CN113075617A - Indoor positioning method and positioning device based on single base station and electronic equipment - Google Patents
Indoor positioning method and positioning device based on single base station and electronic equipment Download PDFInfo
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- 238000004422 calculation algorithm Methods 0.000 claims abstract description 14
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- 238000004590 computer program Methods 0.000 claims description 16
- 238000004364 calculation method Methods 0.000 claims description 3
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- 238000005516 engineering process Methods 0.000 description 2
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- 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
Abstract
The invention relates to an indoor positioning method, an indoor positioning device and electronic equipment based on a single base station. The method comprises the following steps: the base station controls each radio frequency module of at least three radio frequency modules arranged on the base station to send a wireless signal to a tag device through an antenna connected with the radio frequency module according to a preset time interval, wherein the wireless signal comprises position information of the antenna; the tag device receives wireless signals sent by each antenna of the base station according to the preset time interval, and calculates the time difference between the wireless signals according to the wireless signals sent by each antenna; and the tag device calculates the position of the tag device by using a time difference of arrival algorithm according to the position information of the antenna in the wireless signal and the time difference between the wireless signals. The scheme can reduce the complexity of the arrangement of multiple base stations in the existing positioning system, overcome the error of wireless synchronization time and enable indoor positioning to be more accurate.
Description
Technical Field
The invention relates to the technical field of communication, in particular to an indoor positioning method, an indoor positioning device and an electronic device based on a single base station.
Background
The market space of the current indoor accurate positioning and position service is huge, and the method has great application requirements in intelligent communities, markets and public transportation places. Indoor positioning is currently a great concern to related industries and technical parties. The market will also develop blowout-type developments in the future. However, only accurate indoor positioning can support the current requirement of indoor location service, and a breakthrough in the scene can be brought. Although Ultra Wide Band (UWB) technology is the first choice technology for indoor precise positioning, UWB base stations are affected by indoor complex environments, which greatly affects high-precision positioning of the UWB base stations, so that deployment of several positioning system base stations is required in a line-of-sight environment, resulting in complicated base station deployment. For example, in a home, although the space is not large, the blocks of the wall are dense, and the complex deployment hinders the popularization of indoor accurate positioning in the home.
Disclosure of Invention
In view of the above, it is necessary to provide an indoor positioning method, an indoor positioning device and an electronic device based on a single base station to reduce the complexity of deployment of multiple base stations in the existing positioning system, and overcome the error of wireless synchronization time, so as to make indoor positioning more accurate.
A first aspect of the present application provides a single base station-based indoor positioning method, including:
the base station controls each radio frequency module of at least three radio frequency modules arranged on the base station to send a wireless signal to a tag device through an antenna connected with the radio frequency module according to a preset time interval, wherein the wireless signal comprises position information of the antenna;
the tag device receives wireless signals sent by each antenna of the base station according to the preset time interval, and calculates the time difference between the wireless signals according to the wireless signals sent by each antenna; and
and the tag device calculates the position of the tag device by using a time difference of arrival algorithm according to the position information of the antenna in the wireless signal and the time difference between the wireless signals.
Preferably, the base station includes at least three radio frequency modules, at least three antennas and a processing unit, the at least three radio frequency modules are connected to the processing unit through different serial interfaces, the at least three radio frequency modules use the same clock of the processing unit, each radio frequency module is connected to an antenna, and the at least three antennas are deployed at indoor fixed positions.
Preferably, the calculating the time difference between the wireless signals according to the wireless signals transmitted by each of the antennas includes:
calculating the time difference between the two wireless signals according to the formula T0-T1-T2-T, wherein T1 is the time point of one of the two received wireless signals, T2 is the time point of the other of the two received wireless signals, T1> T2, T is the preset time interval, and T0 is the time difference between the two wireless signals.
Preferably, the tag device calculating the location of the tag device by using a time difference of arrival algorithm according to the location information of the antenna in the wireless signal and the time difference between the wireless signals includes:
according to the formula
And formula
Calculating a position of the tag device, wherein (x)1,y1),(x2,y2),(x3,y3) Position coordinates, t, of three of said antennas of said base station0,t'0For time differences between any two of the three wireless signals transmitted by the three antennas, (x)i,yi) And c is the position coordinate of the label device and the speed of light.
Preferably, the base station controlling each of at least three radio frequency modules disposed on the base station to transmit a wireless signal to the tag device through an antenna connected to the radio frequency module at a preset time interval includes:
numbering the antennas on each radio frequency module, wherein the number of the antennas is 1, 2, … … and N, and N is a positive integer and not less than 3; and
and sequentially sending wireless signals including the antenna position information to the tag device at preset time intervals according to the numbering sequence.
Preferably, the receiving, by the tag device, the wireless signal transmitted by each antenna of the base station according to the preset time interval includes:
judging the number of an antenna corresponding to the wireless signal at the position of the received wireless signal by analyzing the received wireless signal; and
and acquiring a wireless signal corresponding to the number of the antenna.
Preferably, the method further comprises:
and displaying the position of the label device on an electronic map, and marking the position of the label device on the electronic map.
Preferably, the method further comprises:
receiving a target position input by a user on the electronic map; and
displaying a navigation route from a location of the tag device to the target location on the electronic map.
A second aspect of the present application provides a positioning device, the device comprising:
the system comprises a sending module, a receiving module and a processing module, wherein the sending module is used for controlling each radio frequency module of at least three radio frequency modules arranged on a base station to send a wireless signal to a tag device through an antenna connected with the radio frequency module according to a preset time interval, and the wireless signal comprises position information of the antenna;
the calculation module is used for controlling the tag device to receive the wireless signals sent by each antenna of the base station according to the preset time interval and calculating the time difference between the wireless signals according to the wireless signals sent by each antenna; and
and the position determining module is used for controlling the tag device to calculate the position of the tag device by using a time difference of arrival algorithm according to the position information of the antenna in the wireless signal and the time difference between the wireless signals.
A third aspect of the present application provides an electronic device comprising a processor and a memory, the processor being configured to implement the single base station based indoor positioning method when executing a computer program stored in the memory.
In the scheme, the tag device calculates the position of the tag device by using an arrival time difference algorithm according to the position information of the antenna in the wireless signal sent by a single base station and the time difference between the wireless signals so as to realize indoor positioning of the tag device, and the complexity of deployment of multiple base stations in the existing positioning system is reduced.
Drawings
Fig. 1 is a flowchart of an indoor positioning method based on a single base station according to an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of a base station according to an embodiment of the present invention.
Fig. 3 is a structural diagram of a positioning device according to an embodiment of the present invention.
Fig. 4 is a schematic diagram of an electronic device according to an embodiment of the invention.
Description of the main elements
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, a detailed description of the present invention will be given below with reference to the accompanying drawings and specific embodiments. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
In the following description, numerous specific details are set forth to provide a thorough understanding of the present invention, and the described embodiments are merely a subset of the embodiments of the present invention, rather than a complete embodiment. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
Preferably, the indoor positioning method based on the single base station is applied to one or more electronic devices. The electronic device is a device capable of automatically performing numerical calculation and/or information processing according to a preset or stored instruction, and the hardware includes, but is not limited to, a microprocessor, an Application Specific Integrated Circuit (ASIC), a Programmable Gate Array (FPGA), a Digital Signal Processor (DSP), an embedded device, and the like.
The electronic device may be a desktop computer, a notebook computer, a tablet computer, a cloud server, or other computing device. The device can be in man-machine interaction with a user through a keyboard, a mouse, a remote controller, a touch pad or voice control equipment and the like.
Example 1
Fig. 1 is a flowchart of an indoor positioning method based on a single base station according to an embodiment of the present invention. The order of the steps in the flow chart may be changed and some steps may be omitted according to different needs.
Referring to fig. 1, the indoor positioning method based on a single base station specifically includes the following steps:
step S11, the base station 1 controls each of at least three radio frequency modules 11 disposed on the base station 1, where each of the radio frequency modules 11 transmits a wireless signal to the tag device 2 through an antenna 12 connected to the radio frequency module 11 according to a preset time interval, where the wireless signal includes location information of the antenna 12.
Referring to fig. 2, a schematic structural diagram of a base station 1 according to an embodiment of the invention is shown. The base station 1 includes at least three radio frequency modules 11, at least three antennas 12, and a processing unit 13. In this embodiment, at least three of the radio frequency modules 11 are connected to the processing unit 13 through different serial interfaces, and the at least three radio frequency modules 11 use the same clock of the processing unit 13. Each of the rf modules 11 is connected to an antenna 12. For example, each rf module 11 is connected to an access terminal of an antenna 12. At least three of the antennas 12 are deployed at fixed locations indoors. In a specific embodiment, the radio frequency module 11 is a UWB radio frequency module, the antenna is an omnidirectional antenna or a directional antenna, and the wireless signal is a UWB wireless signal.
In a specific embodiment, the processing unit 13 of the base station 1 controls each of the UWB rf modules of the base station to transmit a UWB wireless signal to the tag device 2 through the antenna 12 connected to the UWB rf module at a preset time interval, and since the UWB wireless signals are transmitted under the same reference clock of the processing unit 13, there is no error in wireless synchronization time in the UWB wireless signals, so that the indoor positioning method in the present case is more accurate. In addition, because the indoor positioning method only adopts a single base station for power supply, the power supply is only needed to be carried out at the position of the single base station, and the complex diagram of the deployment of the base station is reduced.
In this embodiment, the step of the base station 1 controlling each radio frequency module 11 of at least three radio frequency modules 11 arranged on the base station 1 to send a wireless signal to the tag device 2 through an antenna 12 connected to the radio frequency module 11 according to a preset time interval includes: numbering the antennas 12 on each radio frequency module 11, wherein the numbering is 1, 2, … … and N, and N is a positive integer and not less than 3; and sequentially sending the wireless signals including the position information of the antenna 12 to the tag device 2 at preset time intervals according to the numbering sequence. In this embodiment, the preset time interval may be set according to a user requirement, for example, the preset time interval may be set to 1 second. In this embodiment, the tag device 2 may be a mobile device, for example, the tag device 2 may be a mobile phone, a tablet computer, a wearable device, or a notebook computer.
In step S12, the tag device 2 receives the wireless signals transmitted by each antenna 12 of the base station 1 according to the preset time interval, and calculates the time difference between the wireless signals according to the wireless signals transmitted by each antenna 12.
In this embodiment, the receiving, by the tag device 2, the wireless signal transmitted by each antenna 12 of the base station 1 according to the preset time interval includes: judging the number of the antenna 12 corresponding to the wireless signal at the position of the received wireless signal by analyzing the received wireless signal; a radio signal corresponding to the number of the antenna 12 is acquired.
In this embodiment, the calculating the time difference between the wireless signals according to the wireless signals transmitted by each antenna 12 includes: calculating the time difference between the two wireless signals according to the formula T0-T1-T2-T, wherein T1 is the time point of one of the two received wireless signals, T2 is the time point of the other of the two received wireless signals, T1> T2, T is the preset time interval, and T0 is the time difference between the two wireless signals.
In step S13, the tag device 2 calculates the position of the tag device 2 by using a Time Difference of Arrival (TDOA) algorithm according to the position information of the antenna 12 in the wireless signal and the Time Difference between the wireless signals.
In this embodiment, the tag device 2 calculating the position of the tag device 2 by using the time difference of arrival algorithm based on the position information of the antenna 12 in the radio signal and the time difference between the radio signals includes: according to the formula
And formula
Calculating the position of the tag device 2, wherein (x)1,y1),(x2,y2),(x3,y3) Is the position coordinate, t, of the three antennas 12 of the base station 10,t'0Is the time difference between any two of the three wireless signals transmitted by the three antennas 12, (x)i,yi) C is the speed of light, which is the position coordinate of the label device 2.
In the scheme, the tag device 2 calculates the position of the tag device 2 by using an arrival time difference algorithm according to the position information of the antenna 12 in the wireless signal sent by the single base station 1 and the time difference between the wireless signals so as to realize indoor positioning of the tag device 2, and the complexity of multi-base-station deployment in the existing positioning system is reduced.
In this embodiment, the method further includes: displaying the position of the label device 2 on an electronic map, and marking the position of the label device 2 on the electronic map. In this embodiment, the electronic map is an electronic map describing an indoor environment. According to the scheme, the position of the label device 2 is marked on the electronic map, so that a user can check the specific position of the label device 2 on the indoor electronic map.
In this embodiment, the method further includes: receiving a target position input by a user on the electronic map; and displaying a navigation route from the location of the tag device 2 to the target location on the electronic map. In this embodiment, the receiving the target position input by the user on the electronic map includes: and receiving a target position input by a user through a text editing field on the electronic map. In another embodiment, the receiving the target location input by the user on the electronic map comprises: and receiving the coordinates of a position on the electronic map through touch by a user on the electronic map, and determining the coordinates of the position as target position information. In this embodiment, displaying a navigation route from the position of the tag device 2 to the target position on the electronic map may instruct the user to move from the current position of the tag device 2 to the target position indoors.
Example 2
Fig. 3 is a structural diagram of a positioning device 30 according to an embodiment of the present invention.
In some embodiments, the positioning device 30 is operated in an electronic apparatus composed of the base station 1 and the tag device. The positioning means 30 may comprise a plurality of functional modules consisting of program code segments. The program code for the various program segments in the positioning device 30 may be stored in a memory and executed by at least one processor to perform positioning functions.
In this embodiment, the positioning device 30 may be divided into a plurality of functional modules according to the functions performed by the positioning device. Referring to fig. 3, the positioning device 30 may include a sending module 301, a calculating module 302, a position determining module 303, and a displaying module 304. The module referred to herein is a series of computer program segments capable of being executed by at least one processor and capable of performing a fixed function and is stored in memory. In some embodiments, the functionality of the modules will be described in greater detail in subsequent embodiments.
The sending module 301 controls each radio frequency module 11 of at least three radio frequency modules 11 disposed on the base station 1 to send a wireless signal to the tag device 2 through an antenna 12 connected to the radio frequency module 11 according to a preset time interval, where the wireless signal includes position information of the antenna 12.
In this implementation, the base station 1 includes at least three radio frequency modules 11, at least three antennas 12, and a processing unit 13. In this embodiment, at least three of the radio frequency modules 11 are connected to the processing unit 13 through different serial interfaces, and the at least three radio frequency modules 11 use the same clock of the processing unit 13. Each of the rf modules 11 is connected to an antenna 12. For example, each rf module 11 is connected to an access terminal of an antenna 12. At least three of the antennas 12 are deployed at fixed locations indoors. In a specific embodiment, the radio frequency module 11 is a UWB radio frequency module, the antenna is an omnidirectional antenna or a directional antenna, and the wireless signal is a UWB wireless signal.
In a specific embodiment, the processing unit 13 of the base station 1 controls each of the UWB rf modules of the base station to transmit a UWB wireless signal to the tag device 2 through the antenna 12 connected to the UWB rf module at a preset time interval, and since the UWB wireless signals are transmitted under the same reference clock of the processing unit 13, there is no error in wireless synchronization time in the UWB wireless signals, so that the indoor positioning method in the present case is more accurate. In addition, because the indoor positioning method only adopts a single base station for power supply, the power supply is only needed to be carried out at the position of the single base station, and the complex diagram of the deployment of the base station is reduced.
In this embodiment, the step of the sending module 301 controlling each of at least three radio frequency modules 11 disposed on the base station 1, where the radio frequency module 11 sends a wireless signal to the tag device 2 through an antenna 12 connected to the radio frequency module 11 according to a preset time interval includes: numbering the antennas 12 on each radio frequency module 11, wherein the numbering is 1, 2, … … and N, and N is a positive integer and not less than 3; and sequentially sending the wireless signals including the position information of the antenna 12 to the tag device 2 at preset time intervals according to the numbering sequence. In this embodiment, the preset time interval may be set according to a user requirement, for example, the preset time interval may be set to 1 second. In this embodiment, the tag device 2 may be a mobile device, for example, the tag device 2 may be a mobile phone, a tablet computer, a wearable device, or a notebook computer.
The calculating module 302 is configured to control the tag device 2 to receive the wireless signals sent by each antenna 12 of the base station 1 according to the preset time interval, and calculate a time difference between the wireless signals according to the wireless signals sent by each antenna 12.
In this embodiment, the step of controlling, by the computing module 302, the tag device 2 to receive the wireless signal transmitted by each antenna 12 of the base station 1 according to the preset time interval includes: judging the number of the antenna 12 corresponding to the wireless signal at the position of the received wireless signal by analyzing the received wireless signal; a radio signal corresponding to the number of the antenna 12 is acquired.
In this embodiment, the calculating the time difference between the wireless signals according to the wireless signals transmitted by each antenna 12 includes: calculating the time difference between the two wireless signals according to the formula T0-T1-T2-T, wherein T1 is the time point of one of the two received wireless signals, T2 is the time point of the other of the two received wireless signals, T1> T2, T is the preset time interval, and T0 is the time difference between the two wireless signals.
The position determining module 303 is configured to control the tag device 2 to calculate the position of the tag device 2 according to the position information of the antenna 12 in the wireless signal and the Time Difference between the wireless signals by using a Time Difference of Arrival (TDOA) algorithm.
In this embodiment, the step of controlling the tag device 2 to calculate the position of the tag device 2 by using the time difference of arrival algorithm according to the position information of the antenna 12 in the wireless signal and the time difference between the wireless signals by the position determination module 303 includes: according to the formula
And formula
Calculating the position of the tag device 2, wherein (x)1,y1),(x2,y2),(x3,y3) Is the position coordinate, t, of the three antennas 12 of the base station 10,t'0Is the time difference between any two of the three wireless signals transmitted by the three antennas 12, (x)i,yi) C is the speed of light, which is the position coordinate of the label device 2.
In the scheme, the tag device 2 calculates the position of the tag device 2 by using an arrival time difference algorithm according to the position information of the antenna 12 in the wireless signal sent by the single base station 1 and the time difference between the wireless signals so as to realize indoor positioning of the tag device 2, and the complexity of multi-base-station deployment in the existing positioning system is reduced.
In this embodiment, the display module 304 is configured to display the position of the label device 2 on an electronic map, and mark the position of the label device 2 on the electronic map. In this embodiment, the electronic map is an electronic map describing an indoor environment. According to the scheme, the position of the label device 2 is marked on the electronic map, so that a user can check the specific position of the label device 2 on the indoor electronic map.
In this embodiment, the display module 304 is further configured to: receiving a target position input by a user on the electronic map; and displaying a navigation route from the location of the tag device 2 to the target location on the electronic map. In this embodiment, the receiving the target position input by the user on the electronic map includes: and receiving a target position input by a user through a text editing field on the electronic map. In another embodiment, the receiving the target location input by the user on the electronic map comprises: and receiving the coordinates of a position on the electronic map through touch by a user on the electronic map, and determining the coordinates of the position as target position information. In this embodiment, displaying a navigation route from the position of the tag device 2 to the target position on the electronic map may instruct the user to move from the current position of the tag device 2 to the target position indoors.
Example 3
Fig. 4 is a schematic diagram of an electronic device 6 according to an embodiment of the invention.
The electronic device 6 comprises a memory 61, a processor 62 and a computer program 63 stored in the memory 61 and executable on the processor 62. The processor 62, when executing the computer program 63, implements the steps in the above-mentioned single base station based indoor positioning method embodiment, such as the steps S11-S13 shown in fig. 1. Alternatively, the processor 62, when executing the computer program 63, implements the functions of the modules/units in the positioning apparatus embodiments, such as the modules 301 to 304 in fig. 3.
Illustratively, the computer program 63 may be partitioned into one or more modules/units that are stored in the memory 61 and executed by the processor 62 to carry out the invention. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution of the computer program 63 in the electronic device 6. For example, the computer program 63 may be divided into a sending module 301, a calculating module 302, a position determining module 303 and a display module 304 in fig. 3, and the specific functions of the modules are described in embodiment 2.
It will be appreciated by those skilled in the art that the schematic diagram is merely an example of the electronic device 6, and does not constitute a limitation of the electronic device 6, and may include more or less components than those shown, or combine certain components, or different components, for example, the electronic device 6 may further include an input-output device, a network access device, a bus, etc.
The Processor 62 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor 62 may be any conventional processor or the like, the processor 62 being the control center for the electronic device 6, with various interfaces and lines connecting the various parts of the overall electronic device 6.
The memory 61 may be used for storing the computer programs 63 and/or modules/units, and the processor 62 may implement various functions of the electronic device 6 by running or executing the computer programs and/or modules/units stored in the memory 61 and calling data stored in the memory 61. The memory 61 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required by at least one function (such as a sound playing function, an image playing function, etc.), and the like; the stored data area may store data (such as audio data, a phonebook, etc.) created according to the use of the electronic device 6, and the like. In addition, the memory 61 may include high speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device.
The integrated modules/units of the electronic device 6, if implemented in the form of software functional modules and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium, and which, when executed by a processor, may implement the steps of the above-described embodiments of the method. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice.
In the embodiments provided in the present invention, it should be understood that the disclosed electronic device and method can be implemented in other ways. For example, the above-described embodiments of the electronic device are merely illustrative, and for example, the division of the modules is only one logical functional division, and there may be other divisions when the actual implementation is performed.
In addition, each functional module in each embodiment of the present invention may be integrated into the same processing module, or each module may exist alone physically, or two or more modules may be integrated into the same module. The integrated module can be realized in a hardware form, and can also be realized in a form of hardware and a software functional module.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned. Furthermore, it is to be understood that the word "comprising" does not exclude other modules or steps, and the singular does not exclude the plural. Several modules or electronic devices recited in the electronic device claims may also be implemented by one and the same module or electronic device by means of software or hardware. The terms first, second, etc. are used to denote names, but not any particular order.
Finally, it should be noted that the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, and although the present invention is described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.
Claims (10)
1. An indoor positioning method based on a single base station, the method comprising:
the base station controls each radio frequency module of at least three radio frequency modules arranged on the base station to send a wireless signal to a tag device through an antenna connected with the radio frequency module according to a preset time interval, wherein the wireless signal comprises position information of the antenna;
the tag device receives wireless signals sent by each antenna of the base station according to the preset time interval, and calculates the time difference between the wireless signals according to the wireless signals sent by each antenna; and
and the tag device calculates the position of the tag device by using a time difference of arrival algorithm according to the position information of the antenna in the wireless signal and the time difference between the wireless signals.
2. The single base station based indoor positioning method of claim 1, wherein the base station comprises at least three rf modules, at least three antennas and a processing unit, at least three of the rf modules are connected to the processing unit through different serial interfaces, and at least three of the rf modules use the same clock of the processing unit, each of the rf modules is connected to an antenna, and at least three of the antennas are deployed at fixed locations indoors.
3. The single base station based indoor positioning method of claim 2, wherein the calculating the time difference between the wireless signals according to the wireless signals transmitted by each of the antennas comprises:
calculating the time difference between the two wireless signals according to the formula T0-T1-T2-T, wherein T1 is the time point of one of the two received wireless signals, T2 is the time point of the other of the two received wireless signals, T1> T2, T is the preset time interval, and T0 is the time difference between the two wireless signals.
4. The single base station based indoor positioning method of claim 2, wherein the tag device calculating the position of the tag device by using a time difference of arrival algorithm according to the position information of the antenna in the wireless signal and the time difference between the wireless signals comprises:
according to the formula
And formula
Calculating a position of the tag device, wherein (x)1,y1),(x2,y2),(x3,y3) Position coordinates, t, of three of said antennas of said base station0,t'0For time differences between any two of the three wireless signals transmitted by the three antennas, (x)i,yi) And c is the position coordinate of the label device and the speed of light.
5. The single base station based indoor positioning method of claim 2, wherein the base station controlling each of at least three rf modules provided in the base station to transmit a wireless signal to the tag device through an antenna connected to the rf module at a predetermined time interval comprises:
numbering the antennas on each radio frequency module, wherein the number of the antennas is 1, 2, … … and N, and N is a positive integer and not less than 3; and
and sequentially sending wireless signals including the antenna position information to the tag device at preset time intervals according to the numbering sequence.
6. The single base station based indoor positioning method of claim 5, wherein the tag device receiving the wireless signal transmitted by each antenna of the base station according to the preset time interval comprises:
judging the number of an antenna corresponding to the wireless signal at the position of the received wireless signal by analyzing the received wireless signal; and
and acquiring a wireless signal corresponding to the number of the antenna.
7. The single base station based indoor positioning method of claim 1, wherein the method further comprises:
and displaying the position of the label device on an electronic map, and marking the position of the label device on the electronic map.
8. The single base station based indoor positioning method of claim 7, wherein the method further comprises:
receiving a target position input by a user on the electronic map; and
displaying a navigation route from a location of the tag device to the target location on the electronic map.
9. A positioning device, the device comprising:
the system comprises a sending module, a receiving module and a processing module, wherein the sending module is used for controlling each radio frequency module of at least three radio frequency modules arranged on a base station to send a wireless signal to a tag device through an antenna connected with the radio frequency module according to a preset time interval, and the wireless signal comprises position information of the antenna;
the calculation module is used for controlling the tag device to receive the wireless signals sent by each antenna of the base station according to the preset time interval and calculating the time difference between the wireless signals according to the wireless signals sent by each antenna; and
and the position determining module is used for controlling the tag device to calculate the position of the tag device by using a time difference of arrival algorithm according to the position information of the antenna in the wireless signal and the time difference between the wireless signals.
10. An electronic device, characterized in that: the electronic device comprises a processor and a memory, the processor being configured to implement the single base station based indoor positioning method of any one of claims 1-8 when executing the computer program stored in the memory.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010010933.4A CN113075617A (en) | 2020-01-06 | 2020-01-06 | Indoor positioning method and positioning device based on single base station and electronic equipment |
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| CN202010010933.4A CN113075617A (en) | 2020-01-06 | 2020-01-06 | Indoor positioning method and positioning device based on single base station and electronic equipment |
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