WO2016050019A1 - 对象定位方法及装置 - Google Patents
对象定位方法及装置 Download PDFInfo
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- WO2016050019A1 WO2016050019A1 PCT/CN2015/071254 CN2015071254W WO2016050019A1 WO 2016050019 A1 WO2016050019 A1 WO 2016050019A1 CN 2015071254 W CN2015071254 W CN 2015071254W WO 2016050019 A1 WO2016050019 A1 WO 2016050019A1
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- positioning device
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
- G01S11/02—Systems for determining distance or velocity not using reflection or reradiation using radio waves
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/18—Status alarms
- G08B21/24—Reminder alarms, e.g. anti-loss alarms
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
- G01S11/02—Systems for determining distance or velocity not using reflection or reradiation using radio waves
- G01S11/06—Systems for determining distance or velocity not using reflection or reradiation using radio waves using intensity measurements
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/74—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- 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
- G01S5/0009—Transmission of position information to remote stations
- G01S5/0018—Transmission from mobile station to base station
- G01S5/0036—Transmission from mobile station to base station of measured values, i.e. measurement on mobile and position calculation on base station
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- 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
- G01S5/0009—Transmission of position information to remote stations
- G01S5/0081—Transmission between base stations
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- 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
- G01S5/0226—Transmitters
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- 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
- G01S5/12—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 by co-ordinating position lines of different shape, e.g. hyperbolic, circular, elliptical or radial
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- 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
- G01S5/14—Determining absolute distances from a plurality of spaced points of known location
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B25/00—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems
- G08B25/01—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems characterised by the transmission medium
- G08B25/10—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems characterised by the transmission medium using wireless transmission systems
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- 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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/74—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems
- G01S13/75—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems using transponders powered from received waves, e.g. using passive transponders, or using passive reflectors
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/87—Combinations of radar systems, e.g. primary radar and secondary radar
- G01S13/878—Combination of several spaced transmitters or receivers of known location for determining the position of a transponder or a reflector
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- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Physics & Mathematics (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Computer Networks & Wireless Communication (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Signal Processing (AREA)
- Radar Systems Or Details Thereof (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Mobile Radio Communication Systems (AREA)
- Telephone Function (AREA)
Abstract
Description
Claims (14)
- 一种对象定位方法,其特征在于,应用于定位设备中,所述方法包括:按照预定方式发射波束;接收对象发送的反馈信号,所述反馈信号是所述对象上设置的电子标签在接收到所述波束之后发出的信号,所述反馈信号与所述电子标签接收到所述波束时所述波束所具有的波束强度相关;根据所述反馈信号判定所述对象相对于所述定位设备的位置。
- 根据权利要求1所述的方法,其特征在于,所述按照预定方式发射波束,包括:每隔预定时间间隔,将上次的发射方向向预定方向偏转预定角度以得到本次的发射方向,在本次的发射方向上发射所述波束,直到接收到所述反馈信号时停止发射所述波束,或直到本地的发射方向与初始发射方向相同时停止发射所述波束。
- 根据权利要求2所述的方法,其特征在于,所述根据所述反馈信号判定所述对象相对于所述定位设备的位置,包括:在接收到所述反馈信号时,确定出所述定位设备当前发射波束时的发射方向,根据所述发射方向确定所述对象相对于所述定位设备的方向;根据所述反馈信号所相关的波束强度,计算出所述对象与所述定位设备之间的距离。
- 根据权利要求1所述的方法,其特征在于,所述按照预定方式发射波束,包括:向外发射波束角为360°的波束。
- 根据权利要求4所述的方法,其特征在于,所述定位设备为主定位设备,所述根据所述反馈信号判定所述对象相对于所述定位设备的位置,包括:根据所述反馈信号所相关的波束强度,计算出所述对象与所述主定位设备之间的距离;接收至少一个从定位设备发送的与所述对象之间的距离;根据至少一个从定位设备与所述主定位设备之间的相对位置以及每个从定位设备所测的与所述对象之间的距离,计算所述对象相对于所述主定位设备的位置。
- 根据权利要求5所述的方法,其特征在于,所述根据至少一个从定位设备与所述主定位设备之间的相对位置以及每个从定位设备所测的与所述对象之间的距离,计算所述对象相对于所述主定位设备的位置,包括:根据至少一个从定位设备与所述主定位设备之间的相对位置以及每个从定位设备所测的与所述对象之间的距离,确定出分别以每个定位设备为中心,以每个定位设备所确定 的与所述对象之间的距离为半径的圆,各个定位设备所对应的圆之间具有所述相对位置;当所述主定位设备所对应圆上存在由两个以上圆相交得到的交点时,将所述交点所在的位置确定为所述对象相对于所述主定位设备的位置;当所述主定位设备所对应圆上不存在由两个以上圆相交得到的交点时,确定出所述主定位设备所对应圆上与其他圆相交的至少一个交点,若所述主定位设备所对应圆上存在弧度距离小于预定弧度阈值的两个交点,则将其中一个所述交点所在的位置确定为对象相对于主定位设备的位置;若所述主定位设备所对应圆上任意两个交点之间的弧度距离均大于所述预定弧度阈值,则对于所述主定位设备所对应圆上的交点,确定出与所述主定位设备所对应圆产生所述交点的另外一个圆,检测所述另外一个圆上是否存在与所述交点之间的弧度小于预定弧度阈值的交点,若检测出所述另外一个圆上存在与所述交点之间的弧度小于预定弧度阈值的交点,则将所述主定位设备上的所述交点所在的位置确定为所述对象相对于所述主定位设备的位置。
- 一种对象定位装置,其特征在于,应用于定位设备中,所述装置包括:发射模块,被配置为按照预定方式发射波束;接收模块,被配置为接收对象发送的反馈信号,所述反馈信号是所述对象上设置的电子标签在接收到所述波束之后发出的信号,所述反馈信号与所述电子标签接收到所述波束时所述波束所具有的波束强度相关;判定模块,被配置为根据所述反馈信号判定所述对象相对于所述定位设备的位置。
- 根据权利要求7所述的装置,其特征在于,所述发射模块,被配置为:每隔预定时间间隔,将上次的发射方向向预定方向偏转预定角度以得到本次的发射方向,在本次的发射方向上发射所述波束,直到接收到所述反馈信号时停止发射所述波束,或直到本次的发射方向与初始发射方向相同时停止发射所述波束。
- 根据权利要求8所述的装置,其特征在于,所述判定模块,包括:第一确定子模块,被配置为在接收到所述反馈信号时,确定出所述定位设备当前发射波束时的发射方向,根据所述发射方向确定所述对象相对于所述定位设备的方向;第一计算子模块,被配置为根据所述反馈信号所相关的波束强度,计算出所述对象与所述定位设备之间的距离。
- 根据权利要求7所述的装置,其特征在于,所述发射模块被配置为向外发射波束角为360°的波束。
- 根据权利要求10所述的装置,其特征在于,所述定位设备为主定位设备,所述 判定模块,包括:第二计算子模块,被配置为根据所述反馈信号所相关的波束强度,计算出所述对象与所述主定位设备之间的距离;接收子模块,被配置为接收至少一个从定位设备发送的与所述对象之间的距离;第三计算子模块,被配置为根据至少一个从定位设备与所述主定位设备之间的相对位置以及每个从定位设备所测的与所述对象之间的距离,计算所述对象相对于所述主定位设备的位置。
- 根据权利要求11所述的装置,其特征在于,所述第三计算子模块,包括:第二确定子模块,被配置为根据至少一个从定位设备与所述主定位设备之间的相对位置以及每个从定位设备所测的与所述对象之间的距离,确定出分别以每个定位设备为中心,以每个定位设备所确定的与所述对象之间的距离为半径的圆,各个定位设备所对应的圆之间具有所述相对位置;第三确定子模块,被配置为当所述主定位设备所对应圆上存在由两个以上圆相交得到的交点时,将所述交点所在的位置确定为所述对象相对于所述主定位设备的位置;第四确定子模块,被配置为当所述主定位设备所对应圆上不存在由两个以上圆相交得到的交点时,确定出所述主定位设备所对应圆上与其他圆相交的至少一个交点,若所述主定位设备所对应圆上存在弧度距离小于预定弧度阈值的两个交点,则将其中一个所述交点所在的位置确定为对象相对于主定位设备的位置;若所述主定位设备所对应圆上任意两个交点之间的弧度距离均大于所述预定弧度阈值,则对于所述主定位设备所对应圆上的交点,确定出与所述主定位设备所对应圆产生所述交点的另外一个圆,检测所述另外一个圆上是否存在与所述交点之间的弧度小于预定弧度阈值的交点,若检测出所述另外一个圆上存在与所述交点之间的弧度小于预定弧度阈值的交点,则将所述主定位设备上的所述交点所在的位置确定为所述对象相对于所述主定位设备的位置。
- 一种对象定位系统,其特征在于,所述系统包括对象和至少一个定位设备,所述对象上设置有用于接收所述定位设备发送的波束的电子标签,所述定位设备包括如权利要求7至12中任一所述的对象定位装置。
- 一种对象定位装置,其特征在于,所述装置包括:处理器;用于存储所述处理器可执行指令的存储器;其中,所述处理器被配置为:按照预定方式发射波束;接收对象发送的反馈信号,所述反馈信号是所述对象上设置的电子标签在接收到所述 波束之后发出的信号,所述反馈信号与所述电子标签接收到所述波束时所述波束所具有的波束强度相关;根据所述反馈信号判定所述对象相对于所述定位设备的位置。
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KR1020157007010A KR20160048704A (ko) | 2014-09-30 | 2015-01-21 | 대상물 위치 확정 방법, 장치, 프로그램 및 기록매체 |
BR112015008533A BR112015008533A2 (pt) | 2014-09-30 | 2015-01-21 | método de posicionamento de objeto e dispositivo do mesmo |
MX2015004566A MX356461B (es) | 2014-09-30 | 2015-01-21 | Metodo de posicionamiento de objetos y dispositivo para el mismo. |
KR1020177008294A KR101890077B1 (ko) | 2014-09-30 | 2015-01-21 | 대상물 위치 확정 방법, 장치, 프로그램 및 기록매체 |
RU2015113981A RU2608540C2 (ru) | 2014-09-30 | 2015-01-21 | Способ позиционирования объектов и устройство для этого |
JP2016550934A JP6130975B2 (ja) | 2014-09-30 | 2015-01-21 | 対象物位置特定方法、装置、プログラム、及び記憶媒体 |
US14/693,870 US10049556B2 (en) | 2014-09-30 | 2015-04-23 | Method and device for positioning objects |
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CN105142105A (zh) * | 2015-07-22 | 2015-12-09 | 上海迈外迪网络科技有限公司 | 无线网络的服务提供方法、装置、系统和无线路由器 |
CN105954717B (zh) | 2016-04-22 | 2019-04-02 | 上海潘氏投资管理有限公司 | 位置获取方法及装置 |
CN107479513B (zh) * | 2017-07-05 | 2020-05-19 | 纳恩博(北京)科技有限公司 | 一种定位方法及系统、电子设备 |
CN111624546A (zh) * | 2019-02-28 | 2020-09-04 | 黄暐皓 | 对象定位方法 |
CN110775105B (zh) * | 2019-11-07 | 2021-11-12 | 交控科技股份有限公司 | 基于uwb在地铁车辆段进行列车监控的方法及系统 |
CN113390433A (zh) * | 2021-07-20 | 2021-09-14 | 上海擎朗智能科技有限公司 | 一种机器人定位方法、装置、机器人和存储介质 |
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MX356461B (es) | 2018-05-30 |
CN104299016B (zh) | 2018-02-02 |
MX2015004566A (es) | 2017-03-20 |
RU2015113981A (ru) | 2016-11-10 |
EP3002607A2 (en) | 2016-04-06 |
CN104299016A (zh) | 2015-01-21 |
EP3002607A3 (en) | 2016-05-25 |
EP3002607B1 (en) | 2018-05-16 |
KR101890077B1 (ko) | 2018-08-20 |
JP2016538800A (ja) | 2016-12-08 |
KR20160048704A (ko) | 2016-05-04 |
KR20170036822A (ko) | 2017-04-03 |
BR112015008533A2 (pt) | 2017-07-04 |
RU2608540C2 (ru) | 2017-01-19 |
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