WO2019052575A1 - 定位无线设备的方法、装置、设备及存储介质 - Google Patents

定位无线设备的方法、装置、设备及存储介质 Download PDF

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Publication number
WO2019052575A1
WO2019052575A1 PCT/CN2018/106212 CN2018106212W WO2019052575A1 WO 2019052575 A1 WO2019052575 A1 WO 2019052575A1 CN 2018106212 W CN2018106212 W CN 2018106212W WO 2019052575 A1 WO2019052575 A1 WO 2019052575A1
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wireless device
location
center point
mobile terminal
locating
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PCT/CN2018/106212
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English (en)
French (fr)
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梁晓辉
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西安中兴新软件有限责任公司
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Publication of WO2019052575A1 publication Critical patent/WO2019052575A1/zh

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    • 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
    • H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
    • 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

Definitions

  • the present disclosure relates to, but is not limited to, the field of wireless communications.
  • GPS Global Positioning System
  • WIFI wireless fidelity
  • a method for locating a wireless device includes: a mobile terminal separately transmitting a positioning signal to a wireless device at a plurality of location points, and receiving a response signal returned by the wireless device; Determining a plurality of predicted positions of the wireless device by using a transmission time of the positioning signal and a receiving time of the response signal; and processing, by the mobile terminal, a plurality of predicted positions of the wireless device by using a central point algorithm The actual location of the wireless device.
  • An apparatus for locating a wireless device includes: a signal processing module configured to separately send a positioning signal to a wireless device at a plurality of location points, and receive a response signal returned by the wireless device; a module configured to determine a plurality of predicted locations of the wireless device based on a transmission time of the positioning signal and a reception time of the response signal; and a location determining module configured to utilize the central point algorithm to the wireless The plurality of predicted locations of the device are processed to obtain the actual location of the wireless device.
  • An apparatus for locating a wireless device including a processor and a memory, according to an embodiment of the present disclosure, wherein the memory stores a computer program, and when the processor executes the computer program, the processor executes according to the present A method of locating a wireless device.
  • a storage medium on which a computer program is stored, the processor executing a method of locating a wireless device according to the present disclosure when the processor executes the computer program.
  • FIG. 1 is a flow chart of a method of locating a wireless device in accordance with an embodiment of the present disclosure
  • FIG. 2 is a block diagram of an apparatus for locating a wireless device in accordance with an embodiment of the present disclosure
  • 3 and 4 are flowcharts of examples of a method of locating a wireless device in accordance with an embodiment of the present disclosure
  • FIG. 5 is a structural block diagram of a terminal that locates a wireless device in accordance with an embodiment of the present disclosure.
  • FIG. 1 is a flow chart of a method of locating a wireless device in accordance with an embodiment of the present disclosure.
  • a method of locating a wireless device may include steps S101 to S103.
  • step S101 the mobile terminal respectively sends a positioning signal to the wireless device at a plurality of location points, and receives a response signal returned by the wireless device.
  • the mobile terminal records the transmission time of the positioning signal when transmitting the positioning signal at each position, and the wireless device records the receiving time of the positioning signal when receiving the positioning signal.
  • the wireless device transmits the reception time of the positioning signal and the response signal for responding to the positioning signal to the mobile terminal together with the transmission time of the response signal. After the mobile terminal obtains the response signal, the transmission time of the response signal can be obtained, and the reception time of the response signal is recorded.
  • step S102 the mobile terminal determines a plurality of predicted positions of the wireless device according to the transmission and reception time of the positioning signal and the response signal.
  • the plurality of location points includes at least five location points.
  • the mobile terminal can obtain a plurality of predicted locations of the wireless device based on the distance from the wireless device at each location. For example, when the plurality of location points include three location points, the distance between the three location points and the wireless device can be obtained, and then a prediction algorithm is determined by using a trilateration algorithm; when four locations are located, four can be obtained. The distance between the location point and the wireless device, using any three distances of the four distances to determine a predicted position, finally obtaining four predicted positions; when the plurality of position points includes five position points, five can be obtained The distance between the location point and the wireless device, using any three of the five distances to determine a predicted location, and finally ten predicted locations. The greater the number of location points, the greater the number of predicted locations obtained.
  • step S103 the mobile terminal processes the plurality of predicted positions of the wireless device using the center point algorithm to obtain the actual location of the wireless device.
  • the mobile terminal may determine a first center point of the wireless device according to the plurality of predicted locations of the wireless device determined by the four location points, and may determine the wireless according to the plurality of predicted locations of the wireless terminal determined by the five location points.
  • the second center point of the device The mobile terminal can determine the location of the wireless device based at least on the first central point and the second central point.
  • the first center point or the second center point may be used as the location of the wireless device, if the distance between the first center point and the second center point is not satisfied
  • the location convergence accuracy condition the mobile terminal determines a third center point of the wireless device according to the plurality of predicted positions of the wireless device determined by the five or more location points, and according to the first center point, the second center point, and the third center point The two center points satisfying the condition of the position convergence accuracy are determined, and one of the two center points is taken as the position of the wireless device.
  • the mobile terminal processes the plurality of predicted locations of the wireless device by using a central point algorithm, and after obtaining the actual location of the wireless device, the wireless device whose actual location has been determined may also be utilized.
  • Other wireless devices are positioned.
  • the mobile terminal may send a request for reporting the location of the other wireless device to the wireless device whose actual location has been determined, and receive the distance from the other wireless device measured and returned by the wireless device in response to the request, and then utilize the wireless device and other wireless devices.
  • the distance of the device to determine the location of other wireless devices That is to say, the mobile terminal can use the positioned wireless device as a measurement reference point to speed up the positioning of other wireless devices.
  • FIG. 2 is a block diagram of an apparatus for locating a wireless device in accordance with an embodiment of the present disclosure.
  • an apparatus for locating a wireless device may include a signal processing module 201, a position prediction module 202, and a position determination module 203.
  • the signal processing module 201 is configured to respectively transmit a positioning signal to the wireless device at a plurality of location points and receive a response signal returned by the wireless device.
  • the location prediction module 202 is configured to determine a plurality of predicted locations of the wireless device based on the positioning signal and the transmission and reception time of the response signal.
  • the location determining module 203 is configured to process the plurality of predicted locations of the wireless device using a central point algorithm to obtain an actual location of the wireless device.
  • the signal processing module 201 can transmit a positioning signal to the wireless device at the first location point and receive a response signal returned by the wireless device.
  • the location prediction module 202 can determine the distance of the first location point from the wireless device according to the location signal of the first location point and the transmission and reception time of the response signal. Likewise, the distance of the second location point from the wireless device and the distance of the third location point from the wireless device can be determined. At this point, the location prediction module 202 determines the first predicted location of the wireless device using the distances of the first location point, the second location point, and the third location point to the wireless device.
  • the signal processing module 201 can continue to transmit the positioning signal to the wireless device at the fourth location point and receive the response signal returned by the wireless device.
  • the location prediction module 202 can determine the distance between the fourth location point and the wireless device according to the location signal of the fourth location point and the transmission and reception time of the response signal.
  • the location prediction module 202 can utilize the distances of the first location point, the second location point, and the fourth location point to the wireless device to determine a second predicted location of the wireless device, utilizing the first location point, the third location point, and the fourth location point
  • the third predicted location of the wireless device is determined by the distance to the wireless device, and the fourth predicted location of the wireless device is determined using the distance of the second location point, the third location point, and the fourth location point to the wireless device.
  • the location determining module 203 can determine a first center point of the wireless device using the first predicted location, the second predicted location, the third predicted location, and the fourth predicted location.
  • the signal processing module 201 can continue to transmit a positioning signal to the wireless device at the fifth location point and receive a response signal returned by the wireless device.
  • the location prediction module 202 can determine the distance between the fifth location point and the wireless device according to the location signal of the fifth location point and the transmission and reception time of the response signal.
  • the location prediction module 202 can determine the distance of the wireless device by using the distance between the two of the first location point, the second location point, the third location point, and the fourth location point, and the distance from the fifth location point to the wireless device, respectively. New six predicted positions (ie, the fifth predicted position to the tenth predicted position).
  • the location determination module 203 can determine the second center point of the wireless device using the first center point and the new six predicted locations.
  • the location determining module 203 uses the first center point or the second center point as the actual location of the wireless device; otherwise, in a new The location point again performs the signal transceiving operation of the signal processing module 201, the position prediction operation of the position prediction module 202, and the position determination operation of the position determination module 203 until the distance between the two center points is found to be less than or equal to the terminal preset position convergence accuracy.
  • Embodiments of the present disclosure also provide an apparatus for locating a wireless device, including a processor and a memory.
  • the memory stores a computer program.
  • the processor executes the computer program, a method of locating a wireless device in accordance with various embodiments of the present disclosure is performed.
  • 3 and 4 are flow diagrams of examples of methods of locating a wireless device in accordance with an embodiment of the disclosure.
  • the present example includes steps 301 to 309.
  • step 301 the terminal scans the peripheral wireless device through the preset wireless channel, thereby selecting the target wireless device.
  • target wireless devices there are many types of target wireless devices, including WIFI devices, Bluetooth devices, infrared devices, RFID devices, and the like. Any device having a wireless chip can be included in the target wireless device of the embodiment of the present disclosure.
  • the terminal turns on the corresponding wireless chip switch and scans the current surrounding wireless device.
  • each wireless device has a unique identification code.
  • the terminal turns on the switch of the WIFI wireless chip, scans the current surrounding WIFI wireless device, selects the target wireless device and displays the identity identification information on the terminal, and further may select to initiate a positioning request to the wireless device.
  • the user may select to initiate a location request to one target wireless device at a time, or may initiate a location request to multiple target wireless devices at a time.
  • the target wireless device detects the location request and returns response information to the terminal.
  • the target wireless device may enable a real-time message broadcast service (Broad_server) and a location location service (Location_server).
  • Broad_server real-time message broadcast service
  • Location_server location location service
  • the terminal When the terminal selects to initiate a positioning operation to one or more target wireless devices, the terminal may open a location management service (Location Manager) to respectively send location request information (location_request) to each target wireless device.
  • Location Manager Location Management service
  • the location location service (Location_server) of the target wireless device detects the location request (Location_request) sent by the terminal, the response information (resp_info) is returned to the terminal.
  • the terminal In steps 303 to 305, the terminal periodically calculates the linear distance to the wireless device during the movement of the user, and performs trilateration positioning.
  • the terminal initiates a positioning request to the wireless device, the terminal records the current time T1; when the wireless device receives the positioning request sent by the terminal, the wireless device records the current time T2; when the target wireless device sends the response information to the terminal, the wireless device records the current At time T3; and when the terminal receives the response information sent by the wireless device, the terminal records the current time as T4, and the time T of the wireless propagation is:
  • T 1/2 ((T4-T1) - (T3-T2)).
  • the terminal When the terminal calculates the distance from the first location to the wireless device, the terminal records the first location as the coordinate system origin Q1 (X1, Y1), and determines the direction through the sensor on the terminal, in the north direction.
  • the positive direction of the X-axis establishes the position coordinate system M in the positive east direction as the positive direction of the Y-axis.
  • the terminal makes a prompt to the user to "please the user to move".
  • the terminal management service can issue a positioning request to each wireless device every predetermined period of time, thereby calculating the distance to each wireless device at the new location. For example, the distance L2 of the terminal from the location Q2 to the target wireless device and the distance L3 to the target wireless device at the location Q3 may be calculated, and then the location information at the location Q2 and the location Q3 may be reported to the current terminal management service. Subsequently, the terminal invokes a trilateration positioning algorithm to read values of parameters Q1, Q2, Q3, L1, L2, L3, etc., to calculate a first predicted position K11 (X11, Y11) of the target wireless device. In one embodiment, the periodic interval can be 2s or 3s.
  • the terminal management service For each target wireless device, when the terminal management service detects that three sets of measured values are buffered, the three sets of measured values are read, that is, different positions Q1, Q2, and Q3 when the terminal requests three times of positioning, and three calculated distance values. L1, L2, L3, and then the terminal invokes the trilateration calculation method to determine the first predicted position of each target wireless device.
  • the terminal makes a move direction prompt to the user to obtain more predicted locations of the target wireless device.
  • the terminal gives the positioning position of the target wireless device according to the preset convergence precision.
  • the terminal For each target wireless device, when the terminal obtains the distance between the current location of the terminal (eg, location Q4) and the target wireless device (eg, L4), the terminal reads Q1, Q2, Q3, Q4, L1, L2, L3, L4. For the value of the parameter, the result of taking any three measurements from the four measurements is to perform a trilateration positioning algorithm (the combination of the results of the first three measurements can be excluded to avoid double counting). Thus, a second predicted position K21 (X21, Y21), a third predicted position K22 (X22, Y22), and a fourth predicted position K23 (X23, Y23) are obtained for each target wireless device. The terminal combines the first predicted position K1 (X11, Y11) to calculate a first center point K10 (X10, Y10) of the four predicted positions:
  • X10 (X11+X21+X22+X23)/4;
  • Y10 (Y11+Y21+Y22+Y23)/4.
  • the user can continue to move according to the prompt direction given by the terminal.
  • the terminal obtains the distance between the current location of the terminal (for example, location Q5) and the target wireless device (for example, L5)
  • the terminal reads Q1, Q2, Q3, Q4, and Q5.
  • the values of the parameters such as L1, L2, L3, L4, and L5, and the results of any three measurements from the five measurements are performed to perform a trilateration positioning algorithm (the combination of the results of the previously calculated measurements can be eliminated to avoid duplication. Calculation).
  • a fifth predicted position K31 (X31, Y31), a sixth predicted position K32 (X32, Y32), a seventh predicted position K33 (X33, Y33), and an eighth predicted K34 (X34, Y34), the ninth predicted position K35 (X35, Y35), and the tenth predicted position K36 (X36, Y36).
  • the terminal can calculate the second center point K20 (X20, Y20) in combination with the first center point K10 (X10, Y10) and the new six predicted positions:
  • X20 (X10+X31+X32+X33+X34+X35+X36)/7;
  • Y20 (Y10+Y31+Y32+Y33+Y34+Y35+Y36)/7.
  • the terminal compares the distance difference D between the first center point K10 and the second center point K20.
  • the terminal may prompt the user that “the wireless device position has been determined, please follow the indicated direction. Move", at the same time, the center point K10 (X10, Y10) or the center point K20 (X20, Y20) and the current location of the user can be identified on the coordinate system M.
  • the interface information of the user's area can be displayed on the interface of the terminal, and the shortest path of the user to the target wireless device is given in combination with the map information.
  • the distance difference D can be calculated as follows:
  • steps 306 and 307 are performed again to calculate a new third center point K30 (X30, Y30). Then calculate the distance difference between K10 and K20 and K30 respectively.
  • the distance difference between the two center points is less than or equal to the preset convergence precision, for example, the distance difference between K20 and K30 is smaller than the preset convergence.
  • K20 or K30 can be used as the exact location of the target wireless device, and is identified on the coordinate system M along with the current user's location (step 309).
  • the terminal uses the location of the wireless device that has converged (ie, determined its location) as a new measurement point reference of other wireless devices, thereby accelerating the positioning of other wireless devices.
  • the terminal may send a request to the target wireless device A whose location has been determined to report the location of other target wireless devices (for example, the wireless device B and the wireless device C).
  • the wireless device A may The target wireless device B and the target wireless device C issue a ranging request (step 310).
  • the terminal sets the location of the wireless device A based on the current measurement data of the target wireless device B and the target wireless device C.
  • the ranging information is added as measurement data of the target wireless device B and the target device C, respectively (step 311).
  • the terminal calculates the location of the target wireless device B and the target wireless device C. For example, the terminal determines that the convergence accuracy of the target wireless device B reaches the requirement, and then notifies the wireless device B to report the ranging information of the wireless device C (step 312).
  • the terminal adds the location of the wireless device B and its ranging information as measurement data of the target wireless device C (step 313), thereby determining the location of the wireless device C (step 314).
  • FIG. 5 is a structural block diagram of a terminal that locates a wireless device in accordance with an embodiment of the present disclosure.
  • a terminal that locates a wireless device may include a display module 401, a communication module 402, and a positioning module 403.
  • the display module 401 can display the target wireless device to be located and located on the terminal to enable the user to initiate a positioning request.
  • the display module 401 can also display the prompt message “Please move the user” or the determined location of the target wireless device according to the positioning result of the positioning module 403.
  • the communication module 402 can initiate a location request to the target wireless device and receive response information returned by the target wireless device according to the target wireless device information acquired from the display module 401.
  • the communication module 402 can also record the time when the request information is transmitted to the target wireless device, the time when the target wireless device receives the request information, the time when the target wireless device transmits the response information, and the time when the response information is received, and transmit the time information to Positioning module 403.
  • the positioning module 403 reads the time information transmitted by the communication module 402, and calculates the distance between the current location of the terminal and the wireless terminal device by calling a wireless ranging method. After performing three or more rangings, the positioning module 403 calls the trilateration positioning algorithm to obtain the predicted position of the target wireless device. Finally, the positioning module 403 calculates a plurality of center points by using a plurality of predicted positions, and obtains the position of the target wireless device by comparing the center points, and then the position of the target wireless device is transmitted to the display module 401 for display on the terminal.
  • the target wireless device is quickly and accurately positioned by the moving direction and the trajectory of the mobile phone, and is suitable for a user who has a positioning requirement for a wireless device in a certain indoor/outdoor area.
  • Such software may be distributed on a computer readable medium, which may include computer storage media (or non-transitory media) and communication media (or transitory media).
  • computer storage medium includes volatile and nonvolatile, implemented in any method or technology for storing information, such as computer readable instructions, data structures, program modules or other data. Sex, removable and non-removable media.
  • Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disc (DVD) or other optical disc storage, magnetic cartridge, magnetic tape, magnetic disk storage or other magnetic storage device, or may Any other medium used to store the desired information and that can be accessed by the computer.
  • communication media typically includes computer readable instructions, data structures, program modules or other data in a modulated data signal, such as a carrier wave or other transport mechanism, and can include any information delivery media. .

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Abstract

本公开提供了一种定位无线设备的方法和装置。所述方法包括：移动终端在多个位置点分别向无线设备发送定位信号，并接收所述无线设备返回的响应信号；所述移动终端根据所述定位信号和所述响应信号的收发时间，确定所述无线设备的多个预测位置；以及所述移动终端利用中心点算法，对所述无线设备的多个预测位置进行处理，得到所述无线设备的实际位置。

Description

定位无线设备的方法、装置、设备及存储介质 技术领域
本公开涉及(但不限于)无线通信领域。
背景技术
随着智能终端(例如手机)的普及，具有的功能也在逐渐增强。手机作为定位对象，对其位置的定位方式和方法也随之增多。目前，手机通常基于全球定位系统(Global Positioning System，GPS)进行定位。
然而，除了手机之外的一些无线设备没有配备GPS装置，对这些无线设备进行定位时，需要在一定区域范围内部署无线保真(WIFI)设备、红外设备或蓝牙设备等，部署麻烦且价格昂贵。
如何基于手机对其他无线设备进行定位是一个待解决的问题。
发明内容
根据本公开实施例提供的一种定位无线设备的方法，包括：移动终端在多个位置点分别向无线设备发送定位信号，并接收所述无线设备返回的响应信号；所述移动终端根据所述定位信号的发送时间和所述响应信号的接收时间，确定所述无线设备的多个预测位置；以及所述移动终端利用中心点算法，对所述无线设备的多个预测位置进行处理，得到所述无线设备的实际位置。
根据本公开实施例提供的一种定位无线设备的装置，包括：信号处理模块，其设置为在多个位置点分别向无线设备发送定位信号，并接收所述无线设备返回的响应信号；位置预测模块，其设置为根据所述定位信号的发送时间和所述响应信号的接收时间，确定所述无线设备的多个预测位置；以及位置确定模块，其设置为利用中心点算法，对所述无线设备的多个预测位置进行处理，得到所述无线设备的实际位置。
根据本公开实施例提供的一种定位无线设备的设备，包括处理 器和存储器，其中，所述存储器存储有计算机程序，当所述处理器执行所述计算机程序时，所述处理器执行根据本公开的定位无线设备的方法。
根据本公开实施例提供的一种存储介质，其上存储有计算机程序，当处理器执行所述计算机程序时，所述处理器执行根据本公开的的定位无线设备的方法。
附图说明
附图用来提供对本公开技术方案的进一步理解，并且构成说明书的一部分，与本公开的实施例一起用于解释本公开的技术方案，并不构成对本公开技术方案的限制。在附图中：
图1是根据本公开实施例的定位无线设备的方法的流程图；
图2是根据本公开实施例的定位无线设备的装置的框图；
图3和图4是根据本公开实施例的定位无线设备的方法的示例的流程图；以及
图5是根据本公开实施例的定位无线设备的终端的结构框图。
具体实施方式
以下结合附图对本公开的优选实施例进行详细说明，应当理解，以下所说明的实施例仅用于说明和解释本公开，并不用于限定本公开所要求的保护范围。
图1是根据本公开实施例的定位无线设备的方法的流程图。
如图1所示，根据本公开实施例的定位无线设备的方法可以包括步骤S101至步骤S103。
在步骤S101，移动终端在多个位置点分别向无线设备发送定位信号，并接收所述无线设备返回的响应信号。
移动终端在每个位置点在发送定位信号时，记录定位信号的发送时间，并且无线设备在收到定位信号时，记录定位信号的接收时间。无线设备将定位信号的接收时间和用于响应定位信号的响应信号连同响应信号的发送时间一起发送给移动终端。移动终端得到响应信号 后，可以得到响应信号的发送时间，并记录响应信号的接收时间。
在步骤S102，移动终端根据定位信号和响应信号的收发时间，确定无线设备的多个预测位置。
所述多个位置点至少包括五个位置点。
移动终端根据在每个位置点与无线设备的距离，可以得到无线设备的多个预测位置。例如，当所述多个位置点包括三个位置点时，可以得到三个位置点与无线设备的距离，然后利用三边测量算法确定一个预测位置；当四个位置点时，可以得到四个位置点与无线设备的距离，利用四个距离中的任意三个距离可以确定一个预测位置，最终可以得到四个预测位置；当所述多个位置点包括五个位置点时，可以得到五个位置点与无线设备的距离，利用五个距离中的任意三个距离可以确定一个预测位置，最终可以得到十个预测位置。位置点的数量越多，得到的预测位置的数量越多。
在步骤S103，移动终端利用中心点算法，对无线设备的多个预测位置进行处理，得到无线设备的实际位置。
移动终端可以根据由四个位置点确定的无线设备的多个预测位置，确定无线设备的第一中心点，并且可以根据由五个位置点确定的所述无线终端的多个预测位置，确定无线设备的第二中心点。移动终端可以至少根据所述第一中心点和所述第二中心点确定无线设备的位置。如果第一中心点和第二中心点的距离满足位置收敛精度条件，则可以将第一中心点或第二中心点作为无线设备的位置，如果第一中心点和第二中心点的距离不满足位置收敛精度条件，则移动终端根据由五个以上位置点确定的无线设备的多个预测位置，确定无线设备的第三中心点，并根据第一中心点、第二中心点和第三中心点确定距离满足位置收敛精度条件的两个中心点，并将这两个中心点之一作为无线设备的位置。
在一种实施方式中，移动终端利用中心点算法，对所述无线设备的多个预测位置进行处理，得到所述无线设备的实际位置之后，还可以利用其实际位置已确定的无线设备，对其它无线设备进行定位。移动终端可以向其实际位置已确定的无线设备发送用来上报其它无 线设备位置的请求，并接收无线设备响应所述请求而测量并返回的与其它无线设备的距离，然后利用无线设备与其它无线设备的距离，确定其它无线设备的位置。也就是说，移动终端可以将已定位的无线设备作为测量参考点，加快对其它无线设备进行定位的速度。
图2是根据本公开实施例的定位无线设备的装置的框图。
如图2所示，根据本公开实施例的定位无线设备的装置可以包括信号处理模块201、位置预测模块202以及位置确定模块203。
信号处理模块201设置为在多个位置点分别向无线设备发送定位信号，并接收所述无线设备返回的响应信号。
位置预测模块202设置为根据所述定位信号和所述响应信号的收发时间，确定所述无线设备的多个预测位置。
位置确定模块203设置为利用中心点算法，对所述无线设备的多个预测位置进行处理，得到所述无线设备的实际位置。
信号处理模块201可以在第一位置点向无线设备发送定位信号，并接收无线设备返回的响应信号。位置预测模块202可以根据在第一位置点的定位信号和响应信号的收发时间，确定第一位置点与无线设备的距离。同样地，可以确定第二位置点与无线设备的距离以及第三位置点与无线设备的距离。此时，位置预测模块202利用第一位置点、第二位置点和第三位置点到无线设备的距离来确定无线设备的第一预测位置。
信号处理模块201可以继续在第四位置点向无线设备发送定位信号，并接收无线设备返回的响应信号。位置预测模块202可以根据在第四位置点的定位信号和响应信号的收发时间，确定第四位置点与无线设备的距离。位置预测模块202可以利用第一位置点、第二位置点和第四位置点到无线设备的距离来确定无线设备的第二预测位置，利用第一位置点、第三位置点和第四位置点到无线设备的距离来确定无线设备的第三预测位置，并且利用第二位置点、第三位置点和第四位置点到无线设备的距离来确定无线设备的第四预测位置。
位置确定模块203可以利用第一预测位置、第二预测位置、第三预测位置和第四预测位置确定无线设备的第一中心点。
信号处理模块201可以继续在第五位置点向无线设备发送定位信号，并接收无线设备返回的响应信号。位置预测模块202可以根据在第五位置点的定位信号和响应信号的收发时间，确定第五位置点与无线设备的距离。位置预测模块202可以分别利用第一位置点、第二位置点、第三位置点、第四位置点中的两个到无线设备的距离与第五位置点到无线设备的距离来确定无线设备的新的六个预测位置(即，第五预测位置到第十预测位置)。
位置确定模块203可以利用第一中心点和新的六个预测位置确定无线设备的第二中心点。
如果第一中心点和第二中心点的距离小于或等于终端预置位置收敛精度，则位置确定模块203将第一中心点或第二中心点作为无线设备的实际位置；否则，在一个新的位置点再次执行信号处理模块201的信号收发操作、位置预测模块202的位置预测操作以及位置确定模块203的位置确定操作，直至找到两个中心点的距离小于或等于终端预置位置收敛精度。
本公开实施例还提供一种定位无线设备的设备，包括处理器及存储器。存储器存储有计算机程序。处理器执行所述计算机程序时，执行根据本公开各实施例的定位无线设备的方法。
图3和图4是根据本公开实施例的定位无线设备的方法的示例的流程图。
如图3所示，本示例包括步骤301至步骤309。
在步骤301，终端通过预置的无线通道扫描周边无线设备，进而选择目标无线设备。
本公开实施例中，目标无线设备种类较多，包括WIFI设备、蓝牙设备、红外设备、RFID设备等等。只要具有无线芯片的设备，都可包含在本公开实施例的目标无线设备中。
终端开启相应的无线芯片的开关，扫描当前周围的无线设备。本公开实施例中，每一个无线设备均具有唯一的身份识别码。在一种实施方式中，终端开启WIFI无线芯片的开关，扫描当前周围的WIFI无线设备，选择目标无线设备并在终端上显示的身份识别标识信息， 进而可以选择向无线设备发起定位请求。
本公开实施例中，用户可以一次选择向一个目标无线设备发起定位请求，也可以一次选择向多个目标无线设备发起定位请求。
在步骤302，目标无线设备检测定位请求，并向终端返回响应信息。
在本公开实施例的一种实施方式中，目标无线设备可以开启实时消息广播服务(Broad_server)和检测位置服务(Location_server)。
当终端选择向一个或者多个目标无线设备发起定位操作时，终端可以开启位置管理服务(Location Manager)，分别向各个目标无线设备发送定位请求信息(location_request)。
当目标无线设备的检测位置服务(Location_server)检测到终端发送的定位请求(Location_request)时，向终端返回响应信息(resp_info)。
在步骤303至步骤305，终端在用户在移动过程中周期性地计算到无线设备的直线距离，并实施三边测量定位。
当终端的位置管理服务接收到每个目标无线设备发送的响应信息(resp_info)时，终端调用无线测距方法计算出每个无线设备到终端的距离L，即，L＝V*T，其中V为无线传播的速度，T为无线传播的时间。当终端向无线设备发起定位请求时，终端记录当前时刻T1；当无线设备接收到终端发送的定位请求时，无线设备记录当前时刻T2；当目标无线设备向终端发送响应信息时，无线设备记录当前时刻T3；并且当终端接收到无线设备发送的响应信息时，终端记录当前时刻为T4，无线传播的时间T为：
T＝1/2((T4-T1)-(T3-T2))。
当终端计算完成从第一个位置到无线设备的距离时，终端将该第一个位置作为坐标系原点Q1(X1,Y1)进行记录，并通过终端上的传感器确定方向，以正北方向作为X轴的正方向，以正东方向作为Y轴的正方向建立位置坐标系M。同时，终端向用户作出“请用户进行移动”的提示。
在用户移动的过程中，每到预定的周期时间，终端管理服务可 以向各个无线设备发出一次定位请求，进而计算在新的位置处到每个无线设备的距离。例如，可以计算终端在位置Q2到目标无线设备的距离L2和在位置Q3到目标无线设备的距离L3，随后将位置Q2和位置Q3处的位置信息上报给当前终端管理服务。随后，终端调用三边测量定位算法，读取Q1、Q2、Q3、L1、L2、L3等参数的值，以计算目标无线设备的第一预测位置K11(X11,Y11)。在一种实施方式中，周期间隔可以为2s或3s。
对于每个目标无线设备，当终端管理服务检测到缓存了三组测量值时读取这三组测量值，即终端三次定位请求时的不同位置Q1、Q2、Q3，以及计算的三个距离值L1、L2、L3，然后终端调用三边测量计算方法，确定出每个目标无线设备的第一预测位置。
在步骤306，终端向用户作出移动方向提示，以获取更多的目标无线设备的预测位置。
在步骤307至步骤309，终端根据预置的收敛精度，给出目标无线设备的定位位置。
对于每个目标无线设备，当终端得到终端当前位置(例如，位置Q4)与目标无线设备的距离(例如，L4)时，终端读取Q1、Q2、Q3、Q4、L1、L2、L3、L4等参数的值，从四次测量数据中取任意三次测量的结果执行三边测量定位算法(可以排除前三次测量的结果的组合方式以避免重复计算)。从而，针对每个目标无线设备得到了第二预测位置K21(X21,Y21)、第三预测位置K22(X22,Y22)和第四预测位置K23(X23,Y23)。终端结合第一预测位置K1(X11、Y11)来计算这四个预测位置的第一中心点K10(X10,Y10)：
X10＝(X11+X21+X22+X23)/4；
Y10＝(Y11+Y21+Y22+Y23)/4。
用户可以继续按照终端给出的提示方向进行移动，当终端得到终端当前位置(例如，位置Q5)与目标无线设备的距离(例如，L5)时，终端读取Q1、Q2、Q3、Q4、Q5、L1、L2、L3、L4、L5等参数的值，从五次测量数据中取任意三次测量的结果执行三边测量定位算法 (可以排除前之前计算过的测量的结果的组合方式以避免重复计算)。从而，针对每个目标无线设备得到了第五预测位置K31(X31、Y31)、第六预测位置K32(X32、Y32)、第七预测位置K33(X33、Y33)、第八预测K34(X34、Y34)、第九预测位置K35(X35、Y35)和第十预测位置K36(X36、Y36)。终端可以结合第一中心点K10(X10,Y10)和新的六个预测位置计算第二中心点K20(X20,Y20)：
X20＝(X10+X31+X32+X33+X34+X35+X36)/7；
Y20＝(Y10+Y31+Y32+Y33+Y34+Y35+Y36)/7。
终端比较第一中心点K10与第二中心点K20之间的距离差D，当距离差D小于或等于预置的收敛精度时，终端可以提示用户“无线设备位置已确定，请按照指示方向进行移动”，同时可以将中心点K10(X10,Y10)或者中心点K20(X20,Y20)以及用户当前所在位置标识在坐标系M上。终端的界面上可以显示用户所在区域的地图信息，并结合地图信息给出用户到达目标无线设备的最短路径。
距离差D可以通过如下方式计算：
Figure PCTCN2018106212-appb-000001
在一种实施方式中，当距离差D大于预置的收敛精度时，再次执行步骤306和307，以计算新的第三中心点K30(X30,Y30)。然后分别计算K10和K20与K30之间的距离差，当存在两个中心点之间的距离差小于或等于预置的收敛精度时，例如，K20与K30之间的距离差小于预置的收敛精度，可以将K20或者K30作为目标无线设备的准确位置，并连同当前用户所在位置标识在坐标系M上(步骤309)。
对于存在多个目标无线设备的情况，终端将已收敛的(即，已确定其位置的)无线设备定位的位置作为其他无线设备的新的测量点参考，进而加快对其他无线设备的定位。
如图4所示，终端可以向已确定其位置的目标无线设备A发出上报其他目标无线设备(例如，无线设备B和无线设备C)位置的请求，无线设备A接收到请求信息时，可以向目标无线设备B和目标无线设备C发出测距请求(步骤310)。
当无线设备A将其与目标无线设备B和目标无线设备C的测量 值返回给终端时，终端在目标无线设备B和目标无线设备C的当前测量数据基础上，将无线设备A的位置及其测距信息分别添加为目标无线设备B和目标设备C的测量数据(步骤311)。
终端对目标无线设备B和目标无线设备C的位置进行计算，例如，终端求得目标无线设备B的收敛精度达到要求，进而通知无线设备B上报与无线设备C的测距信息(步骤312)。
终端将无线设备B的位置及其测距信息添加为目标无线设备C的测量数据(步骤313)，进而确定无线设备C的位置(步骤314)。
图5是根据本公开实施例的定位无线设备的终端的结构框图。
如图5所示，根据本公开实施例的定位无线设备的终端可以包括显示模块401、通信模块402和定位模块403。
显示模块401可以在终端上显示所要定位查找的目标无线设备，以使得用户能够发起定位请求。显示模块401还可以根据定位模块403的定位结果显示“请用户进行移动”的提示信息或者目标无线设备的确定位置。
通信模块402可以根据从显示模块401获取的目标无线设备信息，向目标无线设备发起定位请求并接收目标无线设备返回的响应信息。通信模块402还可以记录向目标无线设备发送请求信息的时间、目标无线设备接收到请求信息的时间、目标无线设备发送响应信息的时间以及接收到响应信息的时间，并而将这些时间信息传递给定位模块403。
定位模块403读取通信模块402传递的时间信息，并通过调用无线测距方法计算终端当前位置与无线终端设备之间的距离。在进行三次以上的测距后，定位模块403调用三边测量定位算法获取目标无线设备的预测位置。最后，定位模块403通过多个预测位置计算得出多个中心点，并通过对于中心点的比较得出目标无线设备的位置，进而目标无线设备的位置传递给显示模块401以在终端上显示。
根据本公开实施例，借助手机的移动方向和轨迹，对目标无线设备进行快速、准确定位，适用于对一定室内外区域范围内的无线设备有定位需求的用户。
本领域普通技术人员可以理解，上文中所公开方法中的全部或某些步骤、系统、装置中的功能模块/单元可以被实施为软件、固件、硬件及其适当的组合。在硬件实施方式中，在以上描述中提及的功能模块/单元之间的划分不一定对应于物理组件的划分；例如，一个物理组件可以具有多个功能，或者一个功能或步骤可以由若干物理组件合作执行。某些物理组件或所有物理组件可以被实施为由处理器，如中央处理器、数字信号处理器或微处理器执行的软件，或者被实施为硬件，或者被实施为集成电路，如专用集成电路。这样的软件可以分布在计算机可读介质上，计算机可读介质可以包括计算机存储介质(或非暂时性介质)和通信介质(或暂时性介质)。如本领域普通技术人员公知的，术语计算机存储介质包括在用于存储信息(诸如计算机可读指令、数据结构、程序模块或其他数据)的任何方法或技术中实施的易失性和非易失性、可移除和不可移除介质。计算机存储介质包括但不限于RAM、ROM、EEPROM、闪存或其他存储器技术、CD-ROM、数字多功能盘(DVD)或其他光盘存储、磁盒、磁带、磁盘存储或其他磁存储装置、或者可以用于存储期望的信息并且可以被计算机访问的任何其他的介质。此外，本领域普通技术人员公知的是，通信介质通常包含计算机可读指令、数据结构、程序模块或者诸如载波或其他传输机制之类的调制数据信号中的其他数据，并且可包括任何信息递送介质。
尽管上文对本公开进行了详细说明，但是本公开不限于此，本技术领域技术人员可以根据本公开的原理进行各种修改。因此，凡按照本公开原理所作的修改，都应当理解为落入本公开的保护范围。

Claims (16)

  1. 一种定位无线设备的方法，包括：
    移动终端在多个位置点分别向无线设备发送定位信号，并接收所述无线设备返回的响应信号；
    所述移动终端根据所述定位信号和所述响应信号的收发时间，确定所述无线设备的多个预测位置；以及
    所述移动终端利用中心点算法，对所述无线设备的多个预测位置进行处理，得到所述无线设备的实际位置。
  2. 根据权利要求1所述的定位无线设备的方法，其中，所述多个位置点至少包括五个位置点，并且所述移动终端根据所述定位信号和所述响应信号的收发时间，确定所述无线设备的多个预测位置的步骤包括：
    所述移动终端根据在每个位置点的所述定位信号和所述响应信号的收发时间，确定每个位置点与所述无线设备的距离；以及
    所述移动终端根据在每个位置点与所述无线设备的距离，得到所述无线设备的多个预测位置。
  3. 根据权利要求1所述的定位无线设备的方法，其中，所述移动终端利用中心点算法，对所述无线设备的多个预测位置进行处理，得到所述无线设备的实际位置的步骤包括：
    所述移动终端根据由四个位置点确定的所述无线设备的多个预测位置，确定所述无线设备的第一中心点；
    所述移动终端根据由五个位置点确定的所述无线设备的多个预测位置，确定所述无线设备的第二中心点；以及
    所述移动终端至少根据所述第一中心点和所述第二中心点，确定所述无线设备的位置。
  4. 根据权利要求3所述的定位无线设备的方法，其中，所述移 动终端至少根据所述第一中心点和所述第二中心点，确定所述无线设备的位置的步骤包括：
    所述移动终端确定所述第一中心点和所述第二中心点的距离；以及
    若所述第一中心点和所述第二中心点的距离满足位置收敛精度条件，则将所述第一中心点或所述第二中心点作为所述无线设备的位置。
  5. 根据权利要求4所述的定位无线设备的方法，其中，所述移动终端至少根据所述第一中心点和所述第二中心点，确定所述无线设备的位置的步骤还包括：
    若所述第一中心点和所述第二中心点的距离不满足位置收敛精度条件，则所述移动终端根据由五个以上位置点确定的所述无线设备的多个预测位置，确定所述无线设备的第三中心点；以及
    所述移动终端根据所述第一中心点、所述第二中心点和所述第三中心点确定距离满足位置收敛精度条件的两个中心点，并将所述两个中心点之一作为所述无线设备的位置。
  6. 根据权利要求1所述的定位无线设备的方法，还包括：
    所述移动终端利用其实际位置已确定的所述无线设备，对其它无线设备进行定位。
  7. 根据权利要求6所述的定位无线设备的方法，其中，所述移动终端利用其实际位置已确定的所述无线设备，对其它无线设备进行定位的步骤包括：
    所述移动终端向所述无线设备发送用来上报所述其它无线设备位置的请求；
    所述移动终端接收所述无线设备响应所述请求而测量并返回的与所述其它无线设备的距离；以及
    所述移动终端利用所述无线设备与所述其它无线设备的距离， 确定所述其它无线设备的位置。
  8. 一种定位无线设备的装置，包括：
    信号处理模块，其设置为在多个位置点分别向无线设备发送定位信号，并接收所述无线设备返回的响应信号；
    位置预测模块，其设置为根据所述定位信号和所述响应信号的收发时间，确定所述无线设备的多个预测位置；以及
    位置确定模块，其设置为利用中心点算法，对所述无线设备的多个预测位置进行处理，得到所述无线设备的实际位置。
  9. 根据权利要求8所述的定位无线设备的装置，其中，所述多个位置点至少包括五个位置点，并且所述位置预测模块设置为：
    根据在每个位置点的所述定位信号和所述响应信号的收发时间，确定每个位置点与所述无线设备的距离；以及
    根据在每个位置点与所述无线设备的距离，得到所述无线设备的多个预测位置。
  10. 根据权利要求8所述的定位无线设备的装置，其中，所述位置确定模块设置为：
    根据由四个位置点确定的所述无线设备的多个预测位置，确定所述无线设备的第一中心点；
    根据由五个位置点确定的所述无线设备的多个预测位置，确定所述无线设备的第二中心点；以及
    根据所述第一中心点和所述第二中心点，确定所述无线设备的位置。
  11. 根据权利要求10所述的定位无线设备的装置，其中，所述位置确定模块设置为：
    确定所述第一中心点和所述第二中心点的距离；以及
    若所述第一中心点和所述第二中心点的距离满足位置收敛精度 条件，则将所述第一中心点或所述第二中心点作为所述无线设备的位置。
  12. 根据权利要求11所述的定位无线设备的装置，其中，所述位置确定模块还设置为：
    若所述第一中心点和所述第二中心点的距离不满足位置收敛精度条件，则根据由五个以上位置点确定的所述无线设备的多个预测位置，确定所述无线设备的第三中心点；以及
    根据所述第一中心点、所述第二中心点和所述第三中心点确定距离满足位置收敛精度条件的两个中心点，并将所述两个中心点之一作为所述无线设备的位置。
  13. 根据权利要求8所述的定位无线设备的装置，其中，所述位置确定模块还设置为：
    利用其实际位置已确定的所述无线设备，对其它无线设备进行定位。
  14. 根据权利要求13所述的定位无线设备的装置，其中，所述位置确定模块还设置为：
    向所述无线设备发送用来上报所述其它无线设备位置的请求；
    接收所述无线设备响应所述请求而测量并返回的与所述其它无线设备的距离；以及
    利用所述无线设备与所述其它无线设备的距离，确定所述其它无线设备的位置。
  15. 一种定位无线设备的设备，包括处理器和存储器，其中，
    所述存储器存储有计算机程序，当所述处理器执行所述计算机程序时，所述处理器执行根据权利要求1至7中任一项所述的定位无线设备的方法。
  16. 一种存储介质，其上存储有计算机程序，当处理器执行执行所述计算机程序时，所述处理器执行根据权利要求1至7中任一项所述的定位无线设备的方法。
PCT/CN2018/106212 2017-09-18 2018-09-18 定位无线设备的方法、装置、设备及存储介质 WO2019052575A1 (zh)

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