WO2017054673A1 - 基于无线网络的定位方法和定位装置 - Google Patents

基于无线网络的定位方法和定位装置 Download PDF

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Publication number
WO2017054673A1
WO2017054673A1 PCT/CN2016/099820 CN2016099820W WO2017054673A1 WO 2017054673 A1 WO2017054673 A1 WO 2017054673A1 CN 2016099820 W CN2016099820 W CN 2016099820W WO 2017054673 A1 WO2017054673 A1 WO 2017054673A1
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WO
WIPO (PCT)
Prior art keywords
node
anchor
anchor nodes
time
sounding signal
Prior art date
Application number
PCT/CN2016/099820
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English (en)
French (fr)
Inventor
杨浔
姜艳平
杨晖
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.)
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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 EP16850297.9A priority Critical patent/EP3343959A4/en
Publication of WO2017054673A1 publication Critical patent/WO2017054673A1/zh
Priority to US15/942,145 priority patent/US10191135B2/en

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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
    • G01S5/021—Calibration, monitoring or correction
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W56/00—Synchronisation arrangements
    • H04W56/001—Synchronization between nodes
    • 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
    • G01S5/06—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
    • 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
    • G01S5/10—Position of receiver fixed by co-ordinating a plurality of position lines defined by path-difference measurements, e.g. omega or decca systems
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • 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
    • 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
    • H04W64/003—Locating users or terminals or network equipment for network management purposes, e.g. mobility management locating network equipment

Definitions

  • the present invention relates to the field of positioning, and more particularly to a positioning method and positioning apparatus based on a wireless network.
  • a positioning method based on Time of Arrival TOA
  • TDOA Time Difference of Arrival
  • the TOA-based positioning method not only needs to ensure strict synchronization between the node to be located and the anchor node, but also needs to ensure strict synchronization between the anchor nodes, and the TDOA-based positioning method only needs to ensure strict synchronization between the anchor nodes.
  • TOA Time of Arrival
  • TDOA-based positioning method only needs to ensure strict synchronization between the anchor nodes.
  • the embodiment of the invention provides a positioning method and a positioning device based on a wireless network, so as to implement positioning by using a TDOA method in an asynchronous environment.
  • a wireless network positioning method including: acquiring time information for determining a current location of a node to be located, where the time information records a first detection sent by the to-be-located node at the current location a time when the signal arrives at the at least three anchor nodes; determining, according to the recorded historical information and the time information, a time difference of the first sounding signal reaching the at least three anchor nodes, wherein the first sounding signal reaches the at least a time difference between three anchor nodes is a difference between a time when the first sounding signal reaches the at least three anchor nodes, the history information records a position of the at least three anchor nodes, the node to be located a historical position when the second sounding signal is transmitted, and a time when the second sounding signal reaches the at least three anchor nodes, wherein the second sounding signal is sent by the node to be located before transmitting the first sounding signal a sounding signal for positioning; according to the position of the at least three anchor nodes,
  • the determining, according to the recorded historical information and the time information, a time difference between the first detection signal and the at least three anchor nodes including: Determining a historical position, and a location of the at least three anchor nodes, determining a distance between the node to be located and the at least three anchor nodes at the historical location; Determining a time difference of the first sounding signal reaching any two of the at least three anchor nodes, wherein T AB indicates that the first sounding signal reaches any two of the at least three anchor nodes
  • T AB indicates that the first sounding signal reaches any two of the at least three anchor nodes
  • the time difference of the node, c represents the propagation speed of the sounding signal sent by the node to be located
  • L A and L B respectively indicate the position of the node to be located when transmitting the second sounding signal and the two anchor nodes
  • the distance between T A1 and T B1 respectively indicates the time when the second sounding signal reaches the two anchor nodes
  • T A3 and T B3 respectively
  • the location of the at least three anchor nodes, and the first detection signal arrives at the Determining a current time of the node to be located, including: according to a formula Determining a current location of the node to be located, where (x A , y A ), (x B , y B ), and (x C , y C ) respectively represent a first anchor node of the at least three anchor nodes a position of the second anchor node and the third anchor node, T AB indicating that the first detection signal reaches a time difference between the first anchor node and the second anchor node, and T BC indicates that the first detection signal reaches a location
  • T AB indicating that the first detection signal reaches a time difference between the first anchor node and the second anchor node
  • T BC indicates that the first detection signal reaches a location
  • the time difference between the second anchor node and the third anchor node, (x, y) represents the current position of the node to be located
  • c represents the propagation speed of the
  • the positioning method is performed by the to-be-located node, where the positioning method further includes: the to-be-positioned Sending, by the node, the first sounding signal to the at least three anchor nodes; the acquiring time information for determining a current location of the node to be located, including: the node to be located receiving the feedback of the at least three anchor nodes Time information.
  • the positioning method is performed by a third-party device other than the to-be-located node, where the obtaining is used for Determining time information of a current location of the node to be located, including: the third-party device receiving station The time information fed back by the at least three anchor nodes; the positioning method further includes: sending, by the third party device, the determined current location to the to-be-located node.
  • the time that the first detection signal reaches any one of the at least three anchor nodes is Calculated based on the time at which the first probe signal is obtained by the arbitrary anchor node, the radio frequency processing of the arbitrary anchor node, and the time required for baseband processing.
  • the second aspect provides an apparatus for positioning based on a wireless network, including: an acquiring module, configured to acquire time information for determining a current location of a node to be located, where the time information records that the node to be located is in the current a time when the first detection signal sent by the location reaches the at least three anchor nodes; the first determining module is configured to determine, according to the recorded history information and the time information, a time difference between the first detection signal and the at least three anchor nodes And a time difference between the time when the first sounding signal reaches the at least three anchor nodes is a difference between a time when the first sounding signal reaches the at least three anchor nodes, and the history information records the a location of at least three anchor nodes, a historical location when the node to be located transmits a second sounding signal, and a time when the second sounding signal reaches the at least three anchor nodes, the second detecting signal is the a detection signal for positioning sent before the node to be located; a second determining module, configured
  • the first determining module is specifically configured to: determine, at the historical location, according to the historical location, and the location of the at least three anchor nodes The distance between the node to be located and the at least three anchor nodes; according to the formula Determining a time difference of the first sounding signal reaching the at least three anchor nodes, where T AB represents a time difference of the first sounding signal reaching any two of the at least three anchor nodes, and c represents Describe the propagation speed of the sounding signal sent by the positioning node, L A and L B respectively represent the distance between the node to be located and the two anchor nodes in the historical position, and T A1 and T B1 respectively represent The time when the second sounding signal reaches the two anchor nodes, T A3 and T B3 respectively indicate the time when the first sounding signal reaches the two anchor nodes.
  • the second determining module is specifically configured to: Determining a current location of the node to be located, where (x A , y A ), (x B , y B ), and (x C , y C ) respectively represent a first anchor node of the at least three anchor nodes a position of the second anchor node and the third anchor node, T AB indicating that the first detection signal reaches a time difference between the first anchor node and the second anchor node, and T BC indicates that the first detection signal reaches a location
  • T AB indicating that the first detection signal reaches a time difference between the first anchor node and the second anchor node
  • T BC indicates that the first detection signal reaches a location
  • the time difference between the second anchor node and the third anchor node, (x, y) represents the current position of the node to be located
  • c represents the propagation speed of the sounding signal sent by the node to be located.
  • the positioning device is a node to be located, and the positioning device further includes: a sending module; the sending module And the sending module is configured to receive the time information fed back by the at least three anchor nodes.
  • the positioning device is a third-party device other than the node to be located, and the positioning device further includes The sending module is configured to receive the time information fed back by the at least three anchor nodes, and the sending module is configured to send the determined current location to the to-be-located node.
  • the time when the first detection signal reaches any one of the at least three anchor nodes is Calculated based on the time at which the first probe signal is obtained by the arbitrary anchor node, the radio frequency processing of the arbitrary anchor node, and the time required for baseband processing.
  • the third aspect provides a device for positioning based on a wireless network, including: a receiver, configured to acquire time information for determining a current location of a node to be located, where the time information records that the node to be located is in the current a time when the first probe signal sent by the location reaches the at least three anchor nodes, and a processor, configured to determine, according to the recorded history information and the time information, a time difference of the first probe signal reaching the at least three anchor nodes, where And a time difference between the time when the first sounding signal reaches the at least three anchor nodes is a difference between a time when the first sounding signal reaches the at least three anchor nodes, and the history information records the at least three The position of the anchor node, the historical position when the node to be located transmits the second sounding signal, and the time when the second sounding signal reaches the at least three anchor nodes, the second detecting signal is the to-be-positioned a sounding signal transmitted by the node for positioning; the processor is further configured to:
  • the processor is specifically configured to: determine, according to the historical location, and a location of the at least three anchor nodes, where the historical location is located Determining the distance between the positioning node and the at least three anchor nodes; according to the formula Determining a time difference of the first sounding signal reaching the at least three anchor nodes, where T AB represents a time difference of the first sounding signal reaching any two of the at least three anchor nodes, and c represents Describe the propagation speed of the sounding signal sent by the positioning node, L A and L B respectively represent the distance between the node to be located and the two anchor nodes in the historical position, and T A1 and T B1 respectively represent The time when the second sounding signal reaches the two anchor nodes, T A3 and T B3 respectively indicate the time when the first sounding signal reaches the two anchor nodes.
  • the processor is specifically configured to: according to a formula Determining a current location of the node to be located, where (x A , y A ), (x B , y B ), and (x C , y C ) respectively represent a first anchor node of the at least three anchor nodes a position of the second anchor node and the third anchor node, T AB indicating that the first detection signal reaches a time difference between the first anchor node and the second anchor node, and T BC indicates that the first detection signal reaches a location
  • T AB indicating that the first detection signal reaches a time difference between the first anchor node and the second anchor node
  • T BC indicates that the first detection signal reaches a location
  • the time difference between the second anchor node and the third anchor node, (x, y) represents the current position of the node to be located
  • c represents the propagation speed of the sounding signal sent by the node to be located.
  • the positioning device is a node to be located, and the positioning device further includes: a transmitter; Transmitting the first sounding signal to the at least three anchor nodes; the receiver is specifically configured to receive the time information fed back by the at least three anchor nodes.
  • the positioning device is a third-party device other than the node to be located, and the positioning device further includes The transmitter is configured to receive the time information fed back by the at least three anchor nodes, and the transmitter is configured to send the determined current location to the to-be-located node.
  • the time when the first sounding signal reaches any one of the at least three anchor nodes is based on the time at which the any one of the anchor nodes obtains the first sounding signal, the any one of the anchor nodes.
  • the time required for RF processing and baseband processing is calculated.
  • the time difference between the probe signals reaching different anchor nodes can be accurately determined, and then the position of the node to be located is determined, and the current position is determined.
  • FIG. 1 is a schematic flowchart of a wireless network-based positioning method according to an embodiment of the present invention.
  • FIG. 2 is a schematic diagram of the principle of a wireless network based positioning method according to an embodiment of the present invention.
  • FIG. 3 is a flow chart of a wireless network based positioning method according to an embodiment of the present invention.
  • FIG. 4 is a flow chart of a wireless network based positioning method according to an embodiment of the present invention.
  • FIG. 5 is a schematic block diagram of a wireless network based positioning apparatus according to an embodiment of the present invention.
  • FIG. 6 is a schematic block diagram of a wireless network based positioning apparatus according to an embodiment of the present invention.
  • FIG. 1 is a schematic flowchart of a wireless network-based positioning method according to an embodiment of the present invention.
  • the positioning method may be performed by a device on the node side to be located, or may be performed by a device on the anchor node side, or may be performed by a third-party independent device other than the node side to be located and the anchor node side.
  • the positioning method of Figure 1 includes:
  • the time at which the first sounding signal reaches the at least three anchor nodes is the local time of the respective anchor node.
  • the time information for determining the current location of the node to be located can be obtained in various ways: for example, feedback can be received by the anchor node.
  • the message obtains the time information, and the third party device may first obtain the message fed back by the anchor node, and then obtain the time information from the third party device.
  • the location of the node to be located may be constantly changing.
  • the 120 Determine, according to the recorded historical information and the time information, a time difference that the first sounding signal reaches the at least three anchor nodes, where a time difference that the first sounding signal reaches the at least three anchor nodes is that the first sounding signal reaches the at least three anchor nodes.
  • the difference between the time, the history information records the position of the at least three anchor nodes, the historical position when the node to be located transmits the second sounding signal, and the time when the second sounding signal reaches the at least three anchor nodes, the second detecting signal Is a sounding signal for positioning transmitted before the first sounding signal is transmitted.
  • the time difference between the arrival of the first sounding signal to the at least three anchor nodes is the difference in time when the first sounding signal reaches any two of the at least three anchor nodes.
  • the time difference includes: a difference between a time when the first probe signal reaches the first anchor node and the second anchor node, The difference between the time when the probe signal reaches the first anchor node and the third anchor node, and the difference between the time when the first probe signal reaches the second anchor node and the third anchor node.
  • the historical information and the currently acquired time information may be stored on the node to be located, or may be stored in the third party device, and may also be stored on the anchor node side.
  • the location information of the anchor node and the node to be located recorded in the history information may be in the form of coordinates or other forms.
  • the location information may be the distance between the node to be located and each anchor node.
  • the process of performing the positioning calculation each time may be referred to as a positioning period, and the node to be located may transmit only one detection signal in one positioning period.
  • the node to be located transmits the first sounding signal in the first positioning period and the second sounding signal in the second positioning period, wherein the first positioning period is the current positioning period, and the second positioning period may be before the first positioning period.
  • the time difference between the detection signal and the different anchor nodes may be calculated according to the time information acquired by the first positioning period and the historical information recorded by the second positioning period, and then the position of the node to be located is determined according to the time difference.
  • the second positioning period is the last positioning period of the first positioning period, so that after the second detecting signal is sent and the positioning is completed, the node to be positioned sends the first detecting signal to the anchor node, and then adopts The historical information is just recorded in the previous positioning cycle, so the resulting positioning results will be more accurate.
  • the to-be-located node may send a probe to the anchor node by using a broadcast. signal.
  • the time difference between the probe signals reaching different anchor nodes can be accurately determined, and then the position of the node to be located is determined, and the current position is determined.
  • a and B are anchor nodes
  • M is a node to be located
  • two horizontal lines are respectively time axes of anchor node A and anchor node B, and time when anchor node A and anchor node B receive the detection signal.
  • the node M to be located transmits the first probe signal S' to the anchor node A and the anchor node B at the current time Ts', and the time at which the first probe signal S' reaches the anchor node A and the anchor node B is T A3 and T B3 respectively .
  • T A3 and T B3 are the local time of anchor node A and anchor node B, respectively.
  • the node M to be located Before the current time Ts', the node M to be located also sends a second detection signal S to the anchor node A and the anchor node B, and the time at which the second detection signal S reaches the anchor node A and the anchor node B is T A1 and T B1 , respectively.
  • the formula is used.
  • the time difference between the first probe signal S' and the anchor node A and the anchor node B can be directly determined, but if the anchor node A and the anchor node B are not synchronized, such calculation is inaccurate, in order to calculate the anchor node in time.
  • the time difference in the case of synchronization the formula is further deduced according to Figure 2, the specific derivation process is as follows:
  • L A and L B are the distances between the node M to be located and the anchor nodes A and B respectively when the node M to be positioned transmits the first sounding signal S.
  • the time difference T AC at which the first probe signal S′ reaches the anchor node A and the anchor node C can be calculated according to the above formula, or the second probe signal S′ arrives at the anchor node B.
  • the time difference T BC of the anchor node C after acquiring at least two sets of time difference information, the current position of the node to be located can be calculated according to the time difference between the detection signals reaching different anchor nodes. In this way, in the case that the anchor node is not synchronized, according to the distance between the historical position of the node to be located and the anchor node, and the time when the first detection signal S' and the second detection signal S reach the anchor node, the time can be accurately calculated.
  • the time difference of the first detection signal S′ sent by the node to be located reaches different anchor nodes, thereby realizing accurate positioning of the node to be located in the case that the anchor node is not synchronized.
  • the following method when determining, according to the recorded historical information and the time information, the time difference between the first detection signal and the at least three anchor nodes, the following method may be used for calculation, and the specific steps are as follows:
  • T AB represents a time difference of the first sounding signal reaching any two of the at least three anchor nodes
  • c is to be located
  • L A and L B respectively represent the distance between the position of the node to be located when transmitting the second sounding signal and the two anchor nodes
  • T A1 and T B1 respectively represent the second
  • T A3 and T B3 respectively indicate the time at which the first probe signal arrives at the two anchor nodes.
  • At least three anchor nodes include four anchor nodes
  • at least three anchor nodes include a first anchor node, a second anchor node, a third anchor node, and a fourth anchor node
  • the first time difference and the second time difference, and the locations of the first anchor node, the second anchor node, the third anchor node, and the fourth anchor node may then be utilized to determine the current location of the node to be located.
  • the location information of the three anchor nodes of the at least three anchor nodes and the time information of the first probe signal reaching the three anchor nodes may also be used to determine the current location of the node to be located.
  • at least three anchor nodes include a first anchor node, a second anchor node, and a third anchor node
  • a formula may be utilized Determining a first time difference between the first probe signal reaching the first anchor node and the second anchor node, a second time difference between the first probe signal reaching the first anchor node and the third anchor node, and the first probe signal reaching the second anchor node and
  • the third time difference of the third anchor node may be calculated by using any two of the first time difference, the second time difference, and the third time difference and combining the positions of the first anchor node, the second anchor node, and the third anchor node The current location of the bit node.
  • T AB and T BC can be based on the formula Determining T AB and T BC ; wherein T AB represents a time difference between the first probe signal reaching the first anchor node and the second anchor node, and T BC represents a time difference between the arrival of the first probe signal to the second anchor node and the third anchor node, L A , L B and L C respectively represent the distance between the position of the node to be located when transmitting the second sounding signal and the first anchor node, the second anchor node and the third anchor node, T A1 , T B1 and T C1 represents the time when the second probe signal reaches the first anchor node, the second anchor node and the third anchor node, respectively, and T A3 , T B3 and T C3 respectively indicate that the first probe signal reaches the first anchor node, the second anchor node and The time of the third anchor node, c represents the propagation speed of the sounding signal sent by the node to be located.
  • the current position of the node to be located can be determined based
  • the current location of the node to be located may be determined according to the time difference and the positions of the at least three anchor nodes.
  • the position information of the three anchor nodes and the time difference information of the probe signals reaching different anchor nodes are used to calculate the current position of the node to be located.
  • the anchor node is three or more, the location information of the anchor node and the time difference information of the probe signal reaching different anchor nodes may also be used to calculate the current location of the node to be located.
  • the first anchor node when there are four anchor nodes, for example, there are a first anchor node, a second anchor node, a third anchor node, and a fourth anchor node, according to a formula Determining a current position of the node to be located, wherein (x A , y A ), (x B , y B ), (x C , y C ), and (x D , y D ) respectively represent at least three anchor nodes
  • T AB represents a time difference between the first probe signal reaching the first anchor node and the second anchor node
  • T CD indicates that the first probe signal reaches
  • (x, y) represents the current position of the node to be located
  • c represents the propagation speed of the probe signal sent by the node to be located.
  • the positioning method when the positioning method is performed by the node to be located, the positioning method further includes: the to-be-located node sends the first detection signal to the at least three anchor nodes; the to-be-targeted node receives the feedback of the at least three anchor nodes.
  • Time information It should be understood that the time information that the node to be located receives the feedback of the at least three anchor nodes may be time information for receiving feedback from each of the at least three anchor nodes, or may receive one of the at least three anchor nodes.
  • the time information fed back by the anchor node, and the time information fed back by the primary anchor node includes the time when the first probe signal reaches each of the at least three anchor nodes.
  • the node to be located After receiving the time information fed back by the anchor node, the node to be located can calculate the current location of the node to be located according to the historical information stored before the node to be located and the time information. After obtaining the current location information, the node to be located needs to save the current location. Location information, and can display the current location information in real time as needed, or send the current location information to other devices.
  • a node to be located may send a sounding signal by using an existing frame, or may send a sounding signal to an anchor node by using a specific frame.
  • the node to be located may use the probe request command to send a sounding signal to the anchor node.
  • the positioning signal may be carried in the signal to identify that the currently transmitted signal is a detecting signal for positioning.
  • FIG. 3 shows a flow chart of a wireless network based positioning method according to an embodiment of the present invention.
  • the to-be-located node is the execution body of the positioning method, and the specific process of the positioning method is as follows:
  • the node to be located sends a sounding signal to the anchor node at the current location.
  • the to-be-located node receives time information sent by the anchor node, where the time information records the time when the probe signal arrives at the anchor node.
  • the to-be-located node calculates a current location of the node to be located according to the historical information and the time information.
  • the node to be located saves the current location information.
  • the node to be located may send a sounding signal to the anchor node by broadcasting. It should be understood that the node to be located may send a sounding signal to multiple anchor nodes. To achieve positioning of the node to be located, the number of anchor nodes should be at least There is three.
  • the node to be located may receive the time information sent by all the anchor nodes, and record the time information. If the node to be located has not received the time information sent by all the anchor nodes, the node to be located is not located. The probe signal can be resent and then the time information sent by the anchor node can be received again.
  • the to-be-located node may sequentially receive time information sent by multiple anchor nodes, or may simultaneously receive time information sent by multiple anchor nodes. The to-be-located node may further receive time information sent by one of the plurality of anchor nodes, and the time information sent by the primary anchor node includes a time when the probe signal reaches each of the plurality of anchor nodes.
  • the node to be located records the location of all the anchor nodes and the historical position of the node to be located.
  • the node to be located may be based on the recorded location of the anchor node, the historical position of the node to be located when the probe signal is last sent, and the detection signal.
  • the time to reach different anchor nodes and the time when the last probe signal reaches different anchor nodes calculate the time difference between the current probe signals reaching different anchor nodes, and then calculate the current position of the node to be located according to the time difference.
  • step 304 after the current location of the node to be located is calculated, the node to be located saves the current location information, so that the node to be located displays the current location in real time, or sends the current location information to other devices.
  • the positioning method may be performed by a third-party device other than the node to be located.
  • the positioning method further includes: receiving, by the third-party device, time information of feedback by at least three anchor nodes.
  • the third party device sends the determined current location to the node to be located.
  • the third-party device may be a device located on the anchor node side or an independent service device on the anchor node side.
  • the third-party device may directly send the determined current location to the node to be located, or may send the current location information to the anchor node, and then the anchor node sends the current location information to the node to be located.
  • FIG. 4 is a flow chart showing a wireless network based positioning method according to an embodiment of the present invention.
  • the third-party device is the execution body of the positioning method, and the specific process of the positioning method is as follows:
  • the node to be located sends a sounding signal to the anchor node at the current location.
  • the third-party device receives time information sent by the anchor node, where the time information records the time when the probe signal arrives at the anchor node.
  • the third-party device calculates a current location of the node to be located according to the historical information and the time information.
  • the third-party device sends the current location information of the node to be located to the anchor node.
  • the anchor node sends current location information of the node to be located to the to-be-located node.
  • the node to be located may send a sounding signal to the anchor node by broadcasting. It should be understood that the node to be located here sends a sounding signal to multiple anchor nodes. In order to achieve positioning of the node to be located, the number of anchor nodes should be at least There is three.
  • the third party device may receive time information sent by all anchor nodes and record the time information.
  • the third-party device may receive the time information sent by the multiple anchor nodes in sequence, or may receive the time information sent by the multiple anchor nodes at the same time, and may also receive the time information sent by one of the multiple anchor nodes.
  • the time information transmitted by the primary anchor node includes the time at which the sounding signal reaches each of the plurality of anchor nodes.
  • the third-party device records the location of all the anchor nodes and the historical location of the node to be located, and the third-party device may according to the recorded location of the anchor node, the historical position of the node to be located when the probe signal is last sent, and the detection signal.
  • the time to reach the different anchor nodes and the time when the last probe signal arrives at different anchor nodes to calculate the time difference between the current probe signal reaching different anchor nodes, and then calculate the current position of the node to be located according to the time difference.
  • the third-party device may send the current location information of the node to be located to all the anchor nodes, or may send the current location information of the node to be located to only one of the primary anchor nodes, and the anchor node receives the current location. After the information, the current location information can be sent to the node to be located.
  • the multiple anchor nodes may send the current location information of the node to be located to the node to be located, or may send the current location information of the node to be located to the to-be-located node by one of the primary anchor nodes. If the node to be located still does not receive the current location information of the node to be located sent by the anchor node, the node to be located may resend the probe signal and then repeat the above process for relocation.
  • the time when the first sounding signal reaches any one of the at least three anchor nodes may be a time based on the time at which the any one of the anchor nodes obtains the first sounding signal, and the radio frequency of the any one of the anchor nodes.
  • the time required for processing and baseband processing is calculated.
  • the time when the first sounding signal reaches the anchor node may be the difference between the time when the anchor node actually acquires the first sounding signal and the time when the anchor node processes the radio frequency processing and the baseband processing of the first sounding signal. Since RF processing and baseband processing are the local processing time of the anchor node, it can be given Relatively accurate estimation, so that the time when the first detection signal reaches the first anchor node can be obtained more accurately.
  • an initial position of the node to be located needs to be acquired first.
  • the initial position can be obtained by other positioning methods.
  • the initial positioning of the node to be located can be obtained by using the Global Position System (GPS) technology, or the node to be located can be obtained by the fingerprint positioning method.
  • GPS Global Position System
  • the initial location of the node to be located, and the like may also be obtained by using the cell ID.
  • the calibration method may be used to calibrate the current position of the node to be located.
  • the first positioning period is the current positioning period
  • the node to be located sends a detection signal S′ to the anchor node in the first positioning period, and sends a detection to the anchor node in the second positioning period.
  • the signal S wherein the second positioning period is the last positioning period of the first positioning period, the position of the node to be located when transmitting the sounding signal S is L S1 , and the position of the node to be positioned when transmitting the detecting signal S′ is L S '1 .
  • the specific steps of this calibration method are as follows:
  • (1) is calculated according to the position to be positioned to be positioned at the node transmitting the probe signal S L S1 L S'1 node position detection signal when transmitting S 'is;
  • Step (1) and step (2) are repeated, that is, the result calculated in step (1) is substituted into step (2), and the result obtained in step (2) is substituted into step (1).
  • such iterative position can be calculated to be L S'1 when the positioning node sends a probe signal S 'is positioned in a first cycle, L S'2, L S'3, L S'3, L S'4 .
  • the convergence value can be regarded as the true position of the node to be located when the detection signal S' is transmitted, thus realizing the calibration of the positioning result.
  • the calibration process is completed in a very short time, that is, the calibration process can be completed in the second positioning cycle, and the positioning accuracy can be further improved by the position calibration.
  • the time difference between the probe signals reaching different anchor nodes can be accurately determined, and then the position of the node to be located is determined, and the current position is determined.
  • the TDOA method can be used. Accurate positioning.
  • the wireless network-based positioning method according to an embodiment of the present invention is described in detail above with reference to FIG. 1 to FIG. 4, and a wireless network-based positioning apparatus according to an embodiment of the present invention is described in detail below with reference to FIG. 5 and FIG. It should be understood that the positioning devices of Figures 5 and 6 are capable of implementing the various steps of the method of Figures 1 through 4, and to avoid repetition, will not be described in detail herein.
  • FIG. 5 is a schematic block diagram of a wireless network based positioning apparatus according to an embodiment of the present invention.
  • the positioning device 500 of Figure 5 includes:
  • the obtaining module 510 is configured to obtain time information for determining a current location of the node to be located, where the time information records a time when the first probe signal sent by the node to be located at the current location reaches at least three anchor nodes;
  • a first determining module 520 configured to determine, according to the recorded historical information and the time information, a time difference that the first detection signal reaches the at least three anchor nodes, where the first detection signal reaches the at least three
  • the time difference of the anchor node is a difference between the times when the first sounding signal reaches the at least three anchor nodes
  • the history information records the location of the at least three anchor nodes, and the node to be located sends the first a historical position when the signal is detected, and a time when the second detection signal reaches the at least three anchor nodes, where the second detection signal is a detection signal sent for positioning before the node to be located;
  • the second determining module 530 is configured to determine a current location of the to-be-located node according to a location of the at least three anchor nodes and a time difference of the first probe signal reaching the at least three anchor nodes.
  • the time difference between the probe signals reaching different anchor nodes can be accurately determined, and then the position of the node to be located is determined, and the current position is determined.
  • the first determining module 520 is specifically configured to: determine, according to the historical location, and the location of the at least three anchor nodes, the to-be-located node that is in the historical location. The distance from the at least three anchor nodes; according to the formula Determining a time difference of the first sounding signal reaching the at least three anchor nodes, where T AB represents a time difference of the first sounding signal reaching any two of the at least three anchor nodes, and c represents Describe the propagation speed of the sounding signal sent by the positioning node, L A and L B respectively represent the distance between the node to be located and the two anchor nodes in the historical position, and T A1 and T B1 respectively represent The time when the second sounding signal reaches the two anchor nodes, T A3 and T B3 respectively indicate the time when the first sounding signal reaches the two anchor nodes.
  • the first determining module 520 is specifically configured to: according to a formula Determining a current location of the node to be located, where (x A , y A ), (x B , y B ), and (x C , y C ) respectively represent a first anchor node of the at least three anchor nodes a position of the second anchor node and the third anchor node, T AB indicating that the first detection signal reaches a time difference between the first anchor node and the second anchor node, and T BC indicates that the first detection signal reaches a location
  • T AB indicating that the first detection signal reaches a time difference between the first anchor node and the second anchor node
  • T BC indicates that the first detection signal reaches a location
  • the time difference between the second anchor node and the third anchor node, (x, y) represents the current position of the node to be located
  • c represents the propagation speed of the sounding signal sent by the node to be located.
  • the positioning device 500 is a node to be located, the positioning device 500 further includes: a sending module, where the sending module is configured to send the first probe to the at least three anchor nodes.
  • the acquiring module is specifically configured to receive the time information fed back by the at least three anchor nodes.
  • the positioning device 500 is a third-party device other than the node to be located, and the positioning device 500 further includes: a sending module, where the acquiring module is specifically configured to receive the at least three The time information fed back by the anchor node; the sending module is configured to send the determined current location to the to-be-located node.
  • the time when the first sounding signal reaches any one of the at least three anchor nodes is based on a time at which the any one of the anchor nodes obtains the first sounding signal. Calculate the time required for RF processing and baseband processing of any one anchor node.
  • FIG. 6 is a schematic block diagram of a wireless network based positioning apparatus according to an embodiment of the present invention.
  • the positioning device 600 of FIG. 6 includes a receiver 610 and a processor 620.
  • a receiver 610 configured to acquire time information for determining a current location of the node to be located, where the time information records a time when the first probe signal sent by the node to be located at the current location reaches at least three anchor nodes;
  • the processor 620 is configured to determine, according to the recorded historical information and the time information, a time difference that the first sounding signal reaches the at least three anchor nodes, where the first sounding signal arrives at the a time difference between the at least three anchor nodes is a difference between times when the first sounding signal reaches the at least three anchor nodes, the history information records a location of the at least three anchor nodes, the to-be-determined a historical position when the bit node transmits the second sounding signal, and a time when the second sounding signal reaches the at least three anchor nodes, the second sounding signal being a probe for positioning before the node to be located And determining a current location of the node to be located according to a location of the at least three anchor nodes and a time difference of the first probe signal reaching the at least three anchor nodes.
  • the time difference between the probe signals reaching different anchor nodes can be accurately determined, and then the position of the node to be located is determined, and the current position is determined.
  • the processor 620 is specifically configured to determine, according to the historical location, and the location of the at least three anchor nodes, the to-be-located node at the historical location and the The distance between at least three anchor nodes; according to the formula Determining a time difference of the first sounding signal reaching the at least three anchor nodes, where T AB represents a time difference of the first sounding signal reaching any two of the at least three anchor nodes, and c represents Describe the propagation speed of the sounding signal sent by the positioning node, L A and L B respectively represent the distance between the node to be located and the two anchor nodes in the historical position, and T A1 and T B1 respectively represent The time when the second sounding signal reaches the two anchor nodes, T A3 and T B3 respectively indicate the time when the first sounding signal reaches the two anchor nodes.
  • the processor 620 is specifically configured according to a formula. Determining a current location of the node to be located, where (x A , y A ), (x B , y B ), and (x C , y C ) respectively represent a first anchor node of the at least three anchor nodes a position of the second anchor node and the third anchor node, T AB indicating that the first detection signal reaches a time difference between the first anchor node and the second anchor node, and T BC indicates that the first detection signal reaches a location
  • T AB indicating that the first detection signal reaches a time difference between the first anchor node and the second anchor node
  • T BC indicates that the first detection signal reaches a location
  • the time difference between the second anchor node and the third anchor node, (x, y) represents the current position of the node to be located
  • c represents the propagation speed of the sounding signal sent by the node to be located.
  • the positioning apparatus 600 is a node to be located, the positioning apparatus 600 further includes: a transmitter, where the transmitter is configured to send the to the at least three anchor nodes. a first detection signal; the receiver is specifically configured to receive the time information fed back by the at least three anchor nodes.
  • the positioning device 600 is a third-party device other than the node to be located, and the positioning device 600 further includes: a transmitter; the receiver 610 is specifically configured to receive the at least three The time information fed back by the anchor node; the transmitter is configured to send the determined current location to the to-be-located node.
  • the time when the first sounding signal reaches any one of the at least three anchor nodes is based on a time at which the any one of the anchor nodes obtains the first sounding signal. Estimate the time required for RF processing and baseband processing of any of the anchor nodes.
  • wireless network-based positioning method and the positioning device of the embodiments of the present invention can be applied not only to the WLAN network but also to all other non-synchronous wireless networks.
  • the size of the sequence numbers of the above processes does not mean the order of execution, and the order of execution of each process should be determined by its function and internal logic, and should not be directed to the embodiments of the present invention.
  • the implementation process constitutes any limitation.
  • the disclosed systems, devices, and methods may be implemented in other manners.
  • the device embodiments described above are merely illustrative.
  • the division of the unit is only a logical function division.
  • there may be another division manner for example, multiple units or components may be combined or Can be integrated into another The system, or some features can be ignored or not executed.
  • the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or unit, and may be in an electrical, mechanical or other form.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the embodiment.
  • each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.
  • the functions may be stored in a computer readable storage medium if implemented in the form of a software functional unit and sold or used as a standalone product.
  • the technical solution of the present invention which is essential or contributes to the prior art, or a part of the technical solution, may be embodied in the form of a software product, which is stored in a storage medium, including
  • the instructions are used to cause a computer device (which may be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods described in various embodiments of the present invention.
  • the foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, and the like. .

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Abstract

本发明提供一种基于无线网络的定位方法和定位装置，该定位方法包括：获取用于确定待定位节点当前位置的时间信息，该时间信息记录了该待定位节点在该当前位置发出的第一探测信号到达至少三个锚节点的时间；根据记录的历史信息和该时间信息确定该第一探测信号到达该至少三个锚节点的时间差；根据该至少三个锚节点的位置，以及该第一探测信号到达该至少三个锚节点的时间差确定该待定位节点的当前位置。本发明能够准确确定探测信号到达不同锚节点的时间差，从而确定待定位节点的准确位置，避免了锚节点间的同步。

Description

基于无线网络的定位方法和定位装置
本申请要求于2015年09月30日提交中国专利局、申请号为201510642053.8、发明名称为“基于无线网络的定位方法和定位装置”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本发明涉及定位领域，并且更为具体地，涉及一种基于无线网络的定位方法和定位装置。
背景技术
目前，基于测时的定位方法主要有两种：基于到达时间(Time of Arrival，TOA)的定位方法和基于到达时间差(Time Difference of Arrival，TDOA)的定位方法。基于TOA的定位方法不仅需要保证待定位节点与锚节点之间严格同步，还需要保证锚节点之间严格同步，而基于TDOA的定位方法只需要保证锚节点之间严格同步。但是在很多无线网络中，锚节点之间很难到达严格同步，这样就导致基于TDOA的定位方法在异步环境下无法使用。
发明内容
本发明实施例提供一种基于无线网络的定位方法和定位装置，以实现在异步环境下采用TDOA方式进行定位。
第一方面，提供了一种基于无线网络定位方法，包括：获取用于确定待定位节点当前位置的时间信息，所述时间信息记录了所述待定位节点在所述当前位置发出的第一探测信号到达至少三个锚节点的时间；根据记录的历史信息和所述时间信息确定所述第一探测信号到达所述至少三个锚节点的时间差，其中，所述第一探测信号到达所述至少三个锚节点的时间差为所述第一探测信号到达所述至少三个锚节点的时间之间的差值，所述历史信息记录了所述至少三个锚节点的位置、所述待定位节点发送第二探测信号时的历史位置、以及所述第二探测信号到达所述至少三个锚节点的时间，所述第二探测信号是所述待定位节点在发送所述第一探测信号之前发送的用于定位的探测信号；根据所述至少三个锚节点的位置，以及所述第一探测信号到达所 述至少三个锚节点的时间差确定所述待定位节点的当前位置。
结合第一方面，在第一方面的一种实现方式中，所述根据记录的历史信息和所述时间信息确定所述第一探测信号到达所述至少三个锚节点的时间差，包括：根据所述历史位置，以及所述至少三个锚节点的位置，确定处在所述历史位置的所述待定位节点与所述至少三个锚节点之间的距离；根据公式
Figure PCTCN2016099820-appb-000001
确定所述第一探测信号到达所述至少三个锚节点中的任意两个锚节点的时间差，其中，TAB表示所述第一探测信号到达所述至少三个锚节点中的任意两个锚节点的时间差，c表示所述待定位节点发出的探测信号的传播速度，LA和LB分别表示所述待定位节点在发送所述第二探测信号时的位置与所述两个锚节点之间的距离，TA1和TB1分别表示所述第二探测信号到达所述两个锚节点的时间，TA3和TB3分别表示所述第一探测信号到达所述两个锚节点的时间。
结合第一方面或其上述实现方式中的任意一种，在第一方面的另一种实现方式中，所述根据所述至少三个锚节点的位置，以及所述第一探测信号到达所述至少三个锚节点的时间差确定所述待定位节点的当前位置，包括：根据公式
Figure PCTCN2016099820-appb-000002
确定所述待定位节点的当前位置，其中，(xA，yA)、(xB，yB)和(xC，yC)分别表示所述至少三个锚节点中的第一锚节点、第二锚节点和第三锚节点的位置，TAB表示所述第一探测信号达到所述第一锚节点和所述第二锚节点的时间差，TBC表示所述第一探测信号达到所述第二锚节点和所述第三锚节点的时间差，(x，y)表示所述待定位节点的当前位置，c表示所述待定位节点发出的探测信号的传播速度。
结合第一方面或其上述实现方式中的任意一种，在第一方面的另一种实现方式中，所述定位方法由所述待定位节点执行，所述定位方法还包括：所述待定位节点向所述至少三个锚节点发送所述第一探测信号；所述获取用于确定待定位节点当前位置的时间信息，包括：所述待定位节点接收所述至少三个锚节点反馈的所述时间信息。
结合第一方面或其上述实现方式中的任意一种，在第一方面的另一种实现方式中，所述定位方法由所述待定位节点之外的第三方设备执行，所述获取用于确定待定位节点当前位置的时间信息，包括：所述第三方设备接收所 述至少三个锚节点反馈的所述时间信息；所述定位方法还包括：所述第三方设备向所述待定位节点发送确定出的所述当前位置。
结合第一方面或其上述实现方式中的任意一种，在第一方面的另一种实现方式中，所述第一探测信号到达所述至少三个锚节点中的任意一个锚节点的时间是基于所述任意一个锚节点获得所述第一探测信号的时间、所述任意一个锚节点的射频处理和基带处理所需的时间计算得到的。
第二方面，提供了一种基于无线网络定位的装置，包括：获取模块，用于获取用于确定待定位节点当前位置的时间信息，所述时间信息记录了所述待定位节点在所述当前位置发出的第一探测信号到达至少三个锚节点的时间；第一确定模块，用于根据记录的历史信息和所述时间信息确定所述第一探测信号到达所述至少三个锚节点的时间差，其中，所述第一探测信号到达所述至少三个锚节点的时间差为所述第一探测信号到达所述至少三个锚节点的时间之间的差值，所述历史信息记录了所述至少三个锚节点的位置、所述待定位节点发送第二探测信号时的历史位置、以及所述第二探测信号到达所述至少三个锚节点的时间，所述第二探测信号是所述待定位节点之前发送的用于定位的探测信号；第二确定模块，用于根据所述至少三个锚节点的位置，以及所述第一探测信号到达所述至少三个锚节点的时间差确定所述待定位节点的当前位置。
结合第二方面，在第二方面的一种实现方式中，所述第一确定模块具体用于：根据所述历史位置，以及所述至少三个锚节点的位置，确定处在所述历史位置的所述待定位节点与所述至少三个锚节点之间的距离；根据公式
Figure PCTCN2016099820-appb-000003
确定所述第一探测信号到达所述至少三个锚节点的时间差，其中，TAB表示所述第一探测信号到达所述至少三个锚节点中的任意两个锚节点的时间差，c表示所述待定位节点发出的探测信号的传播速度，LA和LB分别表示处于所述历史位置的所述待定位节点与所述两个锚节点之间的距离，TA1和TB1分别表示所述第二探测信号到达所述两个锚节点的时间，TA3和TB3分别表示所述第一探测信号到达所述两个锚节点的时间。
结合第二方面或其上述实现方式中的任意一种，在第二方面的另一种实现方式中，所述第二确定模块具体用于：根据公式
Figure PCTCN2016099820-appb-000004
确定所述待定位节点的当前位置，其中，(xA，yA)、(xB，yB)和(xC，yC)分别表示所述至少三个锚节点中的第一锚节点、第二锚节点和第三锚节点的位置，TAB表示所述第一探测信号达到所述第一锚节点和所述第二锚节点的时间差，TBC表示所述第一探测信号达到所述第二锚节点和所述第三锚节点的时间差，(x，y)表示所述待定位节点的当前位置，c表示所述待定位节点发出的探测信号的传播速度。
结合第二方面或其上述实现方式中的任意一种，在第二方面的另一种实现方式中，所述定位装置为待定位节点，所述定位装置还包括：发送模块；所述发送模块用于向所述至少三个锚节点发送所述第一探测信号；所述获取模块具体用于接收所述至少三个锚节点反馈的所述时间信息。
结合第二方面或其上述实现方式中的任意一种，在第二方面的另一种实现方式中，所述定位装置为所述待定位节点之外的第三方设备，所述定位装置还包括：发送模块；所述获取模块具体用于接收所述至少三个锚节点反馈的所述时间信息；所述发送模块用于向所述待定位节点发送确定出的所述当前位置。
结合第二方面或其上述实现方式中的任意一种，在第二方面的另一种实现方式中，所述第一探测信号到达所述至少三个锚节点中的任意一个锚节点的时间是基于所述任意一个锚节点获得所述第一探测信号的时间、所述任意一个锚节点的射频处理和基带处理所需的时间计算得到的。
第三方面，提供了一种基于无线网络定位的装置，包括：接收器，用于获取用于确定待定位节点当前位置的时间信息，所述时间信息记录了所述待定位节点在所述当前位置发出的第一探测信号到达至少三个锚节点的时间；处理器，用于根据记录的历史信息和所述时间信息确定所述第一探测信号到达所述至少三个锚节点的时间差，其中，所述第一探测信号到达所述至少三个锚节点的时间差为所述第一探测信号到达所述至少三个锚节点的时间之间的差值，所述历史信息记录了所述至少三个锚节点的位置、所述待定位节点发送第二探测信号时的历史位置、以及所述第二探测信号到达所述至少三个锚节点的时间，所述第二探测信号是所述待定位节点之前发送的用于定位的探测信号；所述处理器还用于根据所述至少三个锚节点的位置，以及所述 第一探测信号到达所述至少三个锚节点的时间差确定所述待定位节点的当前位置。
结合第三方面，在第三方面的一种实现方式中，所述处理器具体用于：根据所述历史位置，以及所述至少三个锚节点的位置，确定处在所述历史位置的所述待定位节点与所述至少三个锚节点之间的距离；根据公式
Figure PCTCN2016099820-appb-000005
确定所述第一探测信号到达所述至少三个锚节点的时间差，其中，TAB表示所述第一探测信号到达所述至少三个锚节点中的任意两个锚节点的时间差，c表示所述待定位节点发出的探测信号的传播速度，LA和LB分别表示处于所述历史位置的所述待定位节点与所述两个锚节点之间的距离，TA1和TB1分别表示所述第二探测信号到达所述两个锚节点的时间，TA3和TB3分别表示所述第一探测信号到达所述两个锚节点的时间。
结合第三方面或其上述实现方式中的任意一种，在第三方面的另一种实现方式中，所述处理器具体用于：根据公式
Figure PCTCN2016099820-appb-000006
确定所述待定位节点的当前位置，其中，(xA，yA)、(xB，yB)和(xC，yC)分别表示所述至少三个锚节点中的第一锚节点、第二锚节点和第三锚节点的位置，TAB表示所述第一探测信号达到所述第一锚节点和所述第二锚节点的时间差，TBC表示所述第一探测信号达到所述第二锚节点和所述第三锚节点的时间差，(x，y)表示所述待定位节点的当前位置，c表示所述待定位节点发出的探测信号的传播速度。
结合第三方面或其上述实现方式中的任意一种，在第三方面的另一种实现方式中，所述定位装置为待定位节点，所述定位装置还包括：发送器；所述发送器用于向所述至少三个锚节点发送所述第一探测信号；所述接收器具体用于接收所述至少三个锚节点反馈的所述时间信息。
结合第三方面或其上述实现方式中的任意一种，在第三方面的另一种实现方式中，所述定位装置为所述待定位节点之外的第三方设备，所述定位装置还包括：发送器；所述接收器具体用于接收所述至少三个锚节点反馈的所述时间信息；所述发送器用于向所述待定位节点发送确定出的所述当前位置。
结合第三方面或其上述实现方式中的任意一种，在第三方面的另一种实 现方式中，所述第一探测信号到达所述至少三个锚节点中的任意一个锚节点的时间是基于所述任意一个锚节点获得所述第一探测信号的时间、所述任意一个锚节点的射频处理和基带处理所需的时间计算得到的。
本发明实施例中，根据待定位节点发送的探测信号到达不同锚节点的时间以及待定位节点的历史信息，能够准确确定探测信号到达不同锚节点的时间差，进而确定待定位节点的位置，与现有技术必须要保证锚节点严格同步才能实现准确定位相比，能够在锚节点不同步的情况下采用TDOA方式进行准确定位。
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图1是本发明实施例的基于无线网络的定位方法的示意性流程图。
图2是本发明实施例的基于无线网络的定位方法的原理示意图。
图3是本发明实施例的基于无线网络的定位方法的流程图。
图4是本发明实施例的基于无线网络的定位方法的流程图。
图5是本发明实施例的基于无线网络的定位装置的示意性框图。
图6是本发明实施例的基于无线网络的定位装置的示意性框图。
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，所描述的实施例是本发明的一部分实施例，而不是全部实施例。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的前提下所获得的所有其他实施例，都应属于本发明保护的范围。
图1是本发明实施例的基于无线网络的定位方法的示意性流程图。该定位方法可以由待定位节点侧的设备执行，也可以由锚节点侧的设备执行，还可以由待定位节点侧和锚节点侧之外的第三方独立设备来执行。图1的定位方法包括：
110、获取用于确定待定位节点当前位置的时间信息，该时间信息记录了待定位节点在当前位置发出的第一探测信号到达至少三个锚节点的时间。
应理解，至少三个锚节点在时间上可以不同步，因此，第一探测信号到达至少三个锚节点的时间是各自锚节点的本地时间。可以采用多种方式获取用于确定待定位节点当前位置的时间信息：例如，可以通过接收锚节点反馈 的消息获取该时间信息，也可以通过第三方设备先获得锚节点反馈的消息，然后再从该第三方设备获取该时间信息。另外，待定位节点的位置可以是一直变化的。
120、根据记录的历史信息和时间信息确定第一探测信号到达至少三个锚节点的时间差，其中，第一探测信号到达至少三个锚节点的时间差为第一探测信号到达至少三个锚节点的时间之间的差值，历史信息记录了至少三个锚节点的位置、待定位节点发送第二探测信号时的历史位置、以及第二探测信号到达至少三个锚节点的时间，第二探测信号是在发送第一探测信号之前发送的用于定位的探测信号。
应理解，第一探测信号到达至少三个锚节点的时间差为第一探测信号到达至少三个锚节点中的任意两个锚节点的时间的差值。例如，当至少三个锚节点包括第一锚节点、第二锚节点和第三锚节点时，该时间差包括：第一探测信号到达第一锚节点和第二锚节点的时间的差值，第一探测信号到达第一锚节点和第三锚节点的时间的差值，第一探测信号到达第二锚节点和第三锚节点的时间的差值。历史信息和当前获取的时间信息可以存储在待定位节点侧，也可以存储在第三方设备中，还可以存储在锚节点侧。历史信息中记录的锚节点和待定位节点的位置信息可以是坐标形式，也可以是其他的形式，另外，该位置信息可以是待定位节点与各个锚节点之间的距离。
130、根据该至少三个锚节点的位置，以及该第一探测信号到达该至少三个锚节点的时间差确定该待定位节点的当前位置。
这里可以将每次进行定位计算的过程称为一个定位周期，在一个定位周期内待定位节点可以只发送一个探测信号。假设待定位节点在第一定位周期发送第一探测信号，在第二定位周期发送第二探测信号，其中第一定位周期是当前定位周期，那么第二定位周期可以是在第一定位周期之前，这时可以根据第一定位周期获取的时间信息以及第二定位周期记录的历史信息来计算探测信号到达不同锚节点的时间差，然后再根据该时间差确定待定位节点的位置。更优选地，第二定位周期是第一定位周期的上一个定位周期，这样待定位节点在发送完第二探测信号并完成定位后，紧接着就向锚节点发送第一探测信号，这时采用的历史信息是上一个定位周期刚刚记录的，因此得到的定位结果也会比较准确。
可选地，作为一个实施例，待定位节点可以通过广播向锚节点发送探测 信号。
本发明实施例中，根据待定位节点发送的探测信号到达不同锚节点的时间以及待定位节点的历史信息，能够准确确定探测信号到达不同锚节点的时间差，进而确定待定位节点的位置，与现有技术必须要保证锚节点严格同步才能实现准确定位相比，能够在锚节点不同步的情况下采用TDOA方式进行准确定位。
图2是本发明实施例的基于无线网络的定位方法的原理示意图。如图2所示，A和B为锚节点，M为待定位节点，两条横线分别为锚节点A和锚节点B各自的时间轴，锚节点A和锚节点B接收到探测信号的时间为各自锚节点的本地时间。待定位节点M在当前时刻Ts’向锚节点A和锚节点B发送第一探测信号S’，第一探测信号S’到达锚节点A和锚节点B的时间分别为TA3和TB3，应理解，TA3和TB3分别为锚节点A和锚节点B的本地时间。在当前时刻Ts’之前，待定位节点M向锚节点A和锚节点B还发送了第二探测信号S，第二探测信号S到达锚节点A和锚节点B的时间分别为TA1和TB1，同样，TA1和TB1也分别为锚节点A和锚节点B的本地时间。由图2可以得出第一探测信号S’到达锚节点A和锚节点B的时间差TAB＝TB3-TA3，如果锚节点A和锚节点B在时间上是同步的话，利用该公式就可以直接确定第一探测信号S’到达锚节点A和锚节点B的时间差，但是如果锚节点A和锚节点B之间不同步的话，这样计算是不准确的，为了计算锚节点在时间上不同步情况下的时间差，这里根据图2对该公式进行了进一步的推导，具体推导过程如下：
Figure PCTCN2016099820-appb-000007
其中，c为待定位节点发出的探测信号的传播速度，LA和LB是待定位节点M在发送第一探测信号S时，待定位节点M分别与锚节点A和B之间的距离。
同理，当存在第三个锚节点C时，可以再根据上述公式计算出第一探测信号S’到达锚节点A和锚节点C的时间差TAC，或者第二探测信号S’到达锚 节点B和锚节点C的时间差TBC，在获取了至少两组时间差信息后就可以根据探测信号到达不同锚节点之间的时间差来计算待定位节点的当前位置。这样，在锚节点不同步的情况下，根据待定位节点的历史位置与锚节点之间的距离，以及第一探测信号S’和第二探测信号S到达锚节点的时间，就可以准确计算出待定位节点发出的第一探测信号S’到达不同锚节点的时间差，从而实现了在锚节点非同步的情况下对待定位节点的准确定位。
可选地，作为一个实施例，在根据记录的历史信息和时间信息确定第一探测信号到达至少三个锚节点的时间差时，可以采用下面的方法进行计算，具体步骤如下：
首先，根据待定位节点发送第二探测信号时的历史位置以及至少三个锚节点的位置，确定处在历史位置的待定位节点与至少三个锚节点之间的距离；
其次，根据公式
Figure PCTCN2016099820-appb-000008
确定第一探测信号到达至少三个锚节点中的任意两个锚节点的时间差，其中，TAB表示第一探测信号到达至少三个锚节点中的任意两个锚节点的时间差，c表示待定位节点发出的探测信号的传播速度，LA和LB分别表示待定位节点在发送所述第二探测信号时的位置与该两个锚节点之间的距离，TA1和TB1分别表示第二探测信号到达该两个锚节点的时间，TA3和TB3分别表示第一探测信号到达该两个锚节点的时间。
可选地，作为一个实施例，当至少三个锚节点包括四个锚节点时，例如，至少三个锚节点包括第一锚节点、第二锚节点、第三锚节点和第四锚节点时，可以利用公式
Figure PCTCN2016099820-appb-000009
确定第一探测信号到达第一锚节点和第二锚节点的第一时间差，以及第一探测信号到达第三锚节点和第四锚节点的第二时间差。接下来可以利用第一时间差和第二时间差，以及第一锚节点、第二锚节点、第三锚节点和第四锚节点的位置来确定待定位节点的当前位置。
优选地，作为一个实施例，还可以利用至少三个锚节点中的三个锚节点的位置信息和第一探测信号到达该三个锚节点的时间信息来确定待定位节点的当前位置。具体而言，当至少三个锚节点包括第一锚节点、第二锚节点和第三锚节点时，可以利用公式
Figure PCTCN2016099820-appb-000010
确定第一探测信号到达第一锚节点和第二锚节点的第一时间差，第一探测信号到达第一 锚节点和第三锚节点的第二时间差，以及第一探测信号到达第二锚节点和第三锚节点的第三时间差，可以利用第一时间差、第二时间差以及第三时间差中的任意两个并结合第一锚节点、第二锚节点和第三锚节点的位置就可以计算出待定位节点的当前位置。
具体来说，可以根据公式
Figure PCTCN2016099820-appb-000011
确定TAB和TBC；其中，TAB表示第一探测信号到达第一锚节点和第二锚节点的时间差，TBC表示第一探测信号到达第二锚节点和第三锚节点的时间差，LA、LB和LC分别表示待定位节点在发送所述第二探测信号时的位置与第一锚节点、第二锚节点和第三锚节点之间的距离，TA1、TB1和TC1分别表示第二探测信号到达第一锚节点、第二锚节点和第三锚节点的时间，TA3、TB3和TC3分别表示第一探测信号到达第一锚节点、第二锚节点和第三锚节点的时间，c表示待定位节点发出的探测信号的传播速度。接下来就可以根据TAB和TBC确定待定位节点的当前位置。
可选地，作为另外一个实施例，在确定了第一探测信号到达至少三个锚节点的时间差之后，可以根据该时间差和至少三个锚节点的位置来确定待定位节点的当前位置。
具体而言，可以根据公式
Figure PCTCN2016099820-appb-000012
确定待定位节点的当前位置，其中，(xA，yA)、(xB，yB)和(xC，yC)分别表示至少三个锚节点中的第一锚节点、第二锚节点和第三锚节点的位置，TAB表示第一探测信号达到第一锚节点和第二锚节点的时间差，TBC表示第一探测信号达到第二锚节点和第三锚节点的时间差，(x，y)表示待定位节点的当前位置，c表示待定位节点发出的探测信号的传播速度。
应理解，这里只是给出了利用三个锚节点的位置信息以及探测信号到达不同锚节点的时间差信息来计算待定位节点的当前位置。同样，当锚节点为三个以上时也可以利用锚节点的位置信息以及探测信号到达不同锚节点时间差信息来计算待定位节点的当前位置。
可选地，作为一个实施例，当存在四个锚节点，例如存在第一锚节点、第二锚节点、第三锚节点以及第四锚节点时，可以根据公式
Figure PCTCN2016099820-appb-000013
确定待定位节点的当前位置，其中，(xA，yA)、(xB，yB)、(xC，yC)和(xD，yD)分别表示至少三个锚节点中的第一锚节点、第二锚节点、第三锚节点和第四锚节点的位置，TAB表示第一探测信号达到第一锚节点和第二锚节点的时间差，TCD表示第一探测信号达到第三锚节点和第四锚节点的时间差，(x，y)表示待定位节点的当前位置，c表示待定位节点发出的探测信号的传播速度。
可选地，作为一个实施例，当该定位方法由待定位节点执行，该定位方法还包括：待定位节点向至少三个锚节点发送第一探测信号；待定位节点接收至少三个锚节点反馈的时间信息。应理解，待定位节点接收至少三个锚节点反馈的时间信息，可以是分别接收至少三个锚节点中的每个锚节点反馈的时间信息，也可以是接收至少三个锚节点中的一个主锚节点反馈的时间信息，这时该主锚节点反馈的时间信息包括第一探测信号到达该至少三个锚节点中的每个锚节点的时间。待定位节点在接收到锚节点反馈的时间信息后，就可以根据待定位节点之前存储的历史信息以及该时间信息计算待定位节点的当前位置，在得到当前位置信息后待定位节点要保存该当前位置信息，并可以根据需要实时显示该当前位置信息，或者将该当前位置信息发送给其他设备。
可选地，作为一个实施例，在无线局域网(Wireless Local Area Networks，WLAN)中，待定位节点可以利用已有的帧发送探测信号，也可以利用特定的帧向锚节点发送探测信号。例如，待定位节点可以利用probe request命令向锚节点发送探测信号，在利用该命令发送探测信号时可以通过在信号中携带定位指示位，来标识出当前发送的信号是用于定位的探测信号。
图3示出了本发明实施例的基于无线网络的定位方法的流程图。如图3所示，待定位节点是该定位方法的执行主体，该定位方法的具体流程如下：
301，待定位节点在当前位置向锚节点发送探测信号；
302，待定位节点接收锚节点发送的时间信息，该时间信息记录了探测信号到达锚节点时间；
303，待定位节点根据历史信息和时间信息计算待定位节点的当前位置；
304，待定位节点保存当前位置信息。
在步骤301中待定位节点可以通过广播向锚节点发送探测信号，应理解，在这里待定位节点可以是向多个锚节点发送探测信号，为了实现对待定位节点的定位，锚节点的数量应当至少有三个。
在步骤302中，待定位节点可以接收所有锚节点发送的时间信息，并将该时间信息记录起来，如果超过一定时间，待定位节点仍未接收到全部锚节点发送的时间信息，那么待定位节点可以重新发送探测信号，然后重新再接收锚节点发送的时间信息。此外，在步骤302中，待定位节点可以依次接收多个锚节点发送的时间信息，也可以同时接收多个锚节点发送的时间信息。待定位节点还可以接收多个锚节点中的一个主锚节点发送的时间信息，这时该主锚节点发送的时间信息包括探测信号到达多个锚节点中的每个锚节点的时间。
在步骤303中，待定位节点记录了所有锚节点的位置以及待定位节点的历史位置，待定位节点可以根据记录的锚节点的位置、待定位节点上一次发送探测信号时的历史位置、探测信号到达不同锚节点的时间，以及上一次探测信号到达不同锚节点的时间，来计算出当前探测信号到达不同锚节点之间的时间差，然后再根据该时间差计算出待定位节点的当前位置。
在步骤304中，在计算出待定位节点的当前位置后，待定位节点会保存当前位置信息，以便于待定位节点实时显示当前位置，或者将该当前位置信息发送给其他设备。
可选地，作为另外一个实施例，该定位方法还可以由待定位节点之外的第三方设备来执行，这时，该定位方法还包括：第三方设备接收至少三个锚节点反馈的时间信息；第三方设备向待定位节点发送确定出的当前位置。应理解，该第三方设备可以是位于锚节点侧的设备，也可以是锚节点侧之外独立的服务设备。该第三方设备可以直接向待定位节点发送确定出的当前位置，也可以先将该当前位置信息发送给锚节点，然后再由锚节点将该当前位置信息发送给待定位节点。
图4示出了本发明实施例的基于无线网络的定位方法的流程图。如图4所示，第三方设备是该定位方法的执行主体，该定位方法的具体流程如下：
401，待定位节点在当前位置向锚节点发送探测信号；
402，第三方设备接收锚节点发送的时间信息，该时间信息记录了探测信号到达锚节点时间；
403，第三方设备根据历史信息和时间信息计算待定位节点的当前位置；
404，第三方设备向锚节点发送待定位节点的当前位置信息；
405，锚节点向待定位节点发送待定位节点的当前位置信息。
在步骤401中，待定位节点可以通过广播向锚节点发送探测信号，应当理解，在这里待定位节点是向多个锚节点发送探测信号，为了实现对待定位节点的定位，锚节点的数量应当至少有三个。
在步骤402中，第三方设备可以接收所有锚节点发送的时间信息，并将该时间信息记录下来。此外，第三方设备可以依次接收多个锚节点发送的时间信息，也可以同时接收多个锚节点发送的时间信息，还可以接收多个锚节点中的一个主锚节点发送的时间信息，这时该主锚节点发送的时间信息包括探测信号到达多个锚节点中的每个锚节点的时间。
在步骤403中，第三方设备记录了所有锚节点的位置以及待定位节点的历史位置，第三方设备可以根据记录的锚节点的位置、待定位节点上一次发送探测信号时的历史位置、探测信号到达不同锚节点的时间，以及上一次探测信号到达不同锚节点的时间，来计算出当前探测信号到达不同锚节点的时间差，然后再根据该时间差计算出待定位节点的当前位置。
在步骤404中，第三方设备可以向所有的锚节点发送待定位节点的当前位置信息，也可以只向其中的一个主锚节点发送待定位节点的当前位置信息，锚节点在接收到该当前位置信息后可以向待定位节点发送该当前位置信息。
在步骤405中，可以是多个锚节点都向待定位节点发送待定位节点的当前位置信息，也可以由其中一个主锚节点向待定位节发送待定位节点的当前位置信息。如果超过一定时间，待定位节点仍未接收到锚节点发送的待定位节点的当前位置信息，那么待定位节点可以重新发送探测信号，然后重复上述过程进行重新定位。
可选地，作为一个实施例，第一探测信号到达至少三个锚节点中的任意一个锚节点的时间可以是基于该任意一个锚节点获得第一探测信号的时间、该任意一个锚节点的射频处理和基带处理所需的时间计算得到的。具体而言，第一探测信号到达锚节点的时间，可以是该锚节点实际获取到第一探测信号的时间与该锚节点对第一探测信号的射频处理和基带处理的时间的差值。由于射频处理和基带处理都是锚节点的本地处理时间，因此，可以给出 相对比较准确的估计，这样就可以较为准确的获得第一探测信号到达第一锚节点的时间。
应理解，在对待定位节点进行初始定位时，需要先获取待定位节点的一个初始位置。该初始位置可以通过其他的定位方法获得，例如，可以通过全球定位系统(Global Position System，GPS)技术进行初步定位来获取待定位节点的初始位置，也可以通过指纹定位法来获取待定位节点的初始位置，还可以通过小区ID来获取待定位节点的初始位置等。
可选地，作为一个实施例，当待定位节点的初始位置或者某时刻的位置为估计位置而可能导致定位结果不太准确时，可以采用校准方法对待定位节点的当前位置进行校准。为便于对该校准方法进行描述，现做如下约定：第一定位周期为当前定位周期，待定位节点在第一定位周期向锚节点发送探测信号S’，在第二定位周期向锚节点发送探测信号S，其中，第二定位周期是第一定位周期的上一个定位周期，待定位节点在发送探测信号S时的位置为LS1，待定位节点在发送探测信号S’时的位置为LS’1。该校准方法的具体步骤如下：
(1)根据待定位节点在发送探测信号S时的位置LS1来计算待定位节点在发送探测信号S’时的位置LS’1；
(2)通过待定位节点在发送探测信号S’时的位置LS’1来计算待定位节点在发送探测信号S时的位置LS1。
反复进行步骤(1)和步骤(2)，也就是说将步骤(1)计算出的结果代入到步骤(2)中，再将步骤(2)得出的结果代入到步骤(1)中，这样反复迭代就可以计算出待定位节点在第一定位周期发送探测信号S’时的位置LS’1、LS’2、LS’3、LS’3、LS’4……。如果这些数据有一个收敛值，那么就可以将该收敛值就当做待定位节点在发送探测信号S’时的真实位置，这样就实现了对定位结果的校准。应理解，校准过程是在极短的时间内完成的，也就说校准的过程可以是在第二定位周期内完成的，通过位置校准能够进一步提高该定位方法的定位精度。
本发明实施例中，根据待定位节点发送的探测信号到达不同锚节点的时间以及待定位节点的历史信息，能够准确确定探测信号到达不同锚节点的时间差，进而确定待定位节点的位置，与现有技术必须要保证锚节点严格同步才能实现准确定位相比，能够在锚节点不同步的情况下采用TDOA方式进行 准确定位。
上文结合图1至图4，详细的描述了根据本发明实施例的基于无线网络的定位方法，下文结合图5和图6，详细描述根据本发明实施例的基于无线网络的定位装置。应理解，图5和图6中的定位装置能够实现图1至图4中的方法的各个步骤，为避免重复，此处不再详述。
图5是本发明实施例的基于无线网络的定位装置的示意性框图。图5的定位装置500包括：
获取模块510，用于获取用于确定待定位节点当前位置的时间信息，所述时间信息记录了所述待定位节点在所述当前位置发出的第一探测信号到达至少三个锚节点的时间；
第一确定模块520，用于根据记录的历史信息和所述时间信息确定所述第一探测信号到达所述至少三个锚节点的时间差，其中，所述第一探测信号到达所述至少三个锚节点的时间差为所述第一探测信号到达所述至少三个锚节点的时间之间的差值，所述历史信息记录了所述至少三个锚节点的位置、所述待定位节点发送第二探测信号时的历史位置、以及所述第二探测信号到达所述至少三个锚节点的时间，所述第二探测信号是所述待定位节点之前发送的用于定位的探测信号；
第二确定模块530，用于根据所述至少三个锚节点的位置，以及所述第一探测信号到达所述至少三个锚节点的时间差确定所述待定位节点的当前位置。
本发明实施例中，根据待定位节点发送的探测信号到达不同锚节点的时间以及待定位节点的历史信息，能够准确确定探测信号到达不同锚节点的时间差，进而确定待定位节点的位置，与现有技术必须要保证锚节点严格同步才能实现准确定位相比，能够在锚节点不同步的情况下采用TDOA方式进行准确定位。
可选地，作为一个实施例，所述第一确定模块520具体用于：根据所述历史位置，以及所述至少三个锚节点的位置，确定处在所述历史位置的所述待定位节点与所述至少三个锚节点之间的距离；根据公式
Figure PCTCN2016099820-appb-000014
确定所述第一探测信号到达所述至少三个锚节点的时间差，其中，TAB表示所述第一探测信号到达所述至少三个锚节点中的任意两个锚节点的时间差，c表示所述待定位节点发出的探测信号的 传播速度，LA和LB分别表示处于所述历史位置的所述待定位节点与所述两个锚节点之间的距离，TA1和TB1分别表示所述第二探测信号到达所述两个锚节点的时间，TA3和TB3分别表示所述第一探测信号到达所述两个锚节点的时间。
可选地，作为一个实施例，所述第一确定模块520具体用于：根据公式
Figure PCTCN2016099820-appb-000015
确定所述待定位节点的当前位置，其中，(xA，yA)、(xB，yB)和(xC，yC)分别表示所述至少三个锚节点中的第一锚节点、第二锚节点和第三锚节点的位置，TAB表示所述第一探测信号达到所述第一锚节点和所述第二锚节点的时间差，TBC表示所述第一探测信号达到所述第二锚节点和所述第三锚节点的时间差，(x，y)表示所述待定位节点的当前位置，c表示所述待定位节点发出的探测信号的传播速度。
可选地，作为一个实施例，所述定位装置500为待定位节点，所述定位装置500还包括：发送模块；所述发送模块用于向所述至少三个锚节点发送所述第一探测信号；所述获取模块具体用于接收所述至少三个锚节点反馈的所述时间信息。
可选地，作为一个实施例，所述定位装置500为所述待定位节点之外的第三方设备，所述定位装置500还包括：发送模块；所述获取模块具体用于接收所述至少三个锚节点反馈的所述时间信息；所述发送模块用于向所述待定位节点发送确定出的所述当前位置。
可选地，作为一个实施例，所述第一探测信号到达所述至少三个锚节点中的任意一个锚节点的时间是基于所述任意一个锚节点获得所述第一探测信号的时间、所述任意一个锚节点的射频处理和基带处理所需的时间计算得到的。
图6是本发明实施例的基于无线网络的定位装置的示意性框图。图6的定位装置600包括接收器610和处理器620。
接收器610，用于获取用于确定待定位节点当前位置的时间信息，所述时间信息记录了所述待定位节点在所述当前位置发出的第一探测信号到达至少三个锚节点的时间；
处理器620，用于根据记录的历史信息和所述时间信息确定所述第一探测信号到达所述至少三个锚节点的时间差，其中，所述第一探测信号到达所 述至少三个锚节点的时间差为所述第一探测信号到达所述至少三个锚节点的时间之间的差值，所述历史信息记录了所述至少三个锚节点的位置、所述待定位节点发送第二探测信号时的历史位置、以及所述第二探测信号到达所述至少三个锚节点的时间，所述第二探测信号是所述待定位节点之前发送的用于定位的探测信号；根据所述至少三个锚节点的位置，以及所述第一探测信号到达所述至少三个锚节点的时间差确定所述待定位节点的当前位置。
本发明实施例中，根据待定位节点发送的探测信号到达不同锚节点的时间以及待定位节点的历史信息，能够准确确定探测信号到达不同锚节点的时间差，进而确定待定位节点的位置，与现有技术必须要保证锚节点严格同步才能实现准确定位相比，能够在锚节点不同步的情况下采用TDOA方式进行准确定位。
可选地，作为一个实施例，所述处理器620具体用于根据所述历史位置，以及所述至少三个锚节点的位置，确定处在所述历史位置的所述待定位节点与所述至少三个锚节点之间的距离；根据公式
Figure PCTCN2016099820-appb-000016
确定所述第一探测信号到达所述至少三个锚节点的时间差，其中，TAB表示所述第一探测信号到达所述至少三个锚节点中的任意两个锚节点的时间差，c表示所述待定位节点发出的探测信号的传播速度，LA和LB分别表示处于所述历史位置的所述待定位节点与所述两个锚节点之间的距离，TA1和TB1分别表示所述第二探测信号到达所述两个锚节点的时间，TA3和TB3分别表示所述第一探测信号到达所述两个锚节点的时间。
可选地，作为一个实施例，所述处理器620具体用于根据公式
Figure PCTCN2016099820-appb-000017
确定所述待定位节点的当前位置，其中，(xA，yA)、(xB，yB)和(xC，yC)分别表示所述至少三个锚节点中的第一锚节点、第二锚节点和第三锚节点的位置，TAB表示所述第一探测信号达到所述第一锚节点和所述第二锚节点的时间差，TBC表示所述第一探测信号达到所述第二锚节点和所述第三锚节点的时间差，(x，y)表示所述待定位节点的当前位置，c表示所述待定位节点发出的探测信号的传播速度。
可选地，作为一个实施例，所述定位装置600为待定位节点，所述定位装置600还包括：发送器；所述发送器用于向所述至少三个锚节点发送所述 第一探测信号；所述接收器具体用于接收所述至少三个锚节点反馈的所述时间信息。
可选地，作为一个实施例，所述定位装置600为待定位节点之外的第三方设备，所述定位装置600还包括：发送器；所述接收器610具体用于接收所述至少三个锚节点反馈的所述时间信息；所述发送器用于向所述待定位节点发送确定出的所述当前位置。
可选地，作为一个实施例，所述第一探测信号到达所述至少三个锚节点中的任意一个锚节点的时间是基于所述任意一个锚节点获得所述第一探测信号的时间、所述任意一个锚节点的射频处理和基带处理所需的时间估计得到的。
应理解，本发明实施例的基于无线网络的定位方法和定位装置不仅可以应用到WLAN网络中，还可以应用到其他所有非同步无线网络中。
应理解，本文中术语“和/或”，仅仅是一种描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B这三种情况。另外，本文中字符“/”，一般表示前后关联对象是一种“或”的关系。
应理解，在本发明的各种实施例中，上述各过程的序号的大小并不意味着执行顺序的先后，各过程的执行顺序应以其功能和内在逻辑确定，而不应对本发明实施例的实施过程构成任何限定。
本领域普通技术人员可以意识到，结合本文中所公开的实施例描述的各示例的单元及算法步骤，能够以电子硬件、或者计算机软件和电子硬件的结合来实现。这些功能究竟以硬件还是软件方式来执行，取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本发明的范围。
所属领域的技术人员可以清楚地了解到，为描述的方便和简洁，上述描述的系统、装置和单元的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。
在本申请所提供的几个实施例中，应该理解到，所揭露的系统、装置和方法，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，所述单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个 系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。
另外，在本发明各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。
所述功能如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本发明的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本发明各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、磁碟或者光盘等各种可以存储程序代码的介质。
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以所述权利要求的保护范围为准。

Claims (18)

  1. 一种基于无线网络的定位方法，其特征在于，包括：
    获取用于确定待定位节点当前位置的时间信息，所述时间信息记录了所述待定位节点在所述当前位置发出的第一探测信号到达至少三个锚节点的时间；
    根据记录的历史信息和所述时间信息确定所述第一探测信号到达所述至少三个锚节点的时间差，其中，所述第一探测信号到达所述至少三个锚节点的时间差为所述第一探测信号到达所述至少三个锚节点的时间之间的差值，所述历史信息记录了所述至少三个锚节点的位置、所述待定位节点发送第二探测信号时的历史位置、以及所述第二探测信号到达所述至少三个锚节点的时间，所述第二探测信号是所述待定位节点在发送所述第一探测信号之前发送的用于定位的探测信号；
    根据所述至少三个锚节点的位置，以及所述第一探测信号到达所述至少三个锚节点的时间差确定所述待定位节点的当前位置。
  2. 如权利要求1所述的定位方法，其特征在于，所述根据记录的历史信息和所述时间信息确定所述第一探测信号到达所述至少三个锚节点的时间差，包括：
    根据所述历史位置，以及所述至少三个锚节点的位置，确定处在所述历史位置的所述待定位节点与所述至少三个锚节点之间的距离；
    根据公式
    Figure PCTCN2016099820-appb-100001
    确定所述第一探测信号到达所述至少三个锚节点中的任意两个锚节点的时间差，其中，TAB表示所述第一探测信号到达所述至少三个锚节点中的任意两个锚节点的时间差，c表示所述待定位节点发出的探测信号的传播速度，LA和LB分别表示所述待定位节点在发送所述第二探测信号时的位置与所述两个锚节点之间的距离，TA1和TB1分别表示所述第二探测信号到达所述两个锚节点的时间，TA3和TB3分别表示所述第一探测信号到达所述两个锚节点的时间。
  3. 如权利要求1或2所述的定位方法，其特征在于，所述根据所述至少三个锚节点的位置，以及所述第一探测信号到达所述至少三个锚节点的时间差确定所述待定位节点的当前位置，包括：
    根据公式
    Figure PCTCN2016099820-appb-100002
    确定所述待定位节 点的当前位置，其中，(xA，yA)、(xB，yB)和(xC，yC)分别表示所述至少三个锚节点中的第一锚节点、第二锚节点和第三锚节点的位置，TAB表示所述第一探测信号达到所述第一锚节点和所述第二锚节点的时间差，TBC表示所述第一探测信号达到所述第二锚节点和所述第三锚节点的时间差，(x，y)表示所述待定位节点的当前位置，c表示所述待定位节点发出的探测信号的传播速度。
  4. 如权利要求1-3中任一项所述的定位方法，其特征在于，所述定位方法由所述待定位节点执行，所述定位方法还包括：
    所述待定位节点向所述至少三个锚节点发送所述第一探测信号；
    所述获取用于确定待定位节点当前位置的时间信息，包括：
    所述待定位节点接收所述至少三个锚节点反馈的所述时间信息。
  5. 如权利要求1-3中任一项所述的定位方法，其特征在于，所述定位方法由所述待定位节点之外的第三方设备执行，所述获取用于确定待定位节点当前位置的时间信息，包括：
    所述第三方设备接收所述至少三个锚节点反馈的所述时间信息；
    所述定位方法还包括：
    所述第三方设备向所述待定位节点发送确定出的所述当前位置。
  6. 如权利要求1-5中任一项所述的定位方法，其特征在于，所述第一探测信号到达所述至少三个锚节点中的任意一个锚节点的时间是基于所述任意一个锚节点获得所述第一探测信号的时间、所述任意一个锚节点的射频处理和基带处理所需的时间计算得到的。
  7. 一种基于无线网络的定位装置，其特征在于，包括：
    获取模块，用于获取用于确定待定位节点当前位置的时间信息，所述时间信息记录了所述待定位节点在所述当前位置发出的第一探测信号到达至少三个锚节点的时间；
    第一确定模块，用于根据记录的历史信息和所述时间信息确定所述第一探测信号到达所述至少三个锚节点的时间差，其中，所述第一探测信号到达所述至少三个锚节点的时间差为所述第一探测信号到达所述至少三个锚节点的时间之间的差值，所述历史信息记录了所述至少三个锚节点的位置、所述待定位节点发送第二探测信号时的历史位置、以及所述第二探测信号到达所述至少三个锚节点的时间，所述第二探测信号是所述待定位节点之前发送的用于定位的探测信号；
    第二确定模块，用于根据所述至少三个锚节点的位置，以及所述第一探测信号到达所述至少三个锚节点的时间差确定所述待定位节点的当前位置。
  8. 如权利要求7所述的定位装置，其特征在于，所述第一确定模块具体用于：
    根据所述历史位置，以及所述至少三个锚节点的位置，确定处在所述历史位置的所述待定位节点与所述至少三个锚节点之间的距离；
    根据公式
    Figure PCTCN2016099820-appb-100003
    确定所述第一探测信号到达所述至少三个锚节点的时间差，其中，TAB表示所述第一探测信号到达所述至少三个锚节点中的任意两个锚节点的时间差，c表示所述待定位节点发出的探测信号的传播速度，LA和LB分别表示处于所述历史位置的所述待定位节点与所述两个锚节点之间的距离，TA1和TB1分别表示所述第二探测信号到达所述两个锚节点的时间，TA3和TB3分别表示所述第一探测信号到达所述两个锚节点的时间。
  9. 如权利要求7或8所述的定位装置，其特征在于，所述第二确定模块具体用于：
    根据公式
    Figure PCTCN2016099820-appb-100004
    确定所述待定位节点的当前位置，其中，(xA，yA)、(xB，yB)和(xC，yC)分别表示所述至少三个锚节点中的第一锚节点、第二锚节点和第三锚节点的位置，TAB表示所述第一探测信号达到所述第一锚节点和所述第二锚节点的时间差，TBC表示所述第一探测信号达到所述第二锚节点和所述第三锚节点的时间差，(x，y)表示所述待定位节点的当前位置，c表示所述待定位节点发出的探测信号的传播速度。
  10. 如权利要求7-9中任一项所述的定位装置，其特征在于，所述定位装置为待定位节点，所述定位装置还包括：发送模块；
    所述发送模块用于向所述至少三个锚节点发送所述第一探测信号；
    所述获取模块具体用于接收所述至少三个锚节点反馈的所述时间信息。
  11. 如权利要求7-9中任一项所述的定位装置，其特征在于，所述定位装置为所述待定位节点之外的第三方设备，所述定位装置还包括：发送模块；
    所述获取模块具体用于接收所述至少三个锚节点反馈的所述时间信息；
    所述发送模块用于向所述待定位节点发送确定出的所述当前位置。
  12. 如权利要求7-11中任一项所述的定位装置，其特征在于，所述第一探测信号到达所述至少三个锚节点中的任意一个锚节点的时间是基于所述任意一个锚节点获得所述第一探测信号的时间、所述任意一个锚节点的射频处理和基带处理所需的时间计算得到的。
  13. 一种基于无线网络的定位装置，其特征在于，包括：
    接收器，用于获取用于确定待定位节点当前位置的时间信息，所述时间信息记录了所述待定位节点在所述当前位置发出的第一探测信号到达至少三个锚节点的时间；
    处理器，用于根据记录的历史信息和所述时间信息确定所述第一探测信号到达所述至少三个锚节点的时间差，其中，所述第一探测信号到达所述至少三个锚节点的时间差为所述第一探测信号到达所述至少三个锚节点的时间之间的差值，所述历史信息记录了所述至少三个锚节点的位置、所述待定位节点发送第二探测信号时的历史位置、以及所述第二探测信号到达所述至少三个锚节点的时间，所述第二探测信号是所述待定位节点之前发送的用于定位的探测信号；
    所述处理器还用于根据所述至少三个锚节点的位置，以及所述第一探测信号到达所述至少三个锚节点的时间差确定所述待定位节点的当前位置。
  14. 如权利要求13所述的定位装置，其特征在于，所述处理器具体用于：
    根据所述历史位置，以及所述至少三个锚节点的位置，确定处在所述历史位置的所述待定位节点与所述至少三个锚节点之间的距离；
    根据公式
    Figure PCTCN2016099820-appb-100005
    确定所述第一探测信号到达所述至少三个锚节点的时间差，其中，TAB表示所述第一探测信号到达所述至少三个锚节点中的任意两个锚节点的时间差，c表示所述待定位节点发出的探测信号的传播速度，LA和LB分别表示处于所述历史位置的所述待定位节点与所述两个锚节点之间的距离，TA1和TB1分别表示所述第二探测信号到达所述两个锚节点的时间，TA3和TB3分别表示所述第一探测信号到达所述两个锚节点的时间。
  15. 如权利要求13或14所述的定位装置，其特征在于，所述处理器具体用于：
    根据公式
    Figure PCTCN2016099820-appb-100006
    确定所述待定位节点的当前位置，其中，(xA，yA)、(xB，yB)和(xC，yC)分别表示所述至少三个锚节点中的第一锚节点、第二锚节点和第三锚节点的位置，TAB表示所述第一探测信号达到所述第一锚节点和所述第二锚节点的时间差，TBC表示所述第一探测信号达到所述第二锚节点和所述第三锚节点的时间差，(x，y)表示所述待定位节点的当前位置，c表示所述待定位节点发出的探测信号的传播速度。
  16. 如权利要求13-15中任一项所述的定位装置，其特征在于，所述定位装置为待定位节点，所述定位装置还包括：发送器；
    所述发送器用于向所述至少三个锚节点发送所述第一探测信号；
    所述接收器具体用于接收所述至少三个锚节点反馈的所述时间信息。
  17. 如权利要求13-15中任一项所述的定位装置，其特征在于，所述定位装置为待定位节点之外的第三方设备，所述定位装置还包括：发送器；
    所述接收器具体用于接收所述至少三个锚节点反馈的所述时间信息；
    所述发送器用于向所述待定位节点发送确定出的所述当前位置。
  18. 如权利要求13-17中任一项所述的定位装置，其特征在于，所述第一探测信号到达所述至少三个锚节点中的任意一个锚节点的时间是基于所述任意一个锚节点获得所述第一探测信号的时间、所述任意一个锚节点的射频处理和基带处理所需的时间计算得到的。
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