WO2021068622A1 - 定位方法、装置、系统、计算设备以及介质 - Google Patents

定位方法、装置、系统、计算设备以及介质 Download PDF

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Publication number
WO2021068622A1
WO2021068622A1 PCT/CN2020/106562 CN2020106562W WO2021068622A1 WO 2021068622 A1 WO2021068622 A1 WO 2021068622A1 CN 2020106562 W CN2020106562 W CN 2020106562W WO 2021068622 A1 WO2021068622 A1 WO 2021068622A1
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Prior art keywords
base station
positioning
target device
module
trajectory
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PCT/CN2020/106562
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English (en)
French (fr)
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徐衍学
侯晓宁
马彦军
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北京海益同展信息科技有限公司
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Publication of WO2021068622A1 publication Critical patent/WO2021068622A1/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
    • H04W4/029—Location-based management or tracking services
    • 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
    • H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination

Definitions

  • the present disclosure relates to the field of computer technology, and more specifically, to a positioning method, a positioning device, a positioning system, a computing device, and a computer-readable storage medium.
  • One of the methods is usually through multiple communications between the target device and the base station to complete the positioning.
  • the base station sends positioning data
  • the target device replies after receiving the positioning data
  • the target device sends the positioning data
  • the base station receives and connects the positioning data. Calculate the location information of the target device.
  • the target device sends the positioning data.
  • the base station After receiving the positioning data, the base station sends the positioning data to the server, and the server calculates the location information of the target device.
  • the inventor found that at least the following problems exist in the prior art.
  • the first positioning method in the related art since the target device and the base station need to communicate multiple times, each target device takes a long communication time. When the number of target devices is large, the positioning efficiency is low.
  • the second positioning method when the number of target devices is large, there is a high probability of time conflicts when the target device sends positioning data, which makes the base station unable to receive the positioning data in time, and the base station needs to have network communication functions so that the base station can send the positioning data. Performing calculations on the server results in a complex hardware design for the base station.
  • the present disclosure provides an optimized positioning method, positioning device, positioning system, computing device, and computer-readable storage medium.
  • the method includes: receiving positioning data from N base stations, where the positioning data includes N base stations each sending positioning data.
  • Transmission time where N is an integer greater than or equal to 3, determine the N reception times at which the target device receives the positioning data respectively, obtain the N base station positions of the N base stations, and pass the N transmission times ,
  • the N receiving moments and the N base station positions obtain multiple trajectories, and based on the multiple trajectories, the target position of the target device is determined.
  • obtaining multiple trajectories through the N sending moments, the N receiving moments, and the N base station positions includes: acquiring the transmission speed of the positioning data, based on the N sending times Time, the N receiving time, and the transmission speed, determine M distance differences, where each of the M distance differences is between the target device and two of the N base stations Wherein, 2 ⁇ M ⁇ N, and M is an integer, the multiple trajectories are obtained based on the M distance differences and the N base station positions.
  • the foregoing determining the target position of the target device based on the multiple trajectories includes: determining a first trajectory and a second trajectory among the multiple trajectories, and determining the first trajectory and the first trajectory The intersection of the two trajectories is used as the target position of the target device.
  • the determining the target position of the target device based on the multiple trajectories further includes: determining the multiple The third trajectory in the trajectory is determined to be the intersection point of the third trajectory among the plurality of intersection points as the target position of the target device.
  • the foregoing determining the M distance differences based on the N sending moments, the N receiving moments, and the transmission speed includes: calculating the distance between the N sending moments and the N receiving moments respectively To obtain N transmission times, calculate the difference between any two transmission times in the Nth transmission time, and obtain M transmission time differences, based on the M transmission time differences and the transmission speed, Determine the M distance differences.
  • the positioning system includes a target device and N base stations.
  • the N base stations include a master base station and a slave base station.
  • the method includes: The target device executes the method performed by the target device as described above. Executed by the slave base station: updating the clock information of the slave base station to the clock information of the master base station.
  • the above-mentioned updating the clock information of the slave base station to the clock information of the master base station includes: receiving synchronization data from the master base station, wherein the synchronization data includes the master base station sending the The first transmission time of the synchronization data, the relative position information of the master base station and the slave base station and the transmission speed of the synchronization data are acquired, based on the first transmission time, the relative position information, and the synchronization data According to the transmission speed, the current time of the master base station is obtained, and the clock information of the slave base station is updated based on the current time.
  • obtaining the current time of the primary base station based on the first transmission time, the relative position information, and the transmission speed of the synchronization data includes: determining the forwarding of the synchronization data from the primary base station The number of times and the forwarding interval, wherein the forwarding interval includes the time difference between the time when the synchronization data is received from the base station and the time when the synchronization data is forwarded, based on the first transmission time, the relative position information, The transmission speed of the synchronization data, the number of forwarding times, and the forwarding interval are used to obtain the current time of the primary base station.
  • the device includes: a receiving module, a first determining module, a first acquiring module, a second acquiring module, and a second determining module.
  • the receiving module receives positioning data from N base stations, where the positioning data includes N sending moments when each of the N base stations sends positioning data, where N is an integer greater than or equal to 3, and the first determining module determines
  • the target device receives the N receiving moments of the positioning data respectively, the first acquiring module acquires the N base station positions of the N base stations, and the second acquiring module uses the N sending moments and the N receiving At the time and the positions of the N base stations, multiple trajectories are obtained, and the second determining module determines the target location of the target device based on the multiple trajectories.
  • the above-mentioned second acquisition module includes: a speed acquisition sub-module, a first determination sub-module, and a trajectory acquisition sub-module.
  • the speed acquiring submodule acquires the transmission speed of the positioning data
  • the first determining submodule determines M distance differences based on the N sending moments, the N receiving moments, and the transmission speed, where the M
  • the distance differences is the distance difference between the target device and two of the N base stations, where 2 ⁇ M ⁇ N, and M is an integer
  • the trajectory acquisition sub-module is based on the The M distance differences and the N base station positions are used to obtain the multiple trajectories.
  • the above-mentioned second determination module includes: a second determination sub-module and a third determination sub-module.
  • the second determining sub-module determines the first trajectory and the second trajectory among the multiple trajectories
  • the third determining sub-module determines the intersection of the first trajectory and the second trajectory as the target position of the target device .
  • the second determining module when there are multiple intersections of the first trajectory and the second trajectory, the second determining module further includes: a fourth determining sub-module and a fifth determining sub-module.
  • a fourth determining submodule determines a third trajectory among the plurality of trajectories
  • a fifth determining submodule determines an intersection of the plurality of intersection points located in the third trajectory as the target position of the target device.
  • the above-mentioned first determination sub-module includes: a first calculation unit, a second calculation unit, and a first determination unit.
  • the first calculation unit respectively calculates the difference between the N sending moments and the N receiving moments to obtain N transmission times
  • the second calculation unit calculates any two of the Nth transmission times
  • the difference between the transmission times is obtained to obtain M transmission time differences
  • the first determining unit determines the M distance differences based on the M transmission time differences and the transmission speed.
  • a positioning system including: a target device and N base stations.
  • the target device executes the method executed by the target device as described above.
  • the N base stations include a master base station and a slave base station, and the slave base station executes: updating the clock information of the slave base station to the clock information of the master base station.
  • the foregoing slave base station includes: a receiving sub-module, a first obtaining sub-module, a second obtaining sub-module, and an updating sub-module.
  • the receiving sub-module receives synchronization data from the main base station, where the synchronization data includes the first sending moment when the main base station sends the synchronization data
  • the first obtaining sub-module obtains the main base station and the From the relative position information of the base station and the transmission speed of the synchronization data
  • the second acquisition sub-module obtains the current time of the master base station based on the first sending time, the relative position information, and the transmission speed of the synchronization data
  • the update submodule updates the clock information of the secondary base station based on the current time.
  • the above-mentioned second acquisition sub-module includes: a second determination unit and an acquisition unit.
  • the second determining unit determines the number of forwarding times and the forwarding interval of the synchronization data from the primary base station, wherein the forwarding interval includes the difference between the time when the synchronization data is received from the base station and the time when the synchronization data is forwarded.
  • the acquiring unit obtains the current time of the primary base station based on the first sending time, the relative position information, the transmission speed of the synchronization data, the number of forwarding, and the forwarding interval.
  • Another aspect of the present disclosure provides a computer-readable storage medium storing computer-executable instructions, which are used to implement the above-mentioned method when executed.
  • Another aspect of the present disclosure provides a computer program, which includes computer-executable instructions, which are used to implement the method as described above when executed.
  • each target device occupies a long communication time.
  • the positioning efficiency is low.
  • the target device sends positioning data, which causes the base station to be unable to receive the positioning data in time, and requires the base station to have network communication functions so that the base station can send the positioning data to the server for calculation, resulting in the base station. It is a more complicated problem in hardware design, and therefore can improve the positioning efficiency of the target device.
  • Fig. 1 schematically shows an application scenario of a positioning method according to an embodiment of the present disclosure
  • Fig. 2 schematically shows a flowchart of a positioning method according to an embodiment of the present disclosure
  • Fig. 3 schematically shows a schematic diagram of calculating a trajectory according to an embodiment of the present disclosure
  • Fig. 4 schematically shows a schematic diagram of calculating a target position according to an embodiment of the present disclosure
  • Fig. 5 schematically shows a schematic diagram of calculating a target position according to another embodiment of the present disclosure
  • Fig. 6 schematically shows a flow chart of base station synchronization according to an embodiment of the present disclosure
  • FIGS. 7A-7B schematically show schematic diagrams of calculating base station synchronization according to an embodiment of the present disclosure
  • Fig. 8 schematically shows a block diagram of a positioning device according to an embodiment of the present disclosure
  • Fig. 9 schematically shows a block diagram of a slave base station according to an embodiment of the present disclosure.
  • Fig. 10 schematically shows a block diagram of a computer system suitable for positioning according to an embodiment of the present disclosure.
  • At least one of the “systems” shall include, but is not limited to, systems having A alone, B alone, C alone, A and B, A and C, B and C, and/or systems having A, B, C, etc. ).
  • At least one of the “systems” shall include, but is not limited to, systems having A alone, B alone, C alone, A and B, A and C, B and C, and/or systems having A, B, C, etc. ).
  • the embodiment of the present disclosure provides a positioning method for a target device, the method includes: receiving positioning data from N base stations, where the positioning data includes N sending moments for each of the N base stations to send the positioning data, wherein, N is an integer greater than or equal to 3. Then, determine the N receiving moments when the target device receives the positioning data respectively, and obtain the N base station positions of the N base stations. Finally, through N sending moments, N receiving moments, and N base station positions, multiple trajectories are obtained, and the target position of the target device is determined based on the multiple trajectories.
  • Fig. 1 schematically shows an application scenario of a positioning method according to an embodiment of the present disclosure.
  • the application scenario 100 of the embodiment of the present disclosure includes, for example, multiple base stations 110, 120, 130, 140,... And includes a target device 150.
  • multiple base stations may, for example, send positioning data, so that after receiving the positioning data, the target device 150 may calculate its own position information based on the positioning data.
  • the target device 150 may be, for example, a device with a data processing function, so that after receiving positioning data from multiple base stations, the positioning data can be processed to obtain its own position information.
  • the target device 150 may be, for example, a mobile phone, a computer, an aircraft, or other devices.
  • FIG. 1 is only an example of application scenarios where the embodiments of the present disclosure can be applied to help those skilled in the art understand the technical content of the present disclosure, but it does not mean that the embodiments of the present disclosure cannot be used for other applications.
  • Fig. 2 schematically shows a flowchart of a positioning method according to an embodiment of the present disclosure.
  • the method includes operations S210 to S250.
  • positioning data from N base stations are received, where the positioning data includes N transmission times at which the N base stations each transmit the positioning data, where N is an integer greater than or equal to 3.
  • each of the N base stations may, for example, periodically send positioning data, for example, each base station may send out positioning packets every preset time period.
  • the positioning packet sent by each base station includes, for example, the sending time of the positioning packet by itself.
  • the clock information of the N base stations are synchronized, for example. The following embodiments will specifically describe how to synchronize clock information of N base stations.
  • the target device has a data processing function, for example, the target device may be a mobile phone, a computer, an aircraft, or the like.
  • the target device can record the time of receiving the positioning data each time. For example, the target device records the moments when the positioning data of N base stations are received, and obtains N receiving moments.
  • N base station positions of N base stations are acquired.
  • the locations of N base stations are known.
  • N base stations are fixed base stations, and their locations are fixed.
  • the locations of the N base stations are, for example, stored in the storage unit of the target device, so that the target device can obtain the locations from the storage unit when the target device is in use, or the target device can also obtain the locations of the N base stations from the outside when the target device is in use.
  • a plurality of trajectories are obtained through N transmission moments, N reception moments, and N base station positions.
  • the target device may be located at any position among multiple tracks. Specifically, the target device may be located at the intersection of multiple trajectories, for example. In the following implementation, how to obtain multiple trajectories will be described in detail.
  • a target location of the target device is determined based on a plurality of trajectories.
  • the intersection of multiple trajectories is determined, and the position of the intersection is the target position of the target device.
  • the base station sends positioning data
  • the target device receives and processes the positioning data to obtain its own position information.
  • the target device of the embodiment of the present disclosure can actively receive positioning data and calculate its own position, without requiring an additional server to calculate position information. Therefore, the base station only needs to have the function of sending positioning data, and the base station does not need to use the network communication function to send the positioning data to the additional server for calculation, so the base station does not need to have the network communication function, which simplifies the hardware design of the base station .
  • the target device only needs to receive positioning data from the base station. It does not require the target device to communicate with the base station multiple times and takes too much time.
  • the target device does not need to send its own positioning data to the base station, but only needs to receive the location data from the base station.
  • the positioning data at least avoids the problem that if each target device sends positioning data to the base station when there are a large number of target devices, the problem of a high probability of collision of positioning data sent by multiple target devices is avoided. Therefore, the present disclosure adopts a method in which the base station sends positioning data to the target device, which can be applied to scenarios with a large number of target devices and ensure the positioning efficiency of the target device.
  • steps (1) to (3) show the process of obtaining multiple trajectories by taking N sending moments, N receiving moments, and N base station positions as examples.
  • the transmission speed of the positioning data may be a constant or a variable, for example.
  • the transmission speed when the transmission speed is constant, due to factors such as weather, the transmission data of the positioning data sent by different base stations is, for example, different.
  • the transmission speed may be the speed of light.
  • the transmission speed is variable, for example, due to the influence of time or weather, the transmission speed changes with the transmission time, for example.
  • step (2) Determine M distance differences based on N sending moments, N receiving moments, and the transmission speed, where each of the M distance differences is, for example, between the target device and two of the N base stations , Where 2 ⁇ M ⁇ N, and M is an integer.
  • step (2) is described as follows, for example.
  • the transmission speed As an example.
  • the transmission speed of positioning data sent by different base stations is the same, the transmission data of positioning data from different base stations is, for example, C, and C is, for example, a known number.
  • C may be the speed of light, for example.
  • the three base stations include base station S 1 , base station S 2 , and base station S 3 .
  • the sending moments of the base station S 1 , the base station S 2 , and the base station S 3 for sending positioning data are respectively T 11 , T 21 , and T 31 , and the receiving moments of the target device receiving the positioning data of the base station S 1 , base station S 2 and base station S 3 respectively T 12 , T 22 , T 32 , then:
  • ⁇ T 1 is the transmission time of positioning data from base station S 1 to the target device
  • ⁇ T 2 is the transmission time of positioning data from base station S 2 to the target device
  • ⁇ T 3 is the transmission time of positioning data from base station S 3 to the target device. That is, the N transmission times are ⁇ T 1 , ⁇ T 2 , and ⁇ T 3 .
  • ⁇ T 12 ⁇ T 2 - ⁇ T 1
  • ⁇ T 13 ⁇ T 3 - ⁇ T 1
  • ⁇ T 23 ⁇ T 3 - ⁇ T 2
  • ⁇ T 12 is the transmission time difference between ⁇ T 1 and ⁇ T 2
  • ⁇ T 13 is the transmission time difference between ⁇ T 1 and ⁇ T 3
  • ⁇ T 23 is the transmission time difference between ⁇ T 2 and ⁇ T 3 .
  • the M transmission time differences are, for example, at least two of ⁇ T 12 , ⁇ T 13 , and ⁇ T 23.
  • M distance differences are determined.
  • M transmission time differences as ⁇ T 12 and ⁇ T 13 as an example.
  • the M distance differences include , for example, D 12 and D 13 , where:
  • the M transmission time differences also include ⁇ T 23
  • the M distance differences may also include D 23, for example:
  • the transmission speeds of the positioning data sent by different base stations are different, the transmission speeds of the positioning data from the base station S 1 , the base station S 2 , and the base station S 3 are, for example, C 1 , C 2 , C 3 , C 1 , C 2 , C 3 is, for example, a known number. among them:
  • This method takes into account that due to the influence of external factors, the transmission speed of the positioning data sent by different base stations is different. Therefore, the corresponding distance difference is calculated according to the transmission speed of the positioning data of different base stations, which improves the calculation accuracy and further improves the positioning accuracy.
  • the transmission speed is taken as an example of a variable, and the transmission speed varies with the transmission time, for example.
  • the transmission speeds of the positioning data from the base station S 1 , the base station S 2 , and the base station S 3 are, for example, respectively For example, a known number. among them:
  • This method takes into account that due to the influence of external factors, the transmission speed of the positioning data sent by the base station changes with time. Therefore, considering the change of transmission speed with time in the positioning process, the positioning accuracy is greatly improved.
  • Fig. 3 schematically shows a schematic diagram of calculating a trajectory according to an embodiment of the present disclosure. How to obtain multiple trajectories will be described below in conjunction with FIG. 3.
  • the distance between the base station S 1 and the base station S 2 can be calculated as 2c.
  • a hyperbola can be calculated, wherein one curve in the hyperbola is a trajectory P 1 corresponding to the distance difference D 12 .
  • the left curve in the hyperbola is the trajectory P 1 corresponding to the distance difference D 12 .
  • the position coordinate of the target device is a point in the trajectory P 1 .
  • the target device to the base station. 1 S the base station distance difference D 3 S 13, S 1 and the base station and the distance between the base station S 3, can be further trajectory P 2.
  • the target device to the base station S 2, 23, 3 and the distance between the base station distance difference D S 3 S 2 of the base station and the base station S the other track can be P 3.
  • multiple trajectories can be obtained, for example, trajectories P 1 , P 2 , and P 3 are obtained .
  • Fig. 4 schematically shows a schematic diagram of calculating a target position according to an embodiment of the present disclosure.
  • the foregoing operation S250 includes, for example, determining a first trajectory and a second trajectory among a plurality of trajectories, and determining an intersection of the first trajectory and the second trajectory as the target position of the target device.
  • intersection point of the trajectories P 1 and P 2 is I 1
  • the intersection point I 1 is determined to be the target position of the target device.
  • Fig. 5 schematically shows a schematic diagram of calculating a target position according to another embodiment of the present disclosure.
  • the above operation S250 may include, for example, determining a third trajectory among the multiple trajectories, and determining an intersection point located on the third trajectory among the plurality of intersections as The target location of the target device.
  • the trajectory P 1 and P 2 includes a plurality of intersections, such as intersection includes an intersection I 1 and I 2, P determined third track 3, and I 2 is located in an intersection P and the intersection of the trajectory I 1 I 3 as the target device The target location.
  • the positioning system includes a target device and N base stations.
  • the N base stations include, for example, a master base station and a slave base station.
  • the method shown in FIG. 2 is executed by the target device. Performed by the slave base station: the clock information of the slave base station is updated to the clock information of the master base station.
  • the clock information of N base stations needs to be synchronized first.
  • the following will specifically describe how to synchronize the clock information of N base stations.
  • Fig. 6 schematically shows a flow chart of base station synchronization according to an embodiment of the present disclosure.
  • updating the clock information of the slave base station to the clock information of the master base station includes operations S610 to S640.
  • Operation S610 receiving synchronization data from the primary base station, where the synchronization data includes the first transmission time at which the primary base station transmits the synchronization data.
  • the clock information of the master base station is the clock reference of the entire positioning system
  • the master base station may periodically send a synchronization packet
  • the synchronization packet includes the first sending time of the synchronization packet sent by the master base station.
  • the relative position information between the master base station and the slave base station includes, for example, the distance between the two (or the synchronization data transmission distance).
  • the distance between the master base station and the slave base station is d
  • the transmission speed of synchronization data is, for example, v, where v is, for example, a known number, and v is, for example, the same or similar to the above transmission speed, and can be a constant or a variable. No longer.
  • the current time of the master base station is obtained based on the first transmission time, the relative position information, and the transmission speed of the synchronization data.
  • the primary base station sends a synchronization packet at the first sending time t 0 , and when the positioning packet is received from the base station, the current time of the primary base station is t 1 :
  • the clock information of the slave base station is updated based on the current time. That is, taking the current time of the master base station as t 1 as the current time of the slave base station, to realize the synchronization of the clock information of the slave base station to the clock information of the master base station.
  • the slave base station when receiving the synchronization packet from the base station, when the slave base station synchronizes its own clock information to the clock information of the master base station, the slave base station can further determine whether it is a relay base station, and if so, it will act as a relay base station. The slave base station also forwards the synchronization packet, so that other slave base stations can receive the forwarded synchronization packet.
  • FIGS. 7A-7B schematically show schematic diagrams of calculating base station synchronization according to an embodiment of the present disclosure.
  • the master base station S 0 sends a synchronization packet, and the synchronization packet is forwarded by the N relay base stations S 1 , S 2 , ..., S n , and finally by the slave base station S n+1 receive.
  • the forwarding interval includes the time difference between the time when the secondary base station (for example, the secondary base station is a relay base station) receives the synchronization data and the time when the synchronization data is forwarded .
  • the number of forwarding times is n, where, after each relay base station receives the synchronization packet, for example, after a time period ⁇ T, the forwarding interval is ⁇ T.
  • the forwarding interval of other relay base stations is, for example, ⁇ T.
  • the current time of the main base station is obtained based on the first transmission time, relative position information, transmission speed of the synchronization data, the number of forwarding times, and the forwarding interval.
  • the relative position information from the primary base station S 0 to the secondary base station S n+1 is d':
  • the current time of the primary base station is t 1 ′:
  • v is the transmission speed of synchronous data
  • v is a known number, for example, v is the same as or similar to the above transmission speed, and can be a constant or variable, which will not be repeated here
  • ⁇ T is the forwarding interval
  • n is the number of forwarding.
  • the current time t 1 ′ of the master base station S 0 is taken as the current time of the slave base station S n+1 to realize synchronization of the clock information of the slave base station S n+1 to the clock information of the master base station S 0 .
  • Fig. 8 schematically shows a block diagram of a positioning device according to an embodiment of the present disclosure.
  • the positioning apparatus 800 is used for a target device, and the positioning apparatus 800 includes a receiving module 810, a first determining module 820, a first acquiring module 830, a second acquiring module 840, and a second determining module 850.
  • the receiving module 810 may be configured to receive positioning data from N base stations, where the positioning data includes N sending moments when each of the N base stations sends the positioning data, where N is an integer greater than or equal to 3. According to an embodiment of the present disclosure, the receiving module 810 may, for example, perform the operation S210 described above with reference to FIG. 2, which will not be repeated here.
  • the first determining module 820 may be used to determine N receiving moments when the target device receives the positioning data respectively. According to an embodiment of the present disclosure, the first determining module 820 may, for example, perform the operation S220 described above with reference to FIG. 2, and details are not described herein again.
  • the first obtaining module 830 may be used to obtain N base station positions of N base stations. According to an embodiment of the present disclosure, the first obtaining module 830 may, for example, perform the operation S230 described above with reference to FIG. 2, which will not be repeated here.
  • the second obtaining module 840 may be used to obtain multiple trajectories through N sending moments, N receiving moments, and N base station positions. According to an embodiment of the present disclosure, the second acquisition module 840 may, for example, perform the operation S240 described above with reference to FIG. 2, and details are not described herein again.
  • the second determining module 850 may be used to determine the target location of the target device based on multiple trajectories. According to an embodiment of the present disclosure, the second determining module 850 may, for example, perform the operation S250 described above with reference to FIG. 2, which will not be repeated here.
  • the second acquisition module 840 includes: a speed acquisition sub-module, a first determination sub-module, and a trajectory acquisition sub-module.
  • the speed acquisition submodule acquires the transmission speed of the positioning data.
  • the first determination submodule determines M distance differences based on the N sending moments, N receiving moments, and the transmission speed, where each of the M distance differences The difference is the distance difference between the target device and two of the N base stations, where 2 ⁇ M ⁇ N, and M is an integer.
  • the trajectory acquisition sub-module obtains multiple trajectories based on M distance differences and N base station positions .
  • the second determination module 850 includes: a second determination sub-module and a third determination sub-module.
  • the second determining sub-module determines the first trajectory and the second trajectory among the multiple trajectories
  • the third determining sub-module determines the intersection of the first trajectory and the second trajectory as the target position of the target device.
  • the second determining module 850 when there are multiple intersections of the first trajectory and the second trajectory, the second determining module 850 further includes: a fourth determining sub-module and a fifth determining sub-module. Wherein, the fourth determining sub-module determines the third trajectory among the multiple trajectories, and the fifth determining sub-module determines the intersection of the multiple intersections located on the third trajectory as the target position of the target device.
  • the first determination submodule includes: a first calculation unit, a second calculation unit, and a first determination unit.
  • the first calculation unit calculates the difference between the N transmission time and the N reception time to obtain N transmission times
  • the second calculation unit calculates the difference between any two transmission times in the Nth transmission time. Value, M transmission time differences are obtained, and the first determining unit determines M distance differences based on the M transmission time differences and the transmission speed.
  • Fig. 9 schematically shows a block diagram of a slave base station according to an embodiment of the present disclosure.
  • the slave base station 900 updates the clock information of the master base station, for example, from the clock information of the slave base station.
  • the slave base station 900 includes a receiving sub-module 910, a first obtaining sub-module 920, a second obtaining sub-module 930, and an updating sub-module 940.
  • the receiving submodule 910 may be configured to receive synchronization data from the main base station, where the synchronization data includes the first sending time of the synchronization data sent by the main base station. According to an embodiment of the present disclosure, the receiving sub-module 910 may, for example, perform the operation S610 described above with reference to FIG. 6, which will not be repeated here.
  • the first acquiring sub-module 920 may be used to acquire the relative position information of the master base station and the slave base station and the transmission speed of the synchronization data. According to an embodiment of the present disclosure, the first obtaining sub-module 920 may, for example, perform the operation S620 described above with reference to FIG. 6, which will not be repeated here.
  • the second obtaining submodule 930 may be used to obtain the current time of the main base station based on the first sending time, relative position information, and the transmission speed of the synchronization data. According to an embodiment of the present disclosure, the second acquisition sub-module 930 may, for example, perform the operation S630 described above with reference to FIG. 6, which will not be repeated here.
  • the update submodule 940 may be used to update the clock information of the slave base station based on the current time. According to an embodiment of the present disclosure, the update sub-module 940 may, for example, perform the operation S640 described above with reference to FIG. 6, which will not be repeated here.
  • the second acquisition sub-module 930 includes: a second determination unit and an acquisition unit.
  • the second determining unit determines the number of forwarding times and the forwarding interval of the synchronization data from the primary base station, where the forwarding interval includes the time difference between the time when the synchronization data is received from the base station and the time when the synchronization data is forwarded, and the acquiring unit is based on the first
  • the sending time, relative position information, the transmission speed of the synchronization data, the number of forwarding, and the forwarding interval are sent to obtain the current time of the main base station.
  • any number of the modules, sub-modules, units, and sub-units, or at least part of the functions of any number of them may be implemented in one module. Any one or more of the modules, sub-modules, units, and sub-units according to the embodiments of the present disclosure may be split into multiple modules for implementation.
  • any one or more of the modules, sub-modules, units, and sub-units according to the embodiments of the present disclosure may be at least partially implemented as a hardware circuit, such as a field programmable gate array (FPGA), a programmable logic array (PLA), System-on-chip, system-on-substrate, system-on-package, application-specific integrated circuit (ASIC), or can be implemented by hardware or firmware in any other reasonable way that integrates or encapsulates the circuit, or by software, hardware, and firmware. Any one of these implementation methods or an appropriate combination of any of them can be implemented.
  • one or more of the modules, sub-modules, units, and sub-units according to the embodiments of the present disclosure may be at least partially implemented as a computer program module, and when the computer program module is executed, the corresponding function may be performed.
  • Any number of the sub-modules 940 can be combined into one module for implementation, or any one of the modules can be split into multiple modules. Or, at least part of the functions of one or more of these modules may be combined with at least part of the functions of other modules and implemented in one module.
  • the receiving module 810, the first determining module 820, the first acquiring module 830, the second acquiring module 840, the second determining module 850, the receiving sub-module 910, the first acquiring sub-module 920, the second acquiring At least one of the sub-module 930 and the update sub-module 940 may be at least partially implemented as a hardware circuit, such as a field programmable gate array (FPGA), a programmable logic array (PLA), a system on a chip, a system on a substrate, a system on a package The system, application-specific integrated circuit (ASIC), or any other reasonable way to integrate or encapsulate the circuit and other hardware or firmware, or by software, hardware, and firmware Any suitable combination of several to achieve.
  • FPGA field programmable gate array
  • PLA programmable logic array
  • ASIC application-specific integrated circuit
  • At least one of the sub-modules 940 may be at least partially implemented as a computer program module, and when the computer program module is executed, a corresponding function may be performed.
  • FIG. 10 schematically shows a block diagram of a computer system suitable for positioning according to an embodiment of the present disclosure.
  • the computer system shown in FIG. 10 is only an example, and should not bring any limitation to the function and scope of use of the embodiments of the present disclosure.
  • a computer system 1000 includes a processor 1001, which can be loaded into a random access memory (RAM) 1003 according to a program stored in a read only memory (ROM) 1002 or from a storage part 1008 The program executes various appropriate actions and processing.
  • the processor 1001 may include, for example, a general-purpose microprocessor (for example, a CPU), an instruction set processor and/or a related chipset and/or a special purpose microprocessor (for example, an application specific integrated circuit (ASIC)), and so on.
  • the processor 1001 may also include on-board memory for caching purposes.
  • the processor 1001 may include a single processing unit or multiple processing units for performing different actions of a method flow according to an embodiment of the present disclosure.
  • the processor 1001, the ROM 1002, and the RAM 1003 are connected to each other through a bus 1004.
  • the processor 1001 executes various operations of the method flow according to the embodiments of the present disclosure by executing programs in the ROM 1002 and/or RAM 1003. It should be noted that the program can also be stored in one or more memories other than ROM 1002 and RAM 1003.
  • the processor 1001 may also execute various operations of the method flow according to the embodiments of the present disclosure by executing programs stored in the one or more memories.
  • the system 1000 may further include an input/output (I/O) interface 1005, and the input/output (I/O) interface 1005 is also connected to the bus 1004.
  • the system 1000 may also include one or more of the following components connected to the I/O interface 1005: an input part 1006 including a keyboard, a mouse, etc.; including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker
  • the output section 1007 including the hard disk, etc.
  • the storage section 1008 including the hard disk, etc.
  • the communication section 1009 including the network interface card such as a LAN card, a modem, and the like.
  • the communication section 1009 performs communication processing via a network such as the Internet.
  • the driver 1010 is also connected to the I/O interface 1005 as needed.
  • a removable medium 1011 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 1010 as needed, so that the computer program read therefrom is installed into the storage portion 1008 as needed.
  • the method flow according to the embodiment of the present disclosure may be implemented as a computer software program.
  • an embodiment of the present disclosure includes a computer program product, which includes a computer program carried on a computer-readable storage medium, and the computer program contains program code for executing the method shown in the flowchart.
  • the computer program may be downloaded and installed from the network through the communication part 1009, and/or installed from the removable medium 1011.
  • the computer program executes the above-mentioned functions defined in the system of the embodiment of the present disclosure.
  • the systems, devices, devices, modules, units, etc. described above may be implemented by computer program modules.
  • the present disclosure also provides a computer-readable storage medium.
  • the computer-readable storage medium may be included in the device/device/system described in the above embodiment; or it may exist alone without being assembled into the device/ In the device/system.
  • the aforementioned computer-readable storage medium carries one or more programs, and when the aforementioned one or more programs are executed, the method according to the embodiments of the present disclosure is implemented.
  • the computer-readable storage medium may be a non-volatile computer-readable storage medium of a computer.
  • a computer may include, but is not limited to: a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination of the above.
  • a computer-readable storage medium may be any tangible medium that contains or stores a program, and the program may be used by or in combination with an instruction execution system, apparatus, or device.
  • the computer-readable storage medium may include one or more memories other than the ROM 1002 and/or RAM 1003 and/or ROM 1002 and RAM 1003 described above.
  • each block in the flowchart or block diagram may represent a module, program segment, or part of the code, and the above-mentioned module, program segment, or part of the code contains one or more for realizing the specified logic function.
  • Executable instructions may also occur in a different order than that noted in the drawings. For example, two blocks shown in succession can actually be executed substantially in parallel, and they can sometimes be executed in the reverse order, depending on the functions involved.
  • each block in the block diagram or flowchart, and the combination of blocks in the block diagram or flowchart can be implemented by a dedicated hardware-based system that performs the specified function or operation, or can be implemented by It is realized by a combination of dedicated hardware and computer instructions.

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Abstract

本公开提供一种定位方法，用于目标设备，该方法包括：接收来自N个基站的定位数据，其中，定位数据包括N个基站各自发送定位数据的N个发送时刻，其中，N是大于等于3的整数，确定目标设备分别接收到定位数据的N个接收时刻，获取N个基站的N个基站位置，通过N个发送时刻、N个接收时刻以及N个基站位置，得到多个轨迹，基于多个轨迹，确定目标设备的目标位置。本公开还提供了一种定位装置、一种定位系统以及一种计算机可读存储介质。

Description

定位方法、装置、系统、计算设备以及介质
本申请要求于2019年10月11日提交的中国专利申请201910966983.7的优先权，其内容一并在此作为参考。
技术领域
本公开涉及计算机技术领域，更具体地，涉及一种定位方法、一种定位装置、一种定位系统、一种计算设备以及一种计算机可读存储介质。
背景技术
相关技术已经出现多种定位方式。其中一种方式，通常是通过目标设备与基站之间进行多次通信来完成定位，例如由基站发送定位数据，目标设备接收到定位数据后回复，然后再由目标设备发送定位数据，基站接收并计算目标设备的位置信息。另一种方式，由目标设备发送定位数据，基站接收到定位数据后，将定位数据发送给服务器，由服务器计算目标设备的位置信息。
在实现本公开构思的过程中，发明人发现现有技术中至少存在如下问题。对于相关技术中的第一种定位方式，由于目标设备与基站需要进行多次通信，导致每个目标设备占用较长的通信时间，在目标设备数量较多时，定位效率低。此外，对于第二种定位方式，当目标设备数量较多时，目标设备发送定位数据存在大概率的时间冲突，导致基站无法及时接收定位数据，且需要基站具有网络通信功能，以便基站将定位数据发送给服务器进行计算，导致基站在硬件设计上比较复杂。
发明内容
有鉴于此，本公开提供了一种优化的定位方法、定位装置、定位系统、计算设备和计算机可读存储介质。
本公开的一个方面提供了一种定位方法，用于目标设备，所述方法包括：接收来自N个基站的定位数据，其中，所述定位数据包括所述N个基站各自发送定位数据的N个发送时刻，其中，N是大于等于3的整数，确定所述目标设备分别接收到所述定位数据的N个接收时刻，获取所述N个基站的N个基站位置，通过所述N个发送时刻、所述N个接收时刻以及所述N个基站位置，得到多个轨迹，基于所述多个轨迹，确定所述目标设备的目标位置。
根据本公开实施例，上述通过所述N个发送时刻、所述N个接收时刻以及所述N个基站位置，得到多个轨迹包括：获取所述定位数据的传输速度，基于所述N个发送时刻、所述N个接收时刻以及所传输速度，确定M个距离差，其中，所述M个距离差中的每个距离差为所述目标设备至所述N个基站中两个基站之间的距离差，其中，2≤M≤N，且M是整数，基于所述M个距离差和所述N个基站位置，得到所述多个轨迹。
根据本公开实施例，上述基于所述多个轨迹，确定所述目标设备的目标位置包括：确定所述多个轨迹中的第一轨迹和第二轨迹，确定所述第一轨迹和所述第二轨迹的交点作为所述目标设备的目标位置。
根据本公开实施例，在所述第一轨迹和所述第二轨迹的交点为多个时，所述基于所述多个轨迹，确定所述目标设备的目标位置还包括：确定所述多个轨迹中的第三轨迹，确定所述多个交点中位于所述第三轨迹的交点作为所述目标设备的目标位置。
根据本公开实施例，上述基于所述N个发送时刻、所述N个接收时刻以及所传输速度，确定M个距离差包括：分别计算所述N个发送时刻和所述N个接收时刻之间的差值，得到N个传输时间，计算所述第N个传输时间中的任意两个传输时间之间的差值，得到M个传输时间差，基于所述M个传输时间差和所述传输速度，确定所述M个距离差。
本公开的另一个方面还提供了一种定位方法，用于定位系统，所述定位系统包括目标设备和N个基站，所述N个基站包括主基站和从 基站，所述方法包括：由所述目标设备执行如上由目标设备执行的方法。由所述从基站执行：将所述从基站的时钟信息更新为所述主基站的时钟信息。
根据本公开实施例，上述将所述从基站的时钟信息更新为所述主基站的时钟信息包括：接收来自所述主基站的同步数据，其中，所述同步数据包括所述主基站发送所述同步数据的第一发送时刻，获取所述主基站和所述从基站的相对位置信息以及所述同步数据的传输速度，基于所述第一发送时刻、所述相对位置信息、所述同步数据的传输速度，得到所述主基站的当前时刻，基于所述当前时刻更新所述从基站的时钟信息。
根据本公开实施例，上述基于所述第一发送时刻、所述相对位置信息、所述同步数据的传输速度，得到所述主基站的当前时刻包括：确定来自所述主基站的同步数据的转发次数以及转发间隔，其中，所述转发间隔包括从基站接收到所述同步数据的时刻和转发所述同步数据的时刻之间的时刻差，基于所述第一发送时刻、所述相对位置信息、所述同步数据的传输速度、所述转发次数、所述转发间隔，得到所述主基站的当前时刻。
本公开的另一个方面提供了一种定位装置，用于目标设备，所述装置包括：接收模块、第一确定模块、第一获取模块、第二获取模块以及第二确定模块。其中，接收模块接收来自N个基站的定位数据，其中，所述定位数据包括所述N个基站各自发送定位数据的N个发送时刻，其中，N是大于等于3的整数，第一确定模块确定所述目标设备分别接收到所述定位数据的N个接收时刻，第一获取模块获取所述N个基站的N个基站位置，第二获取模块通过所述N个发送时刻、所述N个接收时刻以及所述N个基站位置，得到多个轨迹，第二确定模块基于所述多个轨迹，确定所述目标设备的目标位置。
根据本公开实施例，上述第二获取模块包括：速度获取子模块、第一确定子模块以及轨迹获取子模块。其中，速度获取子模块获取所述定位数据的传输速度，第一确定子模块基于所述N个发送时刻、所 述N个接收时刻以及所传输速度，确定M个距离差，其中，所述M个距离差中的每个距离差为所述目标设备至所述N个基站中两个基站之间的距离差，其中，2≤M≤N，且M是整数，轨迹获取子模块基于所述M个距离差和所述N个基站位置，得到所述多个轨迹。
根据本公开实施例，上述第二确定模块包括：第二确定子模块和第三确定子模块。其中，第二确定子模块确定所述多个轨迹中的第一轨迹和第二轨迹，第三确定子模块确定所述第一轨迹和所述第二轨迹的交点作为所述目标设备的目标位置。
根据本公开实施例，在所述第一轨迹和所述第二轨迹的交点为多个时，所述第二确定模块还包括：第四确定子模块和第五确定子模块。其中，第四确定子模块确定所述多个轨迹中的第三轨迹，第五确定子模块确定所述多个交点中位于所述第三轨迹的交点作为所述目标设备的目标位置。
根据本公开实施例，上述第一确定子模块包括：第一计算单元、第二计算单元以及第一确定单元。其中，第一计算单元分别计算所述N个发送时刻和所述N个接收时刻之间的差值，得到N个传输时间，第二计算单元计算所述第N个传输时间中的任意两个传输时间之间的差值，得到M个传输时间差，第一确定单元基于所述M个传输时间差和所述传输速度，确定所述M个距离差。
本公开的另一个方面提供了一种定位系统，包括：目标设备和N个基站。其中，所述目标设备执行如上由目标设备执行的方法。所述N个基站包括主基站和从基站，所述从基站执行：将所述从基站的时钟信息更新为所述主基站的时钟信息。
根据本公开实施例，上述从基站包括：接收子模块、第一获取子模块、第二获取子模块以及更新子模块。其中，接收子模块接收来自所述主基站的同步数据，其中，所述同步数据包括所述主基站发送所述同步数据的第一发送时刻，第一获取子模块获取所述主基站和所述从基站的相对位置信息以及所述同步数据的传输速度，第二获取子模块基于所述第一发送时刻、所述相对位置信息、所述同步数据的传输 速度，得到所述主基站的当前时刻，更新子模块基于所述当前时刻更新所述从基站的时钟信息。
根据本公开实施例，上述第二获取子模块包括：第二确定单元和获取单元。其中，第二确定单元确定来自所述主基站的同步数据的转发次数以及转发间隔，其中，所述转发间隔包括从基站接收到所述同步数据的时刻和转发所述同步数据的时刻之间的时刻差，获取单元基于所述第一发送时刻、所述相对位置信息、所述同步数据的传输速度、所述转发次数、所述转发间隔，得到所述主基站的当前时刻。
本公开的另一方面提供了一种计算机可读存储介质，存储有计算机可执行指令，所述指令在被执行时用于实现如上所述的方法。
本公开的另一方面提供了一种计算机程序，所述计算机程序包括计算机可执行指令，所述指令在被执行时用于实现如上所述的方法。
根据本公开的实施例，可以至少部分地解决相关技术中由于目标设备与基站需要进行多次通信，导致每个目标设备占用较长的通信时间，在目标设备数量较多时，定位效率低。此外，当目标设备数量较多时，目标设备发送定位数据存在大概率的时间冲突，导致基站无法及时接收定位数据，且需要基站具有网络通信功能，以便基站将定位数据发送给服务器进行计算，导致基站在硬件设计上比较复杂的问题，并因此可以提高目标设备的定位效率。
附图说明
通过以下参照附图对本公开实施例的描述，本公开的上述以及其他目的、特征和优点将更为清楚，在附图中：
图1示意性示出了根据本公开实施例的定位方法的应用场景；
图2示意性示出了根据本公开实施例的定位方法的流程图；
图3示意性示出了根据本公开实施例的计算轨迹的示意图；
图4示意性示出了根据本公开实施例的计算目标位置的示意图；
图5示意性示出了根据本公开另一实施例的计算目标位置的示意图；
图6示意性示出了根据本公开实施例的基站同步的流程图；
图7A-7B示意性示出了根据本公开实施例的计算基站同步的示意图；
图8示意性示出了根据本公开实施例的定位装置的框图；
图9示意性示出了根据本公开实施例的从基站的框图；以及
图10示意性示出了根据本公开实施例的适于定位的计算机系统的方框图。
具体实施方式
以下，将参照附图来描述本公开的实施例。但是应该理解，这些描述只是示例性的，而并非要限制本公开的范围。在下面的详细描述中，为便于解释，阐述了许多具体的细节以提供对本公开实施例的全面理解。然而，明显地，一个或多个实施例在没有这些具体细节的情况下也可以被实施。此外，在以下说明中，省略了对公知结构和技术的描述，以避免不必要地混淆本公开的概念。
在此使用的术语仅仅是为了描述具体实施例，而并非意在限制本公开。在此使用的术语“包括”、“包含”等表明了所述特征、步骤、操作和/或部件的存在，但是并不排除存在或添加一个或多个其他特征、步骤、操作或部件。
在此使用的所有术语(包括技术和科学术语)具有本领域技术人员通常所理解的含义，除非另外定义。应注意，这里使用的术语应解释为具有与本说明书的上下文相一致的含义，而不应以理想化或过于刻板的方式来解释。
在使用类似于“A、B和C等中至少一个”这样的表述的情况下，一般来说应该按照本领域技术人员通常理解该表述的含义来予以解释(例如，“具有A、B和C中至少一个的系统”应包括但不限于单独具有A、单独具有B、单独具有C、具有A和B、具有A和C、具有B和C、和/或具有A、B、C的系统等)。在使用类似于“A、B或C等中至少一个”这样的表述的情况下，一般来说应该按照本领域技术 人员通常理解该表述的含义来予以解释(例如，“具有A、B或C中至少一个的系统”应包括但不限于单独具有A、单独具有B、单独具有C、具有A和B、具有A和C、具有B和C、和/或具有A、B、C的系统等)。
本公开的实施例提供了一种定位方法，用于目标设备，该方法包括：接收来自N个基站的定位数据，其中，定位数据包括N个基站各自发送定位数据的N个发送时刻，其中，N是大于等于3的整数。然后，确定目标设备分别接收到定位数据的N个接收时刻，获取N个基站的N个基站位置。最后，通过N个发送时刻、N个接收时刻以及N个基站位置，得到多个轨迹，基于多个轨迹，确定目标设备的目标位置。
图1示意性示出了根据本公开实施例的定位方法的应用场景。
如图1所示，本公开实施例的应用场景100例如包括多个基站110、120、130、140、……，以及包括目标设备150。
根据本公开实施例，多个基站例如可以发送定位数据，以便目标设备150接收到定位数据后，可以基于定位数据计算自身的位置信息。
其中，目标设备150例如可以是具有数据处理功能的设备，便于在接收到来自多个基站的定位数据后，可以处理该定位数据得到自身的位置信息。其中，目标设备150例如可以是手机、电脑、飞行器等设备。
需要注意的是，图1所示仅为可以应用本公开实施例的应用场景的示例，以帮助本领域技术人员理解本公开的技术内容，但并不意味着本公开实施例不可以用于其他设备、系统、环境或场景。
图2示意性示出了根据本公开实施例的定位方法的流程图。
如图2所示，该方法包括操作S210～S250。
在操作S210，接收来自N个基站的定位数据，其中，定位数据包括N个基站各自发送定位数据的N个发送时刻，其中，N是大于等于3的整数。
根据本公开实施例，N个基站中的每个基站例如可以周期性地发 送定位数据，例如每个基站每隔预设时间段向外发送定位包。每个基站所发送的定位包中例如包括自身发送该定位包的发送时刻。其中，N个基站的时钟信息例如是同步的。在以下实施例将具体描述如何同步N个基站的时钟信息。
在操作S220，确定目标设备分别接收到定位数据的N个接收时刻。
根据本公开实施例，目标设备例如具有数据处理功能，例如目标设备可以是手机、电脑、飞行器等等设备。在目标设备接收到来自基站的定位数据时，目标设备可以记录每次接受定位数据的接受时刻。例如，目标设备记录接收到N个基站的定位数据的时刻，得到N个接收时刻。
在操作S230，获取N个基站的N个基站位置。在本公开实施例中，N个基站的位置是已知的。例如N个基站是固定基站，其位置是固定的。该N个基站的位置例如存储于目标设备的存储单元中，便于目标设备在使用时从存储单元中获取，或者目标设备在使用时也可以向外部获取N个基站位置。
在操作S240，通过N个发送时刻、N个接收时刻以及N个基站位置，得到多个轨迹。
根据本公开实施例，例如目标设备可能位于多个轨迹中的任意位置。具体地，目标设备例如可以位于多个轨迹的交点处。在以下实施中将具体描述如何获取多个轨迹。
在操作S250，基于多个轨迹，确定目标设备的目标位置。
在本公开实施例中，例如确定多个轨迹的交点，该交点所在的位置即为目标设备的目标位置。
本公开实施例通过基站发送定位数据，由目标设备接收并处理定位数据得到自身位置信息。本公开实施例的目标设备能够主动接收定位数据并计算自身位置，不需要额外服务器来计算位置信息。因此，基站只需要具有发送定位数据的功能即可，不需要基站通过网络通信功能来将定位数据发送给额外的服务器进行计算，因此基站不需要具 有网络通信功能，由此简化了基站的硬件设计。此外，目标设备仅需要接收来自基站的定位数据，不需要目标设备与基站进行多次通信而占用过多时间，例如不需要目标设备向基站发送自身的定位数据，只需目标设备接收来自基站的定位数据，至少避免了在目标设备数量较多时，如果每个目标设备均向基站发送定位数据，将导致多个目标设备发送定位数据的冲突概率大的问题。因此，本公开采用基站向目标设备发送定位数据的方式，能够适用于目标设备的数量较多的场景，保证目标设备的定位效率。
以下将阐述操作S240的具体实例实现过程。如下步骤(1)～(3)示出了以N个发送时刻、N个接收时刻以及N个基站位置为例，得到多个轨迹的过程。
(1)获取定位数据的传输速度。其中，定位数据的传输速度例如可以是常数或者变量。其中，当传输速度为常数时，由于受到天气等因素影响，由不同基站发送的定位数据的传输数据例如不一样，在一种情况下，传输速度可以是光速。当传输速度为变量时，例如由于受时间或天气影响，该传输速度例如随传输时间变化。
(2)基于N个发送时刻、N个接收时刻以及所传输速度，确定M个距离差，其中，M个距离差中的每个距离差例如为目标设备至N个基站中两个基站之间的距离差，其中，2≤M≤N，且M是整数。其中，步骤(2)例如如下描述。
第一种情况，以传输速度为常数举例。当不同基站发送的定位数据的传输速度一样时，来自不同基站的定位数据的传输数据例如均为C，C例如为已知数。在一种情况下C例如可以是光速。
例如，首先分别计算N个发送时刻和N个接收时刻之间的差值，得到N个传输时间。
例如，以N等于三为例。例如三个基站包括基站S 1、基站S 2、基站S 3。基站S 1、基站S 2、基站S 3发送定位数据的发送时刻分别为T 11、T 21、T 31，目标设备分别接收基站S 1、基站S 2、基站S 3的定位数据的接收时刻分别为T 12、T 22、T 32，则：
ΔT 1＝T 12-T 11
ΔT 2＝T 22-T 21
ΔT 3＝T 32-T 31
其中，ΔT 1为定位数据从基站S 1到目标设备的传输时间，ΔT 2为定位数据从基站S 2到目标设备的传输时间，ΔT 3为定位数据从基站S 3到目标设备的传输时间。即，N个传输时间为ΔT 1、ΔT 2、ΔT 3。
然后，计算第N个传输时间中的任意两个传输时间之间的差值，得到M个传输时间差。
ΔT 12＝ΔT 2-ΔT 1
ΔT 13＝ΔT 3-ΔT 1
ΔT 23＝ΔT 3-ΔT 2
其中，ΔT 12为ΔT 1与ΔT 2的传输时间差，ΔT 13为ΔT 1与ΔT 3的传输时间差，ΔT 23为ΔT 2与ΔT 3的传输时间差。M个传输时间差例如为ΔT 12、ΔT 13、ΔT 23中的至少两个。
然后，基于M个传输时间差和传输速度C，确定M个距离差。
例如，以M个传输时间差为ΔT 12、ΔT 13举例。M个距离差例如包括D 12、D 13，其中：
D 12＝C*ΔT 12
D 13＝C*ΔT 13
当M个传输时间差还包括ΔT 23时，M个距离差例如还可以包括D 23：
D 23＝C*ΔT 23
第二种情况，以传输速度为常数举例。当不同基站发送的定位数据的传输速度不一样时，来自基站S 1、基站S 2、基站S 3的定位数据的传输速度例如分别为C 1、C 2、C 3，C 1、C 2、C 3例如为已知数。其中：
D 12＝C 2*ΔT 2-C 1*ΔT 1
D 13＝C 3*ΔT 3-C 1*ΔT 1
D 23＝C 3*ΔT 3-C 2*ΔT 2
该方式考虑到由于外界因素影响，导致不同基站发送的定位数据的传输速度不一样。因此针对不同基站的定位数据的传输速度来计算对应的距离差，提高了计算精度，进而提高了定位精度。
第三种情况，以传输速度为变量举例，该传输速度例如随传输时间变化。来自基站S 1、基站S 2、基站S 3的定位数据的传输速度例如分别为
Figure PCTCN2020106562-appb-000001
例如为已知数。其中：
Figure PCTCN2020106562-appb-000002
Figure PCTCN2020106562-appb-000003
Figure PCTCN2020106562-appb-000004
该方式考虑到由于外界因素影响，导致基站发送的定位数据的传输速度随时间变化。因此，在定位过程中考虑到传输速度随时间变化的情况，极大提高了定位精度。
(3)基于M个距离差和N个基站位置，得到多个轨迹。
图3示意性示出了根据本公开实施例的计算轨迹的示意图。以下将结合图3描述如何得到多个轨迹。
如图3所示，目标设备到基站S 1、基站S 2的距离差D 12＝2a。根据基站位置可计算出基站S 1与基站S 2之间的距离为2c。
参考以下双曲线方程，其中x和y为目标设备的位置坐标：
Figure PCTCN2020106562-appb-000005
a 2+b 2＝c 2
由此可以计算出双曲线，其中双曲线中的一条曲线为距离差D 12对应的一条轨迹P 1。例如当距离差D 12表征目标设备至基站S 1的距离小于至基站S 2的距离时，双曲线中的左边一条曲线为距离差D 12对应的轨迹P 1。目标设备的位置坐标为该轨迹P 1中的一点。
同理，由目标设备到基站S 1、基站S 3的距离差D 13，以及基站S 1与基站S 3之间的距离，可以得到另一轨迹P 2。由目标设备到基站S 2、基站S 3的距离差D 23，以及基站S 2与基站S 3之间的距离，可以得到另一轨迹P 3。由此可以得到多条轨迹，例如得到轨迹P 1、P 2、P 3。
图4示意性示出了根据本公开实施例的计算目标位置的示意图。
如图4所示，上述操作S250例如包括：确定多个轨迹中的第一轨迹和第二轨迹，确定第一轨迹和第二轨迹的交点作为目标设备的目标位置。
例如，轨迹P 1和P 2的交点为I 1，确定该交点I 1为目标设备的目标位置。
图5示意性示出了根据本公开另一实施例的计算目标位置的示意图。
如图5所示，在第一轨迹和第二轨迹的交点为多个时，上述操作S250例如可以包括：确定多个轨迹中的第三轨迹，确定多个交点中位于第三轨迹的交点作为目标设备的目标位置。
例如，轨迹P 1和P 2包括多个交点，例如包括交点I 1和交点I 2，确定第三轨迹P 3，并将I 1和交点I 2中位于轨迹P 3的交点I 1作为目标设备的目标位置。
可以理解，上述为了便于理解本公开实施例的技术方案，仅以三个基站做出举例。在实现本方案的过程中，本领域技术人员可根据实际应用情况利用超过三个基站的定位数据来定位目标设备的位置，以便提高定位的准确性。例如，如果多个基站之间的距离较小的情况下，如果仅利用三个基站的定位数据可能造成多个轨迹接近重合，无法准确地得到多个轨迹之间的交点。因此，为了提高定位的准确性，根据实际应用情况可以利用超过三个基站进行定位。
本公开另一实施例提供了一种定位方法，用于定位系统，该定位系统包括目标设备和N个基站，N个基站例如包括主基站和从基站。
在本公开实施例中，例如由目标设备执行如图2所示的方法。由从基站执行：将从基站的时钟信息更新为主基站的时钟信息。
即，在目标设备进行定位之前，需要首先同步N个基站的时钟信息。以下将具体描述如何同步N个基站的时钟信息。
图6示意性示出了根据本公开实施例的基站同步的流程图。
如图6所示，将从基站的时钟信息更新为主基站的时钟信息包括操作S610～S640。
操作S610，接收来自主基站的同步数据，其中，同步数据包括主基站发送同步数据的第一发送时刻。
例如，主基站的时钟信息是整个定位系统的时钟基准，主基站可以周期性地发送同步包，该同步包中包括主基站发送同步包的第一发送时刻。
操作S620，获取主基站和从基站的相对位置信息以及同步数据的传输速度。
其中，主基站至从基站的相对位置信息例如包括两者之间的距离(或者也可以是同步数据的传输距离)。例如，主基站和从基站之间的距离为d，同步数据的传输速度例如为v，其中，v例如为已知数，v例如与上述传输速度相同或类似，可以是常数或变量，在此不再赘述。
操作S630，基于第一发送时刻、相对位置信息、同步数据的传输速度，得到主基站的当前时刻。
例如，主基站在第一发送时刻t 0发送同步包，从基站接收到定位包时，主基站的当前时刻为t 1：
Figure PCTCN2020106562-appb-000006
操作S640，基于当前时刻更新从基站的时钟信息。即，将主基站的当前时刻为t 1作为从基站的当前时刻，实现从基站的时钟信息同步至主基站的时钟信息。
另外，在从基站接收到同步包时，从基站将自身的时钟信息同步至主基站的时钟信息时，该从基站还可以进一步确定自身是否为中继基站，如果是，则作为中继基站的从基站还将该同步包转发出去，以便其他从基站可以接收所转发的同步包。
图7A-7B示意性示出了根据本公开实施例的计算基站同步的示意图。
如图7A-7B所示，例如主基站S 0发送一个同步包，该同步包经由N个中继基站S 1、S 2、……、S n的转发后，最终由从基站S n+1接收。
首先，确定来自主基站的同步数据的转发次数以及转发间隔，其中，转发间隔包括从基站(例如该从基站为中继基站)接收到同步数据的时刻和转发同步数据的时刻之间的时刻差。
如图7A所示，由于该同步包由n个中继基站转发，因此转发次数为n，其中，每个中继基站接收到同步包后例如经过时间段ΔT后才转发出去，则转发间隔为ΔT。例如，主基站S 0在第一发送时刻t 0发送同步包，中继基站S 1接收到同步包的时刻为t 11，转发时刻为t 21，则转发间隔ΔT＝t 21-t 11。同理，其他中继基站的转发间隔例如也为ΔT。
如图7B所示，基于第一发送时刻、相对位置信息、同步数据的传输速度、转发次数、转发间隔，得到主基站的当前时刻。其中，主基站S 0到从基站S n+1的相对位置信息为d’：
d’＝d 1+d 2+……+d n+1
例如，主基站S 0在第一发送时刻t 0发送同步包，从基站S n+1接收到定位包时，主基站的当前时刻为t 1’：
Figure PCTCN2020106562-appb-000007
其中，v为同步数据的传输速度，v例如为已知数，v例如与上述传输速度相同或类似，可以是常数或变量，在此不再赘述，ΔT为转发间隔，n为转发次数。
其后，将主基站S 0的当前时刻t 1’作为从基站S n+1的当前时刻，实现从基站S n+1的时钟信息同步至主基站S 0的时钟信息。
图8示意性示出了根据本公开实施例的定位装置的框图。
如图8所示，定位装置800用于目标设备，定位装置800包括接收模块810、第一确定模块820、第一获取模块830、第二获取模块840以及第二确定模块850。
接收模块810可以用于接收来自N个基站的定位数据，其中，定位数据包括N个基站各自发送定位数据的N个发送时刻，其中，N是大于等于3的整数。根据本公开实施例，接收模块810例如可以执行上文参考图2描述的操作S210，在此不再赘述。
第一确定模块820可以用于确定目标设备分别接收到定位数据的 N个接收时刻。根据本公开实施例，第一确定模块820例如可以执行上文参考图2描述的操作S220，在此不再赘述。
第一获取模块830可以用于获取N个基站的N个基站位置。根据本公开实施例，第一获取模块830例如可以执行上文参考图2描述的操作S230，在此不再赘述。
第二获取模块840可以用于通过N个发送时刻、N个接收时刻以及N个基站位置，得到多个轨迹。根据本公开实施例，第二获取模块840例如可以执行上文参考图2描述的操作S240，在此不再赘述。
第二确定模块850可以用于基于多个轨迹，确定目标设备的目标位置。根据本公开实施例，第二确定模块850例如可以执行上文参考图2描述的操作S250，在此不再赘述。
根据本公开实施例，第二获取模块840包括：速度获取子模块、第一确定子模块以及轨迹获取子模块。其中，速度获取子模块获取定位数据的传输速度，第一确定子模块基于N个发送时刻、N个接收时刻以及所传输速度，确定M个距离差，其中，M个距离差中的每个距离差为目标设备至N个基站中两个基站之间的距离差，其中，2≤M≤N，且M是整数，轨迹获取子模块基于M个距离差和N个基站位置，得到多个轨迹。
根据本公开实施例，第二确定模块850包括：第二确定子模块和第三确定子模块。其中，第二确定子模块确定多个轨迹中的第一轨迹和第二轨迹，第三确定子模块确定第一轨迹和第二轨迹的交点作为目标设备的目标位置。
根据本公开实施例，在第一轨迹和第二轨迹的交点为多个时，第二确定模块850还包括：第四确定子模块和第五确定子模块。其中，第四确定子模块确定多个轨迹中的第三轨迹，第五确定子模块确定多个交点中位于第三轨迹的交点作为目标设备的目标位置。
根据本公开实施例，第一确定子模块包括：第一计算单元、第二计算单元以及第一确定单元。其中，第一计算单元分别计算N个发送时刻和N个接收时刻之间的差值，得到N个传输时间，第二计算单元 计算第N个传输时间中的任意两个传输时间之间的差值，得到M个传输时间差，第一确定单元基于M个传输时间差和传输速度，确定M个距离差。
图9示意性示出了根据本公开实施例的从基站的框图。
如图9所示，从基站900例如将从基站的时钟信息更新为主基站的时钟信息。从基站900包括接收子模块910、第一获取子模块920、第二获取子模块930以及更新子模块940。
接收子模块910可以用于接收来自主基站的同步数据，其中，同步数据包括主基站发送同步数据的第一发送时刻。根据本公开实施例，接收子模块910例如可以执行上文参考图6描述的操作S610，在此不再赘述。
第一获取子模块920可以用于获取主基站和从基站的相对位置信息以及同步数据的传输速度。根据本公开实施例，第一获取子模块920例如可以执行上文参考图6描述的操作S620，在此不再赘述。
第二获取子模块930可以用于基于第一发送时刻、相对位置信息、同步数据的传输速度，得到主基站的当前时刻。根据本公开实施例，第二获取子模块930例如可以执行上文参考图6描述的操作S630，在此不再赘述。
更新子模块940可以用于基于当前时刻更新从基站的时钟信息。根据本公开实施例，更新子模块940例如可以执行上文参考图6描述的操作S640，在此不再赘述。
根据本公开实施例，第二获取子模块930包括：第二确定单元和获取单元。其中，第二确定单元确定来自主基站的同步数据的转发次数以及转发间隔，其中，转发间隔包括从基站接收到同步数据的时刻和转发同步数据的时刻之间的时刻差，获取单元基于第一发送时刻、相对位置信息、同步数据的传输速度、转发次数、转发间隔，得到主基站的当前时刻。
根据本公开的实施例的模块、子模块、单元、子单元中的任意多个、或其中任意多个的至少部分功能可以在一个模块中实现。根据本 公开实施例的模块、子模块、单元、子单元中的任意一个或多个可以被拆分成多个模块来实现。根据本公开实施例的模块、子模块、单元、子单元中的任意一个或多个可以至少被部分地实现为硬件电路，例如现场可编程门阵列(FPGA)、可编程逻辑阵列(PLA)、片上系统、基板上的系统、封装上的系统、专用集成电路(ASIC)，或可以通过对电路进行集成或封装的任何其他的合理方式的硬件或固件来实现，或以软件、硬件以及固件三种实现方式中任意一种或以其中任意几种的适当组合来实现。或者，根据本公开实施例的模块、子模块、单元、子单元中的一个或多个可以至少被部分地实现为计算机程序模块，当该计算机程序模块被运行时，可以执行相应的功能。
例如，接收模块810、第一确定模块820、第一获取模块830、第二获取模块840、第二确定模块850、接收子模块910、第一获取子模块920、第二获取子模块930以及更新子模块940中的任意多个可以合并在一个模块中实现，或者其中的任意一个模块可以被拆分成多个模块。或者，这些模块中的一个或多个模块的至少部分功能可以与其他模块的至少部分功能相结合，并在一个模块中实现。根据本公开的实施例，接收模块810、第一确定模块820、第一获取模块830、第二获取模块840、第二确定模块850、接收子模块910、第一获取子模块920、第二获取子模块930以及更新子模块940中的至少一个可以至少被部分地实现为硬件电路，例如现场可编程门阵列(FPGA)、可编程逻辑阵列(PLA)、片上系统、基板上的系统、封装上的系统、专用集成电路(ASIC)，或可以通过对电路进行集成或封装的任何其他的合理方式等硬件或固件来实现，或以软件、硬件以及固件三种实现方式中任意一种或以其中任意几种的适当组合来实现。或者，接收模块810、第一确定模块820、第一获取模块830、第二获取模块840、第二确定模块850、接收子模块910、第一获取子模块920、第二获取子模块930以及更新子模块940中的至少一个可以至少被部分地实现为计算机程序模块，当该计算机程序模块被运行时，可以执行相应的功能。
图10示意性示出了根据本公开实施例的适于定位的计算机系统的方框图。图10示出的计算机系统仅仅是一个示例，不应对本公开实施例的功能和使用范围带来任何限制。
如图10所示，根据本公开实施例的计算机系统1000包括处理器1001，其可以根据存储在只读存储器(ROM)1002中的程序或者从存储部分1008加载到随机访问存储器(RAM)1003中的程序而执行各种适当的动作和处理。处理器1001例如可以包括通用微处理器(例如CPU)、指令集处理器和/或相关芯片组和/或专用微处理器(例如，专用集成电路(ASIC))，等等。处理器1001还可以包括用于缓存用途的板载存储器。处理器1001可以包括用于执行根据本公开实施例的方法流程的不同动作的单一处理单元或者是多个处理单元。
在RAM 1003中，存储有系统1000操作所需的各种程序和数据。处理器1001、ROM 1002以及RAM 1003通过总线1004彼此相连。处理器1001通过执行ROM 1002和/或RAM 1003中的程序来执行根据本公开实施例的方法流程的各种操作。需要注意，所述程序也可以存储在除ROM 1002和RAM 1003以外的一个或多个存储器中。处理器1001也可以通过执行存储在所述一个或多个存储器中的程序来执行根据本公开实施例的方法流程的各种操作。
根据本公开的实施例，系统1000还可以包括输入/输出(I/O)接口1005，输入/输出(I/O)接口1005也连接至总线1004。系统1000还可以包括连接至I/O接口1005的以下部件中的一项或多项：包括键盘、鼠标等的输入部分1006；包括诸如阴极射线管(CRT)、液晶显示器(LCD)等以及扬声器等的输出部分1007；包括硬盘等的存储部分1008；以及包括诸如LAN卡、调制解调器等的网络接口卡的通信部分1009。通信部分1009经由诸如因特网的网络执行通信处理。驱动器1010也根据需要连接至I/O接口1005。可拆卸介质1011，诸如磁盘、光盘、磁光盘、半导体存储器等等，根据需要安装在驱动器1010上，以便于从其上读出的计算机程序根据需要被安装入存储部分1008。
根据本公开的实施例，根据本公开实施例的方法流程可以被实现 为计算机软件程序。例如，本公开的实施例包括一种计算机程序产品，其包括承载在计算机可读存储介质上的计算机程序，该计算机程序包含用于执行流程图所示的方法的程序代码。在这样的实施例中，该计算机程序可以通过通信部分1009从网络上被下载和安装，和/或从可拆卸介质1011被安装。在该计算机程序被处理器1001执行时，执行本公开实施例的系统中限定的上述功能。根据本公开的实施例，上文描述的系统、设备、装置、模块、单元等可以通过计算机程序模块来实现。
本公开还提供了一种计算机可读存储介质，该计算机可读存储介质可以是上述实施例中描述的设备/装置/系统中所包含的；也可以是单独存在，而未装配入该设备/装置/系统中。上述计算机可读存储介质承载有一个或者多个程序，当上述一个或者多个程序被执行时，实现根据本公开实施例的方法。
根据本公开的实施例，计算机可读存储介质可以是计算机非易失性的计算机可读存储介质，例如可以可以包括但不限于：便携式计算机磁盘、硬盘、随机访问存储器(RAM)、只读存储器(ROM)、可擦式可编程只读存储器(EPROM或闪存)、便携式紧凑磁盘只读存储器(CD-ROM)、光存储器件、磁存储器件、或者上述的任意合适的组合。在本公开中，计算机可读存储介质可以是任何包含或存储程序的有形介质，该程序可以被指令执行系统、装置或者器件使用或者与其结合使用。
例如，根据本公开的实施例，计算机可读存储介质可以包括上文描述的ROM 1002和/或RAM 1003和/或ROM 1002和RAM 1003以外的一个或多个存储器。
附图中的流程图和框图，图示了按照本公开各种实施例的系统、方法和计算机程序产品的可能实现的体系架构、功能和操作。在这点上，流程图或框图中的每个方框可以代表一个模块、程序段、或代码的一部分，上述模块、程序段、或代码的一部分包含一个或多个用于实现规定的逻辑功能的可执行指令。也应当注意，在有些作为替换的 实现中，方框中所标注的功能也可以以不同于附图中所标注的顺序发生。例如，两个接连地表示的方框实际上可以基本并行地执行，它们有时也可以按相反的顺序执行，这依所涉及的功能而定。也要注意的是，框图或流程图中的每个方框、以及框图或流程图中的方框的组合，可以用执行规定的功能或操作的专用的基于硬件的系统来实现，或者可以用专用硬件与计算机指令的组合来实现。
本领域技术人员可以理解，本公开的各个实施例和/或权利要求中记载的特征可以进行多种组合和/或结合，即使这样的组合或结合没有明确记载于本公开中。特别地，在不脱离本公开精神和教导的情况下，本公开的各个实施例和/或权利要求中记载的特征可以进行多种组合和/或结合。所有这些组合和/或结合均落入本公开的范围。
以上对本公开的实施例进行了描述。但是，这些实施例仅仅是为了说明的目的，而并非为了限制本公开的范围。尽管在以上分别描述了各实施例，但是这并不意味着各个实施例中的措施不能有利地结合使用。本公开的范围由所附权利要求及其等同物限定。不脱离本公开的范围，本领域技术人员可以做出多种替代和修改，这些替代和修改都应落在本公开的范围之内。

Claims (18)

  1. 一种定位方法，用于目标设备，所述方法包括：
    接收来自N个基站的定位数据，其中，所述定位数据包括所述N个基站各自发送定位数据的N个发送时刻，其中，N是大于等于3的整数；
    确定所述目标设备分别接收到所述定位数据的N个接收时刻；
    获取所述N个基站的N个基站位置；
    通过所述N个发送时刻、所述N个接收时刻以及所述N个基站位置，得到多个轨迹；以及
    基于所述多个轨迹，确定所述目标设备的目标位置。
  2. 根据权利要求1所述的方法，其中，所述通过所述N个发送时刻、所述N个接收时刻以及所述N个基站位置，得到多个轨迹包括：
    获取所述定位数据的传输速度；
    基于所述N个发送时刻、所述N个接收时刻以及所传输速度，确定M个距离差，其中，所述M个距离差中的每个距离差为所述目标设备至所述N个基站中两个基站之间的距离差，其中，2≤M≤N，且M是整数；以及
    基于所述M个距离差和所述N个基站位置，得到所述多个轨迹。
  3. 根据权利要求2所述的方法，其中，所述基于所述多个轨迹，确定所述目标设备的目标位置包括：
    确定所述多个轨迹中的第一轨迹和第二轨迹；以及
    确定所述第一轨迹和所述第二轨迹的交点作为所述目标设备的目标位置。
  4. 根据权利要求3所述的方法，其中，在所述第一轨迹和所述第二轨迹的交点为多个时，所述基于所述多个轨迹，确定所述目标设备的目标位置还包括：
    确定所述多个轨迹中的第三轨迹；以及
    确定所述多个交点中位于所述第三轨迹的交点作为所述目标设备的目标位置。
  5. 根据权利要求2-4中任意一项所述的方法，其中，所述基于所述N个发送时刻、所述N个接收时刻以及所传输速度，确定M个距离差包括：
    分别计算所述N个发送时刻和所述N个接收时刻之间的差值，得到N个传输时间；
    计算所述第N个传输时间中的任意两个传输时间之间的差值，得到M个传输时间差；以及
    基于所述M个传输时间差和所述传输速度，确定所述M个距离差。
  6. 一种定位方法，用于定位系统，所述定位系统包括目标设备和N个基站，所述N个基站包括主基站和从基站，所述方法包括：
    由所述目标设备执行权利要求1至5中任一项所述的方法；以及
    由所述从基站执行：将所述从基站的时钟信息更新为所述主基站的时钟信息。
  7. 根据权利要求6所述的方法，其中，所述将所述从基站的时钟信息更新为所述主基站的时钟信息包括：
    接收来自所述主基站的同步数据，其中，所述同步数据包括所述主基站发送所述同步数据的第一发送时刻；
    获取所述主基站和所述从基站的相对位置信息以及所述同步数据的传输速度；
    基于所述第一发送时刻、所述相对位置信息、所述同步数据的传输速度，得到所述主基站的当前时刻；以及
    基于所述当前时刻更新所述从基站的时钟信息。
  8. 根据权利要求7所述的方法，其中，所述基于所述第一发送时刻、所述相对位置信息、所述同步数据的传输速度，得到所述主基站的当前时刻包括：
    确定来自所述主基站的同步数据的转发次数以及转发间隔，其中，所述转发间隔包括从基站接收到所述同步数据的时刻和转发所述同步数据的时刻之间的时刻差；以及
    基于所述第一发送时刻、所述相对位置信息、所述同步数据的传输速度、所述转发次数、所述转发间隔，得到所述主基站的当前时刻。
  9. 一种定位装置，用于目标设备，所述装置包括：
    接收模块，接收来自N个基站的定位数据，其中，所述定位数据包括所述N个基站各自发送定位数据的N个发送时刻，其中，N是大于等于3的整数；
    第一确定模块，确定所述目标设备分别接收到所述定位数据的N个接收时刻；
    第一获取模块，获取所述N个基站的N个基站位置；以及
    第二获取模块，通过所述N个发送时刻、所述N个接收时刻以及所述N个基站位置，得到多个轨迹；以及
    第二确定模块，基于所述多个轨迹，确定所述目标设备的目标位置。
  10. 根据权利要求9所述的定位装置，其中，所述第二获取模块包括：
    速度获取子模块，获取所述定位数据的传输速度；
    第一确定子模块，基于所述N个发送时刻、所述N个接收时刻以及所传输速度，确定M个距离差，其中，所述M个距离差中的每个距离差为所述目标设备至所述N个基站中两个基站之间的距离差，其中，2≤M≤N，且M是整数；以及
    轨迹获取子模块，基于所述M个距离差和所述N个基站位置，得到所述多个轨迹。
  11. 根据权利要求10所述的定位装置，其中，所述第二确定模块包括：
    第二确定子模块，确定所述多个轨迹中的第一轨迹和第二轨迹；以及
    第三确定子模块，确定所述第一轨迹和所述第二轨迹的交点作为所述目标设备的目标位置。
  12. 根据权利要求11所述的定位装置，其中，在所述第一轨迹和所述第二轨迹的交点为多个时，所述第二确定模块还包括：
    第四确定子模块，确定所述多个轨迹中的第三轨迹；以及
    第五确定子模块，确定所述多个交点中位于所述第三轨迹的交点作为所述目标设备的目标位置。
  13. 根据权利要求10-12中任意一项所述的定位装置，其中，所述第一确定子模块包括：
    第一计算单元，分别计算所述N个发送时刻和所述N个接收时刻之间的差值，得到N个传输时间；
    第二计算单元，计算所述第N个传输时间中的任意两个传输时间之间的差值，得到M个传输时间差；以及
    第一确定单元，基于所述M个传输时间差和所述传输速度，确定所述M个距离差。
  14. 一种定位系统，包括：
    目标设备，所述目标设备执行权利要求1至5中任一项所述的方法；
    N个基站，所述N个基站包括主基站和从基站，所述从基站执行：将所述从基站的时钟信息更新为所述主基站的时钟信息。
  15. 根据权利要求14所述的定位系统，其中，所述从基站包括：
    接收子模块，接收来自所述主基站的同步数据，其中，所述同步数据包括所述主基站发送所述同步数据的第一发送时刻；
    第一获取子模块，获取所述主基站和所述从基站的相对位置信息以及所述同步数据的传输速度；
    第二获取子模块，基于所述第一发送时刻、所述相对位置信息、所述同步数据的传输速度，得到所述主基站的当前时刻；以及
    更新子模块，基于所述当前时刻更新所述从基站的时钟信息。
  16. 根据权利要求15所述的定位系统，其中，所述第二获取子模块包括：
    第二确定单元，确定来自所述主基站的同步数据的转发次数以及转发间隔，其中，所述转发间隔包括从基站接收到所述同步数据的时刻和转发所述同步数据的时刻之间的时刻差；以及
    获取单元，基于所述第一发送时刻、所述相对位置信息、所述同步数据的传输速度、所述转发次数、所述转发间隔，得到所述主基站的当前时刻。
  17. 一种计算设备，包括：
    一个或多个处理器；
    存储器，用于存储一个或多个程序，
    其中，当所述一个或多个程序被所述一个或多个处理器执行时，使得所述一个或多个处理器实现权利要求1至8中任一项所述的方法。
  18. 一种计算机可读存储介质，存储有计算机可执行指令，所述指令在被执行时用于实现权利要求1至8中任一项所述的方法。
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