CN116582927A - Positioning method and related equipment - Google Patents
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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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
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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 positioning method and related equipment. The method comprises the following steps: constructing a coordinate system according to the acquired indoor antenna and wireless equipment distribution diagram; configuring a corresponding Beidou receiver for the indoor antenna based on the coordinate system, and configuring a corresponding base station for the wireless equipment; acquiring signals of the indoor antenna and the wireless device based on preset point positions in the coordinate system; and constructing a signal transmission model based on the signals, and acquiring first position information of the equipment to be positioned by using the signal transmission model. According to the embodiment of the application, the Beidou satellite and the wireless equipment are combined to position the terminal, so that the positioning accuracy is effectively improved, the positioning range is increased, the positioning cost is reduced, and the positioning reliability is effectively enhanced.
Description
Technical Field
The application relates to the technical field of indoor positioning, in particular to a positioning method and related equipment.
Background
Existing indoor positioning technologies typically utilize either beidou or wireless (WIreless Fidelity, WIFI) positioning technologies alone. Although the existing Beidou positioning system has the advantages of high precision and global coverage, the existing Beidou positioning system is limited by problems of building shielding, signal attenuation and the like when being used indoors, so that the precision and the usability of the existing Beidou positioning system are inferior to those of the existing Beidou positioning system outdoors. The existing wireless positioning technology utilizes a wireless network to perform positioning, and relies on the signal intensity of a WIFI hotspot to achieve positioning, but the distribution points of the existing WIFI equipment can only meet the current communication requirement and cannot meet the positioning requirement, and a large number of WIFI equipment is added to meet the positioning requirement if the existing wireless positioning technology is used, so that a large number of manpower and material resources are wasted.
Disclosure of Invention
In view of the above, the present application is directed to a positioning method and a positioning device.
Based on the above object, the present application provides a positioning method, comprising:
constructing a coordinate system according to the acquired indoor antenna and wireless equipment distribution diagram;
configuring a corresponding Beidou receiver for the indoor antenna based on the coordinate system, and configuring a corresponding base station for the wireless equipment;
acquiring signals of the indoor antenna and the wireless device based on preset point positions in the coordinate system;
and constructing a signal transmission model based on the signals, and acquiring first position information of the equipment to be positioned by using the signal transmission model.
In a possible implementation manner, the acquiring signals of the indoor antenna and the wireless device based on a preset point location in the coordinate system includes:
and acquiring antenna signals of the indoor antenna and wireless signals of the wireless equipment based on preset point positions in the coordinate system.
In one possible implementation, the signal transmission model includes a first transmission model and a second transmission model;
the constructing a signal transmission model based on the signal includes:
constructing the first transmission model by using a ranging algorithm based on the antenna signal;
and constructing the second transmission model according to the wireless signals and the distance between the preset point position and the wireless equipment.
In one possible implementation, the method further includes:
and updating parameters of the signal transmission model based on Bayesian positioning and/or Kalman filtering algorithm, and updating the first position information to obtain second position information.
In one possible implementation manner, the constructing a coordinate system according to the acquired chamber antenna and wireless device distribution diagram includes:
acquiring the indoor structure of the indoor antenna, the indoor antenna and the position information of the wireless equipment;
and constructing and obtaining the coordinate system based on the position information and the structure.
In a possible implementation manner, the configuring, for the indoor antenna, the corresponding beidou receiver based on the coordinate system includes:
and configuring the Beidou receiver based on the coordinate system so that each indoor antenna is connected with the Beidou receiver.
In one possible implementation manner, the configuring a corresponding base station for the wireless device includes:
the base station is configured based on the coordinate system to unify the transmit power of each of the wireless devices.
Based on the same inventive concept, an embodiment of the present application further provides a positioning device, including:
a construction module configured to construct a coordinate system based on the acquired chamber antenna and wireless device profile;
a configuration module configured to configure a corresponding receiver for the indoor antenna based on the coordinate system, and to configure a corresponding base station for the wireless device;
an acquisition module configured to acquire signals of the indoor antenna and the wireless device based on preset points in the coordinate system;
and the positioning module is configured to construct a signal transmission model based on the signals, and acquire first position information of the equipment to be positioned by using the signal transmission model.
Based on the same inventive concept, the embodiment of the application also provides an electronic device, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor realizes the positioning method according to any one of the above when executing the program.
Based on the same inventive concept, the embodiments of the present application also provide a non-transitory computer readable storage medium storing computer instructions for causing the computer to execute any one of the above positioning methods.
From the above, it can be seen that the positioning method and the related device provided by the application construct a coordinate system according to the acquired distribution diagram of the indoor antenna and the wireless device; configuring a corresponding Beidou receiver for the indoor antenna based on the coordinate system, and configuring a corresponding base station for the wireless equipment; acquiring signals of the indoor antenna and the wireless device based on preset point positions in the coordinate system; and constructing a signal transmission model based on the signals, and acquiring first position information of the equipment to be positioned by using the signal transmission model. The advantages of the Beidou positioning system and the wireless positioning method are effectively combined. The Beidou positioning system and the wireless positioning method are combined, and the advantages of the Beidou positioning system and the wireless positioning method can be utilized to complement each other, so that the positioning precision is improved, and the error is reduced; positioning is performed by combining two technologies, so that the positioning range can be expanded, and the positioning service is more popular and comprehensive; the positioning is carried out by combining two technologies, so that the existing equipment and infrastructure can be utilized to the maximum extent, and the cost investment is reduced; positioning is performed by combining two technologies, positioning reliability can be improved through mutual authentication and fault tolerance mechanisms, limitations of a single technology are avoided, and reliability is enhanced.
Drawings
In order to more clearly illustrate the technical solutions of the present application or related art, the drawings that are required to be used in the description of the embodiments or related art will be briefly described below, and it is apparent that the drawings in the following description are only embodiments of the present application, and other drawings may be obtained according to the drawings without inventive effort to those of ordinary skill in the art.
FIG. 1 is a flow chart of a positioning method according to an embodiment of the present application;
FIG. 2 is a schematic diagram of a positioning device according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the application.
Detailed Description
The present application will be further described in detail below with reference to specific embodiments and with reference to the accompanying drawings, in order to make the objects, technical solutions and advantages of the present application more apparent.
It should be noted that unless otherwise defined, technical or scientific terms used in the embodiments of the present application should be given the ordinary meaning as understood by one of ordinary skill in the art to which the present application belongs. The terms "first," "second," and the like, as used in embodiments of the present application, do not denote any order, quantity, or importance, but rather are used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that elements or items preceding the word are included in the element or item listed after the word and equivalents thereof, but does not exclude other elements or items. The terms "connected" or "connected," and the like, are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", etc. are used merely to indicate relative positional relationships, which may also be changed when the absolute position of the object to be described is changed.
As described in the background section, existing indoor positioning techniques in the related art generally utilize either beidou or wireless (WIreless Fidelity, WIFI) positioning techniques alone. Although the existing Beidou positioning system has the advantages of high precision and global coverage, the existing Beidou positioning system is limited by problems of building shielding, signal attenuation and the like when being used indoors, so that the precision and the usability of the existing Beidou positioning system are inferior to those of the existing Beidou positioning system outdoors. The existing wireless positioning technology utilizes a wireless network to perform positioning, and relies on the signal intensity of a WIFI hotspot to achieve positioning, but the distribution points of the existing WIFI equipment can only meet the current communication requirement and cannot meet the positioning requirement, and a large number of WIFI equipment is added to meet the positioning requirement if the existing wireless positioning technology is used, so that a large number of manpower and material resources are wasted.
In view of the above, the embodiment of the present application proposes a positioning method, which constructs a coordinate system according to the acquired distribution diagram of the indoor antenna and the wireless device; configuring a corresponding Beidou receiver for the indoor antenna based on the coordinate system, and configuring a corresponding base station for the wireless equipment; acquiring signals of the indoor antenna and the wireless device based on preset point positions in the coordinate system; and constructing a signal transmission model based on the signals, and acquiring first position information of the equipment to be positioned by using the signal transmission model. The advantages of the Beidou positioning system and the wireless positioning method are effectively combined. The Beidou positioning system and the wireless positioning method are combined, and the advantages of the Beidou positioning system and the wireless positioning method can be utilized to complement each other, so that the positioning precision is improved, and the error is reduced; positioning is performed by combining two technologies, so that the positioning range can be expanded, and the positioning service is more popular and comprehensive; the positioning is carried out by combining two technologies, so that the existing equipment and infrastructure can be utilized to the maximum extent, and the cost investment is reduced; positioning is performed by combining two technologies, positioning reliability can be improved through mutual authentication and fault tolerance mechanisms, limitations of a single technology are avoided, and reliability is enhanced.
The technical scheme of the embodiment of the application is described in detail below through specific embodiments.
Referring to fig. 1, the positioning method according to the embodiment of the present application includes the following steps:
step S101, constructing a coordinate system according to the acquired indoor antenna and wireless equipment distribution diagram;
step S102, configuring a corresponding Beidou receiver for the indoor antenna based on the coordinate system, and configuring a corresponding base station for the wireless equipment;
step S103, signals of the indoor antenna and the wireless equipment are collected based on preset point positions in the coordinate system;
step S104, a signal transmission model is constructed based on the signals, and first position information of equipment to be positioned is obtained by using the signal transmission model.
For step S101, the constructing a coordinate system according to the acquired chamber antenna and wireless device distribution diagram includes: acquiring the indoor structure of the indoor antenna, the indoor antenna and the position information of the wireless equipment; and constructing and obtaining the coordinate system based on the position information and the structure.
In this embodiment, it is first necessary to acquire indoor space antenna and wireless device distribution diagrams, and then construct a three-dimensional coordinate system according to the acquired distribution diagrams, in which indoor structure information and specific distribution conditions of the indoor space antenna and wireless devices in the indoor space can be shown.
In some embodiments, the distribution position information of indoor antenna can be obtained according to the drawing in decoration. For the wireless device, the position and the number of the wireless devices are not changed correspondingly, but if the existing device cannot meet the requirement, a person skilled in the art can increase or decrease the number of the wireless devices according to the requirement of the person and change the positions of the wireless devices, but for the indoor antenna, the positions and the number of the indoor antenna are difficult to change, and the preset positions and the preset number of the indoor antenna are generally reasonable, so that the indoor antenna is not changed generally, but the person skilled in the art should know that if the hard requirement exists, the person can also select to set the positions and the number of the indoor antenna correspondingly, and the priority of the change is lower than that of the wireless device.
For step S102, the configuring, for the indoor antenna, the corresponding beidou receiver based on the coordinate system includes: and configuring the Beidou receiver based on the coordinate system so that each indoor antenna is connected with the Beidou receiver.
The configuring a corresponding base station for the wireless device includes: the base station is configured based on the coordinate system to unify the transmit power of each of the wireless devices.
In some embodiments, after the three-dimensional coordinate system of the beidou indoor antenna and the WIFI deployment network is built, a corresponding beidou receiver and WIFI base station need to be configured. The Beidou receiver needs to be connected to each antenna in the indoor antenna network, so that outdoor Beidou signals can be introduced into the indoor antennas, and each terminal can receive the Beidou signals. The WIFI base station needs to unify the transmitting power, cover the whole positioning area, and provide WIFI signals for the terminal.
For step S103, the acquiring signals of the indoor antenna and the wireless device based on the preset point location in the coordinate system includes: and acquiring antenna signals of the indoor antenna and wireless signals of the wireless equipment based on preset point positions in the coordinate system.
In some embodiments, signal acquisition needs to be performed on the whole indoor positioning area, and data including Beidou signals and WIFI signals are collected. The acquired data includes information such as signal strength, signal delay, signal amplitude, etc. for each location.
In some embodiments, some acquisition points need to be preset to acquire the Beidou signal and the wireless signal of the point, and a signal transmission model is further constructed based on the pre-acquired signals. The preset point location can be set according to actual conditions, in this embodiment, the distance between the preset point location and the preset point location is 10 meters, and it is required to know that a person skilled in the art can set the preset point location according to own needs, accordingly, if the point location is set less, the calculated amount is less, but the final recognition accuracy can be affected, if the point location is set more, the final recognition accuracy is higher, but the calculation burden is increased much, and because the data needs to be stored, the occupied storage space is more, and therefore, the corresponding selection setting can be performed according to own actual needs.
For step S104, the signal transmission model includes a first transmission model and a second transmission model; the constructing a signal transmission model based on the signal includes: constructing the first transmission model by using a ranging algorithm based on the antenna signal; and constructing the second transmission model according to the wireless signals and the distance between the preset point position and the wireless equipment.
The signal transmission model comprises a first transmission model and a second transmission model; the constructing a signal transmission model based on the signal includes: constructing the first transmission model by using a ranging algorithm based on the antenna signal; and constructing the second transmission model according to the wireless signals and the distance between the preset point position and the wireless equipment.
In some embodiments, according to the collected Beidou and WIFI signal data, a corresponding signal transmission model needs to be built. The Beidou signal transmission model can be realized through a ranging algorithm, and the WIFI signal transmission model is realized through establishing a functional relation between the WIFI signal intensity and the distance. Through the two signal transmission models, the position information of each terminal can be estimated.
In some embodiments, the first transmission module may be a beidou signal pseudorange observation model.
The pseudo-range observation equation between the station satellites can be obtained according to the definition of the pseudo-range observables:
wherein, the liquid crystal display device comprises a liquid crystal display device,representing the pseudorange observations between receiver r and the j-th satellite, c representing the speed of light,/v>Representing the propagation time of the signal between the receiver r and the j-th satellite.
Due to satellite clock and receiver clockIs not aligned, so there will be clock skewAnd is subject to ionospheric delay during satellite signal propagation>And tropospheric delay->Is also subject to a certain noise +.>The pseudorange observation equation is derived as follows:
wherein, the liquid crystal display device comprises a liquid crystal display device,representing the geometrical actual distance between receiver r and j-th satellite, < >>Representing clock skew, ++>Representing ionospheric delay, +.>Indicating tropospheric delay,/->Represents noise, and c represents light velocity.
Furthermore, according to the difference between different observation stations and different satellites, a station star double-difference observation model can be constructed, clock difference can be eliminated, and meanwhile, under the conditions of short base line and stable atmospheric condition, the ionosphere delay is considered to be approximately equal to the troposphere delay, so that the atmospheric delay error can be eliminated in a double-difference equation.
The double difference pseudorange observation equation is represented by:
wherein, the liquid crystal display device comprises a liquid crystal display device,representing double difference->Representing the pseudorange observations between receiver r and the j-th satellite, +.>Representing the pseudorange observations between receiver r and the kth satellite, +.>Representing the pseudorange observations between receiver s and the j-th satellite, +.>Representing the pseudorange observations between the receiver s and the kth satellite,representing the geometrical actual distance between receiver r and j-th satellite, < >>Representing the geometrical actual distance between the receiver r and the kth satellite, < >>Representing the geometrical actual distance between the receiver s and the j-th satellite, < >>Representing the geometrically actual distance between receiver s and kth satellite +.>Representing the difference in pseudo-range noise.
Further, since the geometric distance of the station star is nonlinear, linearization processing is required to be performed on the double-difference pseudo-range observation equation to obtain a stable result, taking the observation station a as a reference station, b as a station to be measured, and the satellite 1 as a reference satellite, assuming that signals of n satellites can be received at the same time, linearizing the double-difference pseudo-range observation equation is as follows:
V P ＝A P X P -L P ；
wherein V is P Representing double-difference pseudo-range residual error, X P ＝[Δx Δy Δz] T Representing the correction amount of the approximate coordinates of the device to be positioned in the vicinity of the device to be positioned,
wherein:
wherein A is P A coefficient matrix representing the correction of the coordinates,normalized projection of true coordinates on three-dimensional coordinate axes to distance is represented,/->Representing the realisation of the receiver a to the reference satellite mDistance of inter-reference L P Representing the double difference of the observed pseudorange and the calculated pseudorange.
Wherein, (x) a0 ,y a0 ,z a0 ) Representing the approximate coordinates of the station under test, (x) m ,y m ,z m ) Representing the coordinates of satellite m.
Approximately consider V P As a result, the correction amount is 0:
X＝(A T A) -1 A T L；
and further obtaining the calculated coordinates of the station to be measured as follows:
where L represents the double difference of the observed pseudorange and the calculated pseudorange.
For the second model, the terminal is located by constructing an accepted signal strength (Received Signal Strength Indicator, RSSI) ranging model.
RSSI ranging is a common algorithm in positioning, and in free space, the signal strength gradually decays due to the diffusion of the signal capability, so that the distance of a to-be-measured point can be calculated according to the RSSI signal strength. Considering the cost, positioning accuracy and other factors, the relation model of the RSSI and the distance d is simplified into:
RSSI＝A-10nlgd；
where a represents the received signal strength RSSI value at 1m from the WiFi base station and n represents the signal grading factor, which can be taken in the actual measurement.
And when the equipment to be tested receives nearby WiFi signals, the aggregate distance between the to-be-tested point and the Bluetooth beacon is calculated according to the RSSI model, and under ideal conditions, when three WiFi signals are received, the coordinates of the to-be-tested point can be obtained through a geometric algorithm. However, in practical situations, signals are error due to interference caused by various environmental factors in the RSSI measurement, and the RSSI distance circles of the three WiFi signals cannot intersect at one point, so that only an approximate area can be obtained. In consideration of the situation, the number of WiFi signals is increased to be more than three, so that the problem of multi-point positioning is solved, and the positioning precision can be greatly improved.
The distance d from the measured point to each WiFi base station can be calculated according to the received RSSI signal i (0 < i < n), from the geometric relationship, the following set of equations can be derived:
for an overdetermined equation set containing three unknowns and more than three equations, linearizing the overdetermined equation set, and subtracting the nth equation from the first n-1 equations to obtain linearized equations:
AP＝b；
wherein:
solving by a least square method to obtain:
P＝(A T A) -1 A T b；
wherein P= [ x ] 0 y 0 z 0 ] T Is the coordinates of the device to be positioned.
Further, the two signal transmission models are utilized to acquire the first position information of the equipment to be positioned.
In some embodiments, the first location information of the final device to be located is calculated in combination with signals of the indoor antenna and the wireless device acquired by the device to be located.
Specifically, based on the signal of the indoor antenna, a first scattered point position which can be provided for particle filtering is calculated by using a first transmission model;
calculating a second scattered point position which can be provided for particle filtering by using a second transmission model based on the signal of the wireless equipment;
calculating a first weight of the first transmission model calculation result and a second weight of the second transmission model calculation result based on the signal intensity and the reliability of the first scattered point position and the second scattered point position;
and determining first position information of the equipment to be positioned based on the first scattered point position, the first weight, the second scattered point position and the second weight.
In some alternative embodiments, the method further comprises: and updating parameters of the signal transmission model based on Bayesian positioning and/or Kalman filtering algorithm, and updating the first position information to obtain second position information.
In some embodiments, to further improve positioning accuracy, optimization and iterative updating of the algorithm described above is required. Specifically, algorithms such as Bayesian positioning, kalman filtering and the like can be utilized to further optimize a positioning result, and a signal transmission model is updated according to new data, so that accuracy and stability of the algorithm are improved.
Firstly, a curve is utilized to fit a fine movement track, and the positioning precision is continuously optimized along with the movement process of the terminal.
Specifically, the fine-grained position obtained by the method of least square method, polynomial fitting or Gaussian fitting is used for fitting. Taking the M-th order polynomial fitting as an example, a polynomial curve satisfying the following form needs to be found,
wherein omega i The i-th parameter representing the curve fit,
and minimizes the total number of location points (x 1 ，y 1 )，(x 2 ，y 2 )，...(x N ，y N ) Is used for the time-dependent error of the mean square,
in some embodiments, a position estimation model based on particle filtering may also be used.
First, the terminal position is expressed as N particles:
wherein r is (i) Indicating the position of the particle, w (i) Representing the weight of the particle. v (i) Indicating the state of the particles.
Specifying the particle state at the last time as v k-1 (i) The particle state at the next moment is v k (i) The above-mentioned position prediction curve model can be expressed as P (v k |v k-1 ) The state of the next moment can be predicted by a fitted curve
Furthermore, the particle position can be updated according to the real position calculated by the Beidou and WiFi.
Wherein the method comprises the steps ofFrom the solution position A k And particle position->Deriving, calculate->Obtaining a plurality of values, and obtaining the corresponding +.>And finally, obtaining the terminal position: />
In some embodiments, in the user movement process, when the strength of the received Beidou signal is high, the Beidou signal can be considered to provide accurate positioning, and the coordinate provided by the Beidou signal and the movement model can be utilized to optimize the WiFI signal transmission model. And correcting the WiFi fading model by utilizing linear regression according to the acquired signal intensities and the corresponding positions. Specifically, we set the amount of data required for model update to 10, i.e., update the fading model once every time the terminal collects 10 sets of stronger signals. We express the modified fading model as: rssi= (a+α) -10· (n+β) ·lg (d);
where α and β are the corrections of the set of data pairs a and n, respectively. Then we can get a modified fading model using linear regression.
And in the moving process of the terminal, continuously collecting signals and correcting the fading model to obtain the second position information of the terminal.
According to the embodiment, the positioning method disclosed by the embodiment of the application constructs a coordinate system according to the acquired distribution diagram of the indoor antenna and the wireless equipment; configuring a corresponding Beidou receiver for the indoor antenna based on the coordinate system, and configuring a corresponding base station for the wireless equipment; acquiring signals of the indoor antenna and the wireless device based on preset point positions in the coordinate system; and constructing a signal transmission model based on the signals, and acquiring first position information of the equipment to be positioned by using the signal transmission model. The WIFI positioning technology is suitable for indoor environments, and can achieve higher positioning accuracy. The north bucket indoor antenna technology can eliminate the influence of multipath interference, doppler frequency shift inhibition and other factors on Beidou signals, and further improves positioning accuracy. Because the WIFI signal is greatly influenced by the environment, errors easily occur when the WIFI positioning technology is singly used, and the positioning reliability is influenced. The Beidou indoor antenna technology can realize the enhancement and optimization of Beidou signals while eliminating interference and attenuation, and improves the reliability of positioning signals. The advantages of WIFI and Beidou can be comprehensively utilized by combining the two technologies, and positioning service with high precision and high stability is achieved.
It should be noted that, the method of the embodiment of the present application may be performed by a single device, for example, a computer or a server. The method of the embodiment can also be applied to a distributed scene, and is completed by mutually matching a plurality of devices. In the case of such a distributed scenario, one of the devices may perform only one or more steps of the method of an embodiment of the present application, the devices interacting with each other to accomplish the method.
It should be noted that the foregoing describes some embodiments of the present application. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments described above and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.
Based on the same inventive concept, the application also provides a positioning device corresponding to the method of any embodiment.
Referring to fig. 2, the positioning device includes:
a construction module 21 configured to construct a coordinate system from the acquired chamber antenna and wireless device distribution map;
a configuration module 22 configured to configure the corresponding receiver for the indoor antenna and the corresponding base station for the wireless device based on the coordinate system;
an acquisition module 23 configured to acquire signals of the indoor antenna and the wireless device based on preset points in the coordinate system;
the positioning module 24 is configured to construct a signal transmission model based on the signals, and to acquire first position information of the device to be positioned using the signal transmission model.
For convenience of description, the above devices are described as being functionally divided into various modules, respectively. Of course, the functions of each module may be implemented in the same piece or pieces of software and/or hardware when implementing the present application.
The device of the foregoing embodiment is configured to implement the corresponding positioning method in any of the foregoing embodiments, and has the beneficial effects of the corresponding method embodiment, which is not described herein.
Based on the same inventive concept, the application also provides an electronic device corresponding to the method of any embodiment, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor realizes the positioning method of any embodiment when executing the program.
Fig. 3 shows a more specific hardware architecture of an electronic device according to this embodiment, where the device may include: a processor 1010, a memory 1020, an input/output interface 1030, a communication interface 1040, and a bus 1050. Wherein processor 1010, memory 1020, input/output interface 1030, and communication interface 1040 implement communication connections therebetween within the device via a bus 1050.
The processor 1010 may be implemented by a general-purpose CPU (Central Processing Unit ), microprocessor, application specific integrated circuit (Application Specific Integrated Circuit, ASIC), or one or more integrated circuits, etc. for executing relevant programs to implement the technical solutions provided in the embodiments of the present disclosure.
The Memory 1020 may be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory ), static storage device, dynamic storage device, or the like. Memory 1020 may store an operating system and other application programs, and when the embodiments of the present specification are implemented in software or firmware, the associated program code is stored in memory 1020 and executed by processor 1010.
The input/output interface 1030 is used to connect with an input/output module for inputting and outputting information. The input/output module may be configured as a component in a device (not shown) or may be external to the device to provide corresponding functionality. Wherein the input devices may include a keyboard, mouse, touch screen, microphone, various types of sensors, etc., and the output devices may include a display, speaker, vibrator, indicator lights, etc.
Communication interface 1040 is used to connect communication modules (not shown) to enable communication interactions of the present device with other devices. The communication module may implement communication through a wired manner (such as USB, network cable, etc.), or may implement communication through a wireless manner (such as mobile network, WIFI, bluetooth, etc.).
Bus 1050 includes a path for transferring information between components of the device (e.g., processor 1010, memory 1020, input/output interface 1030, and communication interface 1040).
It should be noted that although the above-described device only shows processor 1010, memory 1020, input/output interface 1030, communication interface 1040, and bus 1050, in an implementation, the device may include other components necessary to achieve proper operation. Furthermore, it will be understood by those skilled in the art that the above-described apparatus may include only the components necessary to implement the embodiments of the present description, and not all the components shown in the drawings.
The electronic device of the foregoing embodiment is configured to implement the corresponding positioning method in any of the foregoing embodiments, and has the beneficial effects of the corresponding method embodiment, which is not described herein.
Based on the same inventive concept, the present application also provides a non-transitory computer readable storage medium storing computer instructions for causing the computer to perform the positioning method according to any of the above embodiments, corresponding to the method according to any of the above embodiments.
The computer readable media of the present embodiments, including both permanent and non-permanent, removable and non-removable media, may be used to implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device.
The storage medium of the foregoing embodiments stores computer instructions for causing the computer to perform the positioning method according to any one of the foregoing embodiments, and has the advantages of the corresponding method embodiments, which are not described herein.
Those of ordinary skill in the art will appreciate that: the discussion of any of the embodiments above is merely exemplary and is not intended to suggest that the scope of the application (including the claims) is limited to these examples; the technical features of the above embodiments or in the different embodiments may also be combined within the idea of the application, the steps may be implemented in any order, and there are many other variations of the different aspects of the embodiments of the application as described above, which are not provided in detail for the sake of brevity.
Additionally, well-known power/ground connections to Integrated Circuit (IC) chips and other components may or may not be shown within the provided figures, in order to simplify the illustration and discussion, and so as not to obscure the embodiments of the present application. Furthermore, the devices may be shown in block diagram form in order to avoid obscuring the embodiments of the present application, and also in view of the fact that specifics with respect to implementation of such block diagram devices are highly dependent upon the platform within which the embodiments of the present application are to be implemented (i.e., such specifics should be well within purview of one skilled in the art). Where specific details (e.g., circuits) are set forth in order to describe example embodiments of the application, it should be apparent to one skilled in the art that embodiments of the application can be practiced without, or with variation of, these specific details. Accordingly, the description is to be regarded as illustrative in nature and not as restrictive.
While the application has been described in conjunction with specific embodiments thereof, many alternatives, modifications, and variations of those embodiments will be apparent to those skilled in the art in light of the foregoing description. For example, other memory architectures (e.g., dynamic RAM (DRAM)) may use the embodiments discussed.
The present embodiments are intended to embrace all such alternatives, modifications and variances which fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, and the like, which are within the spirit and principles of the embodiments of the application, are intended to be included within the scope of the application.
Claims (10)
1. A positioning method, comprising:
constructing a coordinate system according to the acquired indoor antenna and wireless equipment distribution diagram;
configuring a corresponding Beidou receiver for the indoor antenna based on the coordinate system, and configuring a corresponding base station for the wireless equipment;
acquiring signals of the indoor antenna and the wireless device based on preset point positions in the coordinate system;
and constructing a signal transmission model based on the signals, and acquiring first position information of the equipment to be positioned by using the signal transmission model.
2. The method of claim 1, wherein the acquiring signals of the indoor antenna and the wireless device based on the preset point location in the coordinate system comprises:
and acquiring antenna signals of the indoor antenna and wireless signals of the wireless equipment based on preset point positions in the coordinate system.
3. The method of claim 2, wherein the signal transmission model comprises a first transmission model and a second transmission model;
the constructing a signal transmission model based on the signal includes:
constructing the first transmission model by using a ranging algorithm based on the antenna signal;
and constructing the second transmission model according to the wireless signals and the distance between the preset point position and the wireless equipment.
4. The method according to claim 1, wherein the method further comprises:
and updating parameters of the signal transmission model based on Bayesian positioning and/or Kalman filtering algorithm, and updating the first position information to obtain second position information.
5. The method of claim 1, wherein constructing a coordinate system from the acquired chamber antenna and wireless device profiles comprises:
acquiring the indoor structure of the indoor antenna, the indoor antenna and the position information of the wireless equipment;
and constructing and obtaining the coordinate system based on the position information and the structure.
6. The method of claim 1, wherein the configuring the corresponding beidou receiver for the indoor antenna based on the coordinate system comprises:
and configuring the Beidou receiver based on the coordinate system so that each indoor antenna is connected with the Beidou receiver.
7. The method of claim 1, wherein configuring the corresponding base station for the wireless device comprises:
the base station is configured based on the coordinate system to unify the transmit power of each of the wireless devices.
8. A positioning device, comprising:
a construction module configured to construct a coordinate system based on the acquired chamber antenna and wireless device profile;
a configuration module configured to configure a corresponding receiver for the indoor antenna based on the coordinate system, and to configure a corresponding base station for the wireless device;
an acquisition module configured to acquire signals of the indoor antenna and the wireless device based on preset points in the coordinate system;
and the positioning module is configured to construct a signal transmission model based on the signals, and acquire first position information of the equipment to be positioned by using the signal transmission model.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the method of any one of claims 1 to 7 when the program is executed by the processor.
10. A non-transitory computer readable storage medium storing computer instructions for causing a computer to perform the method of any one of claims 1 to 7.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310632219.2A CN116582927A (en) | 2023-05-30 | 2023-05-30 | Positioning method and related equipment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310632219.2A CN116582927A (en) | 2023-05-30 | 2023-05-30 | Positioning method and related equipment |
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| CN116582927A true CN116582927A (en) | 2023-08-11 |
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| CN202310632219.2A Pending CN116582927A (en) | 2023-05-30 | 2023-05-30 | Positioning method and related equipment |
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