CN115460688A

CN115460688A - Position determination method and related device

Info

Publication number: CN115460688A
Application number: CN202110646178.3A
Authority: CN
Inventors: 张烨
Original assignee: Guangdong Oppo Mobile Telecommunications Corp Ltd
Current assignee: Guangdong Oppo Mobile Telecommunications Corp Ltd
Priority date: 2021-06-09
Filing date: 2021-06-09
Publication date: 2022-12-09

Abstract

The application provides a position determining method and a related device, wherein the method comprises the following steps: a base station X acquires at least four orientation parameter sets of at least four base stations; the base station X determines a plurality of reference positions of the base station X according to a plurality of orientation parameter set sets corresponding to at least four orientation parameter sets; the base station X determines the weight of each orientation parameter set to obtain a plurality of weights corresponding to the orientation parameter sets, and the weights are used for representing the positioning accuracy of the corresponding orientation parameter sets; the base station X determines a target position of the base station X according to the plurality of reference positions and the plurality of weights. The method and the device improve the accuracy of base station surveying and mapping self position in the near field positioning system.

Description

Position determination method and related device

Technical Field

The present application relates to the field of near field communication positioning technologies, and in particular, to a position determining method and a related apparatus.

Background

At present, in a near field positioning system, when a base station serving as a positioning reference device joins a positioning service system in a current space, the base station needs to interact with other base stations in the current positioning service system to map the position of the base station.

Disclosure of Invention

The application provides a position determining method and a related device, aiming to improve the accuracy of surveying and mapping the self position of a base station in a near field positioning system.

In a first aspect, an embodiment of the present application provides a position determining method, including:

a base station X acquires at least four orientation parameter sets of at least four base stations, wherein the at least four base stations are in one-to-one correspondence with the at least four orientation parameter sets, each orientation parameter set of the at least four orientation parameter sets comprises a position and a distance of a corresponding base station, the distance refers to the distance between the base station X and the corresponding base station, and the at least four base stations are base stations in a space where the base station X is located currently;

the base station X determines a plurality of reference positions of the base station X according to a plurality of position parameter set sets corresponding to the at least four position parameter sets, wherein each position parameter set in the plurality of position parameter set sets comprises three positions in the at least four position parameter sets, any two position parameter set sets at least comprise one different position, and the plurality of position parameter set sets are in one-to-one correspondence with the plurality of reference positions;

the base station X determines the weight of each orientation parameter set to obtain a plurality of weights corresponding to the plurality of orientation parameter sets, wherein the weights are used for representing the positioning accuracy of the corresponding orientation parameter sets;

and the base station X determines the target position of the base station X according to the plurality of reference positions and the plurality of weights.

It can be seen that, in the embodiment of the present application, since the base station X can perform position calculation according to the multiple sets of orientation parameter sets to obtain multiple reference positions, and calculate the target position according to the multiple reference positions and the weighting of each set of orientation parameter set, where the weighting is used to characterize the positioning accuracy of the corresponding set of orientation parameter sets, compared with a method that calculates a position by using only a single set of orientation parameter sets, the method can effectively reduce the influence of the calculation error of a single set of orientation parameter sets on the accuracy of the calculation result, and improve the accuracy of mapping the position of the base station X itself.

In a second aspect, an embodiment of the present application provides a position determination apparatus, including:

an obtaining unit, configured to obtain at least four position parameter sets of at least four base stations, where the at least four base stations correspond to the at least four position parameter sets one to one, and each position parameter set in the at least four position parameter sets includes a position and a distance of a corresponding base station, where the distance refers to a distance between a base station X and the corresponding base station, and the at least four base stations are base stations in a space where the base station X is currently located;

a determining unit, configured to determine a plurality of reference positions of the base station X according to a plurality of sets of position parameter sets corresponding to the at least four sets of position parameter sets, where each set of position parameter set in the plurality of sets of position parameter sets includes three positions in the at least four sets of position parameter, and any two sets of position parameter sets at least include one different position, and the plurality of sets of position parameter sets are in one-to-one correspondence with the plurality of reference positions;

the determining unit is further configured to determine a weight of each position parameter set, to obtain a plurality of weights corresponding to the plurality of position parameter sets, where the weights are used to characterize the positioning accuracy of the corresponding position parameter set;

the determining unit is further configured to determine a target location of the base station X according to the multiple reference locations and the multiple weights.

In a third aspect, an embodiment of the present application provides an electronic device, which includes a processor, a memory, a communication interface, and one or more programs, where the one or more programs are stored in the memory and configured to be executed by the processor, and the program includes instructions for executing the steps in the method according to any one of the first aspect.

In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, which is characterized by storing a computer program for electronic data exchange, where the computer program causes a computer to execute the method according to any one of the first aspect.

In a fifth aspect, the present application provides a computer program, wherein the computer program is operable to cause a computer to perform some or all of the steps as described in any of the methods of the first aspect of the embodiments of the present application. The computer program may be a software installation package.

Drawings

Fig. 1A is a schematic view of an application scenario of positioning based on UWB technology provided in an embodiment of the present application;

fig. 1B is a schematic diagram of a ranging signal interaction of an SS-TWR according to an embodiment of the present disclosure;

fig. 1C is a schematic diagram of a ranging signal interaction of a DS TWR according to an embodiment of the present disclosure;

fig. 1D is a schematic diagram of one-to-many interaction between a tag and a base station according to an embodiment of the present application;

fig. 1E is a schematic diagram of a final coordinate obtained by TDoA according to an embodiment of the present application;

fig. 1F is a schematic structural diagram of a superframe provided in an embodiment of the present application;

fig. 1G is a schematic structural diagram of a super frame added to a beacon frame according to an embodiment of the present application;

FIG. 1H is a schematic diagram of a region where three circles intersect according to an embodiment of the present disclosure;

FIG. 1I is an exemplary diagram of a three-circle intersection failure provided by an embodiment of the present application;

fig. 1J is a schematic structural diagram of a location service system 10 according to an embodiment of the present application;

fig. 1K is a diagram illustrating a base station 200 according to an embodiment of the present application;

fig. 2 is a schematic flowchart of a position determination method according to an embodiment of the present application;

fig. 3 is a block diagram of functional units of a position determination apparatus according to an embodiment of the present application;

fig. 4 is a block diagram of functional modules of a position determination apparatus according to an embodiment of the present disclosure.

Detailed Description

In order to make the technical solutions of the present application better understood, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without making any creative effort belong to the protection scope of the present application.

The terms "first," "second," and the like in the description and claims of the present application and in the above-described drawings are used for distinguishing between different objects and not for describing a particular order. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.

In the present application, "at least one" means one or more, and a plurality means two or more. In this application and/or, an association relationship of an associated object is described, which means that there may be three relationships, for example, a and/or B, which may mean: a exists singly, A and B exist simultaneously, and B exists singly, wherein A and B can be singular or plural. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship. "at least one of the following" or similar expressions refer to any combination of these items, including any combination of the singular or plural items. For example, at least one (one) of a, b, or c, may represent: a, b, c, a and b, a and c, b and c, or a, b and c, wherein each of a, b, c may itself be an element or a set comprising one or more elements.

It should be noted that, in the embodiments of the present application, the term "equal to" may be used in conjunction with more than, and is applicable to the technical solution adopted when more than, and may also be used in conjunction with less than, and is applicable to the technical solution adopted when less than, and it should be noted that when equal to or more than, it is not used in conjunction with less than; when the ratio is equal to or less than the connection ratio, the ratio is not greater than the connection ratio. In the embodiments of the present application, "of", "corresponding" and "corresponding" may be sometimes used in combination, and it should be noted that the intended meaning is consistent when the difference is not emphasized.

First, partial terms referred to in the embodiments of the present application are explained so as to facilitate understanding by those skilled in the art.

1. Ultra Wide Band (UWB). In the embodiment of the present application, UWB is a near field wireless communication technology, and according to the standard of Federal Communications Commission (Federal Communications Commission of the United States), the operating frequency band of UWB is 3.1-10.6GHz, the ratio of-10 dB bandwidth to system center frequency is greater than 20%, and the system bandwidth is at least 500MHz. Data is transmitted by using non-sine wave narrow pulses of nanosecond to microsecond level. The traditional ultra-wideband UWB technology is used for industrial places such as mines, warehouses and the like, and the main application scene is to monitor the real-time positions of employees and goods indoors. The base stations are well calibrated in indoor places and are connected with each other in a wired or Wi-Fi mode for synchronization. In the example application scenario shown in fig. 1A, a is a base station supporting UWB technology positioning, CLE PC is a location server (also called positioning server, e.g., location computing device), ehternet LAN-TCP/IP is a transmission control protocol/internet protocol supporting ethernet local area network between base stations, and location monitoring for users wearing tag devices is implemented by providing at least one base station in each area.

2. Single-sided Two-way Ranging (SS-TWR). In the embodiment of the application, the SS-TWR is a simple measurement of the time of a single round trip message, and the device a actively sends data to the device B, and the device B returns data to the device a. As shown in fig. 1B, device a (Device a) actively Transmits (TX) data (corresponding to the TX time node to the round time start point in the figure), and records a transmission time stamp, and Device B (Device B) records a reception time stamp after Receiving (RX), and RMARKER represents a time node when data transmission (reception or transmission) is completed; after the time delay Treply, the device B sends data and simultaneously records the sending time stamp, and the device A receives the data and simultaneously records the receiving time stamp.

Therefore, two time difference data, namely the time difference Tround of the device A and the time difference Treply of the device B can be obtained, and finally the flight time of the wireless signal is obtained

The following were used:

both the difference times are calculated based on the local clock, the local clock errors can be cancelled out, but a slight clock offset exists between different devices, and assuming that the clock offsets of the devices a and B are eA and eB, respectively, the obtained flight time increases with the increase of Treply, and the equation of the ranging error is as follows:

wherein, tprop is the actual flight time of the wireless signal.

3. Bilateral-single Two-way Ranging (DS TWR). In the embodiment of the application, the DS TWR obtains two round-trip delays based on 3 times of message transmission between the initiating node and the responding node, and measures the distance at the responding end. As shown in fig. 1C, when device a returns data immediately after receiving the data, the following four time differences can be obtained:

(1) the first time difference Tround1 of device A (time difference between sending and receiving data)

(2) Delay Treply1 after device B receives data for the first time (delay after receiving first data)

(3) Time difference of device B, tround2 (time difference between data transmission and data reception)

(4) Delay Treply2 after device A receives data for the first time (delay after receiving second data)

Calculating time of flight of a wireless signal using the following formula

4. A tag and a base station in a location service system using a near field wireless communication technology. As shown in fig. 1D, after the Tag (Tag in the figure) broadcasts the signal (poll in the figure), the RMARKER indicates a time node when the data is completely transmitted (received or transmitted); the three surrounding base stations (Anchor A, anchor B and Anchor C in the figure) receive the data frames and sequentially send reply response data frames (RespA, respB and RespC in the figure) to the tags according to the synchronous information among the base stations. When the tag receives the reply data frames of three or more base stations, the tag sends a data frame (Final in the figure) to the outside. Therefore, each base station calculates the flight time of the wireless signal at the node after listening to the Final data frame.

TpropA is the flight time of a wireless signal between a base station a and a tag, tpropB is the flight time of a wireless signal between the base station B and the tag, tpropC is the flight time of a wireless signal between a base station C and the tag, tround1A is the time difference between tag transmission data and tag reception base station a data, tround1B is the time difference between a tag transmission data frame and a tag reception base station B data frame, tround1C is the time difference between a tag transmission data frame and a tag reception base station C data frame, treply1A is the delay of the base station a, treply1B is the delay of the base station B, treply1C is the delay of the base station C, treply2A is the delay from a tag reception base station a data frame to a tag transmission Final data frame, treply2B is the delay from tag reception base station B data frame to a Final data frame, and Treply2C is the delay from tag reception base station C data frame to tag transmission Final data frame.

And each base station uploads the calculation result to the main server. As shown in fig. 1E, the main server calculates the final coordinates from the Time difference of Arrival (TDoA), where X1, X2, and X3 correspond to the positions of Anchor a, anchor B, and Anchor C, the circle corresponds to the position range with the distance determined by the flight Time of the wireless signal as the radius, and Xu is the position of the tag.

5. A superframe. In the embodiment of the application, the super frame is a period of time formed by a plurality of label allocation time domain communication opportunities in an indoor scene. Each tag needs to allocate a slot, complete respective position calculation in the respective slot, and upload the slot to the base station. As shown in fig. 1F, in the super frame schematic structure, interval represents a time interval, scheduling interval represents a scheduled time interval, tag I slot represents a time slot of a Tag I, poll TX represents a Tag transmission signal, resp-X RX represents a signal of a Tag receiving base station X, resp-Y RX represents a signal of a Tag receiving base station Y, resp-Z RX represents a signal of a Tag receiving base station Z, and Final TX represents a signal of a Tag transmitting Final data frame. As shown in fig. 1G, superframe (n) represents Superframe n, idle Time represents Idle Time, BCN represents a Time Slot for carrying a beacon frame, SVC represents a reserved Time Slot, TWR Slot represents a Time Slot for carrying a bidirectional ranging signal, wakeup represents a wakeup Time Slot, and RX represents a receiving status.

6. And (4) a least square method positioning algorithm. In the embodiment of the present application, the least square method positioning algorithm is an algorithm for predicting the position of the current device according to three known positions, for example, coordinates of three base stations (base station Y, base station J, and base station K) with known positions are (X1, Y1), (X2, Y2), (X3, Y3), and coordinates of a base station X with unknown position are (X, Y), the base station X measures Received Signal Strength Indicators (RSSI) from data frames of the base station Y, the base station J, and the base station K as RSSI (RSSI Y, RSSI J, RSSI K'), and according to a Signal propagation model, the series of RSSI values can be converted into corresponding distances: distances from the base station X to the base stations Y, J, and K are d1, d2, and d3, respectively, and there are:

after expansion, the last item is subtracted from the first item in sequence, and after arrangement, the last item is written into a matrix form, wherein: AX = B, wherein:

because in 3 equations, the coordinates of the node to be positioned do not conform to all the equations in the equation set, the error vector is set as: e, taking the sum of the squares of the errors in the error vector, then there are:

E＝|ε| ² ＝ε ^T ε＝(AX-B) ^T (AX-B)，

if the error is to be minimized, E is minimized. The above equation is thus derived for X, with the derivative being 0, which is expressed as:

solving the equation above yields:

X＝(A ^T A) ^-1 (A ^T B)，

because the matrix form is related to the coordinates of the node to be positioned, the estimated coordinates of the node to be positioned can be obtained:

it can be seen that the least squares positioning algorithm obtains the optimal estimated coordinate X by minimizing the error of the 3 equations. If the coordinates of the node to be positioned and the beacon node are in a three-dimensional form, the equation set is slightly modified into a matrix form related to x, y and z.

At present, when a base station X in a positioning service system based on a near field communication technology performs self-position mapping, data frames sent by three existing base stations (such as a base station Y, a base station J, and a base station K) in the positioning service system can be received, and the data frames sent by the base station Y, the base station J, and the base station K carry the positions of the base stations themselves, so that the base station X can calculate the self-positions according to a least square positioning algorithm after receiving the positions of the three base stations. However, since the inter-ranging distances between the base stations have errors, the positions of the unknown base stations measured by the three known base stations may not ideally intersect at one point, and the situation may occur as shown in fig. 1H, where three circles intersect in a certain area, or as shown in fig. 1I, where the three circles cannot intersect.

In view of the above problems, the present application provides a position determining method and a related apparatus, which are described in detail below.

Referring to fig. 1J, an embodiment of the present application provides a location service system 10, where the location service system 10 includes a tag device 100 and a base station 200, where the base station 200 transmits a near-field wireless communication signal (e.g., a UWB signal) with the tag device 100, the base station 200 is a service-side device supporting UWB technology, such as a UWB base station, a UWB anchor device, and the like, and the base station 200 is a user-side device supporting UWB technology, which may include, but is not limited to, a wireless communication device, an ingress transponder device, a home device, and the like.

Fig. 1K is a diagram illustrating an exemplary configuration of a base station 200 according to an embodiment of the present disclosure. The base station 200 may include a core processing unit 201, a UWB transceiver 202, a communication unit 203, a general interface unit 204, and a power supply unit 205, where the communication unit 203 may specifically include but is not limited to one or more of bluetooth, wi-Fi, and cellular communication modules, the general interface unit 204 is configured to access various sensors including but not limited to indicator lights, vibration sensors, and other sensors, and the power supply unit 205 may include but is not limited to a battery, a DC-to-DC-DC module, a filter circuit, an undervoltage detection circuit, and the like.

The core processing unit 201 may include a processor and a memory, and the processor may include one or more processing cores. The processor, using various interfaces and lines connecting the various parts throughout the base station 200, performs various functions of the base station 200 and processes data by executing or executing instructions, programs, code sets, or instruction sets stored in memory, and calling data stored in memory. The processor may include one or more processing units, such as: the processor may include a Central Processing Unit (CPU), an Application Processor (AP), a modem processor, a Graphics Processing Unit (GPU), an Image Signal Processor (ISP), a controller, a video codec, a Digital Signal Processor (DSP), a baseband processor, and/or a neural-Network Processing Unit (NPU), etc. The controller may be, among other things, the neural center and the command center of the base station 200. The controller can generate an operation control signal according to the instruction operation code and the timing signal to complete the control of instruction fetching and instruction execution.

The Memory may include a Random Access Memory (RAM) or a Read-Only Memory (Read-Only Memory). Optionally, the memory includes a non-transitory computer-readable medium. The memory may be used to store an instruction, a program, code, a set of codes, or a set of instructions. The memory may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for implementing at least one function (such as a touch function, a sound playing function, an image playing function, etc.), instructions for implementing various method embodiments described below, and the like, and the operating system may be an Android (Android) system (including an Android system deep development based system), an IOS system, or other systems. The stored data area may also store data created by the base station 200 in use (such as nominal location data), and the like.

It should be noted that the structural diagram of the base station 200 is only an example, and the number of the specifically included devices may be more or less, which is not limited herein.

Referring to fig. 2, fig. 2 is a schematic flowchart of a position determining method according to an embodiment of the present disclosure, applied to a base station X in a location service system 10; as shown in the figure, the present position determination method includes the following steps.

Step 201, a base station X acquires at least four position parameter sets of at least four base stations, and the at least four base stations correspond to the at least four position parameter sets one to one, each position parameter set in the at least four position parameter sets includes a position and a distance of a corresponding base station, the distance refers to a distance between the base station X and the corresponding base station, and the at least four base stations are base stations in a space where the base station X is currently located.

For example, the position in the position parameter group of each base station is represented by coordinates of the base station, and the distance in the position parameter group is converted by receiving RSSI of a data frame of the corresponding base station.

In some embodiments, the base station X acquires at least four sets of position parameters of at least four base stations, including: the base station X receives at least four data frames sent by at least four base stations, the at least four data frames correspond to the at least four base stations one by one, and each data frame in the at least four data frames is used for indicating the position of the base station sending the data frame; the received signal strength indication of each data frame is used to determine the distance between the base station X and the corresponding base station.

Therefore, in this example, when a base station with an unknown position joins the current positioning service system, the position and distance information can be obtained only by passively receiving data frames of other base stations without interacting data frames with other base stations, and the implementation is simple and stable.

Step 202, the base station X determines a plurality of reference positions of the base station X according to a plurality of sets of position parameter sets corresponding to the at least four sets of position parameter sets, where each set of position parameter set in the plurality of sets of position parameter sets includes three positions in the at least four sets of position parameter sets, and any two sets of position parameter sets at least include one different position, and the plurality of sets of position parameter sets are in one-to-one correspondence with the plurality of reference positions.

In some embodiments, the determining, by the base station X, a plurality of reference positions of the base station X according to a plurality of sets of position parameter sets corresponding to the at least four sets of position parameter sets includes: and the base station X calculates the position of the base station X according to a least square method positioning algorithm aiming at each position parameter set in the plurality of position parameter set sets to obtain a plurality of reference positions of the base station X.

The foregoing part of the least square method positioning algorithm has been described in detail, and is not described herein again.

Therefore, in the example, the base station X directly maps the position of the base station X according to the least square method positioning algorithm without the assistance of other equipment, and the method is simple and high-efficiency and has strong expandability.

In some embodiments, the at least four base stations include base station Y, base station J, base station K, and base station L;

the at least four sets of position parameters include (position Y, distance Y) of the base station Y, (position J, distance J) of the base station J, (position K, distance K) of the base station K, and (position L, distance L) of the base station L;

the plurality of orientation parameter set sets comprise an orientation parameter set 1{ (position Y, distance Y), (position J, distance J), (position K, distance K) }, an orientation parameter set 2{ (position Y, distance Y), (position J, distance J), (position L, distance L) }, an orientation parameter set 3{ (position Y, distance Y), (position K, distance K), (position L, distance L) }, and an orientation parameter set 4{ (position J, distance J), (position K, distance K), (position L, distance L) }.

As can be seen, in this example, for a scenario in which the base station X calculates its own position through four base stations, there are 4 sets of the position parameter sets, that is, 4 reference positions need to be calculated, and the final target position needs to be calculated by weighting.

Step 203, the base station X determines a weight of each position parameter set to obtain a plurality of weights corresponding to the plurality of position parameter sets, where the weights are used to characterize the positioning accuracy of the corresponding position parameter set.

In some embodiments, the base station X determines the weight of each set of position parameter sets, including: the base station X determines the inverse of the sum of the three distances in the current set of position parameter sets as the weight of the current set of position parameter sets.

The set of orientation parameter sets includes three orientation parameter sets, each orientation parameter set includes a distance of a corresponding base station, and the distance is obtained by converting the base station X according to the detected RSSI of a data frame transmitted by the corresponding base station.

As can be seen, in this example, since the distance directly affects the accuracy of the position calculation, the probability of the error increase is greater as the distance is greater, and the probability of the error increase is smaller as the distance is closer, the weight of each position parameter set determined by the reciprocal of the sum of the three distances can accurately represent the corresponding relationship, thereby improving the accuracy of the calculation result and reducing the error influence.

In some embodiments, the base station X determines the weight of each set of position parameter sets, including: the base station X determines the reciprocal of the sum of the squares of the three distances in the current set of orientation parameter sets as the weight of the current set of orientation parameter sets.

As can be seen, in this example, since the distance directly affects the accuracy of the position calculation, the probability of the error increase is greater as the distance is greater, and the probability of the error increase is smaller as the distance is closer, the weight of each position parameter set determined by the reciprocal of the sum of the squares of the three distances can accurately represent the corresponding relationship, thereby improving the accuracy of the calculation result and reducing the error influence.

In some embodiments, the base station X determines the weight of each set of position parameter sets, including: the base station X determines a reference distance between each position and the reference position according to three positions in a current orientation parameter set and the reference position corresponding to the current orientation parameter set to obtain three reference distances; and the base station X determines the weight of the current position parameter set according to the three reference distances.

As can be seen, in this example, for the case that the RSSI may have an error, the distance is dynamically calculated according to the reference position, so that the RSSI error can be prevented from directly affecting the accuracy of the calculation result, and the image of the distance on the accuracy of the calculation result can be reduced.

In some embodiments, the base station X determines the weight of each set of position parameter sets, including: the base station X calculates an average position of the plurality of reference positions; the base station X determines a reference distance between each position and the average position according to the three positions in the current orientation parameter set and the average position to obtain three reference distances; and the base station X determines the weight of the current position parameter set according to the three reference distances.

As can be seen, in this example, for the case that the RSSI may have an error, the distance is dynamically calculated according to the average position, so that the RSSI error can be prevented from directly affecting the accuracy of the calculation result, and the image of the distance on the accuracy of the calculation result can be reduced.

In some embodiments, the base station X determines the weights of the current set of position parameter sets according to the three reference distances, including: the base station X determines the reciprocal of the sum of the three reference ranges as the weight of the current set of position parameter sets.

In some embodiments, the base station X determines the weights of the current set of position parameter sets according to the three reference distances, including: the base station X determines the inverse of the sum of the squares of the three reference distances as the weight of the current set of position parameter sets.

And step 204, the base station X determines the target position of the base station X according to the plurality of reference positions and the plurality of weights.

It can be seen that, in the embodiment of the present application, since the base station X can perform position calculation according to the multiple sets of orientation parameters to obtain multiple reference positions, and calculate the target position according to the multiple reference positions and the weighting of each set of orientation parameters, where the weighting is used to characterize the positioning accuracy of the corresponding set of orientation parameters, compared with a method that calculates a position by using only a single set of orientation parameters, the method can effectively reduce the influence of a calculation error of a single set of orientation parameters on the accuracy of a calculation result, and improve the accuracy of mapping the position of the base station X.

In some embodiments, the base station X calculates its own position and then broadcasts its own coordinates to the outside. After the base station X obtains the coordinates of the neighboring base stations, the coordinates of the neighboring base stations may also be broadcasted to the outside. When a user carries user equipment to enter a room, the user equipment performs data frame interaction with at least three base stations, the TDoA between the user equipment and the base stations is determined according to a Time Difference of Arrival (TDoA) positioning algorithm, the user equipment can perform rapid analysis without introducing all the base stations on the whole map, and the position of the user equipment is calculated. Even if several base stations on the map do not work or are hot-plugged, the positioning in the current small area is not influenced.

In addition, redundant fields of the data frame broadcast by base station X may carry confidence parameters. For example, there is a base station a in the space, and there is also coordinate information of the base station B, where the coordinate of the base station B is determined by the base station C, the base station D, and the base station E, and if the base station B, the base station C, the base station D, and the base station E are all relatively close to each other, the accuracy of the calculated coordinate of the base station B is relatively high, and the corresponding confidence coefficient is relatively high; if the base station B, the base station C, the base station D, and the base station E are all relatively far away, and the accuracy of the calculated coordinates of the base station B is relatively low, the corresponding confidence coefficient will be relatively low. After the user equipment enters the current space, if the user equipment is connected with the base station A, the base station B and the like, the coordinates of the user equipment are determined according to the TDoA of the plurality of base stations. Because the confidence of the coordinates of the base station A is relatively high and the confidence of the coordinates of the base station B is relatively low, the user equipment can select and preferentially select the coordinates of the base station A to determine the coordinates of the user equipment.

The embodiment of the present application provides a position determination device, which may be a base station X. Specifically, the position determination apparatus is configured to perform the steps performed by the base station X in the above position determination method. The position determining apparatus provided in the embodiment of the present application may include modules corresponding to the respective steps.

In the embodiment of the present application, the function modules of the position determination device may be divided according to the method example, for example, each function module may be divided corresponding to each function, or two or more functions may be integrated into one processing module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The division of the modules in the embodiment of the present application is schematic, and is only one logic function division, and there may be another division manner in actual implementation.

Fig. 3 shows a schematic diagram of a possible structure of the position determining apparatus according to the above embodiment, in the case of dividing each functional module according to each function. As shown in fig. 3, the position determination apparatus 3 is applied to a base station X; the device comprises:

an obtaining unit 30, configured to obtain at least four orientation parameter sets of at least four base stations, where the at least four base stations correspond to the at least four orientation parameter sets one to one, and each of the at least four orientation parameter sets includes a position and a distance of a corresponding base station, where the distance is a distance between a base station X and the corresponding base station, and the at least four base stations are base stations in a space where the base station X is currently located;

a determining unit 31, configured to determine a plurality of reference positions of the base station X according to a plurality of sets of location parameter sets corresponding to the at least four location parameter sets, where each set of location parameter set includes three positions of the at least four location parameter sets, and any two sets of location parameter sets include at least one different position, and the plurality of sets of location parameter sets are in one-to-one correspondence with the plurality of reference positions;

the determining unit 31 is further configured to determine a weight of each position parameter set, to obtain a plurality of weights corresponding to the plurality of position parameter sets, where the weights are used to characterize the positioning accuracy of the corresponding position parameter set;

the determining unit 31 is further configured to determine the target location of the base station X according to the multiple reference locations and the multiple weights.

In one possible example, in terms of the determining the weight of each set of orientation parameters, the determining unit 31 is specifically configured to: determining the inverse of the sum of the three distances in the current set of position parameter sets as the weight of the current set of position parameter sets.

In one possible example, in terms of the determining the weight of each set of position parameter sets, the determining unit 31 is specifically configured to: determining the inverse of the sum of the squares of the three distances in the current set of orientation parameter sets as the weight of the current set of orientation parameter sets.

In one possible example, in terms of the determining the weight of each set of orientation parameters, the determining unit 31 is specifically configured to: determining a reference distance between each position and the reference position according to three positions in a current orientation parameter set and the reference position corresponding to the current orientation parameter set to obtain three reference distances; and determining the weight of the current position parameter set according to the three reference distances.

In one possible example, in terms of the determining the weight of each set of position parameter sets, the determining unit 31 is specifically configured to: calculating an average position of the plurality of reference positions; determining a reference distance between each position and the average position according to the three positions in the current position parameter set and the average position to obtain three reference distances; and determining the weight of the current position parameter set according to the three reference distances.

In one possible example, in terms of the determining weights of the current set of position parameter sets according to the three reference distances, the determining unit 31 is specifically configured to: determining the inverse of the sum of the three reference distances as the weight of the current set of position parameters.

In one possible example, in terms of the determining weights of the current set of position parameter sets from the three reference distances, the determining unit 31 is specifically configured to: determining the inverse of the sum of the squares of the three reference distances as the weight of the current set of bearing parameters.

In one possible example, in the aspect that the plurality of reference positions of the base station X are determined according to the plurality of sets of position parameter sets corresponding to the at least four position parameter sets, the determining unit 31 is specifically configured to: and calculating the position of the base station X according to a least square method positioning algorithm aiming at each orientation parameter set in the plurality of orientation parameter set sets to obtain a plurality of reference positions of the base station X.

In one possible example, the at least four base stations include base station Y, base station J, base station K, and base station L;

the plurality of orientation parameter set sets include an orientation parameter set 1{ (position Y, distance Y), (position J, distance J), (position K, distance K) }, an orientation parameter set 2{ (position Y, distance Y), (position J, distance J), (position L, distance L) }, an orientation parameter set 3{ (position Y, distance Y), (position K, distance K), (position L, distance L) }, an orientation parameter set 4{ (position J, distance J), (position K, distance K), (position L, distance L) }.

In one possible example, in terms of the acquiring at least four sets of location parameters of at least four base stations, the acquiring unit 30 is specifically configured to: receiving at least one data frame from at least four base stations, the at least one data frame indicating the at least four sets of position parameters of the at least four base stations.

In one possible example, the at least one data frame is at least four data frames sent by the at least four base stations, and the at least four data frames correspond to the at least four base stations one to one, and each of the at least four data frames is used to indicate a position of the base station sending the data frame.

In the case of an integrated unit, a schematic structural diagram of another position determination device provided in the embodiment of the present application is shown in fig. 4. In fig. 4, the position determination device 4 includes: a processing module 40 and a communication module 41. The processing module 40 is used for controlling and managing actions of the device control apparatus, such as steps performed by the obtaining unit 30, the determining unit 31, and/or other processes for performing the techniques described herein. The communication module 41 is used to support interaction between the device control apparatus and other devices. As shown in fig. 4, the position determining apparatus may further include a storage module 42, the storage module 42 for storing program codes and data of the position determining apparatus.

The Processing module 40 may be a Processor or a controller, and may be, for example, a Central Processing Unit (CPU), a general-purpose Processor, a Digital Signal Processor (DSP), an ASIC, an FPGA or other programmable logic device, a transistor logic device, a hardware component, or any combination thereof. Which may implement or execute the various illustrative logical blocks, modules, and circuits described in connection with the disclosure herein. The processor may also be a combination of computing functions, e.g., comprising one or more microprocessors, DSPs, and microprocessors, among others. The communication module 41 may be a transceiver, an RF circuit or a communication interface, etc. The storage module 42 may be a memory.

All relevant contents of each scene related to the method embodiment may be referred to the functional description of the corresponding functional module, and are not described herein again. Both the position determination device 3 and the position determination device 4 can perform the steps performed by the base station X in the position determination method shown in fig. 2.

Embodiments of the present application also provide a computer storage medium, where the computer storage medium stores a computer program for electronic data exchange, the computer program enabling a computer to execute part or all of the steps of any one of the methods described in the above method embodiments, and the computer includes an electronic device.

Embodiments of the present application also provide a computer program product comprising a non-transitory computer readable storage medium storing a computer program operable to cause a computer to perform some or all of the steps of any of the methods as described in the above method embodiments. The computer program product may be a software installation package, the computer comprising an electronic device.

It should be understood that, in the various embodiments of the present application, the sequence numbers of the above-mentioned processes do not mean the execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.

In the several embodiments provided in the present application, it should be understood that the disclosed method, apparatus and system may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative; for example, the division of the unit is only a logic function division, and there may be another division manner in actual implementation; for example, various elements or components may be combined or may be integrated into another system, or some features may be omitted, or not implemented. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may be physically included alone, or two or more units may be integrated into one unit. The integrated unit may be implemented in the form of hardware, or in the form of hardware plus a software functional unit.

The integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute some steps of the methods according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.

Although the present invention is disclosed above, the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions without departing from the spirit and scope of the invention, and all changes and modifications can be made, including different combinations of functions, implementation steps, software and hardware implementations, all of which are included in the scope of the invention.

Claims

1. A method of position determination, comprising:

a base station X acquires at least four orientation parameter groups of at least four base stations, wherein the at least four base stations correspond to the at least four orientation parameter groups one by one, each orientation parameter group in the at least four orientation parameter groups comprises a position and a distance of a corresponding base station, the distance refers to the distance between the base station X and the corresponding base station, and the at least four base stations are base stations in a space where the base station X is currently located;

the base station X determines a plurality of reference positions of the base station X according to a plurality of position parameter set sets corresponding to the at least four position parameter sets, wherein each position parameter set in the plurality of position parameter set sets comprises three position parameter sets in the at least four position parameter sets, any two position parameter set sets at least comprise one different position parameter set, and the plurality of position parameter set sets are in one-to-one correspondence with the plurality of reference positions;

2. The method of claim 1, wherein the determining the weight for each set of position parameter sets by the base station X comprises:

the base station X determines the inverse of the sum of the three distances in the current set of position parameter sets as the weight of the current set of position parameter sets.

3. The method of claim 1, wherein the determining the weight for each set of position parameter sets by the base station X comprises:

the base station X determines the reciprocal of the sum of the squares of the three distances in the current set of position parameter sets as the weight of the current set of position parameter sets.

4. The method of claim 1, wherein the determining the weight for each set of position parameter sets by the base station X comprises:

the base station X determines a reference distance between each position and the reference position according to three positions in a current orientation parameter set and the reference position corresponding to the current orientation parameter set to obtain three reference distances;

and the base station X determines the weight of the current position parameter set according to the three reference distances.

5. The method of claim 1, wherein the determining the weight for each set of position parameter sets by the base station X comprises:

the base station X calculates an average position of the plurality of reference positions;

the base station X determines a reference distance between each position and the average position according to the three positions in the current orientation parameter set and the average position to obtain three reference distances;

6. The method according to claim 4 or 5, wherein the base station X determines the weight of the current set of position parameter sets according to the three reference distances, comprising:

the base station X determines the inverse of the sum of the three reference distances as the weight of the set of current sets of position parameters.

7. The method according to claim 4 or 5, wherein the base station X determines the weight of the current set of position parameter sets according to the three reference distances, comprising:

the base station X determines the inverse of the sum of the squares of the three reference distances as the weight of the current set of position parameter sets.

8. The method according to any of claims 1-5, wherein the determining, by the base station X, a plurality of reference positions of the base station X according to a plurality of sets of position parameter sets corresponding to the at least four sets of position parameter sets comprises:

and the base station X calculates the position of the base station X according to a least square method positioning algorithm aiming at each position parameter set in the plurality of position parameter set sets to obtain a plurality of reference positions of the base station X.

9. The method of claim 8, wherein the at least four base stations comprise base station Y, base station J, base station K, and base station L;

10. The method of any one of claims 1-5, wherein the base station X obtains at least four sets of position parameters for at least four base stations, comprising:

the base station X receives at least four data frames sent by at least four base stations, the at least four data frames correspond to the at least four base stations one by one, and each data frame in the at least four data frames is used for indicating the position of the base station sending the data frame;

the received signal strength indication of each data frame is used to determine the distance between the base station X and the corresponding base station.

11. A position determining apparatus, comprising:

an obtaining unit, configured to obtain at least four orientation parameter sets of at least four base stations, where the at least four base stations correspond to the at least four orientation parameter sets one to one, and each orientation parameter set in the at least four orientation parameter sets includes a position and a distance of a corresponding base station, where the distance is a distance between a base station X and the corresponding base station, and the at least four base stations are base stations in a space where the base station X is currently located;

12. An electronic device comprising a processor, a memory, a communication interface, and one or more programs stored in the memory and configured to be executed by the processor, the programs comprising instructions for performing the steps in the method of any of claims 1-10.

13. A computer-readable storage medium, characterized in that a computer program for electronic data exchange is stored, wherein the computer program causes a computer to perform the method according to any one of claims 1-10.