CN116952255A - Positioning method, device, system, terminal equipment and readable storage medium - Google Patents

Positioning method, device, system, terminal equipment and readable storage medium Download PDF

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Publication number
CN116952255A
CN116952255A CN202310717187.6A CN202310717187A CN116952255A CN 116952255 A CN116952255 A CN 116952255A CN 202310717187 A CN202310717187 A CN 202310717187A CN 116952255 A CN116952255 A CN 116952255A
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CN
China
Prior art keywords
positioning
ultra
scene
environment
information
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CN202310717187.6A
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Chinese (zh)
Inventor
郑伟
熊运自
高照
朱文燕
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Huizhou Gaoshengda Technology Co Ltd
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Huizhou Gaoshengda Technology Co Ltd
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Priority to CN202310717187.6A priority Critical patent/CN116952255A/en
Publication of CN116952255A publication Critical patent/CN116952255A/en
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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
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/024—Guidance services
    • 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
    • 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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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Signal Processing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The embodiment of the application discloses a positioning method, a device, a system, terminal equipment and a readable storage medium, wherein the method comprises the following steps: acquiring scene information, wherein the scene information comprises satellite signals and ultra-wideband base station search information; and determining a corresponding combined positioning mode according to the satellite signals and the ultra-wideband base station search information, positioning in the scene by using the combined positioning mode, and outputting visual positioning information. By the embodiment, seamless connection from outdoor navigation to indoor positioning can be realized.

Description

Positioning method, device, system, terminal equipment and readable storage medium
Technical Field
The application relates to a positioning method, a positioning device, a positioning system, terminal equipment and a readable storage medium, and belongs to the technical field of positioning.
Background
Today, satellite positioning systems are widely used with their precise positioning capabilities, but must be applied in outdoor scenarios in order to receive good satellite signals. Other scenes such as cities and forests with dense high buildings, satellite signals received by the urban areas, the under-bridge areas, the indoor or underground garages and the like are poor, and the satellite signals are easily affected by weather, if the weather is bad, the signal strength is greatly reduced, or the positioning or navigation function cannot be realized. Therefore, the existing positioning method is too single, and cannot sense various scenes, so that the positioning accuracy difference between different scenes is large.
Disclosure of Invention
In view of the above, the present application provides a positioning method, apparatus, system, terminal device and readable storage medium, which determine a corresponding combined positioning mode in a scene by using satellite signals and ultra wideband base station search information in the scene, so as to perform targeted combined positioning based on the scene, and improve positioning accuracy in multiple scenes.
A first object of the present application is to provide a positioning method.
A second object of the present application is to provide a positioning device.
A third object of the present application is to provide a positioning system.
A fourth object of the present application is to provide a terminal device.
A fifth object of the present application is to provide a readable storage medium.
The first object of the present application can be achieved by adopting the following technical scheme:
a method of positioning, the method comprising:
acquiring scene information, wherein the scene information comprises satellite signals and ultra-wideband base station search information;
and determining a corresponding combined positioning mode according to the satellite signals and the ultra-wideband base station search information, and positioning in the scene by using the combined positioning mode.
Preferably, the ultra wideband base station search information includes information of whether an ultra wideband base station exists or not;
the determining a corresponding combined positioning mode according to the satellite signal and the ultra-wideband base station search information comprises the following steps:
determining the scene type according to the strength of the satellite signals and the information of whether the ultra-wideband base station exists or not;
and determining a corresponding combined positioning mode according to the scene type.
Preferably, the determining the scene type according to the strength of the satellite signal and the information of whether the ultra-wideband base station exists or not includes:
if the strength measurement parameter of the satellite signal is larger than a set threshold value, determining that the current scene is a first environment;
if the strength measurement parameter of the satellite signal is smaller than a set threshold value and the information of the ultra-wideband base station exists, determining the current scene as a second environment;
and if the strength measurement parameter of the satellite signal is smaller than the set threshold value and the information of the non-ultra-wideband base station exists, determining the current scene as a third environment.
Preferably, the determining a corresponding combined positioning mode according to the scene type includes:
if the scene type is a first environment, closing an ultra-wideband function and a Bluetooth function, and starting a positioning mode of a satellite and a first mobile communication network, wherein the first mobile communication network is used for saving the time of searching the satellite;
if the scene type is the second environment, starting a positioning mode of a Bluetooth and ultra-wideband wireless pulse technology or starting a positioning mode of a second mobile communication network and ultra-wideband wireless pulse technology;
if the scene type is the third environment, starting a positioning mode of a third mobile communication network, and performing environment scanning according to a preset period to obtain a scanning result; if the scanning result is the third environment, maintaining a positioning mode of a third mobile communication network; if the scanning result is the first environment, switching to the corresponding operation of the first environment; if the scanning result is the second environment, switching to the corresponding operation of the second environment; and if the scanning result comprises the first environment and the second environment, switching to the corresponding operation of the first environment.
Preferably, in the positioning process of the scene using the combined positioning mode, the method further includes:
if the motion state variable quantity of the positioning equipment does not exceed the set value within the preset time, the positioning equipment is confirmed to enter a static state, the radio frequency device related to positioning is closed, and then, if the motion state variable quantity of the positioning equipment exceeds the set value, a hot-start positioning mode is entered.
The second object of the application can be achieved by adopting the following technical scheme:
a positioning device, the device comprising:
the scene information acquisition module is used for acquiring scene information, wherein the scene information comprises satellite signals and ultra-wideband base station search information;
and the positioning mode determining and positioning information outputting module is used for determining a corresponding combined positioning mode according to the satellite signals and the ultra-wideband base station searching information and positioning the scene by using the combined positioning mode.
The third object of the present application can be achieved by adopting the following technical scheme:
a positioning system, which comprises a satellite positioning unit, a UWB positioning unit, a 4G CAT1 module, a switching circuit, a motion sensor and a micro-processing unit with built-in BLE;
the satellite positioning unit, the UWB positioning unit and the 4G CAT1 module are respectively connected with the micro-processing unit through a switch circuit;
the motion sensor is connected with the micro-processing unit;
the micro-processing unit is used for realizing the positioning method.
Preferably, the switching circuit is a voltage switching circuit;
the voltage switching circuit comprises a first resistor, a second resistor, a third resistor, a capacitor, a triode and a P-channel enhancement type field effect transistor;
the first resistor is connected in parallel with the second resistor and the capacitor which are connected in series, wherein one end of the parallel connection is connected with the collector electrode of the triode, and the other end of the parallel connection is connected with the first voltage port and the source electrode of the P-channel enhancement type field effect transistor;
the drain electrode of the P-channel enhanced field effect transistor is connected with the second voltage port, and the grid electrode of the P-channel enhanced field effect transistor is connected with the connection point of the second resistor and the capacitor;
the base electrode of the triode is connected with the opening state port through a third resistor.
Preferably, the system further comprises:
the first power supply unit is used for supporting 5-36V input voltage and converting the input voltage into voltage required by each functional unit through the BUCK circuit;
and the second power supply unit is used for providing a level conversion function for communication interfaces with different levels.
The fourth object of the present application can be achieved by adopting the following technical scheme:
the terminal equipment comprises a processor and a memory for storing a program executable by the processor, wherein the positioning method is realized when the processor executes the program stored by the memory.
The fifth object of the present application can be achieved by adopting the following technical scheme:
a readable storage medium storing a program which, when executed by a processor, implements the positioning method described above.
Compared with the prior art, the application has the following beneficial effects:
according to the method and the device, the corresponding combined positioning mode in the scene is determined through the satellite signals and the ultra-wideband base station search information in the scene, and then the targeted combined positioning is performed based on the scene, so that the positioning accuracy in multiple scenes can be improved.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained according to the structures shown in these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a block diagram of a positioning system according to a first embodiment of the present application.
Fig. 2 is a schematic circuit diagram of a satellite positioning unit according to a first embodiment of the application.
Fig. 3 is a schematic circuit diagram of a UWB positioning unit according to a first embodiment of the present application.
Fig. 4 is a schematic circuit diagram of a 4g CAT1 module according to a first embodiment of the present application.
Fig. 5 is a schematic circuit diagram of a motion sensor according to a first embodiment of the present application.
Fig. 6 is a schematic diagram of a switching circuit according to a first embodiment of the present application.
Fig. 7 is a schematic circuit diagram of a first power supply unit according to a first embodiment of the present application.
Fig. 8 is a schematic circuit diagram of a second power supply unit according to the first embodiment of the present application.
Fig. 9 is a schematic circuit diagram of a microprocessor unit according to a first embodiment of the present application.
Fig. 10 is a flowchart of a positioning method according to a first embodiment of the present application.
Fig. 11 is a block diagram of a positioning device according to a second embodiment of the present application.
Fig. 12 is a block diagram of a third embodiment of the computer device of the present application.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments, and all other embodiments obtained by those skilled in the art without making any inventive effort based on the embodiments of the present application are within the scope of protection of the present application.
In the description and claims of the present application, the terms "first," "second," and the like are used for distinguishing between similar objects and not necessarily for describing a sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate, such that embodiments of the application may be practiced otherwise than as specifically illustrated and described herein, and that the "first" and "second" distinguishing between objects generally being of the same type, and not necessarily limited to the number of objects, such as the first object may be one or more. Furthermore, in the description and claims, "and" indicates at least one of the connected objects, and the character "/" generally indicates that the associated object is an "or" relationship.
Some of the terms or terminology that appear in describing embodiments of the application are applicable to the following explanation:
the Ultra Wideband (UWB) wireless pulse technology obtains the space coordinates of a positioning tag by solving a positioning algorithm of TOF (time of flight), TDOA (time difference of arrival) and AOA (angle arrival). The method has the advantages of long positioning distance, good multipath resisting effect, strong penetrating power, low power spectrum density of the transmitted signal, high safety, high positioning precision (in centimeter level) and the like. The technical reliability of the method is greatly superior to other indoor positioning technologies. It should be noted that indoor is a general concept, and may be an indoor garage or an underground garage, even a tunnel or a mine, etc., and outdoor is the same.
First embodiment:
as shown in fig. 1, the present embodiment provides a positioning system including a satellite positioning unit 101, a UWB positioning unit 102, a 4g CAT1 module 103, a switching circuit, a motion sensor 104, and a micro processing unit 200 with BLE built therein. The satellite positioning unit 101, the UWB positioning unit 102, and the 4g CAT1 module 103 are connected to the microprocessor unit 200 through switching circuits, respectively. The motion sensor 104 is connected to the microprocessor unit 200. The microprocessor unit 200 is configured to implement the positioning method provided in this embodiment.
Fig. 2 is a schematic circuit diagram of the satellite positioning unit 101, where signals received by an antenna are amplified and noise reduced by an LNA (U7), and then output to a U3 module, and accurate positioning information is output through a serial port, where the antenna may use a ceramic antenna with good performance, so as to perform effective positioning and reporting of data. The satellite positioning unit 101 supports single system positioning and multi-system joint positioning of arbitrary combination of BDS/GPS/GLONASS satellite navigation systems, and supports QZSS and SBAS systems.
Fig. 3 is a schematic circuit diagram of the UWB positioning unit 102, where the UWB positioning unit 102 adopts a radio frequency 3 antenna design, so that indoor 3D positioning can be achieved, and positioning accuracy is ±10cm. In addition, UWB positioning section 102 has a key function, and can realize a sensorless door path.
Fig. 4 is a schematic circuit diagram of the 4g CAT1 module 103, where the 4g CAT1 module 103 communicates with the micro-processing unit 200 through uart2_rxd/uart2_txd, and then uploads information; in the case of the 4g CAT1 module 103 downloading a map, it may communicate with the micro processing unit 200 through the usb_dn and the usb_dp. The 4G CAT1 module 103 supports data connection of LTE-FDD and LTE-TDD networks, can perform inaccurate positioning or navigation through a mobile network, can be used independently under the condition that satellite signals are weak or no UWB signals exist, and can play an auxiliary positioning role for satellite and UWB positioning.
Fig. 5 is a schematic circuit diagram of the motion sensor 104, and the motion sensor 104 is a sensor G-sensor. The sensor G-sensor is used for judging whether the equipment where the system is located is in a static state or in a moving state. When the equipment is in a static state, the sensor G-sensor informs the micro-processing unit 200 to close the power supply of the related positioning unit, so that the whole system is in an ultra-low power consumption mode; when the device is in a motion state, the micro-processing unit 200 turns on the power supply of the corresponding positioning unit, and rapidly enters the corresponding positioning mode.
It is noted that visual tracking, locators, etc. may allow the locating device to enter a power saving mode. That is, the positioning device is in a stationary state (the stationary time is also called "preset time", and is set by software), the motion sensor 104 notifies the microprocessor unit 200 that the positioning device is not in use, and the microprocessor unit 200 can turn off all the rf devices to achieve the energy-saving state, and the positioning information is in a holding state. When the positioning device is moved again, the motion sensor 104 outputs a wake-up signal of the micro-processing unit 200, and the micro-processing unit 200 immediately enters a hot-start positioning mode. Therefore, the power consumption of the positioning equipment can be greatly reduced, and the battery energy is saved.
In this embodiment, the positioning device refers to a device on which the system is mounted, and may be a handheld positioning device, a wearable positioning device, or a vehicle positioning navigation device. It should be noted that, when the system is applied to a handheld device, power consumption becomes one of important assessment indicators. Through a large number of experiments, the power consumption of the system is only at the uA level.
Fig. 6 is a schematic diagram of a switching circuit, which is a voltage switching circuit, controlled by the GPIO of the microprocessor 200. Taking the UWB positioning unit 102 as an example, the voltage switching circuit includes a first resistor R20, a second resistor R21, a third resistor R25, a capacitor C25, a triode Q4, and a P-channel enhancement type field effect transistor Q3; the first resistor R20 is connected in parallel with the second resistor R21 and the capacitor C25 which are connected in series, wherein one end of the parallel connection is connected with the collector electrode of the triode Q4, and the other end of the parallel connection is connected with the first voltage port and the source electrode of the P-channel enhancement type field effect transistor Q3; the drain electrode of the P-channel enhanced field effect transistor Q3 is connected with a second voltage port, and the grid electrode of the P-channel enhanced field effect transistor Q3 is connected with a connection point of the second resistor R21 and the capacitor C25; the base of transistor Q4 is connected to the ON-state port UWB 3.3ON through a third resistor R25.
FIG. 7 is a schematic circuit diagram of a first power supply unit IN which VBAT-IN supports a 5V to 36V wide voltage input, converted to the voltages required by the respective functional units by BUCK circuits. Fig. 8 is a schematic circuit diagram of a second power supply unit for providing a level conversion function for communication interfaces of different levels. The first power supply unit and the second power supply unit constitute a power supply mechanism 300.
FIG. 9 is a schematic circuit diagram of a microprocessor 200, the microprocessor 200 employingM4 possesses abundant peripheral interfaces such as I2C, UART, SPI, DSI, and various terminal equipment such as expansion display device possess the super high dominant frequency, and super large memory space, and operation speed is fast, processing capacity is strong etc. wherein microprocessing unit 200 embeds BLE subunit, can assist UWB to establish conversation and accurate location. All positioning function unit data are uploaded to the micro-processing unit 200 for processing, and video and audio information can be transmitted toThe display and broadcast to the user.
Taking an autopilot scenario as an example, when a vehicle on which the system is mounted is started, the system is in a cold start state, and the micro processing unit 200 simultaneously turns on the satellite positioning unit 101 and the UWB positioning unit 102.
When the vehicle moves to a clear and open road, if the micro-processing unit 200 determines that the vehicle is in a better satellite positioning environment (the first environment of the embodiment) outdoors, the micro-processing unit 200 turns off the UWB positioning unit 102 and the BLE subunit, and turns on a positioning mode of the satellite plus the first mobile communication network.
When the vehicle moves to the underground parking garage (which is covered by the signal of the UWB base station by default), if the micro processing unit 200 determines that the vehicle is in the indoor poor satellite positioning environment (the second environment of the present embodiment), the micro processing unit 200 starts the UWB positioning unit 102 and the BLE subunit, starts the positioning mode of the bluetooth plus ultra wideband wireless pulse technique, or the micro processing unit 200 starts the UWB positioning unit 102, starts the positioning mode of the second mobile communication network plus ultra wideband wireless pulse technique.
Notably, in an underground parking garage where satellite signals cannot reach, the UWB positioning unit 102 started by the system not only can continuously provide a planar navigation or positioning function, but also can realize 3D positioning of space, namely, provide accurate floor information in complex positions such as a multi-layer underground garage, so that the vehicle has omnibearing space sensing capability.
When the vehicle leaves the underground parking garage and confirms entering the first environment, the positioning mode of the satellite and the first mobile communication network is restarted.
Taking an outdoor off-road scenario as an example, when a user wears a wearable positioning device or a handheld positioning device to enter a forest line, if the micro-processing unit 200 determines that the positioning device is in a poor satellite positioning environment and the positioning device is not covered by a signal of a UWB base station (the third environment of this embodiment), the micro-processing unit 200 starts a positioning mode of a third mobile communication network to perform fuzzy positioning, and the micro-processing unit 200 performs timing scanning on the satellite and the UWB base station to ensure to switch to a more accurate positioning mode at any time.
When the user stops resting, the micro-processing unit 200 uploads the current positioning information and closes all radio frequency devices, including the satellite positioning unit 101, the UWB positioning unit 102 and the 4G CAT1 module 103, based on the fact that the acceleration state of the positioning equipment is not obviously changed within the preset time, which is judged by the motion sensor 104; when the user continues to move, the micro-processing unit 200 enters a hot start positioning mode based on the motion sensor 104 judging that the acceleration state of the positioning device has changed significantly.
Therefore, the system realizes seamless link from outdoor navigation to indoor positioning, so that the equipment carrying the system has space perception capability, becomes more intelligent, and can be widely applied to aspects of traffic, industry, agriculture and people living.
As shown in fig. 10, the present embodiment provides a positioning method, which includes the following steps:
s101, scene information is acquired, wherein the scene information comprises satellite signals and ultra-wideband base station search information.
Illustratively, the scene includes one of: urban roads with dense high buildings, forest lines, under-bridge overhead, tunnels, mines, underground garages, roads with strong rain and pound, clear and wide roads.
In this step, the ultra wideband base station search information includes information on whether or not the ultra wideband base station exists. The information with the ultra-wideband base station means that the current scene is effectively covered by the signal of the ultra-wideband base station, and the information without the ultra-wideband base station means that the current scene is not effectively covered by the signal of the ultra-wideband base station or by the signal of the ultra-wideband base station. For example, whether the signal effectively covers the current scene may be determined according to the RSSI value of the signal of the ultra wideband base station and the threshold thereof, and the same description of steps S10211 to S10213 may be referred to. An ultra wideband base station refers to a UWB base station.
S102, determining a corresponding combined positioning mode according to the satellite signals and the ultra-wideband base station search information, positioning in the scene by using the combined positioning mode, and outputting visual positioning information.
In this embodiment, determining a corresponding combined positioning mode according to the satellite signal and the ultra-wideband base station search information includes:
s1021, determining the scene type according to the intensity of the satellite signals and the information of whether the ultra-wideband base station exists or not.
S1021 includes:
s10211, if the strength measurement parameter of the satellite signal is larger than a set threshold, determining the current scene as a first environment.
S10212, if the strength measurement parameter of the satellite signal is smaller than a set threshold value and information of the ultra-wideband base station exists, determining the current scene as a second environment.
S10213, if the strength measurement parameter of the satellite signal is smaller than a set threshold value and information of the ultra-wideband-free base station exists, determining that the current scene is a third environment.
In S10211 to S10213, the strength measurement parameter is an RSSI value. The RSSI is an indicator for measuring the strength of a received signal. It is typically expressed in dBm, which is the ratio of the received signal power to 1 milliwatt power. The greater the signal strength, the higher the corresponding RSSI value. In general, satellite signals below a set threshold are not able to achieve positioning.
In addition, after the current scene is determined, the scene type can be put into a corresponding screen of the device to remind the user.
S1022, determining a corresponding combined positioning mode according to the scene type.
S1022 includes:
s10221, if the scene type is the first environment, closing an ultra-wideband function and a Bluetooth function, and starting a positioning mode of a satellite and a first mobile communication network, wherein the first mobile communication network is used for saving the time of searching the satellite.
In the step, the 4G network based on CAT1 plays an auxiliary positioning role, and can also provide a real-time visual map downloading function and realize a navigation function.
S10222, if the scene type is the second environment, starting a positioning mode of the Bluetooth and ultra-wideband wireless pulse technology or starting a positioning mode of the second mobile communication network and the ultra-wideband wireless pulse technology.
In this step, bluetooth (BLE) is used to establish a session, and based on the 4G network theory of CAT1, then the ultra-wideband wireless pulse technology is started to perform high-precision indoor positioning. If the relevant service provider provides map downloading, the 4G network can still provide corresponding visual map functions. It can be seen that, for the indoor positioning mode, the embodiment provides two positioning modes, and enriches the positioning selection of the user.
S10223, if the scene type is a third environment, starting a positioning mode of a third mobile communication network, and performing environment scanning according to a preset period to obtain a scanning result; if the scanning result is the third environment, maintaining a positioning mode of a third mobile communication network; if the scanning result is the first environment, switching to the corresponding operation of the first environment; if the scanning result is the second environment, switching to the corresponding operation of the second environment; and if the scanning result comprises the first environment and the second environment, switching to the corresponding operation of the first environment.
In this step, the 4G network based on CAT1 performs fuzzy positioning, and at this time, although the positioning accuracy is low (there may be an error of more than hundred meters), the satellite and UWB base stations are still scanned at regular time, and a more accurate positioning mode is switched at any time.
In this embodiment, in the process of positioning in the scene using the combined positioning mode, the method further includes:
if the motion state variable quantity of the positioning equipment does not exceed a set value within a preset time, the positioning equipment is confirmed to enter a static state, a radio frequency device related to positioning is closed, and then, if the motion state variable quantity of the positioning equipment exceeds the set value, a hot start positioning mode is entered, wherein the motion state variable quantity is the acceleration value of a sensor G-sensor.
In this embodiment, the visualized positioning information may be presented in the form of a user interface.
Summarizing, the embodiment constructs an indoor and outdoor integrated positioning system through satellite positioning, UWB positioning and 4G network auxiliary positioning functions; judging and processing the positioning signal through the MCU, and outputting accurate visual positioning information for a user; meanwhile, the MCU judges the RSSI of the signal and switches to an optimal positioning mode, such as GPS+4G positioning, BLE+UWB positioning, 4G independent positioning and the like at any time. The system can be widely applied to various consumer electronic devices such as vehicle navigation devices, handheld devices, anti-lost devices, tracking and positioning devices and the like.
Those skilled in the art will appreciate that all or part of the steps in a method implementing the above embodiments may be implemented by a program to instruct related hardware, and the corresponding program may be stored in a computer readable storage medium.
It should be noted that although the method operations of the above embodiments are depicted in the drawings in a particular order, this does not require or imply that the operations must be performed in that particular order or that all illustrated operations be performed in order to achieve desirable results. Rather, the depicted steps may change the order of execution. Additionally or alternatively, certain steps may be omitted, multiple steps combined into one step to perform, and/or one step decomposed into multiple steps to perform.
Second embodiment:
as shown in fig. 11, the present embodiment provides a positioning device, which includes a scene information acquisition module 1101 and a positioning mode determining and positioning information output module 1102, and specific functions of the modules are as follows:
a scene information acquisition module 1101, configured to acquire scene information, where the scene information includes satellite signals and ultra-wideband base station search information;
and the positioning mode determining and positioning information outputting module 1102 is configured to determine a corresponding combined positioning mode according to the satellite signal and the ultra-wideband base station search information, and perform positioning in the scene by using the combined positioning mode.
Third embodiment:
as shown in fig. 12, the present embodiment provides a terminal apparatus including a processor 1202, a memory, an input device 1203, a display device 1204, and a network interface 1205, which are connected through a system bus 1201. The processor 1202 is configured to provide computing and control capabilities, where the memory includes a nonvolatile storage medium 1206 and an internal memory 1207, where the nonvolatile storage medium 1206 stores an operating system, a computer program and a database, and the internal memory 1207 provides an environment for the operating system and the computer program in the nonvolatile storage medium 1206 to run, and the computer program when executed by the processor 1202 implements the positioning method of the first embodiment, as follows:
acquiring scene information, wherein the scene information comprises satellite signals and ultra-wideband base station search information;
and determining a corresponding combined positioning mode according to the satellite signals and the ultra-wideband base station search information, and positioning in the scene by using the combined positioning mode.
Fourth embodiment:
the present embodiment provides a storage medium, which is a computer-readable storage medium storing a computer program that, when executed by a processor, implements the positioning method of the first embodiment described above, as follows:
acquiring scene information, wherein the scene information comprises satellite signals and ultra-wideband base station search information;
and determining a corresponding combined positioning mode according to the satellite signals and the ultra-wideband base station search information, and positioning in the scene by using the combined positioning mode.
The computer readable storage medium of the present embodiment may be a computer readable signal medium or a computer readable storage medium, or any combination of the two. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
In this embodiment, a computer-readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In the present embodiment, however, the computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, with a computer-readable program embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable storage medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. A computer program embodied on a computer readable storage medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, fiber optic cables, RF (radio frequency), and the like, or any suitable combination of the foregoing.
The computer readable storage medium may be written in one or more programming languages, including an object oriented programming language such as Java, python, C ++ and conventional procedural programming languages, such as the C-language or similar programming languages, or combinations thereof for performing the present embodiments. The program may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).
In summary, the present embodiment realizes the dynamic monitoring function by adding the functional circuits such as G-sensor and 4G cat1, UWB and the like in the common positioning product, and multiple dual combined positioning such as 4g+gps positioning, ble+uwb positioning, 4g+uwb positioning and the like, ensures the positioning accuracy in various indoor and outdoor environments, satisfies the positioning experience of manufacturers and users on the product, and has wide application prospects and commercial values.
The above-mentioned embodiments are only preferred embodiments of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can make equivalent substitutions or modifications according to the technical solution and the inventive concept of the present application within the scope of the present application disclosed in the present application patent, and all those skilled in the art belong to the protection scope of the present application.

Claims (10)

1. A method of positioning, the method comprising:
acquiring scene information, wherein the scene information comprises satellite signals and ultra-wideband base station search information;
and determining a corresponding combined positioning mode according to the satellite signals and the ultra-wideband base station search information, and positioning in the scene by using the combined positioning mode.
2. The method of claim 1, wherein the ultra wideband base station search information includes information of whether an ultra wideband base station is present;
the determining a corresponding combined positioning mode according to the satellite signal and the ultra-wideband base station search information comprises the following steps:
determining the scene type according to the strength of the satellite signals and the information of whether the ultra-wideband base station exists or not;
and determining a corresponding combined positioning mode according to the scene type.
3. The method according to claim 2, wherein determining the scene type based on the strength of the satellite signal and the information of the ultra wideband base station, comprises:
if the strength measurement parameter of the satellite signal is larger than a set threshold value, determining that the current scene is a first environment;
if the strength measurement parameter of the satellite signal is smaller than a set threshold value and the information of the ultra-wideband base station exists, determining the current scene as a second environment;
and if the strength measurement parameter of the satellite signal is smaller than the set threshold value and the information of the non-ultra-wideband base station exists, determining the current scene as a third environment.
4. A method according to claim 3, wherein said determining a respective combined positioning mode based on said scene type comprises:
if the scene type is a first environment, closing an ultra-wideband function and a Bluetooth function, and starting a positioning mode of a satellite and a first mobile communication network, wherein the first mobile communication network is used for saving the time of searching the satellite;
if the scene type is the second environment, starting a positioning mode of a Bluetooth and ultra-wideband wireless pulse technology or starting a positioning mode of a second mobile communication network and ultra-wideband wireless pulse technology;
if the scene type is the third environment, starting a positioning mode of a third mobile communication network, and performing environment scanning according to a preset period to obtain a scanning result; if the scanning result is the third environment, maintaining a positioning mode of a third mobile communication network; if the scanning result is the first environment, switching to the corresponding operation of the first environment; if the scanning result is the second environment, switching to the corresponding operation of the second environment; and if the scanning result comprises the first environment and the second environment, switching to the corresponding operation of the first environment.
5. The method of any of claims 1-4, further comprising, during the locating in the scene using the combined locating mode:
if the motion state variable quantity of the positioning equipment does not exceed the set value within the preset time, the positioning equipment is confirmed to enter a static state, the radio frequency device related to positioning is closed, and then, if the motion state variable quantity of the positioning equipment exceeds the set value, a hot-start positioning mode is entered.
6. A positioning device, the device comprising:
the scene information acquisition module is used for acquiring scene information, wherein the scene information comprises satellite signals and ultra-wideband base station search information;
and the positioning mode determining and positioning information outputting module is used for determining a corresponding combined positioning mode according to the satellite signals and the ultra-wideband base station searching information and positioning the scene by using the combined positioning mode.
7. The positioning system is characterized by comprising a satellite positioning unit, a UWB positioning unit, a 4G CAT1 module, a switching circuit, a motion sensor and a micro-processing unit with built-in BLE;
the satellite positioning unit, the UWB positioning unit and the 4G CAT1 module are respectively connected with the micro-processing unit through a switch circuit;
the motion sensor is connected with the micro-processing unit;
the microprocessor unit for implementing the method of any one of claims 1-5.
8. The system of claim 7, wherein the switching circuit is a voltage switching circuit;
the voltage switching circuit comprises a first resistor, a second resistor, a third resistor, a capacitor, a triode and a P-channel enhancement type field effect transistor;
the first resistor is connected in parallel with the second resistor and the capacitor which are connected in series, wherein one end of the parallel connection is connected with the collector electrode of the triode, and the other end of the parallel connection is connected with the first voltage port and the source electrode of the P-channel enhancement type field effect transistor;
the drain electrode of the P-channel enhanced field effect transistor is connected with the second voltage port, and the grid electrode of the P-channel enhanced field effect transistor is connected with the connection point of the second resistor and the capacitor;
the base electrode of the triode is connected with the opening state port through a third resistor;
the system further comprises:
the first power supply unit is used for supporting 5-36V input voltage and converting the input voltage into voltage required by each functional unit through the BUCK circuit;
and the second power supply unit is used for providing a level conversion function for communication interfaces with different levels.
9. A terminal device comprising a processor and a memory for storing a program executable by the processor, characterized in that the method according to any of claims 1-5 is implemented when the processor executes the program stored in the memory.
10. A readable storage medium storing a program, which when executed by a processor, implements the method of any one of claims 1-5.
CN202310717187.6A 2023-06-15 2023-06-15 Positioning method, device, system, terminal equipment and readable storage medium Pending CN116952255A (en)

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CN202310717187.6A CN116952255A (en) 2023-06-15 2023-06-15 Positioning method, device, system, terminal equipment and readable storage medium

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202310717187.6A CN116952255A (en) 2023-06-15 2023-06-15 Positioning method, device, system, terminal equipment and readable storage medium

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CN116952255A true CN116952255A (en) 2023-10-27

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