CN115657098A

CN115657098A - Equipment positioning method and device, electronic equipment and storage medium

Info

Publication number: CN115657098A
Application number: CN202211407422.1A
Authority: CN
Inventors: 王学辉; 李想; 李德宇
Original assignee: iFlytek Co Ltd
Current assignee: iFlytek Co Ltd
Priority date: 2022-11-09
Filing date: 2022-11-09
Publication date: 2023-01-31

Abstract

The invention relates to the technical field of positioning, and provides a device positioning method, a device, electronic equipment and a storage medium. The method is introduced into the mobile equipment which is in communication connection with the target equipment through the wireless communication module, and by means of a double-antenna model formed by the main antenna and the auxiliary antenna on the mobile equipment, the target equipment can be quickly positioned, so that the target equipment can be searched, the complicated processes of map coordinate design and navigation path planning which are performed in advance in navigation positioning are omitted, the calculated amount is reduced, and the positioning cost is saved.

Description

Equipment positioning method and device, electronic equipment and storage medium

Technical Field

The present invention relates to the field of positioning technologies, and in particular, to a device positioning method and apparatus, an electronic device, and a storage medium.

Background

With the continuous development of social science and technology, more and more positioning methods are used for various scenes. In the existing Positioning method, to obtain the position of an unknown target, for example, when a mobile phone navigates to find each other, positioning information needs to be obtained through a Global Positioning System (GPS) or a BeiDou Navigation Satellite System (BDS) and then visually displayed on a map Application (APP). The map is widely applied and can meet the use requirements of users in most scenes.

However, in the above positioning method, a network covered in an area is needed, and in a field complex application scenario where the network is uncovered or the landform is unpredictable, the above positioning method is difficult to implement, only the absolute position of the unknown target expressed by the latitude and longitude can be obtained through the GPS or BDS, only the approximate azimuth of the unknown target can be determined, and the unknown target cannot be found quickly and accurately. Therefore, there is a need for a device positioning method suitable for complex field environments to quickly search for unknown devices.

Disclosure of Invention

The invention provides a device positioning method, a device, electronic equipment and a storage medium, which are used for overcoming the defects in the prior art.

The invention provides a device positioning method, which comprises the following steps:

acquiring first position information of target equipment under a geocentric geodetic coordinate system, second position information of a main antenna on mobile equipment and third position information of an auxiliary antenna; the target device is in communication connection with the mobile device based on a wireless communication module;

respectively converting the first position information, the second position information and the third position information into fourth position information, fifth position information and sixth position information in a station center coordinate system, and determining the relative distance between the target device and the mobile device and the course declination and the pitching declination of the target device relative to the mobile device based on the fourth position information, the fifth position information and the sixth position information;

and positioning the target equipment based on the relative distance, the course declination and the pitching declination.

According to the equipment positioning method provided by the invention, the course declination angle and the pitching declination angle are determined based on the following steps:

determining a first course angle and a first pitch angle of the target device relative to the mobile device in the center-of-station coordinate system based on the fourth position information and the fifth position information, and determining a second course angle and a second pitch angle of a baseline vector of the auxiliary antenna pointing to the main antenna in the center-of-station coordinate system based on the fifth position information and the sixth position information;

and determining the magnitude and direction of the heading drift angle based on the first heading angle and the second heading angle, and determining the magnitude and direction of the pitching drift angle based on the first pitching angle and the second pitching angle.

According to the equipment positioning method provided by the invention, the size and the direction of the course deflection angle are determined based on the first course angle and the second course angle, and the method specifically comprises the following steps:

if the first course angle and the second course angle are in the same angle quadrant, determining the magnitude of the course deflection angle based on the absolute value of the difference value of the first course angle and the second course angle, and determining the direction of the course deflection angle based on the positive and negative of the course deflection angle;

if the first course angle and the second course angle are in opposite or adjacent angle quadrants, determining the magnitude and the direction of the course deflection angle based on the angle quadrant in which the first course angle is located, the angle quadrant in which the second course angle is located and the angle range of the course deflection angle;

if the first course angle is a multiple of 90 degrees and the first course angle and the second course angle are not in relative angle quadrants, determining the magnitude and the direction of the course deflection angle based on the first course angle and the absolute value of the difference;

and if the second course angle is a multiple of 90 degrees, determining the magnitude and the direction of the course deflection angle based on the angle range of the first course angle and the absolute value of the difference.

According to an apparatus positioning method provided by the present invention, the determining the magnitude and direction of the pitch offset angle based on the first pitch angle and the second pitch angle specifically includes:

determining the size of the pitching declination angle based on the absolute value of the difference value between the first pitch angle and the second pitch angle;

determining a direction of the tilt angle based on the positive and negative of the tilt angle.

According to an apparatus positioning method provided by the present invention, the converting the first location information, the second location information, and the third location information into fourth location information, fifth location information, and sixth location information in a station center coordinate system respectively specifically includes:

respectively converting the first position information, the second position information and the third position information into geocentric rectangular coordinates based on a coordinate transformation relation between the geocentric geodetic coordinate system and the geocentric space rectangular coordinate system;

and converting the geocentric rectangular coordinates corresponding to the first position information, the second position information and the third position information into fourth position information, fifth position information and sixth position information respectively based on a coordinate transformation matrix between the geocentric space rectangular coordinate system and the station center coordinate system.

According to an apparatus positioning method provided by the present invention, the converting the first location information, the second location information, and the third location information into fourth location information, fifth location information, and sixth location information in a station center coordinate system respectively includes: and correcting the first position information based on a pseudo-range differential positioning algorithm.

According to the device positioning method provided by the invention, the wireless communication module comprises a Zigbee module.

The present invention also provides an apparatus positioning device, comprising:

the position information acquisition module is used for acquiring first position information of the target equipment under a geocentric geodetic coordinate system, second position information of the main antenna on the mobile equipment and third position information of the auxiliary antenna; the target device is in communication connection with the mobile device based on a wireless communication module;

a deflection angle determining module, configured to convert the first location information, the second location information, and the third location information into fourth location information, fifth location information, and sixth location information in a centroid coordinate system, and determine a relative distance between the target device and the mobile device, and a course deflection angle and a pitch deflection angle of the target device relative to the mobile device based on the fourth location information, the fifth location information, and the sixth location information;

and the equipment positioning module is used for positioning the target equipment based on the relative distance, the course deflection angle and the pitching deflection angle.

The present invention also provides an electronic device, including a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the device positioning method as described in any of the above.

The invention also provides a non-transitory computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements a device localization method as described in any of the above.

The invention also provides a computer program product comprising a computer program which, when executed by a processor, implements a method of device localization as claimed in any one of the above.

The invention provides a device positioning method, a device, electronic equipment and a storage medium, which are characterized in that first position information of target equipment, second position information of a main antenna on mobile equipment and third position information of an auxiliary antenna under a geocentric geodetic coordinate system are firstly obtained; then, the first position information, the second position information and the third position information are respectively converted into fourth position information, fifth position information and sixth position information under a station center coordinate system, and the relative distance between the target device and the mobile device and the course deflection angle and the pitching deflection angle of the target device relative to the mobile device are determined based on the fourth position information, the fifth position information and the sixth position information; and finally, positioning the target equipment based on the relative distance, the course deflection angle and the pitching deflection angle. The method is introduced into the mobile equipment which is in communication connection with the target equipment through the wireless communication module, and by means of a double-antenna model formed by the main antenna and the auxiliary antenna on the mobile equipment, the target equipment can be quickly positioned, so that the target equipment can be searched, the complicated processes of map coordinate design and navigation path planning which are performed in advance in navigation positioning are omitted, the calculated amount is reduced, and the positioning cost is saved. The method can be applied to target searching work in a field complex environment, and particularly can be applied to a field rescue scene.

Drawings

In order to more clearly illustrate the present invention or the technical solutions in the prior art, the drawings needed for the description of the embodiments or the prior art will be briefly described below, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

FIG. 1 is a schematic flow chart of a method for locating a device according to the present invention;

FIG. 2 is a three-dimensional coordinate diagram of a station center coordinate system O-ENU in the apparatus positioning method according to the present invention;

FIG. 3 is a two-dimensional coordinate diagram of an EON plane under a station center coordinate system O-ENU in the apparatus positioning method provided by the present invention;

FIG. 4 is a schematic diagram of the relative position relationship between the rectangular coordinate system T-XYZ of the earth center space and the O-ENU of the station center coordinate system in the device positioning method according to the present invention

FIG. 5 is a schematic structural diagram of a positioning device for an apparatus provided by the present invention;

fig. 6 is a schematic structural diagram of an electronic device provided in the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The existing equipment positioning method is only suitable for areas covered by a network, and under the field complex application scene uncovered by the network or unpredictable in landform, the absolute position of an unknown target represented by longitude and latitude can be obtained only through a GPS or a BDS, the approximate direction of the unknown target is judged, and the unknown target cannot be found quickly and accurately. Therefore, the embodiment of the invention provides the equipment positioning method which can be suitable for the field complex environment so as to quickly search unknown equipment.

Fig. 1 is a schematic flowchart of a device positioning method provided in an embodiment of the present invention, and as shown in fig. 1, the method includes:

s1, acquiring first position information of target equipment under a geocentric geodetic coordinate system, second position information of a main antenna on mobile equipment and third position information of an auxiliary antenna; the target device is in communication connection with the mobile device based on a wireless communication module;

s2, converting the first position information, the second position information and the third position information into fourth position information, fifth position information and sixth position information under a station center coordinate system respectively, and determining the relative distance between the target equipment and the mobile equipment and the course declination and the pitching declination of the target equipment relative to the mobile equipment based on the fourth position information, the fifth position information and the sixth position information;

and S3, navigating the mobile equipment based on the relative distance, the course declination and the pitching declination so as to search the target equipment.

Specifically, in the device positioning method provided in the embodiment of the present invention, an execution main body is a device positioning apparatus, the apparatus may be an STM32 main control module, the apparatus may be configured in the mobile device, or may be configured in a third-party device outside the mobile device, and the third-party device may be in wired connection or short-distance wireless connection with the mobile device. The mobile device or third party device may be a portable device such as a portable computer, tablet, smart phone, etc. If the device positioning device is configured in the mobile device, the mobile device is in communication connection with the target device through the wireless communication module, namely the mobile device and the target device are both configured with the wireless communication module; if the device positioning apparatus is configured in the third-party device, the mobile device and the target device are both in communication connection with the third-party device through the wireless communication module, that is, the mobile device, the target device and the third-party device are all configured with the wireless communication module. In the embodiment of the present invention, the adopted wireless communication module may be a short-range wireless communication module, for example, a Zigbee module.

In order to reduce the equipment positioning cost, the equipment positioning device can be directly configured in the mobile equipment, so that the mobile equipment has an equipment positioning function, the target equipment can be positioned through the mobile equipment, and the mobile equipment can be navigated to search the target equipment. Here, the target device may be one or more, and the target device may be represented as o _i (i is more than or equal to 1 and less than or equal to n), and n is the total number of the target equipment. The method can simultaneously realize the positioning search of one or more target devices.

The navigation positioning device may be configured to execute step S1, analyze each piece of location information obtained in step S1 by executing steps S2 and S3, obtain a relative location relationship between the target device and the mobile device, and forward the relative location relationship to the display module for display, so that a user may determine the location of the target device more intuitively, and user experience is improved.

Firstly, step S1 is executed to obtain target equipment o under a geocentric geodetic coordinate system _i First location information of a main antenna o on the mobile device, andthird position information of the secondary antenna o'. The target device and the mobile device may be both provided with a GPS or BDS, the first location information may be acquired through the GPS or BDS provided on the target device, and the second location information and the third location information may be acquired through the GPS or BDS provided on the mobile device. That is, the position information acquired by the GPS or BDS is position information in the geocentric geodetic coordinate system.

It can be understood that the geocentric geodetic coordinate system is a coordinate system established by taking the centroid of the earth as an origin and taking the reference ellipsoid as a datum plane. In the geocentric geodetic coordinate system, position information of each ground point is represented by a geodetic longitude (L), a geodetic latitude (B), and a geodetic altitude (H). L represents the included angle between the meridian plane of the ellipsoid passing through the ground point and the meridian plane of the Greenwich astronomical frustum, B is the included angle between the normal line of the ellipsoid passing through the ground point and the equatorial plane of the ellipsoid, and H is the distance from the ground point to the ellipsoid of the earth along the normal line of the ellipsoid.

The mobile device may be configured with a receiver, and the receiver may include two receiving modules, each of which includes a receiving antenna, that is, the mobile device includes two receiving antennas, one of which is a main antenna and the other is a secondary antenna, and the main antenna and the secondary antenna may form a dual-antenna model.

And then, executing step S2 to convert the first position information, the second position information and the third position information into fourth position information, fifth position information and sixth position information in the station center coordinate system, respectively. The station center coordinate system O-ENU is also called a station coordinate system, and an east-north-sky coordinate system, and can be used for knowing the law of motion of other objects centered on the origin O.

The origin O of the station-centric coordinate system O-ENU may be located at a base station that may cooperate with a wireless communication module to enable communication between the target device and the mobile device. The location of the base station may be defined artificially, and is not limited specifically herein. For example, in an application scenario of field material search, in general, materials are airdropped into a target area in batches, and the base station may be disposed at a central position of the target area.

A coordinate axis E in the station center coordinate system O-ENU is an east direction and is tangent to a parallel line on the earth surface of the ellipsoid; the coordinate axis N is north and tangent to the meridian, and the EON plane is a ground surface plane; and a coordinate axis U is perpendicular to the EON plane and points to the sky direction and is a zenith coordinate axis.

In the embodiment of the invention, the fourth position information corresponding to the first position information, the fifth position information corresponding to the second position information and the sixth position information corresponding to the third position information can be determined through the coordinate conversion relationship between the geocentric geodetic coordinate system and the staring center coordinate system.

Thereafter, the relative distance between the target device and the mobile device, and the heading and pitching angles of the target device relative to the mobile device may be determined according to the fourth position information, the fifth position information, and the sixth position information. Since the distance between the main antenna and the auxiliary antenna on the mobile device is negligible compared with the distance between the mobile device and the target device, the position information of the mobile device can be determined according to at least one of the five position information and the sixth position information. Here, the fifth location information may be directly used as the location information of the mobile device, the sixth location information may be directly used as the location information of the mobile device, or an average value of the fifth location information and the sixth location information may be used as the location information of the mobile device, which is not particularly limited herein.

And then, determining the relative distance between the target equipment and the mobile equipment according to the fourth position information and the position information of the mobile equipment. For example, the fifth position information o (x) is directly input ₀ ,y ₀ ,z ₀ ) As the location information of the mobile device, the fourth location information of the target device may be represented as o _i (x _i ,y _i ,z _i ) Then the relative distance Δ x between the target device and the mobile device can be expressed as:

since the target device is typically located at or near the surface level of the earth, the change in z-value can be ignored in finding the relative distance Δ x.

In the station center coordinate system, the target device and the mobile device both have corresponding course angle and pitch angle, the course angle and pitch angle of the target device relative to the mobile device can be determined by the fourth position information and the fifth position information, and the course angle and pitch angle of the mobile device can be determined by the dual-antenna model, that is, by the fifth position information and the sixth position information.

Further, the deviation between the course angles of the target device and the mobile device is a course deflection angle, and the deviation between the pitch angles of the target device and the mobile device is a pitch deflection angle. Along with the continuous movement of the mobile device, the relative position between the target device and the mobile device is continuously changed, the heading angle of the target device relative to the mobile device is also changed, and at the moment, the heading drift angle between the target device and the handheld device is also continuously changed. If there is a varying height difference between the target device and the mobile device, the tilt angle between the target device and the handheld device will also vary continuously.

And finally, executing the step S3, and positioning the target equipment based on the relative distance, the course deflection angle and the pitching deflection angle. Because the position information, the course angle and the pitch angle of the mobile equipment can be determined through the double-antenna model, the position information of the target equipment can be determined by combining the relative distance, the course deflection angle and the pitch deflection angle of the target equipment relative to the mobile equipment, and the target equipment is positioned. Thereafter, the mobile device may be navigated by means of the location information of the target device to search for the target device.

The equipment positioning method provided by the embodiment of the invention comprises the steps of firstly, acquiring first position information of target equipment under a geocentric geodetic coordinate system, second position information of a main antenna on mobile equipment and third position information of an auxiliary antenna; then, the first position information, the second position information and the third position information are respectively converted into fourth position information, fifth position information and sixth position information under a station center coordinate system, and the relative distance between the target device and the mobile device and the course deflection angle and the pitching deflection angle of the target device relative to the mobile device are determined based on the fourth position information, the fifth position information and the sixth position information; and finally, positioning the target equipment based on the relative distance, the course deflection angle and the pitching deflection angle. The method is introduced into the mobile equipment which is in communication connection with the target equipment through the wireless communication module, and by means of a double-antenna model formed by the main antenna and the auxiliary antenna on the mobile equipment, the target equipment can be quickly positioned, so that the target equipment can be searched, the complicated processes of map coordinate design and navigation path planning which are performed in advance in navigation positioning are omitted, the calculated amount is reduced, and the positioning cost is saved. The method can be applied to target searching work in a field complex environment, and particularly can be applied to a field rescue scene.

On the basis of the above embodiment, the heading drift angle and the pitching drift angle are determined based on the following steps:

determining a first course angle and a first pitch angle of the target device relative to the mobile device in the station center coordinate system based on the fourth position information and the fifth position information, and determining a second course angle and a second pitch angle of a baseline vector of the secondary antenna pointing to the main antenna in the station center coordinate system based on the fifth position information and the sixth position information;

and determining the magnitude and direction of the heading drift angle based on the first heading angle and the second heading angle, and determining the magnitude and direction of the pitching drift angle based on the first pitch angle and the second pitch angle.

Specifically, in the embodiment of the invention, the heading declination angle delta theta of the target device relative to the mobile device is determined _i And a pitch declination angle

Then, the fourth position information o can be firstly determined _i (x _i ,y _i ,z _i ) And fifth position information o (x) ₀ ,y ₀ ,z ₀ ) Determining a first course angle theta of the target device relative to the mobile device under the station center coordinate system _i And a first pitch angle

Here, the angle is positive in the counterclockwise rotation direction.

First course angle theta _i Can be calculated by the following formula:

first pitch angle

Can be calculated by the following formula:

according to the fifth position information o (x) ₀ ,y ₀ ,z ₀ ) And sixth position information for determining a baseline vector of the auxiliary antenna o pointing to the main antenna o' in the station center coordinate system

Second heading angle theta ₀ And a second pitch angle

The sixth position information may be represented as o '(x', y ', z').

Second heading angle theta ₀ Can be calculated by the following formula:

second pitch angle

Can be calculated by the following formula:

fig. 2 is a three-dimensional coordinate diagram under the station center coordinate system O-ENU, and fig. 3 is a two-dimensional coordinate diagram of the EON plane under the station center coordinate system O-ENU. As shown in fig. 2 and 3, the case where there are three target devices and i =2 is given. In the EON plane, the baseline vector

Projection vector of

The included angle between the east coordinate axis (namely the E axis) and the east coordinate axis is the heading angle of the mobile equipment, namely a second heading angle theta ₀ . Base line vector

The angle between the first and second angle is the pitch angle of the mobile device

Similarly, point from o "to o on the EON plane _i The included angle between the direction of (a) and the east coordinate axis is a heading angle of the target device relative to the mobile device, namely a first heading angle theta _i Pointing from o' to o _i Is the pitch angle of the target device relative to the mobile device, i.e. the first pitch angle

In fig. 2, the coordinate system o-xyz is the moving coordinate system on the mobile device.

Finally, according to the first course angle theta _i And a second heading angle theta ₀ And determining the magnitude and direction of the heading drift angle. Heading bias angle may be expressed as Δ θ _i ＝θ _i -θ ₀ Heading deviation angle Δ θ _i Can be expressed as δ = | Δ θ _i I, heading declination angle Delta theta _i The direction of (d) can then be determined by the orientation of the target device relative to the heading of the mobile device. Here, the moving party of the mobile deviceThe direction is the baseline vector

The east direction is taken as a reference direction here. Projection vector in FIG. 3

The extension line and o' point to o _i Is the course declination angle delta theta _i 。

Further, according to the first pitch angle

And a second pitch angle

And determining the size and the direction of the pitching declination. Pitch angle may be expressed as

Pitch declination angle

Can be expressed as

Since in practice the target devices are all typically at the surface level. However, in three-dimensional stereo space, various unexpected situations always occur, namely the possibility of the target device being at a certain height of the near-surface plane, for example the target device o _i When the mobile device is placed on a hillside with a certain height or hung on a tree, a certain pitching deflection angle exists between the mobile device and the target device. Based on this, the pitch declination

May be determined by the positive or negative pitch angle.

Namely, the method comprises the following steps: if it is

The target device is below the mobile device; if it is

The target device is above the mobile device; if it is

The target device is in the same plane as the mobile device.

In the embodiment of the invention, the course angle and the pitch angle are determined by means of the position information, so that the course drift angle and the pitch drift angle of the target equipment and the mobile equipment can be rapidly determined, and the positioning efficiency of the equipment is further improved.

On the basis of the above embodiment, the determining the magnitude and direction of the heading drift angle based on the first heading angle and the second heading angle specifically includes:

if the first course angle and the second course angle are in the same angle quadrant, determining the magnitude of the course deflection angle based on the absolute value of the difference value between the first course angle and the second course angle, and determining the direction of the course deflection angle based on the positive and negative of the course deflection angle;

Specifically, in the embodiment of the present invention, when determining the magnitude and the direction of the heading drift angle, it can be known through analysis that the heading of the mobile device in the station center coordinate system has various situations, and the magnitude of the second heading angle varies within an angle range of 0 ° to 360 °. Similarly, the target device has a plurality of heading directions, and the magnitude of the first heading angle also varies within an angle range of 0 ° to 360 °. Therefore, when the magnitude and direction of the heading drift angle are obtained, the mobile device and the target device need to be combined for analysis, and thus, various situations exist. The specific analysis has the following conditions:

if the first course angle theta _i And a second heading angle theta ₀ In the same angle quadrant, based on the first course angle theta _i And a second heading angle theta ₀ Determining a course declination angle delta theta _i Is based on Δ θ _i Positive and negative, determining course declination angle delta theta _i In the direction of (a). Wherein, the angle quadrant can include 4, the first angle quadrant is (0,90 °), the second angle quadrant is (90 °,180 °), the third angle quadrant is (180 °,270 °), and the fourth angle quadrant is (270 °,360 °).

First course angle theta _i And a second heading angle theta ₀ The case of being in the same angular quadrant may include: 0 degree<θ ₀ <90 DEG and 0 DEG<θ _i <90°，90°<θ ₀ <180 DEG and 90 DEG<θ _i <180°，180°<θ ₀ <270 DEG and 180 DEG<θ _i <270°，270°<θ ₀ <360 DEG and 270 DEG<θ _i <360 degrees. At this point, the target device and the mobile device are heading on the same side.

In any of the above cases, Δ θ _i The sizes and directions of (A) are shown in Table 1:

TABLE 1 Theta _i And theta ₀ Course deflection angle analysis in same angle quadrant

If the first course angle theta _i And a second heading angle theta ₀ In opposite or adjacent angular quadrants, based on the first heading angle θ _i The angular quadrant and the second course angle theta ₀ Angular quadrant and heading declination angle delta theta _i The angular range of the angle is determined, and the heading deflection angle delta theta is determined _i The size and direction of the light beam.

If theta ₀ <θ _i First course angle theta _i And a second heading angle theta ₀ The case of being in opposite angular quadrants may include: 0 degree<θ ₀ <90 DEG and 180 DEG<θ _i <270°，90°<θ ₀ <180 DEG and 270 DEG<θ _i <360 degrees. When one of the above two conditions occurs, Δ θ _i The sizes and directions of (A) are shown in Table 2:

TABLE 2 Theta ₀ <θ _i And theta _i And theta ₀ Course declination analysis at relative angular boundaries

Δθ _i Angle range of (1)	Δθ _i Size of (2)	Δθ _i Direction of (1)
			0°<Δθ _i <180°	δ	Left rear side
Δθ _i ＝180°	180°	Right behind
			180°<Δθ _i <270°	360°-δ	Rear right

If theta ₀ >θ _i First course angle theta _i And a second heading angle theta ₀ The case of being in opposite angular quadrants may include: 180 degree<θ ₀ <270 DEG and 0 DEG<θ _i <90°，270°<θ ₀ <360 DEG and 90 DEG<θ _i <180 deg. When one of the above two conditions occurs, Δ θ _i The sizes and directions of (a) are shown in table 3:

TABLE 3 Theta ₀ >θ _i And theta _i And theta ₀ Course declination analysis at relative angular boundaries

Δθ _i Angle range of (1)	Δθ _i Size of (2)	Δθ _i Direction of (1)
			-270°<Δθ _i <-180°	360°-δ	Left rear side
Δθ _i ＝-180°	180°	Right behind
			-180°<Δθ _i <-90°	δ	Rear right

When 0 degree<θ ₀ <At 90 DEG, a first course angle theta _i And a second heading angle theta ₀ The case of adjacent angular quadrants may be as shown in table 4, including the following:

at 90 degree<θ _i <180 deg. then delta theta _i Is δ; delta theta _i When in the angle range of 0-90 degrees, the target device is at the front left of the mobile device; delta theta _i When in the angle range of 90 ° to 180 °, the target device is right-front of the mobile device;

if 270 degree<θ _i <360 deg., then delta theta _i The size of the alpha-beta-cyclodextrin is 360-delta; delta theta _i In the angle range of 180 ° to 270 °, the target device is right behind the mobile device; delta theta _i In the angular range of 270 ° to 360 °, the target device is on the front right of the mobile device.

When 0 degree<θ ₀ <At 90 DEG, a first course angle theta _i The case of being a multiple of 90 degrees may include the following:

if theta _i =0 ° or 360 °, the target device is right in front of the mobile device, Δ θ _i The sizes of the delta and the delta are respectively delta and 360-delta;

if theta _i =90 °, the target device is in front left of the mobile device, Δ θ _i Is δ;

if theta _i =180 °, then the target device is to the left rear of the mobile device, Δ θ _i Is δ. TABLE 40 °<θ ₀ <90°、θ _i And theta ₀ In adjacent angular quadrants, theta _i Course declination analysis at multiples of 90 degrees

When 90 degree<θ ₀ <At 180 DEG, a first course angle theta _i And a second heading angle theta ₀ The case of adjacent angular quadrants may be as shown in table 5, including the following:

at 0 degree<θ _i <90 DEG, then Delta theta _i Is δ; delta theta _i The target device is right behind the mobile device when in the angular range of-180 ° to-90 °; delta theta _i When in the angle range of-90 ° to 0 °, the target device is right in front of the mobile device;

if 180 °<θ _i <270 deg., then delta theta _i Is δ; delta theta _i When in the angle range of 0-90 degrees, the target device is at the front left of the mobile device; delta theta _i In the angular range of 90 ° to 180 °, the target device is to the left rear of the mobile device.

When 90 degree<θ ₀ <At 180 DEG, a first course angle theta _i The case of being a multiple of 90 degrees may include the following:

if theta _i =0 ° or 360 °, then Δ θ _i The sizes of the target device are delta and 360-delta respectively, and the target device is arranged at the right rear side and the right front side of the mobile device respectively; if theta _i =90 °, the target device is right in front of the mobile device, Δ θ _i Is δ; if theta _i =180 °, the target device is in front left of the mobile device, Δ θ _i Is δ.

TABLE 5 90 deg.C<θ ₀ <180°、θ _i And theta ₀ In adjacent angular quadrants, theta _i Course declination analysis at multiples of 90 degrees

When the temperature reaches 180 °<θ ₀ <At 270 deg., the first course angle theta _i And a second heading angle theta ₀ The case of adjacent angular quadrants may be as shown in table 6, including the following:

at 90 °<θ _i <180 deg., then delta theta _i Is δ; delta theta _i The target device is right behind the mobile device when in the angular range of-180 ° to-90 °; delta theta _i When in the angle range of-90 ° to 0 °, the target device is right in front of the mobile device;

if 270 degree<θ _i <360 DEG then Delta theta _i Is δ; delta theta _i When in the angle range of 0-90 degrees, the target device is at the front left of the mobile device; delta theta _i In the angular range of 90 ° to 180 °, the target device is to the left rear of the mobile device.

When the temperature reaches 180 °<θ ₀ <At 270 deg., the first course angle theta _i The case of being a multiple of 90 degrees may include the following:

if theta _i =0 ° or 360 °, Δ θ _i The sizes of the target device are 360-delta and delta respectively, and the target device is arranged at the left rear part of the mobile device; if theta _i =90 °, then Δ θ _i Is δ, the target device is right behind the mobile device; if theta _i =270 °, target device is to the front left of mobile device, Δ θ _i Is δ; if theta _i =180 °, the target device is right in front of the mobile device, Δ θ _i Is δ.

TABLE 6 180 °<θ ₀ <270°、θ _i And theta ₀ In adjacent angular quadrants, theta _i Course declination analysis at multiples of 90 degrees

When the temperature is 270 DEG<θ ₀ <At 360 deg., the first course angle theta _i And a second heading angle theta ₀ The case of adjacent angular quadrants may be as shown in table 7, including the following:

if 0 °<θ _i <90 DEG, then Delta theta _i The size of the alpha-beta-cyclodextrin is 360-delta; delta theta _i In the angular range of-360 ° to-270 °, the target device is in front of the left of the mobile device; delta theta _i In the angular range of-270 ° to-180 °, the target device is at the left rear of the mobile device;

if 180 degree<θ _i <270 deg., then delta theta _i Is δ; delta theta _i The target device is at the right rear of the mobile device in an angle range of-180 DEG to-90 DEG; delta theta _i In the angular range of-90 ° to 0 °, the target device is right in front of the mobile device.

When 270 degree<θ ₀ <At 360 deg., the first course angle theta _i The case of being a multiple of 90 degrees may include the following:

if theta _i (= 0 ° or 360 °), then Δ θ _i The sizes of the target device are 360-delta and delta respectively, and the target device is arranged at the front left of the mobile device; if theta _i (= 90 ° or 270 °), then Δ θ _i The sizes of the target device are 360-delta and delta respectively, and the target device is arranged at the left rear part of the mobile device; if theta _i =180 °, if the target device is behind the right of the mobile device, Δ θ _i Is δ.

TABLE 7 270 °<θ ₀ <360°、θ _i And theta ₀ In adjacent angular quadrants, theta _i Course declination analysis at multiples of 90 degrees

If the second course angle theta ₀ Is a multiple of 90 degrees, i.e. includes theta ₀ ＝0°，θ ₀ ＝90°，θ ₀ ＝180°，θ ₀ ＝270°，θ ₀ If the angle is 360 degrees, the heading angle is based on the first heading angle theta _i The angular range and the absolute value delta of the difference are determined _i Magnitude and direction of heading drift angle. As shown in tables 8 and 9.

TABLE 8 Theta ₀ Course declination analysis at multiples of 90 degrees

TABLE 9 θ ₀ Course declination analysis at multiples of 90 ° (ii)

In the embodiment of the invention, the navigation drift angle is calculated in detail according to the situation, and the target equipment can be accurately positioned.

On the basis of the foregoing embodiment, the determining, based on the fifth position information and the sixth position information, a second heading angle and a second pitch angle of a baseline vector of the secondary antenna pointing to the primary antenna in the station center coordinate system specifically includes:

determining a length of the baseline vector;

and determining a second course angle and a second pitch angle of a baseline vector of the auxiliary antenna pointing to the main antenna under the station center coordinate system based on the length, the fifth position information and the sixth position information.

Specifically, in the embodiment of the invention, the second heading angle theta is determined ₀ And a second pitch angle

Then, a baseline vector may be determined first

Then the length d, the fifth position information o (x) ₀ ,y ₀ ,z ₀ ) And sixth position information o '(x', y ', z'), by virtue of the relationship of the sides to the angles in the triangle, the second heading angle θ can be determined ₀ And a second pitch angle

On the basis of the above embodiment, the determining the magnitude and direction of the pitch offset angle based on the first pitch angle and the second pitch angle specifically includes:

In particular, the pitch angle

Can be expressed as

The direction of the pitching declination angle can be judged by judging the pitching declination angle

The magnitude relationship with 0 is determined, i.e. if

The target device is below the mobile device; if it is

The target device is above the mobile device; if it is

The target device is in the same plane as the mobile device.

On the basis of the foregoing embodiment, the converting the first location information, the second location information, and the third location information into fourth location information, fifth location information, and sixth location information in a centroid coordinate system respectively specifically includes:

Specifically, in the embodiment of the present invention, when determining the fourth position information, the fifth position information, and the sixth position information, the first position information, the second position information, and the third position information may be respectively converted into the geocentric rectangular coordinates according to a coordinate transformation relationship between the geocentric geodetic coordinate system and the geocentric space rectangular coordinate system. The earth center space rectangular coordinate system T-XYZ is a coordinate system which is constructed by three coordinate axes X, Y and Z which are perpendicular to each other and take the earth center of mass T as an origin, the X axis is superposed with the intersection line of the first meridian plane and the equatorial plane, and the direction to the east is positive; the Z axis is coincident with the earth rotation axis, and the north direction is positive; the Y-axis is perpendicular to the XZ plane. The position information of each ground point in the rectangular coordinates of the geocentric space is represented by X, Y and Z.

The coordinate transformation relationship between the geocentric geodetic coordinate system and the geocentric space rectangular coordinate system T-XYZ can be expressed by the following formula:

X＝(N+H)cos B cos L (6)

Y＝(N+H)cos B sin L (7)

Z＝[N(1-e ² )+H]sin B (8)

wherein N is the radius of the unitary mortise ring, and e is the first eccentricity of the ellipsoid.

And then, converting the geocentric rectangular coordinates corresponding to the first position information, the second position information and the third position information into fourth position information, fifth position information and sixth position information respectively according to a coordinate transformation matrix between the geocentric space rectangular coordinate system T-XYZ and the station center coordinate system O-ENU.

FIG. 4 is a schematic diagram showing the relative position relationship between the rectangular coordinate system T-XYZ of the geocentric space and the rectangular coordinate system O-ENU of the standing center, wherein the rectangular coordinate system of the geocentric of the origin O of the standing center coordinate system O-ENU in FIG. 4 can be expressed as (X) ₀ ，Y ₀ ，Z ₀ )。

Under the station center coordinate system O-ENU, a certain P can be obtained through the following formula _i (x _i ,y _i ,z _i ) The position of (2):

wherein the content of the first and second substances,

the coordinate transformation matrix is a coordinate transformation matrix between the earth center space rectangular coordinate system T-XYZ and the station center coordinate system O-ENU.

On the basis of the foregoing embodiment, the converting the first location information, the second location information, and the third location information into fourth location information, fifth location information, and sixth location information in a centroid coordinate system respectively includes: and correcting the first position information based on a pseudo-range differential positioning algorithm.

Specifically, in the embodiment of the present invention, after the first position information, the second position information, and the third position information are obtained, in order to avoid an error caused by self-positioning of the target device, a pseudorange differential positioning algorithm may be used to correct the first position information.

The pseudo-range differential positioning algorithm is to arrange a receiver on a base station for observation. And after receiving the first position information, a receiver of the mobile equipment corrects the first position information by using the distance correction number, so that the accuracy and precision of the position information of the target equipment are improved. Then, the corrected first position information is used for subsequent operations.

In summary, the embodiment of the present invention provides an apparatus positioning method, which simulates the idea of a navigation gyroscope and solves the relative position of a target apparatus by using a coordinate transformation algorithm, a pseudo-range differential positioning algorithm and a dual-antenna model, and the method can obtain the relative distance and the deflection angle between the target apparatus and a mobile apparatus, so that a user can quickly determine the position of the target apparatus according to the position and the forward direction of the user, thereby improving user experience.

As shown in fig. 5, on the basis of the above embodiment, an apparatus positioning device provided in an embodiment of the present invention includes:

the position information acquiring module 51 is configured to acquire first position information of a target device in a geocentric-geodetic coordinate system, second position information of a main antenna on the mobile device, and third position information of an auxiliary antenna; the target device is in communication connection with the mobile device based on a wireless communication module;

a declination determination module 52, configured to convert the first location information, the second location information, and the third location information into fourth location information, fifth location information, and sixth location information in a station center coordinate system, respectively, and determine a relative distance between the target device and the mobile device, and a heading declination and a pitching declination of the target device relative to the mobile device based on the fourth location information, the fifth location information, and the sixth location information;

and the device positioning module 53 is configured to position the target device based on the relative distance, the heading drift angle, and the pitching drift angle.

On the basis of the foregoing embodiment, in the device positioning apparatus provided in the embodiment of the present invention, the deflection angle determining module is specifically configured to:

On the basis of the foregoing embodiment, in the apparatus positioning device provided in the embodiment of the present invention, the deflection angle determining module is specifically configured to:

respectively converting the first position information, the second position information and the third position information into geocentric rectangular coordinates based on a coordinate conversion relation between the geocentric geodetic coordinate system and the geocentric space rectangular coordinate system;

On the basis of the above embodiment, the apparatus positioning device provided in the embodiment of the present invention further includes a modification module, configured to:

and correcting the first position information based on a pseudo-range differential positioning algorithm.

On the basis of the above embodiments, in the device positioning apparatus provided in the embodiments of the present invention, the wireless communication module includes a Zigbee module.

Specifically, the functions of the modules in the device positioning apparatus provided in the embodiment of the present invention correspond to the operation flows of the steps in the foregoing method embodiments one to one, and the achieved effects are also consistent, for which specific reference is made to the foregoing embodiments, which are not described in detail in the embodiment of the present invention.

Fig. 6 illustrates a physical structure diagram of an electronic device, which may include, as shown in fig. 6: a Processor (Processor) 610, a communication Interface (Communications Interface) 620, a Memory (Memory) 630 and a communication bus 640, wherein the Processor 610, the communication Interface 620 and the Memory 630 communicate with each other via the communication bus 640. The processor 610 may invoke logic instructions in the memory 630 to perform the device location methods provided in the embodiments described above, including: acquiring first position information of target equipment under a geocentric geodetic coordinate system, second position information of a main antenna on mobile equipment and third position information of an auxiliary antenna; the target device is in communication connection with the mobile device based on a wireless communication module; respectively converting the first position information, the second position information and the third position information into fourth position information, fifth position information and sixth position information in a station center coordinate system, and determining the relative distance between the target device and the mobile device and the course declination and the pitching declination of the target device relative to the mobile device based on the fourth position information, the fifth position information and the sixth position information; and positioning the target equipment based on the relative distance, the course declination and the pitching declination.

In addition, the logic instructions in the memory 630 may be implemented in software functional units and stored in a computer readable storage medium when the logic instructions are sold or used as independent products. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: 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.

In another aspect, the present invention also provides a computer program product, the computer program product comprising a computer program, the computer program being storable on a non-transitory computer-readable storage medium, the computer program, when executed by a processor, being capable of executing the method for positioning a device provided in the above embodiments, the method comprising: acquiring first position information of target equipment under a geocentric geodetic coordinate system, second position information of a main antenna on mobile equipment and third position information of an auxiliary antenna; the target device is in communication connection with the mobile device based on a wireless communication module; respectively converting the first position information, the second position information and the third position information into fourth position information, fifth position information and sixth position information in a station center coordinate system, and determining the relative distance between the target device and the mobile device and the course declination and the pitching declination of the target device relative to the mobile device based on the fourth position information, the fifth position information and the sixth position information; and positioning the target equipment based on the relative distance, the course declination and the pitching declination.

In yet another aspect, the present invention also provides a non-transitory computer readable storage medium, on which a computer program is stored, the computer program being implemented by a processor to perform the method for positioning a device provided in the above embodiments, the method comprising: acquiring first position information of target equipment under a geocentric geodetic coordinate system, second position information of a main antenna on mobile equipment and third position information of an auxiliary antenna; the target device is in communication connection with the mobile device based on a wireless communication module; respectively converting the first position information, the second position information and the third position information into fourth position information, fifth position information and sixth position information in a station center coordinate system, and determining the relative distance between the target device and the mobile device and the course declination and the pitching declination of the target device relative to the mobile device based on the fourth position information, the fifth position information and the sixth position information; and positioning the target equipment based on the relative distance, the course declination and the pitching declination.

The above-described embodiments of the apparatus are merely illustrative, and 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 modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.

Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims

1. A method for locating a device, comprising:

2. The device location method of claim 1, wherein the heading angle and the pitching angle are determined based on the steps of:

3. The device positioning method according to claim 2, wherein the determining the magnitude and direction of the heading bias angle based on the first heading angle and the second heading angle specifically comprises:

4. The method according to claim 2, wherein the determining the magnitude and direction of the pitch angle based on the first pitch angle and the second pitch angle comprises:

5. The method according to any one of claims 1 to 4, wherein the converting the first location information, the second location information, and the third location information into fourth location information, fifth location information, and sixth location information in a station-centric coordinate system, respectively, specifically comprises:

6. The method according to any one of claims 1 to 4, wherein the converting the first position information, the second position information, and the third position information into fourth position information, fifth position information, and sixth position information in a station-centric coordinate system, respectively, previously comprises: and correcting the first position information based on a pseudo-range differential positioning algorithm.

7. The device location method of any of claims 1-4, wherein the wireless communication module comprises a Zigbee module.

8. An apparatus positioning device, comprising:

the position information acquisition module is used for acquiring first position information of the target equipment, second position information of the main antenna on the mobile equipment and third position information of the auxiliary antenna under a geocentric geodetic coordinate system; the target device and the mobile device are in communication connection based on a wireless communication module;

a declination determination module, configured to convert the first location information, the second location information, and the third location information into fourth location information, fifth location information, and sixth location information in a station center coordinate system, respectively, and determine a relative distance between the target device and the mobile device, and a heading declination and a pitching declination of the target device relative to the mobile device based on the fourth location information, the fifth location information, and the sixth location information;

9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the device location method of any one of claims 1-7 when executing the program.

10. A non-transitory computer-readable storage medium having stored thereon a computer program, wherein the computer program, when executed by a processor, implements the device localization method according to any one of claims 1-7.