CN116614880A

CN116614880A - Positioning method and related device

Info

Publication number: CN116614880A
Application number: CN202310732932.4A
Authority: CN
Inventors: 杨洪; 董源
Original assignee: Shenzhen Kuaijian Technology Co ltd
Current assignee: Shenzhen Kuaijian Technology Co ltd
Priority date: 2023-06-20
Filing date: 2023-06-20
Publication date: 2023-08-18

Abstract

The embodiment of the invention provides a positioning method and a related device, which are used for positioning based on a double-point or single-point positioning base station when three-point positioning fails, so that the positioning convenience is improved. The method of the embodiment of the invention comprises the following steps: acquiring effective position coordinates and single moving distance of a target to be positioned; acquiring the position coordinates of a single-point positioning base station and the positioning distance between the single-point positioning base station and the target to be positioned, or acquiring the position coordinates of a double-point positioning base station and the positioning distance between the double-point positioning base station and the target to be positioned respectively; and positioning the moving target to be positioned based on the effective position coordinates and the single-movement distance of the target to be positioned, the position coordinates of the single-point positioning base station and the positioning distance between the single-point positioning base station and the target to be positioned, or the position coordinates of the double-point positioning base station and the positioning distance between the double-point positioning base station and the target to be positioned respectively.

Description

Positioning method and related device

Technical Field

The present invention relates to the field of positioning technologies, and in particular, to a positioning method and a related device.

Background

Short-range, high-precision indoor positioning techniques are very widely used in urban dense areas and indoor enclosed spaces. UWB (ultra wide band) signals are widely applied to positioning technology with higher time resolution, one signal receiving and transmitting mode of a UWB positioning system is that a positioning base station transmits positioning signals, a device to be positioned receives the positioning signals, and positioning of the device to be positioned is achieved by means of an arrival time TOA (TimeofArrivial) positioning algorithm or an arrival time difference TDOA (TimeDifferenceofArrivial) positioning algorithm.

However, when the TDOA method is used, if the positioning base station is blocked in a complex environment, three or more ranging values cannot be received, and positioning cannot be performed.

Disclosure of Invention

The embodiment of the application provides a positioning method and a related device, which are used for positioning based on a double-point or single-point positioning base station when three-point positioning fails, so that the positioning convenience is improved.

An embodiment of the present application provides a positioning method, including:

acquiring effective position coordinates and single moving distance of a target to be positioned;

acquiring the position coordinates of a single-point positioning base station and the positioning distance between the single-point positioning base station and the target to be positioned, or acquiring the position coordinates of a double-point positioning base station and the positioning distance between the double-point positioning base station and the target to be positioned respectively;

And positioning the moving target to be positioned based on the effective position coordinates and the single-movement distance of the target to be positioned, the position coordinates of the single-point positioning base station and the positioning distance between the single-point positioning base station and the target to be positioned, or the position coordinates of the double-point positioning base station and the positioning distance between the double-point positioning base station and the target to be positioned respectively.

Preferably, based on the effective position coordinates and the single movement distance of the target to be positioned, the positioning method, with the position coordinates of the single point positioning base station and the positioning distance between the single point positioning base station and the target to be positioned, positions the moving target to be positioned, includes:

determining the next estimated position coordinate of the target to be positioned in the moving process according to the effective position coordinate of the target to be positioned and the single moving distance;

determining estimated positioning coordinates of the single-point positioning base station on the target to be positioned according to the position coordinates of the single-point positioning base station and the positioning distance between the single-point positioning base station and the target to be positioned;

and determining the next positioning coordinate of the target to be positioned in the moving process according to the estimated position coordinate and the estimated positioning coordinate.

Preferably, the determining, according to the effective position coordinate and the single movement distance of the target to be positioned, the estimated position coordinate of the target to be positioned next time in the movement process includes:

taking the effective position coordinate of the target to be positioned as a circle center and taking the single movement distance as a radius to make a circle P, determining any point on the circle P as the estimated position coordinate of the target to be positioned next time in the movement process;

according to the position coordinates of the single-point positioning base station and the positioning distance between the single-point positioning base station and the target to be positioned, determining the estimated positioning coordinates of the single-point positioning base station to the target to be positioned comprises the following steps:

taking the position coordinates of the single-point positioning base station as a circle center and taking the positioning distance between the single-point positioning base station and the target to be positioned as a radius to make a circle A1;

determining any point on the circle A1 as an estimated positioning coordinate of the single-point positioning base station on the target to be positioned;

determining the next positioning coordinate of the target to be positioned in the moving process according to the estimated position coordinate and the estimated positioning coordinate, including:

and determining the next positioning coordinate of the object to be positioned in the moving process according to the position relation between the circle P and the circle A1.

Preferably, the determining, according to the positional relationship between the circle P and the circle A1, the positioning coordinates of the target to be positioned next time in the moving process includes:

judging whether the circle P and the circle A1 have an intersection point or not;

if an intersection point exists and the circle P is tangent to the circle A1, the position coordinate of the tangent point is regarded as the next positioning coordinate of the target to be positioned in the moving process;

if there are intersection points and 2 intersection points exist between the circle P and the circle A1, making a perpendicular bisector of the connection line of the 2 intersection points by passing through the center of the circle P, and regarding the intersection point coordinates of the perpendicular bisector and the connection line of the 2 intersection points as the next positioning coordinates of the object to be positioned in the moving process;

and if the intersection point does not exist, the effective position coordinates of the positioning target are regarded as the next positioning coordinates of the target to be positioned in the moving process.

Preferably, based on the effective position coordinates and the single movement distance of the target to be positioned, the positioning distances between the effective position coordinates and the position coordinates of the two-point positioning base station and the target to be positioned respectively, the method for positioning the moving target to be positioned comprises the following steps:

Determining estimated positioning coordinates of the two-point positioning base station on the target to be positioned according to the position coordinates of the two-point positioning base station and the positioning distances between the two-point positioning base station and the target to be positioned respectively;

Preferably, determining the estimated position coordinate of the target to be positioned next time in the moving process according to the effective position coordinate of the target to be positioned and the single moving distance includes:

taking the effective position coordinate of the positioning target as a circle center and taking the single movement distance as a radius to make a circle P, determining any point on the circle P as the estimated position coordinate of the target to be positioned next time in the movement process;

according to the position coordinates of the two-point positioning base station and the positioning distances between the two-point positioning base station and the target to be positioned, determining the estimated positioning coordinates of the two-point positioning base station on the target to be positioned comprises the following steps:

respectively taking the position coordinates of the double-point positioning base station as a circle center, taking the positioning distance between the corresponding positioning base station and the target to be positioned as a radius, and respectively making a circle A2 and a circle A3;

According to the position relation between the circle A2 and the circle A3, determining the estimated positioning coordinates of the double-point positioning base station on the target to be positioned;

and determining the next positioning coordinate of the object to be positioned in the moving process according to the position relation between the circle A2 and the circle A3 and the position relation between the circle A2, the circle A3 and the circle P.

Preferably, the determining the positioning coordinates of the object to be positioned next time in the moving process according to the positional relationship between the circle A2 and the circle A3 and the positional relationship between the circle A2, the circle A3 and the circle P includes:

judging whether the circle A2 and the circle A3 have an intersection point or not;

if there is no intersection point between the circle A2 and the circle A3, determining a positioning coordinate of the target to be positioned next time in the moving process according to a first strategy, wherein the first strategy includes:

judging whether an intersection point exists among the circle A2, the circle A3 and the circle P;

if the circle A2, the circle A3 and the circle P have only one intersection point respectively, the intersection point of the circle with smaller radius in the circle A2 and the circle A3 and the circle P is regarded as the next positioning coordinate of the object to be positioned in the moving process;

If the circle A2, the circle A3 and the circle P respectively have 2 intersection points, determining a circle with smaller radius from the circle A2 and the circle A3;

and determining the next positioning coordinate of the target to be positioned in the moving process based on 2 intersection points of the circle with the smaller radius and the circle P and the circle center of the circle P.

Preferably, the first policy further includes:

if only one circle of the circles A2 and A3 has a unique intersection point with the circle P, the unique intersection point is regarded as the next positioning coordinate of the target to be positioned in the moving process;

if only one of the circles A2 and A3 has 2 intersection points with the circle P, determining the next positioning coordinate of the object to be positioned in the moving process based on the 2 intersection points with the circle P and the circle center of the circle P.

Preferably, the first policy further includes:

and if the circle A2 and the circle A3 have no intersection points with the circle P, the effective position coordinates of the target to be positioned are regarded as the next positioning coordinates of the target to be positioned in the moving process.

Preferably, determining the positioning coordinates of the object to be positioned next time in the moving process according to the positional relationship between the circle A2 and the circle A3 and the positional relationship between the circle A2, the circle A3 and the circle P further includes:

If a unique intersection point exists between the circle A2 and the circle A3, judging whether the unique intersection point is on the circle P or not;

if the unique intersection point is on the circle P, the position coordinate of the unique intersection point is regarded as the next positioning coordinate of the target to be positioned in the moving process;

and if the unique intersection point is not on the circle P, determining the next positioning coordinate of the target to be positioned in the moving process according to the first strategy.

if there are 2 intersection points between the circle A2 and the circle A3, judging whether the 2 intersection points between the circle A2 and the circle A3 are on the circle P;

if all 2 intersection points between the circle A2 and the circle A3 are on the circle P, determining the next positioning coordinate of the object to be positioned in the moving process based on the 2 intersection points between the circle A2 and the circle A3 and the circle center of the circle P.

Preferably, after determining whether 2 intersections between the circle A2 and the circle A3 are on the circle P, the method further includes:

If one of the 2 intersection points of the circle A2 and the circle A3 is on the circle P, the intersection point on the circle P is regarded as the next positioning coordinate of the target to be positioned in the moving process;

and if all 2 intersection points of the circle A2 and the circle A3 are not on the circle P, determining the next positioning coordinate of the target to be positioned in the moving process according to the first strategy.

Preferably, the acquiring the single movement distance of the target to be positioned includes:

acquiring a positioning distance between the target to be positioned and the single-point positioning base station or between the target to be positioned and any one of the double-point positioning base stations in an unobstructed environment;

acquiring an actual measurement distance between the target to be positioned and the single-point positioning base station, or an actual measurement distance between the target to be positioned and any one of the double-point positioning base stations;

based on the positioning distance and the actual measurement distance between the target to be positioned and the single-point positioning base station; or determining the single moving distance of the target to be positioned based on the positioning distance between the target to be positioned and any one of the two-point positioning base stations and the actual measured distance.

acquiring a plurality of groups of adjacent effective position coordinates of the target to be positioned in a continuous moving process;

and determining the single moving distance of the target to be positioned according to the plurality of groups of adjacent effective position coordinates.

Preferably, the target to be positioned is a digital key, and the single-point positioning base station and the double-point positioning base station are labels arranged at fixed positions of the vehicle.

A second aspect of an embodiment of the present application provides a positioning device, including:

the first acquisition unit is used for acquiring the effective position coordinates and the single moving distance of the target to be positioned;

the second acquisition unit acquires the position coordinates of a single-point positioning base station and the positioning distance between the single-point positioning base station and the target to be positioned, or the position coordinates of a double-point positioning base station and the positioning distance between the double-point positioning base station and the target to be positioned respectively;

the positioning unit is used for positioning the moving target to be positioned based on the effective position coordinates and the single moving distance of the target to be positioned, the position coordinates of the single-point positioning base station and the positioning distance between the single-point positioning base station and the target to be positioned, or the position coordinates of the double-point positioning base station and the positioning distance between the double-point positioning base station and the target to be positioned respectively.

Preferably, the positioning unit is specifically configured to:

Preferably, the first policy further includes:

Preferably, the positioning unit is specifically configured to:

Preferably, the first obtaining unit is specifically configured to:

A third aspect of the embodiments of the present application provides a computer apparatus comprising a processor for implementing the positioning method provided in the first aspect of the embodiments of the present application when executing a computer program stored on a memory.

A fourth aspect of the embodiments of the present application provides a computer readable storage medium having stored thereon a computer program for implementing the positioning method provided by the first aspect of the embodiments of the present application when the computer program is executed by a processor.

From the above technical solutions, the embodiment of the present application has the following advantages:

in the embodiment of the application, the effective position coordinates and the single moving distance of the target to be positioned are obtained; acquiring the position coordinates of a single-point positioning base station and the positioning distance between the single-point positioning base station and the target to be positioned, or acquiring the position coordinates of a double-point positioning base station and the positioning distance between the double-point positioning base station and the target to be positioned respectively; and positioning the moving target to be positioned based on the effective position coordinates and the single-movement distance of the target to be positioned, the position coordinates of the single-point positioning base station and the positioning distance between the single-point positioning base station and the target to be positioned, or the position coordinates of the double-point positioning base station and the positioning distance between the double-point positioning base station and the target to be positioned respectively.

Because the embodiment of the application can realize the positioning of the mobile target to be positioned by the position coordinates of the single-point positioning base station and the measurement distance between the single-point positioning base station and the target to be positioned or the position coordinates of the double-point positioning base station and the measurement distance between the double-point positioning base station and the target to be positioned respectively when the target to be positioned cannot acquire the positioning coordinates of the three positioning base stations and the measurement distance between the three positioning base stations and the target to be positioned, thereby realizing the positioning convenience.

Drawings

FIG. 1 is a schematic diagram of an embodiment of a positioning method according to an embodiment of the present application;

FIG. 2 shows a refinement step of step 103 of the embodiment of FIG. 1 according to the present application;

FIG. 3 is a further refinement of step 103 of the embodiment of FIG. 1 according to the present application;

fig. 4 is a schematic view of an embodiment of a positioning device according to an embodiment of the present application.

Detailed Description

In order that those skilled in the art will better understand the present application, a technical solution in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present application without making any inventive effort, shall fall within the scope of the present application.

The terms first, second, third, fourth and the like in the description and in the claims and in the above drawings are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments described herein may be implemented in other sequences than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

In general, in a TDOA (TimeDifferenceofArrival) positioning method or a UWB (Ultra wide band) positioning method, three positioning base stations are required to position a target to be positioned, but if the target to be positioned can only acquire coordinates and measurement distances sent by a single positioning base station or a double positioning base station under a complex environment or under the condition that the positioning base stations are blocked, the existing positioning method cannot position the target to be positioned.

For convenience of understanding, a positioning method according to an embodiment of the present application is described below, and referring to fig. 1, an embodiment of a positioning method according to an embodiment of the present application includes:

101. acquiring effective position coordinates and single moving distance of a target to be positioned;

based on the application background, if the target to be positioned is in the application scene of three-point positioning, only the position coordinates of the single-point positioning base station or the double-point positioning base station, and the measurement distance sent by the single-point positioning base station (namely the distance between the single-point positioning base station and the target to be positioned), or the measurement distance sent by the double-point positioning base station, the embodiment of the application obtains the effective position coordinates and the single-time movement distance of the target to be positioned.

Specifically, the effective position coordinates of the target to be positioned may be the effective position coordinates of the target to be positioned obtained last time in the scene of three-point positioning, or the effective position coordinates of the target to be positioned defined in advance, etc., where the method for obtaining the effective position coordinates of the target to be positioned is not specifically limited.

Further, in the embodiment of the present application, the single movement distance of the target to be positioned may be a difference between the positioning distance and the actual measurement distance, or the determined single movement distance of the target to be positioned according to the history data of the target to be positioned is not specifically limited herein.

For ease of understanding, the single travel distance of the object to be positioned is described below:

in one embodiment, the single moving distance of the target to be positioned is a difference Y (y=x-X1) between a positioning distance X between the single point positioning base station and the target to be positioned and an actual measured distance X1 between the single point positioning base station and the target to be positioned in an unobstructed environment. Further, in order to improve the accuracy of the calculation of the difference Y, in the actual calculation process, a plurality of differences between the positioning distances of the target to be positioned and the actual measurement distances between the plurality of positioning base stations and the target to be positioned by the plurality of positioning base stations may be calculated, and an average value of the plurality of differences may be calculated to improve the accuracy of the difference.

In another embodiment, the single movement distance of the target to be positioned is the single movement distance of the target to be positioned calculated according to a plurality of groups of adjacent effective position coordinates in the continuous movement process of the target to be positioned.

102. Acquiring the position coordinates of a single-point positioning base station and the positioning distance between the single-point positioning base station and the target to be positioned, or acquiring the position coordinates of a double-point positioning base station and the positioning distance between the double-point positioning base station and the target to be positioned respectively;

When the target to be positioned cannot acquire the position coordinates and the positioning distance of the three-point positioning base station, the embodiment of the application only needs to acquire the position coordinates of the single-point positioning base station and the positioning distance between the single-point positioning base station and the target to be positioned, or the position coordinates of the double-point positioning base station and the positioning distance between the double-point positioning base station and the target to be positioned respectively, so that the next positioning position of the target to be positioned in the moving process can be determined, and the convenience of positioning the target to be positioned is improved.

103. And positioning the moving target to be positioned based on the effective position coordinates and the single-movement distance of the target to be positioned, the position coordinates of the single-point positioning base station and the positioning distance between the single-point positioning base station and the target to be positioned, or the position coordinates of the double-point positioning base station and the positioning distance between the double-point positioning base station and the target to be positioned respectively.

In step 102, the position coordinates of the single-point positioning base station and the positioning distance between the single-point positioning base station and the target to be positioned are obtained, or the position coordinates of the double-point positioning base station and the positioning distance between the double-point positioning base station and the target to be positioned are obtained, so that the moving target to be positioned can be positioned. As for the specific positioning process, the following embodiments will be described, and will not be described here.

Based on the embodiment described in fig. 1, the following describes the positioning process of the moving target to be positioned when only the position coordinates of the single-point positioning base station and the measured distance between the single-point positioning base station and the target to be positioned can be obtained, please refer to fig. 2, fig. 2 is a refinement step of step 103:

201. determining the next estimated position coordinate of the target to be positioned in the moving process according to the effective position coordinate of the target to be positioned and the single moving distance;

specifically, when the effective position coordinates and the single moving distance of the target to be positioned are obtained, the estimated position coordinates of the target to be positioned next time in the moving process can be determined according to the effective position coordinates and the single moving distance of the target to be positioned.

When determining the next estimated position coordinate of the object to be positioned in the moving process, the effective position coordinate of the object to be positioned can be used as a circle center, the single moving distance is used as a radius, and a circle P is made, so that any point coordinate on the circle P is the next estimated position coordinate of the object to be positioned in the moving process.

202. Determining estimated positioning coordinates of the single-point positioning base station on the target to be positioned according to the position coordinates of the single-point positioning base station and the positioning distance between the single-point positioning base station and the target to be positioned;

After the position coordinates of the single-point positioning base station and the positioning distance between the single-point positioning base station and the target to be positioned are obtained, the estimated positioning coordinates of the single-point positioning base station to the target to be positioned can be determined according to the position coordinates of the single-point positioning base station and the positioning distance between the single-point positioning base station and the target to be positioned.

Specifically, when determining the estimated positioning coordinates of the target to be positioned by the single-point positioning base station, the circle A1 may be made with the position coordinates of the single-point positioning base station as the center and the positioning distance between the single-point positioning base station and the target to be positioned as the radius, and then the coordinates of any point on the circle A1 are the estimated positioning coordinates of the target to be positioned by the single-point positioning base station.

203. And determining the next positioning coordinate of the target to be positioned in the moving process according to the estimated position coordinate and the estimated positioning coordinate.

After the estimated position coordinates and the estimated positioning coordinates of the target to be positioned are obtained, the next positioning coordinates of the target to be positioned in the moving process can be determined according to the estimated position coordinates and the estimated positioning coordinates of the target to be positioned.

Specifically, when determining the next positioning coordinate of the object to be positioned in the moving process, judging whether the circle P and the circle A1 have an intersection point or not; if the intersection point exists and the circle P is tangent to the circle A1, the position coordinate of the tangent point is regarded as the next positioning coordinate of the target to be positioned in the moving process; if there are intersection points, and 2 intersection points exist between the circle P and the circle A1, the center of the circle P is crossed with the center line of the 2 intersection point connecting lines, and the intersection point coordinates of the center line and the 2 intersection point connecting lines are regarded as the next positioning coordinates of the object to be positioned in the moving process; if the circle P and the circle A1 have no intersection point, the effective position coordinate of the target to be positioned is regarded as the next positioning coordinate of the target to be positioned in the moving process, namely, the effective position coordinate of the target to be positioned is kept unchanged.

In the embodiment of the application, when the position coordinates of the single-point positioning base station and the positioning distance between the single-point positioning base station and the target to be positioned can be obtained, the process of determining the next positioning coordinates of the target to be positioned in the moving process is described in detail, so that the convenience of positioning the target to be positioned in a single-point positioning scene is improved.

Based on the embodiment described in fig. 1, the following describes the positioning process of the moving target to be positioned when only the position coordinates of the two-point positioning base station and the measured distance between the two-point positioning base station and the target to be positioned can be obtained, please refer to fig. 3, fig. 3 is another refinement step of step 103:

301. determining the next estimated position coordinate of the target to be positioned in the moving process according to the effective position coordinate of the target to be positioned and the single moving distance;

specifically, the description of this step is similar to that of step 201, and will not be repeated here.

302. Determining estimated positioning coordinates of the two-point positioning base station on the target to be positioned according to the position coordinates of the two-point positioning base station and the positioning distances between the two-point positioning base station and the target to be positioned respectively;

Specifically, after the position coordinates of the two-point positioning base station and the positioning distances between the two-point positioning base station and the target to be positioned are obtained, the position coordinates of the two-point positioning base station are used as circle centers, the positioning distances between the corresponding positioning base station and the target to be positioned are used as radiuses, a circle A2 and a circle A3 are respectively made, and then the estimated positioning coordinates of the two-point positioning base station on the target to be positioned are determined based on the position relation of the circle A2 and the circle A3.

303. And determining the next positioning coordinate of the target to be positioned in the moving process according to the estimated position coordinate and the estimated positioning coordinate.

After the estimated position coordinates and the estimated positioning coordinates of the target to be positioned are obtained, determining the next positioning coordinates of the target to be positioned in the moving process according to the estimated position coordinates and the estimated positioning coordinates of the target to be positioned.

Specifically, when determining the next positioning coordinate of the object to be positioned in the moving process, namely, determining the next positioning coordinate of the object to be positioned in the moving process according to the position relationship between the circle A2 and the circle A3 and the position relationship between the circle A2, the circle A3 and the circle P.

For convenience of understanding, a description will be given below of how to determine the next positioning coordinates of the object to be positioned in the moving process based on the positional relationship between the circle A2 and the circle A3, and the positional relationship between the circle A2, the circle A3, and the circle P.

1. There is no intersection point between circle A2 and circle A3

If no intersection point exists between the circle A2 and the circle A3, determining the next positioning coordinate of the target to be positioned in the moving process according to a first strategy, wherein the first strategy comprises: judging whether an intersection point exists among the circle A2, the circle A3 and the circle P;

(1) If the circles A2, A3 and P have only one intersection point respectively (i.e. the circles A2 and A3 are tangent to the circle P respectively), the intersection point of the circle with smaller radius and the circle P in the circles A2 and A3 (i.e. the tangent point of the circle with smaller radius and the circle P in the circles A2 and A3) is regarded as the positioning coordinate of the object to be positioned next time in the moving process;

(2) If the circle A2, the circle A3 and the circle P respectively have 2 intersection points, determining a circle with smaller radius in the circle A2 and the circle A3; and determining the next positioning coordinate of the object to be positioned in the moving process based on 2 intersection points of the circle with the smaller radius and the circle P and the circle center of the circle P.

Specifically, when the circles A2, A3 and P have 2 intersection points respectively, determining a circle with a smaller radius (assuming that the circle with the smaller radius is the circle A2) in the circles A2 and A3, making a perpendicular bisector to a line connecting the 2 intersection points of the circle A2 and the circle P through the center of the circle P, and regarding the intersection point coordinates of the line connecting the perpendicular bisector and the 2 intersection points as the next positioning coordinates of the object to be positioned in the moving process.

(3) If only one circle of the circles A2 and A3 has a unique intersection point with the circle P, the unique intersection point is regarded as the next positioning coordinate of the target to be positioned in the moving process;

assuming that only circle A2 and circle P have a unique intersection point, the unique intersection point is regarded as the positioning coordinate of the object to be positioned next time in the moving process.

(4) If only one of the circles A2 and A3 has 2 intersection points with the circle P, determining the next positioning coordinate of the object to be positioned in the moving process based on the 2 intersection points with the circle P and the circle center of the circle P.

Specifically, assuming that only the circle A2 and the circle P have 2 intersection points, the circle center of the circle P is crossed, a perpendicular bisector of the 2 intersection points is made, and the intersection point coordinates of the connecting line of the perpendicular bisector and the 2 intersection points are regarded as the next positioning coordinates of the object to be positioned in the moving process.

(5) If the circle A2, the circle A3 and the circle P have no intersection points, the effective position coordinates of the object to be positioned are regarded as the next positioning coordinates of the object to be positioned in the moving process, namely, the effective position coordinates of the object to be positioned are kept unchanged.

2. With a single point of intersection between circle A2 and circle A3

(1) If a unique intersection point exists between the circle A2 and the circle A3 and is on the circle P, the position coordinate of the unique intersection point is regarded as the next positioning coordinate of the object to be positioned in the moving process;

(2) If there is a unique intersection point between the circle A2 and the circle A3, but the unique intersection point is not on the circle P, determining a positioning coordinate of the target to be positioned next time in the moving process according to the first strategy, wherein the description of the first strategy is similar to the description of the first strategy in the first case, and will not be repeated here.

3. There are 2 intersections between circle A2 and circle A3

(1) If there are 2 intersections between the circle A2 and the circle A3 and the 2 intersections are all on the circle P, the next positioning coordinate of the object to be positioned in the moving process is determined based on the 2 intersections between the circle A2 and the circle A3 and the center of the circle P.

Specifically, if 2 intersection points exist between the circle A2 and the circle A3, and the 2 intersection points are all on the circle P, the circle center of the circle P is crossed, a perpendicular line is drawn to a connecting line of the 2 intersection points between the circle A2 and the circle A3, and the intersection point of the perpendicular line and the connecting line of the 2 intersection points between the circle A2 and the circle A3 is the next positioning coordinate of the object to be positioned in the moving process.

(2) If 2 intersection points exist between the circle A2 and the circle A3, but one intersection point among the 2 intersection points is on the circle P, the intersection point on the circle P is regarded as the next positioning coordinate of the target to be positioned in the moving process;

specifically, assuming that there are 2 intersection points a and b between the circle A2 and the circle A3, but only the intersection point a is on the circle P, the position coordinate of a is regarded as the positioning coordinate of the object to be positioned next time in the moving process.

(3) If there are 2 intersection points between the circle A2 and the circle A3, but none of the 2 intersection points is on the circle P, determining the next positioning coordinate of the object to be positioned in the moving process according to the first strategy.

Specifically, the description of the first policy is similar to that of the first policy in the first case, and will not be repeated here.

It should be noted that the embodiments of fig. 1 to 3 of the present application may be applied to the technical field of UWB digital keys, where the target to be located is a UWB digital key, and the single-point location base station or the double-point location base station is a tag installed at a fixed position of a vehicle, so as to locate the position of the UWB digital key in the moving process through the tag.

The positioning method of the present application is described above, and the following describes a positioning device of an embodiment of the present application, referring to fig. 4, and an embodiment of the positioning device of the embodiment of the present application includes:

a first obtaining unit 401, configured to obtain an effective position coordinate and a single movement distance of a target to be positioned;

a second obtaining unit 402, configured to obtain a position coordinate of a single-point positioning base station and a positioning distance between the single-point positioning base station and the target to be positioned, or a position coordinate of a double-point positioning base station and a positioning distance between the double-point positioning base station and the target to be positioned, respectively;

And the positioning unit 403 is configured to position the moving target to be positioned based on the effective position coordinate and the single movement distance of the target to be positioned, the position coordinate of the single-point positioning base station, the positioning distance between the single-point positioning base station and the target to be positioned, or the position coordinate of the double-point positioning base station and the positioning distance between the double-point positioning base station and the target to be positioned.

Preferably, the positioning unit 403 is specifically configured to:

Preferably, the first policy further includes:

Preferably, the positioning unit 403 is specifically configured to:

Preferably, the first obtaining unit 401 is specifically configured to:

It should be noted that the functions of the above units of the present application are similar to those described in the embodiments of fig. 1 to 3, and are not repeated here.

Because the embodiment of the application can realize the positioning of the mobile target to be positioned through the position coordinates of the single-point positioning base station and the measurement distance between the single-point positioning base station and the target to be positioned or through the position coordinates of the double-point positioning base station and the measurement distance between the double-point positioning base station and the target to be positioned when the target to be positioned cannot acquire the positioning coordinates of the three positioning base stations and the measurement distance between the three positioning base stations and the target to be positioned, thereby realizing the positioning convenience.

The positioning device in the embodiment of the present invention is described above from the point of view of the modularized functional entity, and the computer device in the embodiment of the present invention is described below from the point of view of hardware processing:

the computer device is used for realizing the function of the positioning device, and one embodiment of the computer device comprises:

a processor and a memory;

the memory is used for storing a computer program, and the processor is used for executing the computer program stored in the memory, and the following steps can be realized:

In some embodiments of the invention, the processor may be further configured to implement the steps of:

In some embodiments of the invention, the first policy further comprises:

In some embodiments of the present invention, the target to be located is a digital key, and the single point location base station and the double point location base station are tags disposed at fixed locations of the vehicle.

It will be appreciated that when the processor in the above-described computer apparatus executes the computer program, the functions of each unit in the corresponding embodiments of the apparatus may also be implemented, which is not described herein. The computer program may be divided into one or more modules/units, which are stored in the memory and executed by the processor to accomplish the present invention, for example. The one or more modules/units may be a series of computer program instruction segments capable of performing the specified functions, which instruction segments are used for describing the execution of the computer program in the positioning device. For example, the computer program may be divided into units in the above-mentioned positioning device, each unit may realize a specific function as described in the above-mentioned corresponding positioning device.

The computer device can be a desktop computer, a notebook computer, a palm computer, a cloud server and other computing equipment. The computer device may include, but is not limited to, a processor, a memory. It will be appreciated by those skilled in the art that the processor, memory, etc. are merely examples of computer apparatus and are not limiting of computer apparatus, and may include more or fewer components, or may combine certain components, or different components, e.g., the computer apparatus may also include input and output devices, network access devices, buses, etc.

The processor may be a central processing unit (CentralProcessingUnit, CPU), but may also be other general purpose processors, digital signal processors (DigitalSignalProcessor, DSP), application specific integrated circuits (ApplicationSpecificIntegratedCircuit, ASIC), off-the-shelf programmable gate arrays (Field-ProgrammableGateArray, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like that is a control center of the computer device, connecting various parts of the overall computer device using various interfaces and lines.

The memory may be used to store the computer program and/or modules, and the processor may implement various functions of the computer device by running or executing the computer program and/or modules stored in the memory, and invoking data stored in the memory. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function, and the like; the storage data area may store data created according to the use of the terminal, etc. In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as a hard disk, memory, plug-in hard disk, smart memory card (SmartMediaCard, SMC), secure digital (SecureDigital, SD) card, flash card (FlashCard), at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device.

The present invention also provides a computer readable storage medium for implementing the functions of a positioning device, having stored thereon a computer program which, when executed by a processor, is operable to perform the steps of:

In some embodiments of the present invention, a computer program stored on a computer readable storage medium, when executed by a processor, may also be used to implement the steps of:

In some embodiments of the invention, the first policy further comprises:

It will be appreciated that the integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a corresponding one of the computer readable storage media. Based on such understanding, the present invention may implement all or part of the above-described respective embodiment methods, or may be implemented by a computer program for instructing relevant hardware, where the computer program may be stored in a computer readable storage medium, and the computer program may implement the steps of each of the above-described method embodiments when being executed by a processor. Wherein the computer program comprises computer program code which may be in source code form, object code form, executable file or some intermediate form etc. The computer readable medium may include: any entity or device capable of carrying the computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer memory, a Read-only memory (ROM), a random access memory (RAM, random AccessMemory), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth. It should be noted that the computer readable medium contains content that can be appropriately scaled according to the requirements of jurisdictions in which such content is subject to legislation and patent practice, such as in certain jurisdictions in which such content is subject to legislation and patent practice, the computer readable medium does not include electrical carrier signals and telecommunication signals.

In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices, and methods may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of the units is merely a logical function division, and there may be additional divisions when actually implemented, e.g., 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 an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.

The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.

The above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method of positioning, comprising:

2. The method according to claim 1, wherein locating the moving target to be located based on the effective position coordinates and the single movement distance of the target to be located, the position coordinates of the single point location base station and the location distance between the single point location base station and the target to be located, comprises:

3. The method according to claim 2, wherein determining the estimated position coordinates of the object to be positioned next in the moving process according to the effective position coordinates of the object to be positioned and the single moving distance comprises:

4. A method according to claim 3, wherein said determining the positioning coordinates of the object to be positioned next in the moving process based on the positional relationship between the circle P and the circle A1 comprises:

5. The method according to claim 1, wherein locating the moving target to be located based on the effective position coordinates and the single moving distance of the target to be located, and the position coordinates of the two-point locating base station and the locating distance between the two-point locating base station and the target to be located, respectively, comprises:

6. The method of claim 5, wherein determining the estimated position coordinates of the object to be positioned next in the moving process based on the effective position coordinates of the object to be positioned and the single moving distance comprises:

7. The method according to claim 6, wherein determining the positioning coordinates of the object to be positioned next in the moving process based on the positional relationship between the circle A2 and the circle A3 and the positional relationship between the circle A2, the circle A3 and the circle P includes:

8. The method of claim 7, wherein the first policy further comprises:

9. The method of claim 7, wherein the first policy further comprises:

10. The method according to claim 7, wherein determining the positioning coordinates of the object to be positioned next in the moving process based on the positional relationship between the circle A2 and the circle A3 and the positional relationship between the circle A2, the circle A3 and the circle P, further comprises:

11. The method according to claim 7, wherein determining the positioning coordinates of the object to be positioned next in the moving process based on the positional relationship between the circle A2 and the circle A3 and the positional relationship between the circle A2, the circle A3 and the circle P, further comprises:

12. The method according to claim 11, wherein after determining whether 2 intersections between the circle A2 and the circle A3 are on the circle P, the method further comprises:

13. The method of claim 1, wherein the obtaining a single movement distance of the object to be positioned comprises:

14. The method of claim 1, wherein the obtaining a single movement distance of the object to be positioned comprises:

15. The method according to any one of claims 1 to 14, wherein the object to be located is a digital key, and the single point location base station and the double point location base station are tags provided at fixed locations of the vehicle.

16. A computer device comprising a processor for implementing the positioning method according to any of claims 1 to 15 when executing a computer program stored on a memory.

17. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being processed and executed, is adapted to carry out the positioning method according to any one of claims 1 to 15.