenna and the third antenna.
2. The method of claim 1, wherein said comparing said second space-time with said third space-time further comprises:
and if the second space flight time is greater than the third space flight time, determining that the tested equipment is positioned on one side of the second antenna facing the third antenna.
3. The method of claim 1, wherein the distance between the first antenna and the second antenna is 0.9 times the half wavelength of the first antenna.
4. A positioning terminal, comprising: a memory, a processor and a positioning orientation detection program stored on the memory and executable on the processor, which when executed by the processor implements the steps of the positioning orientation detection method according to any of claims 1-3.
5. A computer readable storage medium, characterized in that it stores a computer program executable for implementing the steps of the positioning orientation detection method according to any of claims 1-3.
CN202110168378.2A 2021-02-07 2021-02-07 Positioning azimuth detection method, positioning terminal and computer readable storage medium Active CN112929820B (en)

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