CN117750296A

CN117750296A - Positioning system, method, device, electronic equipment and readable medium

Info

Publication number: CN117750296A
Application number: CN202211116706.5A
Authority: CN
Inventors: 杜熠竣; 林琼政; 孙以奇
Original assignee: Wuzhou Online E Commerce Beijing Co ltd
Current assignee: Wuzhou Online E Commerce Beijing Co ltd
Priority date: 2022-09-14
Filing date: 2022-09-14
Publication date: 2024-03-22

Abstract

Embodiments of the application provide positioning systems, methods, apparatuses, electronic devices, and readable media. The system comprises: the positioning tag is used for sending a positioning signal; the positioning base station is used for receiving the positioning signals, determining the arrival angles of the positioning signals, obtaining arrival angle information and sending the arrival angle information to the server; the server is used for mapping the arrival angle information to the earth coordinate system based on the attitude information of the positioning base station to obtain target angle information; second location information of the positioning tag is determined based on the first location information of the positioning base station and the target angle information. According to the embodiment, the installation difficulty of the positioning base station is reduced, the applicability to different positioning scenes is improved, and the signal coverage range of a single positioning base station is increased, so that the positioning cost is reduced.

Description

Positioning system, method, device, electronic equipment and readable medium

Technical Field

Embodiments of the present disclosure relate to the field of computer technology, and in particular, to a positioning system, a method, an apparatus, an electronic device, and a readable medium.

Background

With the development of internet of things technology, a large number of devices need to be managed by each enterprise, organization, family and even individual, and people often need to locate the devices when managing and using the devices.

In the prior art, a positioning base station can be arranged, and a positioning algorithm based on an Angle of Arrival (AOA) is adopted to position equipment, but because of algorithm constraint, the positioning base station needs to be arranged at a high place in a horizontal posture, so that the installation difficulty is high and the positioning base station cannot be suitable for an outdoor scene. In addition, the signal coverage area of the positioning base station set in the mode is smaller, and if large-scale coverage is required to be realized, the number of the positioning base stations is required to be expanded, so that the positioning cost is higher.

Disclosure of Invention

The embodiment of the application provides a positioning system, a method, a device, electronic equipment and a readable medium, so as to reduce the installation difficulty of a positioning base station, improve the applicability to different positioning scenes, and increase the signal coverage range of a single positioning base station to reduce the positioning cost.

In a first aspect, embodiments of the present application provide a positioning system, including: the positioning tag is used for sending a positioning signal; the positioning base station is used for receiving the positioning signal, determining the arrival angle of the positioning signal, obtaining arrival angle information and sending the arrival angle information to the server; the server is used for mapping the arrival angle information to an earth coordinate system based on the attitude information of the positioning base station to obtain target angle information; and determining second position information of the positioning tag based on the first position information of the positioning base station and the target angle information.

In a second aspect, an embodiment of the present application provides a positioning method, which is applied to a server, where the server is communicatively connected to a positioning base station, and the method includes: receiving arrival angle information sent by a positioning base station, wherein the arrival angle information is generated based on an arrival angle of a positioning signal received by the positioning base station, and the positioning signal is sent by a positioning tag; mapping the arrival angle information to an earth coordinate system based on the attitude information of the positioning base station to obtain target angle information; and determining second position information of the positioning tag based on the first position information of the positioning base station and the target angle information.

In a third aspect, an embodiment of the present application further provides a positioning device, which is applied to a server, where the server is communicatively connected to a positioning base station, and the device includes: the receiving unit is used for receiving the arrival angle information sent by the positioning base station, the arrival angle information is generated based on the arrival angle of the positioning signal received by the positioning base station, and the positioning signal is sent by the positioning tag; the determining unit is used for mapping the arrival angle information to an earth coordinate system based on the attitude information of the positioning base station to obtain target angle information; and determining second position information of the positioning tag based on the first position information of the positioning base station and the target angle information.

In a fourth aspect, embodiments of the present application further provide an electronic device, including: a processor; and a memory having executable code stored thereon that, when executed, causes the processor to perform a positioning method as described in one or more of the embodiments herein.

In a fifth aspect, embodiments of the present application also provide one or more machine readable media having executable code stored thereon that, when executed, causes a processor to perform a positioning method as described in one or more of the embodiments of the present application.

Compared with the prior art, the embodiment of the application has the following advantages:

in the embodiment of the application, the positioning label is used for sending the positioning signal, the arrival angle is determined after the positioning base station receives the positioning signal, the arrival angle information is sent to the server, the server maps the arrival angle information to the earth coordinate system based on the attitude information of the positioning base station to obtain the target angle information, and further, the second position information of the positioning label is determined based on the first position information and the target angle information of the positioning base station, so that the positioning of the positioning label is realized. In the positioning process, the position information of the positioning base station is considered, and the posture information of the positioning base station is combined, so that the positioning base station can be supported to be installed at any position in any posture without being arranged at a high position in a horizontal posture, the installation difficulty of the positioning base station is reduced, and the applicability of different positioning scenes (such as indoor scenes and outdoor scenes) is improved. Meanwhile, the limitation of the installation posture and the installation position does not exist, so that the signal coverage range of the positioning base station can be increased, and the positioning cost is reduced.

Drawings

Other features, objects and advantages of the present application will become more apparent upon reading of the detailed description of non-limiting embodiments, made with reference to the following drawings, in which:

FIG. 1 is an exemplary system architecture diagram of a positioning system according to an embodiment of the present application;

fig. 2A is a three-dimensional schematic diagram of signal coverage of a positioning base station in a horizontal posture according to an embodiment of the present application;

fig. 2B is a schematic plan view of signal coverage of a positioning base station in a horizontal posture according to an embodiment of the present application;

fig. 3A is a three-dimensional schematic diagram of signal coverage of a positioning base station in a side pose according to an embodiment of the present application;

fig. 3B is a schematic plan view of signal coverage of a positioning base station in a side pose according to an embodiment of the present application;

FIG. 4 is a flow chart of one embodiment of a positioning method of the present application;

fig. 5 is a schematic structural view of an embodiment of the positioning device of the present application.

Fig. 6 is a schematic structural diagram of an apparatus according to an embodiment of the present application.

Detailed Description

The present application is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be noted that, for convenience of description, only the portions related to the present invention are shown in the drawings.

It should be noted that all actions for obtaining signals, information or data in this application are performed in compliance with the corresponding data protection legislation policy of the country of location and obtaining the authorization granted by the owner of the corresponding device.

It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other. The present application will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

The embodiment of the application can be applied to positioning scenes, and can comprise indoor positioning scenes and outdoor positioning scenes. Wherein, indoor positioning scene can include but is not limited to at least one of the following: an office building indoor positioning scene, a market indoor positioning scene, a warehouse indoor positioning scene, an indoor parking lot positioning scene and the like. The outdoor location scenario may include, but is not limited to, at least one of: outdoor square positioning scenes, outdoor playground positioning scenes, outdoor parking lot positioning scenes and the like. The object to be positioned may include, but is not limited to, a device, an article, a person, an animal, etc. Such devices may include, but are not limited to, devices managed by an enterprise, organization, home, or individual, such as mobile terminals, vehicles, etc. Such items maliciously include, but are not limited to, logistic packages, merchandise, books, etc.

FIG. 1 illustrates an exemplary system architecture diagram of a positioning system of the present application. As shown in fig. 1, a positioning tag 101, a positioning base station 102, and a server 103 may be included in a positioning system. It will be appreciated that the number of positioning tags 101, positioning base stations 102 and servers 103 in fig. 1 is merely illustrative. There may be any number of location tags, location base stations, and servers, as desired for implementation.

The positioning tag 101 refers to an electronic tag that can emit a positioning signal. The positioning tag 101 may periodically transmit a positioning signal with identification information. When the object to be positioned is a device, the positioning tag may be mounted on the device and may emit a positioning signal with the device identification. When the object to be located is a person, the location tag may be carried by the person and may transmit a location signal with the personal identification tag. The positioning signal may be a signal for positioning by other devices, such as a direction finding signal. Illustratively, the positioning signals may include, but are not limited to, at least one of: bluetooth (blue) signals, ultra Wide Band (UWB) signals, 5G (5 th Generation Mobile Communication Technology, fifth generation mobile communication technology) signals, and the like.

The positioning base station 102 may be a base station that performs positioning using an Angle of Arrival (AoA) based positioning method. The positioning base station 102 may have a receiver, e.g., an antenna array, disposed therein. The angle of arrival may refer to the angle at which a signal is incident on the receiver. Positioning based on an arrival angle is a high-precision positioning direction-finding angle technology. When the signal is incident to the receiver, the phase difference is generated due to different distances received in the antenna array, so as to calculate the relative signal direction. Corresponding to the type of positioning signal, the positioning base station 102 may include, but is not limited to, at least one of: bluetooth positioning base station, UWB positioning base station, 5G positioning base station, etc. After receiving the positioning signal sent by the positioning tag 101, the positioning base station 102 can determine the arrival angle of the positioning signal, obtain arrival angle information, and send the arrival angle information to the server. The arrival angle information is information recorded with specific numerical values of the arrival angle.

The server 103 may be a local server or a cloud server. The server 103 is communicatively connected to the positioning base station 102 by a wired connection or a wireless connection. The wireless connection may include, but is not limited to, 3G/4G/5G connection, wiFi connection, bluetooth connection, wiMAX (World Interoperability for Microwave Access, worldwide interoperability for microwave access) connection, zigbee (Zigbee protocol) connection, UWB (ultra wide band) connection, and other now known or future developed wireless connection methods. It should be noted that, other devices, such as a switch, may be further included in the connection between the server 103 and the positioning base station 102, which is not limited herein.

After receiving the angle of arrival information sent by the positioning base station 102, the server 103 may determine the second location information of the positioning tag based on the angle of arrival information, the first location information of the positioning base station 102, and the posture information. Wherein the first location information may be used to indicate the location of the positioning base station 102 in the earth coordinate system. The pose information may be used to indicate the pose of the positioning base station 102 in the earth coordinate system. In some scenarios, the first location information and the gesture information may be pre-stored locally at the server 103, and thus may be obtained directly from the local. In other scenarios, the first position information and the pose information may be detected by the positioning base station 102 itself and may be synchronously transmitted to the server 103 by the positioning base station 102 when transmitting the angle of arrival information. For example, an antenna array, a positioning device, and a posture detection device may be provided in the positioning base station 102. The positioning base station 102 may receive the positioning signal through the antenna array, determine the arrival angle information of the positioning signal, obtain the first position information through the positioning device, and obtain the posture information through the posture detection device, so as to send the determined arrival angle information, the obtained first position information and the posture information to the server 103.

Because the angle of arrival information is angle information of the positioning signal determined with respect to the positioning base station coordinate system, and the first position information and the gesture information are information determined with respect to the earth coordinate system, the server 103 may map the angle of arrival information to the earth coordinate system based on the gesture information first to obtain target angle information, so as to convert the angle of arrival information into the coordinate system, thereby realizing the unification of the coordinate systems. Then, second position information of the positioning tag is determined based on the first position information and the target angle information.

In some alternative implementations, the angle of arrival information may include a first azimuth angle (denoted Theta) and a first elevation angle (denoted Phi) of the positioning signal in a positioning base station coordinate system. The server 103 may generate the target angle information by: first, based on the first azimuth angle (Theta), the first pitch angle (Phi), and the attitude information, a second azimuth angle (can be denoted as theta_g) and a second pitch angle (can be denoted as phi_g) of the positioning signal in the earth coordinate system are determined. Then, target angle information is generated based on the second azimuth angle (theta_g) and the second pitch angle (phi_g). For example, the second azimuth angle (theta_g) and the second pitch angle (phi_g) are summed to obtain target angle information, which may be expressed as (theta_g, phi_g).

Among these, the attitude information may include a roll angle (may be denoted as row), a pitch angle (may be denoted as pitch), and a yaw angle (may be denoted as yaw) of the positioning base station in the earth coordinate system. The roll angle is the angle of rotation about the x-axis, the pitch angle is the angle of rotation about the y-axis, and the yaw angle is the angle of rotation about the z-axis. As an example, the second azimuth angle (theta_g) and the second pitch angle (phi_g) may be determined as follows:

Theta_g＝atan2(Ysft,Xsft)

Phi_g＝acos(Zsft)

wherein, ysft, xsft and Zsft are custom intermediate quantities that can be calculated by the following formula:

Xsft＝Xori×cos(yaw)-Yori×cos(pitch)×sin(yaw)+Zori×sin(pitch)×sin(yaw)

Ysft＝Xori×sin(yaw)+Yori×cos(pitch)×cos(yaw)-Zori×sin(pitch)×cos(yaw)

Zsft＝Yori×sin(pitch)+Zori×cos(pitch)

wherein Xori, yori and Yori are also custom intermediate quantities, which can be calculated by the following formula:

Xori＝sin(Phi)×cos(Theta)；

Yori＝sin(Phi)×sin(Theta)；

Zori＝cos(Phi)

it should be noted that, the above intermediate quantities are all set for easy calculation, and may be represented by other symbols as needed.

In some alternative implementations, the first location information may include a first abscissa (which may be denoted as base_x), a first ordinate (which may be denoted as base_y), and first altitude information (which may be denoted as base_z) of the positioning base station in the earth coordinate system. The server 103 may generate the second location information by: first, second altitude information (which may be denoted as tag_z) of the positioning tag is acquired. The second altitude information of the location tag may be pre-entered by the user locally to the electronic device. Then, a second abscissa (may be denoted as tag_x) and a second ordinate (may be denoted as tag_y) of the positioning tag in the earth coordinate system are determined based on the first abscissa (base_x), the first ordinate (base_y), the target angle information (which may include the above-mentioned theta_g and phi_g), and the first altitude information (base_z). Finally, second location information is generated based on the second abscissa (tag_x), the second ordinate (tag_y), and the second altitude information (tag_z). For example, the second abscissa (tag_x), the second ordinate (tag_y), and the second altitude information (tag_z) may be summarized to obtain second position information, which may be expressed as (tag_x, tag_y, tag_z).

As an example, the second abscissa (tag_x), the second ordinate (tag_y), and the second altitude information (tag_z) may be determined according to the following formula:

tag_x＝R×sin(Phi_g)×cos(Theta_g)+base_x；

tag_y＝R×sin(Phi_g)×sin(Theta_g)+base_y；

wherein, R is a self-defined intermediate quantity, which can be calculated by the following formula:

R＝(tag_z-base_z)/cos(Phi_g)

it should be noted that, the above intermediate quantity R is set for easy calculation, and may be represented by other symbols as needed.

In the related art, when positioning is performed by adopting a positioning method based on an arrival angle, only the position information and the arrival angle information of the positioning base station are generally used, and in this method, the positioning base station needs to be set up at a high place in a horizontal posture (for example, ceiling installation in an office scene with a floor height of 2.8 meters, hoisting in a horizontal posture under a roof steel frame in an industrial environment with a floor height of 9 meters, etc.), so that the installation difficulty is high, and the positioning base station cannot be applied to places (for example, open squares, open playgrounds, outdoor parking lots, etc.) without ceilings outdoors. In addition, the positioning base station installed at a high position in a horizontal posture can cover only an area (for example, a range of only 20 square meters for an office scene with a floor height of 2.8 meters) with a radius of one time or less just below the positioning base station, so that the signal coverage is small. If large-scale coverage is required, the number of positioning base stations needs to be expanded, resulting in higher positioning cost.

In the embodiment of the application, in the positioning process, not only the position information of the positioning base station is considered, but also the posture information of the positioning base station is combined, so that the positioning base station can be supported to be installed at any position in any posture (for example, not only can be horizontally installed, but also can be laterally installed, and the like), and the positioning base station is not required to be limited to be arranged at a high position in the horizontal posture. The positioning base station can be installed laterally, so that the installation difficulty of the positioning base station is reduced, and the applicability of the positioning base station to different positioning scenes (including various indoor scenes and outdoor scenes) is improved. Meanwhile, the installation posture and the installation position of the positioning base station can be flexibly set according to the requirement because the limitation of the installation posture and the installation position does not exist, so that the signal coverage range of the positioning base station is increased, the number of the positioning base stations in a set area is reduced, and the positioning cost is reduced.

As an example, fig. 2A is a three-dimensional schematic diagram of a signal coverage of a positioning base station in a horizontal posture according to an embodiment of the present application, fig. 2B is a plan schematic diagram of a signal coverage of a positioning base station in a horizontal posture according to an embodiment of the present application, fig. 3A is a three-dimensional schematic diagram of a signal coverage of a positioning base station in a lateral posture according to an embodiment of the present application, and fig. 3B is a plan schematic diagram of a signal coverage of a positioning base station in a lateral posture according to an embodiment of the present application. Each coordinate axis in fig. 2A, 2B, 3A, and 3B may represent a length. As can be seen from fig. 2A and 2B, when the positioning base station is installed at a high level in a horizontal posture, the signal coverage thereof is small due to the size constraint of the antenna lobe angle. As can be seen from fig. 3A and 3B, the signal coverage is greater when the positioning base station is installed laterally. Therefore, when the positioning base stations are laterally arranged, the signal coverage range of the positioning base stations can be increased, and the number of the positioning base stations in the setting area is reduced, so that the positioning cost is reduced.

With continued reference to FIG. 4, a flow chart of one embodiment of a positioning method of the present application is shown. The positioning method can be applied to electronic equipment such as a server. The server may be communicatively coupled to the positioning base station. The positioning method comprises the following steps:

step 401, receiving arrival angle information sent by a positioning base station.

In this embodiment, the execution subject of the positioning method (for example, the server 103 shown in fig. 1) may receive the arrival angle information transmitted by the positioning base station. The angle of arrival information described above may be generated based on the angle of arrival of a positioning signal received by a positioning base station (e.g., positioning base station 102 shown in fig. 1). The positioning signal may be transmitted by a positioning tag (e.g., positioning tag 101 shown in fig. 1).

Step 402, mapping the arrival angle information to the earth coordinate system based on the gesture information of the positioning base station to obtain the target angle information.

In this embodiment, the pose information of the positioning base station may be used to indicate the pose of the positioning base station in the earth coordinate system. Because the angle of arrival information is angle information of the positioning signal determined relative to the positioning base station coordinate system, the execution body can map the angle of arrival information to the earth coordinate system based on the gesture information to obtain target angle information, so as to convert the angle of arrival information into the coordinate system, and realize the unification of the coordinate system. Then, second position information of the positioning tag is determined based on the first position information and the target angle information.

In some alternative implementations, the angle of arrival information may include a first azimuth angle (denoted Theta) and a first elevation angle (denoted Phi) of the positioning signal in a positioning base station coordinate system. The execution subject may generate the target angle information by: first, based on the first azimuth angle (Theta), the first pitch angle (Phi), and the attitude information, a second azimuth angle (can be denoted as theta_g) and a second pitch angle (can be denoted as phi_g) of the positioning signal in the earth coordinate system are determined. Then, target angle information is generated based on the second azimuth angle (theta_g) and the second pitch angle (phi_g). For example, the second azimuth angle (theta_g) and the second pitch angle (phi_g) are summed to obtain target angle information, which may be expressed as (theta_g, phi_g).

Theta_g＝atan2(Ysft,Xsft)

Phi_g＝acos(Zsft)

Xsft＝Xori×cos(yaw)-Yori×cos(pitch)×sin(yaw)+Zori×sin(pitch)×sin(yaw)

Ysft＝Xori×sin(yaw)+Yori×cos(pitch)×cos(yaw)-Zori×sin(pitch)×cos(yaw)

Zsft＝Yori×sin(pitch)+Zori×cos(pitch)

Xori＝sin(Phi)×cos(Theta)；

Yori＝sin(Phi)×sin(Theta)；

Zori＝cos(Phi)

Step 403, determining second location information of the positioning tag based on the first location information of the positioning base station and the target angle information.

In this embodiment, the first location information may be used to indicate the location of the positioning base station in the earth coordinate system. The pose information may be used to indicate the pose of the positioning base station in the earth coordinate system.

In some scenarios, the first position information and the gesture information may be stored locally in the execution body in advance, and thus may be directly obtained from the local.

In other scenarios, the first position information and the gesture information may be detected by the positioning base station itself, and may be synchronously transmitted to the execution subject by the positioning base station when transmitting the angle of arrival information. For example, an antenna array, a positioning device, and a posture detecting device may be provided in the positioning base station. The positioning base station can receive the positioning signal through the antenna array, determine the arrival angle information of the positioning signal, acquire the first position information through the positioning device, acquire the gesture information through the gesture detection device, and therefore send the determined arrival angle information, the acquired first position information and the gesture information to the execution body.

In some alternative implementations, the first location information may include a first abscissa (which may be denoted as base_x), a first ordinate (which may be denoted as base_y), and first altitude information (which may be denoted as base_z) of the positioning base station in the earth coordinate system. The execution subject may generate the second position information by: first, second altitude information (which may be denoted as tag_z) of the positioning tag is acquired. The second altitude information of the location tag may be pre-entered by the user locally to the electronic device. Then, a second abscissa (may be denoted as tag_x) and a second ordinate (may be denoted as tag_y) of the positioning tag in the earth coordinate system are determined based on the first abscissa (base_x), the first ordinate (base_y), the target angle information (which may include the above-mentioned theta_g and phi_g), and the first altitude information (base_z). Finally, second location information is generated based on the second abscissa (tag_x), the second ordinate (tag_y), and the second altitude information (tag_z). For example, the second abscissa (tag_x), the second ordinate (tag_y), and the second altitude information (tag_z) may be summarized to obtain second position information, which may be expressed as (tag_x, tag_y, tag_z).

tag_x＝R×sin(Phi_g)×cos(Theta_g)+base_x；

tag_y＝R×sin(Phi_g)×sin(Theta_g)+base_y；

R＝(tag_z-base_z)/cos(Phi_g)

The steps of this embodiment are similar to those corresponding to the above embodiments, and specific reference may be made to the description of the above embodiments.

In the embodiment of the application, in the positioning process, not only the position information of the positioning base station is considered, but also the posture information of the positioning base station is combined, so that the positioning base station can be supported to be installed at any position in any posture (for example, not only can be horizontally installed, but also can be laterally installed, and the like), and the positioning base station is not required to be limited to be arranged at a high position in the horizontal posture. The installation difficulty of the positioning base station is reduced and the applicability to different positioning scenes (including various indoor scenes and outdoor scenes) is improved because the positioning base station can be installed laterally. Meanwhile, the installation posture and the installation position of the positioning base station can be flexibly set according to the requirement because the limitation of the installation posture and the installation position does not exist, so that the signal coverage range of the positioning base station is increased, the number of the positioning base stations in a set area is reduced, and the positioning cost is reduced.

It should be noted that, for simplicity of description, the method embodiments are shown as a series of acts, but it should be understood by those skilled in the art that the embodiments are not limited by the order of acts described, as some steps may occur in other orders or concurrently in accordance with the embodiments. Further, those skilled in the art will appreciate that the embodiments described in the specification are all preferred embodiments and that the acts referred to are not necessarily required by the embodiments of the present application.

With further reference to fig. 5, on the basis of the above embodiment, the present application provides an embodiment of a positioning device, where the device may be specifically applied to an electronic device such as a server, where the server is communicatively connected to a positioning base station.

As shown in fig. 5, the positioning device 500 of the present embodiment includes: a receiving unit 501, configured to receive arrival angle information sent by a positioning base station, where the arrival angle information is generated based on an arrival angle of a positioning signal received by the positioning base station, and the positioning signal is sent by a positioning tag; a first determining unit 502, configured to map the arrival angle information to an earth coordinate system based on the attitude information of the positioning base station, to obtain target angle information; a second determining unit 503, configured to determine second location information of the positioning tag based on the first location information of the positioning base station and the target angle information.

In some optional implementations of this embodiment, the angle of arrival information includes a first azimuth angle and a first pitch angle of the positioning signal in a positioning base station coordinate system; the first determining unit 502 may be further configured to determine a second azimuth angle and a second pitch angle of the positioning signal in an earth coordinate system based on the first azimuth angle, the first pitch angle, and the attitude information; and generating target angle information based on the second azimuth angle and the second pitch angle.

In some optional implementations of this embodiment, the first location information includes a first abscissa, a first ordinate, and first altitude information of the positioning base station in an earth coordinate system; the second determining unit 503 may be further configured to obtain second height information of the positioning tag; determining a second abscissa and a second ordinate of the positioning tag in an earth coordinate system based on the first abscissa, the first ordinate, the target angle information, and the first altitude information; and generating second position information based on the second abscissa, the second ordinate, and the second altitude information.

According to the device provided by the embodiment of the application, the positioning signal is sent through the positioning tag, the arrival angle of the positioning tag is determined after the positioning base station receives the positioning signal, the arrival angle information is sent to the server, the server maps the arrival angle information to the earth coordinate system based on the attitude information of the positioning base station to obtain the target angle information, and further the second position information of the positioning tag is determined based on the first position information and the target angle information of the positioning base station, so that the positioning of the positioning tag is realized. In the positioning process, the position information of the positioning base station is considered, and the posture information of the positioning base station is combined, so that the positioning base station can be supported to be installed at any position in any posture without being arranged at a high position in a horizontal posture, the installation difficulty of the positioning base station is reduced, and the applicability of different positioning scenes (such as indoor scenes and outdoor scenes) is improved. Meanwhile, the limitation of the installation posture and the installation position does not exist, so that the signal coverage range of the positioning base station can be increased, and the positioning cost is reduced.

The embodiment of the application also provides a non-volatile readable storage medium, where one or more modules (programs) are stored, where the one or more modules are applied to a device, and the device may be caused to execute instructions (instractions) of each method step in the embodiment of the application.

Embodiments of the present application provide one or more machine-readable media having instructions stored thereon that, when executed by one or more processors, cause an electronic device to perform a method as described in one or more of the above embodiments. In this embodiment of the present application, the electronic device includes various types of devices such as a terminal device, a server (a cluster), and the like.

Embodiments of the present disclosure may be implemented as an apparatus for performing a desired configuration using any suitable hardware, firmware, software, or any combination thereof, which may include electronic devices such as terminal devices, servers (clusters), etc. Fig. 6 schematically illustrates an example apparatus 600 that may be used to implement various embodiments described herein.

For one embodiment, fig. 6 illustrates an example apparatus 600 having one or more processors 602, a control module (chipset) 604 coupled to at least one of the processor(s) 602, a memory 606 coupled to the control module 604, a non-volatile memory (NVM)/storage 608 coupled to the control module 604, one or more input/output devices 610 coupled to the control module 604, and a network interface 612 coupled to the control module 604.

The processor 602 may include one or more single-core or multi-core processors, and the processor 602 may include any combination of general-purpose or special-purpose processors (e.g., graphics processors, application processors, baseband processors, etc.). In some embodiments, the apparatus 600 can be used as a terminal device, a server (cluster), or the like in the embodiments of the present application.

In some embodiments, the apparatus 600 can include one or more computer-readable media (e.g., memory 606 or NVM/storage 608) having instructions 614 and one or more processors 602 combined with the one or more computer-readable media configured to execute the instructions 614 to implement the modules to perform the actions described in this disclosure.

For one embodiment, the control module 604 may include any suitable interface controller to provide any suitable interface to at least one of the processor(s) 602 and/or any suitable device or component in communication with the control module 604.

The control module 604 may include a memory controller module to provide an interface to the memory 606. The memory controller modules may be hardware modules, software modules, and/or firmware modules.

Memory 606 may be used to load and store data and/or instructions 614 for device 600, for example. For one embodiment, memory 606 may comprise any suitable volatile memory, such as, for example, a suitable DRAM. In some embodiments, memory 606 may comprise double data rate type four synchronous dynamic random access memory (DDR 4 SDRAM).

For one embodiment, the control module 604 may include one or more input/output controllers to provide an interface to the NVM/storage 608 and the input/output device(s) 610.

For example, NVM/storage 608 may be used to store data and/or instructions 614. NVM/storage 608 may include any suitable non-volatile memory (e.g., flash memory) and/or may include any suitable non-volatile storage device(s) (e.g., one or more Hard Disk Drives (HDDs), one or more Compact Disc (CD) drives, and/or one or more Digital Versatile Disc (DVD) drives).

NVM/storage 608 may include storage resources physically part of the device on which apparatus 600 is installed, or it may be accessible by the device without necessarily being part of the device. For example, NVM/storage 608 may be accessed over a network via input/output device(s) 610.

Input/output device(s) 610 may provide an interface for apparatus 600 to communicate with any other suitable devices, input/output device 610 may include communication components, audio components, sensor components, and the like. The network interface 612 may provide an interface for the device 600 to communicate over one or more networks, and the device 600 may wirelessly communicate with one or more components of a wireless network according to any of one or more wireless network standards and/or protocols, such as accessing a wireless network based on a communication standard, such as WiFi, 2G, 3G, 4G, 5G, etc., or a combination thereof.

For one embodiment, at least one of the processor(s) 602 may be packaged together with logic of one or more controllers (e.g., memory controller modules) of the control module 604. For one embodiment, at least one of the processor(s) 602 may be packaged together with logic of one or more controllers of the control module 604 to form a System In Package (SiP). For one embodiment, at least one of the processor(s) 602 may be integrated on the same die as logic of one or more controllers of the control module 604. For one embodiment, at least one of the processor(s) 602 may be integrated on the same die with logic of one or more controllers of the control module 604 to form a system on chip (SoC).

In various embodiments, the apparatus 600 may be, but is not limited to being: a server, a desktop computing device, or a mobile computing device (e.g., a laptop computing device, a handheld computing device, a tablet, a netbook, etc.), among other terminal devices. In various embodiments, the apparatus 600 may have more or fewer components and/or different architectures. For example, in some embodiments, the apparatus 600 includes one or more cameras, a keyboard, a Liquid Crystal Display (LCD) screen (including a touch screen display), a non-volatile memory port, multiple antennas, a graphics chip, an Application Specific Integrated Circuit (ASIC), and a speaker.

The device can adopt a main control chip as a processor or a control module, sensor data, position information and the like are stored in a memory or an NVM/storage device, a sensor group can be used as an input/output device, and a communication interface can comprise a network interface.

For the device embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, and reference is made to the description of the method embodiments for relevant points.

In this specification, each embodiment is described in a progressive manner, and each embodiment is mainly described by differences from other embodiments, and identical and similar parts between the embodiments are all enough to be referred to each other.

Embodiments of the present application are described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing terminal device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

While preferred embodiments of the present embodiments have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the embodiments of the present application.

Finally, it is further noted that 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 terminal 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 terminal. 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 terminal device comprising the element.

The positioning system, the method, the device, the electronic equipment and the readable medium provided by the application are described in detail, and specific examples are applied to the description of the principles and the implementation modes of the application, and the description of the examples is only used for helping to understand the method and the core idea of the application; meanwhile, as those skilled in the art will have modifications in the specific embodiments and application scope in accordance with the ideas of the present application, the present description should not be construed as limiting the present application in view of the above.

Claims

1. A positioning system, comprising:

the positioning tag is used for sending a positioning signal;

the positioning base station is used for receiving the positioning signal, determining the arrival angle of the positioning signal, obtaining arrival angle information and sending the arrival angle information to the server;

the server is used for mapping the arrival angle information to an earth coordinate system based on the attitude information of the positioning base station to obtain target angle information; and determining second position information of the positioning tag based on the first position information of the positioning base station and the target angle information.

2. The system of claim 1, wherein the angle of arrival information comprises a first azimuth and a first elevation angle of the positioning signal in a positioning base station coordinate system;

the server is further configured to:

determining a second azimuth angle and a second pitch angle of the positioning signal in the earth coordinate system based on the first azimuth angle, the first pitch angle and the attitude information;

and generating target angle information based on the second azimuth angle and the second pitch angle.

3. The system of claim 1, wherein the first location information comprises a first abscissa, a first ordinate, and first altitude information of the positioning base station in an earth coordinate system;

the server is further configured to:

acquiring second height information of the positioning tag;

determining a second abscissa and a second ordinate of the positioning tag in the earth coordinate system based on the first abscissa, the first ordinate, the target angle information, and the first altitude information;

second location information is generated based on the second abscissa, the second ordinate, and the second altitude information.

4. The system of claim 1, wherein the positioning base station comprises an antenna array, a positioning device and a gesture detection device;

the positioning base station is further configured to:

receiving the positioning signal through the antenna array, and determining the arrival angle information of the positioning signal;

acquiring the first position information through the positioning device;

acquiring the gesture information through the gesture detection device;

and sending the arrival angle information, the first position information and the gesture information to the server.

5. A positioning method, applied to a server, the server being communicatively connected to a positioning base station, the method comprising:

receiving arrival angle information sent by a positioning base station, wherein the arrival angle information is generated based on an arrival angle of a positioning signal received by the positioning base station, and the positioning signal is sent by a positioning tag;

mapping the arrival angle information to an earth coordinate system based on the attitude information of the positioning base station to obtain target angle information;

and determining second position information of the positioning tag based on the first position information of the positioning base station and the target angle information.

6. The method of claim 5, wherein the angle of arrival information comprises a first azimuth angle and a first elevation angle of the positioning signal in a positioning base station coordinate system;

mapping the arrival angle information to an earth coordinate system based on the gesture information to obtain target angle information, wherein the method comprises the following steps:

determining a second azimuth angle and a second pitch angle of the positioning signal in an earth coordinate system based on the first azimuth angle, the first pitch angle and the attitude information;

7. The method of claim 6, wherein the first location information comprises a first abscissa, a first ordinate, and first altitude information of the positioning base station in an earth coordinate system;

the determining the second location information of the positioning tag based on the first location information of the positioning base station and the target angle information includes:

acquiring second height information of the positioning tag;

determining a second abscissa and a second ordinate of the positioning tag in an earth coordinate system based on the first abscissa, the first ordinate, the target angle information, and the first altitude information;

8. A positioning device for use with a server, said server being communicatively coupled to a positioning base station, said device comprising:

the receiving unit is used for receiving the arrival angle information sent by the positioning base station, the arrival angle information is generated based on the arrival angle of the positioning signal received by the positioning base station, and the positioning signal is sent by the positioning tag;

the first determining unit is used for mapping the arrival angle information to an earth coordinate system based on the attitude information of the positioning base station to obtain target angle information;

and a second determining unit configured to determine second location information of the positioning tag based on the first location information of the positioning base station and the target angle information.

9. An electronic device, comprising:

a processor; and

a memory having executable code stored thereon that, when executed, causes the processor to perform the method of any of claims 5-7.

10. One or more machine readable media having executable code stored thereon that, when executed, causes a processor to perform the method of any of claims 5-7.