CN114302326B - Positioning area determining method, positioning device and positioning equipment - Google Patents
Positioning area determining method, positioning device and positioning equipment Download PDFInfo
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Abstract
The invention provides a method for determining a positioning area, a positioning method, a device and positioning equipment, and relates to the technical field of positioning, wherein the method comprises the following steps: dividing the target site into a plurality of site units based on preset dividing parameters; distributing a positioning base station for each site unit; the space between the site unit and the allocated positioning base station meets the specified condition; specifying that the condition is related to a spatial extent of the space, a relative position of the space and the target site, and an obstacle in the space; classifying the plurality of field units to obtain a plurality of field unit groups; and determining the positioning areas corresponding to the field unit groups according to the positions of the positioning base stations corresponding to each field unit group, and obtaining a plurality of positioning areas corresponding to the target field. 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 positioning area determining method, a positioning device, and a positioning apparatus.
Background
A wireless location system typically includes a location tag, a location base station, and a location server. The positioning label is arranged on an object (such as a person, an object and the like) needing to be tracked and positioned, the positioning base station is arranged in or around a place where the object moves, the positioning base station receives a positioning signal sent by the positioning label and then forwards the positioning signal to the positioning server, or the positioning position of the label is obtained through calculation based on the positioning signal, and the positioning position is sent to the positioning server. The wireless positioning system is mostly used for monitoring the positions, the moving tracks and the like of people or objects in a certain field range, and can be used for scenes such as factory inspection, equipment inspection, material positioning and the like.
If there are obstacles in or around the monitoring site, such as walls, large-scale equipment, etc., the obstacles easily block or reflect the positioning signals, the signal strength of the positioning signals can be weakened or larger errors can be generated in the positioning signals, resulting in lower positioning accuracy. In the related art, a monitoring site can be divided into a plurality of positioning areas to realize regional positioning, but the mode needs engineering personnel to manually divide the areas, so that a great deal of labor cost and time cost are required, meanwhile, the rationality of the positioning area division often depends on experience and capability of the engineering personnel, and if the positioning area division is unreasonable, the positioning accuracy is still lower.
Disclosure of Invention
In view of the above, the present invention aims to provide a positioning area determining method, a positioning device and a positioning apparatus, so as to automatically allocate base stations and divide positioning areas, without manual division, and reduce the 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 positioning area, where a target site is preset with a plurality of positioning base stations, the method includes: dividing the target site into a plurality of site units based on preset dividing parameters; distributing a positioning base station for each site unit; wherein, the space between the site unit and the allocated positioning base station meets the specified condition; the specified condition is associated with at least one of: a spatial extent of the space, a relative position of the space and the target site, and an obstacle in the space; classifying the plurality of field units to obtain a plurality of field unit groups; wherein, in the same site unit group, the allocated positioning base stations of each site unit are the same; and determining the positioning areas corresponding to the field unit groups according to the positions of the positioning base stations corresponding to each field unit group, and obtaining a plurality of positioning areas corresponding to the target field.
The above-mentioned dividing parameter includes: dividing granularity and dividing shape; dividing the target site into a plurality of site units based on preset dividing parameters, including: dividing the target site according to the dividing granularity and the dividing shape to obtain a plurality of site units.
The step of allocating a base station to each site unit includes: for each site unit, the following operations are performed: judging whether the site unit and each positioning base station meet the specified conditions or not, and determining the positioning base station meeting the specified conditions as an allocation 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 obstacle; the 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 step of classifying the plurality of site units to obtain a plurality of site unit groups includes: clustering the plurality of field units according to the positioning base stations distributed by each field unit to obtain a plurality of field unit groups; wherein any site unit belongs to only one site unit group.
The step of determining the positioning area corresponding to the field unit group according to the position of the positioning base station corresponding to each field unit group comprises the following steps: for each site unit group, the following operations are performed: selecting a target base station near the edge of the near-field unit group from the positioning base stations corresponding to the field unit group; and determining a positioning area corresponding to the field unit group based on the base station position of the target base station.
The step of selecting the target base station near the edge of the near-field unit group from the positioning base stations corresponding to the field unit group comprises the following steps: setting a two-dimensional coordinate system based on the base station positions of the positioning base stations corresponding to the field unit groups; in a two-dimensional coordinate system, each positioning base station corresponds to a coordinate point; determining an initial coordinate point from the coordinate points; wherein the first coordinate value in the initial coordinate point is larger than the first coordinate value of any coordinate point except the initial coordinate point; determining an initial coordinate point as a target coordinate point, generating a scanning ray along a first appointed direction by taking the target coordinate point as a reference point, controlling the scanning ray to rotate along a second appointed direction, and obtaining a first coordinate point through which the scanning ray passes; continuously executing the step of taking the first coordinate point as an updated target coordinate point, generating a scanning ray along a first appointed direction, controlling the scanning ray to rotate along a second appointed direction, and obtaining the first coordinate point through which the scanning ray passes until the obtained first coordinate point is the initial coordinate point; and determining the initial coordinate point and the positioning base station corresponding to 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; 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: if the first coordinate points through which the scanning rays pass include a plurality of first coordinate points, the first coordinate point closest to the target coordinate point in the plurality of first coordinate points is taken 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 method for determining the positioning area; aiming at each positioning area, positioning signals sent by positioning labels in the positioning area are obtained through positioning base stations 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 determining apparatus for a positioning area, where a target site is preset with a plurality of positioning base stations, where the apparatus 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 positioning base stations for each site unit; wherein, the space between the site unit and the allocated positioning base station meets the specified condition; the specified condition is associated with at least one of: a spatial extent of the space, a relative position of the space and the target site, and an obstacle in the space; the unit classification module is used for classifying the plurality of field units to obtain a plurality of field unit groups; wherein, in the same site unit group, the allocated positioning base stations of each site unit are the same; the area determining module is used for determining the positioning areas corresponding to the field unit groups according to the positions of the positioning base stations corresponding to each field unit group, and obtaining a plurality of positioning areas corresponding to the target field.
In a fourth aspect, an embodiment of the present invention provides a positioning device, where the device is applied to a positioning server; the device comprises: the region acquisition module is used for acquiring a plurality of positioning regions corresponding to the target field; the positioning area is obtained based on the determining device of the positioning area; the signal acquisition module is used for acquiring positioning signals sent by positioning labels in the positioning areas through positioning base stations in the positioning areas aiming at each 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 executable by the processor, and the processor executes the machine executable instructions to implement the above-mentioned positioning area determining method, or the above-mentioned positioning method.
In a sixth aspect, embodiments of the present invention 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 of determining a location area, or the above-described method of locating.
The embodiment of the invention has the following beneficial effects:
the method, the device and the positioning equipment for determining the positioning area divide the target site into a plurality of site units based on preset dividing parameters; distributing a positioning base station for each site unit; wherein, the space between the site unit and the allocated positioning base station meets the specified condition; the specified condition is associated with at least one of: a spatial extent of the space, a relative position of the space and the target site, and an obstacle in the space; classifying the plurality of field units to obtain a plurality of field unit groups; wherein, in the same site unit group, the allocated positioning base stations of each site unit are the same; and determining the positioning areas corresponding to the field unit groups according to the positions of the positioning base stations corresponding to each field unit group, and obtaining a plurality of positioning areas corresponding to the target field. The method can be used for distributing the base stations for the field units based on various conditions, and dividing the same field units of the distributed base stations into one class, so that a positioning area is obtained; and the distribution result is reasonable, so that the base station can receive stable and accurate positioning signals, and 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 above objects, features and advantages of the present invention more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the description below are some embodiments of the invention and that other drawings may be obtained from these drawings without inventive effort for a person skilled in the art.
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 positioning 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 a positioning area determining device 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 device according to an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, 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 embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In a wireless positioning system, physical isolation of walls, large-scale equipment and the like easily blocks and reflects the propagation of wireless signals, thereby influencing positioning accuracy. In the related art, the positioning accuracy can be improved by the following several means:
And 2, pre-solving by using positioning data, and then selecting an optimal solution from the pre-solved result by using different algorithms. Firstly, in the actual application process of a wireless positioning system, especially in a scene with relatively high bad data occupation, the difficulty of selecting unaffected positioning data from the data is quite high; for example, there are a total of 4 data, of which only 1 bad data, may exist when the position calculation can be completed using 3 data
Group solutions, wherein 3 groups all use bad data for settlement. Then it is necessary to exclude 3 sets of invalid solutions from these 4 sets of solutions, finding the only valid solution, which is very difficult; secondly, a large number of base stations can be deployed in the actual application process, so that the positioning data volume is extremely huge, larger system resources can be occupied, and larger calculation time delay exists.
Mode 3, according to the actual environment and the deployment situation of the base station, artificially dividing the space to be positioned into a plurality of positioning areas; the method has high requirements on experience and capacity of engineering personnel, and the division of the areas can be accurately completed only when the engineering personnel have more engineering experience; in addition, significant labor and time costs are also increased.
Based on the above, the method, the device and the positioning equipment for determining the positioning area provided by the embodiment of the invention can be used in a scene of positioning the target object through wireless signals.
For the sake of understanding the present embodiment, fig. 1 is an example of a hardware scenario involved in the embodiment of the present invention. Wireless location systems typically include a location server, a location base station, and a location tag; wherein 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 within a certain geographical range, in or around which one or more positioning base stations are arranged, and when the geographical range is large, a plurality of positioning base stations are usually arranged; the positioning base station collects positioning signals of the positioning labels and then forwards the positioning signals to the positioning server, or the positioning positions of the labels are obtained through calculation based on the positioning signals, and the positioning positions are sent to the positioning server.
In this embodiment, the above method for determining a positioning area is implemented by a positioning server or a positioning device, where a plurality of positioning base stations are preset on a target site, and a target object to be positioned is provided on the target site, and a positioning tag is provided 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 dividing parameters;
the object of this embodiment is to automatically divide a target site into a plurality of positioning areas, and a positioning tag in each positioning area collects positioning signals through a positioning base station corresponding to the positioning area, and in the process of dividing the positioning area, parameters such as relative positions and distances of obstacles, site positions and base stations need to be considered, so that the divided positioning area is reasonable.
Based on the above-described objects, the present embodiment first divides a target site into a plurality of site units, which are regions of relatively fine granularity; the above-mentioned dividing parameters may be preset, and the dividing parameters may include shapes of the field units, for example, rectangular, triangular, hexagonal, etc., and unit size parameters of the field units, for example, length, width, side length, etc. As one example, a field unit is square, one meter on a side, based on which a target field may be divided into a plurality of squares, and square field units one meter on a side.
Step S202, distributing positioning base stations for each site unit; wherein, the space between the site unit and the allocated positioning base station meets the specified condition; the specified condition is associated with at least one of: a spatial extent of the space, a relative position of the space and the target site, and an obstacle in the space;
each positioning base station corresponding to the target site is usually located at a fixed position, and each site unit in the target scene may have a positioning tag entering, so that in order to ensure that the positioning signal of the positioning tag in each site unit can be stably and accurately received by the positioning base station, the above specified condition needs to be set, and the positioning base station is allocated to each site unit through the specified condition. The above 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, a 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 specified condition may further include a relative position of a space between the site unit and the allocated positioning base station and the target site, and when the target site is irregularly shaped, there may be a geographic position outside the target site between the site unit and the positioning base station, and if there is an obstacle outside the target site, attenuation may occur to the positioning signal, based on which the specified condition may define that the space between the site unit and the allocated positioning base station is located in the target site, or that most of the controls of the space between the site unit and the allocated positioning base station are located in the target site. In addition, considering that an obstacle may exist in the target site, at this time, no obstacle may be set 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, as long as the signal between the positioning tag and the positioning base station is not blocked.
When the method is actually implemented, after the target site is divided into site units, the position of each site unit can be known, then the position of each positioning base station and the specified conditions are input, so that the positioning base stations can be allocated to each site unit.
Step S203, classifying the plurality of field units to obtain a plurality of field unit groups; wherein, in the same site unit group, the allocated 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, each positioning base station may be assigned a number, and each field unit corresponds to the number of one or more positioning base stations. The site units are classified according to the location base stations assigned to each site unit, so that the location base stations assigned to each site unit are identical in the same site unit group. For example, for field unit 1, base stations assigned to field unit 1 are base station a, base station B, and base station E, and base stations assigned to field unit 2 are base station a, base station B, and base station E, at which time field unit 1 and field unit 2 are divided into one field unit group p. For another example, base stations allocated to the field unit 3 are base stations C, D and E, and base stations allocated to the field unit 4 are base stations C, D and E, and at this time, the field unit 3 and the field unit 4 are divided into one field unit group q. It should be noted that one site unit belongs to only one site unit group, that is, the same site unit does not exist 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 the site unit group p and the site unit group q each correspond to the base station E.
Step S204, determining the positioning areas corresponding to the field unit groups according to the positions of the positioning base stations corresponding to each field unit group, and obtaining a plurality of positioning areas corresponding to the target field.
The location of the positioning base station corresponding to the site unit group can be used as a reference when defining the positioning area. Specifically, the area boundary of the positioning area can 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 the positioning area, and then an area surrounded by the boundary line is used as one positioning area.
In actual implementation, the above steps may be performed for each site unit group, i.e., each site unit group may obtain a positioning 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, positioning signals of positioning labels in the positioning area are collected through a positioning base station corresponding to the positioning area, so that a target object is positioned. If the target object moves to other positioning areas, the method can be switched to a positioning base station of a new positioning area, and positioning signals of the target object are acquired 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 dividing parameters; distributing a positioning base station for each site unit; wherein, the space between the site unit and the allocated positioning base station meets the specified condition; the specified condition is associated with at least one of: a spatial extent of the space, a relative position of the space and the target site, and an obstacle in the space; classifying the plurality of field units to obtain a plurality of field unit groups; wherein, in the same site unit group, the allocated positioning base stations of each site unit are the same; and determining the positioning areas corresponding to the field unit groups according to the positions of the positioning base stations corresponding to each field unit group, and obtaining a plurality of positioning areas corresponding to the target field. The method can be used for distributing the base stations for the field units based on various conditions, and dividing the same field units of the distributed base stations into one class, so that a positioning area is obtained; and the distribution result is reasonable, so that the base station can receive stable and accurate positioning signals, and the positioning accuracy is improved.
The following embodiments provide another specific implementation of the method for determining a positioning area.
In this embodiment, the division parameters include division granularity and division shape; dividing the target site according to the dividing granularity and the dividing shape to obtain a plurality of site units. As described above, the division shape may be rectangular, triangular, hexagonal, or the like; the division granularity may be set based on the division shape, for example, when the division shape is a rectangle, the division 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 division granularity may be an area. In actual implementation, the user needs to input information such as the shape and the size of the target site in advance, after the input is completed, the target site can be displayed on the page, and then the dividing granularity and the dividing parameters are input, so that the target site can be automatically divided into site units, and the information such as the position of each site unit and the data of the site units 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, a height, etc., of each obstacle in a target site; in actual implementation, the obstacle may be set in the target site by dragging, zooming, or the like, or the obstacle may be generated in the target site by inputting the 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 stations can be arranged in the target site in a dragging, scaling and other modes, and the positioning base stations can also 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 the target site according to the division granularity and the division shape to obtain a plurality of site units;
step S302, for each site unit, performing the following operations: judging whether the site unit and each positioning base station meet the specified conditions or not, and determining the positioning base station meeting the specified conditions as an allocation base station of the site unit; wherein the specified condition includes: the connecting line between the positioning base station and the field unit does not pass through any obstacle; the 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 propagates straight, the space between the site unit and the positioning base station is specifically the spatial position through which the line connecting the cell center of the site unit and the positioning base station passes. And scanning each positioning base station one by one for each site unit, judging whether the positioning base station meets the specified conditions, and taking the positioning base station meeting the specified conditions as an allocation 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 able to serve as the allocation base station of the site unit. Specifically, the connection between the positioning base station and the site unit does not pass through any obstacle, in the condition, the connection between the positioning base station and the unit center point of the site unit is performed, the connection 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 because the positioning signal is transmitted in a straight line. In practical implementation, the heights of the positioning base station and the obstacle need to be considered, and in this case, if the obstacle exists between the positioning base station and the site unit, but the obstacle is shorter, the connection between the positioning base station and the cell center point of the site unit is not blocked, and in this case, the positioning base station can also be considered to meet the condition. In another mode, no obstacle exists between the positioning base station and the site unit, and at the moment, the condition that the connecting line between the positioning base station and the site unit does not pass through any obstacle can be also met.
In another specified condition, the connection line between the positioning base station and the site unit is located in the target site; the connection line starts from the unit center of the field unit and ends at the positioning base station, any point of the connection line is positioned in the target field, and the connection line does not pass through the field area outside the target field. By setting the conditions, the positioning signals can be transmitted in the target site, namely, the positioning signals can reach the positioning base station, and the interference of obstacles or other interference sources outside the target site is avoided when the positioning signals are transmitted outside the target site.
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 will be appreciated that the farther the distance is, the greater the attenuation degree of the positioning signal, and in order for 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 the 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 looked at', so that the stability of the positioning signal is ensured.
Step S303, clustering a plurality of field units according to the positioning base stations distributed by each field unit to obtain a plurality of field unit groups; wherein any site unit belongs to only one site unit group. In the same site unit group, the allocated positioning base stations of each site unit are the same;
in actual implementation, each positioning base station is preset with a value 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 be only divided into one field unit group, so that the mutual overlapping of subsequent positioning areas is avoided.
Step S304, for each site unit group, performing the following operations: and selecting a target base station near the edge of the near-field base unit group from the positioning base stations corresponding to the field unit group.
One site unit group may correspond to a plurality of positioning base stations, some of the positioning base stations may be located at a center position of an area formed by the site unit groups, some of the positioning base stations may be located at an edge position of the area formed by the site unit groups, and in order to determine a positioning area based on the positions of the positioning base stations, in this embodiment, a target base station near the edge of the site unit group is selected from the plurality of positioning base stations determined by the site unit groups, and then a positioning area corresponding to the site unit group is determined based on the positions of the target base stations. Specifically, the closest distance of each positioning base station to the edge of the field edge group may be calculated, and a target base station near the edge of the field edge group may be determined based on the closest distance.
In actual implementation, the target base station may be selected through the following steps 41-45:
step 41, setting a two-dimensional coordinate system based on the base station positions of the positioning base stations corresponding to the field 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 by means of coordinate points, and the relative position between the positioning base stations can be clearly determined.
Step 42, determining an initial coordinate point from the coordinate points; wherein the first coordinate value in 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, 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 the largest 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; 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 have the largest Y coordinate value, the positioning base station with the smallest X coordinate value is found again as the final initial coordinate point. In other implementations, the first coordinate value may be an X coordinate value and the second coordinate value may be a Y coordinate value. By the method, the initial coordinate point can be determined.
Step 43, determining the initial coordinate point as a target coordinate point, generating a scanning ray along a first designated direction by taking the target coordinate point as a reference point, controlling the scanning ray to rotate along a second designated direction, and obtaining 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, that is, the first specified direction is the positive X-axis direction, and then the scanning ray is controlled to rotate clockwise, where the second specified direction is a clockwise pointer. In another implementation, a 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, where the second specified direction is counterclockwise.
In other embodiments, if the initial coordinate point is the positioning base station with the smallest Y coordinate value, then the scanning ray along the positive direction of the X axis may be generated based on the initial coordinate point, and then the scanning ray may be controlled to rotate counterclockwise, or the scanning ray along the negative direction of the X axis may be generated, and then the scanning ray may be controlled to rotate clockwise.
Step 44, taking the first coordinate point as an updated target coordinate point, continuously executing the step of generating a scanning ray along a first appointed direction by taking the target coordinate point as a datum point, controlling the scanning ray to rotate along a second appointed direction, and obtaining the first coordinate point through which the scanning ray passes until the obtained first coordinate point is the initial coordinate point;
For ease of understanding, fig. 4 serves as an example. The positioning base stations corresponding to the site unit groups are eight in number. In stage 1, a coordinate point of a positioning base station having the largest Y-axis coordinate value is set as an initial coordinate point to be P 0 In P 0 Generating a scan ray along the positive direction of the X-axis for the reference point and controlling the scan ray to rotate in the clockwise direction, as shown in stage 2, when the scan ray rotates by θ 1 When the angle is formed, a first coordinate point P is obtained 1 The method comprises the steps of carrying out a first treatment on the surface of the Then, at P 1 Generating a scan ray along the positive direction of the X-axis for the reference point and controlling the scan ray to rotate in the clockwise direction, as shown in stage 3, when the scan ray rotates by θ 2 When the angle is formed, a first coordinate point P is obtained 3 The method comprises the steps of carrying out a first treatment on the surface of the And so on until the scanned coordinate point is P 0 Stopping the cycle, and obtaining a coordinate point P by the steps as shown in the stage n 0 To P 6 。
In the above processes, e.g.The first coordinate points through which the fruit scanning rays pass comprise a plurality of first coordinate points, and the first coordinate point closest to the target coordinate point in the plurality of first coordinate points is used as the final first coordinate point. For example, in P 0 The scanning rays which are the datum points scan two coordinate points simultaneously during rotation, P 1 And Px, the two coordinate points and P 0 On the same straight line, at this time, judge P 1 And Px and P 0 Will be equal to P 0 The coordinate point with the shorter distance is taken as the final first coordinate point.
And step 45, determining the initial coordinate point and the positioning base station corresponding to each first coordinate point as the target base station.
Continuing with the above example, the initial coordinate point is P 0 The scanned coordinate point is P 1 To P 6 As can be seen from fig. 4, the coordinate point P 0 To P 6 Are located near the edges of the field unit cell. Coordinate point P 0 To P 6 The corresponding positioning base station is the target base station.
Step S305, determining a positioning area corresponding to the site unit group based on the base station position of the target base station.
According to the above embodiment, the target base station is a positioning base station near the edge of the field unit group, and the area boundary of the positioning area can be determined based on the target base station, so as to obtain the positioning area. When the method is specifically implemented, 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 manner to obtain an area boundary, and an area surrounded by the area boundary, i.e., a positioning area. In other embodiments, the connection may be made by a curve.
Through the above embodiment, a plurality of positioning areas obtained by the target site can be obtained, and engineering personnel can also manually modify the positioning areas, for example, modify the area boundary, the base station in the area, and the like.
FIG. 5 is a diagram of an example, where the target site is an L-shaped site and the black dots represent positioning base stations; if the positioning tag at the A position is collected by the positioning base station at the B position, positioning inaccuracy can be caused due to the fact that the distance is far and physical isolation exists in the middle; after dividing the positioning areas 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; at this time, the positioning label in the positioning area 1 can acquire positioning signals through the positioning base station in the positioning area 1, and as the positioning label in the positioning area 1 is closer to the positioning base station and has no obstacle or smaller obstacle in the middle, the stability and accuracy of the positioning signals can be ensured, and the problem of inaccurate positioning caused by acquiring the positioning signals 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 of the target site and the deployment condition of the base stations, and in each positioning area, positioning data can be generated only by the positioning base stations belonging to the area and used for positioning calculation.
Based on the embodiment of the above-mentioned determination method of the positioning area, as shown in fig. 6, the present embodiment further provides a positioning method, where the method is applied to a positioning server; the method comprises the following steps:
step S601, a plurality of positioning areas corresponding to a target site are obtained; the positioning area is obtained based on the method for determining the positioning area;
step S602, for each positioning area, positioning signals sent by positioning labels in the positioning area are obtained through positioning base stations 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 station matched with the positioning area can be the target base station used in determining the positioning area and the positioning base station located at a relatively central position of the positioning area. Based on the above, each positioning area can correspond to a plurality of positioning base stations, and the positioning tag in the positioning area acquires positioning signals through the positioning base station corresponding to the positioning area. In addition, the positioning base stations located at the edges of the area may belong to two adjacent positioning areas at the same time.
Step S603, determining the position of the object corresponding to the positioning label in the positioning area according to the positioning signal.
In each positioning area, the positioning label is communicated with a positioning base station corresponding to the positioning area, the positioning base station acquires positioning signals of the positioning label, positioning data are generated based on the positioning signals, and the positioning data corresponding to the positioning base station in the area are utilized to complete the calculation of the position information of the positioning label, so that the positioning position of the positioning label is obtained.
In the positioning method, a plurality of positioning areas corresponding to the target field are acquired; the positioning area is obtained based on the method for determining the positioning area; aiming at each positioning area, positioning signals sent by positioning labels in the positioning area are obtained through positioning base stations 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 mode, the base stations are allocated to the field units based on various conditions, the field units with the same allocation base stations are divided into one category, and then the positioning areas are obtained; and the distribution result is reasonable, so that the base station can receive stable and accurate positioning signals, and the positioning accuracy is improved.
According to the method for determining the positioning area and the positioning method, the positioning area and the positioning base stations are reasonably divided, so that the same type of positioning base stations are ensured to be in the same positioning area, and when the positioning area is used for positioning calculation, only positioning data corresponding to the positioning base stations are used, so that the accuracy of a data source is improved from a data source, and the positioning accuracy of a system is further improved. The method for determining the positioning area can be implemented in a positioning system debugging stage, and the result is stored in the system, and can be directly invoked when the system operates to perform positioning resolving in the positioning process, so that excessive resources are not occupied, and no calculation time delay exists. The scheme can be independent of experience of engineering personnel, only needs to divide the area and the base station by using related software, is simple to operate, saves time cost and labor cost, and is easy for engineering popularization.
Corresponding to the above method embodiment, referring to a determining apparatus of a positioning area shown in fig. 7, a target site is preset with a plurality of positioning base stations, the apparatus includes:
a unit division module 70 for dividing the target site into a plurality of site units based on preset division parameters;
A base station allocation module 71 for allocating a positioning base station for each site unit; wherein the area between the site unit and the allocated positioning base station meets the specified condition; the specified condition is associated with at least one of: a zone extent of the zone, a relative position of the zone and the target site, and an obstacle in the zone;
a unit classification module 72, configured to classify a plurality of site units to obtain a plurality of site unit groups; wherein, in the same site unit group, the allocated positioning base stations of each site unit are the same;
the area determining module 73 is configured to determine a positioning area corresponding to the field unit group according to the position of the positioning base station corresponding to each field unit group, so as to obtain a plurality of positioning areas corresponding to the target field.
The determining device of the positioning area divides the target site into a plurality of site units based on preset dividing parameters; distributing a positioning base station for each site unit; wherein, the space between the site unit and the allocated positioning base station meets the specified condition; the specified condition is associated with at least one of: a spatial extent of the space, a relative position of the space and the target site, and an obstacle in the space; classifying the plurality of field units to obtain a plurality of field unit groups; wherein, in the same site unit group, the allocated positioning base stations of each site unit are the same; and determining the positioning areas corresponding to the field unit groups according to the positions of the positioning base stations corresponding to each field unit group, and obtaining a plurality of positioning areas corresponding to the target field. The method can be used for distributing the base stations for the field units based on various conditions, and dividing the same field units of the distributed base stations into one class, so that a positioning area is obtained; and the distribution result is reasonable, so that the base station can receive stable and accurate positioning signals, and the positioning accuracy is improved.
The above-mentioned dividing parameter includes: dividing granularity and dividing shape; the above unit dividing module is further configured to: dividing the target site according to the dividing granularity and the dividing shape to obtain a plurality of site units.
The above base station allocation module is further configured to: for each site unit, the following operations are performed: judging whether the site unit and each positioning base station meet the specified conditions or not, and determining the positioning base station meeting the specified conditions as an allocation 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 obstacle; the 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 stations distributed by each field unit to obtain a plurality of field unit groups; wherein any site unit belongs to only one site unit group.
The above-mentioned area determination module is further used for: for each site unit group, the following operations are performed: selecting a target base station near the edge of the near-field unit group from the positioning base stations corresponding to the field unit group; and determining a positioning area corresponding to the field unit group based on the base station position of the target base station.
The above-mentioned area determination module is further used for: setting a two-dimensional coordinate system based on the base station positions of the positioning base stations corresponding to the field unit groups; in a two-dimensional coordinate system, each positioning base station corresponds to a coordinate point; determining an initial coordinate point from the coordinate points; wherein the first coordinate value in the initial coordinate point is larger than the first coordinate value of any coordinate point except the initial coordinate point; determining an initial coordinate point as a target coordinate point, generating a scanning ray along a first appointed direction by taking the target coordinate point as a reference point, controlling the scanning ray to rotate along a second appointed direction, and obtaining a first coordinate point through which the scanning ray passes; continuously executing the step of taking the first coordinate point as an updated target coordinate point, generating a scanning ray along a first appointed direction, controlling the scanning ray to rotate along a second appointed direction, and obtaining the first coordinate point through which the scanning ray passes until the obtained first coordinate point is the initial coordinate point; and determining the initial coordinate point and the positioning base station corresponding to each first coordinate point as a target base station.
The device further comprises 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; 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 device further comprises a second coordinate point determining module, configured to: if the first coordinate points through which the scanning rays pass include a plurality of first coordinate points, the first coordinate point closest to the target coordinate point in the plurality of first coordinate points is taken as the final first coordinate point.
The above-mentioned area determination module is further used for: 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 device, the device is applied to a positioning server; the device comprises:
a region acquisition module 81, configured to acquire a plurality of positioning regions corresponding to a target site; wherein the positioning area is obtained based on the positioning area determining device of claim 11;
the signal acquisition module 82 is 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;
the position determining module 83 is configured to determine, according to the positioning signal, a position of an object corresponding to the positioning tag in the positioning area.
In the positioning device, a plurality of positioning areas corresponding to a target site are acquired; the positioning area is obtained based on the method for determining the positioning area; aiming at each positioning area, positioning signals sent by positioning labels in the positioning area are obtained through positioning base stations 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 mode, the base stations are allocated to the field units based on various conditions, the field units with the same allocation base stations are divided into one category, and then the positioning areas are obtained; and the distribution result is reasonable, so that the base station can receive stable and accurate positioning signals, and the positioning accuracy is improved.
The present embodiment also provides a positioning apparatus including a processor and a memory storing machine-executable instructions executable by the processor to implement the above-described positioning area determination method or positioning method.
Referring to fig. 9, the positioning apparatus includes a processor 100 and a memory 101, the memory 101 storing machine executable instructions executable by the processor 100, the processor 100 executing the machine executable instructions to implement the above-described positioning area determination method or 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, random Access Memory), and may further include a non-volatile memory (non-volatile memory), such as at least one magnetic disk memory. The communication connection between the system network element and at least one other network element is implemented via at least one communication interface 103 (which may be wired or wireless), and may use the internet, a wide area network, a local network, a metropolitan area network, etc. Bus 102 may be an ISA bus, a PCI bus, an EISA bus, or the like. The buses may be classified as address buses, data buses, control buses, etc. For ease of illustration, only one bi-directional arrow is shown in fig. 9, but not only one bus or one type of bus.
The processor 100 may be an integrated circuit chip with signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware in the processor 100 or by instructions in the form of software. The processor 100 may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU for short), a network processor (Network Processor, NP for short), etc.; but also digital signal processors (Digital Signal Processor, DSP for short), application specific integrated circuits (Application Specific Integrated Circuit, ASIC for short), field-programmable gate arrays (Field-Programmable Gate Array, FPGA for short) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. The disclosed methods, steps, and logic blocks in the embodiments of the present invention may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present invention may be embodied directly in the execution of a hardware decoding processor, or in the execution of a combination of hardware and software modules in a decoding processor. The software modules may be located in a random access memory, flash memory, read only memory, programmable read only memory, or electrically erasable programmable memory, registers, etc. as well known in the art. The storage medium is located in the memory 101, and the processor 100 reads the information in the memory 101 and, in combination with its hardware, performs the steps of the method of the previous embodiment.
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 of determining or locating a location area.
The method, the positioning method, the device and the computer program product of the positioning device provided by the embodiment of the invention comprise a computer readable storage medium storing program codes, wherein the instructions included in the program codes can be used for executing the method described in the method embodiment, and specific implementation can be seen in the method embodiment and will not be repeated here.
It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described system and apparatus may refer to corresponding procedures in the foregoing method embodiments, which are not described herein again.
In addition, in the description of embodiments of the present invention, unless explicitly stated and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood by those skilled in the art in specific cases.
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 this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, an operation and maintenance management device, or a network device, etc.) to perform 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, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific 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: the above examples are only specific embodiments of the present invention for illustrating the technical solution of the present invention, but not for limiting the scope of the present invention, and although the present invention has been described in detail with reference to the foregoing examples, it will be understood by those skilled in the art that the present invention is not limited thereto: any person skilled in the art may modify or easily conceive of the technical solution described in the foregoing embodiments, or perform equivalent substitution of some of the technical features, while remaining within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention, and are intended to be included in the scope of the present invention. Therefore, the protection scope of the invention is subject to the protection scope of the claims.
Claims (14)
1. A method for determining a positioning area, wherein a target site is preset with a plurality of positioning base stations, the method comprising:
dividing the target site into a plurality of site units based on preset dividing parameters;
distributing a positioning base station for each site unit; wherein the space between the site unit and the allocated positioning base station meets a specified condition; the specified condition is associated with at least one of: a spatial extent of the space, a relative position of the space and the target site, and an obstacle in the space;
Classifying the plurality of field units to obtain a plurality of field unit groups; wherein, in the same site unit group, the allocated positioning base stations of each site unit are the same;
and determining the positioning areas corresponding to the field unit groups according to the positions of the positioning base stations corresponding to the field unit groups, so as to obtain a plurality of positioning areas corresponding to the target field.
2. The method of claim 1, wherein the partitioning parameters include: dividing granularity and dividing shape; the step of dividing the target site into a plurality of site units based on preset dividing parameters includes: dividing the target site according to the dividing granularity and the dividing 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 the site units comprises:
for each of the site units, performing the following operations:
judging whether the site unit and each positioning base station meet a specified condition or not, and determining the positioning base station meeting the specified condition as an allocation 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 obstacle; the 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:
clustering the plurality of field units according to the positioning base stations distributed by each field unit to obtain a plurality of field unit groups; wherein any site unit belongs to only one site unit group.
5. The method of claim 1, wherein the step of determining the location area corresponding to each of the site unit groups based on the location of the location base station corresponding to the site unit group comprises:
for each of the site unit groups, performing the following operations:
selecting a target base station close to the edge of the field unit group from positioning base stations corresponding to the field unit group;
and determining a positioning area corresponding to the field unit group based on the base station position of the target base station.
6. The method of claim 5, wherein selecting a target base station from among the positioning base stations corresponding to the field unit group that is near an edge of the field unit group comprises:
setting a two-dimensional coordinate system based on the base station positions of the positioning base stations corresponding to the field unit groups; 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, the first coordinate value in the initial coordinate point is larger than the first coordinate value 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 appointed direction by taking the target coordinate point as a datum point, controlling the scanning ray to rotate along a second appointed direction, and obtaining a first coordinate point through which the scanning ray passes;
continuously executing the step of taking the first coordinate point as an updated target coordinate point, taking the target coordinate point as a datum point, generating a scanning ray along a first appointed direction, controlling the scanning ray to rotate along a second appointed direction, and obtaining the first coordinate point through which the scanning ray passes until the obtained first coordinate point is the initial coordinate point;
and determining the initial coordinate point and the positioning base station corresponding to each first coordinate point as the target base station.
7. The method of claim 6, wherein the method further comprises:
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, wherein the method further comprises:
and if the first coordinate points through which the scanning rays pass include a plurality of first coordinate points, taking the first coordinate point closest to the target coordinate point in the plurality of first coordinate points as the final first coordinate point.
9. The method of claim 5, wherein the step of determining the location area corresponding to the site unit 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, characterized in that 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 localization area is obtained based on the method of determining a localization area according to any one of claims 1-9;
for each positioning area, positioning signals sent by positioning labels in the positioning area are obtained through positioning base stations 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 positioning area determining apparatus, wherein a target site is preset with a plurality of positioning base stations, the apparatus 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 positioning base stations for each site unit; wherein the space between the site unit and the allocated positioning base station meets a specified condition; the specified condition is associated with at least one of: a spatial extent of the space, a relative position of the space and 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; wherein, in the same site unit group, the allocated 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 field unit groups according to the positions of the positioning base stations corresponding to the field unit groups, so as to obtain a plurality of positioning areas corresponding to the target field.
12. A positioning device, characterized in that the device is applied to a positioning server; the device comprises:
The region acquisition module is used for acquiring a plurality of positioning regions corresponding to the target field; wherein the location area is obtained based on the determination means of the location area of claim 11;
the signal acquisition module is used for acquiring positioning signals sent by positioning labels in the positioning areas through positioning base stations in the positioning areas for each 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, the memory storing machine executable instructions executable by the processor to perform the method of determining a positioning area according to any of claims 1-9 or the positioning method according to claim 10.
14. A machine-readable storage medium storing machine-executable instructions which, when invoked and executed by a processor, cause the processor to implement the method of determining a location area of any one of claims 1-9, or the method of locating of claim 10.
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| 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 |
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