CN113163351B - Multi-stage base station positioning system and method - Google Patents
Multi-stage base station positioning system and method Download PDFInfo
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- CN113163351B CN113163351B CN202010004650.9A CN202010004650A CN113163351B CN 113163351 B CN113163351 B CN 113163351B CN 202010004650 A CN202010004650 A CN 202010004650A CN 113163351 B CN113163351 B CN 113163351B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/33—Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings
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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
- G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
Abstract
The invention provides a multi-stage base station positioning system and a method, wherein the device comprises the following steps: the system comprises a receiver, a primary base station and a secondary base station; the receiver is used for sending a request signal to the primary base station if the positioning is abnormal, and receiving signals of the primary base station and the secondary base station to perform pose solving; the primary base station is used for broadcasting signals outwards, and if the request signals are received, the secondary base station is controlled to move so that the receiver receives the signals of the secondary base station; the secondary base station is used for receiving the signals of the primary base station to move and/or position, and broadcasting signals outwards according to the signals of the primary base station. The multi-stage base station positioning system and the multi-stage base station positioning method can improve positioning accuracy.
Description
Technical Field
The invention relates to the technical field of positioning, in particular to a multi-stage base station positioning system and a multi-stage base station positioning method.
Background
An indoor positioning system based on visible light generally consists of a plurality of LED lighting devices emitting visible light and receiving devices mounted on an intelligent terminal. Positioning is generally performed by a method based on light intensity. According to the illumination intensity received by the receiving equipment, the distance, angle and other relations between the receiving equipment and the emitting light source are estimated, so that the position of the intelligent terminal is obtained, but the positioning accuracy is not high due to the structure of the positioning system.
Disclosure of Invention
The invention aims to provide a multi-stage base station positioning system and a multi-stage base station positioning method, which can improve positioning accuracy.
To achieve the purpose, the invention adopts the following technical scheme:
in a first aspect, the present invention provides a multi-stage base station positioning system comprising: the system comprises a receiver, a primary base station and a secondary base station;
the receiver is used for sending a request signal to the primary base station if the positioning is abnormal, and receiving signals of the primary base station and the secondary base station to perform pose solving;
the primary base station is used for broadcasting signals outwards, and if the request signals are received, the secondary base station is controlled to move so that the receiver receives the signals of the secondary base station;
the secondary base station is used for receiving the signals of the primary base station to move and/or position, and broadcasting signals outwards according to the signals of the primary base station.
Further, the receiver is further configured to send a positioning normal signal to the primary base station if positioning is normal;
correspondingly, the primary base station is further configured to stop controlling the secondary base station if the positioning normal signal is received.
Further, the primary base station is fixed in a building.
Further, the receiver comprises a sending module, a receiving module and a main control module;
the sending module is used for sending the request signal and the positioning normal signal to the primary base station;
the receiving module is used for receiving signals of the primary base station and the secondary base station;
and the main control module is used for carrying out pose solving according to the signals of the primary base station and the secondary base station.
Further, the primary base station comprises a primary transmitting module, a primary receiving module and a primary control module;
the primary transmitting module is used for transmitting signals outwards;
the primary receiving module is used for receiving the signals sent by the receiver;
the primary control module is used for controlling the secondary base station to move or stop controlling the secondary base station according to the signal sent by the receiver.
Further, the secondary base station comprises a secondary transmitting module, a secondary receiving module and a secondary control module;
the secondary transmitting module is used for transmitting signals outwards according to the signals transmitted by the primary base station;
the secondary receiving module is used for receiving signals sent by the primary base station;
and the secondary control module is used for moving and/or positioning according to the signals sent by the primary base station.
In a second aspect, the present invention provides a multi-stage base station positioning method, including:
if the primary base station receives the request signal sent by the receiver, the secondary base station is controlled to move and broadcast the signal outwards;
and the receiver receives the signals of the primary base station and the secondary base station to perform pose solving.
Further, controlling the secondary base station to move includes:
and controlling the secondary base station to move towards the receiver until a positioning normal signal sent by the receiver is received.
Further, controlling the secondary base station to broadcast signals outwards includes:
and controlling the secondary base station to locate according to the signals of the primary base station and broadcasting the signals outwards.
Further, the receiver receives signals of the primary base station and the secondary base station to perform pose solving, including:
and after the receiver receives the signals of the secondary base station in the detection range, pose solving is carried out according to the signals of the primary base station and the secondary base station and a positioning algorithm.
The beneficial effects of the invention are as follows:
through the base station level configuration, namely the cooperation of the primary base station and the secondary base station, the configuration in space is more flexible, the setting of a photosurface for receiving signals is not limited, the positioning precision is improved, particularly the positioning precision of the edge position of a coverage area is improved, the problem of positioning failure when signals are shielded is avoided, and the receiver is positioned normally.
Drawings
Fig. 1 is a schematic structural diagram of a multi-stage base station positioning system according to a first embodiment of the present invention.
10. A receiver; 20. a primary base station; 30. a secondary base station; 40. a shield.
Fig. 2 is a flow chart of a multi-stage base station positioning method according to a second embodiment of the present invention.
Detailed Description
In order to make the technical problems solved by the present invention, the technical solutions adopted and the technical effects achieved more clear, the technical solutions of the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings, and it is obvious that the described embodiments are only some embodiments of the present invention, but not all embodiments.
Example 1
The embodiment provides a multi-stage base station positioning system, which can be configured more flexibly in space, so that the setting of a photosurface for receiving signals is not limited; and the positioning accuracy, especially the positioning accuracy of the edge position of the coverage area, is improved, and the problem of positioning failure when signals are shielded is avoided.
Fig. 1 is a schematic structural diagram of a multi-stage base station positioning system according to a first embodiment of the present invention. As shown in fig. 1, the system includes: a receiver 10, a primary base station 20 and a secondary base station 30.
The receiver 10 is configured to send a request signal to the primary base station 20 if the positioning is abnormal, and receive signals of the primary base station 20 and the secondary base station 30 to perform pose solving. As shown in fig. 1, the signal of a certain primary base station is blocked by a blocking object 40, so that the receiver 10 locates an abnormality.
Preferably, the receiver 10 is further configured to send a positioning normal signal to the primary base station 20 if positioning is normal.
The receiver 10 may be mounted on a different terminal, which may be a robot, a drone, an unmanned aerial vehicle, a cell phone, or a hand-held measuring instrument.
The receiver 10 comprises a sending module, an accepting module and a main control module;
the sending module is configured to send the request signal and the positioning normal signal to the primary base station 20;
the receiving module is configured to receive signals of the primary base station 20 and the secondary base station 30;
the main control module is used for carrying out pose solving according to the signals of the primary base station 20 and the secondary base station 30.
Alternatively, the receiving module may be a photodiode, a triode, a field effect transistor, an image sensor or an illuminometer.
The primary base station 20 is configured to broadcast signals outwards, i.e. to provide a light source, and to provide location information for the positioning of the receiver 10 and the secondary base station 30.
And if the request signal is received, controlling the secondary base station 30 to move so that the receiver 10 receives the signal of the secondary base station 30.
Correspondingly, the primary base station 20 is further configured to stop controlling the secondary base station 30 if the positioning normal signal is received.
Specifically, the primary base station 20 includes a primary transmitting module, a primary receiving module, and a primary control module;
the primary transmitting module is used for transmitting signals outwards;
the primary receiving module is configured to receive a signal sent by the receiver 10;
the primary control module is configured to control the secondary base station 30 to move or stop controlling the secondary base station 30 according to the signal sent by the receiver 10.
Preferably, the primary base station 20 is fixed within a building. As shown in fig. 1, the primary base station 20 is illustrated as being disposed on a ceiling.
The secondary base station 30 is configured to receive the signal of the primary base station 20, perform movement and/or positioning, and broadcast the signal outwards according to the signal of the primary base station 20. I.e. to provide a light source, to provide position information for the positioning of the receiver 10.
Specifically, the secondary base station 30 includes a secondary transmitting module, a secondary receiving module, and a secondary control module;
the secondary transmitting module is configured to transmit signals outwards according to signals sent by the primary base station 20;
the secondary receiving module is configured to receive a signal sent by the primary base station 20;
the secondary control module is configured to perform movement and/or positioning according to the signal sent by the primary base station 20.
According to the embodiment, through base station level configuration, namely the cooperation of the primary base station and the secondary base station, the configuration in space is more flexible, the setting of a photosurface for receiving signals is not limited, the positioning accuracy is improved, particularly the positioning accuracy of the edge position of a coverage area is improved, the problem of positioning failure when signals are shielded is avoided, and the receiver is positioned normally.
Example two
The embodiment provides a multi-stage base station positioning method, which is implemented by the multi-stage base station positioning device described in the above embodiment, solves the same technical problems, and achieves the same technical effects.
Fig. 2 is a flow chart of a multi-stage base station positioning method according to a second embodiment of the present invention. As shown in fig. 2, the method comprises the steps of:
s11, the primary base station broadcasts signals outwards, so that a receiver receives the signals of the primary base station to perform pose solving.
Wherein the signal contains location information or identification information. The pose includes a position and an angle.
Optionally, each primary base station is provided with corresponding unique identification information, so that the signal emitted by each primary base station outwards carries the corresponding unique identification information, and the receiver can identify the corresponding primary base station through each identification information, thereby obtaining the position information of the primary base station. Specifically, the signals are modulated by modulation methods such as code division multiplexing, frequency division multiplexing or time division multiplexing, so that the receiver can distinguish different signals, and further identify the corresponding primary base station, and obtain the position information.
Optionally, the signal transmitted by each primary base station carries corresponding position information, and the receiver directly acquires the position information.
And when the number of the first-level base stations meets the positioning function, the receiver performs pose solving. Specifically, after the distance between the two positions is calculated through the position information, the position and the angle are solved through a triangulation method, a trilateration method, an arrival time difference method, a fingerprint method or a geometric similarity method.
And S12, if the primary base station receives the request signal sent by the receiver, the secondary base station is controlled to move and broadcast the signal outwards.
When the number of the first-level base stations cannot meet the positioning function, a request signal is sent to the first-level base stations which still keep communication, so that the first-level base stations receive the request signal, and further the second-level base stations are controlled to move and broadcast signals outwards.
The request signal is used for requesting the primary base station to control the secondary base station to move.
Preferably, controlling the secondary base station to move includes: and controlling the secondary base station to move towards the receiver until a positioning normal signal sent by the receiver is received.
The secondary base station can move freely in space, so that the secondary base station can be controlled to move towards the receiver. Meanwhile, the receiver detects whether signals of the secondary base station exist in a preset receiving range at any moment, so that the receiver can quickly acquire the position information of the secondary base station.
Preferably, controlling the secondary base station to broadcast signals outwards includes: and controlling the secondary base station to locate according to the signals of the primary base station and broadcasting the signals outwards.
And the secondary base station receives the signals of the primary base station and then performs pose solving so as to determine the position information of the secondary base station, and the secondary base station is provided with the position information of the secondary base station according to the signals of the primary base station and the outward broadcast signals.
Similarly, each secondary base station is provided with corresponding unique identification information, so that the receiver can identify the corresponding secondary base station through each identification information, and further the position information of the secondary base station is obtained.
S13, the receiver receives signals of the primary base station and the secondary base station to perform pose solving.
Preferably, after the receiver receives the signals of the secondary base station in the detection range, pose solving is performed according to the signals of the primary base station and the secondary base station and a positioning algorithm.
After receiving signals of the secondary base stations, when the number of the primary base stations and the secondary base stations are received to meet the positioning function, pose solving is carried out.
Correspondingly, when the pose of the base station is solved, a positioning normal signal is sent, so that the primary base station stops controlling the secondary base station, and the positioning is completed.
According to the embodiment, through the cooperation of the primary base station and the secondary base station, even if the primary base station signal is blocked, the receiver can be normally positioned, especially in the edge area, so that the positioning accuracy is improved, and the problems of insufficient base station space and difficult debugging are solved.
The technical principle of the present invention is described above in connection with the specific embodiments. The description is made for the purpose of illustrating the general principles of the invention and should not be taken in any way as limiting the scope of the invention. Other embodiments of the invention will be apparent to those skilled in the art from consideration of this specification without undue burden.
Claims (8)
1. A multi-stage base station positioning system, comprising: the system comprises a receiver, a primary base station and a secondary base station;
the receiver is used for sending a request signal to the primary base station if positioning abnormality occurs when receiving a broadcast signal of the primary base station for pose solving, and receiving signals of the primary base station and the secondary base station for pose solving;
the primary base station is used for broadcasting signals outwards, and if the request signals are received, the secondary base station is controlled to move so that the receiver receives the signals of the secondary base station;
the secondary base station is used for receiving the signals of the primary base station to move and/or position and broadcasting signals outwards according to the signals of the primary base station;
the receiver is further configured to send a positioning normal signal to the primary base station if the positioning is normal;
correspondingly, the primary base station is further configured to stop controlling the secondary base station if the positioning normal signal is received.
2. The multi-stage base station positioning system of claim 1, wherein: the primary base station is fixed in a building.
3. The multi-stage base station positioning system of claim 1, wherein the receiver comprises a transmitting module, a receiving module, and a master control module;
the sending module is used for sending the request signal and the positioning normal signal to the primary base station;
the receiving module is used for receiving signals of the primary base station and the secondary base station;
and the main control module is used for carrying out pose solving according to the signals of the primary base station and the secondary base station.
4. The multi-stage base station positioning system of claim 1, wherein the primary base station comprises a primary transmit module, a primary receive module, and a primary control module;
the primary transmitting module is used for transmitting signals outwards;
the primary receiving module is used for receiving the signals sent by the receiver;
the primary control module is used for controlling the secondary base station to move or stop controlling the secondary base station according to the signal sent by the receiver.
5. The multi-stage base station positioning system of claim 1, wherein the secondary base station comprises a secondary transmitting module, a secondary receiving module, and a secondary control module;
the secondary transmitting module is used for transmitting signals outwards according to the signals transmitted by the primary base station;
the secondary receiving module is used for receiving signals sent by the primary base station;
and the secondary control module is used for moving and/or positioning according to the signals sent by the primary base station.
6. A multi-stage base station positioning method, comprising:
if the receiver receives the broadcasting signal of the primary base station and positioning abnormality occurs when pose solving is carried out, a request signal is sent to the primary base station;
if the primary base station receives the request signal sent by the receiver, the secondary base station is controlled to move and broadcast the signal outwards;
the receiver receives signals of the primary base station and the secondary base station to perform pose solving;
controlling the secondary base station to move comprises:
and controlling the secondary base station to move towards the receiver until a positioning normal signal sent by the receiver is received.
7. The multi-stage base station positioning method according to claim 6, wherein controlling the secondary base station to broadcast signals outwards comprises:
and controlling the secondary base station to locate according to the signals of the primary base station and broadcasting the signals outwards.
8. The multi-stage base station positioning method according to claim 6, wherein the receiver receives signals of the primary base station and the secondary base station for pose solving, comprising:
and after the receiver receives the signals of the secondary base station in the detection range, pose solving is carried out according to the signals of the primary base station and the secondary base station and a positioning algorithm.
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| CN202010004650.9A CN113163351B (en) | 2020-01-03 | 2020-01-03 | Multi-stage base station positioning system and method |
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104168650A (en) * | 2014-09-03 | 2014-11-26 | 广州市香港科大霍英东研究院 | Indoor positioning method based on dynamic wireless access points |
| WO2019005126A1 (en) * | 2017-06-30 | 2019-01-03 | Hewlett-Packard Development Company, L.P. | Electronic devices with location coordinates obtained from mobile devices |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106714297B (en) * | 2016-11-30 | 2020-03-24 | 成都理想境界科技有限公司 | Base station network positioning device and positioning system |
| CN106772231B (en) * | 2016-12-23 | 2019-10-11 | 深圳市金溢科技股份有限公司 | Electronic tag, base station, positioning system and method based on UWB |
| CN107040990A (en) * | 2017-03-31 | 2017-08-11 | 成都理想境界科技有限公司 | A kind of anti-Dual base stations alignment system blocked, positioning network and positioning terminal |
| US20180319495A1 (en) * | 2017-05-05 | 2018-11-08 | Pinnacle Vista, LLC | Relay drone method |
| CN109992005B (en) * | 2019-05-10 | 2022-03-01 | 上海歌尔泰克机器人有限公司 | Unmanned aerial vehicle control method and device, computer readable storage medium and related equipment |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104168650A (en) * | 2014-09-03 | 2014-11-26 | 广州市香港科大霍英东研究院 | Indoor positioning method based on dynamic wireless access points |
| WO2019005126A1 (en) * | 2017-06-30 | 2019-01-03 | Hewlett-Packard Development Company, L.P. | Electronic devices with location coordinates obtained from mobile devices |
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