CN116321419B - Multi-dimensional space fusion positioning method and device and electronic equipment - Google Patents
Multi-dimensional space fusion positioning method and device and electronic equipment Download PDFInfo
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- CN116321419B CN116321419B CN202310214315.5A CN202310214315A CN116321419B CN 116321419 B CN116321419 B CN 116321419B CN 202310214315 A CN202310214315 A CN 202310214315A CN 116321419 B CN116321419 B CN 116321419B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0257—Hybrid positioning
- G01S5/0258—Hybrid positioning by combining or switching between measurements derived from different systems
- G01S5/02585—Hybrid positioning by combining or switching between measurements derived from different systems at least one of the measurements being a non-radio measurement
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/33—Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
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Abstract
The application provides a multi-dimensional space fusion positioning method and device and electronic equipment. The method is applied to a server, and comprises the following steps: receiving a positioning request sent by user equipment; obtaining a positioning dimension corresponding to the positioning request according to a preset corresponding relation, wherein the preset corresponding relation comprises a corresponding relation between the positioning request and the positioning dimension; acquiring the regional dimension of a closed region where the user equipment is located; when the positioning dimension is lower than or equal to the area dimension, positioning information of the user equipment corresponding to the positioning dimension is obtained; and sending the positioning information to user equipment. The application has the effect of flexibly adjusting the positioning mode according to the positioning requirement of the user equipment.
Description
Technical Field
The application relates to the technical field of indoor positioning, in particular to a multi-dimensional space fusion positioning method and device and electronic equipment.
Background
The GPS navigation system can provide high-precision outdoor positioning, and for indoor positioning, the precision of the GPS navigation system in indoor positioning is greatly reduced due to the shielding of GPS signals by floors of a building.
Indoor positioning is often performed in a positioning mode of uwb+tof, that is, ultra Wide Band (UWB), which uses non-sinusoidal narrow pulses of nanosecond order to transmit data, and the frequency bandwidth of the pulses used is usually 1GHz or more. The method has the advantages of insensitivity to channel fading, low interception capability, high positioning accuracy and the like of the transmitted signals, and is particularly suitable for indoor positioning. TOF, time Of Flight method, calculates the distance between UWB positioning beacon and positioning tag by measuring the Time Of Flight Of signal back and forth between them, thereby obtaining the positioning Of positioning tag.
At present, when positioning is performed by adopting a positioning mode of UWB+TOF, after a positioning tag initiates a ranging request, a plurality of nearby UWB positioning beacons all receive an application and participate in ranging, and the positioning tag can obtain more accurate positioning data after calculation. However, for some scenes with low positioning accuracy requirements, more calculation needs to be performed for multiple positioning beacons to participate in positioning, so that more resources are wasted, and therefore, a method is needed to flexibly adjust the positioning mode according to the positioning requirements of the user equipment.
Disclosure of Invention
The application provides a multi-dimensional space fusion positioning method, a multi-dimensional space fusion positioning device and electronic equipment.
In a first aspect of the present application, there is provided a fusion positioning method of a multidimensional space, the method being applied to a server, the method comprising:
receiving a positioning request sent by user equipment;
obtaining a positioning dimension corresponding to the positioning request according to a preset corresponding relation, wherein the preset corresponding relation comprises a corresponding relation between the positioning request and the positioning dimension;
acquiring the regional dimension of a closed region where the user equipment is located;
when the positioning dimension is lower than or equal to the area dimension, positioning information of the user equipment corresponding to the positioning dimension is obtained; and sending the positioning information to user equipment.
By adopting the technical scheme, after receiving the positioning request sent by the user equipment, the server obtains the positioning dimension according to the corresponding relation between the positioning request and the positioning dimension, wherein the positioning dimension is the precision of the positioning information required by the user equipment in the dimension. After the server obtains the area dimension of which the positioning dimension is lower than or equal to the closed area, positioning information corresponding to the positioning dimension is obtained, the positioning information has correlation with the positioning dimension selected by the user equipment, and the server can flexibly adjust the positioning mode according to the positioning requirement of the user equipment.
Optionally, the correspondence between the positioning request and the positioning dimension specifically includes:
if the positioning request is to acquire whether the user equipment is in the closed area, the positioning dimension is zero dimension;
if the positioning request is to acquire the distance between the user equipment and the first side edge of the closed area, the positioning dimension is one-dimensional; if the positioning request is to obtain the distance between the user equipment and the first side and the second side of the closed area, the positioning dimension is two-dimensional, wherein the first side and the second side are adjacent sides.
By adopting the technical scheme, the server provides different positioning dimensions according to different positioning requests, so that the positioning mode can be flexibly adjusted according to the positioning requirements of the user equipment.
Optionally, before the receiving the positioning request sent by the user equipment, the method further includes:
identifying a spatial characteristic of the enclosed region;
if the closed area is identified to be a linear space, setting the closed area as a one-dimensional area, and deploying 2 positioning beacons in the one-dimensional area;
if the closed area is identified to be the surface-shaped space, setting the closed area to be a two-dimensional area, and deploying at least 3 positioning beacons in the two-dimensional area.
By adopting the technical scheme, when positioning beacons are deployed in the closed area, the server sets the area dimension based on the spatial characteristics of the identified closed area, and selects the number of deployed beacons according to the set area dimension, so that the subsequent positioning requirements can be met to a certain extent.
Optionally, the acquiring the area dimension of the closed area where the user equipment is located specifically includes:
acquiring the enclosed area and the number of pre-deployed positioning beacons near the enclosed area;
if the number of the positioning beacons is only 1, the closed area is set as a zero-dimensional area;
if the number of the positioning beacons is only 2, the closed area is set to be a one-dimensional area;
if the number of the positioning beacons exceeds 2, the closed area is set to be a two-dimensional area.
By adopting the technical scheme, when the server performs dimension division on the closed area where the user is located, the server preferentially performs dimension division based on the closed area and the number of positioning beacons deployed in advance near the closed area, so that the problem that the number of positioning beacons cannot meet the positioning accuracy requirement due to unreasonable region dimension division is prevented.
Optionally, the positioning information includes:
zero-dimensional positioning information, one-dimensional positioning information, and two-dimensional positioning information;
the zero-dimensional positioning information comprises information about whether the user equipment is in the closed area;
the one-dimensional positioning information comprises distance information between the user equipment and the first side edge of the closed area;
the two-dimensional positioning information comprises distance information between the user equipment and a first side and a second side of the closed area, wherein the first side and the second side are adjacent sides.
By adopting the technical scheme, the server can provide multidimensional positioning information, so that user equipment can conveniently select according to positioning requirements.
Optionally, after the positioning information of the user equipment corresponding to the positioning dimension is obtained when the positioning dimension is lower than or equal to the area dimension, the method includes:
and if the positioning dimension is higher than the area dimension, acquiring the user equipment positioning information corresponding to the area dimension.
By adopting the technical scheme, when the positioning dimension selected by the user equipment is higher than the area dimension of the current closed area, the positioning beacon of the closed area cannot improve the positioning dimension higher than the area dimension, and the server can acquire the positioning information of the user equipment corresponding to the area dimension.
Optionally, after the obtaining the area dimension of the closed area where the user equipment is located, the method includes:
acquiring historical positioning information of a closed area where user equipment is located;
and acquiring the positioning information of the user equipment corresponding to the positioning dimension according to the historical positioning information.
By adopting the technical scheme, if the user equipment is positioned in the closed area in the past, the server can acquire the historical positioning information of the closed area, and the server can directly acquire the positioning information of the user equipment corresponding to the positioning dimension according to the historical positioning information without acquiring the positioning dimension of the user equipment again, so that the positioning can be more conveniently performed.
Optionally, the obtaining the positioning information of the user equipment corresponding to the positioning dimension specifically includes:
if the closed area and the vicinity of the closed area are pre-deployed with Bluetooth positioning beacons and UWB positioning beacons, selecting to use the corresponding positioning beacons for positioning according to the positioning information;
if the positioning dimension is zero dimension or one dimension, positioning information is obtained through a Bluetooth positioning beacon;
and if the positioning dimension is two-dimensional, acquiring positioning information through the UWB positioning beacon.
By adopting the technical scheme, the server selects to perform positioning beacons according to the positioning dimension of the user equipment, the requirements on positioning accuracy are not high for zero-dimensional or one-dimensional positioning, and the cost of hardware equipment can be reduced by using Bluetooth positioning beacons for positioning. For two-dimensional positioning, UWB positioning beacons can provide higher positioning accuracy.
In a second aspect of the present application, a multi-dimensional space fusion positioning device is provided, where the device is a server, and includes an acquisition module, a processing module, a positioning module, and an output module, where:
the acquisition module is used for receiving a positioning request sent by user equipment;
the processing module is used for obtaining a positioning dimension corresponding to the positioning request according to a preset corresponding relation, wherein the preset corresponding relation comprises a corresponding relation between the positioning request and the positioning dimension;
the acquisition module is further used for acquiring the region dimension of the closed region where the user equipment is located;
the positioning module is used for acquiring positioning information of the user equipment corresponding to the positioning dimension when the positioning dimension is lower than or equal to the region dimension;
and the output module is used for sending the positioning information to the user equipment.
In a third aspect the application provides an electronic device comprising a processor, a memory for storing instructions, a user interface and a network interface, both for communicating to other devices, the processor being for executing the instructions stored in the memory to cause the electronic device to perform a method as claimed in any one of the preceding claims.
In summary, one or more technical solutions provided in the embodiments of the present application at least have the following technical effects or advantages:
1. after receiving a positioning request sent by user equipment, a server obtains a positioning dimension in zero dimension or one dimension or two dimensions according to the corresponding relation between the positioning request and the positioning dimension, wherein the positioning dimension is the precision of positioning information required by the user equipment in the dimension. And if the positioning dimension is higher than the regional dimension, acquiring the positioning information of the regional dimension. The positioning information corresponds to zero-dimensional positioning information or one-dimensional positioning information or two-dimensional positioning information. Because the positioning information has correlation with the positioning dimension selected by the user equipment, the server can flexibly adjust the positioning mode according to the positioning requirement of the user equipment.
2. When the server performs dimension division on the closed area where the user is located, the server preferentially performs dimension division based on the closed area and the number of positioning beacons deployed in advance near the closed area, so that the problem that the number of positioning beacons cannot meet the positioning accuracy requirement due to unreasonable region dimension division is avoided. If the user equipment is positioned in the closed area in the past, the server can acquire the historical positioning information of the closed area of the user equipment, and the server directly acquires the positioning information of the user equipment corresponding to the positioning dimension according to the historical positioning information, so that the positioning dimension of the user equipment is not required to be acquired again, and the positioning can be more conveniently performed.
3. The server selects to locate the beacon according to the locating dimension of the user equipment, and for zero-dimensional or one-dimensional locating, the requirement on locating precision is not high, and the cost of hardware equipment can be reduced by using Bluetooth to locate the beacon. For two-dimensional positioning, UWB positioning beacons can provide higher positioning accuracy.
Drawings
Fig. 1 is a schematic flow chart of a multi-dimensional space fusion positioning method disclosed by the embodiment of the application.
Fig. 2 is a schematic plan view of a closed area according to an embodiment of the present application.
Fig. 3 is a signaling diagram of a TOF ranging based UWB positioning as disclosed in an embodiment of the present application.
Fig. 4 is a schematic diagram of a closed region dimension partitioning flow disclosed in an embodiment of the present application.
Fig. 5 is an application scenario diagram of a multi-dimensional space fusion positioning method disclosed in the embodiment of the application.
Fig. 6 is a schematic structural diagram of a multi-dimensional space fusion positioning device according to an embodiment of the present application.
Fig. 7 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Reference numerals illustrate: 1. an acquisition module; 2. a processing module; 3. a positioning module; 4. an output module; 5. a processor; 6. a communication bus; 7. a user interface; 8. a network interface; 9. a memory.
Detailed Description
In order that those skilled in the art will better understand the technical solutions in the present specification, the technical solutions in the embodiments of the present specification will be clearly and completely described below with reference to the drawings in the embodiments of the present specification, and it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments.
In describing embodiments of the present application, words such as "for example" or "for example" are used to mean serving as examples, illustrations, or descriptions. Any embodiment or design described herein as "such as" or "for example" in embodiments of the application should not be construed as preferred or advantageous over other embodiments or designs. Rather, the use of words such as "or" for example "is intended to present related concepts in a concrete fashion.
In the description of embodiments of the application, the term "plurality" means two or more. For example, a plurality of systems means two or more systems, and a plurality of screen terminals means two or more screen terminals. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating an indicated technical feature. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless expressly specified otherwise.
The embodiment discloses a fusion positioning method of a multi-dimensional space, referring to fig. 1, comprising the following steps:
s110, receiving a positioning request sent by the user equipment.
S120, obtaining a positioning dimension corresponding to the positioning request according to a preset corresponding relation, wherein the preset corresponding relation comprises a corresponding relation between the positioning request and the positioning dimension.
S130, obtaining the regional dimension of the closed region where the user equipment is located.
And S140, when the positioning dimension is lower than or equal to the area dimension, acquiring the positioning information of the user equipment corresponding to the positioning dimension.
And S150, transmitting the positioning information to the user equipment.
Specifically, when the user is in the closed area and needs to be positioned, a positioning request is sent through the user equipment. After receiving the positioning request, the server obtains the positioning dimension corresponding to the positioning request according to the corresponding relation between the positioning request and the positioning dimension. Wherein the positioning dimensions include zero dimension, one dimension, and two dimensions. Firstly, the server acquires zero-dimensional information of the user equipment through the positioning beacon, namely, acquires a closed area where the user is located. And the server acquires the regional dimension of the closed region where the user equipment is located according to the pre-stored regional information, wherein the regional dimension is zero-dimensional, one-dimensional and two-dimensional. And when the positioning dimension requested by the user equipment is lower than or equal to the region dimension divided by the server, the server acquires the positioning information of the user equipment corresponding to the positioning dimension, and finally the positioning information is sent to the user equipment. For example, if the location dimension selected by the ue is one-dimensional location, and the area dimension of the enclosed area divided by the server is one-dimensional or two-dimensional, the server sends one-dimensional location information to the ue. Because the positioning information has correlation with the positioning dimension selected by the user equipment, the server can flexibly adjust the positioning mode according to the positioning requirement of the user equipment.
In one possible implementation manner, the corresponding relation between the positioning request and the positioning dimension specifically includes: if the positioning request is to acquire whether the user equipment is in the closed area, the positioning dimension is zero dimension. If the positioning request is to acquire the distance between the user equipment and the first side of the closed area, the positioning dimension is one-dimensional. If the positioning request is to obtain the distance between the user equipment and the first side and the second side of the closed area, the positioning dimension is two-dimensional, wherein the first side and the second side are adjacent sides.
For example, referring to fig. 2, if it is required to acquire whether the ue is in the area a, the positioning dimension corresponding to the positioning request sent by the ue in the area a is zero dimension. If the linear distance between the user equipment and the first side edge of the area C needs to be acquired, the positioning dimension corresponding to the positioning request sent by the user equipment in the area B is one-dimensional. If the linear distance between the user equipment and the first side and the second side of the area C needs to be obtained, the positioning dimension corresponding to the positioning request sent by the user equipment in the area C is two-dimensional.
In one possible implementation, the positioning information includes: zero-dimensional positioning information, one-dimensional positioning information, and two-dimensional positioning information. The zero-dimensional positioning information includes information of whether the user equipment is in a closed area. The one-dimensional positioning information comprises distance information of the user equipment from a first side of the enclosed area. The two-dimensional positioning information comprises distance information between the user equipment and a first side and a second side of the closed area, wherein the first side and the second side are adjacent sides.
For example, referring to fig. 2, if the user equipment is in the area a, the positioning information is zero-dimensional information, and the positioning information shows that the user equipment is in the closed area. If the user equipment is in the area B, the positioning information is one-dimensional information, and the display content of the positioning information is the relative distance between the user equipment and a certain side. If the user equipment is in the area C, if the positioning information is two-dimensional information, the positioning information display content is the relative coordinates (X, Y) of the user equipment relative to the intersection point of the first side and the second side.
In one possible implementation manner, before receiving the positioning request sent by the user equipment, the method further includes: the spatial characteristics of the enclosed area are identified. If the closed area is identified to be a linear space, the closed area is set to be a one-dimensional area, and 2 positioning beacons are deployed in the one-dimensional area. If the closed area is identified as the surface-shaped space, the closed area is set as a two-dimensional area, and at least 3 positioning beacons are deployed in the two-dimensional area.
Specifically, the server acquires a design engineering file of the building, identifies the engineering file, and extracts the outline of the closed area. The server encloses the enclosed area with a rectangle, requiring the area of the rectangle to be infinitely close to the area of the enclosed area. The server calculates the aspect ratio of the rectangle to obtain the spatial characteristics of the enclosed area. If the aspect ratio of the rectangle is greater than 2:1, the closed region is a linear region, and the closed region is set to be a one-dimensional region. When the area is subjected to one-dimensional positioning, the width of the area is negligible, and the relative position of the target device in length is acquired only through 2 positioning beacons. If the aspect ratio of the rectangle is between 1:1 and 2:1, the closed area is a surface area, and the closed area is set to be a two-dimensional area. When two-dimensional positioning is performed on the area, 2 coordinates of the target in the length-width direction are acquired through at least 3 positioning beacons.
In a possible implementation manner, obtaining the area dimension of the closed area where the user equipment is located specifically includes: the enclosed area and the number of pre-deployed positioning beacons in the vicinity of the enclosed area are acquired. If the number of positioning beacons is only 1, the closed area is set as a zero-dimensional area. If the number of positioning beacons is only 2, the closed area is set as a one-dimensional area. If the number of positioning beacons exceeds 2, the closed area is set to be a two-dimensional area.
Specifically, referring to fig. 3, the location tag, i.e. the user equipment, the server, i.e. the location engine, initiates a location request when the location tag is in a closed area, and sends a radio message to the location beacon, and the location beacon in the closed area receives the request, and the location beacon sends a radio message to the location tag after a specific time delay. Referring to fig. 4, the positioning tag transmits beacon number data to the positioning base station through the Lora or 2.4G wireless communication. Referring to fig. 5, a positioning base station transmits data to a positioning engine, i.e., a server, through a wired network. The positioning engine judges the number of the positioning beacons after receiving the positioning label data, sends the number information to the positioning configuration platform, and the positioning configuration platform performs synchronous region attribute configuration, namely sets region dimensions according to the number of the positioning beacons. If the number of positioning beacons is only 1, the closed area is set as a zero-dimensional area. If the number of positioning beacons is only 2, the closed area is set as a one-dimensional area. If the number of positioning beacons exceeds 2, the closed area is set to be a two-dimensional area.
After the regional dimension is set, referring to fig. 4 and 5, the positioning engine acquires the positioning dimension corresponding to the positioning request sent by the positioning tag through the positioning base station, and when the positioning dimension is higher than the regional dimension, the dimension setting is not met, and the positioning dimension corresponding to the positioning request is discarded. And when the positioning dimension is lower than or equal to the regional dimension, conforming to dimension setting, and enabling a positioning engine to adopt the positioning dimension corresponding to the positioning request. And then carrying out a corresponding dimension algorithm, wherein the one-dimensional positioning adopts a distance proportion algorithm, and the two-dimensional positioning adopts a three-point positioning algorithm. And finally, the positioning engine outputs positioning information to the positioning label.
In a possible implementation manner, after obtaining the positioning information of the user equipment corresponding to the positioning dimension when the positioning dimension is lower than or equal to the area dimension, the method includes: and if the positioning dimension is higher than the area dimension, acquiring the positioning information of the user equipment corresponding to the area dimension.
Specifically, when the positioning dimension is higher than the area dimension, for example, the area dimension is one-dimensional, the positioning dimension is two-dimensional, and the number of positioning beacons of the closed area cannot meet the positioning accuracy requirement, so that the dimension setting is not met. The server acquires the positioning information of the user equipment corresponding to the regional dimension, namely the one-dimensional positioning information.
In a possible implementation manner, referring to fig. 2, after obtaining an area dimension of a closed area where a user equipment is located, the method includes: acquiring historical positioning information of a closed area where user equipment is located; and acquiring the positioning information of the user equipment corresponding to the positioning dimension according to the historical positioning information.
For example, if the ue has been one-dimensionally located in the area C, the relative distance between the ue and the first side is located. After the server acquires the information, the server directly acquires one-dimensional positioning information, and meanwhile, the positioning beacon 1 and the positioning beacon 2 participate in positioning and send ranging information to the user equipment. After the user equipment sends the ranging information to the server, the server calculates the distance between the user equipment and the first side and directly sends the distance to the user equipment.
In a possible implementation manner, obtaining positioning information of the user equipment corresponding to the positioning dimension specifically includes: if the Bluetooth positioning beacons and the UWB positioning beacons are deployed in advance in the closed area and nearby the closed area, the corresponding positioning beacons are selected to be used for positioning according to the positioning information. And if the positioning dimension is zero dimension or one dimension, positioning information is acquired through the Bluetooth positioning beacon. And if the positioning dimension is two-dimensional, acquiring positioning information through the UWB positioning beacon.
Specifically, when the regional dimension division is performed, if the closed region is a zero-dimensional region or a one-dimensional region, a bluetooth positioning beacon is usually deployed due to low positioning accuracy requirements. Only bluetooth positioning beacons participate in positioning when zero-dimensional or one-dimensional positioning is performed in the area. If the enclosed area is a two-dimensional area, UWB positioning beacons are typically deployed due to high positioning accuracy requirements. Only UWB positioning beacons participate in positioning when the area is positioned in zero or one or two dimensions. If the Bluetooth positioning beacon and the UWB positioning beacon are deployed in the closed area in advance, the area dimension is divided into two dimensions. And when the area is subjected to zero-dimensional or one-dimensional positioning, the user equipment acquires positioning information through the Bluetooth positioning beacon. And when the area is subjected to two-dimensional positioning, the user equipment acquires positioning information through the UWB positioning beacon.
In one possible implementation, referring to fig. 3, the principle of the TOF ranging-based UWB positioning method is as follows: positioning tag as initiating device for ranging, at t 1 Initiating a ranging request radio information 1, receiving a request by a positioning beacon serving as a response device, and carrying out a preset time delay t reply B, transmitting a radio message 2 to the positioning tag, and recording the transmission time t 0 . Locating the tag at t 2 Receiving radio message at moment and at preset time delay t reply After A, a wireless message radio information 3 is sent to a positioning beacon, and the receiving time t is recorded after the positioning beacon is received 4 . Wherein t is reply A and t reply B is the same. Since the transmission speed of the signal is close to the speed of light, the distance the positioning tag moves during ranging is negligible, so the three time of flight time TOF of the signal between the positioning tag and the positioning beacon is the same. Since the round trip time is known, then it is possible to obtain: t is t round A＝t reply B+2TOF＝t 2 -t 1 ，t round B＝t reply A+2TOF＝t 4 -t 0 . The time of flight of a signal can be obtained by the following formula:
the distance between the positioning tag and the positioning beacon can be obtained by multiplying the time and the light speed. And finally, the position of the positioning label can be obtained by adopting a three-point positioning method through at least three positioning beacons because the position of the positioning label is known.
The embodiment also discloses a multidimensional space fusion positioning device, referring to fig. 6, the device is a server, and comprises an acquisition module 1, a processing module 2, a positioning module 3 and an output module 4, wherein:
an obtaining module 1, configured to receive a positioning request sent by a user equipment;
the processing module 2 is configured to obtain a positioning dimension corresponding to the positioning request according to a preset corresponding relationship, where the preset corresponding relationship includes a corresponding relationship between the positioning request and the positioning dimension;
the acquisition module 1 is further used for acquiring the region dimension of the closed region where the user equipment is located;
the positioning module 3 is used for acquiring positioning information of the user equipment corresponding to the positioning dimension when the positioning dimension is lower than or equal to the regional dimension;
and the output module 4 is used for sending the positioning information to the user equipment.
In a possible implementation manner, the server is configured to obtain whether the positioning request is that the ue is in the closed area, and the positioning dimension is zero dimension;
if the positioning request is to acquire the distance between the user equipment and the first side edge of the closed area, the positioning dimension is one-dimensional; if the positioning request is to obtain the distance between the user equipment and the first side and the second side of the closed area, the positioning dimension is two-dimensional, wherein the first side and the second side are adjacent sides.
In one possible embodiment, a server is used to identify the spatial characteristics of the enclosed area;
if the closed area is identified to be a linear space, setting the closed area as a one-dimensional area, and deploying 2 positioning beacons in the one-dimensional area;
if the closed area is identified to be the surface-shaped space, setting the closed area to be a two-dimensional area, and deploying at least 3 positioning beacons in the two-dimensional area.
In one possible implementation, a server is used to obtain the enclosed area and the number of pre-deployed positioning beacons in the vicinity of the enclosed area;
if the number of the positioning beacons is only 1, the closed area is set as a zero-dimensional area;
if the number of the positioning beacons is only 2, the closed area is set to be a one-dimensional area;
if the number of the positioning beacons exceeds 2, the closed area is set to be a two-dimensional area.
In one possible implementation, the server is used for zero-dimensional positioning information, one-dimensional positioning information and two-dimensional positioning information;
the zero-dimensional positioning information comprises information about whether the user equipment is in the closed area;
the one-dimensional positioning information comprises distance information between the user equipment and the first side edge of the closed area;
the two-dimensional positioning information comprises distance information between the user equipment and a first side and a second side of the closed area, wherein the first side and the second side are adjacent sides.
In a possible implementation manner, the server is configured to obtain the positioning information of the user equipment corresponding to the area dimension if the positioning dimension is higher than the area dimension.
In a possible implementation manner, the server is configured to obtain historical positioning information of a closed area where the user equipment is located; and acquiring the positioning information of the user equipment corresponding to the positioning dimension according to the historical positioning information.
In a possible implementation manner, if the closed area and the vicinity of the closed area are pre-deployed with a bluetooth positioning beacon and a UWB positioning beacon, the server is configured to select to use the corresponding positioning beacon for positioning according to the positioning information;
if the positioning dimension is zero dimension or one dimension, positioning information is obtained through a Bluetooth positioning beacon;
and if the positioning dimension is two-dimensional, acquiring positioning information through the UWB positioning beacon.
The embodiment also discloses an electronic device, referring to fig. 7, the electronic device may include: at least one processor 5, at least one communication bus 6, a user interface 7, a network interface 8, at least one memory 9.
Wherein a communication bus 6 is used to enable connection communication between these components.
The user interface 7 may include a Display screen (Display), a Camera (Camera), and the optional user interface 7 may further include a standard wired interface, and a wireless interface.
The network interface 8 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface), among others.
Wherein the processor 5 may comprise one or more processing cores. The processor 5 connects the various parts within the overall server using various interfaces and lines, performs various functions of the server and processes data by running or executing instructions, programs, code sets or instruction sets stored in the memory 9, and invoking data stored in the memory 9. Alternatively, the processor 5 may be implemented in hardware in at least one of digital signal processing (Digital Signal Processing, DSP), field programmable gate array (Field-Programmable Gate Array, FPGA), programmable logic array (Programmable Logic Array, PLA). The processor 5 may integrate one or a combination of several of a central processing unit (Central Processing Unit, CPU), an image processor (Graphics Processing Unit, GPU), and a modem etc. The CPU mainly processes an operating system, a user interface, an application program and the like; the GPU is used for rendering and drawing the content required to be displayed by the display screen; the modem is used to handle wireless communications. It will be appreciated that the modem may not be integrated into the processor 5 and may be implemented solely by a single chip.
The Memory 9 may include a random access Memory (Random Access Memory, RAM) or a Read-Only Memory (Read-Only Memory). Optionally, the memory 9 comprises a non-transitory computer readable medium (non-transitory computer-readable storage medium). The memory 9 may be used to store instructions, programs, code sets, or instruction sets. The memory 9 may include a stored program area and a stored data area, wherein the stored program area may store instructions for implementing an operating system, instructions for at least one function (such as a touch function, a sound playing function, an image playing function, etc.), instructions for implementing the above-described respective method embodiments, etc.; the storage data area may store data or the like involved in the above respective method embodiments. The memory 9 may alternatively be at least one memory device located remotely from the aforementioned processor 5. As shown in the figure, the memory 9 as a computer storage medium may include an operating system, a network communication module, a user interface 7 module, and an application program of a fusion positioning method of a multi-dimensional space.
In the electronic device shown in fig. 7, the user interface 7 is mainly used for providing an input interface for a user, and acquiring data input by the user; and the processor 5 may be used to invoke an application in the memory 9 that stores a multi-dimensional spatial fusion positioning method that, when executed by the one or more processors 5, causes the electronic device to perform the method as in one or more of the embodiments described above.
It should be noted that, for simplicity of description, the foregoing method embodiments are all described as a series of acts, but it should be understood by those skilled in the art that the present application is not limited by the order of acts described, as some steps may be performed in other orders or concurrently in accordance with the present application. Further, those skilled in the art will also appreciate that the embodiments described in the specification are all of the preferred embodiments, and that the acts and modules referred to are not necessarily required for the present application.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and for parts of one embodiment that are not described in detail, reference may be made to related descriptions of other embodiments.
In the several embodiments provided by the present application, it should be understood that the disclosed apparatus may be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative, such as a division of units, merely a division of logic functions, and there may be additional divisions in actual implementation, such as multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some service interface, device or unit indirect coupling or communication connection, electrical or otherwise.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable memory 9. Based on this understanding, the technical solution of the present application may be embodied essentially or partly in the form of a software product, or all or part of the technical solution, which is stored in a memory 9, and includes several instructions for causing a computer device (which may be a personal computer, a server, a network device, or the like) to perform all or part of the steps of the method of the embodiments of the present application. Whereas the aforementioned memory 9 comprises: various media capable of storing program codes, such as a U disk, a mobile hard disk, a magnetic disk or an optical disk.
The foregoing is merely exemplary embodiments of the present disclosure and is not intended to limit the scope of the present disclosure. That is, equivalent changes and modifications are contemplated by the teachings of this disclosure, which fall within the scope of the present disclosure. Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a scope and spirit of the disclosure being indicated by the claims.
Claims (8)
1. A method for fusion positioning of a multidimensional space, the method being applied to a server, the method comprising:
receiving a positioning request sent by user equipment;
obtaining a positioning dimension corresponding to the positioning request according to a preset corresponding relation, wherein the preset corresponding relation comprises a corresponding relation between the positioning request and the positioning dimension;
the corresponding relation between the positioning request and the positioning dimension specifically comprises:
if the positioning request is to acquire whether the user equipment is in the closed area, the positioning dimension is zero dimension;
if the positioning request is to acquire the distance between the user equipment and the first side edge of the closed area, the positioning dimension is one-dimensional;
if the positioning request is to acquire the distance between the user equipment and the first side and the second side of the closed area, the positioning dimension is two-dimensional, wherein the first side and the second side are adjacent sides;
acquiring the regional dimension of a closed region where the user equipment is located;
the obtaining the region dimension of the closed region where the user equipment is located specifically includes:
acquiring the enclosed area and the number of pre-deployed positioning beacons near the enclosed area;
if the number of the positioning beacons is only 1, the closed area is set as a zero-dimensional area;
if the number of the positioning beacons is only 2, the closed area is set to be a one-dimensional area;
if the number of the positioning beacons exceeds 2, the closed area is set to be a two-dimensional area;
when the positioning dimension is lower than or equal to the area dimension, positioning information of the user equipment corresponding to the positioning dimension is obtained;
and sending the positioning information to user equipment.
2. The method for fusion positioning in a multi-dimensional space according to claim 1, wherein before receiving a positioning request sent by a user equipment, the method further comprises:
identifying a spatial characteristic of the enclosed region;
if the closed area is identified to be a linear space, setting the closed area as a one-dimensional area, and deploying 2 positioning beacons in the one-dimensional area;
if the closed area is identified to be the surface-shaped space, setting the closed area to be a two-dimensional area, and deploying at least 3 positioning beacons in the two-dimensional area.
3. The multi-dimensional space fusion positioning method according to claim 1, wherein the positioning information comprises:
zero-dimensional positioning information, one-dimensional positioning information, and two-dimensional positioning information;
the zero-dimensional positioning information comprises information about whether the user equipment is in the closed area;
the one-dimensional positioning information comprises distance information between the user equipment and the first side edge of the closed area;
the two-dimensional positioning information comprises distance information between the user equipment and a first side and a second side of the closed area, wherein the first side and the second side are adjacent sides.
4. The method for fusion positioning in a multidimensional space according to claim 1, wherein after obtaining positioning information of a user device corresponding to the positioning dimension when the positioning dimension is lower than or equal to the area dimension, the method comprises:
and if the positioning dimension is higher than the area dimension, acquiring positioning information of the user equipment corresponding to the area dimension.
5. The method for fusion positioning in a multi-dimensional space according to claim 1, wherein after the obtaining the region dimension of the closed region where the user equipment is located, the method comprises:
acquiring historical positioning information of a closed area where user equipment is located;
and acquiring the positioning information of the user equipment corresponding to the positioning dimension according to the historical positioning information.
6. The method for fusion positioning in a multidimensional space according to claim 1, wherein the obtaining positioning information of the user equipment corresponding to the positioning dimension specifically includes:
if the closed area and the vicinity of the closed area are pre-deployed with Bluetooth positioning beacons and UWB positioning beacons, selecting to use the corresponding positioning beacons for positioning according to the positioning information;
if the positioning dimension is zero dimension or one dimension, positioning information is obtained through a Bluetooth positioning beacon;
and if the positioning dimension is two-dimensional, acquiring positioning information through the UWB positioning beacon.
7. The utility model provides a multidimensional space's integration positioner, its characterized in that, the device is the server, including acquisition module (1), processing module (2), positioning module (3) and output module (4), wherein:
the acquisition module (1) is used for receiving a positioning request sent by user equipment;
the processing module (2) is used for obtaining a positioning dimension corresponding to the positioning request according to a preset corresponding relation, wherein the preset corresponding relation comprises a corresponding relation between the positioning request and the positioning dimension;
the corresponding relation between the positioning request and the positioning dimension specifically comprises:
if the positioning request is to acquire whether the user equipment is in the closed area, the positioning dimension is zero dimension;
if the positioning request is to acquire the distance between the user equipment and the first side edge of the closed area, the positioning dimension is one-dimensional;
if the positioning request is to acquire the distance between the user equipment and the first side and the second side of the closed area, the positioning dimension is two-dimensional, wherein the first side and the second side are adjacent sides;
the acquisition module (1) is further used for acquiring the region dimension of the closed region where the user equipment is located;
the obtaining the region dimension of the closed region where the user equipment is located specifically includes:
acquiring the enclosed area and the number of pre-deployed positioning beacons near the enclosed area;
if the number of the positioning beacons is only 1, the closed area is set as a zero-dimensional area;
if the number of the positioning beacons is only 2, the closed area is set to be a one-dimensional area;
if the number of the positioning beacons exceeds 2, the closed area is set to be a two-dimensional area;
the positioning module (3) is configured to obtain positioning information of a user equipment corresponding to the positioning dimension when the positioning dimension is lower than or equal to the area dimension;
the output module (4) is used for sending the positioning information to user equipment.
8. An electronic device comprising a processor (5), a memory (9), a user interface (7) and a network interface (8), the memory (9) being for storing instructions, the user interface (7) and the network interface (8) being for communicating to other devices, the processor (5) being for executing the instructions stored in the memory (9) to cause the electronic device to perform the method of any of claims 1-6.
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