CN115665647A - Terminal positioning method and device based on unmanned aerial vehicle base station and storage medium - Google Patents
Terminal positioning method and device based on unmanned aerial vehicle base station and storage medium Download PDFInfo
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Abstract
The application provides a terminal positioning method and device based on an unmanned aerial vehicle base station and a storage medium. The method comprises the following steps: controlling the unmanned aerial vehicle base station to hover and fly at intervals in a preset flight range or on a preset flight route, and executing the operation of acquiring positioning related information when hovering each time; updating the position related information of each terminal in real time according to the terminal identification information and the obtained positioning related information, wherein the position related information comprises: the position information of the suspension point and the distance related information of the terminal and the suspension point; for each terminal, if the number of the position-related information is determined to be updated to N, calculating the position information of the terminal according to the N position-related information; n is a natural number and is not less than 3; for each terminal, if the number of the position-related information is determined to be updated to M, updating the position information of the terminal according to the M position-related information; m is a natural number and M > N. The scheme of the application can be used for quickly and accurately positioning the terminal position.
Description
Technical Field
The present application relates to communications technologies, and in particular, to a method and an apparatus for positioning a terminal based on an unmanned aerial vehicle base station, and a storage medium.
Background
The mobile phone network can be positioned to the position of the mobile terminal, and can be used for quickly and accurately determining the position of the disaster-stricken masses in the emergency rescue process so as to improve the emergency rescue efficiency and save the emergency rescue time.
At present, the operator base station determines the position of the mobile terminal mainly through signal strength testing, and the positioning accuracy is low depending on the distribution and coverage of the operator base station. In addition, when power interruption is caused by natural disasters, the base station cannot be used, time and labor are consumed for deploying a new base station, and emergency rescue positioning cannot be performed quickly.
In summary, the prior art cannot locate the terminal position quickly and accurately.
Disclosure of Invention
The application provides a terminal positioning method and device based on an unmanned aerial vehicle base station and a storage medium, which are used for solving the problem that the position of a terminal cannot be quickly and accurately positioned in the prior art.
According to a first aspect of the present application, a terminal positioning method based on an unmanned aerial vehicle base station is provided, including:
controlling the unmanned aerial vehicle base station to hover and fly at intervals in a preset flight range or on a preset flight route, and executing the operation of acquiring positioning related information when hovering each time; the positioning related information comprises: hovering point position information, at least one terminal identification information and distance related information of each terminal and a hovering point;
updating the position related information of each terminal in real time according to the terminal identification information and the acquired positioning related information, wherein the position related information comprises: the position information of the suspension point and the distance related information of the terminal and the suspension point;
for each terminal, if the number of the position-related information is determined to be updated to N, calculating the position information of the terminal according to the N position-related information; n is a natural number and is more than or equal to 3;
for each terminal, if the number of the position-related information is determined to be updated to M, updating the position information of the terminal according to the M position-related information; m is a natural number and M > N.
As an optional implementation manner, the updating the terminal location information according to the M pieces of location related information includes: determining a target position-related information group from the M pieces of position-related information according to the position information of the suspension point in the M pieces of position-related information; the target position-related information group is composed of K pieces of the position-related information out of the M pieces of the position-related information; k is a natural number, K is less than M and is more than or equal to 3; and calculating the updated terminal position information according to the target positioning related information group.
As an alternative embodiment, the hover point location information includes a hover height; the determining a target position-related information group from the M pieces of position-related information according to the position information of the hover point in the M pieces of position-related information includes: optionally K pieces of the position-related information are combined from the M pieces of the position-related information to obtain
A candidateA set of location related information; calculating the hovering height difference between suspension points in each candidate position related information group; according to the hovering height difference between each suspending point in each candidate position related information group
A target position-related information group is determined from the candidate position-related information groups.
As an alternative embodiment, the information processing device may further be configured to determine a hover height difference between the hover points in the candidate position-related information sets
Determining a set of target location related information from the set of candidate location related information, comprising: and determining the candidate position-related information group with the smallest sum of the hovering height differences among the suspension points as the target position-related information group.
As an alternative embodiment, the hover point location information includes a longitude, a latitude, and a hover height; the distance-related information comprises at least one of: a reference signal received power or a reference signal received time difference; the calculating the updated terminal position information according to the target positioning related information group comprises: calculating the distance between the terminal and each suspension point according to each distance related information in the target position related information group; taking each suspension point as a sphere center, and taking the distance between a terminal and each suspension point as a radius to form K three-dimensional spherical surfaces; and determining the intersection of at least two three-dimensional spherical surfaces as the updated terminal position information.
As an optional implementation manner, the acquiring the positioning related information includes: acquiring suspension point position information; the hover point location information includes hover height, longitude, and latitude; and establishing communication connection with at least one terminal, and acquiring at least one piece of distance related information based on the communication connection.
As an optional implementation manner, the establishing a communication connection with at least one terminal, and acquiring at least one piece of distance-related information based on the communication connection includes: sending broadcast information; the broadcast information is used for indicating the terminal to access the unmanned aerial vehicle base station; if the fact that at least one terminal is accessed to the unmanned aerial vehicle base station is determined, sending a reference measurement signal to the at least one terminal, and receiving distance related information sent by the at least one terminal; the reference measurement signal is used for indicating a terminal to measure at least one item of reference signal receiving power and reference signal receiving time difference and sending the measured reference signal to an unmanned aerial vehicle base station; switching communication modes, repeatedly executing the steps of sending broadcast information and sending a reference measurement signal to at least one terminal if at least one terminal is determined to be accessed to the unmanned aerial vehicle base station, and receiving distance related information sent by at least one terminal until all communication modes in the preset communication modes are switched; the preset communication mode includes at least two of: a 5G communication mode, a 4G communication mode, a 3G communication mode, and a 2G communication mode.
According to a second aspect of the application, a terminal positioning device based on an unmanned aerial vehicle base station is provided, which includes:
the acquisition module is used for controlling the unmanned aerial vehicle base station to hover and fly at intervals in a preset flight range or on a preset flight route, and executing the operation of acquiring the positioning related information during each hovering; the positioning related information comprises: hovering point position information, at least one terminal identification information and distance related information of each terminal and a hovering point;
a first updating module, configured to update, in real time, location related information of each terminal according to terminal identification information and acquired location related information, where the location related information includes: the position information of the suspension point and the distance related information of the terminal and the suspension point;
the calculation module is used for calculating the terminal position information according to the N pieces of position related information if the number of the position related information is determined to be updated to N for each terminal; n is a natural number and is more than or equal to 3;
a second updating module, configured to update, for each terminal, terminal location information according to the M pieces of location-related information if it is determined that the number of the location-related information is updated to M; m is a natural number and M > N.
According to the third aspect of this application, provide a terminal positioning device based on unmanned aerial vehicle basic station, include: a processor and a memory communicatively coupled to the processor;
the memory stores computer-executable instructions;
the processor executes computer-executable instructions stored by the memory to implement the method as described in the first aspect.
According to a fourth aspect of the present application, there is provided a terminal positioning system based on a drone, including the terminal positioning device based on a drone base station and the drone base station as described in the second or third aspect.
According to a fifth aspect of the present application, there is provided a computer-readable storage medium having stored therein computer-executable instructions for implementing the method as described in the first aspect when executed by a processor.
According to the terminal positioning method, device and storage medium based on the unmanned aerial vehicle base station, the unmanned aerial vehicle base station is controlled to hover and fly at intervals in a preset flight range or on a preset flight route, and positioning related information acquisition operation is executed during each hovering; the positioning related information comprises: hovering point position information, at least one terminal identification information and distance related information of each terminal and a hovering point; updating the position related information of each terminal in real time according to the terminal identification information and the acquired positioning related information, wherein the position related information comprises: the position information of the suspension point and the distance related information of the terminal and the suspension point; for each terminal, if the number of the position-related information is determined to be updated to N, calculating the position information of the terminal according to the N position-related information; n is a natural number and is not less than 3; for each terminal, if the number of the position-related information is determined to be updated to M, updating the position information of the terminal according to the M position-related information; m is a natural number and M > N. The unmanned aerial vehicle base station is controlled to hover at intervals in a preset flight range or on a preset flight route, the coverage range of the unmanned aerial vehicle base station changes along with the change of a suspension point, and the unmanned aerial vehicle base station cannot be used due to the influence of natural disasters, so that the positioning related information is quickly acquired; meanwhile, the position related information of each terminal is updated in real time according to the acquired positioning related information, once the number of the position related information of the terminal is updated to N, the position information of the terminal can be obtained through calculation, so that the terminal can be positioned quickly, new terminal position related information can still be acquired after the terminal position information is positioned, and once the number of the position related information of the terminal is updated to M, the terminal position information is updated according to the M position related information, so that the terminal position information can be updated in real time, and further, the terminal position information can be ensured to be acquired more accurately. Therefore, the terminal position can be rapidly and accurately positioned by the scheme.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application.
Fig. 1 is a network architecture diagram corresponding to an application scenario provided according to an embodiment of the present application;
fig. 2 is a schematic flowchart of a terminal positioning method based on an unmanned aerial vehicle base station according to an embodiment of the present application;
fig. 3 is a schematic flowchart of a terminal positioning method based on an unmanned aerial vehicle base station according to a second embodiment of the present application;
fig. 4 is a schematic structural diagram of a terminal positioning device based on an unmanned aerial vehicle base station according to a third embodiment of the present application;
fig. 5 is a block diagram of a terminal positioning device based on an unmanned aerial vehicle base station according to a fourth embodiment of the present application;
fig. 6 is a schematic structural diagram of a terminal positioning system based on an unmanned aerial vehicle base station according to an embodiment of the present application.
Specific embodiments of the present application have been shown by way of example in the drawings and will be described in more detail below. These drawings and written description are not intended to limit the scope of the inventive concepts in any manner, but rather to illustrate the inventive concepts to those skilled in the art by reference to specific embodiments.
Detailed Description
The prior art related to the present application will be described and analyzed in detail below.
The mobile phone network can be used for positioning the terminal carried by the person to be rescued in special emergency scenes such as disaster rescue, emergency rescue and the like, and the emergency rescue capability of a disaster site is improved. In the prior art, deployed operator base stations or measurement devices are used to measure signal strength when a terminal communicates with multiple base stations or multiple measurement devices, estimate distances between the terminal and each base station or measurement device, and then position the terminal according to a positioning analysis algorithm.
However, the positioning method can be implemented only by means of an operator base station or measuring equipment, and occurrence of a natural disaster may cause power interruption, damage of the base station or incapability of power supply, so that wireless communication cannot be implemented on a disaster site, and rescue workers cannot acquire position information and disaster situations of people in a disaster in time. And if new base stations or measuring equipment are deployed on the disaster site, time and labor are consumed, the situation that the new base stations or the measuring equipment can be rapidly deployed cannot be guaranteed, and the requirement that the terminal needs to be rapidly positioned on the emergency site cannot be met.
Meanwhile, because the coverage range of the base station is limited, part of areas without coverage of the base station cannot realize the positioning of the terminal through the base station, and only one or two areas covered by the base station have errors due to the fact that the distance estimated through the signal intensity is limited by the number of the base stations and the position of the positioned terminal cannot be further updated and reduced, the position of the positioned terminal is not accurate enough, and emergency rescue personnel cannot be helped to quickly and accurately position the terminal.
In summary, the prior art has a problem that the terminal position cannot be located quickly and accurately.
Therefore, in order to quickly and accurately locate the position of the terminal, the inventor needs to quickly acquire enough location related information for locating the terminal through creative research, and the operator base station is not only unevenly distributed and limited in coverage and is easily affected by natural disasters, so that the unmanned aerial vehicle base station, the position of which can be adjusted at any time and can quickly arrive at the site, can be used for communicating with the terminal to acquire the location related information when the operator base station wants to quickly acquire enough location related information. Meanwhile, the unmanned aerial vehicle base station can be used for continuously acquiring the positioning related information when the terminal is accurately positioned, and the position of the terminal is updated in real time along with the increase of the quantity of the positioning related information. The inventor provides the technical scheme of the application, the unmanned aerial vehicle base station is controlled to hover and fly at intervals in a preset flight range or on a preset flight route, and the operation of acquiring the positioning related information is executed during each hovering; the positioning related information includes: hovering point position information, at least one terminal identification information and distance related information of each terminal and a hovering point; updating the position related information of each terminal in real time according to the terminal identification information and the obtained positioning related information, wherein the position related information comprises: the position information of the suspension point and the distance related information of the terminal and the suspension point; for each terminal, if the number of the position related information is determined to be updated to N, calculating the position information of the terminal according to the N position related information; n is a natural number and is not less than 3; for each terminal, if the quantity of the position related information is determined to be updated to M, updating the terminal position information according to the M position related information; m is a natural number and M > N. The unmanned aerial vehicle base station is controlled to hover at intervals in a preset flight range or on a preset flight route, the coverage area of the unmanned aerial vehicle base station changes along with the change of a suspension point, and the unmanned aerial vehicle base station cannot be used due to the influence of natural disasters, so that the positioning related information can be quickly acquired; meanwhile, the position related information of each terminal is updated in real time according to the acquired positioning related information, once the number of the position related information of the terminal is updated to N, the position information of the terminal can be obtained through calculation, the terminal can be positioned quickly, new terminal position related information can still be acquired after the terminal position information is acquired, and once the number of the position related information of the terminal is updated to M, the terminal position information is updated according to the M position related information, so that the terminal position information can be updated in real time, and further, the terminal position information can be ensured to be acquired more accurately. Therefore, the terminal position can be rapidly and accurately positioned by the scheme.
The application provides a terminal positioning method, device and storage medium based on an unmanned aerial vehicle base station, and aims to solve the technical problems in the prior art. The following describes the technical solution of the present application and how to solve the above technical problems in detail by specific embodiments. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments.
A network architecture and an application scenario of the terminal positioning method based on the unmanned aerial vehicle base station provided by the embodiment of the present application will be described below. When the following description refers to the accompanying drawings, the same data in different drawings represent the same or similar elements, unless otherwise indicated.
Fig. 1 is a network architecture diagram corresponding to an application scenario provided in an embodiment of the present application, and as shown in fig. 1, a network architecture corresponding to an application scenario provided in an embodiment of the present application includes: unmanned aerial vehicle basic station 10, first terminal 12, second terminal 13. The terminal positioning device based on the unmanned aerial vehicle basic station is configured on the unmanned aerial vehicle basic station 10.
In an application scenario, the terminal positioning device based on the base station of the unmanned aerial vehicle can control the base station 10 of the unmanned aerial vehicle to hover and fly at intervals within a preset flight range 14 or on a preset route, and perform an operation of acquiring positioning related information when hovering each time. The positioning related information includes: hover point location information, at least one terminal identification information, and distance-related information for each terminal from the hover point. Illustratively, the drone base station 10 hovers at intervals within the preset flight range 14, and hovers at the suspension points P1, P2, P3, P4 and P5 in sequence and performs the operation of acquiring the positioning related information.
The first terminal 12 and the second terminal 13 are terminals within a preset flight range 14. When the unmanned aerial vehicle base station 10 suspends at suspension points P1, P2, P3, and P4, a communication connection can be established with the first terminal 12; when the hover points P1 and P5 hover, a communication connection can be established with the second terminal 13.
In the process of controlling the interval hovering flight of the unmanned aerial vehicle base station 10 by the terminal positioning device based on the unmanned aerial vehicle base station, the position related information of each terminal can be updated in real time according to the terminal identification information and the acquired positioning related information, and the position related information comprises: the position information of the suspension point and the distance information of the terminal and the suspension point. Exemplarily, in the flight process of the unmanned aerial vehicle base station, after hovering at a hovering point P1 and acquiring positioning related information, the following information is updated in real time based on a terminal positioning device of the unmanned aerial vehicle base station. The number of the position-related information of the first user terminal 12 is 1, and the position-related information of the first user terminal 12 includes: the information on the position of the suspension point P1 and the information on the distance of the first terminal 12 from the suspension point P1. The number of the position-related information of the second user terminal 13 is 1, and the position-related information of the second user terminal 13 includes: information on the position of the suspension point P1 and information on the distance of the second terminal 13 from the suspension point P1.
After the unmanned aerial vehicle base station hovers at the suspension point P2 and acquires the positioning related information, the terminal positioning device based on the unmanned aerial vehicle base station updates the following information in real time. The number of the position-related information of the first user terminal 12 is 2, and the position-related information of the first user terminal 12 includes: the information on the position of the suspension point P1 and the information on the distance of the first terminal 12 from the suspension point P1, and the information on the position of the suspension point P2 and the information on the distance of the first terminal 12 from the suspension point P2.
For each terminal, if the number of the position-related information is determined to be updated to N, the terminal positioning device based on the unmanned aerial vehicle base station can calculate the position information of the terminal according to the N position-related information; n is a natural number and is not less than 3. For example, when N =3, after the drone base station 10 acquires the positioning related information at the hover point P3, the number of the position related information for the first user terminal 12 is updated to 3, and then the terminal positioning device based on the drone base station may calculate the position information of the first user terminal 12 according to the 3 position related information of the first user terminal 12.
For each terminal, if the number of the position-related information is determined to be updated to M, the terminal positioning device based on the unmanned aerial vehicle base station can update the terminal position information according to the M position-related information; m is a natural number and M > N. Continuing with the above example, when M =4, after the drone base station 10 acquires the positioning related information at the hover point P4, the number of the position related information for the first user terminal 12 is updated to 4, and then the terminal positioning device based on the drone base station may update the position information of the first user terminal 12 according to the 4 position related information of the first user terminal 12.
The terminal is a wireless terminal. A wireless terminal may refer to a device that provides voice and/or other traffic data connectivity to a user, a handheld device having wireless connection capability, or other processing device connected to a wireless modem. A wireless terminal, which may be a mobile terminal such as a mobile phone (or called a "cellular" phone) and a computer having a mobile terminal, for example, a portable, pocket, hand-held, computer-included or vehicle-mounted mobile device, may communicate with one or more core Network devices via a Radio Access Network (RAN), and exchange languages and/or data with the RAN. Optionally, the user terminal may also be a smart phone, a smart watch, a tablet computer, or the like, which is not limited herein.
Embodiments of the present application will be described below with reference to the accompanying drawings. The embodiments described in the following examples do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.
Example one
Fig. 2 is a schematic flow chart of a terminal positioning method based on an unmanned aerial vehicle base station according to an embodiment of the present application, and as shown in fig. 2, an execution main body of the present application is a terminal positioning device based on the unmanned aerial vehicle base station, and the terminal positioning device based on the unmanned aerial vehicle base station is located in the unmanned aerial vehicle base station. The terminal positioning method based on the unmanned aerial vehicle base station provided by the embodiment comprises steps 201 to 204.
In this embodiment, the drone base station refers to a device that has functions of a drone, such as flying and hovering, and also has functions of a base station sending broadcasts, accessing a terminal, and the like. Illustratively, the drone base station may be a drone mounting a micro base station, a device combining the drone and the base station, a drone with a base station function, a base station with a drone function, and the like. The unmanned aerial vehicle base station can execute the operation of acquiring the positioning related information.
The preset flight range can be a search and rescue range during emergency rescue. The flight direction of the drone, and the suspension points when hovering may be randomly generated within a preset flight range. The preset flight path may be a flight path capable of covering a search and rescue range, or a randomly generated flight path within the preset flight range.
The interval time of the interval hovering flight can be preset time, and can also be adjusted according to the flight speed of the unmanned aerial vehicle base station, the coverage range of the unmanned aerial vehicle base station and the like. For example, the product of the interval time and the flight speed of the drone base station may be smaller than the maximum coverage radius of the drone base station to ensure that the extent uncovered by the drone base station during the interval hover flight is as small as possible.
The suspension point position information is position information of the unmanned aerial vehicle base station during suspension. Illustratively, the information can be geographical position information, spatial coordinate information and the like of the unmanned aerial vehicle base station at each suspension.
When can understand, because whether the terminal exists in the search and rescue range is not determined during search and rescue, therefore, the unmanned aerial vehicle base station can not necessarily acquire the positioning related information after executing the operation of acquiring the positioning related information. And if the unmanned aerial vehicle base station can acquire at least one piece of positioning related information, representing that at least one terminal exists in the search and rescue range. Therefore, the positioning related information includes at least one terminal identification information. Meanwhile, the positioning related information also comprises the distance related information between the terminal corresponding to each terminal identification information and the suspension point. The distance related information may be signal strength, time difference, etc. of the terminal communicating with the drone base station.
In this embodiment, after the positioning related information is obtained each time, the terminal positioning device based on the base station of the unmanned aerial vehicle may regroup the position information of each hovering point and the distance related information between each terminal and each suspension point according to the terminal identification information in the positioning related information, so as to obtain the position related information of each terminal.
Exemplarily, acquiring the first positioning related information after the unmanned aerial vehicle base station hovers for the 1 st time includes: first hover point position information P 1 Terminal identification information U 1 And U 2 Terminal U 1 Information D relating to the distance of the first suspension point 11 And terminal U 2 Information D relating to the distance of the first suspension point 21 . Then the terminal positioning device based on the unmanned aerial vehicle base station can be used for identifying information U according to the terminal 1 And U 2 Updating terminal U 1 And terminal U 2 Of the position-related information. After updating, the terminal U 1 Is 1, and the terminal U 1 Includes U 1 First location related information. U shape 1 The first location-related information includes: first hover point position information P 1 And terminal U 1 Information D relating to the distance of the first suspension point 11 . Terminal U 2 Is 1, including U 2 First location related information. U shape 2 The first location-related information includes: first hover point position information P 1 And terminal U 2 Information D relating to the distance of the first suspension point 21 。
After the unmanned aerial vehicle base station hovers for the 2 nd time, acquiring the second positioning related information comprises the following steps: second hover point position information P 2 Terminal, terminal and method for controlling the sameIdentification information U 1 And terminal U 1 Information D relating to the distance of the second suspension point 12 . Then the terminal positioning device based on the unmanned aerial vehicle base station can be used for identifying information U according to the terminal 1 Updating terminal U 1 The position-related information of (1). After update, the terminal U 1 The location-related information of (a) includes: u shape 1 First position-related information and U 1 Second position-related information. U shape 1 The first position-related information is unchanged. U shape 1 The second location-related information includes: second hover point position information P 2 And terminal U 1 Information D relating to the distance of the second suspension point 12 . Terminal U 2 Is the same as before.
In this embodiment, N may be the minimum number of pieces of location related information required to be able to calculate the terminal location information. And for each terminal, if the number of the position related information of the terminal is determined to be updated to N based on the terminal positioning device of the unmanned aerial vehicle base station, calculating the position information of the terminal according to the suspension point position information P in the N position related information and the distance related information between the terminal and each suspension point. The location information of the terminal may include geographical coordinates or spatial coordinates of the terminal.
Illustratively, terminal U 1 When the position-related information is updated to 3, the method includes: u shape 1 First position related information, U 1 Second position-related information and U 1 Third position-related information. U shape 1 The first location-related information includes: position information of suspension point P 1 ＝(X 1 ，Y 1 ，Z 1 ) And terminal U 1 Information D relating to the distance of the first suspension point 11 。U 1 The second location-related information includes: position information of suspension point P 2 ＝(X 2 ，Y 2 ，Z 2 ) And terminal U 1 Information D relating to the distance of the second suspension point 12 。U 1 The third position-related information includes: location of hover pointInformation P 3 ＝(X 3 ，Y 3 ，Z 3 ) And terminal U 1 Information D relating to the distance to the third suspension point 13 。
According to the terminal U1 in the relevant information of each position 1 The information related to the distance between each suspension point can calculate the distance between the terminal U1 and each suspension point. Continuing with the above example, when the information related to the distance between the terminal and the suspension point is the signal strength of the communication between the terminal and the drone-level base station, since the signal strength is in inverse proportion to the distance, the terminal U can be calculated according to the signal strength of the information sent by the drone base station or the terminal and the signal strength of the information received by the terminal or the drone 1 Distance L from the first, second and third suspension points 11 、L 12 And L 13 。
At this time, the terminal U may be centered around the first, second, and third suspension points, respectively, in the three-dimensional space 1 Distance L from first, second and third suspension points 11 、L 12 And L 13 Is a radius, and is made into three space spherical surfaces L 11 、L 12 And L 13 Under the condition of no error, the three space spheres can be intersected at one point or two points, when the three space spheres are intersected at the two points, a point which is not in accordance with the geographical common sense can be removed according to the Z-axis coordinate, and therefore, the terminal U can be calculated by solving the following equation set 1 Position information P of U1 ＝(X U1 ，Y U1 ，Z U1 )：
The specific solving process is not described herein.
In this embodiment, M is a number greater than N, and if it is determined that the number of the position related information of the terminal is updated to M, more accurate terminal position information may be calculated according to the M position related information to update the terminal position information.
In this embodiment, it can be understood that there is a certain error in the information related to the distance between the terminal and the suspension point, and therefore, there is also an error in the distance between the terminal and each suspension point calculated according to the information related to the distance between the terminal and the suspension point. The above equation set may have a situation without solution, so after obtaining the M position related information of the terminal, the method in step 203 may be used to calculate the distance L between the terminal and each suspension point, and may use each hover point in each position related information as a center of a circle and the distance L between the terminal and each suspension point as a radius in a three-dimensional space to make M spatial spherical surfaces, determine the position where any two spatial spherical surfaces intersect as a possible position of the terminal, and calculate the probability that the intersection position is the terminal position according to the number of spatial spherical surfaces at the intersection position, obtain a plurality of intersection positions and the probability that the intersection position is the terminal position, and further determine the terminal position information.
When the intersecting position of the two spherical surfaces is a curve, the part which does not accord with the geographical common sense can be removed according to the Z-axis coordinate, and the part which accords with the geographical common sense is reserved. For example, a portion of the Z-axis coordinate above the Z-axis coordinate in the hover point position information may be removed. For example, when the search and rescue range is in a plateau region, the terminal is on the ground, and the Z-axis coordinate is 0, then the curve where the two spherical surfaces intersect can be converted into two points. Meanwhile, a plurality of intersecting points of the spherical surface which do not conform to the common sense of geography can be removed according to the Z-axis coordinate, for example, a point of which the Z-axis coordinate is higher than the Z-axis coordinate in the position information of the suspension point.
For a point which accords with the geographical general knowledge, the probability that the intersection position is the terminal position is calculated according to the number of the spatial spherical surfaces at the intersection position, illustratively, the ratio of the number of the spatial spherical surfaces at each intersection position to the total number of the spatial spherical surfaces can be calculated, and then the ratio of the number of the spatial spherical surfaces at each intersection position to the total number of the spatial spherical surfaces is normalized to obtain the probability that each intersection position is the terminal position.
In this case, the terminal position information may be a plurality of intersection positions and corresponding probabilities, or may be a weighted average of the plurality of intersection positions, where the weight may be a probability that an intersection position is a terminal position. The influence on the terminal position information caused by hovering point position information errors, signal strength errors and the like can be eliminated through weighted average calculation, and the probability that the terminal and the personnel to be rescued are searched at the updated terminal position information is higher. Meanwhile, along with the gradual increase of the quantity of the relevant information of the terminal position, the terminal position information can be continuously updated and optimized, the accuracy of the terminal position information can be continuously improved, and the search and rescue actions of rescuers are facilitated.
In this embodiment, N pieces of position-related information with small relative errors may be selected from the M pieces of position-related information, or N pieces of latest acquired position-related information may be selected from the M pieces of position-related information, and the terminal position information may be calculated by using the method in step 203 to update the terminal position information.
In this embodiment, the terminal location information may also be updated by other methods, which is not limited to this.
Optionally, after the terminal position information is determined, the terminal position information may also be immediately sent to the rescuers, so that the rescuers perform the rescue action.
According to the terminal positioning method based on the unmanned aerial vehicle base station, the unmanned aerial vehicle base station is controlled to hover and fly at intervals in a preset flight range or on a preset flight route, and positioning related information acquisition operation is executed during each hovering; the positioning related information includes: hovering point position information, at least one terminal identification information and distance related information of each terminal and a hovering point; updating the position related information of each terminal in real time according to the terminal identification information and the obtained positioning related information, wherein the position related information comprises: the position information of the suspension point and the distance related information of the terminal and the suspension point; for each terminal, if the number of the position related information is determined to be updated to N, calculating the position information of the terminal according to the N position related information; n is a natural number and is more than or equal to 3; for each terminal, if the quantity of the position related information is determined to be updated to M, updating the terminal position information according to the M position related information; m is a natural number and M is more than N; the unmanned aerial vehicle base station is controlled to hover at intervals in a preset flight range or on a preset flight route, the coverage range of the unmanned aerial vehicle base station changes along with the change of a suspension point, and the unmanned aerial vehicle base station cannot be used due to the influence of natural disasters, so that the positioning related information is quickly acquired; meanwhile, the position related information of each terminal is updated in real time according to the acquired positioning related information, once the number of the position related information of the terminal is updated to N, the position information of the terminal can be obtained through calculation, so that the terminal can be positioned quickly, new terminal position related information can still be acquired after the terminal position information is positioned, and once the number of the position related information of the terminal is updated to M, the terminal position information is updated according to the M position related information, so that the terminal position information can be updated in real time, and further, the terminal position information can be ensured to be acquired more accurately. Therefore, the terminal position can be quickly and accurately positioned by the scheme.
Example two
Fig. 3 is a schematic flowchart of a terminal positioning method based on an unmanned aerial vehicle base station according to a second embodiment of the present application, and as shown in fig. 3, in step 204, the terminal position information is updated according to M pieces of position-related information, and refinement is performed, where the refinement includes steps 301 to 302.
In this embodiment, the hover point position information includes a hover height, which is a height between the base station of the unmanned aerial vehicle and the ground. The hovering height can be measured by a height sensor configured in the drone base station or calculated by a satellite positioning module configured in the drone base station. The height sensor can measure the atmospheric pressure of the suspension point and compare the atmospheric pressure of the suspension point with a standard atmospheric pressure value, and then the height between the suspension point and the ground is obtained.
In this embodiment, the N position-related information with the smallest variance of the hovering heights among the M position-related information may be determined as the target position-related information group. Alternatively, the M pieces of position-related information may be sorted by the hover heights, and the N pieces of position-related information with the highest or lowest hover heights may be determined as the target position-related information group. Here, since there is a certain error in the hover height and the error rate between data measured at the same height is the same, selecting N pieces of position-related information having the highest or lowest hover height can reduce the influence of the hover height on the terminal position-related information. Further, more accurate terminal position information can be calculated.
In this embodiment, if the number of the position information in the target position related information group is N, the updated terminal position information may be calculated by using the formula in step 203. If the number of the position information in the target position related information group is greater than N, the updated target position information may be calculated by the method in step 204, and the method for calculating the updated target position information is not limited in this embodiment.
In the terminal positioning method based on the unmanned aerial vehicle base station provided by this embodiment, a target position related information group is determined from M pieces of position related information according to the position information of the suspension point in the M pieces of position related information; the target position related information group consists of K pieces of position related information in the M pieces of position related information; k is a natural number, K is less than M and is more than or equal to 3; calculating updated terminal position information according to the target positioning related information group; since N pieces of position-related information are selected from the M pieces of position-related information according to the position information of the suspension point and determined as a target position-related information group, the error between suspension heights in the position-related information can be reduced, more accurate position-related information can be obtained, and more accurate terminal position information can be calculated.
As an optional implementation manner, on the basis of the second embodiment, the hover point position information includes a hover height, and the step 301 determines a target position-related information group from the M position-related information according to the hover point position information in the M position-related information, and performs refinement, where the refinement includes steps 401 to 403.
Step 401, arbitrarily selecting K position related information from M position related information for combination to obtain
A set of candidate position-related information.
In this embodiment, each candidate position-related information includes K position-related information, and,
step 402, calculating a hovering height difference between each suspending point in each candidate position related information group.
In this embodiment, for any one candidate position-related information group, the hovering heights in the position information of the hovering points in any two position-related information groups are subtracted to obtain an absolute value, so as to obtain a hovering height difference between the hovering points.
Illustratively, the first set of candidate position-related information includes first, second, third, fourth, and fifth candidate position-related information. The first, second, third, fourth and fifth candidate position related information includes first, second, third, fourth and fifth hover position information. The hovering heights of the first, second, third, fourth and fifth hovering point position information are respectively H 1 、H 2 、H 3 、H 4 And H 5 Then the hover height difference between the first hover point and the second, third, fourth, and fifth hover points is Δ H 12 ＝|H 1 -H 2 |、ΔH 13 ＝|H 1 -H 3 |、ΔH 14 ＝|H 1 -H 4 I and Δ H 15 ＝|H 1 -H 5 L, |; the hovering height difference between the second hovering point and the third, fourth and fifth hovering pointsIs Δ H 23 ＝|H 2 -H 3 |、ΔH 24 ＝|H 2 -H 4 I and Δ H 25 ＝|H 2 -H 5 L, |; the hovering height difference between the third hovering point and the fourth and fifth hovering points is Δ H 34 ＝|H 3 -H 4 I and Δ H 35 ＝|H 3 -H 5 L, |; the hover height difference between the fourth hover point and the fifth hover point is Δ H 45 ＝|H 4 -H 5 |。
Step 403, selecting the suspension points according to the hovering height difference between the suspension points in each candidate position related information group
A target position-related information group is determined from the candidate position-related information groups.
In this embodiment, it may be sequentially determined whether the hovering height difference between the suspension points in each candidate position-related information group exceeds a preset height difference threshold HF, and a candidate position-related information group, in which no hovering height difference between any one group of the suspension points exceeds the preset height difference threshold HF, may be determined as the target position-related information group.
According to the terminal positioning method based on the unmanned aerial vehicle base station, the hovering height is included through the position information of the hovering point; optionally, K position-related information are combined from the M position-related information to obtain
A candidate position-related information group; calculating the hovering height difference between suspension points in each candidate position related information group; according to the hovering height difference between each suspending point in each candidate position related information group
Determining a target position-related information group from the candidate position-related information groups; since the target position-related information group is determined based on the hovering height difference between the suspension points, the hovering height difference of each target position-related information in the target position-related information group can be reduced, and therefore, a higher calculation ratio can be obtainedAccurate terminal location information.
As an optional implementation manner, on the basis of any one of the above embodiments, if the step 403 is refined, the refinement includes the step 4031.
Step 4031, determine the candidate position-related information group with the smallest sum of the hovering height differences between the hovering points as the target position-related information group.
In this embodiment, the sum of the hovering height differences between the suspension points in each candidate position-related information group may be calculated, and the candidate position-related information group with the smallest hovering height difference sum is determined as the target position-related information group, so that the hovering height difference between the target position-related information in the target position-related information is reduced. Continuing with the above example, the sum Δ H of hover height differences between suspension points in the first set of candidate position-related information may be calculated by the following equation:
ΔH＝ΔH 12 +ΔH 13 +ΔH 14 +ΔH 15 +ΔH 23 +ΔH 24 +ΔH 25 +ΔH 34 +ΔH 35 +ΔH 45 。
in the terminal positioning method based on the unmanned aerial vehicle base station provided by the embodiment, a candidate position related information group with the minimum sum of hovering height differences among all hovering points is determined as a target position related information group; because the candidate position related information group with the minimum sum of the hovering height difference is directly determined as the target position related information group, the target position related information group can be rapidly determined, and the speed of determining the terminal position information is further increased.
As an alternative implementation manner, on the basis of any one of the above embodiments, the hover point position information includes a longitude, a latitude, and a hover height; the distance-related information comprises at least one of: a reference signal received power or a reference signal received time difference; and for step 302, calculating the updated terminal position information according to the target position related information group, and refining, wherein step 302 comprises steps 501 to 503.
And step 501, calculating the distance between the terminal and each suspension point according to each distance related information in the target position related information group.
In this embodiment, the reference signal received power may be a power at which the terminal receives a reference signal sent by the base station of the unmanned aerial vehicle, and the reference signal sent power is greater than the reference signal received power. Since the power of the reference signal attenuates as the propagation distance increases, the distance from the terminal to the suspension point can be calculated from the difference between the reference signal transmission power and the parameter signal reception power.
The reference signal reception time difference may be a difference between a time when the drone base station transmits the participation signal and a time when the terminal receives the reference signal. Because the reference signal is an electromagnetic wave, the propagation speed of the electromagnetic wave in the air is approximately equal to the speed of light, and therefore, the distance between the terminal and the suspension point can be calculated according to the receiving time difference of the reference signal.
For any distance-related information, if the distance-related information includes the reference signal received power and the reference signal received time difference, determining an average value of distances respectively calculated by the reference signal received power and the reference signal received time difference as the distance between the terminal and the suspension point.
And step 502, taking each suspension point as a sphere center, and taking the distance between the terminal and each suspension point as a radius to form K three-dimensional spherical surfaces.
In this embodiment, K three-dimensional spheres can be formed in the three-dimensional middle by taking each suspension point as a sphere center and taking the distance L between the terminal and each suspension point as a sphere radius R. For any three-dimensional spherical surface, the coordinate of the spherical center is O (x) i ，y i ，z i ) And the radius is R, then the mathematical expression of the three-dimensional spherical surface related to the terminal position information U (x, y, z) can be obtained:
(X-X i ) 2 +(Y-Y i ) 2 +(Z-Z i ) 2 ＝R 2 。
and obtaining K mathematical expressions related to the terminal position information U (x, y, z) according to the K three-dimensional spherical surfaces.
Step 503, determining the intersection of at least two three-dimensional spheres as the updated terminal position information.
In this embodiment, a mathematical expression relating any two three-dimensional spherical surfaces and the terminal position information may be solved simultaneously to obtain coordinates and curves where at least two three-dimensional spherical surfaces intersect. The coordinates which do not accord with the geographical general knowledge can be removed according to the numerical value of the Z-axis coordinate, and the remaining coordinates and curves which accord with the geographical general knowledge are determined as updated terminal position information, so that the search and rescue personnel can search and rescue the search and rescue personnel and the terminal according to the updated terminal position information.
According to the terminal positioning method based on the unmanned aerial vehicle base station, the distance between the terminal and each suspension point is calculated according to each distance related information in the target position related information group; taking each suspension point as a sphere center, and taking the distance between a terminal and each suspension point as a radius to form K three-dimensional spherical surfaces; determining the intersection of at least two three-dimensional spherical surfaces as updated terminal position information; as the number of the position related information of the terminal is gradually increased, the intersecting range of the plurality of spherical surfaces is gradually reduced, so that the position information of the terminal can be continuously updated and optimized; meanwhile, if the terminal moves and the position of the terminal changes, the terminal position information can be updated and optimized.
As an optional implementation manner, on the basis of any one of the above embodiments, in step 201, the positioning related information is acquired, and is refined, and the refinement includes steps 601 to 602.
601, acquiring position information of a suspension point; hover point location information includes hover height, longitude, and latitude.
In this embodiment, the position information of the suspension point may include longitude, latitude, and height, and the position of the suspension point may be obtained by a satellite positioning method.
Step 602, establishing a communication connection with at least one terminal, and acquiring at least one distance related information based on the communication connection.
In this embodiment, a communication connection may be established with the terminal by controlling the base station of the unmanned aerial vehicle to search for the terminal at the hover point, and the specific method is not described herein again. After establishing the communication connection, the drone base station may send a reference signal to each terminal to obtain distance-related information fed back by each terminal.
According to the terminal positioning method based on the unmanned aerial vehicle base station, the position information of the suspension point is obtained; hover point location information includes hover height, longitude, and latitude; establishing communication connection with at least one terminal, and acquiring at least one distance related information based on the communication connection; because no shielding object is arranged near the base station of the unmanned aerial vehicle when the unmanned aerial vehicle hovers, accurate longitude and latitude coordinates of a suspension point can be obtained, and accurate terminal position information is further determined.
As an optional implementation manner, on the basis of any one of the above embodiments, for step 602, establishing a communication connection with at least one terminal, and obtaining at least one distance-related information based on the communication connection, performing refinement, and then step 602 refinement includes steps 701 to 703.
Step 701, sending broadcast information; the broadcast information is used for indicating the terminal to access the unmanned aerial vehicle base station.
In this embodiment, the unmanned aerial vehicle base station can be configured with the antenna sending module of different communication modes for send the broadcast information of different communication models, and the terminal just can access the unmanned aerial vehicle base station as long as can receive the broadcast information. The communication mode may be any one of a 5G communication mode, a 4G communication mode, a 3G communication mode, and a 2G communication mode. After receiving the broadcast information, the terminal may access the base station according to the broadcast information and send terminal identification information to the base station. The unmanned aerial vehicle basic station can distinguish different terminals according to terminal identification information.
The terminal identification information may include at least one of: international mobile subscriber identity, temporary mobile subscriber identity, mobile subscriber identity number. International Mobile Subscriber Identity (IMSI). IMSI is an identity that is not repeated in all cellular networks to distinguish different users in the cellular networks. The terminal may send the handset a 64-bit field to the network storing the IMSI. Or may be a Temporary Mobile Subscriber Identity (TMSI). Mobile Subscriber Identity Number (MSIN). The terminal identification information may also be other information, which is not limited in this embodiment.
Step 702, if it is determined that at least one terminal is accessed to the unmanned aerial vehicle base station, sending a reference measurement signal to the at least one terminal, and receiving distance related information sent by the at least one terminal; the reference measurement signal is used for indicating the terminal to measure at least one of the reference signal receiving power and the reference signal receiving time difference and sending the measured power and the reference signal receiving time difference to the unmanned aerial vehicle base station.
In this embodiment, the reference measurement signal may be a signal sent to the terminal by the drone base station. After a terminal accesses the unmanned aerial vehicle base station, the unmanned aerial vehicle base station sends a reference measurement signal to the terminal so as to acquire the distance related information of the current hovering point and the terminal.
703, switching communication modes, repeatedly executing the steps of sending broadcast information and sending a reference measurement signal to at least one terminal and receiving distance related information sent by at least one terminal if it is determined that at least one terminal accesses the unmanned aerial vehicle base station, until each communication mode in the preset communication modes is switched; the preset communication mode includes at least two of: a 5G communication mode, a 4G communication mode, a 3G communication mode, and a 2G communication mode.
In this embodiment, during emergency rescue, because the number of the people to be rescued and the network mode supported by the terminal carried by the people to be rescued cannot be known, the coverage of the base station of the unmanned aerial vehicle is different in different communication modes. Therefore, in order to find all the persons to be rescued as soon as possible and determine the position information of the terminal as soon as possible, when the unmanned aerial vehicle base station suspends every time, the broadcast signal can be sent again after the communication mode is switched, so that the number of the terminal identification information in the acquired positioning related information is ensured to be as large as possible when the unmanned aerial vehicle base station suspends every time.
The terminal positioning method based on the unmanned aerial vehicle base station provided by the embodiment transmits broadcast information; the broadcast information is used for indicating the terminal to access the unmanned aerial vehicle base station; if the fact that at least one terminal is accessed to the unmanned aerial vehicle base station is determined, sending a reference measurement signal to the at least one terminal, and receiving distance related information sent by the at least one terminal; the reference measurement signal is used for indicating the terminal to measure at least one of the reference signal receiving power and the reference signal receiving time difference and sending the reference signal receiving power and the reference signal receiving time difference to the unmanned aerial vehicle base station; switching communication modes, repeatedly executing the steps of sending broadcast information and sending a reference measurement signal to at least one terminal if at least one terminal is determined to be accessed to the unmanned aerial vehicle base station, and receiving distance related information sent by at least one terminal until all communication modes in the preset communication modes are switched; the preset communication mode includes at least two of: a 5G communication mode, a 4G communication mode, a 3G communication mode, and a 2G communication mode; since steps 701 and 702 are repeatedly executed after the communication mode is switched, as much terminal identification information as possible can be acquired each time the terminal is hovered, and further, the amount of the position-related information of each terminal can be increased as soon as possible, so that the terminal position information can be determined more quickly and accurately.
EXAMPLE III
Fig. 4 is a schematic structural diagram of a third terminal positioning device based on an unmanned aerial vehicle base station according to an embodiment of the present application, and as shown in fig. 4, the third terminal positioning device 40 based on an unmanned aerial vehicle base station according to the present embodiment includes: a first update module 42, a calculation module 43 and a second update module 44.
The acquiring module 41 is configured to control the base station of the unmanned aerial vehicle to hover and fly at intervals within a preset flight range or on a preset flight route, and execute an operation of acquiring positioning related information each time the unmanned aerial vehicle hovers; the positioning related information includes: hovering point position information, at least one terminal identification information, and information related to a distance between each terminal and a hovering point.
A first updating module 42, configured to update, in real time, location related information of each terminal according to the terminal identification information and the obtained location related information, where the location related information includes: the position information of the suspension point and the distance information of the terminal and the suspension point.
A calculating module 43, configured to calculate, for each terminal, terminal location information according to the N pieces of location-related information if it is determined that the number of the location-related information is updated to N; n is a natural number and is not less than 3.
A second updating module 44, configured to update, for each terminal, the terminal location information according to the M pieces of location-related information if it is determined that the number of the location-related information is updated to M; m is a natural number and M > N.
As an optional implementation manner, the second updating module 44, when configured to update the terminal location information according to the M location-related information, is specifically configured to determine a target location-related information group from the M location-related information according to the position information of the suspension point in the M location-related information; the target position related information group consists of K pieces of position related information in the M pieces of position related information; k is a natural number, K is less than M and is more than or equal to 3; and calculating the updated terminal position information according to the target positioning related information group.
As an optional implementation manner, when the second updating module 44 is configured to determine the target position-related information group from the M position-related information according to the suspension point position information in the M position-related information, it is specifically configured to arbitrarily combine K position-related information from the M position-related information to obtain the K position-related information
A set of candidate position-related information; calculating the hovering height difference between suspension points in each candidate position related information group; according to the hovering height difference between each suspending point in each candidate position related information group
A target position-related information group is determined from the candidate position-related information groups.
As an alternative embodiment, the second updating module 44 is configured to update the position of the suspension point according to the hover height difference between the suspension points in the candidate position-related information sets
When the target position related information group is determined from the candidate position related information groups, the method is specifically configured to minimize the sum of the hover height differences between the hover pointsThe group is determined as a target position-related information group.
As an optional implementation manner, when the second updating module 44 is configured to calculate updated terminal location information according to the target location-related information group, specifically, to calculate distances between the terminal and each suspension point according to each distance-related information in the target location-related information group; taking each suspension point as a sphere center, and taking the distance between a terminal and each suspension point as a radius to form K three-dimensional spherical surfaces; and determining the intersection of at least two three-dimensional spherical surfaces as the updated terminal position information.
As an optional implementation manner, when the obtaining module 41 is configured to obtain the positioning related information, specifically, to obtain the information of the suspension point position; hover point location information includes hover height, longitude, and latitude; establishing a communication connection with at least one terminal and obtaining at least one distance-related information based on the communication connection.
As an optional implementation manner, the obtaining module 41 is specifically configured to send broadcast information when the obtaining module is configured to establish a communication connection with at least one terminal and obtain at least one piece of distance-related information based on the communication connection; the broadcast information is used for indicating the terminal to access the unmanned aerial vehicle base station; if the fact that at least one terminal is accessed to the unmanned aerial vehicle base station is determined, sending a reference measurement signal to the at least one terminal, and receiving distance related information sent by the at least one terminal; the reference measurement signal is used for indicating the terminal to measure at least one item of reference signal receiving power and reference signal receiving time difference and sending the measured power and the reference signal receiving time difference to the unmanned aerial vehicle base station; switching communication modes, repeatedly executing the steps of sending broadcast information and sending a reference measurement signal to at least one terminal if at least one terminal is determined to be accessed to the unmanned aerial vehicle base station, and receiving distance related information sent by at least one terminal until all communication modes in the preset communication modes are switched; the preset communication mode includes at least two of: a 5G communication mode, a 4G communication mode, a 3G communication mode, and a 2G communication mode.
The terminal positioning device based on the unmanned aerial vehicle base station provided by this embodiment can execute the terminal positioning method based on the unmanned aerial vehicle base station provided by any one of the above embodiments, and the specific implementation manner is similar to the principle, and is not repeated here.
Example four
Fig. 5 is a block diagram of a terminal positioning device based on a drone base station according to a fourth embodiment of the present application, and as shown in fig. 5, a terminal positioning device 50 based on a drone base station according to the present embodiment includes a processor 51 and a memory 52 communicatively connected to the processor 51.
The memory 52 stores computer-executable instructions.
The processor 51 executes computer execution instructions stored in the memory 52 to implement the method for positioning a terminal based on a drone base station provided in any one of the above embodiments.
Wherein the connection between the memory 52 and the processor 51 may be via a bus.
Optionally, the drone base station based terminal positioning device 50 further comprises a transceiver.
The processor 51, the memory 52 and the transceiver circuitry are interconnected.
The transceiver is used for transceiving data.
Wherein the memory 52 may be implemented by any type of volatile or non-volatile storage device or combination thereof.
The drone base station based terminal positioning device 50 may be implemented by one or more Application Specific Integrated Circuits (ASICs), digital Signal Processors (DSPs), digital Signal Processing Devices (DSPDs), programmable Logic Devices (PLDs), field Programmable Gate Arrays (FPGAs), controllers, micro-controllers, microprocessors or other electronic components for performing the above method.
EXAMPLE five
Fig. 6 is a schematic structural diagram of a terminal positioning system based on an unmanned aerial vehicle base station according to a fifth embodiment of the present application, and as shown in fig. 6, the terminal positioning system 60 based on an unmanned aerial vehicle base station according to the present embodiment includes: terminal positioning device 61 and unmanned aerial vehicle basic station 62 based on unmanned aerial vehicle basic station. The terminal positioning device 61 based on the unmanned aerial vehicle base station is configured on the unmanned aerial vehicle base station 62, and the terminal positioning device 61 based on the unmanned aerial vehicle base station is in communication connection with the unmanned aerial vehicle base station 62. The drone base station 62 includes a wireless signal transceiving unit 621 and a positioning unit 622.
The terminal positioning device 61 based on the unmanned aerial vehicle base station is used for controlling the unmanned aerial vehicle base station 62 to hover and fly at intervals in a preset flight range or on a preset flight route, and executing the operation of acquiring the positioning related information when hovering each time.
The wireless signal transceiver unit 621 includes a wireless signal transceiver module and a base station signal transceiver module.
The base station signal transceiver module is used for determining signaling logic and broadcast information corresponding to different communication modes.
The wireless signal transceiving module is used for transceiving wireless signals so as to output the broadcast information determined by the base station signal transceiving module in a coverage area according to a specific frequency band, realize data connection with multiple types of terminals, and acquire terminal identifications of all terminals in the coverage area when each suspension point suspends, distance related information between the terminals and the suspension points and the like.
The positioning unit 622 includes an altitude measurement module and a GPS positioning module. The height measurement module is used for acquiring the hovering height of each suspension point. The GPS positioning module is used for acquiring the longitude and latitude of each suspension point.
Optionally, the drone base station further comprises a power module, and the power module is used for providing electric energy for the drone base station and the terminal positioning device based on the drone base station.
An embodiment of the present application further provides a computer-readable storage medium, where computer-executable instructions are stored in the computer-readable storage medium, and when the computer-executable instructions are executed by a processor, the method for positioning a terminal based on a base station of an unmanned aerial vehicle is implemented as provided in any of the above embodiments. Illustratively, the computer readable storage medium may be a read-only memory (ROM), a Random Access Memory (RAM), a magnetic tape, a floppy disk, an optical data storage device, and the like.
It will be appreciated that the above described apparatus embodiments are merely illustrative and that the apparatus of the present application may be implemented in other ways. For example, the division of the modules in the above embodiments is only one logical function division, and there may be another division manner in actual implementation. For example, multiple modules or components may be combined, or may be integrated into another system, or some features may be omitted, or not implemented.
In addition, unless otherwise specified, each functional module in the embodiments of the present application may be integrated into one module, or each module may exist alone physically, or two or more modules may be integrated together. The integrated module can be realized in a form of hardware or a form of a software program module.
It should be noted that, for simplicity of description, the above-mentioned method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present application is not limited by the order of acts described, as some steps may occur in other orders or concurrently depending on the application. Further, those skilled in the art should also appreciate that the embodiments described in the specification are all alternative embodiments and that the acts and modules referred to are not necessarily required for the application.
It should be further noted that, although the steps in the flowchart are shown in sequence as indicated by the arrows, the steps are not necessarily executed in sequence as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a portion of the steps in the flowchart may include multiple sub-steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of performing the sub-steps or stages is not necessarily sequential, but may be performed alternately or alternately with other steps or at least a portion of the sub-steps or stages of other steps.
Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.
It will be understood that the present application is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the application is limited only by the appended claims.
Claims (11)
1. A terminal positioning method based on an unmanned aerial vehicle base station is characterized by comprising the following steps:
controlling the unmanned aerial vehicle base station to hover and fly at intervals in a preset flight range or on a preset flight route, and executing the operation of acquiring positioning related information when hovering each time; the positioning related information comprises: hovering point position information, at least one terminal identification information and distance related information of each terminal and a hovering point;
updating the position related information of each terminal in real time according to the terminal identification information and the acquired positioning related information, wherein the position related information comprises: the position information of the suspension point and the distance related information of the terminal and the suspension point;
for each terminal, if the number of the position-related information is determined to be updated to N, calculating the position information of the terminal according to the N position-related information; n is a natural number and is not less than 3;
for each terminal, if the number of the position-related information is determined to be updated to M, updating the position information of the terminal according to the M position-related information; m is a natural number and M > N.
2. The method of claim 1, wherein the updating the terminal location information according to the M pieces of location related information comprises:
determining a target position-related information group from the M pieces of position-related information according to the position information of the suspension point in the M pieces of position-related information; the target position-related information group is composed of K pieces of the position-related information out of the M pieces of the position-related information; k is a natural number, K is less than M and is more than or equal to 3;
and calculating the updated terminal position information according to the target positioning related information group.
3. The method of claim 2, wherein the hover point location information includes a hover height; the determining a target position-related information group from the M pieces of position-related information according to the position information of the hover point in the M pieces of position-related information includes:
optionally K pieces of the position-related information are combined from the M pieces of the position-related information to obtain
A candidate position-related information group;
calculating the hovering height difference between the suspending points in each candidate position related information group;
according to the hovering height difference between each suspending point in each candidate position related information group
A target position-related information group is determined from the candidate position-related information groups.
4. The method of claim 3, wherein the step of determining the position of the object is performed based on a hover height difference between suspension points in each candidate set of position-related information
Determining a set of target location related information from the set of candidate location related information, comprising:
and determining the candidate position-related information group with the smallest sum of the hovering height differences among the suspension points as the target position-related information group.
5. The method of claim 2, wherein the hover point location information includes a longitude, a latitude, and a hover height; the distance-related information comprises at least one of: a reference signal received power or a reference signal received time difference; the calculating the updated terminal position information according to the target positioning related information group comprises:
calculating the distance between the terminal and each suspension point according to each distance related information in the target position related information group;
taking each suspension point as a sphere center, and taking the distance between a terminal and each suspension point as a radius to form K three-dimensional spherical surfaces;
and determining the intersection of at least two three-dimensional spherical surfaces as the updated terminal position information.
6. The method according to any of claims 1-5, wherein said obtaining location related information comprises:
acquiring suspension point position information; the hover point location information includes hover height, longitude, and latitude;
establishing a communication connection with at least one terminal and obtaining at least one piece of distance-related information based on the communication connection.
7. The method according to claim 6, wherein said establishing a communication connection with at least one terminal and obtaining at least one piece of distance-related information based on the communication connection comprises:
sending broadcast information; the broadcast information is used for indicating the terminal to access the unmanned aerial vehicle base station;
if the fact that at least one terminal is accessed to the unmanned aerial vehicle base station is determined, sending a reference measurement signal to the at least one terminal, and receiving distance related information sent by the at least one terminal; the reference measurement signal is used for indicating a terminal to measure at least one item of reference signal receiving power and reference signal receiving time difference and sending the measured reference signal to an unmanned aerial vehicle base station;
switching communication modes, repeatedly executing the steps of sending broadcast information and sending a reference measurement signal to at least one terminal if at least one terminal is determined to be accessed to the unmanned aerial vehicle base station, and receiving distance related information sent by at least one terminal until all communication modes in the preset communication modes are switched; the preset communication mode includes at least two of: a 5G communication mode, a 4G communication mode, a 3G communication mode, and a 2G communication mode.
8. The utility model provides a terminal positioning device based on unmanned aerial vehicle basic station which characterized in that includes:
the acquisition module is used for controlling the unmanned aerial vehicle base station to hover and fly at intervals in a preset flight range or on a preset flight route, and executing the operation of acquiring the positioning related information during each hovering; the positioning related information comprises: hovering point position information, at least one terminal identification information and distance related information of each terminal and a hovering point;
a first updating module, configured to update, in real time, location related information of each terminal according to terminal identification information and acquired location related information, where the location related information includes: the position information of the suspension point and the distance related information of the terminal and the suspension point;
the calculation module is used for calculating the terminal position information according to the N pieces of position related information if the number of the position related information is determined to be updated to N for each terminal; n is a natural number and is not less than 3;
a second updating module, configured to update, for each terminal, terminal location information according to the M pieces of location-related information if it is determined that the number of the location-related information is updated to M; m is a natural number and M > N.
9. The utility model provides a terminal positioning device based on unmanned aerial vehicle basic station which characterized in that includes: a processor, and a memory communicatively coupled to the processor;
the memory stores computer execution instructions;
the processor executes computer-executable instructions stored by the memory to implement the method of any of claims 1-7.
10. A terminal positioning system based on an unmanned aerial vehicle base station, comprising the terminal positioning device based on the unmanned aerial vehicle base station and the unmanned aerial vehicle base station of claim 8 or 9;
and the terminal positioning device based on the unmanned aerial vehicle base station is in communication connection with the unmanned aerial vehicle base station.
11. A computer-readable storage medium having computer-executable instructions stored therein, which when executed by a processor, are configured to implement the method of any one of claims 1-7.
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