CN113038359B - Positioning method, positioning device, electronic equipment and storage medium - Google Patents
Positioning method, positioning device, electronic equipment and storage medium Download PDFInfo
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- CN113038359B CN113038359B CN201911250841.7A CN201911250841A CN113038359B CN 113038359 B CN113038359 B CN 113038359B CN 201911250841 A CN201911250841 A CN 201911250841A CN 113038359 B CN113038359 B CN 113038359B
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- 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
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Abstract
The application discloses a positioning method, a positioning device, electronic equipment and a storage medium, wherein the method comprises the following steps: performing position calculation on the tag based on the arrival time difference to obtain first position information of the tag; respectively calculating the distances from the label to at least two base stations based on the first position information to obtain at least two first distance values; respectively correcting the at least two first distance values according to a pre-established distance value and ranging deviation value list to obtain at least two second distance values; performing position calculation on the label based on at least two second distance values to obtain second position information of the label; and when the second position information meets the preset condition, determining the second position information as the target position information of the tag. This application is through the in-process of resolving based on arrival time difference, increases the correction to the range deviation value to reduce the influence of range deviation value to measured data, promote the precision of location.
Description
Technical Field
The present application relates to the field of positioning technologies, and in particular, to a positioning method, an apparatus, an electronic device, and a storage medium.
Background
Driven by user demands, various positioning systems have been rapidly developed in recent years, and have been widely used outdoors and indoors. In various positioning systems, positioning based on distance measurement is one of important ways, but the distance measured by the current positioning system deviates from the actual distance, thereby affecting the accuracy of positioning calculation.
Disclosure of Invention
In view of the above problems, the present application provides a positioning method, an apparatus, an electronic device, and a storage medium to solve the above problems.
In a first aspect, an embodiment of the present application provides a positioning method, where the method includes: performing position calculation on the label based on the arrival time difference to obtain first position information of the label; respectively calculating the distances from the label to at least two base stations based on the first position information to obtain at least two first distance values; respectively correcting the at least two first distance values according to a pre-established distance value and ranging deviation value list to obtain at least two second distance values; performing position calculation on the label based on at least two second distance values to obtain second position information of the label; and when the second position information meets the preset condition, determining the second position information as the target position information of the label.
In a second aspect, an embodiment of the present application provides a positioning apparatus, including: the position information resolving module is used for resolving the position of the tag based on the arrival time difference to obtain first position information of the tag; a distance value calculation module, configured to calculate distances from the tag to at least two base stations based on the first location information, respectively, to obtain at least two first distance values; the distance value correction module is used for respectively correcting the at least two first distance values according to a pre-established distance value and ranging deviation value list to obtain at least two second distance values; the position information calculation module is used for carrying out position calculation on the label based on at least two second distance values to obtain second position information of the label; and the target information determining module is used for determining the second position information as the target position information of the tag when the second position information meets the preset condition.
In a third aspect, an embodiment of the present application provides an electronic device, which includes a memory and a processor, where the memory is coupled to the processor, and the memory stores instructions, and when the instructions are executed by the processor, the processor executes the method described above.
In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, where a program code is stored, and the program code may be called by a processor to execute the foregoing method.
The embodiment of the application provides a positioning method, a positioning device, electronic equipment and a storage medium, wherein the method comprises the following steps: performing position calculation on the label based on the arrival time difference to obtain first position information of the label; respectively calculating the distances from the label to at least two base stations based on the first position information to obtain at least two first distance values; respectively correcting the at least two first distance values according to a pre-established distance value and ranging deviation value list to obtain at least two second distance values; performing position calculation on the label based on at least two second distance values to obtain second position information of the label; and when the second position information meets the preset condition, determining the second position information as the target position information of the tag. Therefore, the correction of the ranging deviation value is increased in the resolving process based on the time difference, so that the influence of the ranging deviation value on the measurement data is reduced, and the positioning precision is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the description below are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic application environment diagram illustrating a positioning method provided by an embodiment of the present application;
fig. 2 is a schematic flow chart illustrating a positioning method according to an embodiment of the present application;
fig. 3 is a schematic flow chart illustrating a further positioning method provided in the embodiment of the present application;
fig. 4 is a schematic flowchart illustrating another positioning method provided in an embodiment of the present application;
fig. 5 is a schematic flow chart illustrating a relocation method provided in an embodiment of the present application;
fig. 6 is a schematic flowchart illustrating a further positioning method provided in an embodiment of the present application;
fig. 7 is a schematic flowchart illustrating a further positioning method provided in an embodiment of the present application;
FIG. 8 is a block diagram of a positioning apparatus provided in an embodiment of the present application;
fig. 9 is a block diagram of an electronic device for executing a positioning method according to an embodiment of the present application;
fig. 10 illustrates a storage unit for storing or carrying program codes for implementing a positioning method according to an embodiment of the present application.
Detailed Description
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application.
Driven by user demands, various positioning systems have been rapidly developed in recent years, and are widely used outdoors and indoors. In various positioning systems, positioning based on distance measurement is one of important ways, but the distance measured by the current positioning system deviates from the actual distance, thereby affecting the accuracy of positioning calculation. In a time-of-arrival based positioning system, the measured distance may be corrected according to a preset range offset value. However, in the positioning system based on the time difference of arrival, since the distance between the base station and the tag cannot be directly obtained, the influence of the deviation between the measured distance and the actual distance on the positioning accuracy is difficult to eliminate, and the accuracy of positioning calculation is affected.
In view of the above problems, the inventor proposes a positioning method, an apparatus, an electronic device, and a storage medium provided in the embodiments of the present application, and increases the correction to the ranging deviation value in the time difference-based calculation process, thereby reducing the influence of the ranging deviation value on the measurement data and improving the positioning accuracy. The specific positioning method is described in detail in the following embodiments.
An application environment related to the present application will be described first.
Referring to fig. 1, fig. 1 is a schematic diagram of an application environment suitable for the embodiment of the present application. The positioning method provided by the embodiment of the application can be applied to the positioning system 10 shown in fig. 1. The positioning system 10 includes a base station and a tag 130. The number of the base stations is at least two (e.g., the first base station 110 and the second base station 120 shown in fig. 1), and the first base station 110 and the second base station 120 may communicate with the tag 130 respectively. The tag 130 may be an object to be located. The tag 130 may transmit an ultra wideband signal to the first base station 110 and the second base station 120 at the same time, and due to the different positions of the first base station 110 and the second base station 120, the time when the first base station 110 receives the ultra wideband signal transmitted by the tag 130 is different from the time when the second base station 120 receives the ultra wideband signal transmitted by the tag 130, so that the tag 130 may be located according to the time difference between the time when the first base station 110 receives the ultra wideband signal transmitted by the tag 130 and the time when the second base station 120 receives the ultra wideband signal transmitted by the tag 130. The number of base stations shown in fig. 1 is only an example, and the number of base stations in the embodiment of the present application is at least two.
Referring to fig. 2, fig. 2 is a schematic flowchart illustrating a positioning method according to an embodiment of the present disclosure. As will be described in detail with respect to the flow shown in fig. 2, the positioning method may specifically include the following steps:
step S110: and performing position calculation on the label based on the arrival time difference to obtain first position information of the label.
The distance measurement is carried out based on the arrival time difference according to the time difference value of the signal sent by the tag received by the base station, but the distance obtained by calculation based on the arrival time difference generally has a deviation with the actual distance, namely, a distance measurement deviation value exists, so that the distance obtained by calculation is corrected according to the distance measurement deviation value in the embodiment of the application, and the influence of the distance measurement deviation value on the positioning tag is weakened. Specifically, the position of the tag may be first calculated based on the arrival time difference, and the first position information of the tag may be obtained.
In the embodiment of the present application, the tag may be an object to be located, and in some embodiments, the tag may be located as a separate object, or may be attached to another object to locate the other object, where the tag may be attached to a fixed object, such as a wall, a room beam, or the like, or attached to a movable object, such as a car, clothing, a robot, or the like, and the present application is not limited herein.
In some embodiments, the position of the tag may be calculated based on the arrival time difference, specifically, the time difference between signals sent by the tag and received by at least two base stations may be obtained, the distance difference between the tag and the at least two base stations may be calculated according to the time difference, and the position information of the tag, that is, the first position information of the tag may be calculated according to the distance difference and the coordinates of the at least two base stations. In some embodiments, the position of the tag is resolved based on the time difference, trilateral positioning may also be adopted, that is, the time when the three base stations receive the signal sent by the tag may be obtained, the time difference between any two base stations in the three base stations may be obtained, the distance difference between any two base stations may be obtained, and the first position information of the tag may be obtained by calculation according to the distance difference between any two base stations and the coordinate information of the three base stations. In some embodiments, multilateration may also be employed, that is, time when the multiple base stations receive the signal sent by the tag is obtained, a time difference between any two base stations in the multiple base stations is obtained, and then a distance difference between any two base stations is obtained, and the first location information of the tag is obtained by calculation according to the distance difference between any two base stations and the coordinate information of the multiple base stations, where the multiple base stations refer to more than three base stations. In some implementations, the location information can be coordinate information.
In some embodiments, the time difference value of the signal sent by the tag reaching at least two base stations may be compared, the distance difference value between the tag and at least two base stations may be calculated according to the time difference value, a hyperbola with the base station as a focus and the distance difference value as a major axis is formed, and the coordinates of an intersection point of the hyperbola are the location information of the tag, that is, the first location information.
Step S120: and respectively calculating the distances from the label to at least two base stations based on the first position information to obtain at least two first distance values.
In this embodiment, after the first position information of the tag is obtained, the distances from the tag to the at least two base stations may be calculated based on the first position information, respectively, to obtain at least two first distancesThe value is obtained. Specifically, coordinate information of the tag may be obtained, and the distance from the tag to the base station may be calculated according to the coordinate information of the tag and the coordinate information of the base station, for example, the coordinate information of the tag is (x 0, y0, z 0), the number of the base stations is greater than or equal to two, the coordinate information of the base station may be represented by (xi, yi, zi), where i =1,2,3 \8230 \, 8230, for example, the coordinate information of a first base station may be (x 1, y1, z 1), the coordinate information of a second base station may be (x 2, y2, z 2), and so on, the coordinate information of the tag and the coordinate information of the base station may be input into the formula
In this way, the distance values from at least two tags to the base station, i.e., at least two r values, can be obtained.
Step S130: and respectively correcting the at least two first distance values according to a pre-established distance value and ranging deviation value list to obtain at least two second distance values.
Therefore, in the embodiment of the present application, the at least two first distance values may be respectively corrected according to a pre-established list of distance values and ranging deviation values to obtain at least two second distance values. The range deviation value may refer to an error value between the obtained distance value and the actual distance.
In some embodiments, the pre-established range values and the range deviation values corresponding to the at least two first range values in the range deviation value list may be obtained, and the at least two first range values are corrected according to the range deviation values corresponding to the at least two first range values, so as to obtain at least two second range values. The calibration may be performed by adding the first distance value and the ranging deviation value corresponding to the first distance value to obtain a second distance value, or by subtracting the ranging deviation value corresponding to the first distance value from the first distance value to obtain the second distance value, where the specific calibration manner is not limited herein. For example, the first distance value of the tag from the first base station is r 1 1，r 1 1 corresponding distance measurementThe offset may be 20cm and the first distance value from the tag to the second base station is r 1 2，r 1 2 the corresponding deviation value of the distance measurement may be 10cm, r 1 1 plus 20cm to obtain a second distance value r from the corrected label to the first base station 2 1, mixing r 1 Subtracting 10cm from 2 to obtain a second distance value r from the corrected label to a second base station 2 2。
Step S140: and performing position calculation on the label based on at least two second distance values to obtain second position information of the label.
In this embodiment of the present application, position calculation may be performed on the tag according to the at least two second distance values obtained in the above step, so as to obtain second position information of the tag. Since the second distance value is obtained by correcting the first distance value, the second position information of the tag obtained according to the second distance value may be closer to the actual position information of the tag than the first position information of the tag.
In some embodiments, the second position information of the tag may be calculated according to the at least two second distance values and the coordinate information of the at least two base stations.
In other embodiments, a second distance difference between the tag and the at least two base stations may also be obtained according to the at least two second distance values, that is, a corrected distance difference, and second position information of the tag may also be calculated according to the corrected distance difference.
Step S150: and when the second position information meets the preset condition, determining the second position information as the target position information of the tag.
In this embodiment of the application, when the second location information satisfies the preset condition, the target location information of the tag may be determined from the second location information, that is, the second location information may be used as the actual location information of the tag.
In some embodiments, the second location information satisfies a preset condition, which may mean that an error between the second location information and the first location information is less than an error threshold; in some embodiments, it may also mean that the ranging deviation value for obtaining the second location information is smaller than the preset deviation value, that is, when the ranging deviation value corresponding to the first distance value is smaller than the preset ranging deviation value, the first distance value is corrected according to the ranging deviation value to obtain the second distance value, and the second location information of the tag obtained based on the second distance value satisfies the preset condition. The preset condition may be used to determine whether the second location information may be used as actual location information of the tag, and the specific preset condition is not limited herein.
In other embodiments, when the second position information does not satisfy the preset condition, that is, when any one of the preset conditions is not satisfied, the iterative process from step S120 to step S140 may be performed until the second position information satisfies the preset condition. Specifically, when the second position information does not meet the preset condition, the second position information of the tag is used as the first position information of the tag, the steps of calculating the distances from the tag to the at least two base stations respectively based on the first position information, obtaining at least two first distance values, performing position calculation on the tag based on the at least two second distance values, and obtaining the second position information of the tag are repeated until the obtained second position information of the tag meets the preset condition.
As an embodiment, in order to control the time complexity of the iterative process, the number of times of performing the repeated operation may be acquired, and after the step S140 is performed, the number of times of performing the repeated operation is recorded as one time. When the repetition number is greater than the preset number, the last obtained second position information of the tag may be used as the target position information of the tag. Further, when the repetition number is greater than the preset number, it may be indicated that the second position information of the tag obtained each time does not satisfy the preset condition, and thus, the obtained second position information of the tag may be discarded, and the position calculation may be performed on the tag again.
According to the positioning method provided by the embodiment, the position of the tag is calculated based on the arrival time difference, and the first position information of the tag is obtained; respectively calculating the distances from the label to at least two base stations based on the first position information to obtain at least two first distance values; respectively correcting the at least two first distance values according to a pre-established distance value and ranging deviation value list to obtain at least two second distance values; performing position calculation on the label based on at least two second distance values to obtain second position information of the label; and when the second position information meets the preset condition, determining the second position information as the target position information of the tag. Therefore, the correction of the ranging deviation value is increased in the resolving process based on the time difference, so that the influence of the ranging deviation value on the measurement data is reduced, and the positioning precision is improved.
Referring to fig. 3, fig. 3 is a schematic flowchart illustrating another positioning method according to an embodiment of the present disclosure. As will be explained in detail with respect to the flow shown in fig. 3, the method may specifically include the following steps:
step S210: and performing position calculation on the label based on the arrival time difference to obtain first position information of the label.
Step S220: and respectively calculating the distances from the label to at least two base stations based on the first position information to obtain at least two first distance values.
Step S230: and respectively correcting the at least two first distance values according to a pre-established distance value and ranging deviation value list to obtain at least two second distance values.
Step S240: and performing position calculation on the label based on the at least two second distance values to obtain second position information of the label.
For the detailed description of steps S210 to S240, refer to steps S110 to S140, which are not described herein again.
Step S250: and comparing the first position information with the second position information to obtain the position information error value of the label.
In this embodiment of the application, after the second position information of the tag is obtained, the first position information and the second position information may be compared to obtain a position information error value of the tag, so as to determine whether the second position information obtained after correction meets a preset condition.
In particular, in some embodiments, when the first location information and the second location information are coordinate information,values on an X axis, a Y axis and a Z axis of the first position information and the second position information can be compared respectively, offset coordinates are obtained through calculation, and the offset coordinates are used as position error values of the labels. For example, the first position information is (x) 1 0，y 1 0，z 1 0) The second position information is (x) 2 0，y 2 0，z 2 0) Obtaining an offset coordinate of (x) 1 0-x 2 0，y 1 0-y 2 0，z 1 0-z 2 0) And taking the offset coordinate as a position information error value of the label.
In other embodiments, when the first position information and the second position information are coordinate information, the distance from the first position information to the origin of the coordinate system and the distance from the second position information to the origin of the coordinate system may be obtained, and the distance from the first position information to the origin of the coordinate system and the distance from the second position information to the origin of the coordinate system are compared to obtain the position information of the tag. For example, the first position information is (x) 1 0，y 1 0，z 1 0) The first position information is at a distance from the origin of the coordinate system
The second position information is (x) 2 0，y 2 0，z 2 0) The distance from the second position information to the origin of the coordinate system is
And taking the difference value of a1 and a2 as the position information error value of the label. The above manner is merely an example, and the manner of comparing the first position information and the second position information is not limited herein.
Step S260: and judging whether the error value of the position information is smaller than an error threshold value.
In the embodiment of the present application, it may be determined whether the position information error value is smaller than an error threshold. The error threshold may be preset by the system, or may be set by the user. In some embodiments, the position information error value may be compared to an error threshold to determine whether the position information error value is less than the error threshold.
Step S270: and when the position information error value is smaller than the error threshold value, determining the second position information as the target position information of the tag.
In an embodiment of the present application, when the position information error value is less than the error threshold value, the second position information is determined as the target position information of the tag. In some embodiments, according to the determination manner in the above steps, when it is determined that the position information error value is smaller than the error threshold, the second position information may be used as the actual position information of the tag.
According to the positioning method provided by the embodiment, the position of the tag is calculated based on the arrival time difference, and the first position information of the tag is obtained; respectively calculating the distances from the label to at least two base stations based on the first position information to obtain at least two first distance values; respectively correcting the at least two first distance values according to a pre-established distance value and ranging deviation value list to obtain at least two second distance values; performing position calculation on the label based on at least two second distance values to obtain second position information of the label; comparing the first position information with the second position information to obtain a position information error value of the label; judging whether the error value of the position information is smaller than an error threshold value or not; and when the position information error value is smaller than the error threshold value, determining the second position information as the target position information of the tag. Therefore, when the position information error value between the second position information and the first position information is smaller than the error threshold value, the second position information is used as the target position information of the tag, and therefore more accurate position information of the tag is obtained.
Referring to fig. 4, fig. 4 is a schematic flowchart illustrating another positioning method according to an embodiment of the present disclosure. As will be explained in detail with respect to the flow shown in fig. 4, the method may specifically include the following steps:
step S310: and performing position calculation on the label based on the arrival time difference to obtain first position information of the label.
Step S320: and respectively calculating the distances from the label to at least two base stations based on the first position information to obtain at least two first distance values.
For the detailed description of steps S310 to S320, refer to steps S110 to S120, which are not described herein again.
Step S330: and searching the ranging deviation values corresponding to the at least two first distance values respectively based on the at least two first distance values and a pre-established list of the distance values and the ranging deviation values.
In this embodiment, the ranging offset value corresponding to each of the at least two first distance values may be searched based on the at least two first distance values and a pre-established list of distance values and ranging offset values. For example, a pre-established list of distance values and ranging offset values may be obtained as shown in table 1, wherein the format of table 1 and the data of table 1 are only examples, and the specific list of distance values and ranging offset values is not limited herein.
TABLE 1
| Distance value | Deviation value of distance measurement |
| (1m-2m] | -8cm |
| …… | …… |
| (10m-15m] | 10cm |
| (15m-20m] | 20cm |
| (20m-25m] | 30cm |
| …… | …… |
According to table 1, when the first distance value from the tag to the first base station is 13m, the ranging offset value corresponding to the first distance value from the tag to the first base station may be found to be 10cm, and when the first distance value from the tag to the second base station is 18m, the ranging offset value corresponding to the first distance value from the tag to the first base station may be found to be 20cm.
Step S340: and calculating to obtain at least two second distance values according to the at least two first distance values and the ranging deviation values corresponding to the at least two first distance values respectively.
In this embodiment, at least two second distance values may be obtained by calculation according to the at least two first distance values and the ranging deviation values corresponding to the at least two first distance values, respectively. In some embodiments, the first distance value and the ranging offset value corresponding to the first distance value may be added to obtain the second distance value, or in some embodiments, the ranging offset value corresponding to the first distance value and the first distance value may be subtracted to obtain the second distance value, which is not limited herein. For example, the first distance value from the tag to the first base station is r 1 1，r 1 1 may correspond to a ranging offset of 30cm, and the first distance value from the tag to the second base station is r 1 2，r 1 2 the corresponding distance measurement deviation value may be 20cm, r 1 1 plus 30cm to obtain a second distance value r from the corrected label to the first base station 2 1, can be prepared from 1 Subtracting 20cm from 2 to obtain a second distance value r from the corrected label to a second base station 2 2。
Step S350: and performing position calculation on the label based on at least two second distance values to obtain second position information of the label.
Step S360: and when the second position information meets the preset condition, determining the second position information as the target position information of the tag.
For the detailed description of steps S350 to S360, please refer to steps S140 to S150, which are not described herein again.
According to the positioning method provided by the embodiment, the position of the tag is calculated based on the arrival time difference, and the first position information of the tag is obtained; respectively calculating the distances from the label to at least two base stations based on the first position information to obtain at least two first distance values; searching a ranging deviation value corresponding to each of the at least two first distance values based on the at least two first distance values and a pre-established list of distance values and ranging deviation values; calculating to obtain at least two second distance values according to the at least two first distance values and the ranging deviation values corresponding to the at least two first distance values respectively; performing position calculation on the label based on at least two second distance values to obtain second position information of the label; and when the second position information meets the preset condition, determining the second position information as the target position information of the tag. The distance measurement deviation values corresponding to the at least two first distance values are searched based on the pre-established distance value and distance measurement deviation value list, and then the at least two second distance values are obtained, so that the positioning precision is further improved.
Referring to fig. 5, fig. 5 is a schematic flowchart illustrating a relocation method according to an embodiment of the present disclosure. As will be explained in detail with respect to the flow shown in fig. 5, the method may specifically include the following steps:
step S410: and acquiring the time difference value of the signals sent by the tags received by at least two base stations.
In the embodiment of the application, the position of the tag can be calculated based on the arrival time difference, so that the first position information of the tag is obtained. Specifically, the time difference value of the signals transmitted by the tag received by at least two base stations may be obtained first. In some embodiments, the time when the at least two base stations receive the signal sent by the tag is obtained, and the time difference value between any two base stations in the at least two base stations that receive the signal sent by the tag is obtained according to the time when the at least two base stations receive the signal sent by the tag. For example, the time when the first base station receives the signal sent by the tag is t1, the time when the second base station receives the signal sent by the tag is t2, and the time when the third base station receives the signal sent by the tag is t3, then the time difference values of the three base stations receiving the signal sent by the tag are t1-t2, t1-t3, and t2-t3, respectively.
Step S420: and calculating the distance difference between the label and at least two base stations based on the time difference.
In the embodiment of the present application, the distance difference between the tag and the at least two base stations may be calculated based on the time difference. Specifically, the distance difference between the tag and at least two base stations can be calculated according to d = c × t, where c is the propagation speed of the signal in the medium. For example, the time when the first base station receives the signal sent by the tag is t1, the time when the second base station receives the signal sent by the tag is t2, and the time when the third base station receives the signal sent by the tag is t3, then the time difference values of the three base stations receiving the signal sent by the tag are t1-t2, t1-t3, and t2-t3, respectively. Further, the distance difference between the tag and the three base stations is d 0 12＝(t1-t2)*c、d 0 13= (t 1-t 3) × c and d 0 23＝(t2-t3)*c。
Step S430: and calculating to obtain first position information of the label based on the distance difference value between the label and the at least two base stations and the coordinate information of the at least two base stations.
In the embodiment of the application, the first position information of the tag can be calculated and obtained based on the distance difference between the tag and the at least two base stations and the coordinate information of the at least two base stations.
In some embodiments, a hyperbolic equation set may be established according to the distance difference between the tag and the at least two base stations and the coordinate information of the at least two base stations, and the established hyperbolic equation set is solved to obtain the first location information of the tag. For example, based on the distance difference between the tag and the three base stations, and the coordinates (x 1, y1, z 1) of the first base station, the coordinates (x 2, y2, z 2) of the second base station, and the coordinates (x 3, y3, z 3) of the third base station, the first position information of the tag is (x) set as 1 0，y 1 0，z 1 0) Then a hyperbolic equation system can be constructed as followsColumn formula (1) calculates first position information of the tag.
Further, in the above equation set, since the equation set is nonlinear, to obtain the optimal solution, a corresponding nonlinear equation algorithm needs to be adopted, and the hyperbolic equation set can be solved by the following three types of algorithms, which are respectively a least square estimation method, an algorithm with an analytic solution (such as a residual weighting algorithm, a Chan's algorithm, etc.), a recursive algorithm (such as a taylor series expansion method), and the like.
Step S440: and respectively calculating the distances from the label to at least two base stations based on the first position information to obtain at least two first distance values.
Step S450: and respectively correcting the at least two first distance values according to a pre-established distance value and ranging deviation value list to obtain at least two second distance values.
Step S460: and performing position calculation on the label based on at least two second distance values to obtain second position information of the label.
Step S470: and when the second position information meets the preset condition, determining the second position information as the target position information of the tag.
For the detailed description of steps S440 to S470, refer to steps S120 to S150, which are not described herein again.
The positioning method provided by the above embodiment obtains a time difference value of signals sent by at least two base stations receiving a tag; calculating to obtain a distance difference value between the label and at least two base stations based on the time difference value; calculating to obtain first position information of the label based on the distance difference between the label and the at least two base stations and the coordinate information of the at least two base stations; respectively calculating the distances from the label to at least two base stations based on the first position information to obtain at least two first distance values; respectively correcting the at least two first distance values according to a pre-established distance value and ranging deviation value list to obtain at least two second distance values; performing position calculation on the label based on at least two second distance values to obtain second position information of the label; and when the second position information meets the preset condition, determining the second position information as the target position information of the tag. In the embodiment, the distance difference between the tag and at least two base stations is determined according to the time difference of the base stations receiving the signal sent by the tag, and the position information of the tag is obtained based on the distance difference and the coordinates of the base stations, so that the positioning accuracy is further improved.
Referring to fig. 6, fig. 6 is a schematic flowchart illustrating a positioning method according to an embodiment of the present disclosure. As will be described in detail with respect to the flow shown in fig. 6, the method may specifically include the following steps:
step S510: and performing position calculation on the label based on the arrival time difference to obtain first position information of the label.
Step S520: and respectively calculating the distances from the label to at least two base stations based on the first position information to obtain at least two first distance values.
Step S530: and respectively correcting the at least two first distance values according to a pre-established distance value and ranging deviation value list to obtain at least two second distance values.
For the detailed description of steps S510 to S530, please refer to steps S110 to S130, which are not described herein again.
Step S540: and calculating second position information of the label based on the at least two second distance values and the coordinate information of the at least two base stations.
In the embodiment of the application, a positioning calculation mode based on the arrival time may be adopted, and the second position information of the tag is calculated according to at least two second distance values from the tag to the at least two base stations, which are obtained after correction. In the implementation of the present application, the second position information of the tag may be calculated based on the at least two second distance values and the coordinate information of the at least two base stations. In some embodiments, a plurality of circles having the position of the base station as a center and the second distance value from the tag to the base station as a radius may be made, and the coordinates of the intersection of the plurality of circles are the second position information of the tag.
In some embodiments, the second position information of the tag may also be calculated according to a geometrically constructed equation system, for example, the number of the base stations is four, and the second distance value from the tag to the first base station is r 2 1, the second distance value from the tag to the second base station is r 2 2, the second distance value from the label to the third base station is r 2 3, the second distance value from the label to the fourth base station is r 2 4, the coordinate information of the first base station is (x 1, y1, z 1), the coordinate information of the second base station is (x 2, y2, z 2), the coordinate information of the third base station is (x 3, y3, z 3), the coordinate information of the fourth base station is (x 4, y4, z 4), and the second position information of the tag is (x 4, y4, z 4) 2 0，y 2 0，z 2 0) Then, an equation system may be constructed to obtain the second position information of the tag as calculated by the following equation (2).
Step S550: and when the second position information meets the preset condition, determining the second position information as the target position information of the tag.
For detailed description of step S550, please refer to step S150, which is not described herein.
According to the positioning method provided by the embodiment, the position of the tag is calculated based on the arrival time difference, and the first position information of the tag is obtained; respectively calculating the distances from the label to at least two base stations based on the first position information to obtain at least two first distance values; respectively correcting the at least two first distance values according to a pre-established distance value and ranging deviation value list to obtain at least two second distance values; calculating to obtain second position information of the label based on the at least two second distance values and the coordinate information of the at least two base stations; and when the second position information meets the preset condition, determining the second position information as the target position information of the tag. In the above embodiment, the second position information of the tag is obtained based on the at least two second distance values and the coordinate information of the at least two base stations, so that the accuracy of the second position information of the tag is improved.
Referring to fig. 7, fig. 7 is a schematic flowchart illustrating a further positioning method according to an embodiment of the present disclosure. As will be described in detail with respect to the flow shown in fig. 7, the method may specifically include the following steps:
step S610: and performing position calculation on the label based on the arrival time difference to obtain first position information of the label.
Step S620: and respectively calculating the distances from the label to at least two base stations based on the first position information to obtain at least two first distance values.
Step S630: and respectively correcting the at least two first distance values according to a pre-established distance value and ranging deviation value list to obtain at least two second distance values.
For the detailed description of step S610 to step S630, refer to step S110 to step S130, which are not described herein again.
Step 640: and obtaining a first distance difference value between the label and at least two base stations based on the at least two first distance values.
In this embodiment of the application, a positioning calculation method based on the arrival time difference may be adopted, and the second position information of the tag is calculated according to the original distance difference and the corrected distance difference. Therefore, in the embodiment of the present application, the first distance difference between the tag and the at least two base stations may be obtained based on the at least two first distance values. Specifically, any two first distance values of the at least two first distance values may be compared to obtain a first distance difference value between the tag and the at least two base stations. For example, the first distance value of the tag from the first base station is r 1 1, the first distance value from the label to the second base station is r 1 2, the first distance value from the label to the third base station is r 1 3, a first distance difference d between the distance from the tag to the first base station and the distance from the tag to the second base station can be obtained 1 12＝(r 1 1-r 1 2) The difference between the distance from the tag to the first base station and the distance from the tag to the third base station is d 1 13＝(r 1 1-r 1 3) Labeling toA first distance difference between the distance of the second base station and the distance of the tag from the third base station is d 1 23＝(r 1 2-r 1 3)。
Step S650: and obtaining a second distance difference value between the label and at least two base stations based on the at least two second distance values.
In this embodiment of the present application, a second distance difference between the tag and the at least two base stations may also be obtained based on the at least two second distance values, that is, the distance difference obtained after the correction. Specifically, any two of the at least two second distance values may be compared to obtain a second distance difference value between the tag and the at least two base stations. For example, the second distance value of the tag from the first base station is r 2 1, the second distance value from the tag to the second base station is r 2 2, the second distance value from the label to the third base station is r 2 3, a second distance difference d between the distance from the tag to the first base station and the distance from the tag to the second base station can be obtained 2 12＝(r 2 1-r 2 2) The difference between the distance from the tag to the first base station and the distance from the tag to the third base station is d 2 13＝(r 2 1-r 2 3) The difference between the distance from the tag to the second base station and the distance from the tag to the third base station is d 2 23＝(r 2 2-r 2 3)。
Step S660: and calculating to obtain second position information of the label based on the first distance difference and the second distance difference.
In this embodiment of the application, second position information of the tag may be calculated based on the first distance difference and the second distance difference. In some embodiments, an average distance difference value may be obtained according to the first distance difference value and the second distance difference value, and a hyperbolic equation system may be constructed according to the average distance difference value to obtain the second location information of the tag. For example, the average distance differences d12, d13, and d23, the coordinates (x 1, y1, z 1) of the first base station, the coordinates (x 2, y2, z 2) of the second base station, the coordinates (x 3, y3, z 3) of the third base station, and the second position of the tag may be determined based on the first distance difference and the second distance difference obtained in the above stepsSet information as (x) 2 0，y 2 0，z 2 0) Then, a hyperbolic equation system can be constructed to obtain the second location information of the tag by calculating as the following formula (3).
In some embodiments, the second position information of the tag may also be calculated based only on the second distance difference. Specifically, a hyperbolic equation set can be constructed according to the second distance difference value, and the second position information of the tag is obtained. For example, based on the second distance difference obtained in the above steps, and the coordinates (x 1, y1, z 1) of the first base station, the coordinates (x 2, y2, z 2) of the second base station, and the coordinates (x 3, y3, z 3) of the third base station, assuming that the second location information of the tag is (x 20, y20, z 20), a hyperbolic equation set can be constructed to calculate the second location information of the tag as the following equation (4).
Further, in the above equation set, since the equation set is nonlinear, to obtain the optimal solution, a corresponding nonlinear equation algorithm needs to be adopted, and the hyperbolic equation set can be solved by adopting the following three algorithms, which are respectively a least square estimation method, an algorithm with an analytic solution (such as a residual weighting algorithm, a Chan's algorithm, etc.), a recursive algorithm (such as a taylor series expansion method), and the like.
Step S670: and when the second position information meets the preset condition, determining the second position information as the target position information of the tag.
For the detailed description of step S670, please refer to step S150, which is not described herein again.
According to the positioning method provided by the embodiment, the position of the tag is calculated based on the arrival time difference, and the first position information of the tag is obtained; respectively calculating the distances from the label to at least two base stations based on the first position information to obtain at least two first distance values; respectively correcting the at least two first distance values according to a pre-established distance value and ranging deviation value list to obtain at least two second distance values; obtaining a first distance difference value from the label to at least two base stations based on the at least two first distance values; obtaining a second distance difference value from the label to at least two base stations based on the at least two second distance values, and calculating to obtain second position information of the label based on the first distance difference value and the second distance difference value; and when the second position information meets the preset condition, determining the second position information as the target position information of the tag. In the embodiment, the second position information of the tag is obtained according to the original distance difference and the distance difference obtained after correction, so that the accuracy of the second position information of the tag is further improved.
Referring to fig. 8, fig. 8 is a block diagram illustrating a positioning apparatus 200 according to an embodiment of the present disclosure. As will be explained below with respect to the block diagram of fig. 8, the positioning apparatus 200 includes: a position information calculation module 210, a distance value calculation module 220, a distance value correction module 230, a position information calculation module 240, and a target information determination module 250, wherein:
and the position information calculating module 210 is configured to perform position calculation on the tag based on the arrival time difference to obtain first position information of the tag.
Further, the position information resolving module 210 includes: time difference value acquisition submodule, distance difference value calculation submodule and position information calculation submodule, wherein:
and the time difference value acquisition submodule is used for acquiring the time difference value of the signals sent by the tags received by the at least two base stations.
And the distance difference calculation submodule is used for calculating the distance difference between the label and at least two base stations based on the time difference.
And the position information calculation submodule is used for calculating to obtain first position information of the label based on the distance difference between the label and the at least two base stations and the coordinate information of the at least two base stations.
A distance value calculating module 220, configured to calculate distances from the tag to the at least two base stations respectively based on the first location information, so as to obtain at least two first distance values.
The distance value calibration module 230 is configured to calibrate the at least two first distance values respectively according to a pre-established list of distance values and ranging deviation values, so as to obtain at least two second distance values.
Further, the distance value correction module 230 includes: deviation value search submodule and distance value calculation operator module, wherein:
and the deviation value searching submodule is used for searching the ranging deviation values corresponding to the at least two first distance values respectively based on the at least two first distance values and a pre-established distance value and ranging deviation value list.
And the distance value operator module is used for calculating to obtain at least two second distance values according to the at least two first distance values and the distance measurement deviation values corresponding to the at least two first distance values respectively.
And the position information calculation module 240 is configured to perform position calculation on the tag based on at least two second distance values to obtain second position information of the tag.
Further, the location information calculation module 240 includes: a first computation submodule, wherein:
and the first calculation submodule is used for calculating and obtaining second position information of the label based on the at least two second distance values and the coordinate information of the at least two base stations.
Further, the location information calculating module 240 further includes: a first difference obtaining submodule, a second difference obtaining submodule and a second calculating submodule, wherein:
and the first difference obtaining submodule is used for obtaining the first distance difference between the label and at least two base stations based on at least two first distance values.
And the second difference obtaining submodule is used for obtaining a second distance difference between the label and at least two base stations based on at least two second distance values.
And the second calculation submodule is used for calculating and obtaining second position information of the label based on the first distance difference value and the second distance difference value.
And the target information determining module 250 is configured to determine the second location information as target location information of the tag when the second location information satisfies a preset condition.
Further, the target information determination module 250 includes: a target information determination sub-module, wherein:
and the target information determining submodule is used for determining the second position information as the target position information of the tag when the position information error value is smaller than the error threshold value.
Further, the positioning apparatus 200 further includes: an error value obtaining module and an error value judging module, wherein:
and the error value obtaining module is used for comparing the first position information with the second position information to obtain the position information error value of the label.
And the error value judging module is used for judging whether the error value of the position information is less than an error threshold value or not.
Further, the positioning apparatus 200 further includes: a step repetition module, wherein:
and the step repeating module is used for taking the second position information of the tag as the first position information of the tag when the second position information does not meet the preset condition, repeating the steps of respectively calculating the distances from the tag to the at least two base stations based on the first position information, obtaining at least two first distance values, carrying out position calculation on the tag based on the at least two second distance values, obtaining the second position information of the tag, and knowing that the obtained second position information of the tag meets the preset condition.
It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described apparatuses and modules may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the several embodiments provided in the present application, the coupling between the modules may be electrical, mechanical or other type of coupling.
In addition, functional modules in the embodiments of the present application may be integrated into one processing module, or each module may exist alone physically, or two or more modules are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode.
Referring to fig. 9, a block diagram of an electronic device 300 according to an embodiment of the present disclosure is shown. The electronic device 300 in the present application may include one or more of the following components: a processor 310, a memory 320, and one or more applications, wherein the one or more applications may be stored in the memory 320 and configured to be executed by the one or more processors 310, the one or more programs configured to perform a method as described in the aforementioned method embodiments.
The Memory 320 may include a Random Access Memory (RAM) or a Read-Only Memory (Read-Only Memory). The memory 320 may be used to store instructions, programs, code, sets of codes, or sets of instructions. The memory 320 may include a stored program area and a stored data area, wherein the stored program area may store instructions for implementing an operating system, instructions for implementing at least one function (such as a touch function, a sound playing function, an image playing function, etc.), instructions for implementing various method embodiments described below, and the like. The stored data area may also store data created by electronic device 300 during use (e.g., phonebook, audiovisual data, chat log data), and the like.
Referring to fig. 10, a block diagram of a computer-readable storage medium according to an embodiment of the present disclosure is shown. The computer-readable storage medium 400 has stored therein program code that can be called by a processor to execute the method described in the above method embodiments.
The computer-readable storage medium 400 may be an electronic memory such as a flash memory, an EEPROM (electrically erasable and programmable read only memory), an EPROM, a hard disk, or a ROM. Alternatively, the computer-readable storage medium 400 includes a non-volatile computer-readable medium. The computer readable storage medium 400 has storage space for program code 410 for performing any of the method steps described above. The program code can be read from and written to one or more computer program products. The program code 410 may be compressed, for example, in a suitable form.
To sum up, the positioning method, the positioning device, the electronic device, and the storage medium provided in the embodiments of the present application perform position calculation on the tag based on the arrival time difference, so as to obtain the first position information of the tag; respectively calculating the distances from the label to at least two base stations based on the first position information to obtain at least two first distance values; respectively correcting the at least two first distance values according to a pre-established distance value and ranging deviation value list to obtain at least two second distance values; performing position calculation on the label based on at least two second distance values to obtain second position information of the label; and when the second position information meets the preset condition, determining the second position information as the target position information of the tag. Therefore, the correction of the ranging deviation value is increased in the resolving process based on the time difference, so that the influence of the ranging deviation value on the measurement data is reduced, and the positioning precision is improved.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art will understand that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.
Claims (9)
1. A method of positioning, the method comprising:
performing position calculation on the label based on the arrival time difference to obtain first position information of the label;
respectively calculating the distances from the tag to at least two base stations based on the first position information to obtain at least two first distance values;
respectively correcting the at least two first distance values according to a pre-established distance value and ranging deviation value list to obtain at least two second distance values; the different first distance values corresponding to the tag and the same base station have different corresponding ranging deviation values in the ranging deviation value list;
performing position calculation on the label based on the at least two second distance values to obtain second position information of the label;
when the second position information meets a preset condition, determining the second position information as target position information of the tag;
after the obtaining of the second position information of the tag, the method further includes:
and when the second position information does not meet the preset condition, taking the second position information of the tag as the first position information of the tag, repeating the steps of calculating the distances from the tag to at least two base stations respectively based on the first position information, obtaining at least two first distance values, calculating the position of the tag based on the at least two second distance values, and obtaining the second position information of the tag until the obtained second position information of the tag meets the preset condition.
2. The method of claim 1, wherein after obtaining the second location information of the tag, further comprising:
comparing the first position information with the second position information to obtain a position information error value of the tag;
judging whether the error value of the position information is smaller than an error threshold value or not;
when the second position information meets a preset condition, determining the second position information as target position information of the tag, including:
when the position information error value is less than the error threshold value, determining the second position information as the target position information of the tag.
3. The method according to claim 1, wherein the step of correcting the at least two first distance values according to a pre-established list of distance values and ranging offset values to obtain at least two second distance values comprises:
searching a ranging deviation value corresponding to each of the at least two first distance values based on the at least two first distance values and a pre-established list of distance values and ranging deviation values;
and calculating to obtain at least two second distance values according to the at least two first distance values and the ranging deviation values corresponding to the at least two first distance values respectively.
4. The method of claim 1, wherein the performing a location solution on the tag based on the time difference of arrival to obtain the first location information of the tag comprises:
acquiring a time difference value of signals sent by at least two base stations receiving the label;
calculating the distance difference between the label and the at least two base stations based on the time difference;
and calculating to obtain first position information of the tag based on the distance difference between the tag and the at least two base stations and the coordinate information of the at least two base stations.
5. The method according to any one of claims 1 to 4, wherein the performing position calculation on the tag based on the at least two second distance values to obtain second position information of the tag comprises:
and calculating second position information of the label based on the at least two second distance values and the coordinate information of the at least two base stations.
6. The method according to any one of claims 1 to 4, wherein the performing position calculation on the tag based on the at least two second distance values to obtain second position information of the tag comprises:
obtaining a first distance difference value from the label to the at least two base stations based on the at least two first distance values;
obtaining a second distance difference value between the label and the at least two base stations based on the at least two second distance values;
and calculating second position information of the label based on the first distance difference and the second distance difference.
7. A positioning device, characterized in that the device comprises:
the position information resolving module is used for resolving the position of the tag based on the arrival time difference to obtain first position information of the tag;
a distance value calculating module, configured to calculate distances from the tag to at least two base stations based on the first location information, respectively, to obtain at least two first distance values;
the distance value correction module is used for respectively correcting the at least two first distance values according to a distance value and a ranging deviation value list which are established in advance to obtain at least two second distance values; the different first distance values corresponding to the tag and the same base station have different corresponding ranging deviation values in the ranging deviation value list;
the position information calculation module is used for carrying out position calculation on the label based on the at least two second distance values to obtain second position information of the label;
the target information determining module is used for determining the second position information as the target position information of the label when the second position information meets a preset condition;
the apparatus further comprises an iteration module to:
and when the second position information does not meet the preset condition, taking the second position information of the tag as the first position information of the tag, repeating the steps of calculating the distances from the tag to at least two base stations based on the first position information, obtaining at least two first distance values, performing position calculation on the tag based on the at least two second distance values, and obtaining the second position information of the tag until the obtained second position information of the tag meets the preset condition.
8. An electronic device comprising a memory and a processor, the memory coupled to the processor, the memory storing instructions that when executed by the processor, the processor performs the method of any of claims 1-6.
9. A computer-readable storage medium, having stored thereon program code that can be invoked by a processor to perform the method according to any one of claims 1 to 6.
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| CN113891271A (en) * | 2021-09-18 | 2022-01-04 | 珠海格力电器股份有限公司 | Positioning method, device and system, communication equipment and computer readable storage medium |
| CN115685063B (en) * | 2022-11-01 | 2023-05-16 | 上海山源电子科技股份有限公司 | Distance measurement calibration method, device, electronic equipment and medium |
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