CN115604658B - Signal source positioning method and device, electronic equipment and readable medium - Google Patents
Signal source positioning method and device, electronic equipment and readable medium Download PDFInfo
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- CN115604658B CN115604658B CN202211192212.5A CN202211192212A CN115604658B CN 115604658 B CN115604658 B CN 115604658B CN 202211192212 A CN202211192212 A CN 202211192212A CN 115604658 B CN115604658 B CN 115604658B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
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Abstract
The application relates to a signal source positioning method, a signal source positioning device, electronic equipment and a readable medium, wherein the signal source positioning method comprises the following steps: generating two positioning circles by using signal parameters and position parameters of a first beacon and a second beacon, wherein the signal parameters are generated when the first beacon and the second beacon receive signals sent by a target signal source; determining target intersection points of the two positioning circles, and respectively determining a first distance and a second distance between the two target intersection points and a third beacon under the condition that the number of the target intersection points is two; and under the condition that the difference value between the first distance and the second distance is smaller than or equal to a preset threshold value, determining the midpoint position of the intersection point of the two targets as the position of the target signal source. Two positioning circles are generated through any two beacons, and the positions of the signal sources are determined through the distance between the intersection point of the two positioning circles and other beacons, so that the problem that the positioning positions of the unilateral linear signal sources deviate from being unstable is solved.
Description
Technical Field
The present application relates to the field of beacon positioning technologies, and in particular, to a method and apparatus for positioning a signal source, an electronic device, and a readable medium.
Background
In a positioning scenario, a RSSI (Received Signal Strength Indication) technology is generally used to detect signal quality and broadcast transmission intensity of a wireless device, then the distance between a signal point and a receiving point is measured according to the received signal strength, then data of a plurality of signal points are collected to calculate signal position information, and finally a positioning function is realized. However, in an actual scene, only a linear unilateral (lateral) signal source can be deployed due to site limitation, and the position cannot be stabilized after the data of the unilateral (lateral) signal source is resolved by utilizing a multipoint algorithm, so that the phenomenon of unstable deviation of the position can occur.
Aiming at the problem that the position cannot be stabilized after the data of the unilateral (lateral) signal source is resolved by utilizing the multi-point algorithm, and the phenomenon of unstable deviation of the position can occur, no effective solution is proposed at present.
Disclosure of Invention
The application provides a signal source positioning method, a signal source positioning device, electronic equipment and a readable medium, which are used for solving the technical problem that the position of a single-side signal source cannot be stabilized after data of the single-side signal source are resolved by utilizing a multi-point algorithm, and the phenomenon of unstable deviation of the position can occur.
According to an aspect of an embodiment of the present application, the present application provides a method for positioning a signal source, including: generating two positioning circles by using signal parameters and position parameters of a first beacon and a second beacon, wherein the signal parameters are generated when the first beacon and the second beacon receive signals sent by a target signal source; determining target intersection points of the two positioning circles, and respectively determining a first distance and a second distance between the two target intersection points and a third beacon under the condition that the number of the target intersection points is two; and under the condition that the difference value between the first distance and the second distance is smaller than or equal to a preset threshold value, determining the midpoint position of the intersection point of the two targets as the position of the target signal source.
Optionally, generating two positioning circles using the signal parameters and the position parameters of the first beacon and the second beacon includes: extracting a first position parameter and a first signal parameter of a first beacon, and extracting a second position parameter and a second signal parameter of a second beacon, wherein the position parameters comprise the first position parameter representing the position coordinates of the first beacon, and the second position parameter representing the position coordinates of the second beacon, and the signal parameters comprise the first signal parameter and the second signal parameter; determining a third distance between the first beacon and the target signal source by using the first signal parameter, and determining a fourth distance between the second beacon and the target signal source by using the second signal parameter; the position of the first beacon is used as a first circle center, the third distance is used as a first radius, a first positioning circle is generated, the position of the second beacon is used as a second circle center, and the fourth distance is used as a second radius, and a second positioning circle is generated.
Optionally, after generating the first positioning circle and the second positioning circle, the method further comprises: under the condition that the intersection point does not exist between the first positioning circle and the second positioning circle, the first radius and the second radius are reduced or enlarged in equal proportion, and a third radius and a fourth radius are respectively obtained; generating a third positioning circle by using the first circle center and the third radius, and generating a fourth positioning circle by using the second circle center and the fourth radius; and under the condition that the intersection point does not exist between the third positioning circle and the fourth positioning circle, the first radius and the second radius are reduced or enlarged in equal proportion again until the intersection point exists between the third positioning circle and the fourth positioning circle.
Optionally, after determining the target intersection of the two positioning circles, the method further comprises: in the case where the number of target intersections is one, the position of the target intersection is determined as the position of the target signal source.
Optionally, determining the first distance and the second distance of the intersection of the two targets from the third beacon includes: acquiring an intersection point position parameter of a first target intersection point and a second target intersection point and a third position parameter of a third beacon, wherein the target intersection point comprises the first target intersection point and the second target intersection point; the first distance and the second distance are determined using the intersection location parameter and the third location parameter.
Optionally, after determining the first distance and the second distance of the intersection of the two targets from the third beacon, the method further comprises: and under the condition that the difference value is larger than a preset threshold value, judging that the first beacon, the second beacon and the third beacon are not in the same straight line, and determining an intersection point corresponding to a smaller value in the first distance and the second distance as the position of the target signal source.
Optionally, after the first radius and the second radius are scaled down or up equally, the method further comprises: when the number of times of equal-proportion reduction or amplification of the first radius and the second radius reaches the preset number of times, if the intersection point of the third positioning circle and the fourth positioning circle does not exist, judging the position of the target signal source as no result, and ending the positioning process.
According to another aspect of the embodiments of the present application, there is provided a positioning device for a signal source, including: the positioning circle generation module is used for generating two positioning circles by utilizing signal parameters and position parameters of a first beacon and a second beacon, wherein the signal parameters are generated when the first beacon and the second beacon receive signals sent by a target signal source; the distance determining module is used for determining target intersection points of the two positioning circles, and respectively determining a first distance and a second distance between the two target intersection points and a third beacon under the condition that the number of the target intersection points is two; and the position determining module is used for determining the midpoint position of the two target intersection points as the position of the target signal source under the condition that the difference value between the first distance and the second distance is smaller than or equal to a preset threshold value.
According to another aspect of the embodiments of the present application, there is provided an electronic device including a memory, a processor, a communication interface, and a communication bus, where the memory stores a computer program executable on the processor, the memory, the processor, and the communication interface communicate through the communication bus, and the processor executes the steps of the method when the processor executes the computer program.
According to another aspect of embodiments of the present application, there is also provided a computer readable medium having non-volatile program code executable by a processor, the program code causing the processor to perform the above-described method.
Compared with the related art, the technical scheme provided by the embodiment of the application has the following advantages:
the application provides a positioning method of a signal source, which comprises the following steps: generating two positioning circles by using signal parameters and position parameters of a first beacon and a second beacon, wherein the signal parameters are generated when the first beacon and the second beacon receive signals sent by a target signal source; determining target intersection points of the two positioning circles, and respectively determining a first distance and a second distance between the two target intersection points and a third beacon under the condition that the number of the target intersection points is two; and under the condition that the difference value between the first distance and the second distance is smaller than or equal to a preset threshold value, determining the midpoint position of the intersection point of the two targets as the position of the target signal source. Two positioning circles are generated through any two beacons, and the positions of the signal sources are determined through the distance between the intersection point of the two positioning circles and other beacons, so that the problem that the positioning positions of the unilateral linear signal sources deviate from being unstable is solved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application.
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the related art, the drawings that are required to be used in the embodiments or the related technical descriptions will be briefly described, and it will be apparent to those skilled in the art that other drawings can be obtained according to these drawings without inventive effort.
FIG. 1 is a flow chart of an alternative method for locating a signal source according to an embodiment of the present application;
fig. 2 is a schematic diagram of a single-sided multi-beacon according to an embodiment of the present application;
FIG. 3 is a diagram of an alternative positioning results display interface provided in accordance with an embodiment of the present application;
FIG. 4 is a block diagram of an alternative signal source positioning device according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of an alternative electronic device according to an embodiment of the present application.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
In the following description, suffixes such as "module", "component", or "unit" for representing elements are used only for facilitating the description of the present application, and are not of specific significance per se. Thus, "module" and "component" may be used in combination.
RSSI (Received Signal Strength Indication) positioning technology is a very general technology in the current application scene of the Internet of things, and has the advantages of lower cost and simplicity in operation compared with TOA, TDOA, AOA, GPS concentrated ranging technology. In the project, the RSSI technology is used for detecting the signal quality and the broadcast transmission intensity of the wireless equipment, the distance between a signal point and a receiving point is measured through the received signal strength, and the data of a plurality of signal points are collected to calculate the signal position information, so that the positioning function is realized.
In most scenes, the position of the signal source can be positioned by normally calculating the intersecting result of the three circles. However, if the beacons are in a straight line, multiple intersections are generated according to the three-point measurement algorithm, and a near-actual effective position cannot be determined, which eventually results in a phenomenon that the positions float at multiple points.
In order to solve the problems mentioned in the background art, according to an aspect of the embodiments of the present application, there is provided a signal source positioning method, as shown in fig. 1, including:
step 101, generating two positioning circles by using signal parameters and position parameters of a first beacon and a second beacon, wherein the signal parameters are generated when the first beacon and the second beacon receive signals sent by a target signal source;
step 103, determining target intersection points of two positioning circles, and respectively determining a first distance and a second distance between the two target intersection points and a third beacon under the condition that the number of the target intersection points is two;
and 105, determining the midpoint position of the intersection point of the two targets as the position of the target signal source under the condition that the difference value between the first distance and the second distance is smaller than or equal to a preset threshold value.
The method is applied to a positioning scene, in particular to an RSSI wireless positioning scene.
Optionally, the first beacon, the second beacon and the third beacon are determined according to the sequence of the signals sent by the received signal source.
And when the difference value is smaller than or equal to a preset threshold value, the third beacon is infinitely close to the extension line of the connection between the first beacon and the second beacon (or the third beacon is the extension line of the connection between the first beacon and the second beacon), and the first beacon, the second beacon and the third beacon are judged to be in the same straight line.
Fig. 2 is a schematic diagram of three beacons in a straight line.
According to the embodiment of the application, two positioning circles are generated through the first beacon and the second beacon, the position of the target signal source is determined through the distance between the intersection point of the two positioning circles and the third beacon, and when the intersection point of the two positioning circles and the third beacon are in the same straight line, the midpoint of the two intersection points is determined to be the position of the target signal source.
The application adopts a three-point linear unilateral positioning algorithm to solve the problem that the positioning position of a unilateral linear signal source deviates from an indefinite position in an RSSI wireless positioning scene.
As an alternative embodiment, generating two positioning circles using the signal parameters and the position parameters of the first beacon and the second beacon comprises: extracting a first position parameter and a first signal parameter of a first beacon, and extracting a second position parameter and a second signal parameter of a second beacon, wherein the position parameters comprise the first position parameter representing the position coordinates of the first beacon, and the second position parameter representing the position coordinates of the second beacon, and the signal parameters comprise the first signal parameter and the second signal parameter; determining a third distance between the first beacon and the target signal source by using the first signal parameter, and determining a fourth distance between the second beacon and the target signal source by using the second signal parameter; the position of the first beacon is used as a first circle center, the third distance is used as a first radius, a first positioning circle is generated, the position of the second beacon is used as a second circle center, and the fourth distance is used as a second radius, and a second positioning circle is generated.
The formula for determining the distance between the beacon and the target signal source by using the signal parameter calculation is as follows:
d＝10^((ABS(RSSI)-A)/(10*n))
where d is the distance between the beacon and the target signal source, RSSI is the received signal strength (negative value), a is the signal strength when the transmitting end and the receiving end are separated by 1 meter, and n is the environmental attenuation factor.
The first signal parameter includes a signal strength (negative value) received by the first beacon, a signal strength and an environmental attenuation factor when the transmitting end and the receiving end are separated by 1 meter, and the second signal parameter includes a signal strength (negative value) received by the second beacon, a signal strength and an environmental attenuation factor when the transmitting end and the receiving end are separated by 1 meter.
And generating a first positioning circle by taking the position coordinate of the first beacon as the position coordinate of the first circle center and taking the third distance as the first radius. For example, the position coordinate of the first beacon is (x 1, y 1), and the third distance is a, and the generated first positioning circle takes (x 1, y 1) as the center and a as the radius.
The second positioning circle is generated by the same method as the first positioning circle.
As an alternative embodiment, after generating the first positioning circle and the second positioning circle, the method further comprises: under the condition that the intersection point does not exist between the first positioning circle and the second positioning circle, the first radius and the second radius are reduced or enlarged in equal proportion, and a third radius and a fourth radius are respectively obtained; generating a third positioning circle by using the first circle center and the third radius, and generating a fourth positioning circle by using the second circle center and the fourth radius; and under the condition that the intersection point does not exist between the third positioning circle and the fourth positioning circle, the first radius and the second radius are reduced or enlarged in equal proportion again until the intersection point exists between the third positioning circle and the fourth positioning circle.
Optionally, when the first positioning circle and the second positioning circle have no intersection point, the circle center is unchanged, the radius is reduced or enlarged in an equal proportion, and the intersection point of the two positioning circles is redetermined.
Specifically, whether to scale down or scale up may be determined according to the positional relationship of the two positioning circles. If the two positioning circles are in a separation relation, carrying out equal proportion amplification on the radius; if the two positioning circles are in an inclusion relationship, the radius is reduced in an equal proportion.
For example, the first radius is (x 1, y 1), the first radius is a, the second radius is (x 2, y 2), and the second radius is b, at this time, if the first positioning circle and the second positioning circle do not have an intersection point, and the first positioning circle is separated from the second positioning circle, both the first radius and the second radius are enlarged by 2 times as much as the original, so as to generate two new positioning circles, the circle centers are (x 1, y 1) and (x 2, y 2), and the corresponding radii are 2a and 2b.
As an alternative embodiment, after determining the target intersection of the two positioning circles, the method further comprises: in the case where the number of target intersections is one, the position of the target intersection is determined as the position of the target signal source.
The calculation formula of the intersection point of the two circles is as follows:
wherein, (x) 1 ，y 1 ) Is the center coordinates of the first positioning circle, (x) 2 ，y 2 ) Is the center coordinates of a second positioning circle, r 1 For the radius length of the first positioning circle, r 2 The radius length of the second positioning circle is equal to the radius length, and R is the center distance of the circle.
As an alternative embodiment, determining the first and second distances of the intersection of the two targets from the third beacon comprises: acquiring an intersection point position parameter of a first target intersection point and a second target intersection point and a third position parameter of a third beacon, wherein the target intersection point comprises the first target intersection point and the second target intersection point; the first distance and the second distance are determined using the intersection location parameter and the third location parameter.
Optionally, the difference between the first distance and the second distance takes the absolute value of the subtraction of the first distance and the second distance.
As an alternative embodiment, after determining the first distance and the second distance between the intersection of the two targets and the third beacon, the method further comprises: and under the condition that the difference value is larger than a preset threshold value, judging that the first beacon, the second beacon and the third beacon are not in the same straight line, and determining an intersection point corresponding to a smaller value in the first distance and the second distance as the position of the target signal source.
When the difference is greater than the preset threshold, the third beacon is not on (and is not close to) the extension line of the connection of the first beacon and the second beacon, and the first beacon, the second beacon and the third beacon are judged to be not in the same straight line.
As an alternative embodiment, after the first radius and the second radius are scaled down or up equally, the method further comprises: when the number of times of equal-proportion reduction or amplification of the first radius and the second radius reaches the preset number of times, if the intersection point of the third positioning circle and the fourth positioning circle does not exist, judging the position of the target signal source as no result, and ending the positioning process.
Alternatively, since there may be a case where the positioning result cannot be solved, in order to prevent the infinite solving cycle, the number of times of equal-scale reduction or amplification is limited by a preset number of times (for example, 10 times), and when the number of times of equal-scale reduction or amplification reaches the preset number of times, there is no intersection point, the position of the target signal source is determined as no result, and the positioning flow is ended.
Fig. 3 is a display interface of a positioning result provided by the present application, where the display interface includes a resolving step and a resolving result.
The application provides a positioning method of a signal source, which comprises the following steps: generating two positioning circles by using signal parameters and position parameters of a first beacon and a second beacon, wherein the signal parameters are generated when the first beacon and the second beacon receive signals sent by a target signal source; determining target intersection points of the two positioning circles, and respectively determining a first distance and a second distance between the two target intersection points and a third beacon under the condition that the number of the target intersection points is two; and under the condition that the difference value between the first distance and the second distance is smaller than or equal to a preset threshold value, determining the midpoint position of the intersection point of the two targets as the position of the target signal source. Two positioning circles are generated through any two beacons, and the positions of the signal sources are determined through the distance between the intersection point of the two positioning circles and other beacons, so that the problem that the positioning positions of the unilateral linear signal sources deviate from being unstable is solved.
According to another aspect of the embodiment of the present application, there is provided a positioning device for a signal source, as shown in fig. 4, including:
a positioning circle generating module 402, configured to generate two positioning circles by using signal parameters and position parameters of a first beacon and a second beacon, where the signal parameters are generated when the first beacon and the second beacon receive a signal sent by a target signal source;
a distance determining module 404, configured to determine target intersection points of the two positioning circles, and determine a first distance and a second distance between the two target intersection points and a third beacon, respectively, when the number of the target intersection points is two;
and the position determining module 406 is configured to determine, as the position of the target signal source, the midpoint position of the intersection point of the two targets when the difference between the first distance and the second distance is less than or equal to a preset threshold.
It should be noted that, the positioning circle generating module 402 in this embodiment may be used to perform step 101 in the embodiment of the present application, the distance determining module 404 in this embodiment may be used to perform step 103 in the embodiment of the present application, and the position determining module 406 in this embodiment may be used to perform step 105 in the embodiment of the present application.
Optionally, the positioning circle generating module 402 is further configured to extract a first position parameter and a first signal parameter of the first beacon, and extract a second position parameter and a second signal parameter of the second beacon, where the position parameters include the first position parameter representing the position coordinates of the first beacon, and the second position parameter representing the position coordinates of the second beacon, and the signal parameters include the first signal parameter and the second signal parameter; determining a third distance between the first beacon and the target signal source by using the first signal parameter, and determining a fourth distance between the second beacon and the target signal source by using the second signal parameter; the position of the first beacon is used as a first circle center, the third distance is used as a first radius, a first positioning circle is generated, the position of the second beacon is used as a second circle center, and the fourth distance is used as a second radius, and a second positioning circle is generated.
Optionally, the device further comprises a scaling module, which is used for scaling down or scaling up the first radius and the second radius in equal proportion to obtain a third radius and a fourth radius respectively under the condition that the first positioning circle and the second positioning circle have no intersection point after the first positioning circle and the second positioning circle are generated; generating a third positioning circle by using the first circle center and the third radius, and generating a fourth positioning circle by using the second circle center and the fourth radius; and under the condition that the intersection point does not exist between the third positioning circle and the fourth positioning circle, the first radius and the second radius are reduced or enlarged in equal proportion again until the intersection point exists between the third positioning circle and the fourth positioning circle.
Optionally, the apparatus further comprises a determining module, configured to determine, after determining the target intersection points of the two positioning circles, a position of the target intersection point as the position of the target signal source in a case where the number of the target intersection points is one.
Optionally, the distance determining module 404 is further configured to obtain an intersection position parameter of the first target intersection and the second target intersection, and a third position parameter of the third beacon, where the target intersection includes the first target intersection and the second target intersection; the first distance and the second distance are determined using the intersection location parameter and the third location parameter.
Optionally, the device further includes a determining module, configured to determine that the first beacon, the second beacon, and the third beacon are not in the same straight line when the difference is greater than the preset threshold after determining the first distance and the second distance between the intersection point of the two targets and the third beacon, and determine the intersection point corresponding to the smaller value in the first distance and the second distance as the position of the target signal source.
Optionally, the device further includes an ending module, configured to determine, after the first radius and the second radius are scaled down or scaled up in equal proportion, the position of the target signal source as no result and end the positioning procedure if the third positioning circle and the fourth positioning circle do not have an intersection point when the number of times of the first radius and the second radius are scaled down or scaled up in equal proportion reaches a preset number of times.
It should be noted that the above modules are the same as examples and application scenarios implemented by the corresponding steps, but are not limited to what is disclosed in the above embodiments.
According to another aspect of the embodiments of the present application, as shown in fig. 5, the present application provides an electronic device, including a memory 501, a processor 503, a communication interface 505, and a communication bus 507, where the memory 501 stores a computer program that can be executed on the processor 503, and the memory 501, the processor 503 communicate with the communication bus 507 through the communication interface 505, and the processor 503 executes the steps of the method when the processor 503 executes the computer program.
The memory and the processor in the electronic device communicate with the communication interface through a communication bus. The communication bus may be a peripheral component interconnect standard (Peripheral Component Interconnect, PCI) bus, or an extended industry standard architecture (Extended Industry Standard Architecture, EISA) bus, among others. The communication bus may be classified as an address bus, a data bus, a control bus, or the like.
The memory may include random access memory (Random Access Memory, RAM) or non-volatile memory (non-volatile memory), such as at least one disk memory. Optionally, the memory may also be at least one memory device located remotely from the aforementioned processor.
The processor may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU for short), a network processor (Network Processor, NP for short), etc.; but also digital signal processors (Digital Signal Processing, DSP for short), application specific integrated circuits (Application Specific Integrated Circuit, ASIC for short), field-programmable gate arrays (Field-Programmable Gate Array, FPGA for short) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.
There is also provided in accordance with yet another aspect of an embodiment of the present application a computer readable medium having non-volatile program code executable by a processor.
Alternatively, specific examples in this embodiment may refer to examples described in the foregoing embodiments, and this embodiment is not described herein.
When the embodiment of the application is specifically implemented, the above embodiments can be referred to, and the application has corresponding technical effects.
It is to be understood that the embodiments described herein may be implemented in hardware, software, firmware, middleware, microcode, or a combination thereof. For a hardware implementation, the processing units may be implemented within one or more application specific integrated circuits (Application Specific Integrated Circuits, ASIC), digital signal processors (Digital Signal Processing, DSP), digital signal processing devices (DSP devices, DSPD), programmable logic devices (Programmable Logic Device, PLD), field programmable gate arrays (Field-Programmable Gate Array, FPGA), general purpose processors, controllers, microcontrollers, microprocessors, other electronic units designed to perform the functions described herein, or a combination thereof.
For a software implementation, the techniques described herein may be implemented by means of units that perform the functions described herein. The software codes may be stored in a memory and executed by a processor. The memory may be implemented within the processor or external to the processor.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described systems, apparatuses and units may refer to corresponding procedures in the foregoing method embodiments, and are not repeated herein.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, and for example, the division of the modules is merely a logical function division, and there may be additional divisions when actually implemented, for example, multiple modules or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.
The units described as separate units may or may not be physically separate, and units shown 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 may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on such understanding, the technical solution of the embodiments of the present application may be embodied in essence or a part contributing to the prior art or a part of the technical solution, in the form of a software product stored in a storage medium, including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in the embodiments of the present application. And the aforementioned storage medium includes: a usb disk, a removable hard disk, a ROM, a RAM, a magnetic disk, or an optical disk, etc. It should be noted that in this document, relational terms such as "first" and "second" and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The foregoing is only a specific embodiment of the application to enable those skilled in the art to understand or practice the application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A method for locating a signal source, comprising:
generating two positioning circles by using signal parameters and position parameters of a first beacon and a second beacon, wherein the signal parameters are generated when the first beacon and the second beacon receive signals sent by a target signal source;
determining target intersection points of the two positioning circles, and respectively determining a first distance and a second distance between the two target intersection points and a third beacon under the condition that the number of the target intersection points is two, wherein the first beacon, the second beacon and the third beacon are determined according to the sequence of signals sent by a received signal source;
and determining the midpoint position of the two target intersection points as the position of the target signal source under the condition that the difference value between the first distance and the second distance is smaller than or equal to a preset threshold value.
2. The method of claim 1, wherein generating two positioning circles using the signal parameters and the position parameters of the first beacon and the second beacon comprises:
extracting a first position parameter and a first signal parameter of the first beacon, and extracting a second position parameter and a second signal parameter of the second beacon, wherein the position parameters comprise the first position parameter representing position coordinates of the first beacon, and the second position parameter representing position coordinates of the second beacon, and the signal parameters comprise the first signal parameter and the second signal parameter;
determining a third distance between the first beacon and the target signal source by using the first signal parameter, and determining a fourth distance between the second beacon and the target signal source by using the second signal parameter;
and generating a first positioning circle by taking the position of the first beacon as a first circle center and the third distance as a first radius, and generating a second positioning circle by taking the position of the second beacon as a second circle center and the fourth distance as a second radius.
3. The method of claim 2, wherein after generating the first positioning circle and the second positioning circle, the method further comprises:
under the condition that the intersection point does not exist between the first positioning circle and the second positioning circle, the first radius and the second radius are reduced or enlarged in equal proportion, and a third radius and a fourth radius are respectively obtained;
generating a third positioning circle by using the first circle center and the third radius, and generating a fourth positioning circle by using the second circle center and the fourth radius;
and under the condition that the intersection point does not exist between the third positioning circle and the fourth positioning circle, the first radius and the second radius are reduced or enlarged in the equal proportion again until the intersection point exists between the third positioning circle and the fourth positioning circle.
4. The method of claim 1, wherein after determining the target intersection of the two locating circles, the method further comprises:
and determining the position of the target intersection point as the position of the target signal source under the condition that the number of the target intersection points is one.
5. The method of claim 1, wherein determining the first and second distances of the two target intersections from the third beacon comprises:
acquiring an intersection point position parameter of a first target intersection point and a second target intersection point and a third position parameter of a third beacon, wherein the target intersection point comprises the first target intersection point and the second target intersection point;
and determining a first distance and a second distance by using the intersection point position parameter and the third position parameter.
6. The method of claim 5, wherein after determining the first and second distances of the two target intersections from the third beacon, the method further comprises:
and under the condition that the difference value is larger than the preset threshold value, judging that the first beacon, the second beacon and the third beacon are not in the same straight line, and determining an intersection point corresponding to a smaller value in the first distance and the second distance as the position of the target signal source.
7. A method according to claim 3, wherein after said scaling down or scaling up of said first radius and said second radius, said method further comprises:
and when the times of the equal-proportion reduction or amplification of the first radius and the second radius reach the preset times, if the intersection point of the third positioning circle and the fourth positioning circle still does not exist, judging the position of the target signal source as no result and ending the positioning flow.
8. A signal source positioning device, comprising:
the positioning circle generation module is used for generating two positioning circles by utilizing signal parameters and position parameters of a first beacon and a second beacon, wherein the signal parameters are generated when the first beacon and the second beacon receive signals sent by a target signal source;
the distance determining module is used for determining target intersection points of the two positioning circles, and respectively determining a first distance and a second distance between the two target intersection points and a third beacon under the condition that the number of the target intersection points is two, wherein the first beacon, the second beacon and the third beacon are determined according to the sequence of signals sent by a received signal source;
and the position determining module is used for determining the midpoint position of the two target intersection points as the position of the target signal source under the condition that the difference value between the first distance and the second distance is smaller than or equal to a preset threshold value.
9. An electronic device comprising a memory, a processor, a communication interface and a communication bus, said memory storing a computer program executable on said processor, said memory, said processor communicating with said communication interface via said communication bus, characterized in that said processor, when executing said computer program, implements the steps of the method according to any of the preceding claims 1 to 7.
10. A computer readable medium having non-volatile program code executable by a processor, the program code causing the processor to perform the method of any one of claims 1 to 7.
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