CN113556670A - Positioning system, positioning method and mobile terminal - Google Patents
Positioning system, positioning method and mobile terminal Download PDFInfo
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- CN113556670A CN113556670A CN202010313723.2A CN202010313723A CN113556670A CN 113556670 A CN113556670 A CN 113556670A CN 202010313723 A CN202010313723 A CN 202010313723A CN 113556670 A CN113556670 A CN 113556670A
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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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- 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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- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Mobile Radio Communication Systems (AREA)
Abstract
The invention discloses a positioning system, a positioning method and a mobile terminal. Wherein the positioning system comprises: the first mobile terminal is used for transmitting a positioning signal; the second mobile terminal is used for receiving the positioning signals, measuring and calculating the distance between each second mobile terminal and the first mobile terminal through the positioning signals and measuring and calculating the direction of each second mobile terminal relative to the first mobile terminal through the positioning signals; further confirming the position data of each second mobile terminal relative to the first mobile terminal; each second mobile terminal further transmits the confirmed location data to the first mobile terminal; and the first mobile terminal also stores the position data of each second mobile terminal. The invention provides a positioning system, a positioning method and a mobile terminal when a traditional base station signal or a satellite signal is interrupted.
Description
Technical Field
The present invention relates to the field of communications technologies, and in particular, to a positioning system, a positioning method, and a mobile terminal.
Background
Conventional positioning and communication methods usually propagate through large-scale base stations, optical fibers, satellites and other paths. Although these methods have the advantages of large capacity, long transmission distance, etc., they also have the limitations of depending on devices and networks. Therefore, in the indoor, mine, etc. places where the base station signal or satellite signal is interrupted, the conventional positioning method and communication method are seriously degraded and may even completely fail.
Disclosure of Invention
In view of the foregoing, it is desirable to provide a positioning system, a positioning method and a mobile terminal, which are used to realize positioning and communication between mobile terminals when a base station signal or a satellite signal is interrupted.
A first aspect of the present invention provides a positioning system comprising:
a first mobile terminal to transmit a positioning signal;
each second mobile terminal is used for receiving the positioning signal, measuring and calculating the distance between each second mobile terminal and the first mobile terminal through the positioning signal and measuring and calculating the direction of each second mobile terminal relative to the first mobile terminal through the positioning signal; confirming the position data of each second mobile terminal relative to the first mobile terminal according to the distance between each second mobile terminal and the first mobile terminal and the direction of each second mobile terminal relative to the first mobile terminal; each second mobile terminal further transmits the confirmed location data to the first mobile terminal;
and the first mobile terminal also stores the position data of each second mobile terminal.
Further, the positioning signal carries transmission time information, and the calculating the distance between each second mobile terminal and the first mobile terminal through the positioning signal includes:
the second mobile terminal confirms the receiving time when receiving the positioning signal;
and the second mobile terminal calculates the distance between the second mobile terminal and the first mobile terminal according to the time difference between the receiving time and the transmitting time.
Further, before the second mobile terminal confirms the receiving time when receiving the positioning signal, the first mobile terminal and each second mobile terminal perform clock synchronization.
Further, each of the second mobile terminals is provided with an array antenna, the array antenna includes at least 3 antennas, and the calculating the direction of each of the second mobile terminals relative to the first mobile terminal through the positioning signal includes:
the second mobile terminal receives the positioning signal through the array antenna to form at least two receiving phase differences;
and the second mobile terminal calculates an incident angle formed by the positioning signal on the second mobile terminal through at least two receiving phase differences, and determines the direction of the second mobile terminal relative to the first mobile terminal through the intersection of the two incident angles.
Further, the location data of each second mobile terminal also carries its own identification information, wherein each second mobile terminal performs peer-to-peer communication according to the own identification information and the location data stored in the first mobile terminal.
Further, the performing, by the second mobile station, peer-to-peer communication according to the self identification information and the location data stored in the first mobile station includes:
the second mobile terminal transmits data carrying identification information of another second mobile terminal to the first mobile terminal;
and the first mobile terminal identifies the identification information and sends the data to the other second mobile terminal according to the identification information to realize the communication between the second mobile terminal and the other second mobile terminal.
Furthermore, the first terminal and the second mobile terminal are both configured with positioning chips.
A second aspect of the present invention provides a positioning method, including:
providing a first mobile terminal, wherein the first mobile terminal transmits a positioning signal;
providing at least one second mobile terminal, wherein the second mobile terminal receives the positioning signal, measures and calculates the distance between each second mobile terminal and the first mobile terminal through the positioning signal, and measures and calculates the direction of each second mobile terminal relative to the first mobile terminal through the positioning signal; confirming the position data of each second mobile terminal relative to the first mobile terminal according to the distance between each second mobile terminal and the first mobile terminal and the direction of each second mobile terminal relative to the first mobile terminal; each second mobile terminal further transmits the confirmed location data to the first mobile terminal;
and the first mobile terminal also stores the position data of each second mobile terminal.
A third aspect of the present invention provides a mobile terminal, comprising:
the signal receiving and sending unit is used for receiving a positioning signal transmitted by another mobile terminal;
a ranging unit, configured to measure and calculate a distance between the mobile terminal and the another mobile terminal through the positioning signal;
the direction-finding unit is used for measuring and calculating the direction of the mobile terminal relative to the other mobile terminal through the positioning signal;
and the positioning unit is used for confirming the position of the mobile terminal relative to the other mobile terminal according to the distance between the mobile terminal and the other mobile terminal and the direction of the mobile terminal relative to the other mobile terminal.
Further, the signal transceiving unit is also used for transmitting the positioning signal.
The positioning system, the positioning method and the mobile terminal provided by the invention can realize positioning and communication between the mobile terminals through the main equipment under the condition that the positioning of the traditional macro base station or satellite fails.
Drawings
Fig. 1 is a block diagram of a positioning system according to a preferred embodiment of the invention.
Fig. 2 is a flowchart of a positioning method according to a preferred embodiment of the invention.
Description of the main elements
First mobile terminal 100
Second mobile terminal 200
Signal transceiving unit 10
The following detailed description will further illustrate the invention in conjunction with the above-described figures.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. 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.
Some embodiments of the invention are described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.
Referring to fig. 1, fig. 1 is a block diagram illustrating a positioning system 300 according to a first aspect of the present invention. The positioning system 300 includes a first mobile terminal 100 and at least a second mobile terminal 200. The positioning system 300 is used to realize mutual positioning between the first mobile terminal 100 and the second mobile terminal 200, and then to realize peer-to-peer communication between the second mobile terminals 200. The positioning system 300 provided by the present invention may be implemented by an Ultra Wide Band (UWB) wireless communication technology or a bluetooth technology, but is not limited thereto.
It is understood that the UWB wireless communication technology is a wireless technology for transmitting data at a high speed within a short distance at a low power, and the power of a general UWB device is generally about 1/100 of the power required by a conventional mobile phone and about 1/20 of the power required by a bluetooth device. That is, a sinusoidal carrier is not adopted, and nanosecond-level non-sinusoidal wave narrow pulses are used for transmitting data, so that the occupied frequency spectrum range is wide. The UWB wireless communication technology has the advantages of strong anti-interference performance, high transmission rate, small power consumption and the like, and is suitable for high-speed and short-distance wireless communication.
Bluetooth technology is a technology for transmitting data to and from various electronic products using low power radio. Bluetooth operates in the 2.4GHz ISM band, which is a worldwide common, using the IEEE802.11 protocol. The Bluetooth-enabled device short-range communication radio technology enables wireless information exchange between a plurality of devices including mobile phones, PDAs, wireless headsets, notebook computers, related peripherals, and the like.
It can be understood that, in the present embodiment, when a system with a large area radius is involved, for example, the radius is 100 meters, the UWB wireless communication technology is selected to implement the positioning method, and the cost is low. When a system with a small area radius is involved, for example, the radius is 10 meters, the Bluetooth technology is selected to implement the positioning method, and the cost is low.
The first mobile terminal 100 is configured to transmit a positioning signal, and the second mobile terminal 200 is configured to receive the positioning signal. It is understood that the first mobile terminal 100 and the second mobile terminal 200 respectively have a signal transceiving unit 10. The first mobile terminal 100 transmits the positioning signal to each direction through the signal transceiving unit 10 within a preset time. The second mobile terminal 200 receives the positioning signal transmitted by the first mobile terminal 100 through the signal transceiving unit 10. The positioning signal can be a UWB signal or a Bluetooth signal, and the positioning signal carries information such as emission time.
The second mobile terminal 200 measures the distance between the second mobile terminal and the first mobile terminal 100 through the received positioning signal.
Wherein the second mobile terminal 200 further includes a ranging unit 20, and the ranging unit 20 calculates the distance between the second mobile terminal 200 and the first mobile terminal 100 by using a Time Difference of Arrival (TDOA) ranging method and using formula (1). That is, the distance between the second mobile station 200 and the first mobile station 100 is calculated according to the time difference between the receiving time and the transmitting time. In equation (1), the parameter c is the speed of light, that is, the transmitting end (e.g., the first mobile terminal 100) transmits the signal to the receiving end (e.g., the second mobile terminal 200) at the speed of light c. Parameter T1The time at which the signal is transmitted for the transmitting end (e.g., the first mobile terminal 100). Parameter T2Is the time at which the receiving end (e.g., the second mobile terminal 200) receives the signal. The parameter D is a distance between the transmitting end and the receiving end (i.e., the first mobile terminal 100 and the second mobile terminal 200).
D＝c*(T2-T1) (1)
Obviously, according to the above formula (1), when the distance between the second mobile terminal 200 and the first mobile terminal 100 needs to be measured, only the time difference (T) of signal propagation needs to be measured2-T1) And (4) finishing. In the present embodiment, T1Recorded by the first mobile terminal 100 and transmitted to the second mobile terminal 200 through the positioning signal. T is2Confirmation when the positioning signal is received by the second mobile terminal 200 through the ranging unit 20. Therefore, the ranging unit 20 can measure the distance between the second mobile terminal 200 and the first mobile terminal 100 by formula (1).
It will be appreciated that in the present embodiment, when TDOA ranging is employedIn the normal case, since the clocks of the first mobile terminal 100 and the second mobile terminal 200 are independent, a clock skew may occur, which may cause a timing error. The method can be performed before the ranging, i.e. the receiving time T when the second mobile station 200 confirms receiving the positioning signal2Previously, a clock synchronization step is performed on the second mobile terminal 200 and the first mobile terminal 100. That is, the first mobile terminal 100 and the second mobile terminal 200 are first synchronized with the clock and then the distance between the two terminals is tested.
Of course, in other embodiments, the ranging unit 20 is not limited to adopting the TDOA ranging method, but may also adopt other ranging methods, such as a Time Of Flight (TOF) method, and the like.
The second mobile terminal 200 further calculates the direction of the second mobile terminal 200 relative to the first mobile terminal 100 through the received positioning signal.
In this embodiment, the second mobile terminal 200 further includes a direction-finding unit 30, and the direction-finding unit 30 measures the direction Of the second mobile terminal 200 with respect to the first mobile terminal 100 by using a Phase Difference Of Arrival (PDOA) method and using equation (2). In equation (2), the parameter c is the speed of light, i.e., the transmitting end (e.g., the first mobile terminal 100) transmits a signal (e.g., a positioning signal) to the receiving end (e.g., the second mobile terminal 200) at the speed of light c. Parameter(s)
The reception phase difference when the same signal (for example, a positioning signal) is received for both antennas. The parameter L is the spacing between the two antennas. The parameter f is the frequency of the positioning signal. Theta is an incident angle formed by the positioning signal and any antenna.
It is understood that, in the three-dimensional space, the incident angle having a certain angle magnitude is formed with the possibility of a plurality of directions for the same point. Therefore, in the three-dimensional space, the intersection of at least two incident angles formed by the signal (e.g., the positioning signal) transmitted by the same transmitting end (e.g., the first mobile terminal 100) to the same receiving end (e.g., the second mobile terminal 200) is required to determine the direction of the receiving end relative to the transmitting end.
Therefore, it can be understood that, in the present embodiment, the second mobile terminal 200 is provided with an array antenna including at least three antennas. The second mobile terminal 200 receives the positioning signal through the array antenna to form at least two receiving phase differences. The second mobile terminal 200 calculates two incident angles of the positioning signal formed on the second mobile terminal 200 by using formula (2) through the direction-finding unit 30, so as to determine the direction of the second mobile terminal 200 relative to the first mobile terminal 100 by calculating the intersection of the two incident angles.
The second mobile terminal 200 further includes a positioning unit 40, and the positioning unit 40 confirms the position data of each second mobile terminal 200 relative to the first mobile terminal 100 according to the obtained distance between each second mobile terminal 200 and the first mobile terminal 100 and the direction of each second mobile terminal 200 relative to the first mobile terminal 100, so as to complete positioning. Each of the second mobile terminals 200 further transmits the confirmed location data to the first mobile terminal 100, and the first mobile terminal 100 further stores the location data of each of the second mobile terminals 200.
It is to be understood that each of the location data is relative location data of each of the second mobile terminals 200 with respect to the first mobile terminal 100.
The location data of each second mobile station 200 further carries its own identification information, and each second mobile station 200 performs peer-to-peer communication according to the own identification information and the location data stored in the first mobile station 100.
It is understood that the peer-to-peer communication performed by each of the second mobile terminals 200 includes:
the second mobile terminal 200 transmits data carrying identification information of another second mobile terminal 200 to the first mobile terminal 100;
the first mobile terminal 100 recognizes the identification information and sends the data to the other second mobile terminal 200 according to the identification information, so as to realize the communication between the second mobile terminal 200 and the other second mobile terminal 200.
It is understood that the communication process of the positioning system 300 is as follows:
when a plurality of second mobile terminals 200 need to communicate, each second mobile terminal 200 receives a positioning signal transmitted by the first mobile terminal 100, measures and calculates a distance between each second mobile terminal 200 and the first mobile terminal 100 through the positioning signal, and measures and calculates a direction of each second mobile terminal 200 relative to the first mobile terminal 100 through the positioning signal; confirming position data of each second mobile terminal 200 relative to the first mobile terminal 100 according to the distance between each second mobile terminal 200 and the first mobile terminal 100 and the direction of each second mobile terminal 200 relative to the first mobile terminal 100; positioning between the second mobile terminal 200 and the first mobile terminal 100 is achieved. After the positioning is completed, each second mobile terminal 200 transmits the location data carrying the identification information thereof to the first mobile terminal 100, and the first mobile terminal 100 stores the location data of each second mobile terminal 200. The first mobile terminal 100 builds a location network according to the location data of each second mobile terminal 200. After the location network is established, the second mobile station 200 may perform peer-to-peer communication with another second mobile station 200 through the first mobile station 100. For example, a second mobile terminal a and a second mobile terminal B both implement positioning with the first mobile terminal, and the second mobile terminal a may further transmit data carrying identification information of the second mobile terminal B to the first mobile terminal. And the first mobile terminal receives the data and identifies the identification information, so that the data transmitted by the second mobile terminal A is sent to the second mobile terminal B according to the identification information.
It is understood that the first mobile terminal 100 and the second mobile terminal 200 are both configured with a positioning chip. For example, the first mobile terminal 100 and the second mobile terminal 200 are mobile terminals configured with a UWB chip or mobile terminals having a bluetooth chip.
It is understood that, when the first mobile terminal 100 has the precise location coordinates, the second mobile terminal 200 may calculate its own precise location coordinates from the precise location of the first mobile terminal 100.
Referring to fig. 2, a second aspect of the present invention further provides a positioning method, including:
step S01: providing a first mobile terminal, wherein the first mobile terminal transmits a positioning signal;
step S02: providing at least one second mobile terminal, wherein the second mobile terminal receives the positioning signal, measures and calculates the distance between each second mobile terminal and the first mobile terminal through the positioning signal, and measures and calculates the direction of each second mobile terminal relative to the first mobile terminal through the positioning signal; confirming the position data of each second mobile terminal relative to the first mobile terminal according to the distance between each second mobile terminal and the first mobile terminal and the direction of each second mobile terminal relative to the first mobile terminal; each second mobile terminal further transmits the confirmed location data to the first mobile terminal;
and the first mobile terminal also stores the position data of each second mobile terminal.
It is understood that the first mobile terminal 100 also includes the ranging unit 20, the direction-finding unit 30 and the positioning unit 40. In another embodiment, the second mobile station 200 transmits a positioning signal through the signal transceiver unit 10, and the first mobile station 100 receives the positioning signal through the signal transceiver unit 10 and completes the positioning with the second mobile station 200 through the ranging unit 20, the direction-finding unit 30 and the positioning unit 40.
It is understood that the first mobile terminal 100 and the second mobile terminal 200 may be a mobile phone, a tablet computer, a smart watch, a smart bracelet, or a smart home device provided with a communication module and an array antenna, but are not limited thereto.
It can be understood that the positioning method and the positioning system can implement point-to-point communication between a plurality of second mobile terminals in a local area by combining the positioning signal with the time difference of arrival method and the receiving phase difference method under the condition that the traditional base station fails.
Although the present invention has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted without departing from the spirit and scope of the invention. Those skilled in the art can also make other changes and the like in the design of the present invention within the spirit of the present invention as long as they do not depart from the technical effects of the present invention. Such variations are intended to be included within the scope of the invention as claimed.
Claims (10)
1. A positioning system, characterized by: the positioning system includes:
a first mobile terminal to transmit a positioning signal;
each second mobile terminal is used for receiving the positioning signal, measuring and calculating the distance between each second mobile terminal and the first mobile terminal through the positioning signal and measuring and calculating the direction of each second mobile terminal relative to the first mobile terminal through the positioning signal; confirming the position data of each second mobile terminal relative to the first mobile terminal according to the distance between each second mobile terminal and the first mobile terminal and the direction of each second mobile terminal relative to the first mobile terminal; each second mobile terminal further transmits the confirmed location data to the first mobile terminal;
and the first mobile terminal also stores the position data of each second mobile terminal.
2. The positioning system of claim 1, wherein: the positioning signal carries transmission time information, and the measuring and calculating the distance between each second mobile terminal and the first mobile terminal through the positioning signal comprises:
the second mobile terminal confirms the receiving time when receiving the positioning signal;
and the second mobile terminal calculates the distance between the second mobile terminal and the first mobile terminal according to the time difference between the receiving time and the transmitting time.
3. The positioning system of claim 2, wherein: and before the second mobile terminal confirms the receiving time when the positioning signal is received, the first mobile terminal and each second mobile terminal carry out clock synchronization.
4. The positioning system of claim 1, wherein: each second mobile terminal is provided with an array antenna, the array antenna comprises at least 3 antennas, and the calculating the direction of each second mobile terminal relative to the first mobile terminal through the positioning signal comprises:
the second mobile terminal receives the positioning signal through the array antenna to form at least two receiving phase differences;
and the second mobile terminal calculates an incident angle formed by the positioning signal on the second mobile terminal through at least two receiving phase differences, and determines the direction of the second mobile terminal relative to the first mobile terminal through the intersection of the two incident angles.
5. The positioning system of claim 1, wherein: the position data of each second mobile terminal also carries self identification information, wherein each second mobile terminal carries out point-to-point communication according to the self identification information and the position data stored in the first mobile terminal.
6. The positioning system of claim 5, wherein: the performing, by each second mobile terminal, peer-to-peer communication according to the self identification information and the location data stored in the first mobile terminal includes:
the second mobile terminal transmits data carrying identification information of another second mobile terminal to the first mobile terminal;
and the first mobile terminal identifies the identification information and sends the data to the other second mobile terminal according to the identification information to realize the communication between the second mobile terminal and the other second mobile terminal.
7. The positioning system of claim 1, wherein: and the first terminal and the second mobile terminal are both provided with positioning chips.
8. A method of positioning, characterized by: the positioning method comprises the following steps:
providing a first mobile terminal, wherein the first mobile terminal transmits a positioning signal;
providing at least one second mobile terminal, wherein the second mobile terminal receives the positioning signal, measures and calculates the distance between each second mobile terminal and the first mobile terminal through the positioning signal, and measures and calculates the direction of each second mobile terminal relative to the first mobile terminal through the positioning signal; confirming the position data of each second mobile terminal relative to the first mobile terminal according to the distance between each second mobile terminal and the first mobile terminal and the direction of each second mobile terminal relative to the first mobile terminal; each second mobile terminal further transmits the confirmed location data to the first mobile terminal;
and the first mobile terminal also stores the position data of each second mobile terminal.
9. A mobile terminal, the mobile terminal comprising:
the signal receiving and sending unit is used for receiving a positioning signal transmitted by another mobile terminal;
a ranging unit, configured to measure and calculate a distance between the mobile terminal and the another mobile terminal through the positioning signal;
the direction-finding unit is used for measuring and calculating the direction of the mobile terminal relative to the other mobile terminal through the positioning signal;
and the positioning unit is used for confirming the position of the mobile terminal relative to the other mobile terminal according to the distance between the mobile terminal and the other mobile terminal and the direction of the mobile terminal relative to the other mobile terminal.
10. The mobile terminal of claim 9, wherein: the signal transceiving unit is also used for transmitting the positioning signal.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010313723.2A CN113556670A (en) | 2020-04-20 | 2020-04-20 | Positioning system, positioning method and mobile terminal |
| TW109114241A TWI837352B (en) | 2020-04-20 | 2020-04-28 | Positioning system,method and mobile terminal |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010313723.2A CN113556670A (en) | 2020-04-20 | 2020-04-20 | Positioning system, positioning method and mobile terminal |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117135568A (en) * | 2023-08-31 | 2023-11-28 | 青岛柯锐思德电子科技有限公司 | UWB wireless earphone pose sensing measurement method based on single base station |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117135568A (en) * | 2023-08-31 | 2023-11-28 | 青岛柯锐思德电子科技有限公司 | UWB wireless earphone pose sensing measurement method based on single base station |
| CN117135568B (en) * | 2023-08-31 | 2024-02-09 | 青岛柯锐思德电子科技有限公司 | UWB wireless earphone pose sensing measurement method based on single base station |
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