CN114513848A - Indoor positioning method, indoor positioning system and positioning equipment - Google Patents
Indoor positioning method, indoor positioning system and positioning equipment Download PDFInfo
- Publication number
- CN114513848A CN114513848A CN202011289863.7A CN202011289863A CN114513848A CN 114513848 A CN114513848 A CN 114513848A CN 202011289863 A CN202011289863 A CN 202011289863A CN 114513848 A CN114513848 A CN 114513848A
- Authority
- CN
- China
- Prior art keywords
- positioning
- signal
- antenna
- indoor
- noise ratio
- 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
- 238000000034 method Methods 0.000 title claims abstract description 37
- 230000010287 polarization Effects 0.000 claims abstract description 147
- 230000008859 change Effects 0.000 claims abstract description 15
- 238000012545 processing Methods 0.000 claims description 68
- 230000009466 transformation Effects 0.000 claims description 12
- 230000005540 biological transmission Effects 0.000 description 34
- 238000004891 communication Methods 0.000 description 19
- 238000006243 chemical reaction Methods 0.000 description 8
- 230000006870 function Effects 0.000 description 5
- 238000012790 confirmation Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- H04W64/003—Locating users or terminals or network equipment for network management purposes, e.g. mobility management locating network equipment
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/33—Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings
Landscapes
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses an indoor positioning method, an indoor positioning system and positioning equipment, wherein the indoor positioning method comprises the following steps: controlling the positioning antenna to rotate so as to change the polarization direction of the positioning antenna; receiving an electromagnetic pulse signal sent by a positioning tag through a positioning antenna with a variable polarization direction to obtain a plurality of positioning signals; calculating the signal-to-noise ratio of each positioning signal; and determining the positioning information of the positioning label according to the signal-to-noise ratio of each positioning signal. Therefore, the indoor positioning method can adjust the polarization direction of the positioning antenna in real time, so that electromagnetic pulse signals in various polarization directions sent by the positioning labels can be received, a plurality of positioning signals can be obtained, and a positioning result with higher signal-to-noise ratio strength of the positioning signals can be selected as final positioning information by calculating the signal-to-noise ratio of each positioning signal, so that positioning errors can be avoided, the positioning accuracy can be improved, and the positioning efficiency can be improved.
Description
Technical Field
The present invention relates to the field of communications, and in particular, to an indoor positioning method, an indoor positioning system, and a positioning device.
Background
The indoor positioning function of UWB (Ultra Wide Band-a wireless carrier communication) is that through arranging 4 location base stations of known coordinate in indoor, need personnel to carry the location label, the location label can be according to certain frequency transmission pulse, constantly carries out the range finding with the location base station of 4 known positions, then calculates the position of label through UWB positioning algorithm.
The inventor finds that the antenna used by the current positioning base station is a fixed polarized antenna, and the polarization direction of the positioning tag antenna may be vertical polarization, horizontal polarization or polarization at a certain positive or negative angle due to the position uncertainty of the positioning tag carried by a person. If the polarization direction of the positioning tag antenna is horizontal polarization, the polarization direction of the positioning tag antenna is completely orthogonal to the fixed vertical polarization direction of incoming waves of the fixed polarization antenna of the positioning base station, the positioning tag antenna cannot completely receive the energy of the incoming waves of the fixed polarization antenna, the polarization loss is the largest at the moment, and an isolation effect can be achieved, so that the positioning function cannot be completed, part of target objects needing to be positioned can be leaked, and inaccurate positioning can be caused.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, an object of the present invention is to provide an indoor positioning method, by which the polarization direction of a positioning antenna can be adjusted in real time, so that electromagnetic pulse signals in various polarization directions sent by a positioning tag can be received, and a plurality of positioning signals can be obtained, and a positioning result with a higher signal-to-noise ratio strength of the positioning signal can be selected as final positioning information by calculating the signal-to-noise ratio of each positioning signal, so as to avoid a positioning error, improve the positioning accuracy, and improve the positioning efficiency.
The invention further proposes a computer-readable storage medium.
The invention further provides the positioning equipment.
The invention further provides an indoor positioning system.
The indoor positioning method comprises the following steps: controlling a positioning antenna to rotate so as to change the polarization direction of the positioning antenna; receiving an electromagnetic pulse signal sent by a positioning tag through a positioning antenna with a variable polarization direction to obtain a plurality of positioning signals; calculating the signal-to-noise ratio of each positioning signal; and determining the positioning information of the positioning label according to the signal-to-noise ratio of each positioning signal.
According to the indoor positioning method, the polarization direction of the positioning antenna can be adjusted in real time, so that electromagnetic pulse signals in various polarization directions sent by the positioning label can be received, a plurality of positioning signals can be obtained, and a positioning result with higher signal-to-noise ratio strength of the positioning signal can be selected as final positioning information by calculating the signal-to-noise ratio of each positioning signal, so that positioning errors can be avoided, the positioning accuracy can be improved, and the positioning efficiency can be improved.
In some examples of the present invention, determining the location information of the location tag according to the signal-to-noise ratio of each location signal comprises: and acquiring the positioning signal with the strongest signal-to-noise ratio in the plurality of positioning signals, and determining the positioning information of the positioning label according to the positioning signal with the strongest signal-to-noise ratio.
In some examples of the invention, the polarization direction of the positioning antenna comprises horizontal polarization, vertical polarization and polarization of any positive or negative angle.
In some examples of the invention, controlling the positioning antenna to rotate comprises: and controlling the positioning antenna to rotate 360 degrees in one plane.
In some examples of the invention, the positioning antenna is controlled to rotate 10 ° each time in one plane.
The computer readable storage medium according to the present invention has stored thereon an indoor positioning program, which when executed by a processor implements the indoor positioning method described above.
According to the computer readable storage medium, the polarization direction of the positioning antenna can be adjusted in real time, so that electromagnetic pulse signals in various polarization directions sent by the positioning label can be received, a plurality of positioning signals can be obtained, and a positioning result with higher signal-to-noise ratio strength of the positioning signal can be selected as final positioning information by calculating the signal-to-noise ratio of each positioning signal, so that positioning errors can be avoided, the positioning accuracy can be improved, and the positioning efficiency can be improved.
The positioning device comprises a memory, a processor and an indoor positioning program which is stored on the memory and can run on the processor, wherein when the processor executes the indoor positioning program, the indoor positioning method is realized.
According to the positioning equipment, the processor executes the indoor positioning program stored in the memory, the polarization direction of the positioning antenna can be adjusted in real time, so that electromagnetic pulse signals in various polarization directions sent by the positioning label can be received, a plurality of positioning signals can be obtained, and a positioning result with higher signal-to-noise ratio strength of the positioning signal can be selected as final positioning information by calculating the signal-to-noise ratio of each positioning signal, so that positioning errors can be avoided, the positioning accuracy can be improved, and the positioning efficiency can be improved.
An indoor positioning system according to an embodiment of the present invention includes: the driving device is used for driving the positioning antenna to rotate so as to change the polarization direction of the positioning antenna; the positioning antenna is used for receiving an electromagnetic pulse signal sent by the positioning label; the positioning base station is used for acquiring a plurality of positioning signals according to the electromagnetic pulse signals received by the positioning antenna with the variable polarization direction and calculating the signal-to-noise ratio of each positioning signal; and the positioning signal processing platform is used for determining the positioning information of the positioning label according to the signal-to-noise ratio of each positioning signal.
According to the indoor positioning system provided by the embodiment of the invention, the polarization direction of the positioning antenna can be adjusted in real time, so that electromagnetic pulse signals in various polarization directions sent by the positioning label can be received, a plurality of positioning signals can be obtained, and a positioning result with higher signal-to-noise ratio strength of the positioning signal can be selected as final positioning information by calculating the signal-to-noise ratio of each positioning signal, so that the positioning error can be avoided, the positioning accuracy can be improved, and the positioning efficiency can be improved.
In some examples of the present invention, the positioning signal processing platform is further configured to acquire a positioning signal with a strongest signal-to-noise ratio from the plurality of positioning signals, and determine the positioning information of the positioning tag according to the positioning signal with the strongest signal-to-noise ratio.
In some examples of the invention, the polarization direction of the positioning antenna comprises horizontal polarization, vertical polarization and polarization of any positive or negative angle.
In some examples of the present invention, the positioning signal processing platform is further configured to send a polarization transformation command to the driving device through the positioning base station, so that the driving device drives the positioning antenna to rotate 360 ° in one plane.
In some examples of the invention, the positioning antenna is rotated 10 ° each time in one plane.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a flowchart of an indoor positioning method according to an embodiment of the present invention;
FIG. 2 is a block schematic diagram of an indoor positioning system according to an embodiment of the invention;
FIG. 3 is a block diagram of a processor, memory, communication interface, communication bus, according to one embodiment of the invention.
Reference numerals:
an indoor positioning system 100;
a positioning antenna 10;
a drive device 20; a transmission shaft 21; a drive motor 22; an antenna radio-frequency line concentrator 23;
positioning the base station 30; a positioning signal processing stage 40; a positioning tag 50; a transport switch 60;
a processor 1201; a communication interface 1202; a memory 1203; a communication bus 1204.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
An indoor positioning method and an indoor positioning system 100 according to an embodiment of the present invention are described below with reference to fig. 1 and 2.
As shown in fig. 2, an indoor positioning system 100 according to an embodiment of the present invention includes: positioning antenna 10, driving device 20, positioning base station 30 and positioning signal processing platform 40. The positioning antenna 10 is configured to receive an electromagnetic pulse signal sent by the positioning tag 50, and it should be noted that, preferably, the number of the positioning antennas 10 is greater than or equal to four, the positioning antennas 10 may also be multiple, the positioning tag 50 may send an electromagnetic pulse signal, the polarization direction of the electromagnetic pulse signal sent by the positioning tag 50 may include horizontal polarization, vertical polarization, and polarization at any positive or negative angle, and the positioning antenna 10 may receive electromagnetic pulse signals in various polarization directions sent by the positioning tag 50.
The driving device 20 is used for driving the positioning antenna 10 to rotate so as to change the polarization direction of the positioning antenna 10, and it should be explained that the driving device 20 may include a transmission shaft 21 and a driving motor 22, one end of the transmission shaft 21 may be connected to the driving motor 22, the other end of the transmission shaft 21 may be connected to the positioning antenna 10, and the driving motor 22 may drive the positioning antenna 10 to rotate through the transmission shaft 21 so as to change the polarization direction of the positioning antenna 10.
The number of the positioning base stations 30 is equal to or greater than four, the number of the positioning base stations 30 may be the same as the number of the positioning antennas 10, a plurality of the positioning base stations 30 may be disposed in one-to-one correspondence with the plurality of the positioning antennas 10, the positioning base stations 30 are configured to obtain a plurality of positioning signals according to the electromagnetic pulse signals received by the positioning antennas 10 with the polarization directions being variable, and calculating the signal-to-noise ratio of each positioning signal, it should be noted that the positioning base station 30 may be in communication connection with the positioning antenna 10, the positioning antenna 10 with a variable polarization direction may receive a plurality of electromagnetic pulse signals sent by the positioning tag 50, the positioning antenna 10 may transmit the received plurality of electromagnetic pulse signals sent by the positioning tag 50 to the positioning base station 30, the positioning base station 30 may obtain a plurality of positioning signals according to the received plurality of electromagnetic pulse signals transmitted by the positioning antenna 10, and the positioning base station 30 may calculate the signal-to-noise ratio of each positioning signal.
The positioning signal processing platform 40 is configured to determine the positioning information of the positioning tag 50 according to the signal-to-noise ratio of each positioning signal, and it should be explained that the positioning signal processing platform 40 may be in communication connection with the positioning base station 30, the positioning base station 30 may transmit the calculated signal-to-noise ratio of each positioning signal to the positioning signal processing platform 40, and the positioning signal processing platform 40 may determine the positioning information of the positioning tag 50 according to the signal-to-noise ratio of each positioning signal transmitted by the positioning base station 30.
The indoor positioning system 100 may further include a transmission switch 60, the transmission switch 60 may be in communication connection with the positioning base station 30 and the positioning signal processing platform 40, specifically, when the positioning base station 30 calculates a signal-to-noise ratio of each positioning signal according to a plurality of received electromagnetic pulse signals transmitted by the positioning antenna 10, the positioning base station 30 may transmit the calculated signal-to-noise ratio of each positioning signal to the transmission switch 60, and the transmission switch 60 may transmit the signal-to-noise ratio of each positioning signal transmitted by the positioning base station 30 to the positioning signal processing platform 40, so that an error may be avoided in a process of transmitting information by the positioning base station 30 and the positioning signal processing platform 40.
As an embodiment, the number of the positioning antennas 10 may be 4, 4 positioning antennas 10 may receive electromagnetic pulse signals in various polarization directions sent by the positioning tag 50, the number of the driving devices 20 may also be 4, 4 driving devices 20 may respectively drive 1 positioning antenna 10 to rotate to change the polarization direction of the positioning antenna 10, 4 positioning antennas 10 may transmit a plurality of received electromagnetic pulse signals sent by the positioning tag 50 to the positioning base station 30, the positioning base station 30 may obtain a plurality of positioning signals according to the plurality of received electromagnetic pulse signals transmitted by the 4 positioning antennas 10, and the positioning base station 30 may calculate a signal-to-noise ratio of each positioning signal, the positioning base station 30 may transmit the calculated signal-to-noise ratio of each positioning signal to the transmission switch 60, the transmission switch 60 may transmit the calculated signal-to-noise ratio of each positioning signal transmitted by the positioning base station 30 to the positioning signal processing platform 40, the positioning signal processing platform 40 can determine the positioning information of the positioning tag 50 according to the signal-to-noise ratio of each received positioning signal.
Therefore, the polarization direction of the positioning antenna 10 can be adjusted in real time through the indoor positioning system 100 of the present application, so that electromagnetic pulse signals of various polarization directions sent by the positioning tag 50 can be received, and then a plurality of positioning signals can be obtained, and a positioning result with a higher signal-to-noise ratio strength of the positioning signal can be selected as final positioning information by calculating the signal-to-noise ratio of each positioning signal, so that positioning errors can be avoided, the positioning accuracy can be improved, and the positioning efficiency can be improved.
In some embodiments of the present invention, the positioning signal processing platform 40 may be further configured to obtain a positioning signal with the strongest signal-to-noise ratio from the plurality of positioning signals, and determine the positioning information of the positioning tag 50 according to the positioning signal with the strongest signal-to-noise ratio. It should be noted that the positioning signal processing platform 40 may receive signal-to-noise ratios of a plurality of positioning signals transmitted from the positioning base station 30, the positioning signal processing platform 40 may obtain a positioning signal with a strongest signal-to-noise ratio among the plurality of positioning signals, and the positioning signal processing platform 40 may determine the positioning information of the positioning tag 50 according to the positioning signal with the strongest signal-to-noise ratio, so that the positioning error may be reduced, and the positioning accuracy may be further improved.
In some embodiments of the present invention, the polarization direction of positioning antenna 10 may include horizontal polarization, vertical polarization, and polarization with any positive or negative angle, it should be explained that driving device 20 may drive positioning antenna 10 to rotate, and the polarization direction of positioning antenna 10 may be changed into horizontal polarization, vertical polarization, or polarization with any positive or negative angle by the driving action of driving device 20, specifically, the horizontal polarization of positioning antenna 10 is that the polarization direction of positioning antenna 10 is parallel to the ground, i.e., the polarization direction of positioning antenna 10 is 0 ° with the ground, the vertical polarization of positioning antenna 10 is that the polarization direction of positioning antenna 10 is perpendicular to the ground, i.e., the polarization direction of positioning antenna 10 is 90 ° with the ground, the polarization direction of positioning antenna 10 with any positive or negative angle is that the polarization direction of positioning antenna 10 is any positive or negative angle with the ground, such that the polarization direction of positioning antenna 10 covers all polarization directions, therefore, the received signal algorithm confirmation of the indoor positioning system 100 due to insufficient received signal strength can be avoided, and the positioning efficiency of the indoor positioning system 100 can be further ensured.
In some embodiments of the present invention, the positioning signal processing platform 40 may be further configured to send a polarization transformation command to the driving device 20 through the positioning base station 30, so that the driving device 20 drives the positioning antenna 10 to rotate 360 ° in one plane. It should be noted that the driving device 20 may further include an antenna radio frequency line hub 23, the positioning signal processing platform 40 may send a polarization transformation instruction to the positioning base station 30, the positioning base station 30 may transmit the received polarization transformation instruction to the driving device 20, the antenna radio frequency line hub 23 of the driving device 20 may be configured to receive the polarization transformation instruction, after the antenna radio frequency line hub 23 receives the polarization transformation instruction sent by the positioning signal processing platform 40, the driving motor 22 of the driving device 20 may drive the positioning antenna 10 to rotate 360 ° in one plane through the transmission shaft 21, so that the polarization direction of the positioning antenna 10 covers all polarization directions, the polarization direction of the positioning antenna 10 may be kept consistent with the polarization direction of the positioning tag 50 at a certain positioning information collecting time, and thus the positioning signal processing platform 40 may obtain a clear signal with a high signal-to-noise ratio, the received signal algorithm confirmation again caused by insufficient received signal strength can be avoided, so that the positioning accuracy of the indoor positioning system 100 can be improved, and the positioning efficiency of the indoor positioning system 100 can also be ensured.
In some embodiments of the present invention, the positioning antenna 10 may rotate 10 ° in one plane each time, and it should be explained that, after the antenna rf line hub 23 of the driving device 20 receives the polarization transformation instruction sent by the positioning signal processing platform 40, the driving motor 22 of the driving device 20 may drive the positioning antenna 10 to rotate 10 ° in one plane through the transmission shaft 21, and after the positioning antenna 10 rotates 10 ° in one plane, the antenna rf line hub 23 of the driving device 20 may transmit the result that the driving device 20 drives the positioning antenna 10 to rotate 10 ° to the positioning signal processing platform 40 through the positioning base station 30, and after the positioning signal processing platform 40 receives the result that the positioning antenna 10 rotates 10 °, the positioning signal processing platform 40 may determine whether the positioning antenna 10 has rotated 360 °, if the positioning signal processing platform 40 determines that the positioning antenna 10 has not rotated 360 °, the positioning signal processing platform 40 receives the signal-to-noise ratio of the positioning signal after the positioning antenna 10 rotates by 10 degrees, and determines the positioning information of the positioning tag 50 according to the signal-to-noise ratio of the positioning signal after the positioning antenna 10 rotates by 10 degrees, then, the positioning signal processing platform 40 continues to send a polarization conversion command to the driving device 20, and after the antenna rf line hub 23 of the driving device 20 receives the polarization conversion command sent by the positioning signal processing platform 40 again, the driving motor 22 of the driving device 20 can again drive the positioning antenna 10 to rotate 10 ° in one plane through the transmission shaft 21, if the positioning signal processing platform 40 determines that the positioning antenna 10 has rotated 360 °, the positioning signal processing platform 40 generates the final positioning information of the positioning tag 50 according to the positioning signal with the strongest signal-to-noise ratio, thus, positioning defects can be avoided, and the positioning accuracy of the indoor positioning system 100 can be ensured.
Fig. 1 is a flowchart of an indoor positioning method according to an embodiment of the present invention, where the indoor positioning system of the above embodiment can implement the indoor positioning method, as shown in fig. 1, the indoor positioning method includes the following steps:
and S1, controlling the positioning antenna to rotate to change the polarization direction of the positioning antenna, wherein it should be explained that the positioning tag sends an electromagnetic pulse signal to the positioning antenna, and then controlling the positioning antenna to rotate by a preset angle to change the polarization direction of the positioning antenna. The indoor positioning system can comprise a positioning antenna, a driving device, a positioning base station and a positioning signal processing platform. The positioning antenna is used for receiving electromagnetic pulse signals sent by the positioning tag, it should be noted that the positioning antenna may also be provided in multiple numbers, preferably, the number of the positioning antenna is greater than or equal to four, the positioning tag may send electromagnetic pulse signals, the polarization direction of the electromagnetic pulse signals sent by the positioning tag may include horizontal polarization, vertical polarization and polarization at any positive or negative angle, and the positioning antenna may receive electromagnetic pulse signals in various polarization directions sent by the positioning tag. The driving device is used for controlling the positioning antenna to rotate so as to change the polarization direction of the positioning antenna, and the driving device can comprise a transmission shaft and a driving motor, one end of the transmission shaft can be connected with the driving motor, the other end of the transmission shaft can be connected with the positioning antenna, and the driving motor can drive the positioning antenna to rotate through the transmission shaft so as to change the polarization direction of the positioning antenna.
S2, receiving the electromagnetic pulse signal sent by the positioning tag through the positioning antenna with a variable polarization direction to obtain a plurality of positioning signals, where it should be noted that one positioning signal can be obtained when the positioning antenna rotates a preset angle once, and a plurality of positioning signals can be obtained after the positioning antenna rotates a circle. The number of the positioning base stations is greater than or equal to four, the number of the positioning base stations can be the same as the number of the positioning antennas, a plurality of positioning base stations can be arranged in a one-to-one correspondence mode with a plurality of positioning antennas, the positioning base stations can be in communication connection with the positioning antennas, the positioning antennas with changeable polarization directions can receive a plurality of electromagnetic pulse signals sent by the positioning tags, the positioning antennas can transmit the plurality of electromagnetic pulse signals sent by the received positioning tags to the positioning base stations, and the positioning base stations can acquire the plurality of positioning signals according to the plurality of electromagnetic pulse signals transmitted by the received positioning antennas.
S3, calculating the signal-to-noise ratio of each positioning signal, it should be explained that the positioning base station can calculate the signal-to-noise ratio of each positioning signal.
And S4, determining the positioning information of the positioning label according to the signal-to-noise ratio of each positioning signal, wherein it should be explained that the positioning signal processing platform can be in communication connection with the positioning base station, the positioning base station can transmit the calculated signal-to-noise ratio of each positioning signal to the positioning signal processing platform, and the positioning signal processing platform can determine the positioning information of the positioning label according to the signal-to-noise ratio of each positioning signal transmitted by the positioning base station.
The indoor positioning system further comprises a transmission switch, the transmission switch can be in communication connection with the positioning base station and the positioning signal processing platform, specifically, when the positioning base station calculates the signal-to-noise ratio of each positioning signal according to a plurality of received electromagnetic pulse signals transmitted by the positioning antenna, the positioning base station can transmit the calculated signal-to-noise ratio of each positioning signal to the transmission switch, and the transmission switch can transmit the signal-to-noise ratio of each positioning signal transmitted by the positioning base station to the positioning signal processing platform, so that errors can be avoided in the process of transmitting information by the positioning base station and the positioning signal processing platform.
As an embodiment, the number of the positioning antennas may be 4, 4 positioning antennas may receive electromagnetic pulse signals in various polarization directions sent by the positioning tag, the number of the driving devices may also be 4, 4 driving devices may respectively drive 1 positioning antenna to rotate to change the polarization direction of the positioning antenna, 4 positioning antennas may transmit the received multiple electromagnetic pulse signals sent by the positioning tag to the positioning base station, the positioning base station may obtain multiple positioning signals according to the received multiple electromagnetic pulse signals transmitted by the 4 positioning antennas, and the positioning base station may calculate the signal-to-noise ratio of each positioning signal, the positioning base station may transmit the calculated signal-to-noise ratio of each positioning signal to the transmission switch, the transmission switch may transmit the signal-to-noise ratio of each positioning signal transmitted by the positioning base station to the positioning signal processing platform, the positioning signal processing platform can determine the positioning information of the positioning label according to the signal-to-noise ratio of each received positioning signal.
Therefore, the indoor positioning method can adjust the polarization direction of the positioning antenna in real time, so that electromagnetic pulse signals in various polarization directions sent by the positioning labels can be received, a plurality of positioning signals can be obtained, and a positioning result with higher signal-to-noise ratio strength of the positioning signals can be selected as final positioning information by calculating the signal-to-noise ratio of each positioning signal, so that positioning errors can be avoided, the positioning accuracy can be improved, and the positioning efficiency can be improved.
In some embodiments of the present invention, determining the location information of the location tag according to the signal-to-noise ratio of each location signal may include: and acquiring the positioning signal with the strongest signal-to-noise ratio in the plurality of positioning signals, and determining the positioning information of the positioning label according to the positioning signal with the strongest signal-to-noise ratio. It should be noted that the positioning signal processing platform may receive the signal-to-noise ratios of the plurality of positioning signals transmitted from the positioning base station, the positioning signal processing platform may obtain the positioning signal with the strongest signal-to-noise ratio among the plurality of positioning signals, and the positioning signal processing platform may determine the positioning information of the positioning tag according to the positioning signal with the strongest signal-to-noise ratio, thereby reducing the positioning error and further improving the positioning accuracy.
In some embodiments of the present invention, the polarization direction of the positioning antenna may include horizontal polarization, vertical polarization, and polarization at any positive or negative angle, and it should be explained that the driving device may drive the positioning antenna to rotate, and the polarization direction of the positioning antenna may be changed into horizontal polarization, vertical polarization, or polarization at any positive or negative angle by the driving action of the driving device, specifically, the horizontal polarization of the positioning antenna is that the polarization direction of the positioning antenna is parallel to the ground, i.e., the polarization direction of the positioning antenna is 0 ° to the ground, the vertical polarization of the positioning antenna is that the polarization direction of the positioning antenna is perpendicular to the ground, i.e., the polarization direction of the positioning antenna is 90 ° to the ground, and any positive or negative angle polarization of the positioning antenna is that the polarization direction of the positioning antenna is at any positive or negative angle to the ground, which is configured to make the polarization direction of the positioning antenna cover all polarization directions, therefore, the received signal algorithm confirmation again caused by insufficient received signal strength can be avoided, and the positioning efficiency of the indoor positioning method can be further ensured.
In some embodiments of the present invention, controlling the positioning antenna to rotate may include: the positioning antenna is controlled to rotate 360 degrees in a plane by motor driving, it should be noted that the driving device can also comprise an antenna radio frequency line concentrator, the positioning signal processing platform can send a polarization conversion instruction to the positioning base station, the positioning base station can transmit the received polarization conversion instruction to the driving device, the antenna radio frequency line concentrator of the driving device can be used for receiving the polarization conversion instruction, after the antenna radio frequency line concentrator receives the polarization conversion instruction sent by the positioning signal processing platform, the driving motor of the driving device can drive the positioning antenna to rotate 360 degrees in the plane through a transmission shaft, so that the polarization direction of the positioning antenna covers all polarization directions, the polarization direction of the positioning antenna can be kept consistent with the polarization direction of a positioning label at a certain positioning information time, and therefore, the positioning signal processing platform can obtain a clear signal with high signal-to-noise ratio, the received signal algorithm can be prevented from being confirmed again due to insufficient received signal strength, so that the positioning accuracy of the indoor positioning method can be improved, and the positioning efficiency of the indoor positioning method can also be ensured.
In some embodiments of the present invention, the positioning antenna is controlled to rotate 10 ° in one plane each time, it should be explained that the positioning antenna may rotate in one plane every 10 ° sequentially, after the antenna radio frequency line concentrator of the driving device receives the polarization transformation command sent by the positioning signal processing platform, the driving motor of the driving device may drive the positioning antenna to rotate 10 ° in one plane through the transmission shaft, and after the positioning antenna rotates 10 ° in one plane, the antenna radio frequency line concentrator of the driving device may transmit the result of the driving device driving the positioning antenna to rotate 10 ° to the positioning signal processing platform through the positioning base station, and after the positioning signal processing platform receives the result of the positioning antenna rotating 10 °, the positioning signal processing platform may determine whether the positioning antenna has rotated 360 °, if the positioning signal processing platform determines that the positioning antenna has not rotated 360 °, the positioning signal processing platform receives the signal-to-noise ratio of the positioning signal after the positioning antenna rotates by 10 degrees, the positioning information of the positioning tag is determined according to the signal-to-noise ratio of the positioning signal after the positioning antenna rotates by 10 degrees, then the positioning signal processing platform continuously sends a polarization transformation instruction to the driving device, when the antenna radio frequency line concentrator of the driving device receives the polarization transformation instruction sent by the positioning signal processing platform again, the driving motor of the driving device can drive the positioning antenna to rotate by 10 degrees in one plane again through the transmission shaft, and if the positioning signal processing platform judges that the positioning antenna rotates by 360 degrees, the positioning signal processing platform generates the final positioning information of the positioning tag according to the positioning signal with the strongest signal-to-noise ratio, so that the positioning defect can be avoided, and the positioning accuracy of the indoor positioning method can be ensured.
Specifically, as an embodiment of the present invention, the indoor positioning method may include the following steps:
s01, first, the positioning tag sends an electromagnetic pulse signal to the positioning antenna.
And S02, the positioning antenna sends the electromagnetic pulse signal to the positioning base station.
S03, the positioning base station obtains a plurality of positioning signals according to the electromagnetic pulse signals received by the positioning antenna, calculates the signal-to-noise ratio of each positioning signal, and then transmits the positioning signals and the corresponding signal-to-noise ratio information to the transmission exchanger.
And S04, the transmission switch transmits the positioning signal and the corresponding signal-to-noise ratio information to the positioning signal processing platform, and the positioning signal processing platform determines the positioning information of the positioning label according to the signal-to-noise ratio of the positioning signal.
And S05, the positioning signal processing platform sends a polarization transformation instruction to the transmission switch.
S06, the transmission exchange transmits the polarization conversion command to the driving device through the positioning base station.
And S07, the driving device drives the positioning antenna to rotate by a preset angle (10 degrees) each time after receiving the transmission polarization conversion command.
And S08, the driving device returns the positioning antenna rotation completion instruction to the positioning signal processing platform through the positioning base station and the transmission switch.
S09, the positioning signal processing platform judges whether the positioning antenna completes the polarization change by 360 degrees.
And S10, if the positioning antenna finishes the polarization change by 360 degrees, the acquisition of the positioning information is finished.
And S11, the positioning signal processing platform takes the positioning signal with the strongest signal-to-noise ratio as the final positioning information to complete the positioning work.
In order to implement the above embodiments, the present invention proposes a computer-readable storage medium having an indoor positioning program stored thereon, which when executed by a processor, can implement the indoor positioning method of the above embodiments.
The computer-readable storage medium of the embodiment of the present invention can adjust the polarization direction of the positioning antenna 10 in real time, so as to receive electromagnetic pulse signals in various polarization directions sent by the positioning tag 50, further obtain a plurality of positioning signals, and select a positioning result with a higher signal-to-noise ratio strength of the positioning signal as final positioning information by calculating the signal-to-noise ratio of each positioning signal, thereby avoiding positioning errors, improving positioning accuracy, and improving positioning efficiency.
In order to implement the foregoing embodiments, the present invention further provides a positioning apparatus, where the positioning apparatus includes a memory, a processor, and an indoor positioning program stored in the memory and capable of running on the processor, and when the processor executes the indoor positioning program, the indoor positioning method of the foregoing embodiments may be implemented.
According to the positioning device of the embodiment of the present invention, the processor executes the indoor positioning program stored in the memory, and the polarization direction of the positioning antenna 10 can be adjusted in real time, so that electromagnetic pulse signals in various polarization directions sent by the positioning tag 50 can be received, and a plurality of positioning signals can be obtained, and a positioning result with a higher signal-to-noise ratio strength of the positioning signal can be selected as final positioning information by calculating the signal-to-noise ratio of each positioning signal, so that a positioning error can be avoided, the positioning accuracy can be improved, and the positioning efficiency can be improved.
As shown in fig. 3, the positioning device may include at least one processor 1201, at least one communication interface 1202, at least one memory 1203 and at least one communication bus 1204. In the embodiment of the present invention, the number of the processor 1201, the communication interface 1202, the memory 1203 and the communication bus 1204 is at least one, and the processor 1201, the communication interface 1202 and the memory 1203 complete communication with each other through the communication bus 1204.
The Memory 1203 may be, but is not limited to, a Random Access Memory (RAM), a Read Only Memory (ROM), a Programmable Read-Only Memory (PROM), an Erasable Read-Only Memory (EPROM), an electrically Erasable Read-Only Memory (EEPROM), and the like. The memory 1203 is configured to store a program, and the processor 1201 executes the program after receiving the execution instruction, so as to implement the steps of the indoor positioning method described in the foregoing embodiment.
The processor 1201 may be an integrated circuit chip having signal processing capabilities. The processor may be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components. The various methods, steps and logic blocks disclosed 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.
It should be noted that the logic and/or steps represented in the flowcharts or otherwise described herein, such as an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
In the description of the present invention, "a plurality" means two or more.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (12)
1. An indoor positioning method, comprising:
controlling a positioning antenna to rotate so as to change the polarization direction of the positioning antenna;
receiving an electromagnetic pulse signal sent by a positioning tag through a positioning antenna with a variable polarization direction to obtain a plurality of positioning signals;
calculating the signal-to-noise ratio of each positioning signal;
and determining the positioning information of the positioning label according to the signal-to-noise ratio of each positioning signal.
2. The indoor positioning method of claim 1, wherein determining the positioning information of the positioning tag according to the signal-to-noise ratio of each positioning signal comprises:
and acquiring the positioning signal with the strongest signal-to-noise ratio in the plurality of positioning signals, and determining the positioning information of the positioning label according to the positioning signal with the strongest signal-to-noise ratio.
3. The indoor positioning method according to claim 1, wherein the polarization direction of the positioning antenna includes horizontal polarization, vertical polarization, and polarization of any positive and negative angle.
4. An indoor positioning method according to any one of claims 1 to 3, wherein controlling the positioning antenna to rotate comprises:
and controlling the positioning antenna to rotate 360 degrees in one plane.
5. An indoor positioning method according to claim 4, wherein the positioning antenna is controlled to rotate 10 ° each time in one plane.
6. A computer-readable storage medium, having stored thereon an indoor positioning program, which when executed by a processor, implements the indoor positioning method according to any one of claims 1 to 5.
7. A positioning apparatus comprising a memory, a processor and an indoor positioning program stored on the memory and executable on the processor, wherein the processor implements the indoor positioning method according to any one of claims 1 to 5 when executing the indoor positioning program.
8. An indoor positioning system, comprising:
the driving device is used for driving the positioning antenna to rotate so as to change the polarization direction of the positioning antenna;
the positioning antenna is used for receiving an electromagnetic pulse signal sent by the positioning label;
the positioning base station is used for acquiring a plurality of positioning signals according to the electromagnetic pulse signals received by the positioning antenna with the variable polarization direction and calculating the signal-to-noise ratio of each positioning signal;
and the positioning signal processing platform is used for determining the positioning information of the positioning label according to the signal-to-noise ratio of each positioning signal.
9. The indoor positioning system of claim 8, wherein the positioning signal processing platform is further configured to obtain a positioning signal with a strongest signal-to-noise ratio among the plurality of positioning signals, and determine the positioning information of the positioning tag according to the positioning signal with the strongest signal-to-noise ratio.
10. The indoor positioning system of claim 8, wherein the polarization directions of the positioning antennas comprise horizontal polarization, vertical polarization, and polarization of any positive or negative angle.
11. The indoor positioning system of any one of claims 8-10, wherein the positioning signal processing platform is further configured to send a polarization transformation command to the driving device via the positioning base station, so that the driving device drives the positioning antenna to rotate 360 ° in one plane.
12. The indoor positioning system of claim 11, wherein the positioning antenna rotates 10 ° each time in one plane.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011289863.7A CN114513848B (en) | 2020-11-17 | 2020-11-17 | Indoor positioning method, indoor positioning system and positioning equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011289863.7A CN114513848B (en) | 2020-11-17 | 2020-11-17 | Indoor positioning method, indoor positioning system and positioning equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114513848A true CN114513848A (en) | 2022-05-17 |
| CN114513848B CN114513848B (en) | 2023-11-14 |
Family
ID=81547398
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011289863.7A Active CN114513848B (en) | 2020-11-17 | 2020-11-17 | Indoor positioning method, indoor positioning system and positioning equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114513848B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113126026A (en) * | 2019-12-31 | 2021-07-16 | 中移(成都)信息通信科技有限公司 | Positioning system, method and storage medium |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1689191A (en) * | 2002-09-20 | 2005-10-26 | 洛克达公司 | A system and method for the mitigation of multipath and the improvement of signal-to-noise ratios in time division multiple access(TDMA) location networks |
| SG129319A1 (en) * | 2005-07-12 | 2007-02-26 | Sony Corp | Positioning methods and systems for uwb devices |
| CN103442419A (en) * | 2013-08-05 | 2013-12-11 | 镇江博联电子科技有限公司 | Short-distance point-to-point electromagnetic wave communication method based on self-adaption wave beam adjustment |
| CN105556331A (en) * | 2013-07-24 | 2016-05-04 | 必思达公司 | Locating a tag in an area |
| CN108051657A (en) * | 2017-12-19 | 2018-05-18 | 北京计算机技术及应用研究所 | A kind of radio field intensity detecting system based on UWB and UHF-RFID |
| CN108333480A (en) * | 2018-01-04 | 2018-07-27 | 国家电网公司华中分部 | A kind of localization method of substation's shelf depreciation positioning system |
| CN108924923A (en) * | 2018-05-31 | 2018-11-30 | 江西午诺科技有限公司 | Localization method, system, readable storage medium storing program for executing and terminal |
| CN109342905A (en) * | 2018-12-04 | 2019-02-15 | 国家电网有限公司 | A kind of space shelf depreciation interference positioning device and localization method |
| CN110068791A (en) * | 2019-05-29 | 2019-07-30 | 合肥学院 | Indoor locating system based on array antenna |
| CN110221329A (en) * | 2019-06-13 | 2019-09-10 | 湖南农业大学 | A kind of UWB positioning system for agricultural operation machinery self-navigation positioning |
| CN210573891U (en) * | 2019-09-05 | 2020-05-19 | 比亚迪股份有限公司 | Label support and asset management system |
-
2020
- 2020-11-17 CN CN202011289863.7A patent/CN114513848B/en active Active
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1689191A (en) * | 2002-09-20 | 2005-10-26 | 洛克达公司 | A system and method for the mitigation of multipath and the improvement of signal-to-noise ratios in time division multiple access(TDMA) location networks |
| SG129319A1 (en) * | 2005-07-12 | 2007-02-26 | Sony Corp | Positioning methods and systems for uwb devices |
| CN105556331A (en) * | 2013-07-24 | 2016-05-04 | 必思达公司 | Locating a tag in an area |
| CN103442419A (en) * | 2013-08-05 | 2013-12-11 | 镇江博联电子科技有限公司 | Short-distance point-to-point electromagnetic wave communication method based on self-adaption wave beam adjustment |
| CN108051657A (en) * | 2017-12-19 | 2018-05-18 | 北京计算机技术及应用研究所 | A kind of radio field intensity detecting system based on UWB and UHF-RFID |
| CN108333480A (en) * | 2018-01-04 | 2018-07-27 | 国家电网公司华中分部 | A kind of localization method of substation's shelf depreciation positioning system |
| CN108924923A (en) * | 2018-05-31 | 2018-11-30 | 江西午诺科技有限公司 | Localization method, system, readable storage medium storing program for executing and terminal |
| CN109342905A (en) * | 2018-12-04 | 2019-02-15 | 国家电网有限公司 | A kind of space shelf depreciation interference positioning device and localization method |
| CN110068791A (en) * | 2019-05-29 | 2019-07-30 | 合肥学院 | Indoor locating system based on array antenna |
| CN110221329A (en) * | 2019-06-13 | 2019-09-10 | 湖南农业大学 | A kind of UWB positioning system for agricultural operation machinery self-navigation positioning |
| CN210573891U (en) * | 2019-09-05 | 2020-05-19 | 比亚迪股份有限公司 | Label support and asset management system |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113126026A (en) * | 2019-12-31 | 2021-07-16 | 中移(成都)信息通信科技有限公司 | Positioning system, method and storage medium |
| CN113126026B (en) * | 2019-12-31 | 2024-04-19 | 中移(成都)信息通信科技有限公司 | Positioning system, method and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114513848B (en) | 2023-11-14 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP3860192B1 (en) | Measurement method and device | |
| EP2975892B1 (en) | Mobile terminal, and locating method and device | |
| EP2564229B2 (en) | Rfid tag location systems | |
| FI119573B (en) | A method for monitoring and locating a signal source in a radio network | |
| US7373154B2 (en) | System and method for asset location in wireless networks | |
| CN101349746A (en) | Wireless radio frequency positioning method based on virtual reference label algorithm | |
| CN101159007B (en) | RF tag reader and method | |
| US20100176928A1 (en) | Apparatus for communicating with rfid tag | |
| US20110193687A1 (en) | Radio-frequency tag communication device | |
| CN101349745A (en) | Wireless radio frequency positioning method using region partitioning algorithm | |
| CN106291461B (en) | A kind of method, apparatus, server and the system of RFID indoor positioning | |
| CN104698435A (en) | System and method for realizing positioning wireless beacon geographic position | |
| CN101324668A (en) | Wireless radio frequency positioning method | |
| CN114513848B (en) | Indoor positioning method, indoor positioning system and positioning equipment | |
| EP2183699B1 (en) | A method and reader to conduct a label query in a radio frequency identification system | |
| CN107277767A (en) | Localization method and device, equipment to be positioned, server and storage medium | |
| CN114980308A (en) | Positioning method, positioning device and computer storage medium | |
| CN112243192B (en) | Communication path determining method, measuring device and measuring controller for millimeter wave signals | |
| US20110305175A1 (en) | Self-contained antenna device with quick aiming switching | |
| CN111149304B (en) | Wireless communication device, communication method, and communication system | |
| CN114726456B (en) | Active antenna test method, device, terminal, system, equipment and storage medium | |
| CN110501681B (en) | Doppler radar chip verification method and device | |
| CN107040876A (en) | A kind of localization method and server based on WIFI | |
| EP3907824A1 (en) | Antenna system and network device | |
| WO2021142709A1 (en) | Positioning method and apparatus |
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 |