CN114302326A - Positioning area determining method, positioning method and device and positioning equipment - Google Patents
Positioning area determining method, positioning method and device and positioning equipment Download PDFInfo
- Publication number
- CN114302326A CN114302326A CN202111596664.5A CN202111596664A CN114302326A CN 114302326 A CN114302326 A CN 114302326A CN 202111596664 A CN202111596664 A CN 202111596664A CN 114302326 A CN114302326 A CN 114302326A
- Authority
- CN
- China
- Prior art keywords
- positioning
- site
- base station
- target
- area
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Landscapes
- Mobile Radio Communication Systems (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention provides a method for determining a positioning area, a positioning method, a device and a positioning device, which relate to the technical field of positioning and comprise the following steps: dividing a target site into a plurality of site units based on preset division parameters; distributing a positioning base station for each site unit; the space between the site unit and the distributed positioning base station meets specified conditions; specifying conditions related to a spatial extent of the space, a relative position of the space to the target site, and an obstacle in the space; classifying the plurality of site units to obtain a plurality of site unit groups; and determining a positioning area corresponding to the site unit group according to the position of the positioning base station corresponding to each site unit group to obtain a plurality of positioning areas corresponding to the target site. The method can automatically allocate the base stations and divide the positioning areas, does not need manpower division, and reduces the manpower cost; and the distribution result is reasonable, and the base station can receive stable and accurate positioning signals, so that the positioning accuracy is improved.
Description
Technical Field
The present invention relates to the field of positioning technologies, and in particular, to a method, a device, and a positioning apparatus for determining a positioning area.
Background
A wireless location system typically includes a location tag, a location base station, and a location server. The positioning base station receives a positioning signal sent by the positioning tag, then forwards the positioning signal to a positioning server, or calculates a positioning position of the tag based on the positioning signal, and sends the positioning position to the positioning server. The wireless positioning system is mainly used for monitoring the positions, the movement tracks and the like of people or objects in a certain field range, and can be used in scenes such as factory patrol, equipment patrol, material positioning and the like.
If there are obstacles in or around the monitoring site, such as walls, large equipment, etc., the obstacles may easily obstruct or reflect the positioning signals, which may weaken the signal strength of the positioning signals or cause large errors in the positioning signals, resulting in low positioning accuracy. In the related technology, a monitoring field can be divided into a plurality of positioning areas to realize regional positioning, but the method needs engineering personnel to manually divide the areas, a large amount of labor cost and time cost are needed to be spent, meanwhile, the rationality of the regional division of the positioning often depends on the experience and the capability of the engineering personnel, and if the regional division of the positioning is unreasonable, the positioning accuracy is still low.
Disclosure of Invention
In view of the above, an object of the present invention is to provide a method, a device and a device for determining a positioning area, so as to automatically allocate a base station and divide the positioning area, without requiring manual division, thereby reducing labor cost; and the distribution result is reasonable, and the base station can receive stable and accurate positioning signals, so that the positioning accuracy is improved.
In a first aspect, an embodiment of the present invention provides a method for determining a location area, where a target site has a plurality of location base stations in advance, and the method includes: dividing a target site into a plurality of site units based on preset division parameters; distributing a positioning base station for each site unit; the space between the site unit and the distributed positioning base station meets specified conditions; the specified condition is associated with at least one of: the spatial extent of the space, the relative position of the space and the target site, and the obstacles in the space; classifying the plurality of site units to obtain a plurality of site unit groups; in the same site unit group, the distributed positioning base stations of each site unit are the same; and determining a positioning area corresponding to the site unit group according to the position of the positioning base station corresponding to each site unit group to obtain a plurality of positioning areas corresponding to the target site.
The above-mentioned dividing parameters include: dividing the granularity and the dividing shape; based on preset partition parameters, the step of dividing the target site into a plurality of site units comprises the following steps: and dividing the target site according to the division granularity and the division shape to obtain a plurality of site units.
The step of allocating a base station to each site unit includes: for each site unit, performing the following operations: judging whether the site unit and each positioning base station meet specified conditions, and determining the positioning base stations meeting the specified conditions as distribution base stations of the site unit; wherein the specified conditions include: the connecting line between the positioning base station and the site unit does not pass through any barrier; a connecting line between the positioning base station and the site unit is positioned in the target site; and the distance between the positioning base station and the site unit is smaller than the communication distance of the positioning base station.
The above-mentioned step of carrying out classification with a plurality of place units, obtaining a plurality of place unit groups includes: clustering the plurality of field units according to the positioning base station distributed by each field unit to obtain a plurality of field unit groups; wherein, any site unit only belongs to a site unit group.
The step of determining the positioning area corresponding to each site unit group according to the position of the positioning base station corresponding to each site unit group includes: for each site unit group, the following operations are performed: selecting a target base station close to the edge of the site unit group from the positioning base stations corresponding to the site unit group; and determining a positioning area corresponding to the site unit group based on the base station position of the target base station.
The step of selecting a target base station close to the edge of the site unit group from the positioning base stations corresponding to the site unit group includes: setting a two-dimensional coordinate system based on the base station position of the positioning base station corresponding to the site unit group; in a two-dimensional coordinate system, each positioning base station corresponds to a coordinate point; determining an initial coordinate point from the coordinate points; the first coordinate value of the initial coordinate point is larger than that of any coordinate point except the initial coordinate point; determining the initial coordinate point as a target coordinate point, generating a scanning ray along a first specified direction by taking the target coordinate point as a reference point, controlling the scanning ray to rotate along a second specified direction, and acquiring a first coordinate point through which the scanning ray passes; taking the first coordinate point as an updated target coordinate point, continuously executing the steps of generating a scanning ray along a first specified direction by taking the target coordinate point as a reference point, controlling the scanning ray to rotate along a second specified direction, and acquiring the first coordinate point through which the scanning ray passes until the acquired first coordinate point is an initial coordinate point; and determining the positioning base station corresponding to the initial coordinate point and each first coordinate point as a target base station.
The method further comprises the following steps: if the initial coordinate points comprise a plurality of initial coordinate points, determining a final initial coordinate point from the plurality of initial coordinate points; and the second coordinate value of the final initial coordinate point is smaller than the second coordinate value of any initial coordinate point except the final initial coordinate point.
The method further comprises the following steps: and if the first coordinate points passed by the scanning ray comprise a plurality of first coordinate points, taking the first coordinate point which is closest to the target coordinate point in the plurality of first coordinate points as the final first coordinate point.
The step of determining the positioning area corresponding to the site unit group based on the base station position of the target base station includes: connecting adjacent target base stations in the target base stations to obtain a region boundary; and determining the area surrounded by the area boundary as a positioning area corresponding to the field unit group.
In a second aspect, an embodiment of the present invention provides a positioning method, where the method is applied to a positioning server; the method comprises the following steps: acquiring a plurality of positioning areas corresponding to a target site; the positioning area is obtained based on the determination method of the positioning area; aiming at each positioning area, acquiring a positioning signal sent by a positioning label in the positioning area through a positioning base station in the positioning area; and determining the position of the object corresponding to the positioning label in the positioning area according to the positioning signal.
In a third aspect, an embodiment of the present invention provides a device for determining a location area, where a target site has multiple location base stations in advance, and the device includes: the unit dividing module is used for dividing the target site into a plurality of site units based on preset dividing parameters; the base station distribution module is used for distributing a positioning base station for each site unit; the space between the site unit and the distributed positioning base station meets specified conditions; the specified condition is associated with at least one of: the spatial extent of the space, the relative position of the space and the target site, and the obstacles in the space; the unit classification module is used for classifying the plurality of site units to obtain a plurality of site unit groups; in the same site unit group, the distributed positioning base stations of each site unit are the same; and the area determining module is used for determining the positioning areas corresponding to the site unit groups according to the positions of the positioning base stations corresponding to the site unit groups to obtain a plurality of positioning areas corresponding to the target site.
In a fourth aspect, an embodiment of the present invention provides a positioning apparatus, where the apparatus is applied to a positioning server; the device comprises: the area acquisition module is used for acquiring a plurality of positioning areas corresponding to the target site; wherein the positioning area is obtained based on the determining device of the positioning area; the signal acquisition module is used for acquiring a positioning signal sent by a positioning label in each positioning area through a positioning base station in the positioning area; and the position determining module is used for determining the position of the object corresponding to the positioning label in the positioning area according to the positioning signal.
In a fifth aspect, an embodiment of the present invention provides a positioning apparatus, including a processor and a memory, where the memory stores machine executable instructions capable of being executed by the processor, and the processor executes the machine executable instructions to implement the method for determining a positioning area or the positioning method.
In a sixth aspect, embodiments of the present invention provide a machine-readable storage medium, which stores machine-executable instructions, which when called and executed by a processor, cause the processor to implement the above-mentioned method for determining a location area, or the above-mentioned method for locating.
The embodiment of the invention has the following beneficial effects:
the method, the device and the equipment for determining the positioning area divide a target site into a plurality of site units based on preset division parameters; distributing a positioning base station for each site unit; the space between the site unit and the distributed positioning base station meets specified conditions; the specified condition is associated with at least one of: the spatial extent of the space, the relative position of the space and the target site, and the obstacles in the space; classifying the plurality of site units to obtain a plurality of site unit groups; in the same site unit group, the distributed positioning base stations of each site unit are the same; and determining a positioning area corresponding to the site unit group according to the position of the positioning base station corresponding to each site unit group to obtain a plurality of positioning areas corresponding to the target site. The method can allocate base stations for the site units based on various conditions, and divide the site units with the same allocated base stations into one type, so as to obtain the positioning areas; and the distribution result is reasonable, and the base station can receive stable and accurate positioning signals, so that the positioning accuracy is improved.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic diagram of an example of a hardware scenario provided in an embodiment of the present invention;
fig. 2 is a flowchart of a method for determining a location area according to an embodiment of the present invention;
fig. 3 is a flowchart of another method for determining a positioning area according to an embodiment of the present invention;
fig. 4 is a schematic diagram of determining a target base station according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a positioning area according to an embodiment of the present invention;
fig. 6 is a flowchart of a positioning method according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of an apparatus for determining a location area according to an embodiment of the present invention;
fig. 8 is a schematic structural diagram of a positioning device according to an embodiment of the present invention;
fig. 9 is a schematic diagram of a positioning apparatus according to an embodiment of the present invention.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some, but not all embodiments of the present invention. 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.
In a wireless positioning system, physical isolation of walls, large-scale equipment and the like easily causes obstruction and reflection to the propagation of wireless signals, so that the positioning accuracy is influenced. In the related art, the positioning accuracy can be improved in several ways:
the method comprises the following steps that 1, corresponding positioning data are screened according to the signal quality of communication between a positioning tag and a positioning base station; because the signal quality is a very unstable factor, the signal quality will be affected by human body occlusion, equipment occlusion and reflection, walls and reflection, and other factors, especially in a more complex space environment, the relationship between the quality of the positioning data and the change of the signal quality is very complex, and it is often difficult to establish a mathematical relationship. Therefore, using signal quality as a criterion is an unreliable approach.
And 2, performing pre-solving by using the positioning data, and selecting an optimal solution from the pre-solved result by using different algorithms. Firstly, in the practical application process of the wireless positioning system, particularly in the scene with high proportion of bad data, the difficulty of selecting unaffected positioning data from the data is very high; for example, there are a total of 4 data, of which there are only 1 bad data, and there may be a case where the positioning calculation can be completed using 3 data
Group settlement, in which 3 groups were settled using bad data. Then 3 invalid solutions need to be excluded from the 4 solutions to find a unique valid solution, which is very difficult; secondly, because a large number of base stations are deployed in the actual application process, the positioning data amount is extremely large, large system resources are occupied, and large calculation delay exists.
In the mode 3, a space needing to be positioned is artificially divided into a plurality of positioning areas according to the actual environment and the base station deployment condition; the method has high requirements on the experience and the capability of engineering personnel, and the division of the areas can be accurately finished only when the engineering personnel have more engineering experiences; in addition, a large labor cost and a time cost are also increased.
Based on the above, the positioning area determining method, the positioning device and the positioning apparatus provided in the embodiments of the present invention may be used in a scene where a target object is positioned through a wireless signal.
To facilitate understanding of the present embodiment, fig. 1 is an example of a hardware scenario related to the embodiment of the present invention. The wireless positioning system generally comprises a positioning server, a positioning base station and a positioning tag; the positioning tag is arranged on a target object to be positioned, such as equipment, personnel and the like; the target object is usually located or moves in a certain geographical range, one or more positioning base stations are arranged in or around the geographical range, and when the geographical range is larger, a plurality of positioning base stations are usually arranged; the positioning base station collects positioning signals of the positioning labels, then forwards the positioning signals to the positioning server, or calculates the positioning positions of the labels based on the positioning signals, and sends the positioning positions to the positioning server.
In this embodiment, the method for determining the positioning area is implemented by a positioning server or a positioning device, where a target site is preset with a plurality of positioning base stations, a target object to be positioned is in the target site, and a positioning tag is arranged on the target object; as shown in fig. 2, the method for determining the positioning area includes the following steps:
step S201, dividing a target site into a plurality of site units based on preset division parameters;
the purpose of this embodiment is to automatically divide a target site into a plurality of positioning areas, and a positioning tag in each positioning area acquires a positioning signal through a positioning base station corresponding to the positioning area, and in the process of dividing the positioning areas, parameters such as a relative position and a distance between an obstacle and a site position and the base station need to be considered, so that the divided positioning areas are reasonable.
For the above purpose, the present embodiment first divides the target site into a plurality of site units, where the site units are relatively fine-grained regions; the above-mentioned division parameters may be preset, and the division parameters may include the shape of the field unit, such as a rectangle, a triangle, a hexagon, and the like, and also include the unit size parameters of the field unit, such as a length, a width, a side length, and the like. As one example, the site unit is a square with a side length of one meter, based on which the target site may be divided into a plurality of squares with a side length of one meter of square site unit.
Step S202, distributing a positioning base station for each site unit; the space between the site unit and the distributed positioning base station meets specified conditions; the specified condition is associated with at least one of: the spatial extent of the space, the relative position of the space and the target site, and the obstacles in the space;
each positioning base station corresponding to a target site is usually located at a fixed position, each site unit in a target scene may have a positioning tag, and in order to ensure that a positioning signal of the positioning tag in each site unit can be stably and accurately received by the positioning base station, the above-mentioned specified conditions need to be set, and a positioning base station is allocated to each site unit through the specified conditions. The above-mentioned specified condition may be preset, for example, the specified condition may include a spatial range of a space between the site unit and the allocated positioning base station, and specifically, the distance between the site unit and the allocated positioning base station may be set to be smaller than a preset distance threshold; for another example, the specific condition may further include a relative position between the space between the site unit and the allocated positioning base station and the target site, when the target site is irregular, a geographical position outside the target site may exist between the site unit and the positioning base station, and if an obstacle exists outside the target site, the positioning signal may be attenuated. In addition, considering that there may be an obstacle in the target site, in this case, it may also be set that there is no obstacle between the site unit and the allocated positioning base station in the specified condition, or the height of the obstacle may be limited to be lower than a preset height threshold value as long as a signal between the positioning tag and the positioning base station is not blocked.
In actual implementation, after the target site is divided into site units, the position of each site unit can be known, the position of each positioning base station is input, and the specified conditions are input, so that the positioning base station can be distributed to each site unit.
Step S203, classifying the plurality of site units to obtain a plurality of site unit groups; in the same site unit group, the distributed positioning base stations of each site unit are the same;
through the steps, at least one positioning base station can be allocated to each site unit. Specifically, a number may be allocated to each positioning base station, and each site unit corresponds to one or more numbers of the positioning base stations. And classifying the site units according to the positioning base stations distributed by each site unit, so that the positioning base stations distributed by each site unit are the same in the same site unit group. For example, with respect to site unit 1, site unit 1 is assigned base station numbers of base station a, base station B, and base station E, and site unit 2 is assigned base station numbers of base station a, base station B, and base station E, and at this time, site unit 1 and site unit 2 are divided into one site unit group p. For another example, site unit 3 is assigned base station numbers of base station C, base station D, and base station E, and site unit 4 is assigned base station numbers of base station C, base station D, and base station E, and at this time, site unit 3 and site unit 4 are divided into one site unit group q. It should be noted that one site unit only belongs to one site unit group, that is, there is no identical site unit between any two site unit groups. However, the positioning base stations corresponding to the two site unit groups may overlap, for example, the positioning base station corresponding to the site unit group p includes a base station a, a base station B, and a base station E, the positioning base station corresponding to the site unit group q includes a base station C, a base station D, and a base station E, and both the site unit group p and the site unit group q correspond to the base station E.
Step S204, according to the position of the positioning base station corresponding to each site unit group, determining the positioning area corresponding to the site unit group to obtain a plurality of positioning areas corresponding to the target site.
The position of the positioning base station corresponding to the site unit group can be used as a reference when defining a positioning area. Specifically, the area boundary of the positioning area may be determined according to the position of the positioning base station corresponding to the site unit group, so as to obtain the positioning area. For example, for a plurality of positioning base stations corresponding to one site unit group, each positioning base station may be sequentially connected to obtain a boundary line of a positioning area, and an area surrounded by the boundary line is used as one positioning area.
In practical implementation, the above steps may be performed for each site unit group, that is, each site unit group may obtain one location area. To this end, the target site may be divided into a plurality of positioning areas. In the subsequent positioning process, in each positioning area, the positioning base station corresponding to the positioning area collects the positioning signal of the positioning label in the positioning area, so as to position the target object. And if the target object moves to other positioning areas, switching to a positioning base station of a new positioning area, and acquiring a positioning signal of the target object through the positioning base station of the new positioning area.
The method for determining the positioning area divides the target site into a plurality of site units based on preset division parameters; distributing a positioning base station for each site unit; the space between the site unit and the distributed positioning base station meets specified conditions; the specified condition is associated with at least one of: the spatial extent of the space, the relative position of the space and the target site, and the obstacles in the space; classifying the plurality of site units to obtain a plurality of site unit groups; in the same site unit group, the distributed positioning base stations of each site unit are the same; and determining a positioning area corresponding to the site unit group according to the position of the positioning base station corresponding to each site unit group to obtain a plurality of positioning areas corresponding to the target site. The method can allocate base stations for the site units based on various conditions, and divide the site units with the same allocated base stations into one type, so as to obtain the positioning areas; and the distribution result is reasonable, and the base station can receive stable and accurate positioning signals, so that the positioning accuracy is improved.
The following embodiments provide a specific implementation of another method for determining a location area.
In this embodiment, the partition parameters include a partition size and a partition shape; and dividing the target site according to the division granularity and the division shape to obtain a plurality of site units. As described previously, the division shape may be a rectangle, a triangle, a hexagon, or the like; the partition granularity may be set based on the partition shape, for example, when the partition shape is a rectangle, the partition granularity may be a length and a width; when the division shape is a triangle, the division granularity may be a side length. In other embodiments, the partition size may be an area. In actual implementation, a user needs to input information such as the shape and the size of a target field in advance, after the input is completed, the target field can be displayed on a page, and then the division granularity and the division parameters are input, so that the field units can be automatically divided for the target field, and information such as the position of each field unit and data of each field unit can be displayed in the page.
In addition, in order to automatically allocate a base station to each unit and divide a positioning area, a user also needs to input obstacle information, that is, information such as a position, a shape, a size, a floor area, and a height of each obstacle is determined in a target site; in practical implementation, the obstacle can be set in the target field through modes of dragging, zooming and the like, and the obstacle can also be generated in the target field through inputting related data. In addition, the user also needs to input parameters such as the number, the position, the communication radius, the communication range, and the like of each positioning base station corresponding to the target site, and similarly, the positioning base station may be set in the target site by dragging, zooming, and the like, or the positioning base station may be generated in the target site by inputting related data.
Based on the above, as shown in fig. 3, the method for determining a positioning area in this embodiment includes the following steps:
step S301, dividing a target site according to a division granularity and a division shape to obtain a plurality of site units;
step S302, aiming at each site unit, the following operations are executed: judging whether the site unit and each positioning base station meet specified conditions, and determining the positioning base stations meeting the specified conditions as distribution base stations of the site unit; wherein the specified conditions include: the connecting line between the positioning base station and the site unit does not pass through any barrier; a connecting line between the positioning base station and the site unit is positioned in the target site; and the distance between the positioning base station and the site unit is smaller than the communication distance of the positioning base station.
Considering that the positioning signal is propagated in a straight line, the space between the site unit and the positioning base station is specifically the spatial position through which the connection line between the center of the site unit and the positioning base station passes. And scanning each positioning base station one by one aiming at each site unit, judging whether the positioning base station meets the specified conditions or not, and taking the positioning base station meeting the specified conditions as a distribution base station of the site unit.
In this embodiment, a plurality of specified conditions are set up, and the positioning base station needs to satisfy each specified condition at the same time to be used as the distribution base station of the site unit. Specifically, the connection line between the positioning base station and the site unit does not pass through any obstacle, in the condition, the connection line is connected with the unit center point of the site unit, the connection line does not pass through any obstacle, and the condition can ensure that the positioning signal of the positioning tag in the site unit can be directly received by the positioning base station without being interfered by the obstacle due to the fact that the positioning signal is linearly transmitted. In practical implementation, the height of the positioning base station and the obstacle needs to be considered, and at this time, if the obstacle exists between the positioning base station and the site unit, but the obstacle is short and does not block the connection between the positioning base station and the unit center point of the site unit, at this time, the positioning base station may also be considered to satisfy the condition. In another mode, it may also be configured that no obstacle exists between the positioning base station and the site unit, and in this case, it may also be satisfied that a connection line between the positioning base station and the site unit does not pass through any obstacle.
In another specified condition, a connecting line between the positioning base station and the site unit is positioned in the target site; the connection line takes the center of the unit of the site unit as a starting point and takes the positioning base station as an end point, any point of the connection line is positioned in the target site, and the connection line does not pass through a site area outside the target site. By setting the condition, the positioning signal can be transmitted in the target field, namely can reach the positioning base station, and the positioning signal is prevented from being interfered by obstacles or other interference sources except the target field when being transmitted outside the target field.
In another specified condition, the distance between the positioning base station and the site unit is smaller than the communication distance of the positioning base station; it can be understood that the farther the distance is, the greater the attenuation degree of the positioning signal is, in order to enable the positioning base station to receive a stable and strong positioning signal, it is necessary to ensure that the distance between the positioning base station and the site unit is smaller than the communication distance of the positioning base station, specifically, the distance between the positioning base station and the center of the site unit may be calculated, and if the distance is smaller than the communication distance of the positioning base station, the positioning base station may be considered to satisfy the condition. The communication distance may also be referred to as a communication radius of the positioning base station.
Through the screening of the specified conditions, the site unit and the distribution base station of the site unit can be mutually 'directly viewed', so that the stability of the positioning signal is ensured.
Step S303, clustering a plurality of field units according to the positioning base station distributed by each field unit to obtain a plurality of field unit groups; wherein, any site unit only belongs to a site unit group. In the same site unit group, the distributed positioning base stations of each site unit are the same;
in actual implementation, each positioning base station presets a base station number. In each field unit group, the base station numbers corresponding to each field unit are the same, and one field unit can only be drawn into one field unit group, so that the mutual overlapping of subsequent positioning areas is avoided.
Step S304, for each site unit group, performs the following operations: and selecting a target base station close to the edge of the site unit group from the positioning base stations corresponding to the site unit group.
In order to determine a location area based on the location of a location base station, in this embodiment, a target base station close to the edge of a site unit group is selected from a plurality of location base stations determined by the site unit group, and then a location area corresponding to the site unit group is determined based on the location of the target base station. Specifically, the closest distance between each positioning base station and the edge of the site edge group may be calculated, and the target base station near the edge of the site cell group may be determined based on the closest distance.
In practical implementation, the target base station can be selected through the following steps 41 to 45:
step 41, setting a two-dimensional coordinate system based on the base station positions of the positioning base stations corresponding to the site unit groups; in a two-dimensional coordinate system, each positioning base station corresponds to a coordinate point;
the base station position of each positioning base station is determined in a coordinate point mode, and the relative position between the base stations can be definitely positioned.
Step 42, determining an initial coordinate point from the coordinate points; wherein, the first coordinate value of the initial coordinate point is larger than the first coordinate value of any coordinate point except the initial coordinate point;
in a two-dimensional coordinate system, X and Y coordinates are usually included, and in one implementation, the first coordinate value may be a Y coordinate value in an initial coordinate point, that is, the initial coordinate point corresponds to a positioning base station with a maximum Y coordinate value. If the initial coordinate points comprise a plurality of initial coordinate points, determining a final initial coordinate point from the plurality of initial coordinate points; and the second coordinate value of the final initial coordinate point is smaller than the second coordinate value of any initial coordinate point except the final initial coordinate point. As an example, the first coordinate value is a Y coordinate value, and if there are a plurality of positioning base stations that are all the positioning base stations with the largest Y coordinate value, then the positioning base station with the smallest X coordinate value is found as the final initial coordinate point. In another implementation, the first coordinate value may be an X-coordinate value, and the second coordinate value may be a Y-coordinate value. In the above manner, the initial coordinate point can also be determined.
Step 43, determining the initial coordinate point as a target coordinate point, generating a scanning ray along a first specified direction by taking the target coordinate point as a reference point, controlling the scanning ray to rotate along a second specified direction, and acquiring a first coordinate point through which the scanning ray passes;
in one implementation, the generated scanning ray may be along the positive X-axis direction, i.e., the first specified direction is the positive X-axis direction, and then the scanning ray is controlled to rotate clockwise, in which case the second specified direction is the clockwise direction. In another implementation, the scanning ray along the negative X-axis direction may be generated, that is, the first specified direction is the negative X-axis direction, and then the scanning ray is controlled to rotate counterclockwise, in which case the second specified direction is counterclockwise.
In another mode, if the initial coordinate point is the positioning base station with the smallest Y coordinate value, then the scanning ray along the positive X-axis direction may be generated based on the initial coordinate point, and then the scanning ray is controlled to rotate counterclockwise, or the scanning ray along the negative X-axis direction may be generated, and then the scanning ray is controlled to rotate clockwise.
Step 44, taking the first coordinate point as an updated target coordinate point, continuing to execute the steps of generating a scanning ray along the first specified direction by taking the target coordinate point as a reference point, controlling the scanning ray to rotate along the second specified direction, and acquiring the first coordinate point through which the scanning ray passes until the acquired first coordinate point is the initial coordinate point;
fig. 4 is taken as an example for ease of understanding. The number of the positioning base stations corresponding to the field unit groups is eight. In stage 1, setting a coordinate point of a positioning base station with the maximum Y-axis coordinate value as an initial coordinate point to be P0With P0A scan ray in the positive X-axis direction is generated for the fiducial point,and controlling the scanning ray to rotate in a clockwise direction, as shown in stage 2, when the scanning ray rotates by theta1At an angle, obtaining a first coordinate point P1(ii) a Then, in P1Generating a scanning ray along the positive X-axis direction for the reference point, and controlling the scanning ray to rotate clockwise, as shown in stage 3, when the scanning ray rotates theta2At an angle, obtaining a first coordinate point P3(ii) a And so on until the scanned coordinate point is P0The loop is stopped, and as shown in stage n, coordinate point P is obtained by the above steps0To P6。
In the above process, if the first coordinate point through which the scanning ray passes includes a plurality of first coordinate points, a first coordinate point closest to the target coordinate point among the plurality of first coordinate points is taken as a final first coordinate point. For example, with P0The scanning ray as the reference point scans two coordinate points, P, simultaneously when rotating1And Px, the two coordinate points and P0On the same straight line, at this time, P is judged1And Px and P0Will be at a distance from P0The closer coordinate point of (2) as the final first coordinate point.
And step 45, determining the positioning base station corresponding to the initial coordinate point and each first coordinate point as a target base station.
Continuing with the above example, the initial coordinate point is P0The scanned coordinate point is P1To P6As can be seen from FIG. 4, the coordinate point P0To P6Are all positioned at the position close to the edge of the field unit group. Coordinate point P0To P6The corresponding positioning base station is the target base station.
Step S305, based on the base station position of the target base station, determining the positioning area corresponding to the site unit group.
According to the embodiment, the target base station is a positioning base station close to the edge of the site unit group, and the area boundary of the positioning area can be determined based on the target base station, so that the positioning area is obtained. In the concrete implementation, adjacent target base stations in the target base stations are connected to obtain a region boundary; and determining the area surrounded by the area boundary as a positioning area corresponding to the field unit group. Referring to stage n in fig. 4, adjacent target base stations are connected in a straight line, and an area boundary is obtained, where the area surrounded by the area boundary is a positioning area. In other embodiments, the connection may be made by a curved line.
Through the embodiment, a plurality of positioning areas obtained by the target site can be obtained, and engineers can also manually modify the positioning areas, for example, modify area boundaries, base stations in the area, and the like.
Fig. 5 shows, as an example, an L-shaped target site, and black dots indicating positioning base stations; if the positioning tag at the position A is acquired by the positioning base station at the position B to acquire a positioning signal, inaccurate positioning may be caused due to a long distance and physical isolation in the middle; after the positioning areas are divided in the above manner, for example, three positioning areas are obtained, namely a positioning area 1, a positioning area 2 and a positioning area 3; the positioning tag in the positioning area 1 can acquire the positioning signal through the positioning base station in the positioning area 1, and because the positioning tag in the positioning area 1 is closer to the positioning base station and no barrier or small barrier exists in the middle, the positioning signal can be ensured to be stable and accurate, and the problem of inaccurate positioning caused by acquisition of the positioning signal through the positioning base station in the positioning area 3 is avoided.
According to the embodiment, the space of the target site to be positioned can be automatically divided into a plurality of independent positioning areas according to the actual environment and the base station deployment condition of the target site, and in each positioning area, only the positioning base station belonging to the area can generate positioning data and is used for positioning calculation.
Based on the embodiment of the method for determining a positioning area, as shown in fig. 6, the embodiment further provides a positioning method, which is applied to a positioning server; the method comprises the following steps:
step S601, acquiring a plurality of positioning areas corresponding to a target site; the positioning area is obtained based on the determination method of the positioning area;
step S602, aiming at each positioning area, acquiring a positioning signal sent by a positioning label in the positioning area through a positioning base station in the positioning area;
it should be noted that, after the target site is divided into a plurality of positioning areas, each positioning area is automatically matched with a positioning base station, and the positioning base stations matched with the positioning areas may be a target base station used in determining the positioning area and a positioning base station located at a central position of the positioning area. Based on this, each positioning area can correspond to a plurality of positioning base stations, and the positioning labels in the positioning areas acquire positioning signals through the positioning base stations corresponding to the positioning areas. In addition, the positioning base stations located at the edge of the area may belong to two adjacent positioning areas at the same time.
Step S603, determining a position of the object corresponding to the positioning tag in the positioning area according to the positioning signal.
In every location area, the location label communicates with the location basic station that the location area corresponds, and the location signal of location label is gathered to the location basic station, produces the locating data based on the locating signal, utilizes the location data that the location base station corresponds in the area, can accomplish resolving of the positional information of location label, obtains the location position of location label.
In the positioning method, a plurality of positioning areas corresponding to a target field are obtained; the positioning area is obtained based on the determination method of the positioning area; aiming at each positioning area, acquiring a positioning signal sent by a positioning label in the positioning area through a positioning base station in the positioning area; and determining the position of the object corresponding to the positioning label in the positioning area according to the positioning signal. In the method, the base stations are distributed to the site units based on various conditions, and the site units with the same distributed base stations are divided into one type, so that the positioning areas are obtained; and the distribution result is reasonable, and the base station can receive stable and accurate positioning signals, so that the positioning accuracy is improved.
According to the method for determining the positioning area and the positioning method provided by the embodiment, the positioning area and the positioning base stations are reasonably divided, so that the positioning base stations of the same type can be ensured to be in the same positioning area, and when the positioning area is used for positioning calculation, only the positioning data corresponding to the positioning base stations are used, so that the precision of a data source is improved from the data source, and the positioning precision of a system is further improved. The method for determining the positioning area can be implemented in the debugging stage of the positioning system, the result is stored in the system, and the method can be directly called when the system runs to perform positioning calculation in the positioning process, so that excessive resources are not occupied, and the calculation delay does not exist. The scheme can be independent of the experience of engineering personnel, only needs to utilize related software to divide the region and the base station, is simple to operate, saves time cost and labor cost, and is easy for engineering popularization.
Corresponding to the above method embodiment, referring to fig. 7, a positioning area determining apparatus is shown, where a target site has a plurality of positioning base stations in advance, and the apparatus includes:
a unit dividing module 70, configured to divide the target site into a plurality of site units based on preset dividing parameters;
a base station allocation module 71, configured to allocate a positioning base station to each site unit; the area between the site unit and the distributed positioning base station meets specified conditions; the specified condition is associated with at least one of: the area range of the area, the relative position of the area and the target site, and the obstacles in the area;
a unit classification module 72, configured to perform classification processing on the multiple site units to obtain multiple site unit groups; in the same site unit group, the distributed positioning base stations of each site unit are the same;
and the area determining module 73 is configured to determine, according to the position of the positioning base station corresponding to each site unit group, a positioning area corresponding to the site unit group, so as to obtain a plurality of positioning areas corresponding to the target site.
The device for determining the positioning area divides the target site into a plurality of site units based on preset division parameters; distributing a positioning base station for each site unit; the space between the site unit and the distributed positioning base station meets specified conditions; the specified condition is associated with at least one of: the spatial extent of the space, the relative position of the space and the target site, and the obstacles in the space; classifying the plurality of site units to obtain a plurality of site unit groups; in the same site unit group, the distributed positioning base stations of each site unit are the same; and determining a positioning area corresponding to the site unit group according to the position of the positioning base station corresponding to each site unit group to obtain a plurality of positioning areas corresponding to the target site. The method can allocate base stations for the site units based on various conditions, and divide the site units with the same allocated base stations into one type, so as to obtain the positioning areas; and the distribution result is reasonable, and the base station can receive stable and accurate positioning signals, so that the positioning accuracy is improved.
The above-mentioned dividing parameters include: dividing the granularity and the dividing shape; the unit dividing module is further configured to: and dividing the target site according to the division granularity and the division shape to obtain a plurality of site units.
The base station allocation module is further configured to: for each site unit, performing the following operations: judging whether the site unit and each positioning base station meet specified conditions, and determining the positioning base stations meeting the specified conditions as distribution base stations of the site unit; wherein the specified conditions include: the connecting line between the positioning base station and the site unit does not pass through any barrier; a connecting line between the positioning base station and the site unit is positioned in the target site; and the distance between the positioning base station and the site unit is smaller than the communication distance of the positioning base station.
The unit classification module is further configured to: clustering the plurality of field units according to the positioning base station distributed by each field unit to obtain a plurality of field unit groups; wherein, any site unit only belongs to a site unit group.
The region determining module is further configured to: for each site unit group, the following operations are performed: selecting a target base station close to the edge of the site unit group from the positioning base stations corresponding to the site unit group; and determining a positioning area corresponding to the site unit group based on the base station position of the target base station.
The region determining module is further configured to: setting a two-dimensional coordinate system based on the base station position of the positioning base station corresponding to the site unit group; in a two-dimensional coordinate system, each positioning base station corresponds to a coordinate point; determining an initial coordinate point from the coordinate points; the first coordinate value of the initial coordinate point is larger than that of any coordinate point except the initial coordinate point; determining the initial coordinate point as a target coordinate point, generating a scanning ray along a first specified direction by taking the target coordinate point as a reference point, controlling the scanning ray to rotate along a second specified direction, and acquiring a first coordinate point through which the scanning ray passes; taking the first coordinate point as an updated target coordinate point, continuously executing the steps of generating a scanning ray along a first specified direction by taking the target coordinate point as a reference point, controlling the scanning ray to rotate along a second specified direction, and acquiring the first coordinate point through which the scanning ray passes until the acquired first coordinate point is an initial coordinate point; and determining the positioning base station corresponding to the initial coordinate point and each first coordinate point as a target base station.
The apparatus further includes a first coordinate point determining module configured to: if the initial coordinate points comprise a plurality of initial coordinate points, determining a final initial coordinate point from the plurality of initial coordinate points; and the second coordinate value of the final initial coordinate point is smaller than the second coordinate value of any initial coordinate point except the final initial coordinate point.
The apparatus further includes a second coordinate point determining module configured to: and if the first coordinate points passed by the scanning ray comprise a plurality of first coordinate points, taking the first coordinate point which is closest to the target coordinate point in the plurality of first coordinate points as the final first coordinate point.
The region determining module is further configured to: connecting adjacent target base stations in the target base stations to obtain a region boundary; and determining the area surrounded by the area boundary as a positioning area corresponding to the field unit group.
Referring to fig. 8, a schematic structural diagram of a positioning apparatus, which is applied to a positioning server; the device includes:
the area acquisition module 81 is configured to acquire a plurality of positioning areas corresponding to a target site; wherein the positioning area is obtained based on the positioning area determination means of claim 11;
a signal obtaining module 82, configured to obtain, for each location area, a location signal sent by a location tag in the location area through a location base station in the location area;
and the position determining module 83 is configured to determine, according to the positioning signal, a position of the object corresponding to the positioning tag in the positioning area.
In the positioning device, a plurality of positioning areas corresponding to a target field are obtained; the positioning area is obtained based on the determination method of the positioning area; aiming at each positioning area, acquiring a positioning signal sent by a positioning label in the positioning area through a positioning base station in the positioning area; and determining the position of the object corresponding to the positioning label in the positioning area according to the positioning signal. In the method, the base stations are distributed to the site units based on various conditions, and the site units with the same distributed base stations are divided into one type, so that the positioning areas are obtained; and the distribution result is reasonable, and the base station can receive stable and accurate positioning signals, so that the positioning accuracy is improved.
The embodiment also provides a positioning device, which comprises a processor and a memory, wherein the memory stores machine executable instructions capable of being executed by the processor, and the processor executes the machine executable instructions to realize the determination method or the positioning method of the positioning area.
Referring to fig. 9, the positioning apparatus includes a processor 100 and a memory 101, where the memory 101 stores machine executable instructions capable of being executed by the processor 100, and the processor 100 executes the machine executable instructions to implement the method for determining a positioning area or the positioning method.
Further, the positioning device shown in fig. 9 further includes a bus 102 and a communication interface 103, and the processor 100, the communication interface 103 and the memory 101 are connected through the bus 102.
The Memory 101 may include a high-speed Random Access Memory (RAM) and may also include a non-volatile Memory (non-volatile Memory), such as at least one disk Memory. The communication connection between the network element of the system and at least one other network element is realized through at least one communication interface 103 (which may be wired or wireless), and the internet, a wide area network, a local network, a metropolitan area network, and the like can be used. The bus 102 may be an ISA bus, PCI bus, EISA bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one double-headed arrow is shown in FIG. 9, but this does not indicate only one bus or one type of bus.
The present embodiments also provide a machine-readable storage medium storing machine-executable instructions that, when invoked and executed by a processor, cause the processor to implement the above-described method for determining or locating a location area.
The method for determining a positioning area, the positioning method, the positioning apparatus, and the computer program product of the positioning device provided in the embodiments of the present invention include a computer-readable storage medium storing a program code, where instructions included in the program code may be used to execute the method described in the foregoing method embodiments, and specific implementations may refer to the method embodiments and are not described herein again.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the system and the apparatus described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In addition, in the description of the embodiments of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases for those skilled in the art.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, an operation and maintenance management device, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art will understand that the following embodiments are merely illustrative of the present invention, and not restrictive, and the scope of the present invention is not limited thereto: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included therein. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (14)
1. A method for determining a positioning area is characterized in that a plurality of positioning base stations are preset in a target site, and the method comprises the following steps:
dividing the target site into a plurality of site units based on preset division parameters;
distributing a positioning base station for each site unit; wherein the space between the site unit and the allocated positioning base station meets specified conditions; the specified condition is associated with at least one of: a spatial extent of the space, a relative position of the space to the target site, and an obstacle in the space;
classifying the plurality of site units to obtain a plurality of site unit groups; in the same site unit group, the distributed positioning base stations of each site unit are the same;
and determining a positioning area corresponding to each site unit group according to the position of the positioning base station corresponding to each site unit group to obtain a plurality of positioning areas corresponding to the target site.
2. The method of claim 1, wherein the partitioning parameter comprises: dividing the granularity and the dividing shape; the step of dividing the target site into a plurality of site units based on preset division parameters includes: and dividing the target site according to the division granularity and the division shape to obtain a plurality of site units.
3. The method of claim 1, wherein the step of assigning a base station to each of said site units comprises:
for each of the site units, performing the following operations:
judging whether the site unit and each positioning base station meet specified conditions, and determining the positioning base station meeting the specified conditions as a distribution base station of the site unit;
wherein the specified conditions include: the connecting line between the positioning base station and the field unit does not pass through any barrier; a connecting line between the positioning base station and the site unit is positioned in the target site; and the distance between the positioning base station and the site unit is smaller than the communication distance of the positioning base station.
4. The method of claim 1, wherein the step of classifying the plurality of site units to obtain a plurality of site unit groups comprises:
according to the positioning base station distributed by each field unit, clustering the field units to obtain a plurality of field unit groups; wherein, any site unit only belongs to a site unit group.
5. The method according to claim 1, wherein the step of determining the positioning area corresponding to each location unit group according to the position of the positioning base station corresponding to the location unit group comprises:
for each site unit group, performing the following operations:
selecting a target base station close to the edge of the site unit group from the positioning base stations corresponding to the site unit group;
and determining a positioning area corresponding to the site unit group based on the base station position of the target base station.
6. The method of claim 5, wherein the step of selecting the target base station near the edge of the site cell group from the positioning base stations corresponding to the site cell group comprises:
setting a two-dimensional coordinate system based on the base station position of the positioning base station corresponding to the site unit group; in the two-dimensional coordinate system, each positioning base station corresponds to a coordinate point;
determining an initial coordinate point from the coordinate points; wherein a first coordinate value of the initial coordinate points is greater than a first coordinate value of any coordinate point other than the initial coordinate points;
determining the initial coordinate point as a target coordinate point, generating a scanning ray along a first specified direction by taking the target coordinate point as a reference point, controlling the scanning ray to rotate along a second specified direction, and acquiring a first coordinate point through which the scanning ray passes;
taking the first coordinate point as an updated target coordinate point, continuing to execute the step of generating a scanning ray along a first specified direction by taking the target coordinate point as a reference point, controlling the scanning ray to rotate along a second specified direction, and acquiring the first coordinate point through which the scanning ray passes until the acquired first coordinate point is the initial coordinate point;
and determining the positioning base station corresponding to the initial coordinate point and each first coordinate point as the target base station.
7. The method of claim 6, further comprising:
if the initial coordinate points comprise a plurality of initial coordinate points, determining a final initial coordinate point from the plurality of initial coordinate points; and the second coordinate value of the final initial coordinate point is smaller than the second coordinate value of any initial coordinate point except the final initial coordinate point.
8. The method of claim 6, further comprising:
and if the first coordinate points passed by the scanning ray comprise a plurality of first coordinate points, taking the first coordinate point which is closest to the target coordinate point in the plurality of first coordinate points as a final first coordinate point.
9. The method of claim 5, wherein the step of determining the positioning area corresponding to the site cell group based on the base station location of the target base station comprises:
connecting adjacent target base stations in the target base stations to obtain a region boundary;
and determining the area surrounded by the area boundary as a positioning area corresponding to the field unit group.
10. A positioning method, wherein the method is applied to a positioning server; the method comprises the following steps:
acquiring a plurality of positioning areas corresponding to a target site; wherein the positioning area is obtained based on the method for determining the positioning area according to any one of claims 1 to 9;
aiming at each positioning area, acquiring a positioning signal sent by a positioning label in the positioning area through a positioning base station in the positioning area;
and determining the position of the object corresponding to the positioning label in the positioning area according to the positioning signal.
11. A device for determining a positioning area, wherein a plurality of positioning base stations are preset in a target site, the device comprising:
the unit dividing module is used for dividing the target site into a plurality of site units based on preset dividing parameters;
the base station distribution module is used for distributing a positioning base station for each site unit; wherein the space between the site unit and the allocated positioning base station meets specified conditions; the specified condition is associated with at least one of: a spatial extent of the space, a relative position of the space to the target site, and an obstacle in the space;
the unit classification module is used for classifying the plurality of site units to obtain a plurality of site unit groups; in the same site unit group, the distributed positioning base stations of each site unit are the same;
and the area determining module is used for determining the positioning areas corresponding to the site unit groups according to the positions of the positioning base stations corresponding to the site unit groups to obtain a plurality of positioning areas corresponding to the target site.
12. A positioning device, wherein the device is applied to a positioning server; the device comprises:
the area acquisition module is used for acquiring a plurality of positioning areas corresponding to the target site; wherein the positioning area is obtained based on the positioning area determination device of claim 11;
a signal acquisition module, configured to acquire, for each positioning area, a positioning signal sent by a positioning tag in the positioning area through a positioning base station in the positioning area;
and the position determining module is used for determining the position of the object corresponding to the positioning label in the positioning area according to the positioning signal.
13. A positioning device, comprising a processor and a memory, said memory storing machine executable instructions executable by said processor, said processor executing said machine executable instructions to implement the method of determining a positioning area of any one of claims 1-9, or the method of positioning of claim 10.
14. A machine-readable storage medium, having stored thereon machine-executable instructions, which when invoked and executed by a processor, cause the processor to carry out the method of determining a location area of any one of claims 1 to 9, or the method of locating of claim 10.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111596664.5A CN114302326B (en) | 2021-12-24 | 2021-12-24 | Positioning area determining method, positioning device and positioning equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111596664.5A CN114302326B (en) | 2021-12-24 | 2021-12-24 | Positioning area determining method, positioning device and positioning equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114302326A true CN114302326A (en) | 2022-04-08 |
| CN114302326B CN114302326B (en) | 2023-05-23 |
Family
ID=80969356
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111596664.5A Active CN114302326B (en) | 2021-12-24 | 2021-12-24 | Positioning area determining method, positioning device and positioning equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114302326B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115802490A (en) * | 2023-02-09 | 2023-03-14 | 深圳市视美泰技术股份有限公司 | High-precision wireless positioning method, system and storage medium for positioning base station |
Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103379441A (en) * | 2013-07-12 | 2013-10-30 | 华中科技大学 | Indoor positioning method based on region segmentation and curve fitting |
| US20150350830A1 (en) * | 2014-05-29 | 2015-12-03 | International Business Machines Corporation | Wireless positioning and wireless positioning method and apparatus |
| CN108337645A (en) * | 2017-12-26 | 2018-07-27 | 北京大学 | A kind of gridding radio signal monitoring system architecture and interference signal associated detecting method |
| WO2018176511A1 (en) * | 2017-03-28 | 2018-10-04 | 华为技术有限公司 | Fingerprint locating method and related device |
| WO2018223952A1 (en) * | 2017-06-06 | 2018-12-13 | Beijing Didi Infinity Technology And Development Co., Ltd. | Systems and methods for region division |
| CN109003107A (en) * | 2017-06-06 | 2018-12-14 | 北京嘀嘀无限科技发展有限公司 | Region partitioning method and device |
| CN109102093A (en) * | 2017-06-21 | 2018-12-28 | 北京嘀嘀无限科技发展有限公司 | The determination method, apparatus and electronic equipment of single hot spot region under a kind of net about vehicle |
| CN109115211A (en) * | 2018-08-01 | 2019-01-01 | 南京科远自动化集团股份有限公司 | A kind of plant area's high-precision personnel positioning method and positioning system |
| CN109640256A (en) * | 2019-01-28 | 2019-04-16 | 东北大学秦皇岛分校 | Layered stereoscopic monitoring method and system based on UWB positioning |
| WO2019109635A1 (en) * | 2017-12-07 | 2019-06-13 | 珠海市一微半导体有限公司 | Method and chip for monitoring pet on the basis of robot employing grid map |
| CN109963254A (en) * | 2019-04-23 | 2019-07-02 | 南京师范大学 | A kind of bluetooth localizer beacon dispositions method based on indoor map |
| WO2019136918A1 (en) * | 2018-01-11 | 2019-07-18 | 华为技术有限公司 | Indoor positioning method, server and positioning system |
| CN110035388A (en) * | 2019-03-21 | 2019-07-19 | 平安科技（深圳）有限公司 | Determine method, computer readable storage medium and the terminal device of user area |
| WO2020200282A1 (en) * | 2019-04-02 | 2020-10-08 | 北京石头世纪科技股份有限公司 | Robot working area map constructing method and apparatus, robot, and medium |
-
2021
- 2021-12-24 CN CN202111596664.5A patent/CN114302326B/en active Active
Patent Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103379441A (en) * | 2013-07-12 | 2013-10-30 | 华中科技大学 | Indoor positioning method based on region segmentation and curve fitting |
| US20150350830A1 (en) * | 2014-05-29 | 2015-12-03 | International Business Machines Corporation | Wireless positioning and wireless positioning method and apparatus |
| WO2018176511A1 (en) * | 2017-03-28 | 2018-10-04 | 华为技术有限公司 | Fingerprint locating method and related device |
| CN110914855A (en) * | 2017-06-06 | 2020-03-24 | 北京嘀嘀无限科技发展有限公司 | Region division system and method |
| WO2018223952A1 (en) * | 2017-06-06 | 2018-12-13 | Beijing Didi Infinity Technology And Development Co., Ltd. | Systems and methods for region division |
| CN109003107A (en) * | 2017-06-06 | 2018-12-14 | 北京嘀嘀无限科技发展有限公司 | Region partitioning method and device |
| CN109102093A (en) * | 2017-06-21 | 2018-12-28 | 北京嘀嘀无限科技发展有限公司 | The determination method, apparatus and electronic equipment of single hot spot region under a kind of net about vehicle |
| WO2019109635A1 (en) * | 2017-12-07 | 2019-06-13 | 珠海市一微半导体有限公司 | Method and chip for monitoring pet on the basis of robot employing grid map |
| CN108337645A (en) * | 2017-12-26 | 2018-07-27 | 北京大学 | A kind of gridding radio signal monitoring system architecture and interference signal associated detecting method |
| WO2019136918A1 (en) * | 2018-01-11 | 2019-07-18 | 华为技术有限公司 | Indoor positioning method, server and positioning system |
| CN109115211A (en) * | 2018-08-01 | 2019-01-01 | 南京科远自动化集团股份有限公司 | A kind of plant area's high-precision personnel positioning method and positioning system |
| CN109640256A (en) * | 2019-01-28 | 2019-04-16 | 东北大学秦皇岛分校 | Layered stereoscopic monitoring method and system based on UWB positioning |
| CN110035388A (en) * | 2019-03-21 | 2019-07-19 | 平安科技（深圳）有限公司 | Determine method, computer readable storage medium and the terminal device of user area |
| WO2020200282A1 (en) * | 2019-04-02 | 2020-10-08 | 北京石头世纪科技股份有限公司 | Robot working area map constructing method and apparatus, robot, and medium |
| CN109963254A (en) * | 2019-04-23 | 2019-07-02 | 南京师范大学 | A kind of bluetooth localizer beacon dispositions method based on indoor map |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115802490A (en) * | 2023-02-09 | 2023-03-14 | 深圳市视美泰技术股份有限公司 | High-precision wireless positioning method, system and storage medium for positioning base station |
| CN115802490B (en) * | 2023-02-09 | 2023-05-09 | 深圳市视美泰技术股份有限公司 | High-precision wireless positioning method, system and storage medium for positioning base station |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114302326B (en) | 2023-05-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107846688B (en) | Wireless network site planning method and device based on multiple operators | |
| US20130265189A1 (en) | Systems and Methods for Determining a Radar Device Coverage Region | |
| CN113570665B (en) | Road edge extraction method and device and electronic equipment | |
| CN111728535B (en) | Method and device for generating cleaning path, electronic equipment and storage medium | |
| EP3530026B1 (en) | Method and system for radio communication network planning | |
| CN111631642B (en) | Working area expanding method based on laser map, chip and robot | |
| JP4232160B2 (en) | Position determining method, apparatus and system | |
| CN113475976B (en) | Method and device for determining passable area of robot, storage medium and robot | |
| CN114302326A (en) | Positioning area determining method, positioning method and device and positioning equipment | |
| CN112766113B (en) | Intersection detection method, device, equipment and storage medium | |
| CN112486184B (en) | Sweeping robot and obstacle avoidance path determining method thereof | |
| CN112492275A (en) | Layout method and device of area monitoring points and storage medium | |
| CN112199453A (en) | Traffic hot spot clustering method, device, equipment and computer storage medium | |
| CN113748693B (en) | Position and pose correction method and device of roadbed sensor and roadbed sensor | |
| CN115474206A (en) | Real-time people number determination method and device, electronic equipment and storage medium | |
| WO2024007869A1 (en) | Levelness verification method, terminal, and computer-readable storage medium | |
| CN117176918A (en) | Visual field determining method, device, electronic equipment and system of high-point monitoring equipment | |
| CN110012486B (en) | Method and device for judging cross-zone coverage | |
| CN111259102A (en) | Map updating method, electronic device and storage medium | |
| CN115984797A (en) | Lane line detection method and device and electronic equipment | |
| CN112518759B (en) | Robot and scanning pile feeding method and device thereof | |
| CN112243241B (en) | Beam management method, apparatus and computer-readable storage medium | |
| CN113610881A (en) | Target object determination method and device, storage medium and electronic device | |
| CN114444185A (en) | In-situ labeling identification method and device and electronic equipment | |
| US10355794B2 (en) | Channel simulation device and channel simulation program |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |