CN117676808A - Positioning method, positioning device, positioning equipment and computer readable storage medium - Google Patents
Positioning method, positioning device, positioning equipment and computer readable storage medium Download PDFInfo
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Abstract
The present disclosure relates to a positioning method, apparatus, device and computer readable storage medium, the present disclosure provides for a measurement device comprising at least one antenna by obtaining a first distance between the measurement device and a device under test at a first location and a second distance between the measurement device and the device under test at a second location; calculating a third distance between the first position and the second position; calculating an included angle of at least one of the first position, the second position and the position interconnection line of the tested equipment according to the first distance, the second distance and the third distance; according to any one of the first distance, the second distance and the third distance and the included angle, the first target position of the measured equipment is determined, and compared with the measuring equipment in the prior art, the measuring equipment disclosed by the invention only needs one antenna, so that the measuring cost is reduced, the space area of a cloth plate is reduced, and the space thickness of the cloth plate is reduced.
Description
Technical Field
The present disclosure relates to the field of communications technologies, and in particular, to a positioning method, apparatus, device, and computer readable storage medium.
Background
With the development of communication technology, location based services (Location Based Services, LBS) have been increasingly receiving attention. The business relates to various fields such as traffic, logistics, public security, emergency, daily life and the like, can provide various businesses such as navigation, logistics management, traffic information, schedule and the like, and has very wide application.
In the prior art, the angle of the tested device is generally calculated by a phase difference ranging algorithm of the ultra-wideband wireless communication signal reaching the tested device and/or the phase difference of the Bluetooth signal reaching two antennas of the tested device, but the two schemes require at least two antennas of the measuring device, and the cost is high, the space area of the board is large, and the thickness is high.
Disclosure of Invention
In order to solve the above technical problems or at least partially solve the above technical problems, the present disclosure provides a positioning method, a positioning device, a positioning apparatus, and a computer readable storage medium, so as to reduce cost, reduce a space area of a cloth plate, and reduce a thickness of the space of the cloth plate.
In a first aspect, an embodiment of the present disclosure provides a positioning method, including:
acquiring a first distance between a measuring device and a measured device at a first position and a second distance between the measuring device and the measured device at a second position, wherein the measuring device comprises at least one antenna;
calculating a third distance between the first location and the second location;
calculating an included angle of at least one of the first position, the second position and the position interconnection line of the tested device according to the first distance, the second distance and the third distance; and determining a first target position of the tested device according to any one distance value among the first distance, the second distance and the third distance and the included angle.
In a second aspect, embodiments of the present disclosure provide a positioning device, including:
the device comprises an acquisition module, a detection module and a detection module, wherein the acquisition module is used for acquiring a first distance between a measuring device and a device to be measured at a first position and a second distance between the measuring device and the device to be measured at a second position, and the measuring device comprises at least one antenna;
a calculation module for calculating a third distance between the first location and the second location;
the determining module is used for calculating an included angle of at least one of the first position, the second position and the position interconnection line of the tested device according to the first distance, the second distance and the third distance; and determining a first target position of the tested device according to any one distance value among the first distance, the second distance and the third distance and the included angle.
In a third aspect, an embodiment of the present disclosure provides an electronic device, including:
a memory;
a processor; and
a computer program;
wherein the computer program is stored in the memory and configured to be executed by the processor to implement the method according to the first aspect.
In a fourth aspect, embodiments of the present disclosure provide a non-transitory computer readable storage medium having stored thereon a computer program for execution by a processor to implement the method of the first aspect.
In a fifth aspect, embodiments of the present disclosure also provide a computer program product comprising a computer program or instructions which, when executed by a processor, implement the method of the first aspect.
The positioning method, the positioning device, the positioning equipment and the computer readable storage medium provided by the embodiment of the disclosure are characterized in that the measuring equipment comprises at least one antenna by acquiring a first distance between the measuring equipment and the tested equipment at a first position and a second distance between the measuring equipment and the tested equipment at a second position; calculating a third distance between the first position and the second position; calculating an included angle of at least one of the first position, the second position and the position interconnection line of the tested equipment according to the first distance, the second distance and the third distance; according to any one of the first distance, the second distance and the third distance and the included angle, the first target position of the measured equipment is determined, and compared with the measuring equipment in the prior art, the measuring equipment disclosed by the invention only needs one antenna, so that the measuring cost is reduced, the space area of a cloth plate is reduced, and the space thickness of the cloth plate is reduced.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description, serve to explain the principles of the disclosure.
In order to more clearly illustrate the embodiments of the present disclosure or the solutions in the prior art, the drawings that are required for the description of the embodiments or the prior art will be briefly described below, and it will be obvious to those skilled in the art that other drawings can be obtained from these drawings without inventive effort.
FIG. 1 is a flow chart of a positioning method provided by an embodiment of the present disclosure;
fig. 2 is a schematic diagram of an application scenario provided in an embodiment of the present disclosure;
fig. 3 is a schematic diagram of an application scenario provided in an embodiment of the present disclosure;
fig. 4 is a schematic structural diagram of a positioning device according to an embodiment of the disclosure;
fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present disclosure.
Detailed Description
In order that the above objects, features and advantages of the present disclosure may be more clearly understood, a further description of aspects of the present disclosure will be provided below. It should be noted that, without conflict, the embodiments of the present disclosure and features in the embodiments may be combined with each other.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present disclosure, but the present disclosure may be practiced otherwise than as described herein; it will be apparent that the embodiments in the specification are only some, but not all, embodiments of the disclosure.
With the development of communication technology, location based services (Location Based Services, LBS) have been increasingly receiving attention. The business relates to various fields such as traffic, logistics, public security, emergency, daily life and the like, can provide various businesses such as navigation, logistics management, traffic information, schedule and the like, and has very wide application.
In the prior art, the angle of the tested device is generally calculated by a phase difference ranging algorithm of the ultra-wideband wireless communication signal reaching the tested device and/or the phase difference of the Bluetooth signal reaching two antennas of the tested device, but the two schemes require at least two antennas of the measuring device, and the cost is high, the space area of the board is large, and the thickness is high. In response to this problem, embodiments of the present disclosure provide a positioning method, which is described below in connection with specific embodiments.
Fig. 1 is a flowchart of a positioning method according to an embodiment of the present disclosure. The method can be performed by a positioning device, which can be implemented in software and/or hardware, and the positioning device can be configured in an electronic device, such as a server or a terminal, wherein the terminal specifically comprises a mobile phone, a computer, a tablet computer, or the like. In addition, the method can be applied to an application scenario shown in fig. 2, in which the device under test 21 and the measurement device 22 are included. It can be appreciated that the positioning method provided by the embodiment of the present disclosure may also be applied in other scenarios.
The positioning method shown in fig. 1 is described below in connection with the application scenario shown in fig. 2, which may be performed by the measuring device 22 in fig. 2, for example. The method comprises the following specific steps:
s101, acquiring a first distance between a measuring device and a device to be measured at a first position and a second distance between the measuring device and the device to be measured at a second position, wherein the measuring device comprises at least one antenna.
A first distance a of the measuring device 22 from the device under test 21 in a first position and a second distance b of the measuring device 22 from the device under test 21 in a second position are obtained, the measuring device comprising at least one antenna. It will be appreciated that the measurement device may operate with only one antenna in the positioning, i.e. the measurement device may be a single antenna measurement device or a multi-antenna measurement device, and one antenna of the multi-antenna device may be used for ranging.
Optionally, the measurement mode of the measurement device includes at least one of the following: time-of-flight ranging for ultra-wideband wireless communication, received signal strength ranging for bluetooth.
Ultra Wide Band (UWB) technology is a wireless carrier communication technology, which does not use a sinusoidal carrier, but uses non-sinusoidal narrow pulses of nanosecond level to transmit data, so that the spectrum occupied by the technology is Wide. The UWB technology has the advantages of low system complexity, low power spectrum density of the transmitted signal, insensitivity to channel fading, low interception capability, high positioning accuracy and the like.
Time of flight (TOF) is the Time taken by a measured object, particle or wave to fly a distance in a fixed medium (medium/distance/Time are both known or measurable). TOF ranging belongs to two-way ranging technology, which mainly uses the flight time of signals such as ultrasonic waves/microwaves/light and the like to and fro between two asynchronous transceivers (or transmitters and reflectors) to measure the distance between nodes. There are two key constraints on the TOF ranging method: firstly, the transmitting device and the receiving device must always be synchronous; and secondly, the length of the transmission time of the signal provided by the receiving equipment.
The received signal strength (Received Signal Strength Indication, RSSI) is an optional part of the radio transmission layer used to determine link quality and whether to increase broadcast transmission strength.
Specifically, the measurement device may measure the distance through the time-of-flight ranging of ultra-wideband wireless communication or the received signal strength ranging of bluetooth, it is understood that the measurement device may also measure the distance through other manners, and the embodiment is not limited.
S102, calculating a third distance between the first position and the second position.
A third distance c is calculated for the first position and the second position.
Optionally, calculating a third distance of the first location and the second location includes: a third distance from the first location to the second location is calculated by an acceleration sensor and/or a gyroscope on the measurement device in response to the measurement device moving from the first location to the second location.
An acceleration sensor is an electronic device capable of measuring acceleration forces. Acceleration forces are forces that act on an object during acceleration, and are more likely than the gravitational force, i.e., gravity. The acceleration force may be a constant, such as g, or may be a variable. There are two types of accelerometers: one is an angular accelerometer and the other is a linear accelerometer.
The gyroscope is an angular motion detection device which uses a momentum moment sensitive shell of a high-speed revolving body to rotate around one or two axes orthogonal to a rotation shaft relative to an inertia space. Angular motion detection devices made using other principles are also known as gyroscopes that function as well.
Specifically, the user moves the measurement device 22 from the first position to the second position, and calculates a third distance c from the first position to the second position via an acceleration sensor and/or gyroscope on the measurement device 22. Illustratively, the user holds the measurement device 22 to move from the first position to the second position by walking, sitting on a car, etc., and when the movement of the measurement device 22 is walking, a third distance c from the first position to the second position may be calculated by a pedestrian dead reckoning (Pedestrian Dead Reckoning, PDR) and/or acceleration sensor and/or gyroscope.
S103, calculating an included angle of at least one of the first position, the second position and the position interconnection line of the tested device according to the first distance, the second distance and the third distance; and determining a first target position of the tested device according to any one distance value among the first distance, the second distance and the third distance and the included angle.
And calculating an included angle of at least one of the first position, the second position and the position interconnection line of the tested device 21 according to the first distance a, the second distance b and the third distance c by a trigonometric function, and determining the first target position of the tested device 21 according to any one of the first distance a, the second distance b and the third distance c and the included angle.
Optionally, the calculating an included angle of at least one of the first position, the second position, and the position interconnection line of the device under test includes: calculating a first connecting line of the first position and the second position and a first included angle of the first connecting line of the first position and the second connecting line of the tested device;
specifically, a first connecting line of the first position and the second position and a first included angle θ1 of the second connecting line of the first position and the device under test 21 are calculated by cosine law;
correspondingly, determining the first target position of the tested device according to any one of the first distance, the second distance and the third distance and the included angle comprises the following steps: and determining a first target position of the tested equipment according to the first distance and the first included angle.
Specifically, the first target position of the device under test 21 is determined based on the first distance a and the first angle θ1. Specifically, a straight line where the third distance c is located may be taken as an X axis, the first position is taken as an origin, and an angle and a distance between the tested device and the origin are known by taking a perpendicular axis to the X axis as a Y axis, so that the first target position of the tested device may be determined.
Optionally, calculating an included angle of at least one of the first position, the second position, and a position interconnection line of the device under test includes: calculating a first connecting line of the first position and the second position and a second included angle of a third connecting line of the second position and the tested device according to the first distance, the second distance and the third distance;
specifically, calculating a first connecting line of the first position and the second position and a second included angle theta 2 of the second position and a third connecting line of the tested device according to the first distance, the second distance and the third distance through a cosine theorem;
correspondingly, determining the first target position of the tested device according to any one of the first distance, the second distance and the third distance and the included angle comprises the following steps: and determining a first target position of the tested equipment according to the second distance and the second included angle.
Specifically, according to the second distance b and the second included angle theta 2, a first target position of the tested device is determined. It can be understood that the first target position of the device under test can be determined by taking the straight line where the third distance c is located as the X axis, taking the second position as the origin, and taking the perpendicular axis to the X axis as the Y axis, and knowing the angle and distance between the device under test and the origin.
According to the embodiment of the disclosure, the first distance between the measuring equipment and the tested equipment at the first position and the second distance between the measuring equipment and the tested equipment at the second position are obtained, and the measuring equipment comprises at least one antenna; calculating a third distance between the first position and the second position; calculating an included angle of at least one of the first position, the second position and the position interconnection line of the tested equipment according to the first distance, the second distance and the third distance; according to any one of the first distance, the second distance and the third distance and the included angle, the first target position of the measured equipment is determined, and compared with the measuring equipment in the prior art, the measuring equipment disclosed by the invention only needs one antenna, so that the measuring cost is reduced, the space area of a cloth plate is reduced, and the space thickness of the cloth plate is reduced.
In some embodiments, the method further comprises: acquiring a fourth distance between the measuring equipment and the tested equipment at a third position; calculating a fifth distance between the second location and the third location; and determining a second target position of the tested equipment according to the second distance, the fourth distance and the fifth distance.
As shown in fig. 3, a fourth distance d between the measuring device 22 and the device under test 21 at the third position is acquired; calculating a fifth distance e between the second position and the third position; and determining a second target position of the tested equipment according to the second distance b, the fourth distance d and the fifth distance e.
Optionally, determining the second target position of the device under test according to the second distance, the fourth distance and the fifth distance includes: calculating a third included angle of at least one of the second position, the third position and the position interconnection line of the tested device according to the second distance, the fourth distance and the fifth distance; and determining a second target position of the tested equipment according to the fourth distance and the third included angle.
Specifically, according to the second distance b, the fourth distance d and the fifth distance e, at least a third included angle of any one of the second position, the third position and the position interconnection line of the tested device is calculated through a trigonometric function, and according to the fourth distance d and the third included angle, a second target position of the tested device is determined.
Optionally, calculating a fourth included angle theta 4 between the second position and the fourth connecting line of the third position and between the second position and the third connecting line of the tested device according to the second distance b, the fourth distance d and the fifth distance e through cosine theorem; and determining a second target position of the tested equipment according to the second distance b and the fourth included angle theta 4.
Optionally, the method further comprises: and calculating the intermediate position of the first target position and the second target position, and taking the intermediate position as a third target position of the tested equipment.
The intermediate position of the first target position and the second target position is calculated, and the intermediate position is used as the third target position of the tested device, and it can be understood that the first target position and the second target position are in agreement with the world coordinate in theory, but because the measurement has errors, the calculation results of the first target position and the second target position may not be the same position, and the intermediate position of the first target position and the second target position is calculated as the third target position of the tested device, so that the positioning accuracy of the tested device can be higher.
According to the embodiment of the disclosure, the third position of the measuring device is obtained by moving the measuring device again, and the fifth distance between the third position and the fourth distance, the second position and the third position of the measured device is calculated, so that the second target position of the measured device is determined according to the second distance, the fourth distance and the fifth distance, the intermediate position of the first target position and the second target position is calculated, the intermediate position is used as the third target position of the measured device, and the error can be reduced by using multiple times of position detection and averaging, so that the position of the measured device is more accurate.
In some embodiments, a first position, a second position and a third position of the measuring device are acquired, a first distance a between the first position and the measured device is calculated, a second distance b between the second position and the measured device is calculated, a fourth distance d between the third position and the measured device is calculated, a third distance c between the first position and the second position is calculated, a fifth distance e between the second position and the third position is calculated, wherein the first distance a, the second distance b and the fourth distance d can be acquired according to TOF of UWB and/or rssi signal measurement of Bluetooth, and the third distance c and the fifth distance e can be calculated according to an acceleration sensor and a gyroscope; and obtaining angles of a first included angle theta 1, a second included angle theta 2, a third included angle theta 3 and a fourth included angle theta 4 according to a trigonometric function, so as to achieve the effect of ranging the arrival phase difference of the multi-antenna signals, wherein the trigonometric function can be a cosine theorem. Phase-Difference-of-Arrival (PDOA) is also called received signal Phase-Difference positioning ranging, and the position of the device under test is obtained by measuring the Phase Difference to determine the angle of Arrival of the signal and calculating the distance from the travel time of the round trip.
In some embodiments, the first position of the measuring device is measured according to coordinates (X 1 ，Y 1 ) Coordinates of the second position of the measuring device (X 2 ，Y 2 ) Coordinates of the third position of the measuring device (X 3 ，Y 3 ) And the first distance a, the second distance b and the fourth distance d, and calculating the position (X, Y) of the tested equipment through a preset formula. Specifically, the preset formula is as follows:
wherein, (X 1 ，Y 1 ) To measure the coordinates of the device in the first position, (X 2 ，Y 2 ) To measure the coordinates of the device in the second position, (X) 3 ，Y 3 ) For the coordinates of the measuring device at the third position, (X, Y) is the position coordinates of the measured device, a is the first distance between the measuring device and the measured device at the first position, b is the second distance between the measuring device and the measured device at the second position, and d is the fourth distance between the measuring device and the measured device at the third position.
Fig. 4 is a schematic structural diagram of a positioning device according to an embodiment of the disclosure. The positioning device may be the device under test as described in the above embodiments, or the positioning device may be a part or assembly in the device under test. The positioning device provided in the embodiment of the present disclosure may execute the processing flow provided in the embodiment of the positioning method, as shown in fig. 4, where the positioning device 40 includes: an acquisition module 41, a calculation module 42 and a determination module 43; the acquiring module 41 is configured to acquire a first distance between a measuring device and a device under test at a first location and a second distance between the measuring device and the device under test at a second location, where the measuring device includes at least one antenna; a calculation module 42 for calculating a third distance between the first location and the second location; a determining module 43, configured to calculate an included angle of at least one of the first position, the second position, and a position interconnection line of the device under test according to the first distance, the second distance, and the third distance; and determining a first target position of the tested device according to any one distance value among the first distance, the second distance and the third distance and the included angle.
Optionally, the determining module 43 is specifically configured to, when calculating an included angle of at least one of the first position, the second position, and the position interconnection line of the device under test: calculating a first connecting line of the first position and the second position and a first included angle of the first connecting line of the first position and the second connecting line of the tested device; the determining module 43 is specifically configured to, when determining the first target position of the device under test according to any one of the first distance, the second distance, and the third distance, and the included angle: and determining a first target position of the tested equipment according to the first distance and the first included angle.
Optionally, the calculating module 42 is specifically configured to, when calculating the third distances between the first location and the second location: a third distance from the first location to the second location is calculated by an acceleration sensor and/or a gyroscope on the measurement device in response to the measurement device moving from the first location to the second location.
Optionally, the determining module 43 is specifically configured to, when calculating at least an included angle of at least one of the first position, the second position, and the position interconnection line of the device under test: calculating a first connecting line of the first position and the second position and a second included angle of a third connecting line of the second position and the tested device according to the first distance, the second distance and the third distance; the determining module 43 is specifically configured to, when determining the first target position of the device under test according to any one of the first distance, the second distance, and the third distance, and the included angle: and determining a first target position of the tested equipment according to the second distance and the second included angle.
Optionally, the obtaining module 41 is further configured to obtain a fourth distance between the measuring device and the device under test at the third location; a calculation module 42, further configured to calculate a fifth distance between the second location and the third location; the determining module 43 is further configured to determine a second target location of the device under test according to the second distance, the fourth distance, and the fifth distance.
Optionally, the determining module 43 is specifically configured to, when determining the second target position of the device under test according to the second distance, the fourth distance, and the fifth distance: calculating a third included angle of at least one of the second position, the third position and the position interconnection line of the tested device according to the second distance, the fourth distance and the fifth distance; and determining a second target position of the tested equipment according to the fourth distance and the third included angle.
Optionally, the calculating module 42 is further configured to calculate an intermediate position between the first target position and the second target position, and use the intermediate position as a third target position of the device under test.
The positioning device of the embodiment shown in fig. 4 may be used to implement the technical solution of the embodiment of the positioning method, and its implementation principle and technical effects are similar, and are not described herein again.
Fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present disclosure. The electronic device may be a measuring device as described in the above embodiments. The electronic device provided in the embodiment of the present disclosure may execute the processing flow provided in the embodiment of the positioning method, as shown in fig. 5, where the electronic device 50 includes: memory 51, processor 52, computer programs and communication interface 53; wherein the computer program is stored in the memory 51 and configured to be executed by the processor 52 for performing the positioning method as described above.
In addition, the embodiment of the present disclosure also provides a non-volatile computer readable storage medium, on which a computer program is stored, the computer program being executed by a processor to implement the positioning method described in the above embodiment.
Furthermore, embodiments of the present disclosure provide a computer program product comprising a computer program or instructions which, when executed by a processor, implements a positioning method as described above.
It should be noted that the computer readable medium described in the present disclosure 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 the context of this disclosure, 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 disclosure, however, the computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, with the computer-readable program code 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 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. Program code embodied on a computer readable 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.
In some implementations, the clients, servers may communicate using any currently known or future developed network protocol, such as HTTP (HyperText Transfer Protocol ), and may be interconnected with any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network ("LAN"), a wide area network ("WAN"), the internet (e.g., the internet), and peer-to-peer networks (e.g., ad hoc peer-to-peer networks), as well as any currently known or future developed networks.
The computer readable medium may be contained in the electronic device; or may exist alone without being incorporated into the electronic device.
The computer readable medium carries one or more programs which, when executed by the electronic device, cause the electronic device to:
acquiring a first distance between a measuring device and a measured device at a first position and a second distance between the measuring device and the measured device at a second position, wherein the measuring device comprises at least one antenna;
calculating a third distance between the first location and the second location;
calculating an included angle of at least one of the first position, the second position and the position interconnection line of the tested device according to the first distance, the second distance and the third distance; and determining a first target position of the tested device according to any one distance value among the first distance, the second distance and the third distance and the included angle.
In addition, the electronic device may also perform other steps in the positioning method as described above.
Computer program code for carrying out operations of the present disclosure may be written in one or more programming languages, including, but not limited to, an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code 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).
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The units involved in the embodiments of the present disclosure may be implemented by means of software, or may be implemented by means of hardware. Wherein the names of the units do not constitute a limitation of the units themselves in some cases.
The functions described above herein may be performed, at least in part, by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: a Field Programmable Gate Array (FPGA), an Application Specific Integrated Circuit (ASIC), an Application Specific Standard Product (ASSP), a system on a chip (SOC), a Complex Programmable Logic Device (CPLD), and the like.
In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. The machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on 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.
It should be noted that in this document, relational terms such as "first" and "second" and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The foregoing is merely a specific embodiment of the disclosure to enable one skilled in the art to understand or practice the disclosure. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the disclosure. Thus, the present disclosure is not intended to be limited to the embodiments shown and described herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A method of positioning, the method comprising:
acquiring a first distance between a measuring device and a measured device at a first position and a second distance between the measuring device and the measured device at a second position, wherein the measuring device comprises at least one antenna;
calculating a third distance between the first location and the second location;
calculating an included angle of at least one of the first position, the second position and the position interconnection line of the tested device according to the first distance, the second distance and the third distance; and determining a first target position of the tested device according to any one distance value among the first distance, the second distance and the third distance and the included angle.
2. The method of claim 1, wherein calculating an included angle of at least one of the first location, the second location, and a location interconnection of the device under test comprises:
calculating a first connecting line of the first position and the second position and a first included angle of the first connecting line of the first position and the second connecting line of the tested device;
determining a first target position of the device under test according to any one of the first distance, the second distance and the third distance and the included angle, including:
and determining a first target position of the tested equipment according to the first distance and the first included angle.
3. The method of claim 1, wherein calculating a third distance of the first location and the second location comprises:
a third distance from the first location to the second location is calculated by an acceleration sensor and/or a gyroscope on the measurement device in response to the measurement device moving from the first location to the second location.
4. The method of claim 1, wherein calculating an included angle of at least one of the first location, the second location, and a location interconnection of the device under test comprises:
calculating a first connecting line of the first position and the second position and a second included angle of a third connecting line of the second position and the tested device according to the first distance, the second distance and the third distance;
determining a first target position of the device under test according to any one of the first distance, the second distance and the third distance and the included angle, including:
and determining a first target position of the tested equipment according to the second distance and the second included angle.
5. The method according to claim 1, wherein the method further comprises:
acquiring a fourth distance between the measuring equipment and the tested equipment at a third position;
calculating a fifth distance between the second location and the third location;
and determining a second target position of the tested equipment according to the second distance, the fourth distance and the fifth distance.
6. The method of claim 5, wherein determining the second target location of the device under test based on the second distance, the fourth distance, and the fifth distance comprises:
calculating a third included angle of at least one of the second position, the third position and the position interconnection line of the tested device according to the second distance, the fourth distance and the fifth distance;
and determining a second target position of the tested equipment according to the fourth distance and the third included angle.
7. The method of claim 5, wherein the method further comprises:
and calculating the intermediate position of the first target position and the second target position, and taking the intermediate position as a third target position of the tested equipment.
8. A positioning device, the device comprising:
the device comprises an acquisition module, a detection module and a detection module, wherein the acquisition module is used for acquiring a first distance between a measuring device and a device to be measured at a first position and a second distance between the measuring device and the device to be measured at a second position, and the measuring device comprises at least one antenna;
a calculation module for calculating a third distance between the first location and the second location;
the determining module is used for calculating an included angle of at least one of the first position, the second position and the position interconnection line of the tested device according to the first distance, the second distance and the third distance; and determining a first target position of the tested device according to any one distance value among the first distance, the second distance and the third distance and the included angle.
9. An electronic device, comprising:
a memory;
a processor; and
a computer program;
wherein the computer program is stored in the memory and configured to be executed by the processor to implement the method of any of claims 1-7.
10. A non-transitory computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when executed by a processor, implements the method according to any of claims 1-7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311656403.7A CN117676808A (en) | 2023-12-01 | 2023-12-01 | Positioning method, positioning device, positioning equipment and computer readable storage medium |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311656403.7A CN117676808A (en) | 2023-12-01 | 2023-12-01 | Positioning method, positioning device, positioning equipment and computer readable storage medium |
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| CN117676808A true CN117676808A (en) | 2024-03-08 |
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| CN202311656403.7A Pending CN117676808A (en) | 2023-12-01 | 2023-12-01 | Positioning method, positioning device, positioning equipment and computer readable storage medium |
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| Country | Link |
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| CN (1) | CN117676808A (en) |
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- 2023-12-01 CN CN202311656403.7A patent/CN117676808A/en active Pending
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