WO2015192599A1 - Positioning method and device and storage medium - Google Patents

Abstract

A positioning method and device. The method comprises: receiving, at at least three receiving positions, a positioning signal sent at a position to be measured (S201); determining first phase differences between received signals at the at least three receiving positions and reference signals at the at least three receiving positions (S202); subtracting any two of the at least three first phase differences to obtain at least three second phase differences (S203); obtaining distances between the at least three receiving positions and the position to be measured according to the at least three second phase differences (S204); and obtaining the position to be measured according to the distances between the at least three receiving positions and the position to be measured and the at least three receiving positions (S205).

Description

Positioning method and device, storage medium Technical field

The present invention relates to a wireless positioning technology, and in particular, to a positioning method and device, and a storage medium.

Background technique

The Global Positioning System (GPS) has been widely used. GPS can obtain the exact position of the observation point and obtain the relative position of the two observation points according to the exact position of the two observation points.

However, GPS can only be used under visible satellite conditions, which greatly restricts the application of GPS; and GPS positioning accuracy is low, and the civilian precision is within 10 meters.

Summary of the invention

In order to solve the above technical problem, the embodiments of the present invention are expected to provide a positioning method and device, and a storage medium, which have the advantages of high positioning accuracy, small application limitation, and the like.

The technical solution of the embodiment of the present invention is implemented as follows:

In a first aspect, an embodiment of the present invention provides a positioning apparatus, where the positioning apparatus includes: a transmitter, at least three receivers, and a phase detector and a processor respectively connected to the at least three receivers, wherein ,

The transmitter is configured to send a positioning signal to the at least three receivers;

The receiver is configured to receive a positioning signal sent by the transmitter;

The phase detector is configured to determine a first phase difference between a received signal of a receiver corresponding to the phase detector and a reference signal of a receiver corresponding to the phase detector;

The processor configured to subtract any two of the at least three first phase differences to obtain at least three second phase differences;

Obtaining a distance between the at least three receivers and the transmitter respectively according to the at least three second phase differences;

The location of the transmitter is derived from a distance between the at least three receivers and the transmitter and a location of the at least three receivers.

According to a first possible implementation, in combination with the first aspect, the phase detector is further configured to:

Obtaining a phase offset Φ _PA between the received signal of the receiver corresponding to the phase detector and the positioning signal by using the following formula;

Φ _PA = 2πfT _PA

Where f is the frequency of the positioning signal, and T _PA is the time at which the positioning signal arrives from the transmitter P to the receiver A corresponding to the phase detector, and

Where c is the speed of light, R _PA is the distance between the transmitter A and the receiver A corresponding to the phase detector, and τ _PA is the transmitter P and the receiver A corresponding to the phase detector Signal propagation errors due to refraction of the transmission medium;

And obtaining, according to the following formula, a first phase difference ΔΦ _PA between a received signal of the receiver corresponding to the phase detector and a reference signal of the receiver corresponding to the phase detector:

ΔΦ _PA =2πλ ^-1 (R _PA +τ _PA )+f×(δt _P -δt _A )+N _PA +ε _Φ,PA

Where λ is the wavelength of the positioning signal, δt _P represents the clock error of the transmitter P, δt _A represents the clock error of the receiver A corresponding to the phase detector, and N _PA represents the transmitter P and the The whole period of the phase difference between the receivers A corresponding to the phase detector is ε _{Φ, and PA} is the test error of the receiver A corresponding to the phase detector.

According to a second possible implementation, in combination with the first possible implementation, the processor is configured to obtain a distance between the at least three receivers and the transmitter according to the following formula:

ΔΦ _AB =2πλ ^-1 (R _PA -R _PB +τ _PAB )+ΔN _PAB +ε _Φ,AB

Where ΔN _PAB = N _PA - N _PB , ε _{Φ, AB} = ε _{Φ, PA} - ε _{Φ, PB} , τ _PAB = τ _PA - τ _PB ;

Where ΔΦ _AB represents a second phase difference between the receiver A and the receiver B; N _PA represents a complete period of phase difference between the transmitter P and the receiver A; N _PB represents The whole period of phase difference between the transmitter P and the receiver B corresponding to another phase detector; ε _{Φ, PA} is the test error of the receiver A; ε _{Φ, PB} is the test error of the receiver B ;τ _PA is the signal propagation error between the transmitter P and the receiver A due to the refraction of the transmission medium; τ _PB is the signal between the transmitter P and the receiver B due to the refraction of the transmission medium Propagation error.

According to a third possible implementation, in combination with the first aspect, the processor is configured to: according to a distance between the at least three receivers and the transmitter, a location of the at least three receivers, and The distance formula between the two points gives the position of the transmitter.

In a second aspect, an embodiment of the present invention provides a positioning method, where the positioning method includes:

Receiving a positioning signal transmitted by the location to be tested at at least three receiving locations;

Determining a first phase difference between the received signal at the at least three receiving locations and a reference signal at the at least three receiving locations;

Subtracting any two of the at least three first phase differences to obtain at least three second phase differences;

Obtaining a distance between the at least three receiving positions and the position to be tested according to the at least three second phase differences;

And obtaining the position to be tested according to a distance between the at least three receiving positions and the position to be tested and the at least three receiving positions.

According to a first possible implementation, in combination with the second aspect, the determining a first phase difference between the received signal at the at least three receiving locations and the reference signal at the at least three receiving locations comprises:

Obtaining a phase offset between the received signal at any of the receiving locations and the positioning signal by:

Φ _PA = 2πfT _PA

Where f is the frequency of the positioning signal, and T _PA is the time when the positioning signal reaches the receiving position A from the position P to be tested, and

Where c is the speed of light, R _PA is the distance between the position P to be tested and the receiving position A, and τ _PA is a signal caused by the refraction of the transmission medium between the position P to be tested and the receiving position A Propagation error

And obtaining a first phase difference ΔΦ _PA between the received signal of the receiving position A and the reference signal of the receiving position A according to the following formula:

ΔΦ _PA =2πλ ^-1 (R _PA +τ _PA )+f×(δt _P -δt _A )+N _PA +ε _Φ,PA

Where λ is the wavelength of the positioning signal, δt _P represents the clock error of the position P to be measured, δt _A represents the clock error of the receiving position A, and N _PA represents the position P to be tested and the receiving position The entire period of phase difference between A, ε _{Φ, PA} is the test error of the receiving position A.

According to a second possible implementation manner, in combination with the first possible implementation manner, the distance between the at least three receiving positions and the position to be tested is obtained according to the at least three second phase differences, include:

Obtaining a distance between the at least three receiving positions and the position to be tested according to the following formula;

ΔΦ _AB =2πλ ^-1 (R _PA -R _PB +τ _PAB )+ΔN _PAB +ε _Φ,AB

Where ΔN _PAB = N _PA - N _PB , ε _{Φ, AB} = ε _{Φ, PA} - ε _{Φ, PB} , τ _PAB = τ _PA - τ _PB ;

Wherein ΔΦ _AB represents a second phase difference between the receiver A and the receiver B; N _PA represents a complete period of phase difference between the position P to be measured and the receiving position A; N _PB represents The whole period of the phase difference between the position P to be measured and the other receiving position B; ε _{Φ, PA} is the test error of the receiving position A; ε _{Φ, PB} is the test error of the receiving position B; τ _PA a signal propagation error between the position to be tested P and the receiving position A due to refraction of the transmission medium; τ _PB is a signal propagation between the position to be tested P and the receiving position B due to refraction of the transmission medium error.

According to a third possible implementation, in combination with the second aspect, the distance to be measured is obtained according to a distance between the at least three receiving locations and the at least three receiving locations, and the at least three receiving locations are obtained. include:

And determining, according to a distance between the at least three receiving positions and the position to be tested, the at least three receiving positions, and a distance between two points, a position of the position to be tested.

A storage medium storing a computer program configured to perform the aforementioned positioning method.

The embodiment of the invention provides a positioning method and device, which adopts the principle of phase difference ranging of wireless signals to perform relative position positioning, has the advantages of high positioning precision, small application limitation, high positioning precision and small application limitation.

DRAWINGS

FIG. 1 is a schematic structural diagram of a positioning device according to an embodiment of the present disclosure;

FIG. 2 is a schematic flowchart of a positioning method according to an embodiment of the present invention.

detailed description

The technical solutions in the embodiments of the present invention will be clearly and completely described in the following with reference to the accompanying drawings.

Referring to FIG. 1 , a structure of a positioning apparatus 10 according to an embodiment of the present invention is shown. The positioning apparatus 10 may include: a transmitter 101, at least three receivers 102, and at least three receivers respectively. Corresponding connected phase detector 103, processor 104;

Specifically, the transmitter 101 can be placed at a position to be tested;

The at least three receivers 102 can then be placed at known locations; preferably, any one of the at least three receivers 102 can be used as a reference point, and a coordinate system can be established by using the reference point, thereby obtaining Knowing the specific location of other receivers 102;

The processor 104 can then be connected to the phase detectors 103 respectively connected to the at least three receivers 102 to perform operations on the data processed by the phase detector 103.

In the positioning device 10, the transmitter 101 is configured to transmit a positioning signal to the at least three receivers 102;

The receiver 102 is configured to receive a positioning signal sent by the transmitter 101;

The phase detector 103 is configured to determine a first phase difference between a received signal of the receiver 102 corresponding to the phase detector 103 and a reference signal of the receiver 102 corresponding to the phase detector 103;

The processor 104 is configured to subtract any two of the at least three first phase differences to obtain at least three second phase differences;

And obtaining a distance between the at least three receivers 102 and the transmitter 101 according to the at least three second phase differences;

And obtaining the location of the transmitter 101 based on the distance between the at least three receivers 102 and the transmitter 101 and the location of the at least three receivers 102.

It should be noted that, in this embodiment, the at least three receivers 102 may be at least three identical receivers 102, and may be an antenna or a device for receiving a wireless signal; preferably, the embodiment is three The receivers 102 are exemplified by the receiver 102A, the receiver 102B and the receiver 102C, respectively, and the mutual positional relationship between the three receivers 102 can be determined. Therefore, any one of the three receivers 102 can be determined. 102 establishes a coordinate system as a reference point, and the coordinates of the other two receivers 102 are also determined. For the sake of clarity, it is assumed that the coordinates of the receiver 102A are (x _a , y _a , z _a ), and the coordinates of the receiver 102B are (x _b , y _b , z _b ), the coordinates of the receiver 102C are (x _c , y _c , z _c ), and the above three coordinates are all known.

In addition, since the phase detector 103 corresponding to the three receivers 102 has the same processing procedure for the received positioning signal, the present embodiment uses the phase detector 103A corresponding to the receiver 102A and the receiver 102A as an example for description. Understandably, the phase detector 103B and the phase detector 103C corresponding to the receiver 102B and the receiver 102C, respectively, can also follow the corresponding to the receiver 102A. The same processing procedure of the phase detector 103A processes the received positioning signal, and details are not described herein again.

Exemplarily, the phase detector 103A corresponding to the receiver 102A can be configured as:

Obtaining a phase offset between the received signal of the receiver 102A corresponding to the phase detector 103A and the positioning signal by using the first calculation formula Φ _PA = 2πfT _PA ;

Wherein, P represents the transmitter 101, A denotes a phase detector 103A corresponding receiver 102A, T _PA positioning signal receiver 102A corresponding time from the transmitter 101 reaches the phase detector 103A, f is the frequency of the positioning signal, and

Where c is the speed of light, R _PA is the distance between the transmitter 101 and the receiver 102A corresponding to the phase detector 103A, and τ _PA is the receiver corresponding to the transmitter 101 and the phase detector 103A Signal propagation error between 102A due to refraction of the transmission medium;

And obtaining, according to the phase offset and the reference signal of the receiver 102A corresponding to the phase detector 103A, the received signal of the receiver 102A corresponding to the phase detector 103A and the receiver 102A corresponding to the phase detector 103A. a first phase difference ΔΦ _PA between the reference signals;

Wherein, the first phase difference ΔΦ _PA can be determined by:

ΔΦ _PA =2πλ ^-1 (R _PA +τ _PA )+f×(δt _P -δt _A )+N _PA +ε _Φ,PA

Where λ is the wavelength of the positioning signal, δt _P represents the clock error of the transmitter 101, δt _A represents the clock error of the receiver 102A corresponding to the phase detector 103A, and N _PA represents the transmitter 101 and The phase period difference between the receiver 102A corresponding to the phase detector 103A is ε _{Φ, and PA} is the test error of the receiver 102A corresponding to the phase detector 103A.

It should be noted that the phase detector 103B corresponding to the receiver 102B and the phase detector 103C corresponding to the receiver 102C can also perform the same processing on the positioning signal according to the above process to obtain the received signal of the receiver 102B and the receiver 102B. The first phase difference between the reference signals and the first phase difference between the received signal of the receiver 102C and the reference signal of the receiver 102C are not described in this embodiment.

Preferably, the processor 104 may be configured to obtain a distance between the at least three receivers 102 and the transmitter 101 respectively according to the at least three second phase differences and the second calculation formula;

Taking the receiver 102A and the receiver 102B as an example, the second calculation formula is:

ΔΦ _AB =2πλ ^-1 (R _PA -R _PB +τ _PAB )+ΔN _PAB +ε _Φ,AB

Where ΔN _PAB = N _PA - N _PB , ε _{Φ, AB} = ε _{Φ, PA} - ε _{Φ, PB} , τ _PAB = τ _PA - τ _PB ;

Wherein A represents receiver 102A, B represents receiver 102B; ΔΦ _AB represents a second phase difference between said receiver 102A and said receiver 102B; N _PA represents said transmitter 101 and said receiver 102A An integer period in which the phases are different; N _PB represents a complete period of phase difference between the transmitter 101 and the receiver 102B; ε _{Φ, PA} is a test error of the receiver 102A; ε _{Φ, PB} is The test error of the receiver 102B; τ _T-PA is the signal propagation error between the transmitter 101 and the receiver 102A due to the refraction of the transmission medium; τ _T-PB is the transmitter 101 and the reception Signal propagation errors between machines 102B due to refraction of the transmission medium.

It should be noted that since the ΔN _{PAB is} related to the distance R _AB between the receiver 102A and the receiver 102B, according to the trigonometric equation R _AB ≥ R _{PA -} R _PB ,

And R _AB is much smaller than the objective conditions of R _PA and R _PB , the value of ΔN _PAB can pass

Come to approximate.

It should be noted that the relationship between ΔΦ _AB and R _PA and R _PB can be obtained from the second calculation formula. Similarly, it can be known that ΔΦ _BC and R _PB and R _PC can also be obtained according to the second calculation formula. Relationship and relationship between ΔΦ _AC and R _PA and R _PC ; processor 104 may derivate R _PA , R _PB and R _PC according to the above three relationships and ΔΦ _AB , ΔΦ _BC , and ΔΦ _AC , that is, three receptions The distance between the machine and the transmitter.

Illustratively, the processor 104 may be configured to obtain a formula according to a distance between the at least three receivers 102 and the transmitter 101, a position of the at least three receivers 102, and a distance between two points. The location of the transmitter.

It can be understood that since the distances R _PA , R _PB and R _PC between the three receivers 102 and the transmitter 101 are respectively known, the position coordinates of the three receivers 102 are also known, therefore, processing The device 104 can be based on the distance formula between two points

The positional coordinates of the transmitter 101 are obtained by establishing three equations, so that the relative position between the transmitter 101 and the three receivers 102 can be obtained.

The positioning device provided in this embodiment adopts the phase difference ranging principle of the wireless signal to perform relative position positioning, and has the advantages of high positioning precision and small application limitation.

Based on the same technical concept, referring to FIG. 2, a flow of a positioning method according to an embodiment of the present invention is shown. The method may include:

S201: Receive a positioning signal sent by the location to be tested at at least three receiving locations;

It should be noted that, in this embodiment, the at least three receiving positions may be the receiving position A, the receiving position B, and the receiving position C, respectively, and the mutual positional relationship between the three receiving positions is determinable, and therefore, The coordinate system is established with any one of the three receiving positions as a reference point, and the coordinates of the other two receiving positions are also determined. For the sake of clarity, the coordinates of the receiving position A are assumed to be (x _a , y _a , z _a The coordinates of the receiving position B are (x _b , y _b , z _b ), and the coordinates of the receiving position C are (x _c , y _c , z _c ), and the above three coordinates are known.

S202: Determine a first phase difference between the received signal at the at least three receiving locations and the reference signal at the at least three receiving locations;

Illustratively, the determining the first phase difference between the received signal at the at least three receiving locations and the reference signal at the at least three receiving locations may include:

By the first calculation equation Φ _PA = 2πfT _PA obtained according to any one of the phase between the received signal at the receiving position with the positioning signal offset Φ _PA;

Wherein P denotes the position to be tested, A denotes any of the receiving positions, T _PA is the time when the positioning signal reaches the receiving position A from the position P to be tested, and f is the frequency of the positioning signal, and

Where c is the speed of light, R _PA is the distance between the position to be tested and the receiving position A, and τ _PA is the signal propagation error caused by the refraction of the transmission medium between the position to be tested and the receiving position A ;

And obtaining, according to the phase offset and the reference signal of the receiving position A, a first phase difference ΔΦ _PA between the received signal of the receiving position A and the reference signal of the receiving position A;

Wherein, the first phase difference ΔΦ _PA can be determined by:

ΔΦ _PA =2πλ ^-1 (R _PA +τ _T-PA )+f×(δt _P -δt _A )+N _PA +ε _Φ,PA

Where λ is the wavelength of the positioning signal, δt _P represents the clock error of the position P to be measured, δt _A represents the clock error of the receiving position A, and N _PA represents the position P to be tested and the receiving position The entire period of phase difference between A, ε _{Φ, PA} is the test error of the receiving position A.

S203: Subtracting any two of the at least three first phase differences to obtain at least three second phase differences;

S204: Obtain a distance between the at least three receiving positions and the position to be tested according to the at least three second phase differences;

Preferably, the distance between the at least three receiving positions and the position to be tested is obtained according to the at least three second phase differences, and specifically includes:

Obtaining a distance between the at least three receiving positions and the position to be tested according to the at least three second phase differences and the second calculation formula;

Wherein the second calculation formula is:

ΔΦ _AB =2πλ ^-1 (R _PA -R _PB +τ _PAB )+ΔN _PAB +ε _Φ,AB

Where ΔN _PAB = N _PA - N _PB , ε _{Φ, AB} = ε _{Φ, PA} - ε _{Φ, PB} , τ _PAB = τ _PA - τ _PB ;

Wherein A represents the receiving position A, B represents another receiving position B; ΔΦ _AB represents a second phase difference between the receiving position A and the receiving position B; N _PA represents the position to be tested P and The whole period of the phase difference between the receiving positions A; N _PB represents a whole period in which the phases between the position to be tested P and the receiving position B are different; ε _{Φ, PA} is a test error of the receiving position A; ε _{Φ, PB} is the test error of the receiving position B; τ _PA is the signal propagation error between the position to be tested P and the receiving position A due to the refraction of the transmission medium; τ _PB is the position to be tested P Signal propagation error due to refraction of the transmission medium between the receiving location B and the receiving location B.

It should be noted that since ΔN _{PAB is} related to the distance R _AB between the receiving position A and the receiving position B, according to the triangular equation R _AB ≥ R _{PA -} R _PB and

And R _AB is much smaller than the objective conditions of R _PA and R _PB , the value of ΔN _PAB can pass

Come to approximate.

It should be noted that the relationship between ΔΦ _AB and R _PA and R _PB can be obtained from the second calculation formula. Similarly, it can be known that ΔΦ _BC and R _PB and R _PC can also be obtained according to the second calculation formula. Relationship and relationship between ΔΦ _AC and R _PA and R _PC ; therefore, R _PA , R _PB and R _PC can be derived based on the above three relationships and ΔΦ _AB , ΔΦ _BC , and ΔΦ _AC , that is, three receiving positions The distance between A, B, C and the position P to be tested.

S205: Obtain the position to be tested according to a distance between the at least three receiving positions and the position to be tested, and the at least three receiving positions.

Preferably, the obtaining the location to be tested according to the distance between the at least three receiving locations and the location to be tested, and the at least three receiving locations, specifically includes:

And determining, according to a distance between the at least three receiving positions and the position to be tested, the at least three receiving positions, and a distance between two points, a position of the position to be tested.

The positioning method of the embodiment adopts the phase difference ranging principle of the wireless signal to perform relative position positioning, and has the advantages of high positioning precision and small application limitation.

The embodiment of the invention further describes a storage medium in which a computer program is stored, the computer program being configured to perform the positioning method of the foregoing embodiments.

Those skilled in the art will appreciate that embodiments of the present invention can be provided as a method, system, or computer program product. Accordingly, the present invention can take the form of a hardware embodiment, a software embodiment, or a combination of software and hardware. Moreover, the invention may be employed in one or more of its A computer program product embodied on a computer usable storage medium (including but not limited to disk storage and optical storage, etc.) containing computer usable program code.

The present invention has been described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (system), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or FIG. These computer program instructions can be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing device to produce a machine for the execution of instructions for execution by a processor of a computer or other programmable data processing device. Means for implementing the functions specified in one or more of the flow or in a block or blocks of the flow chart.

The computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing device to operate in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture comprising the instruction device. The apparatus implements the functions specified in one or more blocks of a flow or a flow and/or block diagram of the flowchart.

These computer program instructions can also be loaded onto a computer or other programmable data processing device such that a series of operational steps are performed on a computer or other programmable device to produce computer-implemented processing for execution on a computer or other programmable device. The instructions provide steps for implementing the functions specified in one or more of the flow or in a block or blocks of a flow diagram.

The above is only the preferred embodiment of the present invention and is not intended to limit the scope of the present invention.

Industrial applicability

The invention adopts the phase difference ranging principle of the wireless signal to perform relative position positioning, has the advantages of high positioning precision, small application limitation, and the like, and has the advantages of high positioning precision and small application limitation.

Claims (9)

1. A positioning device includes: a transmitter, at least three receivers, and a phase detector and a processor respectively connected to the at least three receivers, wherein

   The transmitter is configured to send a positioning signal to the at least three receivers;

   The receiver is configured to receive a positioning signal sent by the transmitter;

   The phase detector is configured to determine a first phase difference between a received signal of a receiver corresponding to the phase detector and a reference signal of a receiver corresponding to the phase detector;

   The processor configured to subtract any two of the at least three first phase differences to obtain at least three second phase differences;

   Obtaining a distance between the at least three receivers and the transmitter respectively according to the at least three second phase differences;

   The location of the transmitter is derived from a distance between the at least three receivers and the transmitter and a location of the at least three receivers.
2. The locating device according to claim 1, wherein the phase detector is further configured to:

   Obtaining a phase offset Φ _PA between the received signal of the receiver corresponding to the phase detector and the positioning signal by using the following formula;

   Φ _PA = 2πfT _PA

   Where f is the frequency of the positioning signal, and T _PA is the time at which the positioning signal arrives from the transmitter P to the receiver A corresponding to the phase detector, and

   

   Where c is the speed of light, R _PA is the distance between the transmitter A and the receiver A corresponding to the phase detector, and τ _PA is the transmitter P and the receiver A corresponding to the phase detector Signal propagation errors due to refraction of the transmission medium;

   And obtaining a first phase difference ΔΦ _PA between the received signal of the receiver corresponding to the phase detector and the reference signal of the receiver corresponding to the phase detector according to the following formula:

   ΔΦ _PA =2πλ ^-1 (R _PA +τ _PA )+f×(δt _P -δt _A )+N _PA +ε _Φ,PA

   Where λ is the wavelength of the positioning signal, δt _P represents the clock error of the transmitter P, δt _A represents the clock error of the receiver A corresponding to the phase detector, and N _PA represents the transmitter P and the The whole period of the phase difference between the receivers A corresponding to the phase detector is ε _{Φ, and PA} is the test error of the receiver A corresponding to the phase detector.
3. The positioning device according to claim 2, wherein the processor is configured to obtain a distance between the at least three receivers and the transmitter according to the following formula:

   ΔΦ _AB =2πλ ^-1 (R _PA -R _PB +τ _PAB )+ΔN _PAB +ε _Φ,AB

   Where ΔN _PAB = N _PA - N _PB , ε _{Φ, AB} = ε _{Φ, PA} - ε _{Φ, PB} , τ _PAB = τ _PA - τ _PB ;

   Where ΔΦ _AB represents a second phase difference between the receiver A and the receiver B; N _PA represents a complete period of phase difference between the transmitter P and the receiver A; N _PB represents The whole period of phase difference between the transmitter P and the receiver B corresponding to another phase detector; ε _{Φ, PA} is the test error of the receiver A; ε _{Φ, PB} is the test error of the receiver B ;τ _PA is the signal propagation error between the transmitter P and the receiver A due to the refraction of the transmission medium; τ _PB is the signal between the transmitter P and the receiver B due to the refraction of the transmission medium Propagation error.
4. The positioning device according to claim 1, wherein the processor is configured to: according to a distance between the at least three receivers and the transmitter, a position of the at least three receivers, and The distance formula between the two points gives the position of the transmitter.
5. A positioning method comprising:

   Receiving a positioning signal transmitted by the location to be tested at at least three receiving locations;

   Determining a first phase difference between the received signal at the at least three receiving locations and a reference signal at the at least three receiving locations;

   Subtracting any two of the at least three first phase differences to obtain at least three second phase differences;

   Obtaining a distance between the at least three receiving positions and the position to be tested according to the at least three second phase differences;

   And obtaining the position to be tested according to a distance between the at least three receiving positions and the position to be tested and the at least three receiving positions.
6. The method according to claim 5, wherein the determining a first phase difference between the received signal at the at least three receiving locations and the reference signal at the at least three receiving locations comprises:

   Obtaining a phase offset between the received signal at any of the receiving locations and the positioning signal by:

   Φ _PA = 2πfT _PA

   Where f is the frequency of the positioning signal, and T _PA is the time when the positioning signal reaches the receiving position A from the position P to be tested, and

   

   Where c is the speed of light, R _PA is the distance between the position P to be tested and the receiving position A, and τ _PA is a signal caused by the refraction of the transmission medium between the position P to be tested and the receiving position A Propagation error

   And obtaining a first phase difference ΔΦ _PA between the received signal of the receiving position A and the reference signal of the receiving position A according to the following formula:

   ΔΦ _PA =2πλ ^-1 (R _PA +τ _PA )+f×(δt _P -δt _A )+N _PA +ε _Φ,PA

   Where λ is the wavelength of the positioning signal, δt _P represents the clock error of the position P to be measured, δt _A represents the clock error of the receiving position A, and N _PA represents the position P to be tested and the receiving position The entire period of phase difference between A, ε _{Φ, PA} is the test error of the receiving position A.
7. The method according to claim 6, wherein the obtaining the distance between the at least three receiving positions and the position to be tested according to the at least three second phase differences comprises:

   Obtaining a distance between the at least three receiving positions and the position to be tested according to the following formula;

   ΔΦ _AB =2πλ ^-1 (R _PA -R _PB +τ _PAB )+ΔN _PAB +ε _Φ,AB

   Where ΔN _PAB = N _PA - N _PB , ε _{Φ, AB} = ε _{Φ, PA} - ε _{Φ, PB} , τ _PAB = τ _PA - τ _PB ;

   Wherein ΔΦ _AB represents a second phase difference between the receiver A and the receiver B; N _PA represents a complete period of phase difference between the position P to be measured and the receiving position A; N _PB represents The whole period of the phase difference between the position P to be measured and the other receiving position B; ε _{Φ, PA} is the test error of the receiving position A; ε _{Φ, PB} is the test error of the receiving position B; τ _PA a signal propagation error between the position to be tested P and the receiving position A due to refraction of the transmission medium; τ _PB is a signal propagation between the position to be tested P and the receiving position B due to refraction of the transmission medium error.
8. The method according to claim 5, wherein the obtaining the position to be tested according to the distance between the at least three receiving positions and the position to be tested and the at least three receiving positions, including :

   And determining, according to a distance between the at least three receiving positions and the position to be tested, the at least three receiving positions, and a distance between two points, a position of the position to be tested.
9. A storage medium storing a computer program, the computer program being configured to perform the positioning method of any one of claims 5 to 8.

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