WO2015144055A1 - 定位方法及装置 - Google Patents

定位方法及装置 Download PDF

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Publication number
WO2015144055A1
WO2015144055A1 PCT/CN2015/075015 CN2015075015W WO2015144055A1 WO 2015144055 A1 WO2015144055 A1 WO 2015144055A1 CN 2015075015 W CN2015075015 W CN 2015075015W WO 2015144055 A1 WO2015144055 A1 WO 2015144055A1
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WO
WIPO (PCT)
Prior art keywords
node
positioning
location information
self
information
Prior art date
Application number
PCT/CN2015/075015
Other languages
English (en)
French (fr)
Inventor
陈学梁
谢勇
Original Assignee
华为技术有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 华为技术有限公司 filed Critical 华为技术有限公司
Priority to EP15768738.5A priority Critical patent/EP3116272B1/en
Publication of WO2015144055A1 publication Critical patent/WO2015144055A1/zh

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Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0205—Details
    • G01S5/0244—Accuracy or reliability of position solution or of measurements contributing thereto

Definitions

  • the present invention relates to the field of information technology, and in particular, to a positioning method and apparatus.
  • the system moves the self-mobile node to a target location by controlling the self-mobile node.
  • the self-moving node can be positioned by the position sensor. However, since there is more noise in the data collected by the position sensor, when the position sensor performs positioning, there is a large deviation in the position information of the self-moving node.
  • the self-mobile node can also be located by WIFI (Wireless Fidelity) technology.
  • the fixed node may be a fixed WIFI AP (Access Point, wireless access point).
  • the embodiment of the invention provides a positioning method and device, which can locate a self-mobile node in a blind zone.
  • an embodiment of the present invention provides a positioning method, including:
  • the location information is used for determining Bit information
  • the method further includes:
  • Determining, according to the location information, the location information is:
  • the positioning information is determined based on location information acquired by the at least one non-stationary node or location information determined by the location sensor.
  • the method further includes:
  • the method further includes:
  • the method further includes:
  • a positioning error of the at least one non-fixed node is a maximum positioning error in the at least one non-fixed node
  • Determining the location information according to the location information acquired by the at least one non-fixed node or the location information determined by the location sensor is specifically:
  • the positioning error of the at least one non-fixed node is less than or equal to the positioning error of the position sensor, determining the positioning information according to the location information acquired by the at least one non-fixed node;
  • the positioning information is determined according to the location information acquired by the location sensor.
  • the determining, by using the location information acquired by the at least one non-fixed node, the location information include:
  • the method further includes:
  • the positioning error of the position sensor is broadcasted.
  • the non-fixed node is a standard A node, which is a node that determines positioning information by a fixed node.
  • the non-fixed node is not A standard node, which is a node that determines positioning information by a non-fixed node or a position sensor.
  • an embodiment of the present invention provides a positioning apparatus, including:
  • An obtaining unit configured to acquire location information by using at least one non-fixed node, where the location information is information used for performing positioning;
  • a processing unit configured to determine positioning information according to the location information acquired by the acquiring unit
  • a broadcast unit configured to broadcast the positioning information determined by the processing unit.
  • the device is further Including: position sensor;
  • the position sensor is configured to determine location information
  • the processing unit is specifically configured to determine the positioning information according to the location information acquired by the acquiring unit or the location information determined by the location sensor.
  • the acquiring unit is further configured to acquire a positioning error of the at least one non-fixed node, where a positioning error of the at least one non-fixed node is a maximum positioning error in the at least one non-fixed node.
  • the broadcast unit is further configured to broadcast a positioning error of the at least one non-fixed node acquired by the acquiring unit.
  • the acquiring unit is further configured to acquire a positioning error of the at least one non-fixed node, where a positioning error of the at least one non-fixed node is a maximum positioning error in the at least one non-fixed node;
  • the position sensor is further configured to determine a positioning error of the position sensor
  • the processing unit is configured to: when the positioning error acquired by the acquiring unit is less than or equal to the positioning error determined by the position sensor, determine that the location information acquired by the acquiring unit is the positioning information;
  • the processing unit is further configured to: when the positioning error acquired by the acquiring unit is greater than the positioning error determined by the position sensor, determine that the location information determined by the position sensor is the positioning information.
  • the processing unit is further configured to update a positioning error of the position sensor according to a positioning error acquired by the acquiring unit.
  • the broadcast unit is further configured to broadcast a positioning error of the position sensor.
  • the non-fixed node is a standard node, and the standard node is a node that determines positioning information by using a fixed node.
  • the non-fixed node is a non-standard node
  • the non-standard node is a node that determines positioning information by a non-fixed node or a position sensor.
  • the positioning method and device provided by the embodiment of the present invention first acquire location information by using at least one non-fixed node, then determine location information according to the location information, and finally broadcast the location information.
  • the mobile node can determine its own positioning information by acquiring the location information broadcast by other non-fixed nodes, so that the self-mobile node cannot be fixed.
  • the location information of the other node may be determined, and the self-mobile node in the location blind zone may be located.
  • FIG. 1 is a schematic structural diagram of a system for positioning according to an embodiment of the present invention
  • FIG. 2 is a flowchart of a positioning method according to an embodiment of the present invention.
  • FIG. 3 is a flowchart of still another positioning method according to an embodiment of the present invention.
  • FIG. 4 is a flowchart of still another positioning method according to an embodiment of the present invention.
  • FIG. 5 is a flowchart of still another positioning method according to an embodiment of the present invention.
  • FIG. 6 is a flowchart of still another positioning method according to an embodiment of the present invention.
  • FIG. 7 is a schematic structural diagram of a positioning apparatus according to an embodiment of the present disclosure.
  • FIG. 8 is a schematic structural diagram of a self-mobile node according to an embodiment of the present invention.
  • FIG. 9 is a schematic structural diagram of still another positioning device according to an embodiment of the present disclosure.
  • FIG. 10 is a schematic structural diagram of still another self-mobile node according to an embodiment of the present invention.
  • the technical solution provided by the embodiment of the present invention can be applied to the case of deploying a small number of fixed nodes, as shown in FIG. 1 .
  • the square pattern is a fixed WIFI AP, that is, a fixed node in the embodiment of the present invention; the circular pattern is a self-moving node.
  • the self-mobile node can be divided into a standard node and a non-standard node according to whether the self-mobile node can obtain the location information through the fixed node.
  • a standard node is a node that can obtain location information through a fixed node, that is, a standard node is not in a positioning blind zone;
  • a non-standard node is a node that cannot obtain location information through a fixed node, that is, a non-standard node is in a positioning blind zone.
  • the white circular pattern is a standard node
  • the black circular pattern is Non-standard nodes.
  • An embodiment of the present invention provides a positioning method. As shown in FIG. 2, the method includes:
  • the self-mobile node acquires location information by using at least one non-fixed node.
  • the location information is information used for positioning.
  • the non-fixed node is a self-mobile node other than the above self-mobile node.
  • the fixed node may be a fixed WIFI AP, and the non-fixed node may be a self-mobile node.
  • the self-mobile node can also determine the positioning information by using the position sensor.
  • the position sensor can obtain the position information of the self-moving node by using data such as the moving speed, the moving direction and the moving height of the mobile node.
  • the position sensor may be a gyroscope, an accelerometer meter, a magnetometer, a geomagnetic sensor, or the like.
  • the position sensor may be a GPS (Global Positioning System), a G-Sensor (Gravity-sensor), a Gyroscope, a Geomagnetism, or the like.
  • the self-mobile node can acquire location information through at least one fixed node.
  • the self-mobile node can be divided into a standard node and a non-standard node, and the standard node is a node that can obtain location information through the fixed node, and the non-standard node is A node that cannot obtain location information through a fixed node, that is, a non-standard node is in a location dead zone.
  • the self-mobile node determines the location information according to the location information.
  • the method for determining positioning information by the mobile node through the fixed node includes: a triangle algorithm and a location fingerprinting algorithm.
  • the triangle algorithm estimates the position information of the object to be tested by using the distance information between the object to be tested and at least three known reference points;
  • the position fingerprint identification algorithm measures the RSS values from different fixed nodes at each reference point in advance, and The correspondence between the location information of each reference point and the RSS values from different fixed nodes is recorded, and then the location information of the target to be tested is obtained according to the RSS values from different fixed nodes on the target to be tested.
  • the standard node may obtain the location information through the triangle algorithm, or obtain the location information by using the location fingerprint identification algorithm, which is not limited in the embodiment of the present invention. set.
  • a method for determining location information is proposed by using a self-mobile node that cannot determine location information according to a fixed node, that is, a self-mobile node that is located in a blind spot, thereby determining a corresponding self-mobile node in the location blind zone. Positioning information.
  • the self-mobile node may determine the positioning information by using at least one other self-moving node or sensor.
  • the self-mobile node may determine the location information by using location information broadcast by the at least one non-fixed node, where the non-fixed node may be a standard node or a non-standard node.
  • the non-fixed node may be a standard node or a non-standard node.
  • the positioning error of the positioning information is small; when the positioning information is determined by the mobile node through at least one non-standard node, since the non-standard node determines the positioning information through other fixed nodes or position sensors, the position information of the non-standard node broadcast has a large positioning error. Further, the positioning error of the positioning information is determined by the mobile node through the at least one non-standard node.
  • the self-moving node can also determine the positioning information by means of the position sensor. Wherein, since the data collected by the position sensor contains a large amount of noise, the positioning information determined by the position sensor has a large positioning error.
  • the positioning information is determined by the mobile node through the position sensor, when the self-mobile node can determine the positioning information by using a fixed node or a non-fixed node with a small positioning error, the self-mobile node is determined according to the current determination.
  • the positioning information is calibrated with the positioning information previously determined by the position sensor, and the positioning error of the position sensor is updated.
  • the positioning information determined by the mobile node is broadcasted, so that other self-mobile nodes can receive the location information broadcast by the mobile node, and further, location information broadcast by the self-mobile node through the self-mobile node can be implemented. Determine location information.
  • the self-mobile node may broadcast only the location information, or may simultaneously Broadcast positioning information and positioning error.
  • the mobile node when the mobile node obtains the location information through the fixed node, the obtained location information has a small positioning error. At this time, the self-mobile node can broadcast the location information and a small positioning error; when the self-mobile node obtains through the standard node When the location information is obtained, the obtained location information has a small positioning error. At this time, the mobile node can broadcast location information and a small positioning error.
  • the self-mobile node can broadcast location information and a large positioning error; when the mobile node passes the location When the sensor acquires the location information, the obtained location information has a large positioning error. At this time, the mobile node can broadcast location information and a large positioning error.
  • the self-mobile node can determine the positioning period of the self-mobile node and the frequency of the broadcast location information according to the location information and the positioning error broadcast by other non-fixed nodes. Specifically, when the location error corresponding to the location information broadcast by other non-stationary nodes is small, the accuracy of the location information acquired by the self-mobile node is high. At this time, the self-mobile node can reduce the positioning period of the self-mobile node. Reduce the frequency of broadcast location information. In the embodiment of the present invention, resource consumption can be reduced by reducing the frequency of broadcasting location information from the mobile node.
  • the self-mobile node may also determine the positioning period of the self-mobile node and the frequency of the broadcast location information according to the data fed back by the location sensor. Specifically, when the acceleration data fed back by the position sensor changes less, that is, the movement of the self-moving node is less frequent, the self-moving node does not need to frequently acquire the position information. At this time, the self-moving node can reduce the positioning period of the self-moving node and reduce the positioning period. The frequency at which location information is broadcast. In the embodiment of the present invention, resource consumption can be reduced by reducing the frequency of broadcasting location information from the mobile node.
  • the self-mobile node may also determine the positioning period of the self-mobile node and the frequency of the broadcast location information according to actual needs. Specifically, when the real-time requirement of the positioning from the mobile node is high, the self-mobile node can improve the positioning period of the self-mobile node and increase the frequency of the broadcast location information. In the embodiment of the present invention, the requirement for real-time performance of the self-mobile node can be satisfied by increasing the positioning period of the self-mobile node.
  • the positioning method and device provided by the embodiment of the present invention firstly pass at least one non-fixed node Obtaining the location information, and then determining the location information according to the location information, and finally broadcasting the location information.
  • the mobile node can determine its own positioning information by acquiring the location information broadcast by other non-fixed nodes, so that the self-mobile node cannot be fixed.
  • the location information of the other node may be determined, and the self-mobile node in the location blind zone may be located.
  • the embodiment of the present invention provides another positioning method. As shown in FIG. 3, when the mobile node performs positioning through a standard node, the method includes:
  • the mobile node obtains location information by using at least one non-fixed node.
  • the location information is information used for positioning.
  • the non-fixed node is a self-mobile node other than the above self-mobile node.
  • the fixed node may be a fixed WIFI AP, and the non-fixed node may be a self-mobile node.
  • the non-fixed node may be a standard node.
  • the standard node is a node that determines positioning information through a fixed node.
  • the positioning information of the location information broadcast by the standard node is small, and further, the mobile node passes the mobile node.
  • the location information obtained by at least one standard node has a small positioning error.
  • the self-mobile node can also determine the positioning information by using the position sensor.
  • the position sensor can obtain the position information of the self-moving node by using data such as the moving speed, the moving direction and the moving height of the mobile node.
  • the position sensor may be a gyroscope, an accelerometer meter, a magnetometer, a geomagnetic sensor, or the like.
  • the position sensor may be GPS, G-Sensor, Gyroscope, Geomagnetism, or the like.
  • the self-mobile node can acquire location information through at least one fixed node.
  • the self-mobile node can be divided into a standard node and a non-standard node, and the standard node is a node that can obtain location information through the fixed node, and the non-standard node is A node that cannot obtain location information through a fixed node, that is, a non-standard node is in a location dead zone.
  • the positioning error of the at least one non-fixed node may be the maximum positioning error in the at least one non-fixed node.
  • the self-mobile node can obtain location information through four other nodes, and the positioning errors of the four nodes are: 0.1, 0.2, 0.25, and 0.5, respectively, and the maximum value of 0.5 is obtained from the mobile node as at least one other node. Maximum positioning error.
  • the self-mobile node determines the location information according to the location information.
  • the method for determining the positioning information from the mobile node by using the fixed node includes: a triangle algorithm and a location fingerprint identification algorithm.
  • the triangle algorithm estimates the position information of the object to be tested by using the distance information between the object to be tested and at least three known reference points;
  • the position fingerprint identification algorithm measures the RSS values from different fixed nodes at each reference point in advance, and The correspondence between the location information of each reference point and the RSS values from different fixed nodes is recorded, and then the location information of the target to be tested is obtained according to the RSS values from different fixed nodes on the target to be tested.
  • the standard node may obtain the location information by using the triangle algorithm, or obtain the location information by using the location fingerprint identification algorithm, which is not limited in the embodiment of the present invention.
  • a method for determining location information is proposed by using a self-mobile node that cannot determine location information according to a fixed node, that is, a self-mobile node that is located in a blind spot, thereby determining a corresponding self-mobile node in the location blind zone. Positioning information.
  • the self-mobile node may determine the positioning information by using at least one other self-moving node or sensor.
  • the self-mobile node may determine the location information by using location information broadcast by the at least one non-fixed node, where the non-fixed node may be a standard node or a non-standard node.
  • the non-fixed node may be a standard node or a non-standard node.
  • the positioning error of the positioning information is small; when the positioning information is determined by the mobile node through at least one non-standard node, since the non-standard node determines the positioning information through other fixed nodes or position sensors, the position information of the non-standard node broadcast has a large positioning error. Further, since the mobile node passes at least one non The standard node determines that the positioning information has a large positioning error.
  • the self-moving node can also determine the positioning information by means of the position sensor. Wherein, since the data collected by the position sensor contains a large amount of noise, the positioning information determined by the position sensor has a large positioning error.
  • the positioning information is determined by the mobile node through the position sensor, when the self-mobile node can determine the positioning information by using a fixed node or a non-fixed node with a small positioning error, the self-mobile node is determined according to the current determination.
  • the positioning information is calibrated with the positioning information previously determined by the position sensor, and the positioning error of the position sensor is updated.
  • the method further includes: updating, by the mobile node, a positioning error of the position sensor according to a positioning error of the at least one non-fixed node.
  • the self-moving node may calibrate the position sensor according to the positioning error of the at least one non-fixed node, and update the positioning error of the position sensor after the calibration.
  • the positioning error of the self-location information acquired by the mobile node is small.
  • the location information and the passing location that the self-mobile node can obtain through the standard node are obtained.
  • the difference between the position information acquired by the sensor updates the positioning error of the position sensor.
  • the positional information acquired by the sensor has a large positioning error.
  • the mobile node can obtain location information through Sensor Assisted Positioning, since the function of the Sensor Assisted Positioning to obtain location information becomes inaccurate over time, when the Sensor Assisted Positioning can be fixed by WIFI AP or When a standard node obtains location information, it needs to be calibrated.
  • the positioning information determined by the mobile node is broadcasted, so that other self-mobile nodes can receive the location information broadcast by the mobile node, and further, location information broadcast by the self-mobile node through the self-mobile node can be implemented. Determine location information.
  • the self-mobile node may broadcast only the location information, or may simultaneously Broadcast positioning information and positioning error.
  • the mobile node when the mobile node obtains the location information through the fixed node, the obtained location information has a small positioning error. At this time, the self-mobile node can broadcast the location information and a small positioning error; when the self-mobile node obtains through the standard node When the location information is obtained, the obtained location information has a small positioning error. At this time, the mobile node can broadcast location information and a small positioning error.
  • the self-mobile node can broadcast location information and a large positioning error; when the mobile node passes the location When the sensor acquires the location information, the obtained location information has a large positioning error. At this time, the mobile node can broadcast location information and a large positioning error.
  • the positioning error of the self location information acquired from the mobile node is small. At this time, the location information and the small positioning error are broadcasted from the mobile node.
  • the self-mobile node can determine the positioning period of the self-mobile node and the frequency of the broadcast location information according to the location information and the positioning error broadcast by other non-fixed nodes. Specifically, when the location error corresponding to the location information broadcast by other non-stationary nodes is small, the accuracy of the location information acquired by the self-mobile node is high. At this time, the self-mobile node can reduce the positioning period of the self-mobile node. Reduce the frequency of broadcast location information. In the embodiment of the present invention, resource consumption can be reduced by reducing the frequency of broadcasting location information from the mobile node.
  • the self-mobile node may also determine the positioning period of the self-mobile node and the frequency of the broadcast location information according to the data fed back by the location sensor. Specifically, when the acceleration data fed back by the position sensor changes less, that is, the movement of the self-moving node is less frequent, the self-moving node does not need to frequently acquire the position information. At this time, the self-moving node can reduce the positioning period of the self-moving node and reduce the positioning period. The frequency at which location information is broadcast. In the embodiment of the present invention, resource consumption can be reduced by reducing the frequency of broadcasting location information from the mobile node.
  • the self-mobile node may also determine the positioning period of the self-mobile node and the frequency of the broadcast location information according to actual needs. Specifically, when the real-time requirement of the positioning from the mobile node is high, the self-mobile node can improve the positioning period of the self-mobile node and improve the broadcast position. The frequency of information. In the embodiment of the present invention, the requirement for real-time performance of the self-mobile node can be satisfied by increasing the positioning period of the self-mobile node.
  • the positioning method and device provided by the embodiment of the present invention first acquire location information by using at least one non-fixed node, then determine location information according to the location information, and finally broadcast the location information.
  • the mobile node can determine its own positioning information by acquiring the location information broadcast by other non-fixed nodes, so that the self-mobile node cannot be fixed.
  • the location information of the other node may be determined, and the self-mobile node in the location blind zone may be located.
  • the embodiment of the present invention provides another positioning method. As shown in FIG. 4, when the mobile node performs positioning through a non-standard node or a self-sensor, the method includes:
  • the mobile node obtains location information by using at least one non-fixed node.
  • the location information is information used for positioning.
  • the non-fixed node is a self-mobile node other than the above self-mobile node.
  • the fixed node may be a fixed WIFI AP, and the non-fixed node may be a self-mobile node.
  • the non-stationary node may be a standard node.
  • the standard node is a node that determines positioning information through a fixed node.
  • the non-stationary node may also be a non-standard node.
  • the non-standard node is a node that determines positioning information by using a non-fixed node or a position sensor.
  • the non-fixed node may be a standard node.
  • the standard node is a node that determines positioning information through a fixed node.
  • the positioning information of the location information broadcast by the standard node is small, and further, the mobile node passes the mobile node.
  • the location information obtained by at least one standard node has a small positioning error.
  • the self-mobile node can also determine the positioning information by using the position sensor.
  • the position sensor can obtain the position information of the self-moving node by using data such as the moving speed, the moving direction and the moving height of the mobile node.
  • position sensing The device can be a gyroscope, an accelerometer, a magnetometer, a geomagnetic sensor, or the like.
  • the position sensor may be GPS, G-Sensor, Gyroscope, Geomagnetism, or the like.
  • the self-mobile node can acquire location information through at least one fixed node.
  • the self-mobile node can be divided into a standard node and a non-standard node, and the standard node is a node that can obtain location information through the fixed node, and the non-standard node is A node that cannot obtain location information through a fixed node, that is, a non-standard node is in a location dead zone.
  • the positioning error of the at least one non-fixed node may be the maximum positioning error in the at least one non-fixed node.
  • the self-mobile node can obtain location information through four other nodes, and the positioning errors of the four nodes are: 0.1, 0.2, 0.25, and 0.5, respectively, and the maximum value of 0.5 is obtained from the mobile node as at least one other node. Maximum positioning error.
  • the positioning error of the at least one non-fixed node may be the maximum positioning error in the at least one non-fixed node.
  • the self-mobile node can obtain location information through four other nodes, and the positioning errors of the four nodes are: 0.1, 0.2, 0.25, and 0.5, respectively, and the maximum value of 0.5 is obtained from the mobile node as at least one other node. Maximum positioning error.
  • the self-mobile node may first acquire positioning errors corresponding to each of the plurality of different non-standard nodes, and then obtain different sets of different respectively.
  • the self-mobile node can be located by three different non-standard nodes, and the self-mobile node first obtains the positioning error corresponding to each of the three non-standard nodes, and the corresponding positioning error of the first group of non-standard nodes respectively.
  • the corresponding positioning errors of the second group of non-standard nodes are 0.3, 0.5, 0.15, 0.1
  • the third group is non-standard.
  • the corresponding positioning errors of the nodes are 0.2, 0.2, 0.45, 0.3, and 0.38; then the maximum positioning errors corresponding to the three non-standard nodes are obtained respectively, and the maximum positioning error corresponding to the first group of non-standard nodes is 0.4, and the second group is non- The maximum positioning error corresponding to the standard node is 0.5, and the maximum positioning error corresponding to the third group of non-standard nodes is 0.45. Finally, the set of nodes corresponding to the minimum value of 0.4 of the maximum positioning errors corresponding to the three non-standard nodes are selected: The first set of other nodes.
  • the method for determining the positioning information from the mobile node by using the fixed node includes: a triangle algorithm and a location fingerprint identification algorithm.
  • the triangle algorithm estimates the position information of the object to be tested by using the distance information between the object to be tested and at least three known reference points;
  • the position fingerprint identification algorithm measures the RSS values from different fixed nodes at each reference point in advance, and The correspondence between the location information of each reference point and the RSS values from different fixed nodes is recorded, and then the location information of the target to be tested is obtained according to the RSS values from different fixed nodes on the target to be tested.
  • the standard node may obtain the location information by using the triangle algorithm, or obtain the location information by using the location fingerprint identification algorithm, which is not limited in the embodiment of the present invention.
  • a method for determining location information is proposed by using a self-mobile node that cannot determine location information according to a fixed node, that is, a self-mobile node that is located in a blind spot, thereby determining a corresponding self-mobile node in the location blind zone. Positioning information.
  • the self-mobile node may determine the positioning information by using at least one other self-moving node or sensor.
  • the self-mobile node may determine the location information by using location information broadcast by the at least one non-fixed node, where the non-fixed node may be a standard node or a non-standard node.
  • the non-fixed node may be a standard node or a non-standard node.
  • the positioning error of the positioning information is small; when the positioning information is determined by the mobile node through at least one non-standard node, since the non-standard node determines the positioning information through other fixed nodes or position sensors, the position information of the non-standard node broadcast has a large positioning error. Further, since the mobile node passes at least one non The standard node determines that the positioning information has a large positioning error.
  • the self-moving node can also determine the positioning information by means of the position sensor. Wherein, since the data collected by the position sensor contains a large amount of noise, the positioning information determined by the position sensor has a large positioning error.
  • the positioning information is determined by the mobile node through the position sensor, when the self-mobile node can determine the positioning information by using a fixed node or a non-fixed node with a small positioning error, the self-mobile node is determined according to the current determination.
  • the positioning information is calibrated with the positioning information previously determined by the position sensor, and the positioning error of the position sensor is updated.
  • the positional information acquired by the sensor has a large positioning error.
  • the mobile node can obtain location information through Sensor Assisted Positioning, since the function of the Sensor Assisted Positioning to obtain location information becomes inaccurate over time, when the Sensor Assisted Positioning can be fixed by WIFI AP or When a standard node obtains location information, it needs to be calibrated.
  • the self-mobile node determines the location information according to the location information acquired by the at least one non-fixed node or the location information determined by the location sensor.
  • step 405 may be: if the positioning error of the at least one non-fixed node is less than or equal to the positioning error of the position sensor, the self-moving node determines the positioning information according to the location information acquired by the at least one non-fixed node.
  • the position information acquired by the mobile node through the at least one other node is more accurate, and therefore, the self-moving node Location information needs to be determined by at least one other node.
  • the self-moving node updates the positioning error of the position sensor according to the positioning error of the at least one non-fixed node.
  • the self-mobile node can be based on at least A non-fixed node positioning error, calibrating the position sensor and updating the position sensor's positioning error after calibration.
  • the positioning error of the self-position information acquired by the mobile node is smaller than the positioning error of the location information acquired by the location sensor.
  • the position error of the position sensor can be updated by the difference between the position information acquired by the non-standard node and the position information acquired by the position sensor.
  • the positional information acquired by the sensor has a large positioning error.
  • the mobile node can obtain location information through Sensor Assisted Positioning, since the function of acquiring location information by Sensor Assisted Positioning becomes inaccurate over time, when Sensor Assisted Positioning can obtain location information through fixed WIFI AP or standard node When it needs to be positioned and calibrated.
  • the step 405 may be: if the positioning error of the at least one non-fixed node is greater than the positioning error of the sensor, the self-moving node determines the positioning information according to the location information determined by the position sensor.
  • the position information determined by the position sensor by the mobile node is more accurate, and therefore, the self-moving node needs to pass to the position sensor. Determine location information.
  • the positioning error in the at least one non-standard node may be characterized, and the accuracy of the location information is acquired by the mobile node through at least one other node; the positioning error of the location sensor may be characterized, and the location information is acquired by the mobile node through the sensor.
  • Accuracy Specifically, if the positioning error in the at least one other node is less than or equal to the positioning error of the position sensor, the position information acquired by the mobile node through the at least one other node is more accurate; if the maximum positioning error in at least one other node More than the positioning error of the position sensor, the position information acquired by the mobile node through the position sensor is more accurate.
  • the positioning information determined by the mobile node is broadcasted, so that other self-mobile nodes can receive the location information broadcast by the mobile node, and further, location information broadcast by the self-mobile node through the self-mobile node can be implemented. Determine location information.
  • the positioning error of the at least one non-fixed node is broadcasted from the mobile node.
  • the self-mobile node may broadcast only the location information, and may simultaneously broadcast the location information and the positioning error.
  • the mobile node when the mobile node obtains the location information through the fixed node, the obtained location information has a small positioning error. At this time, the self-mobile node can broadcast the location information and a small positioning error; when the self-mobile node obtains through the standard node When the location information is obtained, the obtained location information has a small positioning error. At this time, the mobile node can broadcast location information and a small positioning error.
  • the self-mobile node can broadcast location information and a large positioning error; when the mobile node passes the location When the sensor acquires the location information, the obtained location information has a large positioning error. At this time, the mobile node can broadcast location information and a large positioning error.
  • the positioning error of the self location information acquired from the mobile node is small. At this time, the location information and the small positioning error are broadcasted from the mobile node.
  • the self-mobile node can determine the positioning period of the self-mobile node and the frequency of the broadcast location information according to the location information and the positioning error broadcast by other non-fixed nodes. Specifically, when the location error corresponding to the location information broadcast by other non-stationary nodes is small, the accuracy of the location information acquired by the self-mobile node is high. At this time, the self-mobile node can reduce the positioning period of the self-mobile node. Reduce the frequency of broadcast location information. In the embodiment of the present invention, resource consumption can be reduced by reducing the frequency of broadcasting location information from the mobile node.
  • the self-mobile node may also determine the positioning period of the self-mobile node and the frequency of the broadcast location information according to the data fed back by the location sensor. Specifically, when the acceleration data fed back by the position sensor changes less, that is, the self-moving node moves less frequently, the self-moving node does not need to frequently acquire the position information, and at this time, the self-moving node can reduce the self-mobile node.
  • the positioning period reduces the frequency of broadcasting location information.
  • resource consumption can be reduced by reducing the frequency of broadcasting location information from the mobile node.
  • the self-mobile node may also determine the positioning period of the self-mobile node and the frequency of the broadcast location information according to actual needs. Specifically, when the real-time requirement of the positioning from the mobile node is high, the self-mobile node can improve the positioning period of the self-mobile node and increase the frequency of the broadcast location information. In the embodiment of the present invention, the requirement for real-time performance of the self-mobile node can be satisfied by increasing the positioning period of the self-mobile node.
  • the positioning method and device provided by the embodiment of the present invention first acquire location information by using at least one non-fixed node, then determine location information according to the location information, and finally broadcast the location information.
  • the mobile node can determine its own positioning information by acquiring the location information broadcast by other non-fixed nodes, so that the self-mobile node cannot be fixed.
  • the location information of the other node may be determined, and the self-mobile node in the location blind zone may be located.
  • the embodiment of the present invention provides another positioning method. As shown in FIG. 5, when the self-moving node can only perform positioning by using the self-sensor, the method includes:
  • the self-mobile node acquires location information by using at least one non-fixed node.
  • the location information is information used for positioning.
  • the non-fixed node is a self-mobile node other than the above self-mobile node.
  • the fixed node may be a fixed WIFI AP, and the non-fixed node may be a self-mobile node.
  • the non-fixed node may be a standard node.
  • the standard node is a node that determines positioning information through a fixed node.
  • the positioning information of the location information broadcast by the standard node is small, and further, the mobile node passes the mobile node.
  • the location information obtained by at least one standard node has a small positioning error.
  • the self-mobile node can also determine the positioning information by using the position sensor.
  • the position sensor can pass the moving speed, moving direction and movement of the self-moving node Data such as height, obtained from the location information of the mobile node.
  • the position sensor may be a gyroscope, an accelerometer meter, a magnetometer, a geomagnetic sensor, or the like.
  • the position sensor may be GPS, G-Sensor, Gyroscope, Geomagnetism, or the like.
  • the self-mobile node can acquire location information through at least one fixed node.
  • the self-mobile node can be divided into a standard node and a non-standard node, and the standard node is a node that can obtain location information through the fixed node, and the non-standard node is A node that cannot obtain location information through a fixed node, that is, a non-standard node is in a location dead zone.
  • the positioning error of the at least one non-fixed node may be the maximum positioning error in the at least one non-fixed node.
  • the self-mobile node can obtain location information through four other nodes, and the positioning errors of the four nodes are: 0.1, 0.2, 0.25, and 0.5, respectively, and the maximum value of 0.5 is obtained from the mobile node as at least one other node. Maximum positioning error.
  • the self-mobile node may first acquire positioning errors corresponding to each of the plurality of different non-standard nodes, and then obtain different sets of different respectively.
  • the self-mobile node can be located by three different non-standard nodes, and the self-mobile node first obtains the positioning error corresponding to each of the three non-standard nodes, and the corresponding positioning error of the first group of non-standard nodes respectively.
  • the positioning errors corresponding to the second group of non-standard nodes are 0.3, 0.5, 0.35, and 0.22, and the positioning errors corresponding to the third group of non-standard nodes are 0.2, 0.2, 0.45, and 0.3, respectively.
  • the maximum positioning error corresponding to the three non-standard nodes is 0.38; then obtain the maximum positioning error corresponding to the three non-standard nodes respectively, the maximum positioning error corresponding to the first group of non-standard nodes is 0.4, and the maximum positioning error corresponding to the second group of non-standard nodes is 0.5, the third group is non- The maximum positioning error corresponding to the standard node is 0.45. Finally, a group of nodes corresponding to the minimum value of 0.4 of the maximum positioning errors corresponding to the three non-standard nodes are selected: the other nodes of the first group.
  • the method for determining the positioning information from the mobile node by using the fixed node includes: a triangle algorithm and a location fingerprint identification algorithm.
  • the triangle algorithm estimates the position information of the object to be tested by using the distance information between the object to be tested and at least three known reference points;
  • the position fingerprint identification algorithm measures the RSS values from different fixed nodes at each reference point in advance, and The correspondence between the location information of each reference point and the RSS values from different fixed nodes is recorded, and then the location information of the target to be tested is obtained according to the RSS values from different fixed nodes on the target to be tested.
  • the standard node may obtain the location information by using the triangle algorithm, or obtain the location information by using the location fingerprint identification algorithm, which is not limited in the embodiment of the present invention.
  • a method for determining location information is proposed by using a self-mobile node that cannot determine location information according to a fixed node, that is, a self-mobile node that is located in a blind spot, thereby determining a corresponding self-mobile node in the location blind zone. Positioning information.
  • the self-mobile node may determine the positioning information by using at least one other self-moving node or sensor.
  • the self-mobile node may determine the location information by using location information broadcast by the at least one non-fixed node, where the non-fixed node may be a standard node or a non-standard node.
  • the non-fixed node may be a standard node or a non-standard node.
  • the positioning error of the positioning information is small; when the positioning information is determined by the mobile node through at least one non-standard node, since the non-standard node determines the positioning information through other fixed nodes or position sensors, the position information of the non-standard node broadcast has a large positioning error. Further, the positioning error of the positioning information is determined by the mobile node through the at least one non-standard node.
  • the self-moving node can also determine the positioning information by means of the position sensor. Wherein, since the data collected by the position sensor contains a large amount of noise, the positioning information determined by the position sensor has a large positioning error. In the embodiment of the present invention, if the positioning information is determined by the mobile node through the position sensor, when the self-mobile node can pass the fixed node or the positioning error is compared When the small non-fixed node determines the positioning information, the self-moving node calibrates the position sensor according to the currently determined positioning information and the positioning information previously determined by the position sensor, and updates the positioning error of the position sensor.
  • the positional information acquired by the sensor has a large positioning error.
  • the mobile node can obtain location information through Sensor Assisted Positioning, since the function of the Sensor Assisted Positioning to obtain location information becomes inaccurate over time, when the Sensor Assisted Positioning can be fixed by WIFI AP or When a standard node obtains location information, it needs to be calibrated.
  • the self-mobile node determines the location information according to the location information acquired by the at least one non-fixed node or the location information determined by the location sensor.
  • the method for determining the positioning information from the mobile node by using the fixed node includes: a triangle algorithm and a location fingerprint identification algorithm.
  • the triangle algorithm estimates the position information of the object to be tested by using the distance information between the object to be tested and at least three known reference points;
  • the position fingerprint identification algorithm measures the RSS values from different fixed nodes at each reference point in advance, and The correspondence between the location information of each reference point and the RSS values from different fixed nodes is recorded, and then the location information of the target to be tested is obtained according to the RSS values from different fixed nodes on the target to be tested.
  • the standard node may obtain the location information by using the triangle algorithm, or obtain the location information by using the location fingerprint identification algorithm, which is not limited in the embodiment of the present invention.
  • a method for determining location information is proposed by using a self-mobile node that cannot determine location information according to a fixed node, that is, a self-mobile node that is located in a blind spot, thereby determining a corresponding self-mobile node in the location blind zone. Positioning information.
  • the self-mobile node may determine the positioning information by using at least one other self-moving node or sensor.
  • the self-mobile node may determine the location information by using location information broadcast by the at least one non-fixed node, where the non-fixed node may be a standard node or a non-standard node. Its When the positioning information is determined by the mobile node through the at least one standard node, since the standard node determines the positioning information by the fixed node, the positioning information of the location information broadcast by the standard node is small, and further, the mobile node determines by using at least one standard node.
  • the positioning error of the positioning information is small; when the positioning information is determined by the mobile node through at least one non-standard node, since the non-standard node determines the positioning information through other fixed nodes or position sensors, the position information of the non-standard node broadcast has a large positioning error. Further, the positioning error of the positioning information is determined by the mobile node through the at least one non-standard node.
  • the self-moving node can also determine the positioning information by means of the position sensor. Wherein, since the data collected by the position sensor contains a large amount of noise, the positioning information determined by the position sensor has a large positioning error.
  • the positioning information is determined by the mobile node through the position sensor, when the self-mobile node can determine the positioning information by using a fixed node or a non-fixed node with a small positioning error, the self-mobile node is determined according to the current determination.
  • the positioning information is calibrated with the positioning information previously determined by the position sensor, and the positioning error of the position sensor is updated.
  • the self-mobile node may Get location information through the position sensor.
  • the positioning information determined by the mobile node is broadcasted, so that other self-mobile nodes can receive the location information broadcast by the mobile node, and further, location information broadcast by the self-mobile node through the self-mobile node can be implemented. Determine location information.
  • the positioning error of the position sensor is broadcasted from the mobile node.
  • the self-mobile node may broadcast only the location information, and may simultaneously broadcast the location information and the positioning error.
  • the self-mobile node can broadcast the location information and a small positioning error; when the self-mobile node obtains through the standard node Location information obtained when location information is obtained The error is small. At this time, the self-mobile node can broadcast location information and a small positioning error.
  • the self-mobile node can broadcast location information and a large positioning error; when the mobile node passes the location When the sensor acquires the location information, the obtained location information has a large positioning error. At this time, the mobile node can broadcast location information and a large positioning error.
  • the positioning error of the self location information acquired from the mobile node is small. At this time, the location information and the small positioning error are broadcasted from the mobile node.
  • the self-mobile node can determine the positioning period of the self-mobile node and the frequency of the broadcast location information according to the location information and the positioning error broadcast by other non-fixed nodes. Specifically, when the location error corresponding to the location information broadcast by other non-stationary nodes is small, the accuracy of the location information acquired by the self-mobile node is high. At this time, the self-mobile node can reduce the positioning period of the self-mobile node. Reduce the frequency of broadcast location information. In the embodiment of the present invention, resource consumption can be reduced by reducing the frequency of broadcasting location information from the mobile node.
  • the self-mobile node may also determine the positioning period of the self-mobile node and the frequency of the broadcast location information according to the data fed back by the location sensor. Specifically, when the acceleration data fed back by the position sensor changes less, that is, the movement of the self-moving node is less frequent, the self-moving node does not need to frequently acquire the position information. At this time, the self-moving node can reduce the positioning period of the self-moving node and reduce the positioning period. The frequency at which location information is broadcast. In the embodiment of the present invention, resource consumption can be reduced by reducing the frequency of broadcasting location information from the mobile node.
  • the self-mobile node may also determine the positioning period of the self-mobile node and the frequency of the broadcast location information according to actual needs. Specifically, when the real-time requirement of the positioning from the mobile node is high, the self-mobile node can improve the positioning period of the self-mobile node and increase the frequency of the broadcast location information. In the embodiment of the present invention, the requirement for real-time performance of the self-mobile node can be satisfied by increasing the positioning period of the self-mobile node.
  • the positioning method and device provided by the embodiment of the present invention first acquire location information by using at least one non-fixed node, and then determine location information according to the location information, and finally broadcast the location information. interest.
  • the mobile node can determine its own positioning information by acquiring the location information broadcast by other non-fixed nodes, so that the self-mobile node cannot be fixed.
  • the location information of the other node may be determined, and the self-mobile node in the location blind zone may be located.
  • Another embodiment of the present invention provides a positioning method. As shown in FIG. 6, the method includes:
  • the mobile node acquires location information by using at least one non-fixed node.
  • the location information is information used for positioning.
  • the non-fixed node is a self-mobile node other than the above self-mobile node.
  • the fixed node may be a fixed WIFI AP, and the non-fixed node may be a self-mobile node.
  • the non-stationary node may be a standard node.
  • the standard node is a node that determines positioning information through a fixed node.
  • the non-stationary node may also be a non-standard node.
  • the non-standard node is a node that determines positioning information by using a non-fixed node or a position sensor.
  • the non-fixed node may be a standard node.
  • the standard node is a node that determines positioning information through a fixed node.
  • the positioning information of the location information broadcast by the standard node is small, and further, the mobile node passes the mobile node.
  • the location information obtained by at least one standard node has a small positioning error.
  • the self-mobile node can also determine the positioning information by using the position sensor.
  • the position sensor can obtain the position information of the self-moving node by using data such as the moving speed, the moving direction and the moving height of the mobile node.
  • the position sensor may be a gyroscope, an accelerometer meter, a magnetometer, a geomagnetic sensor, or the like.
  • the position sensor may be GPS, G-Sensor, Gyroscope, Geomagnetism, or the like.
  • the self-mobile node can acquire location information through at least one fixed node.
  • the self-mobile node can be divided into a standard node and a non-standard node, and the standard node can pass A node that acquires location information by a fixed node.
  • a non-standard node is a node that cannot obtain location information through a fixed node, that is, a non-standard node is in a location blind zone.
  • the positioning error of the at least one non-fixed node may be the maximum positioning error in the at least one non-fixed node.
  • the self-mobile node can obtain location information through four other nodes, and the positioning errors of the four nodes are: 0.1, 0.2, 0.25, and 0.5, respectively, and the maximum value of 0.5 is obtained from the mobile node as at least one other node. Maximum positioning error.
  • the positioning error of the at least one non-fixed node may be the maximum positioning error in the at least one non-fixed node.
  • the self-mobile node can obtain location information through four other nodes, and the positioning errors of the four nodes are: 0.1, 0.2, 0.25, and 0.5, respectively, and the maximum value of 0.5 is obtained from the mobile node as at least one other node. Maximum positioning error.
  • the self-mobile node may first acquire positioning errors corresponding to each of the plurality of different non-standard nodes, and then obtain different sets of different respectively.
  • the self-mobile node can be located by three different non-standard nodes, and the self-mobile node first obtains the positioning error corresponding to each of the three non-standard nodes, and the corresponding positioning error of the first group of non-standard nodes respectively.
  • the positioning errors corresponding to the second group of non-standard nodes are 0.3, 0.5, 0.35, and 0.22, and the positioning errors corresponding to the third group of non-standard nodes are 0.2, 0.2, 0.45, and 0.3, respectively.
  • the maximum positioning error corresponding to the three non-standard nodes is 0.38; then obtain the maximum positioning error corresponding to the three non-standard nodes respectively, the maximum positioning error corresponding to the first group of non-standard nodes is 0.4, and the maximum positioning error corresponding to the second group of non-standard nodes is 0.5, the third group is non- The maximum positioning error corresponding to the standard node is 0.45. Finally, a group of nodes corresponding to the minimum value of 0.4 of the maximum positioning errors corresponding to the three non-standard nodes are selected: the other nodes of the first group.
  • the location information is determined by the location sensor from the mobile node.
  • the method for determining the positioning information from the mobile node by using the fixed node includes: a triangle algorithm and a location fingerprint identification algorithm.
  • the triangle algorithm estimates the position information of the object to be tested by using the distance information between the object to be tested and at least three known reference points;
  • the position fingerprint identification algorithm measures the RSS values from different fixed nodes at each reference point in advance, and The correspondence between the location information of each reference point and the RSS values from different fixed nodes is recorded, and then the location information of the target to be tested is obtained according to the RSS values from different fixed nodes on the target to be tested.
  • the standard node may obtain the location information by using the triangle algorithm, or obtain the location information by using the location fingerprint identification algorithm, which is not limited in the embodiment of the present invention.
  • a method for determining location information is proposed by using a self-mobile node that cannot determine location information according to a fixed node, that is, a self-mobile node that is located in a blind spot, thereby determining a corresponding self-mobile node in the location blind zone. Positioning information.
  • the self-mobile node may determine the positioning information by using at least one other self-moving node or sensor.
  • the self-mobile node may determine the location information by using location information broadcast by the at least one non-fixed node, where the non-fixed node may be a standard node or a non-standard node.
  • the non-fixed node may be a standard node or a non-standard node.
  • the positioning error of the positioning information is small; when the positioning information is determined by the mobile node through at least one non-standard node, since the non-standard node determines the positioning information through other fixed nodes or position sensors, the position information of the non-standard node broadcast has a large positioning error. Further, the positioning error of the positioning information is determined by the mobile node through the at least one non-standard node.
  • the self-moving node can also determine the positioning information by means of the position sensor. Wherein, since the data collected by the position sensor contains a large amount of noise, the positioning information determined by the position sensor has a large positioning error. In the embodiment of the present invention, if the positioning information is determined by the mobile node through the position sensor, when the self-mobile node can pass the fixed node or the positioning error is compared When the small non-fixed node determines the positioning information, the self-moving node calibrates the position sensor according to the currently determined positioning information and the positioning information previously determined by the position sensor, and updates the positioning error of the position sensor.
  • the positional information acquired by the sensor has a large positioning error.
  • the mobile node can obtain location information through Sensor Assisted Positioning, since the function of the Sensor Assisted Positioning to obtain location information becomes inaccurate over time, when the Sensor Assisted Positioning can be fixed by WIFI AP or When a standard node obtains location information, it needs to be calibrated.
  • the self-mobile node determines the location information according to the location information acquired by the at least one non-fixed node or the location information determined by the location sensor.
  • step 605 may be: if the positioning error of the at least one non-fixed node is less than or equal to the positioning error of the position sensor, the self-moving node determines the positioning information according to the location information acquired by the at least one non-fixed node.
  • the position information acquired by the mobile node through the at least one other node is more accurate, and therefore, the self-moving node Location information needs to be determined by at least one other node.
  • the self-moving node updates the positioning error of the position sensor according to the positioning error of the at least one non-fixed node.
  • the self-moving node may calibrate the position sensor according to the positioning error of the at least one non-fixed node, and update the positioning error of the position sensor after the calibration.
  • the positioning error of the self-position information acquired by the mobile node is smaller than the positioning error of the location information acquired by the location sensor.
  • the position error of the position sensor is updated by the difference between the position information and the position information acquired by the position sensor.
  • the positional information acquired by the sensor has a large positioning error.
  • the mobile node can obtain location information through Sensor Assisted Positioning, since the function of acquiring location information by Sensor Assisted Positioning becomes inaccurate over time, when Sensor Assisted Positioning can obtain location information through fixed WIFI AP or standard node When it needs to be positioned and calibrated.
  • the step 405 may be: if the positioning error of the at least one non-fixed node is greater than the positioning error of the sensor, the self-moving node determines the positioning information according to the location information determined by the position sensor.
  • the position information determined by the position sensor by the mobile node is more accurate, and therefore, the self-moving node needs to pass to the position sensor. Determine location information.
  • the positioning error in the at least one non-standard node may be characterized, and the accuracy of the location information is acquired by the mobile node through at least one other node; the positioning error of the location sensor may be characterized, and the location information is acquired by the mobile node through the sensor.
  • Accuracy Specifically, if the positioning error in the at least one other node is less than or equal to the positioning error of the position sensor, the position information acquired by the mobile node through the at least one other node is more accurate; if the maximum positioning error in at least one other node More than the positioning error of the position sensor, the position information acquired by the mobile node through the position sensor is more accurate.
  • the positioning information determined by the mobile node is broadcasted, so that other self-mobile nodes can receive the location information broadcast by the mobile node, and further, location information broadcast by the self-mobile node through the self-mobile node can be implemented. Determine location information.
  • the method further includes: broadcasting, by the mobile node, a positioning error of the at least one non-fixed node.
  • the self-mobile node broadcasts a positioning error of at least one non-fixed node.
  • the method may further include: broadcasting a positioning error of the position sensor from the mobile node.
  • the self-mobile node broadcasts a positioning error of the position sensor.
  • the positioning error of the position sensor is updated by the mobile node through the at least one non-fixed node, the positioning error of the position sensor after the update is broadcasted from the mobile node.
  • the self-mobile node may broadcast only the location information, and may simultaneously broadcast the location information and the positioning error.
  • the mobile node when the mobile node obtains the location information through the fixed node, the obtained location information has a small positioning error. At this time, the self-mobile node can broadcast the location information and a small positioning error; when the self-mobile node obtains through the standard node When the location information is obtained, the obtained location information has a small positioning error. At this time, the mobile node can broadcast location information and a small positioning error.
  • the self-mobile node can broadcast location information and a large positioning error; when the mobile node passes the location When the sensor acquires the location information, the obtained location information has a large positioning error. At this time, the mobile node can broadcast location information and a large positioning error.
  • the positioning error of the self location information acquired from the mobile node is small. At this time, the location information and the small positioning error are broadcasted from the mobile node.
  • the self-mobile node can determine the positioning period of the self-mobile node and the frequency of the broadcast location information according to the location information and the positioning error broadcast by other non-fixed nodes. Specifically, when the location error corresponding to the location information broadcast by other non-stationary nodes is small, the accuracy of the location information acquired by the self-mobile node is high. At this time, the self-mobile node can reduce the positioning period of the self-mobile node. Reduce the frequency of broadcast location information. In the embodiment of the present invention, resource consumption can be reduced by reducing the frequency of broadcasting location information from the mobile node.
  • the self-mobile node may also determine the positioning period of the self-mobile node and the frequency of the broadcast location information according to the data fed back by the location sensor. Specifically, when the acceleration data fed back by the position sensor changes less, that is, the movement of the self-moving node is less frequent, the self-moving node does not need to frequently acquire the position information. At this time, the self-moving node can reduce the positioning period of the self-moving node and reduce the positioning period. The frequency at which location information is broadcast. In the embodiment of the present invention, resource consumption can be reduced by reducing the frequency of broadcasting location information from the mobile node.
  • the self-mobile node may also determine the positioning period of the self-mobile node and the frequency of the broadcast location information according to actual needs. Specifically, when the real-time requirement of the positioning from the mobile node is high, the self-mobile node can improve the positioning period of the self-mobile node and increase the frequency of the broadcast location information. In the embodiment of the present invention, the requirement for real-time performance of the self-mobile node can be satisfied by increasing the positioning period of the self-mobile node.
  • the self-mobile node may Get location information through the position sensor.
  • the positioning method and device provided by the embodiment of the present invention first acquire location information by using at least one non-fixed node, then determine location information according to the location information, and finally broadcast the location information.
  • the mobile node can determine its own positioning information by acquiring the location information broadcast by other non-fixed nodes, so that the self-mobile node cannot be fixed.
  • the location information of the other node may be determined, and the self-mobile node in the location blind zone may be located.
  • the embodiment of the present invention provides a positioning device.
  • the entity of the device may be a self-mobile node, and the device includes: an obtaining unit 71, a processing unit 72, and a broadcasting unit 73.
  • the obtaining unit 71 is configured to acquire location information by using at least one non-fixed node.
  • the location information is information used for positioning.
  • the non-fixed node is a self-mobile node other than the above self-mobile node.
  • the fixed node may be a fixed WIFI AP, and the non-fixed node Can be a self-mobile node.
  • the self-mobile node can acquire location information through at least one fixed node.
  • the self-mobile node can be divided into a standard node and a non-standard node, and the standard node is a node that can obtain location information through the fixed node, and the non-standard node is A node that cannot obtain location information through a fixed node, that is, a non-standard node is in a location dead zone.
  • the processing unit 72 is configured to determine positioning information according to the location information acquired by the obtaining unit 71.
  • the broadcasting unit 73 is configured to broadcast the positioning information determined by the processing unit 72.
  • the obtained location information is broadcasted by the mobile node, so that other self-mobile nodes can receive the location information broadcast by the mobile node, and thus other locations that are broadcast by the self-mobile node through the mobile node can be implemented.
  • the information determines its own location information.
  • the entity of the positioning device may be, but not limited to, a self-mobile node, as shown in FIG. 8, the self-mobile node may include: a processor 81, a transmitter 82, a receiver 83, a memory 84, and the transmitting The processor 82, the receiver 83, and the memory 84 are connected to the processor 81.
  • the processor 81 is configured to acquire location information by using at least one non-fixed node.
  • the location information is information used for positioning.
  • the non-fixed node is a self-mobile node other than the above self-mobile node.
  • the fixed node may be a fixed WIFI AP
  • the non-fixed node may be a self-mobile node.
  • the self-mobile node can acquire location information through at least one fixed node.
  • the self-mobile node can be divided into a standard node and a non-standard node, and the standard node is a node that can obtain location information through the fixed node, and the non-standard node is Cannot get location through fixed node
  • the node of the information, that is, the non-standard node is in the location blind spot.
  • the processor 81 is further configured to determine positioning information according to the location information.
  • the processor 81 is configured to broadcast positioning information.
  • the obtained location information is broadcasted by the mobile node, so that other self-mobile nodes can receive the location information broadcast by the mobile node, and thus other locations that are broadcast by the self-mobile node through the mobile node can be implemented.
  • the information determines its own location information.
  • the embodiment of the present invention provides another positioning device.
  • the entity of the device may be a self-mobile node, and the device includes: an obtaining unit 91, a processing unit 92, and a broadcasting unit 93.
  • the obtaining unit 91 is configured to acquire location information by using at least one non-fixed node.
  • the location information is information used for positioning.
  • the non-fixed node is a self-mobile node other than the above self-mobile node.
  • the fixed node may be a fixed WIFI AP
  • the non-fixed node may be a self-mobile node.
  • the self-mobile node can acquire location information through at least one fixed node.
  • the self-mobile node can be divided into a standard node and a non-standard node, and the standard node is a node that can obtain location information through the fixed node, and the non-standard node is A node that cannot obtain location information through a fixed node, that is, a non-standard node is in a location dead zone.
  • the processing unit 92 is configured to determine positioning information according to the location information acquired by the obtaining unit 91.
  • the broadcasting unit 93 is configured to broadcast the positioning information determined by the processing unit 92.
  • the obtained location information is broadcasted by the mobile node, so that other self-mobile nodes can receive the location information broadcast by the mobile node, and thus other locations that are broadcast by the self-mobile node through the mobile node can be implemented.
  • Information to determine its own location letter interest is broadcasted by the mobile node, so that other self-mobile nodes can receive the location information broadcast by the mobile node, and thus other locations that are broadcast by the self-mobile node through the mobile node can be implemented.
  • Information to determine its own location letter interest is broadcasted by the mobile node, so that other self-mobile nodes can receive the location information broadcast by the mobile node, and thus other locations that are broadcast by the self-mobile node through the mobile node can be implemented.
  • Information to determine its own location letter interest is broadcasted by the mobile node, so that other self-mobile nodes can receive the location information broadcast by the mobile node, and thus other locations that are broadcast by the self-mobile node through the mobile node can be implemented.
  • the device may further include: a position sensor 94.
  • a position sensor 94 is used to determine position information.
  • the processing unit 92 is specifically configured to determine the positioning information according to the location information acquired by the acquiring unit 91 or the location information determined by the location sensor 94.
  • the obtaining unit 91 is further configured to acquire a positioning error of the at least one non-fixed node.
  • the positioning error of the at least one non-fixed node is the maximum positioning error in the at least one non-fixed node.
  • the broadcast unit 93 is further configured to broadcast the positioning error of the at least one non-fixed node acquired by the acquiring unit 91.
  • the obtaining unit 91 is further configured to acquire a positioning error of the at least one non-fixed node.
  • the positioning error of the at least one non-fixed node is the maximum positioning error in the at least one non-fixed node.
  • the position sensor 94 is also used to determine a positioning error of the position sensor.
  • the processing unit 92 is specifically configured to determine that the location information acquired by the acquiring unit 91 is the positioning information when the positioning error acquired by the acquiring unit 91 is less than or equal to the positioning error determined by the position sensor 94.
  • the processing unit 92 is further configured to determine that the location information determined by the location sensor is the location information when the location error acquired by the acquisition unit 91 is greater than the location error determined by the location sensor 94.
  • the processing unit 92 is further configured to update the positioning error of the position sensor 94 according to the positioning error acquired by the obtaining unit 91.
  • the broadcasting unit 93 is also used to broadcast a positioning error of the position sensor.
  • the non-stationary node may be a standard node.
  • the standard node is a node that determines positioning information through a fixed node.
  • the non-stationary node can be a non-standard node.
  • the non-standard node is a node that determines positioning information by using a non-fixed node or a position sensor.
  • each functional unit in the positioning device provided in the embodiment of the present invention corresponds to For other corresponding descriptions, reference may be made to the corresponding description in FIG. 6, and details are not described herein again.
  • the entity of the positioning device may be, but not limited to, a self-moving node.
  • the self-mobile node may include: a processor 101, a position sensor 102, a transmitter 103, a receiver 104, and a memory 105.
  • the transmitter 103, the receiver 104, and the memory 105 are connected to the processor 101.
  • the processor 101 is configured to acquire location information by using at least one non-fixed node.
  • the location information is information used for positioning.
  • the non-fixed node is a self-mobile node other than the above self-mobile node.
  • the fixed node may be a fixed WIFI AP
  • the non-fixed node may be a self-mobile node.
  • the self-mobile node can acquire location information through at least one fixed node.
  • the self-mobile node can be divided into a standard node and a non-standard node, and the standard node is a node that can obtain location information through the fixed node, and the non-standard node is A node that cannot obtain location information through a fixed node, that is, a non-standard node is in a location dead zone.
  • the processor 101 is further configured to determine positioning information according to the location information.
  • the processor 101 is further configured to broadcast positioning information.
  • the obtained location information is broadcasted by the mobile node, so that other self-mobile nodes can receive the location information broadcast by the mobile node, and thus other locations that are broadcast by the self-mobile node through the mobile node can be implemented.
  • the information determines its own location information.
  • the position sensor 102 is configured to determine location information.
  • the processor 101 is specifically configured to determine the location information according to the location information or the location information determined by the location sensor 102.
  • the processor 101 is further configured to acquire a positioning error of the at least one non-fixed node.
  • the positioning error of the at least one non-fixed node is the maximum positioning error in the at least one non-fixed node.
  • the processor 101 is further configured to broadcast a positioning error of the at least one non-fixed node.
  • the processor 101 is further configured to acquire a positioning error of the at least one non-fixed node.
  • the positioning error of the at least one non-fixed node is the maximum positioning error in the at least one non-fixed node.
  • the position sensor 102 is also used to determine a positioning error of the position sensor.
  • the processor 101 is specifically configured to determine that the acquired location information is location information when the acquired positioning error is less than or equal to the positioning error determined by the location sensor 102.
  • the processor 101 is further configured to: when the acquired positioning error is greater than the positioning error determined by the position sensor 102, determine the position information determined by the position sensor as the positioning information.
  • the processor 101 is further configured to update the positioning error of the position sensor 102 according to the acquired positioning error.
  • the processor 101 is further configured to broadcast a positioning error of the position sensor.
  • the non-stationary node may be a standard node.
  • the standard node is a node that determines positioning information through a fixed node.
  • the non-stationary node can be a non-standard node.
  • the non-standard node is a node that determines positioning information by using a non-fixed node or a position sensor.
  • the locating device provided by the embodiment of the present invention may implement the foregoing method embodiments.
  • the positioning method and apparatus provided by the embodiments of the present invention may be applicable to positioning a self-mobile node, but is not limited thereto.
  • the storage medium may be a magnetic disk, an optical disk, a read-only memory (ROM), or a random access memory (RAM).

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Abstract

本发明实施例公开了一种定位方法及装置，涉及信息技术领域，可以对处于盲区的自移动节点进行定位。所述方法包括：首先通过至少一个非固定节点获取位置信息，然后根据该位置信息，确定定位信息，最后广播该定位信息。本发明实施例适用于对自移动节点进行定位。

Description

定位方法及装置
本申请要求了2014年3月28日提交的，申请号为201410123659.6，发明名称为“定位方法及装置”的中国申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本发明涉及信息技术领域，特别涉及一种定位方法及装置。
背景技术
在自移动网络系统中，系统通过控制自移动节点，使得该自移动节点移动到目标位置。其中，自移动节点可以通过位置传感器进行定位，但是由于位置传感器采集的数据中存在较多噪音，因此通过位置传感器进行定位时，自移动节点的位置信息存在较大偏差。同时，自移动节点还可以通过WIFI(Wireless Fidelity，无线高保真)技术进行定位。
目前，在临时部署的场景下，首先部署一些固定节点，然后进行大量的测量获取各个参考点的位置信息，最后自移动节点通过来自节点的RSS(Received Signal Strength，接收信号强度)值及数据库中各个参考点的位置信息，获取该自移动设备当前的位置信息。其中，固定节点可以为固定WIFI AP(Access Point，无线访问接入点)。
然而，自移动节点通过部署的固定节点进行定位时，由于无法预先部署大量的固定节点，因此造成存在大量定位盲区的情况，从而导致无法对处于定位盲区的自移动节点进行定位。
发明内容
本发明实施例提供一种定位方法及装置，可以对处于盲区的自移动节点进行定位。
本发明实施例采用的技术方案为：
第一方面，本发明实施例提供一种定位方法，包括：
通过至少一个非固定节点获取位置信息，所述位置信息为用于进行定 位的信息；
根据所述位置信息，确定定位信息；
广播所述定位信息。
结合第一方面，在第一方面的第一种可能的实现方式中，所述方法还包括：
通过位置传感器确定位置信息；
所述根据所述位置信息，确定所述定位信息具体为：
根据通过所述至少一个非固定节点获取的位置信息或通过所述位置传感器确定的位置信息，确定定位信息。
结合第一方面或者第一方面的第一种可能的实现方式，在第一方面的第二种可能的实现方式中，所述方法还包括：
获取所述至少一个非固定节点的定位误差，所述至少一个非固定节点的定位误差为所述至少一个非固定节点中的最大定位误差。
结合第二种可能的实现方式，在第一方面的第三种可能的实现方式中，所述方法还包括：
广播所述至少一个非固定节点的定位误差。
结合第一方面的第一种可能的实现方式，在第一方面的第四种可能的实现方式中，所述方法还包括：
获取所述至少一个非固定节点的定位误差，所述至少一个非固定节点的定位误差为所述至少一个非固定节点中的最大定位误差；
确定所述位置传感器的定位误差；
根据通过所述至少一个非固定节点获取的位置信息或通过所述位置传感器确定的位置信息，确定定位信息具体为：
若所述至少一个非固定节点的定位误差小于或者等于所述位置传感器的定位误差，则根据通过所述至少一个非固定节点获取的位置信息，确定所述定位信息；
若所述至少一个非固定节点的定位误差大于所述传感器的定位误差， 则根据通过所述位置传感器获取的位置信息，确定所述定位信息。
结合第一方面的第四种可能的实现方式，在第一方面的第五种可能的实现方式中，所述确定通过所述至少一个非固定节点获取的位置信息为所述定位信息后，还包括：
根据所述至少一个非固定节点的定位误差，更新所述位置传感器的定位误差。
结合第一方面的第四种可能的实现方式，或者第一方面的第五种可能的实现方式，在第一方面的第六种可能的实现方式中，所述方法还包括：
广播所述位置传感器的定位误差。
结合第一方面或者第一方面的第一种可能的实现方式，第一方面的第二种可能的实现方式，第一方面的第三种可能的实现方式，第一方面的第四种可能的实现方式，或者第一方面的第五种可能的实现方式，或者第一方面的第六种可能的实现方式，在第一方面的第七种可能的实现方式中，所述非固定节点为标准节点，所述标准节点为通过固定节点确定定位信息的节点。
结合第一方面或者第一方面的第一种可能的实现方式，第一方面的第二种可能的实现方式，第一方面的第三种可能的实现方式，第一方面的第四种可能的实现方式，或者第一方面的第五种可能的实现方式，或者第一方面的第六种可能的实现方式，在第一方面的第八种可能的实现方式中，所述非固定节点为非标准节点，所述非标准节点为通过非固定节点或者位置传感器确定定位信息的节点。
第二方面，本发明实施例提供一种定位装置，包括：
获取单元，用于通过至少一个非固定节点获取位置信息，所述位置信息为用于进行定位的信息；
处理单元，用于根据所述获取单元获取的位置信息，确定定位信息；
广播单元，用于广播所述处理单元确定的所述定位信息。
结合第二方面，在第二方面的第一种可能的实现方式中，所述装置还 包括：位置传感器；
所述位置传感器，用于确定位置信息；
所述处理单元，具体用于根据所述获取单元获取的位置信息或所述位置传感器确定的位置信息，确定所述定位信息。
结合第二方面或者第二方面的第一种可能的实现方式，在第二方面的第二种可能的实现方式中，
所述获取单元，还用于获取所述至少一个非固定节点的定位误差，所述至少一个非固定节点的定位误差为所述至少一个非固定节点中的最大定位误差。
结合第二种可能的实现方式，在第二方面的第三种可能的实现方式中，
所述广播单元，还用于广播所述获取单元获取的所述至少一个非固定节点的定位误差。
结合第二方面的第一种可能的实现方式，在第二方面的第四种可能的实现方式中，
所述获取单元，还用于获取所述至少一个非固定节点的定位误差，所述至少一个非固定节点的定位误差为所述至少一个非固定节点中的最大定位误差；
所述位置传感器，还用于确定所述位置传感器的定位误差；
所述处理单元，具体用于当所述获取单元获取的定位误差小于或者等于所述位置传感器确定的定位误差时，确定所述获取单元获取的位置信息为所述定位信息；
所述处理单元，具体还用于当所述获取单元获取的定位误差大于所述位置传感器确定的定位误差时，确定所述位置传感器确定的位置信息为所述定位信息。
结合第二方面的第四种可能的实现方式，在第二方面的第五种可能的实现方式中，
所述处理单元，还用于根据所述获取单元获取的定位误差，更新所述位置传感器的定位误差。
结合第二方面的第四种可能的实现方式，或者第二方面的第五种可能的实现方式，在第二方面的第六种可能的实现方式中，
所述广播单元，还用于广播所述位置传感器的定位误差。
结合第二方面或者第二方面的第一种可能的实现方式，第二方面的第二种可能的实现方式，第二方面的第三种可能的实现方式，第二方面的第四种可能的实现方式，或者第二方面的第五种可能的实现方式，或者第二方面的第六种可能的实现方式，在第二方面的第七种可能的实现方式中，
所述非固定节点为标准节点，所述标准节点为通过固定节点确定定位信息的节点。
结合第二方面或者第二方面的第一种可能的实现方式，第二方面的第二种可能的实现方式，第二方面的第三种可能的实现方式，第二方面的第四种可能的实现方式，或者第二方面的第五种可能的实现方式，或者第二方面的第六种可能的实现方式，在第二方面的第八种可能的实现方式中，
所述非固定节点为非标准节点，所述非标准节点为通过非固定节点或者位置传感器确定定位信息的节点。
本发明实施例提供的定位方法及装置，首先通过至少一个非固定节点获取位置信息，然后根据该位置信息，确定定位信息，最后广播该定位信息。与目前自移动节点仅可通过固定节点获取位置信息相比，本发明实施例自移动节点通过获取其他非固定节点广播的位置信息，能够确定自身的定位信息，从而实现当自移动节点不能通过固定节点确定定位信息时，可以通过其他节点的位置信息确定定位信息，进而可以对处于定位盲区的自移动节点进行定位。
附图说明
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中 的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其它的附图。
图1为本发明实施例提供的一种定位的系统架构示意图；
图2为本发明实施例提供的一种定位方法流程图；
图3为本发明实施例提供的又一种定位方法流程图；
图4为本发明实施例提供的又一种定位方法流程图；
图5为本发明实施例提供的又一种定位方法流程图；
图6为本发明实施例提供的又一种定位方法流程图；
图7为本发明实施例提供的一种定位装置的结构示意图；
图8为本发明实施例提供的一种自移动节点的结构示意图；
图9为本发明实施例提供的又一种定位装置的结构示意图；
图10为本发明实施例提供的又一种自移动节点的结构示意图。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其它实施例，都属于本发明保护的范围。
为使本发明技术方案的优点更加清楚，下面结合附图和实施例对本发明作详细说明。
本发明实施例提供的技术方案可以适用于部署少量固定节点的情况，如图1所示。其中，方形图案为固定WIFI AP，即本发明实施例中的固定节点；圆形图案为自移动节点。具体地，根据自移动节点可否通过固定节点获取位置信息，可以将自移动节点分为标准节点及非标准节点。标准节点为可以通过固定节点获取位置信息的节点，即标准节点不处于定位盲区；非标准节点为不能通过固定节点获取位置信息的节点，即非标准节点处于定位盲区。例如图1中，白色圆形图案为标准节点，黑色圆形图案为 非标准节点。
本发明实施例提供一种定位方法，如图2所示，所述方法包括：
201、自移动节点通过至少一个非固定节点获取位置信息。
其中，位置信息为用于进行定位的信息。在本发明实施例中，非固定节点为除上述自移动节点之外的其他自移动节点。在本发明实施例中，固定节点可以为固定WIFI AP，非固定节点可以为自移动节点。
对于本发明实施例，自移动节点还可以通过位置传感器确定定位信息。其中，位置传感器可以通过自移动节点的移动速度、移动方向及移动高度等数据，获取自移动节点的位置信息。在本发明实施例中，位置传感器可以为陀螺仪、加速度传感器计、磁力计、地磁传感器等。具体地，位置传感器可以为GPS(Global Positioning System，全球定位系统)、G-Sensor(Gravity-sensor，重力传感器)、Gyroscope(陀螺仪)、Geomagnetism(地磁感应)等。
对于本发明实施例，自移动节点可以通过至少一个固定节点获取位置信息。在本发明实施例中，根据自移动节点可否通过固定节点获取位置信息，可以将自移动节点分为标准节点及非标准节点，标准节点为可以通过固定节点获取位置信息的节点，非标准节点为不能通过固定节点获取位置信息的节点，即非标准节点处于定位盲区。
202、自移动节点根据位置信息，确定定位信息。
具体地，自移动节点通过固定节点确定定位信息的方法包括：三角形算法及位置指纹识别(fingerprinting)算法。其中，三角形算法利用待测目标到至少三个已知参考点之间的距离信息，估算待测目标的位置信息；位置指纹识别算法通过预先测量各个参考点上来自不同固定节点的RSS值，并记录各个参考点的位置信息与来自不同固定节点的RSS值之间的对应关系，然后根据待测目标上来自不同固定节点的RSS值，获取待测目标的位置信息。在本发明实施例中，标准节点可以通过三角形算法获取位置信息，也可以通过位置指纹识别算法获取位置信息，本发明实施例不做限 定。
对于本发明实施例，通过对不能根据固定节点确定定位信息的自移动节点，即处于定位盲区的自移动节点，提出了确定定位信息的方法，从而可以实现确定处于定位盲区的自移动节点对应的定位信息。在本发明实施例中，自移动节点可以通过至少一个其他自移动节点或者传感器，确定定位信息。
可选地，自移动节点可以通过至少一个非固定节点广播的位置信息，确定定位信息，该非固定节点可以为标准节点，也可以为非标准节点。其中，当自移动节点通过至少一个标准节点确定定位信息时，由于标准节点通过固定节点确定定位信息，因此标准节点广播的位置信息定位误差较小，进一步地，自移动节点通过至少一个标准节点确定的定位信息定位误差较小；当自移动节点通过至少一个非标准节点确定定位信息时，由于非标准节点通过其他固定节点或者位置传感器确定定位信息，因此非标准节点广播的位置信息定位误差较大，进一步地，自移动节点通过至少一个非标准节点确定定位信息定位误差较大。
可替换地，自移动节点还可以通过位置传感器，确定定位信息。其中，由于位置传感器采集到的数据中包含大量噪音，因此通过位置传感器确定的定位信息定位误差较大。在本发明实施例中，若自移动节点通过位置传感器确定定位信息，则当该自移动节点可以通过固定节点或者定位误差较小的非固定节点确定定位信息时，该自移动节点按照当前确定的定位信息与之前通过位置传感器确定的定位信息，对位置传感器进行校准，并更新位置传感器的定位误差。
203、自移动节点广播定位信息。
对于本发明实施例，通过自移动节点广播确定的定位信息，从而可以使得其他自移动节点可以接收该自移动节点广播的位置信息，进而可以实现其他自移动节点通过该自移动节点广播的位置信息确定定位信息。
对于本发明实施例，自移动节点可以仅广播位置信息，也可以同时广 播定位信息及定位误差。
一方面，当自移动节点通过固定节点获取位置信息时，获取到的位置信息定位误差较小，此时，自移动节点可以广播位置信息及较小的定位误差；当自移动节点通过标准节点获取位置信息时，获取到的位置信息定位误差较小，此时，自移动节点可以广播位置信息及较小的定位误差。
另一方面，当自移动节点通过非标准节点获取位置信息时，获取到的位置信息定位误差较大，此时，自移动节点可以广播位置信息及较大的定位误差；当自移动节点通过位置传感器获取位置信息时，获取到的位置信息定位误差较大，此时，自移动节点可以广播位置信息及较大的定位误差。
对于本发明实施例，自移动节点可以根据周边其他非固定节点广播的位置信息及定位误差，确定自移动节点的定位周期及广播位置信息的频率。具体地，当周边其他非固定节点广播的位置信息对应的定位误差较小时，该自移动节点所获取的位置信息的准确度较高，此时，自移动节点可以降低自移动节点的定位周期，降低广播位置信息的频率。在本发明实施例中，通过降低自移动节点广播位置信息的频率，能够减少资源消耗。
对于本发明实施例，自移动节点还可以根据位置传感器反馈的数据，确定自移动节点的定位周期及广播位置信息的频率。具体地，当位置传感器反馈的加速度数据改变较小时，即该自移动节点运动较不频繁，自移动节点不需要频繁获取位置信息，此时，自移动节点可以降低自移动节点的定位周期，降低广播位置信息的频率。在本发明实施例中，通过降低自移动节点广播位置信息的频率，能够减少资源消耗。
对于本发明实施例，自移动节点还可以根据实际需求，确定自移动节点的定位周期及广播位置信息的频率。具体地，当自移动节点的定位实时性要求较高时，自移动节点可以提高自移动节点的定位周期，提高广播位置信息的频率。在本发明实施例中，通过提高自移动节点的定位周期，能够满足自移动节点对于实时性的要求。
本发明实施例提供的定位方法及装置，首先通过至少一个非固定节点 获取位置信息，然后根据该位置信息，确定定位信息，最后广播该定位信息。与目前自移动节点仅可通过固定节点获取位置信息相比，本发明实施例自移动节点通过获取其他非固定节点广播的位置信息，能够确定自身的定位信息，从而实现当自移动节点不能通过固定节点确定定位信息时，可以通过其他节点的位置信息确定定位信息，进而可以对处于定位盲区的自移动节点进行定位。
本发明实施例提供又一种定位方法，如图3所示，当自移动节点通过标准节点进行定位时，所述方法包括：
301、自移动节点通过至少一个非固定节点获取位置信息。
其中，位置信息为用于进行定位的信息。在本发明实施例中，非固定节点为除上述自移动节点之外的其他自移动节点。在本发明实施例中，固定节点可以为固定WIFI AP，非固定节点可以为自移动节点。
对于本发明实施例，非固定节点可以为标准节点。其中，标准节点为通过固定节点确定定位信息的节点。在本发明实施例中，当自移动节点通过至少一个标准节点确定定位信息时，由于标准节点通过固定节点获取位置信息，因此标准节点广播的位置信息定位误差较小，进一步地，自移动节点通过至少一个标准节点获取的位置信息定位误差较小。
对于本发明实施例，自移动节点还可以通过位置传感器确定定位信息。其中，位置传感器可以通过自移动节点的移动速度、移动方向及移动高度等数据，获取自移动节点的位置信息。在本发明实施例中，位置传感器可以为陀螺仪、加速度传感器计、磁力计、地磁传感器等。具体地，位置传感器可以为GPS、G-Sensor、Gyroscope、Geomagnetism等。
对于本发明实施例，自移动节点可以通过至少一个固定节点获取位置信息。在本发明实施例中，根据自移动节点可否通过固定节点获取位置信息，可以将自移动节点分为标准节点及非标准节点，标准节点为可以通过固定节点获取位置信息的节点，非标准节点为不能通过固定节点获取位置信息的节点，即非标准节点处于定位盲区。
对于本发明实施例，至少一个非固定节点的定位误差，可以为至少一个非固定节点中的最大定位误差。例如，自移动节点可以通过四个其他节点获取位置信息，这四个节点的定位误差分别为：0.1、0.2、0.25、0.5，则自移动节点获取其中的最大值0.5，作为至少一个其他节点中的最大定位误差。
302、自移动节点根据位置信息，确定定位信息。
具体地，自移动节点通过固定节点确定定位信息的方法包括：三角形算法及位置指纹识别算法。其中，三角形算法利用待测目标到至少三个已知参考点之间的距离信息，估算待测目标的位置信息；位置指纹识别算法通过预先测量各个参考点上来自不同固定节点的RSS值，并记录各个参考点的位置信息与来自不同固定节点的RSS值之间的对应关系，然后根据待测目标上来自不同固定节点的RSS值，获取待测目标的位置信息。在本发明实施例中，标准节点可以通过三角形算法获取位置信息，也可以通过位置指纹识别算法获取位置信息，本发明实施例不做限定。
对于本发明实施例，通过对不能根据固定节点确定定位信息的自移动节点，即处于定位盲区的自移动节点，提出了确定定位信息的方法，从而可以实现确定处于定位盲区的自移动节点对应的定位信息。在本发明实施例中，自移动节点可以通过至少一个其他自移动节点或者传感器，确定定位信息。
可选地，自移动节点可以通过至少一个非固定节点广播的位置信息，确定定位信息，该非固定节点可以为标准节点，也可以为非标准节点。其中，当自移动节点通过至少一个标准节点确定定位信息时，由于标准节点通过固定节点确定定位信息，因此标准节点广播的位置信息定位误差较小，进一步地，自移动节点通过至少一个标准节点确定的定位信息定位误差较小；当自移动节点通过至少一个非标准节点确定定位信息时，由于非标准节点通过其他固定节点或者位置传感器确定定位信息，因此非标准节点广播的位置信息定位误差较大，进一步地，自移动节点通过至少一个非 标准节点确定定位信息定位误差较大。
可替换地，自移动节点还可以通过位置传感器，确定定位信息。其中，由于位置传感器采集到的数据中包含大量噪音，因此通过位置传感器确定的定位信息定位误差较大。在本发明实施例中，若自移动节点通过位置传感器确定定位信息，则当该自移动节点可以通过固定节点或者定位误差较小的非固定节点确定定位信息时，该自移动节点按照当前确定的定位信息与之前通过位置传感器确定的定位信息，对位置传感器进行校准，并更新位置传感器的定位误差。
可选地，步骤302之后，还可以包括：自移动节点根据至少一个非固定节点的定位误差，更新位置传感器的定位误差。
具体地，自移动节点可以根据至少一个非固定节点的定位误差，对位置传感器进行校准，并更新校准之后位置传感器的定位误差。
对于本发明实施例，当自移动节点通过标准节点获取位置信息时，自移动节点获取到的自身位置信息定位误差较小，此时，自移动节点可以通过标准节点获取到的位置信息与通过位置传感器获取到的位置信息之间的差异，更新位置传感器的定位误差。
对于本发明实施例，由于传感器采集到的数据中包含大量噪音，因此通过传感器获取到的位置信息定位误差较大。例如，自移动节点可以通过Sensor Assisted Positioning(传感器辅助定位)获取位置信息，由于Sensor Assisted Positioning获取位置信息的功能会随着时间的推移变得不精确，因此当Sensor Assisted Positioning可以通过固定WIFI AP或者标准节点获取位置信息时，需要对其进行定位校准。
303、自移动节点广播定位信息。
对于本发明实施例，通过自移动节点广播确定的定位信息，从而可以使得其他自移动节点可以接收该自移动节点广播的位置信息，进而可以实现其他自移动节点通过该自移动节点广播的位置信息确定定位信息。
对于本发明实施例，自移动节点可以仅广播位置信息，也可以同时广 播定位信息及定位误差。
一方面，当自移动节点通过固定节点获取位置信息时，获取到的位置信息定位误差较小，此时，自移动节点可以广播位置信息及较小的定位误差；当自移动节点通过标准节点获取位置信息时，获取到的位置信息定位误差较小，此时，自移动节点可以广播位置信息及较小的定位误差。
另一方面，当自移动节点通过非标准节点获取位置信息时，获取到的位置信息定位误差较大，此时，自移动节点可以广播位置信息及较大的定位误差；当自移动节点通过位置传感器获取位置信息时，获取到的位置信息定位误差较大，此时，自移动节点可以广播位置信息及较大的定位误差。
具体地，当自移动节点通过标准节点获取位置信息时，自移动节点获取到的自身位置信息定位误差较小，此时，自移动节点广播位置信息及较小的定位误差。
对于本发明实施例，自移动节点可以根据周边其他非固定节点广播的位置信息及定位误差，确定自移动节点的定位周期及广播位置信息的频率。具体地，当周边其他非固定节点广播的位置信息对应的定位误差较小时，该自移动节点所获取的位置信息的准确度较高，此时，自移动节点可以降低自移动节点的定位周期，降低广播位置信息的频率。在本发明实施例中，通过降低自移动节点广播位置信息的频率，能够减少资源消耗。
对于本发明实施例，自移动节点还可以根据位置传感器反馈的数据，确定自移动节点的定位周期及广播位置信息的频率。具体地，当位置传感器反馈的加速度数据改变较小时，即该自移动节点运动较不频繁，自移动节点不需要频繁获取位置信息，此时，自移动节点可以降低自移动节点的定位周期，降低广播位置信息的频率。在本发明实施例中，通过降低自移动节点广播位置信息的频率，能够减少资源消耗。
对于本发明实施例，自移动节点还可以根据实际需求，确定自移动节点的定位周期及广播位置信息的频率。具体地，当自移动节点的定位实时性要求较高时，自移动节点可以提高自移动节点的定位周期，提高广播位 置信息的频率。在本发明实施例中，通过提高自移动节点的定位周期，能够满足自移动节点对于实时性的要求。
本发明实施例提供的定位方法及装置，首先通过至少一个非固定节点获取位置信息，然后根据该位置信息，确定定位信息，最后广播该定位信息。与目前自移动节点仅可通过固定节点获取位置信息相比，本发明实施例自移动节点通过获取其他非固定节点广播的位置信息，能够确定自身的定位信息，从而实现当自移动节点不能通过固定节点确定定位信息时，可以通过其他节点的位置信息确定定位信息，进而可以对处于定位盲区的自移动节点进行定位。
本发明实施例提供又一种定位方法，如图4所示，当自移动节点通过非标准节点或者自身传感器进行定位时，所述方法包括：
401、自移动节点通过至少一个非固定节点获取位置信息。
其中，位置信息为用于进行定位的信息。在本发明实施例中，非固定节点为除上述自移动节点之外的其他自移动节点。在本发明实施例中，固定节点可以为固定WIFI AP，非固定节点可以为自移动节点。
可选地，非固定节点可以为标准节点。其中，标准节点为通过固定节点确定定位信息的节点。
可替换地，非固定节点还可为非标准节点。其中，非标准节点为通过非固定节点或者位置传感器确定定位信息的节点。
对于本发明实施例，非固定节点可以为标准节点。其中，标准节点为通过固定节点确定定位信息的节点。在本发明实施例中，当自移动节点通过至少一个标准节点确定定位信息时，由于标准节点通过固定节点获取位置信息，因此标准节点广播的位置信息定位误差较小，进一步地，自移动节点通过至少一个标准节点获取的位置信息定位误差较小。
对于本发明实施例，自移动节点还可以通过位置传感器确定定位信息。其中，位置传感器可以通过自移动节点的移动速度、移动方向及移动高度等数据，获取自移动节点的位置信息。在本发明实施例中，位置传感 器可以为陀螺仪、加速度传感器计、磁力计、地磁传感器等。具体地，位置传感器可以为GPS、G-Sensor、Gyroscope、Geomagnetism等。
对于本发明实施例，自移动节点可以通过至少一个固定节点获取位置信息。在本发明实施例中，根据自移动节点可否通过固定节点获取位置信息，可以将自移动节点分为标准节点及非标准节点，标准节点为可以通过固定节点获取位置信息的节点，非标准节点为不能通过固定节点获取位置信息的节点，即非标准节点处于定位盲区。
对于本发明实施例，至少一个非固定节点的定位误差，可以为至少一个非固定节点中的最大定位误差。例如，自移动节点可以通过四个其他节点获取位置信息，这四个节点的定位误差分别为：0.1、0.2、0.25、0.5，则自移动节点获取其中的最大值0.5，作为至少一个其他节点中的最大定位误差。
402、自移动节点获取至少一个非固定节点的定位误差。
其中，至少一个非固定节点的定位误差可以为至少一个非固定节点中的最大定位误差。
例如，自移动节点可以通过四个其他节点获取位置信息，这四个节点的定位误差分别为：0.1、0.2、0.25、0.5，则自移动节点获取其中的最大值0.5，作为至少一个其他节点中的最大定位误差。
可选地，当自移动节点可以通过多组不同的非标准节点进行定位时，自移动节点可以首先获取多组不同的非标准节点中的各个节点分别对应的定位误差，然后分别获取多组不同的非标准节点中的每组非标准节点分别对应的最大定位误差，最后在多组不同的其他节点中，选择最大定位误差为最小值所对应的一组非标准节点获取自身位置信息。
例如，自移动节点可以通过三组不同的非标准节点进行定位，该自移动节点首先获取这三组非标准节点中的各个节点分别对应的定位误差，第一组非标准节点分别对应的定位误差为0.2、0.4、0.3、0.35、0.22，第二组非标准节点分别对应的定位误差为0.3、0.5、0.15、0.1，第三组非标准 节点分别对应的定位误差为0.2、0.2、0.45、0.3、0.38；然后获取这三组非标准节点分别对应的最大定位误差，第一组非标准节点对应的最大定位误差为0.4，第二组非标准节点对应的最大定位误差为0.5，第三组非标准节点对应的最大定位误差为0.45；最后选择这三组非标准节点分别对应的最大定位误差中的最小值0.4所对应的一组节点：第一组其他节点。
403、自移动节点通过位置传感器确定位置信息。
具体地，自移动节点通过固定节点确定定位信息的方法包括：三角形算法及位置指纹识别算法。其中，三角形算法利用待测目标到至少三个已知参考点之间的距离信息，估算待测目标的位置信息；位置指纹识别算法通过预先测量各个参考点上来自不同固定节点的RSS值，并记录各个参考点的位置信息与来自不同固定节点的RSS值之间的对应关系，然后根据待测目标上来自不同固定节点的RSS值，获取待测目标的位置信息。在本发明实施例中，标准节点可以通过三角形算法获取位置信息，也可以通过位置指纹识别算法获取位置信息，本发明实施例不做限定。
对于本发明实施例，通过对不能根据固定节点确定定位信息的自移动节点，即处于定位盲区的自移动节点，提出了确定定位信息的方法，从而可以实现确定处于定位盲区的自移动节点对应的定位信息。在本发明实施例中，自移动节点可以通过至少一个其他自移动节点或者传感器，确定定位信息。
可选地，自移动节点可以通过至少一个非固定节点广播的位置信息，确定定位信息，该非固定节点可以为标准节点，也可以为非标准节点。其中，当自移动节点通过至少一个标准节点确定定位信息时，由于标准节点通过固定节点确定定位信息，因此标准节点广播的位置信息定位误差较小，进一步地，自移动节点通过至少一个标准节点确定的定位信息定位误差较小；当自移动节点通过至少一个非标准节点确定定位信息时，由于非标准节点通过其他固定节点或者位置传感器确定定位信息，因此非标准节点广播的位置信息定位误差较大，进一步地，自移动节点通过至少一个非 标准节点确定定位信息定位误差较大。
可替换地，自移动节点还可以通过位置传感器，确定定位信息。其中，由于位置传感器采集到的数据中包含大量噪音，因此通过位置传感器确定的定位信息定位误差较大。在本发明实施例中，若自移动节点通过位置传感器确定定位信息，则当该自移动节点可以通过固定节点或者定位误差较小的非固定节点确定定位信息时，该自移动节点按照当前确定的定位信息与之前通过位置传感器确定的定位信息，对位置传感器进行校准，并更新位置传感器的定位误差。
404、自移动节点确定位置传感器的定位误差。
对于本发明实施例，由于传感器采集到的数据中包含大量噪音，因此通过传感器获取到的位置信息定位误差较大。例如，自移动节点可以通过Sensor Assisted Positioning(传感器辅助定位)获取位置信息，由于Sensor Assisted Positioning获取位置信息的功能会随着时间的推移变得不精确，因此当Sensor Assisted Positioning可以通过固定WIFI AP或者标准节点获取位置信息时，需要对其进行定位校准。
405、自移动节点根据通过至少一个非固定节点获取的位置信息或通过位置传感器确定的位置信息，确定定位信息。
具体地，步骤405可以为：若至少一个非固定节点的定位误差小于或者等于位置传感器的定位误差，则自移动节点根据通过至少一个非固定节点获取的位置信息，确定定位信息。
对于本发明实施例，当至少一个非固定节点中的最大定位误差小于或者等于位置传感器的定位误差时，自移动节点通过至少一个其他节点所获取的位置信息准确度更高，因此，自移动节点需要通过至少一个其他节点确定位置信息。
对于本发明实施例，当自移动节点根据通过至少一个非固定节点获取的位置信息，确定定位信息时，自移动节点根据至少一个非固定节点的定位误差，更新位置传感器的定位误差。具体地，自移动节点可以根据至少 一个非固定节点的定位误差，对位置传感器进行校准，并更新校准之后位置传感器的定位误差。
对于本发明实施例，当自移动节点通过非标准节点获取位置信息时，自移动节点获取到的自身位置信息的定位误差小于通过位置传感器获取到的位置信息的定位误差，此时，自移动节点可以通过非标准节点获取到的位置信息与通过位置传感器获取到的位置信息之间的差异，更新位置传感器的定位误差。
对于本发明实施例，由于传感器采集到的数据中包含大量噪音，因此通过传感器获取到的位置信息定位误差较大。例如，自移动节点可以通过Sensor Assisted Positioning获取位置信息，由于Sensor Assisted Positioning获取位置信息的功能会随着时间的推移变得不精确，因此当Sensor Assisted Positioning可以通过固定WIFI AP或者标准节点获取位置信息时，需要对其进行定位校准。
具体地，步骤405还可以为：若至少一个非固定节点的定位误差大于传感器的定位误差，则自移动节点根据通过位置传感器确定的位置信息，确定定位信息。
对于本发明实施例，当至少一个非固定节点中的最大定位误差大于位置传感器的定位误差时，自移动节点通过位置传感器确定的位置信息准确度更高，因此，自移动节点需要通过至位置传感器确定位置信息。
对于本发明实施例，至少一个非标准节点中的定位误差可以表征，自移动节点通过至少一个其他节点获取位置信息的准确度；位置传感器的定位误差可以表征，自移动节点通过传感器获取位置信息的准确度。具体地，若至少一个其他节点中的定位误差小于或者等于位置传感器的定位误差，则自移动节点通过至少一个其他节点所获取的位置信息准确度更高；若至少一个其他节点中的最大定位误差大于位置传感器的定位误差，则自移动节点通过位置传感器所获取的位置信息准确度更高。
406、自移动节点广播定位信息。
对于本发明实施例，通过自移动节点广播确定的定位信息，从而可以使得其他自移动节点可以接收该自移动节点广播的位置信息，进而可以实现其他自移动节点通过该自移动节点广播的位置信息确定定位信息。
407、自移动节点广播至少一个非固定节点的定位误差。
对于本发明实施例，自移动节点可以仅广播位置信息，也可以同时广播定位信息及定位误差。
一方面，当自移动节点通过固定节点获取位置信息时，获取到的位置信息定位误差较小，此时，自移动节点可以广播位置信息及较小的定位误差；当自移动节点通过标准节点获取位置信息时，获取到的位置信息定位误差较小，此时，自移动节点可以广播位置信息及较小的定位误差。
另一方面，当自移动节点通过非标准节点获取位置信息时，获取到的位置信息定位误差较大，此时，自移动节点可以广播位置信息及较大的定位误差；当自移动节点通过位置传感器获取位置信息时，获取到的位置信息定位误差较大，此时，自移动节点可以广播位置信息及较大的定位误差。
具体地，当自移动节点通过标准节点获取位置信息时，自移动节点获取到的自身位置信息定位误差较小，此时，自移动节点广播位置信息及较小的定位误差。
对于本发明实施例，自移动节点可以根据周边其他非固定节点广播的位置信息及定位误差，确定自移动节点的定位周期及广播位置信息的频率。具体地，当周边其他非固定节点广播的位置信息对应的定位误差较小时，该自移动节点所获取的位置信息的准确度较高，此时，自移动节点可以降低自移动节点的定位周期，降低广播位置信息的频率。在本发明实施例中，通过降低自移动节点广播位置信息的频率，能够减少资源消耗。
对于本发明实施例，自移动节点还可以根据位置传感器反馈的数据，确定自移动节点的定位周期及广播位置信息的频率。具体地，当位置传感器反馈的加速度数据改变较小时，即该自移动节点运动较不频繁，自移动节点不需要频繁获取位置信息，此时，自移动节点可以降低自移动节点的 定位周期，降低广播位置信息的频率。在本发明实施例中，通过降低自移动节点广播位置信息的频率，能够减少资源消耗。
对于本发明实施例，自移动节点还可以根据实际需求，确定自移动节点的定位周期及广播位置信息的频率。具体地，当自移动节点的定位实时性要求较高时，自移动节点可以提高自移动节点的定位周期，提高广播位置信息的频率。在本发明实施例中，通过提高自移动节点的定位周期，能够满足自移动节点对于实时性的要求。
本发明实施例提供的定位方法及装置，首先通过至少一个非固定节点获取位置信息，然后根据该位置信息，确定定位信息，最后广播该定位信息。与目前自移动节点仅可通过固定节点获取位置信息相比，本发明实施例自移动节点通过获取其他非固定节点广播的位置信息，能够确定自身的定位信息，从而实现当自移动节点不能通过固定节点确定定位信息时，可以通过其他节点的位置信息确定定位信息，进而可以对处于定位盲区的自移动节点进行定位。
本发明实施例提供又一种定位方法，如图5所示，当自移动节点仅可通过自身传感器进行定位时，所述方法包括：
501、自移动节点通过至少一个非固定节点获取位置信息。
其中，位置信息为用于进行定位的信息。在本发明实施例中，非固定节点为除上述自移动节点之外的其他自移动节点。在本发明实施例中，固定节点可以为固定WIFI AP，非固定节点可以为自移动节点。
对于本发明实施例，非固定节点可以为标准节点。其中，标准节点为通过固定节点确定定位信息的节点。在本发明实施例中，当自移动节点通过至少一个标准节点确定定位信息时，由于标准节点通过固定节点获取位置信息，因此标准节点广播的位置信息定位误差较小，进一步地，自移动节点通过至少一个标准节点获取的位置信息定位误差较小。
对于本发明实施例，自移动节点还可以通过位置传感器确定定位信息。其中，位置传感器可以通过自移动节点的移动速度、移动方向及移动 高度等数据，获取自移动节点的位置信息。在本发明实施例中，位置传感器可以为陀螺仪、加速度传感器计、磁力计、地磁传感器等。具体地，位置传感器可以为GPS、G-Sensor、Gyroscope、Geomagnetism等。
对于本发明实施例，自移动节点可以通过至少一个固定节点获取位置信息。在本发明实施例中，根据自移动节点可否通过固定节点获取位置信息，可以将自移动节点分为标准节点及非标准节点，标准节点为可以通过固定节点获取位置信息的节点，非标准节点为不能通过固定节点获取位置信息的节点，即非标准节点处于定位盲区。
对于本发明实施例，至少一个非固定节点的定位误差，可以为至少一个非固定节点中的最大定位误差。例如，自移动节点可以通过四个其他节点获取位置信息，这四个节点的定位误差分别为：0.1、0.2、0.25、0.5，则自移动节点获取其中的最大值0.5，作为至少一个其他节点中的最大定位误差。
可选地，当自移动节点可以通过多组不同的非标准节点进行定位时，自移动节点可以首先获取多组不同的非标准节点中的各个节点分别对应的定位误差，然后分别获取多组不同的非标准节点中的每组非标准节点分别对应的最大定位误差，最后在多组不同的其他节点中，选择最大定位误差为最小值所对应的一组非标准节点获取自身位置信息。
例如，自移动节点可以通过三组不同的非标准节点进行定位，该自移动节点首先获取这三组非标准节点中的各个节点分别对应的定位误差，第一组非标准节点分别对应的定位误差为0.2、0.4、0.3、0.35、0.22，第二组非标准节点分别对应的定位误差为0.3、0.5、0.15、0.1，第三组非标准节点分别对应的定位误差为0.2、0.2、0.45、0.3、0.38；然后获取这三组非标准节点分别对应的最大定位误差，第一组非标准节点对应的最大定位误差为0.4，第二组非标准节点对应的最大定位误差为0.5，第三组非标准节点对应的最大定位误差为0.45；最后选择这三组非标准节点分别对应的最大定位误差中的最小值0.4所对应的一组节点：第一组其他节点。
502、自移动节点通过位置传感器确定位置信息。
具体地，自移动节点通过固定节点确定定位信息的方法包括：三角形算法及位置指纹识别算法。其中，三角形算法利用待测目标到至少三个已知参考点之间的距离信息，估算待测目标的位置信息；位置指纹识别算法通过预先测量各个参考点上来自不同固定节点的RSS值，并记录各个参考点的位置信息与来自不同固定节点的RSS值之间的对应关系，然后根据待测目标上来自不同固定节点的RSS值，获取待测目标的位置信息。在本发明实施例中，标准节点可以通过三角形算法获取位置信息，也可以通过位置指纹识别算法获取位置信息，本发明实施例不做限定。
对于本发明实施例，通过对不能根据固定节点确定定位信息的自移动节点，即处于定位盲区的自移动节点，提出了确定定位信息的方法，从而可以实现确定处于定位盲区的自移动节点对应的定位信息。在本发明实施例中，自移动节点可以通过至少一个其他自移动节点或者传感器，确定定位信息。
可选地，自移动节点可以通过至少一个非固定节点广播的位置信息，确定定位信息，该非固定节点可以为标准节点，也可以为非标准节点。其中，当自移动节点通过至少一个标准节点确定定位信息时，由于标准节点通过固定节点确定定位信息，因此标准节点广播的位置信息定位误差较小，进一步地，自移动节点通过至少一个标准节点确定的定位信息定位误差较小；当自移动节点通过至少一个非标准节点确定定位信息时，由于非标准节点通过其他固定节点或者位置传感器确定定位信息，因此非标准节点广播的位置信息定位误差较大，进一步地，自移动节点通过至少一个非标准节点确定定位信息定位误差较大。
可替换地，自移动节点还可以通过位置传感器，确定定位信息。其中，由于位置传感器采集到的数据中包含大量噪音，因此通过位置传感器确定的定位信息定位误差较大。在本发明实施例中，若自移动节点通过位置传感器确定定位信息，则当该自移动节点可以通过固定节点或者定位误差较 小的非固定节点确定定位信息时，该自移动节点按照当前确定的定位信息与之前通过位置传感器确定的定位信息，对位置传感器进行校准，并更新位置传感器的定位误差。
503、自移动节点确定位置传感器的定位误差。
对于本发明实施例，由于传感器采集到的数据中包含大量噪音，因此通过传感器获取到的位置信息定位误差较大。例如，自移动节点可以通过Sensor Assisted Positioning(传感器辅助定位)获取位置信息，由于Sensor Assisted Positioning获取位置信息的功能会随着时间的推移变得不精确，因此当Sensor Assisted Positioning可以通过固定WIFI AP或者标准节点获取位置信息时，需要对其进行定位校准。
504、自移动节点根据通过至少一个非固定节点获取的位置信息或通过位置传感器确定的位置信息，确定定位信息。
具体地，自移动节点通过固定节点确定定位信息的方法包括：三角形算法及位置指纹识别算法。其中，三角形算法利用待测目标到至少三个已知参考点之间的距离信息，估算待测目标的位置信息；位置指纹识别算法通过预先测量各个参考点上来自不同固定节点的RSS值，并记录各个参考点的位置信息与来自不同固定节点的RSS值之间的对应关系，然后根据待测目标上来自不同固定节点的RSS值，获取待测目标的位置信息。在本发明实施例中，标准节点可以通过三角形算法获取位置信息，也可以通过位置指纹识别算法获取位置信息，本发明实施例不做限定。
对于本发明实施例，通过对不能根据固定节点确定定位信息的自移动节点，即处于定位盲区的自移动节点，提出了确定定位信息的方法，从而可以实现确定处于定位盲区的自移动节点对应的定位信息。在本发明实施例中，自移动节点可以通过至少一个其他自移动节点或者传感器，确定定位信息。
可选地，自移动节点可以通过至少一个非固定节点广播的位置信息，确定定位信息，该非固定节点可以为标准节点，也可以为非标准节点。其 中，当自移动节点通过至少一个标准节点确定定位信息时，由于标准节点通过固定节点确定定位信息，因此标准节点广播的位置信息定位误差较小，进一步地，自移动节点通过至少一个标准节点确定的定位信息定位误差较小；当自移动节点通过至少一个非标准节点确定定位信息时，由于非标准节点通过其他固定节点或者位置传感器确定定位信息，因此非标准节点广播的位置信息定位误差较大，进一步地，自移动节点通过至少一个非标准节点确定定位信息定位误差较大。
可替换地，自移动节点还可以通过位置传感器，确定定位信息。其中，由于位置传感器采集到的数据中包含大量噪音，因此通过位置传感器确定的定位信息定位误差较大。在本发明实施例中，若自移动节点通过位置传感器确定定位信息，则当该自移动节点可以通过固定节点或者定位误差较小的非固定节点确定定位信息时，该自移动节点按照当前确定的定位信息与之前通过位置传感器确定的定位信息，对位置传感器进行校准，并更新位置传感器的定位误差。
对于本发明实施例，当自移动节点不能通过固定节点或者非固定节点获取位置信息时，即该自移动节点附近不存在为其提供位置信息的固定节点或非固定节点时，该自移动节点可以通过位置传感器，获取位置信息。
505、自移动节点广播所述定位信息。
对于本发明实施例，通过自移动节点广播确定的定位信息，从而可以使得其他自移动节点可以接收该自移动节点广播的位置信息，进而可以实现其他自移动节点通过该自移动节点广播的位置信息确定定位信息。
506、自移动节点广播位置传感器的定位误差。
对于本发明实施例，自移动节点可以仅广播位置信息，也可以同时广播定位信息及定位误差。
一方面，当自移动节点通过固定节点获取位置信息时，获取到的位置信息定位误差较小，此时，自移动节点可以广播位置信息及较小的定位误差；当自移动节点通过标准节点获取位置信息时，获取到的位置信息定位 误差较小，此时，自移动节点可以广播位置信息及较小的定位误差。
另一方面，当自移动节点通过非标准节点获取位置信息时，获取到的位置信息定位误差较大，此时，自移动节点可以广播位置信息及较大的定位误差；当自移动节点通过位置传感器获取位置信息时，获取到的位置信息定位误差较大，此时，自移动节点可以广播位置信息及较大的定位误差。
具体地，当自移动节点通过标准节点获取位置信息时，自移动节点获取到的自身位置信息定位误差较小，此时，自移动节点广播位置信息及较小的定位误差。
对于本发明实施例，自移动节点可以根据周边其他非固定节点广播的位置信息及定位误差，确定自移动节点的定位周期及广播位置信息的频率。具体地，当周边其他非固定节点广播的位置信息对应的定位误差较小时，该自移动节点所获取的位置信息的准确度较高，此时，自移动节点可以降低自移动节点的定位周期，降低广播位置信息的频率。在本发明实施例中，通过降低自移动节点广播位置信息的频率，能够减少资源消耗。
对于本发明实施例，自移动节点还可以根据位置传感器反馈的数据，确定自移动节点的定位周期及广播位置信息的频率。具体地，当位置传感器反馈的加速度数据改变较小时，即该自移动节点运动较不频繁，自移动节点不需要频繁获取位置信息，此时，自移动节点可以降低自移动节点的定位周期，降低广播位置信息的频率。在本发明实施例中，通过降低自移动节点广播位置信息的频率，能够减少资源消耗。
对于本发明实施例，自移动节点还可以根据实际需求，确定自移动节点的定位周期及广播位置信息的频率。具体地，当自移动节点的定位实时性要求较高时，自移动节点可以提高自移动节点的定位周期，提高广播位置信息的频率。在本发明实施例中，通过提高自移动节点的定位周期，能够满足自移动节点对于实时性的要求。
本发明实施例提供的定位方法及装置，首先通过至少一个非固定节点获取位置信息，然后根据该位置信息，确定定位信息，最后广播该定位信 息。与目前自移动节点仅可通过固定节点获取位置信息相比，本发明实施例自移动节点通过获取其他非固定节点广播的位置信息，能够确定自身的定位信息，从而实现当自移动节点不能通过固定节点确定定位信息时，可以通过其他节点的位置信息确定定位信息，进而可以对处于定位盲区的自移动节点进行定位。
本发明实施例提供又一种定位方法，如图6所示，所述方法包括：
601、自移动节点通过至少一个非固定节点获取位置信息。
其中，位置信息为用于进行定位的信息。在本发明实施例中，非固定节点为除上述自移动节点之外的其他自移动节点。在本发明实施例中，固定节点可以为固定WIFI AP，非固定节点可以为自移动节点。
可选地，非固定节点可以为标准节点。其中，标准节点为通过固定节点确定定位信息的节点。
可替换地，非固定节点还可为非标准节点。其中，非标准节点为通过非固定节点或者位置传感器确定定位信息的节点。
对于本发明实施例，非固定节点可以为标准节点。其中，标准节点为通过固定节点确定定位信息的节点。在本发明实施例中，当自移动节点通过至少一个标准节点确定定位信息时，由于标准节点通过固定节点获取位置信息，因此标准节点广播的位置信息定位误差较小，进一步地，自移动节点通过至少一个标准节点获取的位置信息定位误差较小。
对于本发明实施例，自移动节点还可以通过位置传感器确定定位信息。其中，位置传感器可以通过自移动节点的移动速度、移动方向及移动高度等数据，获取自移动节点的位置信息。在本发明实施例中，位置传感器可以为陀螺仪、加速度传感器计、磁力计、地磁传感器等。具体地，位置传感器可以为GPS、G-Sensor、Gyroscope、Geomagnetism等。
对于本发明实施例，自移动节点可以通过至少一个固定节点获取位置信息。在本发明实施例中，根据自移动节点可否通过固定节点获取位置信息，可以将自移动节点分为标准节点及非标准节点，标准节点为可以通过 固定节点获取位置信息的节点，非标准节点为不能通过固定节点获取位置信息的节点，即非标准节点处于定位盲区。
对于本发明实施例，至少一个非固定节点的定位误差，可以为至少一个非固定节点中的最大定位误差。例如，自移动节点可以通过四个其他节点获取位置信息，这四个节点的定位误差分别为：0.1、0.2、0.25、0.5，则自移动节点获取其中的最大值0.5，作为至少一个其他节点中的最大定位误差。
602、自移动节点获取至少一个非固定节点的定位误差。
其中，至少一个非固定节点的定位误差可以为至少一个非固定节点中的最大定位误差。
例如，自移动节点可以通过四个其他节点获取位置信息，这四个节点的定位误差分别为：0.1、0.2、0.25、0.5，则自移动节点获取其中的最大值0.5，作为至少一个其他节点中的最大定位误差。
可选地，当自移动节点可以通过多组不同的非标准节点进行定位时，自移动节点可以首先获取多组不同的非标准节点中的各个节点分别对应的定位误差，然后分别获取多组不同的非标准节点中的每组非标准节点分别对应的最大定位误差，最后在多组不同的其他节点中，选择最大定位误差为最小值所对应的一组非标准节点获取自身位置信息。
例如，自移动节点可以通过三组不同的非标准节点进行定位，该自移动节点首先获取这三组非标准节点中的各个节点分别对应的定位误差，第一组非标准节点分别对应的定位误差为0.2、0.4、0.3、0.35、0.22，第二组非标准节点分别对应的定位误差为0.3、0.5、0.15、0.1，第三组非标准节点分别对应的定位误差为0.2、0.2、0.45、0.3、0.38；然后获取这三组非标准节点分别对应的最大定位误差，第一组非标准节点对应的最大定位误差为0.4，第二组非标准节点对应的最大定位误差为0.5，第三组非标准节点对应的最大定位误差为0.45；最后选择这三组非标准节点分别对应的最大定位误差中的最小值0.4所对应的一组节点：第一组其他节点。
603、自移动节点通过位置传感器确定位置信息。
具体地，自移动节点通过固定节点确定定位信息的方法包括：三角形算法及位置指纹识别算法。其中，三角形算法利用待测目标到至少三个已知参考点之间的距离信息，估算待测目标的位置信息；位置指纹识别算法通过预先测量各个参考点上来自不同固定节点的RSS值，并记录各个参考点的位置信息与来自不同固定节点的RSS值之间的对应关系，然后根据待测目标上来自不同固定节点的RSS值，获取待测目标的位置信息。在本发明实施例中，标准节点可以通过三角形算法获取位置信息，也可以通过位置指纹识别算法获取位置信息，本发明实施例不做限定。
对于本发明实施例，通过对不能根据固定节点确定定位信息的自移动节点，即处于定位盲区的自移动节点，提出了确定定位信息的方法，从而可以实现确定处于定位盲区的自移动节点对应的定位信息。在本发明实施例中，自移动节点可以通过至少一个其他自移动节点或者传感器，确定定位信息。
可选地，自移动节点可以通过至少一个非固定节点广播的位置信息，确定定位信息，该非固定节点可以为标准节点，也可以为非标准节点。其中，当自移动节点通过至少一个标准节点确定定位信息时，由于标准节点通过固定节点确定定位信息，因此标准节点广播的位置信息定位误差较小，进一步地，自移动节点通过至少一个标准节点确定的定位信息定位误差较小；当自移动节点通过至少一个非标准节点确定定位信息时，由于非标准节点通过其他固定节点或者位置传感器确定定位信息，因此非标准节点广播的位置信息定位误差较大，进一步地，自移动节点通过至少一个非标准节点确定定位信息定位误差较大。
可替换地，自移动节点还可以通过位置传感器，确定定位信息。其中，由于位置传感器采集到的数据中包含大量噪音，因此通过位置传感器确定的定位信息定位误差较大。在本发明实施例中，若自移动节点通过位置传感器确定定位信息，则当该自移动节点可以通过固定节点或者定位误差较 小的非固定节点确定定位信息时，该自移动节点按照当前确定的定位信息与之前通过位置传感器确定的定位信息，对位置传感器进行校准，并更新位置传感器的定位误差。
604、自移动节点确定位置传感器的定位误差。
对于本发明实施例，由于传感器采集到的数据中包含大量噪音，因此通过传感器获取到的位置信息定位误差较大。例如，自移动节点可以通过Sensor Assisted Positioning(传感器辅助定位)获取位置信息，由于Sensor Assisted Positioning获取位置信息的功能会随着时间的推移变得不精确，因此当Sensor Assisted Positioning可以通过固定WIFI AP或者标准节点获取位置信息时，需要对其进行定位校准。
605、自移动节点根据通过至少一个非固定节点获取的位置信息或通过位置传感器确定的位置信息，确定定位信息。
具体地，步骤605可以为：若至少一个非固定节点的定位误差小于或者等于位置传感器的定位误差，则自移动节点根据通过至少一个非固定节点获取的位置信息，确定定位信息。
对于本发明实施例，当至少一个非固定节点中的最大定位误差小于或者等于位置传感器的定位误差时，自移动节点通过至少一个其他节点所获取的位置信息准确度更高，因此，自移动节点需要通过至少一个其他节点确定位置信息。
对于本发明实施例，当自移动节点根据通过至少一个非固定节点获取的位置信息，确定定位信息时，自移动节点根据至少一个非固定节点的定位误差，更新位置传感器的定位误差。具体地，自移动节点可以根据至少一个非固定节点的定位误差，对位置传感器进行校准，并更新校准之后位置传感器的定位误差。
对于本发明实施例，当自移动节点通过非标准节点获取位置信息时，自移动节点获取到的自身位置信息的定位误差小于通过位置传感器获取到的位置信息的定位误差，此时，自移动节点可以通过非标准节点获取到 的位置信息与通过位置传感器获取到的位置信息之间的差异，更新位置传感器的定位误差。
对于本发明实施例，由于传感器采集到的数据中包含大量噪音，因此通过传感器获取到的位置信息定位误差较大。例如，自移动节点可以通过Sensor Assisted Positioning获取位置信息，由于Sensor Assisted Positioning获取位置信息的功能会随着时间的推移变得不精确，因此当Sensor Assisted Positioning可以通过固定WIFI AP或者标准节点获取位置信息时，需要对其进行定位校准。
具体地，步骤405还可以为：若至少一个非固定节点的定位误差大于传感器的定位误差，则自移动节点根据通过位置传感器确定的位置信息，确定定位信息。
对于本发明实施例，当至少一个非固定节点中的最大定位误差大于位置传感器的定位误差时，自移动节点通过位置传感器确定的位置信息准确度更高，因此，自移动节点需要通过至位置传感器确定位置信息。
对于本发明实施例，至少一个非标准节点中的定位误差可以表征，自移动节点通过至少一个其他节点获取位置信息的准确度；位置传感器的定位误差可以表征，自移动节点通过传感器获取位置信息的准确度。具体地，若至少一个其他节点中的定位误差小于或者等于位置传感器的定位误差，则自移动节点通过至少一个其他节点所获取的位置信息准确度更高；若至少一个其他节点中的最大定位误差大于位置传感器的定位误差，则自移动节点通过位置传感器所获取的位置信息准确度更高。
606、自移动节点广播定位信息。
对于本发明实施例，通过自移动节点广播确定的定位信息，从而可以使得其他自移动节点可以接收该自移动节点广播的位置信息，进而可以实现其他自移动节点通过该自移动节点广播的位置信息确定定位信息。
可选地，步骤606之后，还可以包括：自移动节点广播至少一个非固定节点的定位误差。
对于本发明实施例，当自移动节点通过至少一个非固定节点确定定位信息时，该自移动节点广播至少一个非固定节点的定位误差。
可替换地，步骤606之后，还可以包括：自移动节点广播位置传感器的定位误差。
对于本发明实施例，当自移动节点通过位置传感器确定定位信息时，该自移动节点广播位置传感器的定位误差。在本发明实施例中，当自移动节点通过至少一个非固定节点对位置传感器的定位误差进行更新时，自移动节点广播更新之后的位置传感器的定位误差。
对于本发明实施例，自移动节点可以仅广播位置信息，也可以同时广播定位信息及定位误差。
一方面，当自移动节点通过固定节点获取位置信息时，获取到的位置信息定位误差较小，此时，自移动节点可以广播位置信息及较小的定位误差；当自移动节点通过标准节点获取位置信息时，获取到的位置信息定位误差较小，此时，自移动节点可以广播位置信息及较小的定位误差。
另一方面，当自移动节点通过非标准节点获取位置信息时，获取到的位置信息定位误差较大，此时，自移动节点可以广播位置信息及较大的定位误差；当自移动节点通过位置传感器获取位置信息时，获取到的位置信息定位误差较大，此时，自移动节点可以广播位置信息及较大的定位误差。
具体地，当自移动节点通过标准节点获取位置信息时，自移动节点获取到的自身位置信息定位误差较小，此时，自移动节点广播位置信息及较小的定位误差。
对于本发明实施例，自移动节点可以根据周边其他非固定节点广播的位置信息及定位误差，确定自移动节点的定位周期及广播位置信息的频率。具体地，当周边其他非固定节点广播的位置信息对应的定位误差较小时，该自移动节点所获取的位置信息的准确度较高，此时，自移动节点可以降低自移动节点的定位周期，降低广播位置信息的频率。在本发明实施例中，通过降低自移动节点广播位置信息的频率，能够减少资源消耗。
对于本发明实施例，自移动节点还可以根据位置传感器反馈的数据，确定自移动节点的定位周期及广播位置信息的频率。具体地，当位置传感器反馈的加速度数据改变较小时，即该自移动节点运动较不频繁，自移动节点不需要频繁获取位置信息，此时，自移动节点可以降低自移动节点的定位周期，降低广播位置信息的频率。在本发明实施例中，通过降低自移动节点广播位置信息的频率，能够减少资源消耗。
对于本发明实施例，自移动节点还可以根据实际需求，确定自移动节点的定位周期及广播位置信息的频率。具体地，当自移动节点的定位实时性要求较高时，自移动节点可以提高自移动节点的定位周期，提高广播位置信息的频率。在本发明实施例中，通过提高自移动节点的定位周期，能够满足自移动节点对于实时性的要求。
对于本发明实施例，当自移动节点不能通过固定节点或者非固定节点获取位置信息时，即该自移动节点附近不存在为其提供位置信息的固定节点或非固定节点时，该自移动节点可以通过位置传感器，获取位置信息。
本发明实施例提供的定位方法及装置，首先通过至少一个非固定节点获取位置信息，然后根据该位置信息，确定定位信息，最后广播该定位信息。与目前自移动节点仅可通过固定节点获取位置信息相比，本发明实施例自移动节点通过获取其他非固定节点广播的位置信息，能够确定自身的定位信息，从而实现当自移动节点不能通过固定节点确定定位信息时，可以通过其他节点的位置信息确定定位信息，进而可以对处于定位盲区的自移动节点进行定位。
本发明实施例提供一种定位装置，如图7所示，所述装置的实体可以为自移动节点，所述装置包括：获取单元71、处理单元72、广播单元73。
获取单元71，用于通过至少一个非固定节点获取位置信息。
其中，位置信息为用于进行定位的信息。
对于本发明实施例，非固定节点为除上述自移动节点之外的其他自移动节点。在本发明实施例中，固定节点可以为固定WIFI AP，非固定节点 可以为自移动节点。
对于本发明实施例，自移动节点可以通过至少一个固定节点获取位置信息。在本发明实施例中，根据自移动节点可否通过固定节点获取位置信息，可以将自移动节点分为标准节点及非标准节点，标准节点为可以通过固定节点获取位置信息的节点，非标准节点为不能通过固定节点获取位置信息的节点，即非标准节点处于定位盲区。
处理单元72，用于根据获取单元71获取的位置信息，确定定位信息。
广播单元73，用于广播处理单元72确定的定位信息。
对于本发明实施例，通过自移动节点广播获取到的位置信息，从而可以使得其他自移动节点可以接收该自移动节点广播的位置信息，进而可以实现其他自移动节点通过该自移动节点广播的位置信息确定自身定位信息。
需要说明的是，本发明实施例中提供的定位装置中各功能单元所对应的其他相应描述，可以参考图2中的对应描述，在此不再赘述。
进一步地，所述定位装置的实体可以但不限于为自移动节点，如图8所示，所述自移动节点可以包括：处理器81、发射器82、接收器83、存储器84，所述发射器82、所述接收器83、所述存储器84与所述处理器81相连接。
处理器81，用于通过至少一个非固定节点获取位置信息。
其中，位置信息为用于进行定位的信息。
对于本发明实施例，非固定节点为除上述自移动节点之外的其他自移动节点。在本发明实施例中，固定节点可以为固定WIFI AP，非固定节点可以为自移动节点。
对于本发明实施例，自移动节点可以通过至少一个固定节点获取位置信息。在本发明实施例中，根据自移动节点可否通过固定节点获取位置信息，可以将自移动节点分为标准节点及非标准节点，标准节点为可以通过固定节点获取位置信息的节点，非标准节点为不能通过固定节点获取位置 信息的节点，即非标准节点处于定位盲区。
处理器81，还用于根据位置信息，确定定位信息。
处理器81，用于广播定位信息。
对于本发明实施例，通过自移动节点广播获取到的位置信息，从而可以使得其他自移动节点可以接收该自移动节点广播的位置信息，进而可以实现其他自移动节点通过该自移动节点广播的位置信息确定自身定位信息。
需要说明的是，本发明实施例中提供的自移动节点中各设备所对应的其他相应描述，可以参考图2中的对应描述，在此不再赘述。
本发明实施例提供又一种定位装置，如图9所示，所述装置的实体可以为自移动节点，所述装置包括：获取单元91、处理单元92、广播单元93。
获取单元91，用于通过至少一个非固定节点获取位置信息。
其中，位置信息为用于进行定位的信息。
对于本发明实施例，非固定节点为除上述自移动节点之外的其他自移动节点。在本发明实施例中，固定节点可以为固定WIFI AP，非固定节点可以为自移动节点。
对于本发明实施例，自移动节点可以通过至少一个固定节点获取位置信息。在本发明实施例中，根据自移动节点可否通过固定节点获取位置信息，可以将自移动节点分为标准节点及非标准节点，标准节点为可以通过固定节点获取位置信息的节点，非标准节点为不能通过固定节点获取位置信息的节点，即非标准节点处于定位盲区。
处理单元92，用于根据获取单元91获取的位置信息，确定定位信息。
广播单元93，用于广播处理单元92确定的定位信息。
对于本发明实施例，通过自移动节点广播获取到的位置信息，从而可以使得其他自移动节点可以接收该自移动节点广播的位置信息，进而可以实现其他自移动节点通过该自移动节点广播的位置信息确定自身定位信 息。
可选地，所述装置还可以包括：位置传感器94。
位置传感器94，用于确定位置信息。
处理单元92，具体用于根据获取单元91获取的位置信息或位置传感器94确定的位置信息，确定定位信息。
获取单元91，还用于获取至少一个非固定节点的定位误差。
其中，至少一个非固定节点的定位误差为至少一个非固定节点中的最大定位误差。
广播单元93，还用于广播获取单元91获取的至少一个非固定节点的定位误差。
获取单元91，还用于获取至少一个非固定节点的定位误差。
其中，至少一个非固定节点的定位误差为至少一个非固定节点中的最大定位误差。
位置传感器94，还用于确定位置传感器的定位误差。
处理单元92，具体用于当获取单元91获取的定位误差小于或者等于位置传感器94确定的定位误差时，确定获取单元91获取的位置信息为定位信息。
处理单元92，具体还用于当获取单元91获取的定位误差大于位置传感器94确定的定位误差时，确定位置传感器确定的位置信息为定位信息。
处理单元92，还用于根据获取单元91获取的定位误差，更新位置传感器94的定位误差。
广播单元93，还用于广播位置传感器的定位误差。
可选地，非固定节点可以为标准节点。其中，标准节点为通过固定节点确定定位信息的节点。
可调换地，非固定节点可以为非标准节点。其中，非标准节点为通过非固定节点或者位置传感器确定定位信息的节点。
需要说明的是，本发明实施例中提供的定位装置中各功能单元所对应 的其他相应描述，可以参考图6中的对应描述，在此不再赘述。
进一步地，所述定位装置的实体可以但不限于为自移动节点，如图10所示，所述自移动节点可以包括：处理器101、位置传感器102、发射器103、接收器104、存储器105，所述发射器103、接收器104、存储器105与处理器101相连接。
处理器101，用于通过至少一个非固定节点获取位置信息。
其中，位置信息为用于进行定位的信息。
对于本发明实施例，非固定节点为除上述自移动节点之外的其他自移动节点。在本发明实施例中，固定节点可以为固定WIFI AP，非固定节点可以为自移动节点。
对于本发明实施例，自移动节点可以通过至少一个固定节点获取位置信息。在本发明实施例中，根据自移动节点可否通过固定节点获取位置信息，可以将自移动节点分为标准节点及非标准节点，标准节点为可以通过固定节点获取位置信息的节点，非标准节点为不能通过固定节点获取位置信息的节点，即非标准节点处于定位盲区。
处理器101，还用于根据位置信息，确定定位信息。
处理器101，还用于广播定位信息。
对于本发明实施例，通过自移动节点广播获取到的位置信息，从而可以使得其他自移动节点可以接收该自移动节点广播的位置信息，进而可以实现其他自移动节点通过该自移动节点广播的位置信息确定自身定位信息。
位置传感器102，用于确定位置信息。
处理器101，具体用于根据位置信息或位置传感器102确定的位置信息，确定定位信息。
处理器101，还用于获取至少一个非固定节点的定位误差。
其中，至少一个非固定节点的定位误差为至少一个非固定节点中的最大定位误差。
处理器101，还用于广播至少一个非固定节点的定位误差。
处理器101，还用于获取至少一个非固定节点的定位误差。
其中，至少一个非固定节点的定位误差为至少一个非固定节点中的最大定位误差。
位置传感器102，还用于确定位置传感器的定位误差。
处理器101，具体用于当获取的定位误差小于或者等于位置传感器102确定的定位误差时，确定获取的位置信息为定位信息。
处理器101，具体还用于当获取的定位误差大于位置传感器102确定的定位误差时，确定位置传感器确定的位置信息为定位信息。
处理器101，还用于根据获取的定位误差，更新位置传感器102的定位误差。
处理器101，还用于广播位置传感器的定位误差。
可选地，非固定节点可以为标准节点。其中，标准节点为通过固定节点确定定位信息的节点。
可调换地，非固定节点可以为非标准节点。其中，非标准节点为通过非固定节点或者位置传感器确定定位信息的节点。
需要说明的是，本发明实施例中提供的自移动节点中各设备所对应的其他相应描述，可以参考图6中的对应描述，在此不再赘述。
本发明实施例提供的定位装置可以实现上述提供的方法实施例，具体功能实现请参见方法实施例中的说明，在此不再赘述。本发明实施例提供的定位方法及装置可以适用于对自移动节点进行定位，但不仅限于此。
本领域普通技术人员可以理解实现上述实施例方法中的全部或部分流程，是可以通过计算机程序来指令相关的硬件来完成，所述的程序可存储于一计算机可读取存储介质中，该程序在执行时，可包括如上述各方法的实施例的流程。其中，所述的存储介质可为磁碟、光盘、只读存储记忆体(Read-Only Memory，ROM)或随机存储记忆体(Random Access Memory，RAM)等。
以上所述，仅为本发明的具体实施方式，但本发明的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本发明揭露的技术范围内，可轻易想到的变化或替换，都应涵盖在本发明的保护范围之内。因此，本发明的保护范围应该以权利要求的保护范围为准。

Claims (18)

  1. 一种定位方法，其特征在于，包括：
    通过至少一个非固定节点获取位置信息，所述位置信息为用于进行定位的信息；
    根据所述位置信息，确定定位信息；
    广播所述定位信息。
  2. 根据权利要求1所述的定位方法，其特征在于，所述方法还包括：
    通过位置传感器确定位置信息；
    所述根据所述位置信息，确定所述定位信息具体为：
    根据通过所述至少一个非固定节点获取的位置信息或通过所述位置传感器确定的位置信息，确定定位信息。
  3. 根据权利要求1或2所述的定位方法，其特征在于，所述方法还包括：
    获取所述至少一个非固定节点的定位误差，所述至少一个非固定节点的定位误差为所述至少一个非固定节点中的最大定位误差。
  4. 根据权利要求3所述的定位方法，其特征在于，所述方法还包括：
    广播所述至少一个非固定节点的定位误差。
  5. 根据权利要求2所述的定位方法，其特征在于，所述方法还包括：
    获取所述至少一个非固定节点的定位误差，所述至少一个非固定节点的定位误差为所述至少一个非固定节点中的最大定位误差；
    确定所述位置传感器的定位误差；
    根据通过所述至少一个非固定节点获取的位置信息或通过所述位置传感器确定的位置信息，确定定位信息具体为：
    若所述至少一个非固定节点的定位误差小于或者等于所述位置传感器的定位误差，则根据通过所述至少一个非固定节点获取的位置信息，确定所述定位信息；
    若所述至少一个非固定节点的定位误差大于所述传感器的定位误差， 则根据通过所述位置传感器获取的位置信息，确定所述定位信息。
  6. 根据权利要求5所述的定位方法，其特征在于，所述根据通过所述至少一个非固定节点获取的位置信息，确定所述定位信息之后，还包括：
    根据所述至少一个非固定节点的定位误差，更新所述位置传感器的定位误差。
  7. 根据权利要求5或6所述的定位方法，其特征在于，所述方法还包括：
    广播所述位置传感器的定位误差。
  8. 根据权利要求1至7所述的任一种定位方法，其特征在于，所述非固定节点为标准节点，所述标准节点为通过固定节点确定定位信息的节点。
  9. 根据权利要求1至7所述的任一种定位方法，其特征在于，所述非固定节点为非标准节点，所述非标准节点为通过非固定节点或者位置传感器确定定位信息的节点。
  10. 一种定位装置，其特征在于，包括：
    获取单元，用于通过至少一个非固定节点获取位置信息，所述位置信息为用于进行定位的信息；
    处理单元，用于根据所述获取单元获取的位置信息，确定定位信息；
    广播单元，用于广播所述处理单元确定的所述定位信息。
  11. 根据权利要求10所述的定位装置，其特征在于，所述装置还包括：位置传感器；
    所述位置传感器，用于确定位置信息；
    所述处理单元，具体用于根据所述获取单元获取的位置信息或所述位置传感器确定的位置信息，确定所述定位信息。
  12. 根据权利要求10或11所述的室内定位装置，其特征在于，
    所述获取单元，还用于获取所述至少一个非固定节点的定位误差，所述至少一个非固定节点的定位误差为所述至少一个非固定节点中的最大定位误差。
  13. 根据权利要求12所述的定位装置，其特征在于，
    所述广播单元，还用于广播所述获取单元获取的所述至少一个非固定节点的定位误差。
  14. 根据权利要求11所述的定位装置，其特征在于，
    所述获取单元，还用于获取所述至少一个非固定节点的定位误差，所述至少一个非固定节点的定位误差为所述至少一个非固定节点中的最大定位误差；
    所述位置传感器，还用于确定所述位置传感器的定位误差；
    所述处理单元，具体用于当所述获取单元获取的定位误差小于或者等于所述位置传感器确定的定位误差时，确定所述获取单元获取的位置信息为所述定位信息；
    所述处理单元，具体还用于当所述获取单元获取的定位误差大于所述位置传感器确定的定位误差时，确定所述位置传感器确定的位置信息为所述定位信息。
  15. 根据权利要求14所述的定位装置，其特征在于，
    所述处理单元，还用于根据所述获取单元获取的定位误差，更新所述位置传感器的定位误差。
  16. 根据权利要求14或15所述的定位装置，其特征在于，
    所述广播单元，还用于广播所述位置传感器的定位误差。
  17. 根据权利要求10至16所述的任一种定位装置，其特征在于，
    所述非固定节点为标准节点，所述标准节点为通过固定节点确定定位信息的节点。
  18. 根据权利要求10至16所述的任一种定位装置，其特征在于，
    所述非固定节点为非标准节点，所述非标准节点为通过非固定节点或者位置传感器确定定位信息的节点。
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