WO2022222128A1 - Positioning method and apparatus, and narrowband terminal, system and storage medium - Google Patents

Positioning method and apparatus, and narrowband terminal, system and storage medium Download PDF

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Publication number
WO2022222128A1
WO2022222128A1 PCT/CN2021/089204 CN2021089204W WO2022222128A1 WO 2022222128 A1 WO2022222128 A1 WO 2022222128A1 CN 2021089204 W CN2021089204 W CN 2021089204W WO 2022222128 A1 WO2022222128 A1 WO 2022222128A1
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narrowband terminal
beacon point
coordinates
information
origin
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PCT/CN2021/089204
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French (fr)
Chinese (zh)
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尹思洋
金香
高申
秦瑞伦
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海能达通信股份有限公司
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Priority to PCT/CN2021/089204 priority Critical patent/WO2022222128A1/en
Publication of WO2022222128A1 publication Critical patent/WO2022222128A1/en

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
    • 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 location information of the narrowband terminal is converted into GPS coordinates, and the GPS coordinates are sent to the server through the narrowband GPS backhaul link.
  • the beacon point information and the relative coordinates of the origin corresponding to the beacon point information are calculated to obtain the relative position information of the narrowband terminal, including:
  • 3 is a schematic flowchart of determining the position information of a narrowband terminal by utilizing beacon point information, and the relative coordinates of the origin and the absolute coordinates of the origin corresponding to the beacon point information disclosed in an embodiment of the present invention
  • FIG. 7 is a schematic structural diagram of a positioning device disclosed in an embodiment of the present invention.
  • the existing backhaul method needs to be processed by the dispatching system to send positioning information. Therefore, the existing narrowband terminal positioning method will result in low timeliness of returning indoor positioning information, and will cause the air interface to be occupied for a long time, affecting normal operation. voice and SMS services.
  • the narrowband terminal transmits the GPS coordinates back to the server for presentation through a narrowband GPS backhaul link and a GPS backhaul method (eg, a GPS auxiliary control channel, a GPS dedicated channel, and voice-carried GPS).
  • a GPS backhaul method eg, a GPS auxiliary control channel, a GPS dedicated channel, and voice-carried GPS.
  • the beacon point information includes the unique identifier of the beacon point, the location information of the beacon point, the building identifier, the floor identifier, and the like.
  • step S401 the field strengths corresponding to the beacon points at different positions may be different.
  • the field intensities corresponding to the three pieces of beacon point information are calculated by formula (1) to obtain the relative position information of the narrowband terminal.
  • an embodiment of the present invention also discloses a positioning device.
  • the device mainly includes a scanning module 701 , a processing module 702 and a GPS module 703 .

Abstract

Disclosed in the present invention are a positioning method and apparatus, and a narrowband terminal, a system and a storage medium. The method comprises: on the basis of a preset algorithm rule, acquiring position information of a narrowband terminal and converting same into GPS coordinates, and sending the GPS coordinates to a server end by means of a narrowband GPS backhaul link. By means of the solution, in a scenario without a GPS signal, a narrowband terminal can still return GPS positioning data by means of a narrowband GPS backhaul link; since positioning information sent by means of the narrowband terminal is positioning data which has been processed by the narrowband terminal, the data volume of the positioning data is relatively small, thereby ensuring that the returned GPS positioning data does not become large; and since the air interface occupancy time is short when the GPS positioning data is returned by means of a narrowband GPS channel, the timeliness of positioning of an indoor narrowband terminal is improved. In addition, since the air interface occupancy time is short when the GPS positioning data is returned, normal voice and short message services are not affected.

Description

一种定位方法、装置、窄带终端、系统及存储介质A positioning method, device, narrowband terminal, system and storage medium 技术领域technical field
本发明涉及通信技术领域，更具体地说，涉及一种定位方法、装置、窄带终端、系统及存储介质。The present invention relates to the field of communication technologies, and more particularly, to a positioning method, an apparatus, a narrowband terminal, a system and a storage medium.
背景技术Background technique
随着定位技术的发展，窄带终端定位的应用范围也越来越广。由于窄带终端无法在室内锁定卫星，因此窄带终端自身无法进行准确定位，只能通过归属基站或基站定位的方式来确定窄带终端的室内定位信息，并将窄带终端的室内定位信息进行回传。With the development of positioning technology, the application scope of narrowband terminal positioning is also becoming wider and wider. Since the narrowband terminal cannot lock the satellite indoors, the narrowband terminal itself cannot perform accurate positioning. It can only determine the indoor positioning information of the narrowband terminal by means of home base station or base station positioning, and transmit the indoor positioning information of the narrowband terminal back.
窄带终端回传室内定位信息的方式基本上以短信和分组数据两种。由于现有的窄带终端传送的定位信息是未经过处理的原始数据，因此室内定位信息数据量大，并且窄带终端回传室内定位信息是通过短信和分组数据的方式回传，在回传室内定位信息时造成空口长时间被占用，且窄带链路带宽过小，导致窄带终端回传室内定位信息的时效性低，进而影响正常的语音和短信业务。There are basically two ways for the narrowband terminal to return indoor positioning information, namely, short message and packet data. Since the positioning information transmitted by the existing narrowband terminal is unprocessed raw data, the indoor positioning information data volume is large, and the indoor positioning information returned by the narrowband terminal is sent back by means of short messages and packet data. The air interface is occupied for a long time during the information time, and the narrowband link bandwidth is too small, resulting in low timeliness of the narrowband terminal returning indoor positioning information, which in turn affects the normal voice and short message services.
因此，现有的窄带终端的定位方式会造成回传室内定位信息的时效性低，且会造成空口长时间被占用，影响正常的语音和短信业务。Therefore, the existing positioning method of the narrowband terminal will result in low timeliness of returning indoor positioning information, and will cause the air interface to be occupied for a long time, affecting normal voice and short message services.
发明内容SUMMARY OF THE INVENTION
有鉴于此，本发明公开了一种定位方法、装置、窄带终端、系统及存储介质，确保回传GPS定位数据不会变大，回传GPS定位数据时占用空口时间短，提高室内窄带终端的定位的时效性。此外，由于回传GPS定位数据时占用空口时间短，因此不会影响正常的语音和短信业务。In view of this, the present invention discloses a positioning method, a device, a narrowband terminal, a system and a storage medium, which can ensure that the GPS positioning data returned will not become larger, the time occupied by the air interface is short when the GPS positioning data is returned, and the indoor narrowband terminal can be improved. Timeliness of positioning. In addition, due to the short time occupied by the air interface when returning GPS positioning data, normal voice and short message services will not be affected.
为了实现上述目的，本发明提供如下技术方案：In order to achieve the above object, the present invention provides the following technical solutions:
本发明第一方面公开了一种定位方法，所述方法包括：A first aspect of the present invention discloses a positioning method, the method comprising:
基于预设算法规则，获取窄带终端的位置信息；Obtain location information of narrowband terminals based on preset algorithm rules;
将所述窄带终端的位置信息转换为GPS坐标，并通过窄带GPS回传链路将所述GPS坐标发送至服务端。The location information of the narrowband terminal is converted into GPS coordinates, and the GPS coordinates are sent to the server through the narrowband GPS backhaul link.
优选的，所述基于预设算法规则，获取窄带终端的位置信息，包括：Preferably, the acquisition of the location information of the narrowband terminal based on a preset algorithm rule includes:
获取信标点信息，以及所述信标点信息对应的原点相对坐标和原点绝对坐 标；Obtaining beacon point information, as well as the origin relative coordinates and origin absolute coordinates corresponding to the beacon point information;
利用所述信标点信息，以及所述信标点信息对应的原点相对坐标和原点绝对坐标进行定位计算，得到窄带终端的位置信息。Using the beacon point information and the origin relative coordinates and origin absolute coordinates corresponding to the beacon point information to perform positioning calculation, the location information of the narrowband terminal is obtained.
优选的，若信标点为蓝牙信标点，所述获取信标点信息，包括：Preferably, if the beacon point is a Bluetooth beacon point, the acquiring the beacon point information includes:
通过蓝牙设备扫描所述蓝牙信标点，得到所述蓝牙信标点对应的信标点信息。The Bluetooth beacon point is scanned by a Bluetooth device to obtain beacon point information corresponding to the Bluetooth beacon point.
优选的，所述利用所述信标点信息，以及所述信标点信息对应的原点相对坐标和原点绝对坐标进行定位计算，得到窄带终端的位置信息，包括：Preferably, the positioning calculation is performed by using the beacon point information and the origin relative coordinates and origin absolute coordinates corresponding to the beacon point information to obtain the location information of the narrowband terminal, including:
将所述信标点信息及所述信标点信息对应的原点相对坐标进行计算，得到窄带终端的相对位置信息；Calculating the beacon point information and the relative coordinates of the origin corresponding to the beacon point information to obtain the relative position information of the narrowband terminal;
将所述相对位置信息和所述原点相对坐标进行偏差计算，得到相对位置的偏差值；Perform deviation calculation on the relative position information and the relative coordinates of the origin to obtain the deviation value of the relative position;
将所述相对位置的偏差值和所述信标点信息对应的原点绝对坐标进行计算，得到窄带终端的绝对坐标值，并确定所述绝对坐标值为窄带终端的位置信息。The deviation value of the relative position and the absolute coordinates of the origin corresponding to the beacon point information are calculated to obtain the absolute coordinate value of the narrowband terminal, and the absolute coordinate value is determined as the position information of the narrowband terminal.
优选的，若获取到多个信标点信息，所述将所述信标点信息及所述信标点信息对应的原点相对坐标进行计算，得到窄带终端的相对位置信息，包括：Preferably, if multiple beacon point information is obtained, the beacon point information and the relative coordinates of the origin corresponding to the beacon point information are calculated to obtain the relative position information of the narrowband terminal, including:
获取多个信标点信息各自对应的场强；Obtain the respective field strengths of multiple beacon point information;
基于预设的转换规则和预设的定位规则，对所述多个信标点信息各自对应的场强进行计算，得到窄带终端的相对位置信息，所述预设的定位规则与信标点的个数相关。Based on a preset conversion rule and a preset positioning rule, the respective field strengths corresponding to the multiple beacon point information are calculated to obtain the relative position information of the narrowband terminal, and the preset positioning rule is related to the number of beacon points. .
优选的，若获取到3个信标点信息，所述利用所述信标点信息，以及所述信标点信息对应的原点相对坐标和原点绝对坐标，确定窄带终端的位置信息，包括：Preferably, if three pieces of beacon point information are acquired, determining the location information of the narrowband terminal by using the beacon point information, and the origin relative coordinates and origin absolute coordinates corresponding to the beacon point information, including:
获取所述3个信标点信息各自对应的场强；acquiring the respective field strengths of the three beacon point information;
基于预设的转换规则和预设的三点定位规则，对所述3个信标点信息各自对应的场强进行计算，得到窄带终端的相对位置信息；Based on the preset conversion rule and the preset three-point positioning rule, the field strengths corresponding to the three beacon point information are calculated to obtain the relative position information of the narrowband terminal;
基于所述3个信标点信息各自对应的原点相对坐标和所述相对位置信息，得到所述相对位置的偏差值的方位角度值和所述相对位置信息与所述原点相 对坐标的距离；Based on the relative coordinates of the origin and the relative position information corresponding to the 3 beacon point information, obtain the azimuth angle value of the deviation value of the relative position and the distance between the relative position information and the relative coordinates of the origin;
将所述相对位置的偏差值的方位角度值、所述相对位置信息、所述原点相对坐标的距离和所述3个信标点信息各自对应的原点绝对坐标进行计算，得到窄带终端的绝对坐标值，并确定所述绝对坐标值为窄带终端的位置信息。Calculate the azimuth angle value of the deviation value of the relative position, the relative position information, the distance of the relative coordinates of the origin, and the absolute coordinates of the origin corresponding to the three beacon point information to obtain the absolute coordinate value of the narrowband terminal. , and determine that the absolute coordinate value is the position information of the narrowband terminal.
本发明第二方面公开了一种定位装置，所述装置包括扫描模块、处理模块和GPS模块；A second aspect of the present invention discloses a positioning device, the device includes a scanning module, a processing module and a GPS module;
所述扫描模块，用于基于预设算法规则，获取窄带终端的位置信息；The scanning module is used to obtain the location information of the narrowband terminal based on a preset algorithm rule;
所述处理模块，用于将所述窄带终端的位置信息转换为GPS坐标；The processing module is used to convert the position information of the narrowband terminal into GPS coordinates;
所述GPS模块，用于通过窄带GPS回传链路将所述GPS坐标发送至服务端。The GPS module is used for sending the GPS coordinates to the server through a narrowband GPS backhaul link.
优选的，所述扫描模块，包括：Preferably, the scanning module includes:
第一获取子模块，用于获取信标点信息，以及所述信标点信息对应的原点相对坐标和原点绝对坐标；The first acquisition sub-module is used for acquiring beacon point information, and the origin relative coordinates and origin absolute coordinates corresponding to the beacon point information;
第一计算子模块，用于利用所述信标点信息，以及所述信标点信息对应的原点相对坐标和原点绝对坐标进行定位计算，得到窄带终端的位置信息。The first calculation sub-module is configured to perform positioning calculation by using the beacon point information and the origin relative coordinates and origin absolute coordinates corresponding to the beacon point information to obtain the position information of the narrowband terminal.
优选的，若所述信标点为蓝牙信标点，所述第一获取子模块，具体用于：Preferably, if the beacon point is a Bluetooth beacon point, the first acquisition sub-module is specifically used for:
通过蓝牙设备扫描蓝牙信标点，得到所述蓝牙信标点对应的信标点信息。The Bluetooth beacon point is scanned by the Bluetooth device to obtain beacon point information corresponding to the Bluetooth beacon point.
优选的，所述第一计算子模块，包括：Preferably, the first calculation submodule includes:
第一计算单元，用于将所述信标点信息及所述信标点信息对应的原点相对坐标进行计算，得到窄带终端的相对位置信息；a first calculation unit, configured to calculate the beacon point information and the relative coordinates of the origin corresponding to the beacon point information to obtain relative position information of the narrowband terminal;
第二计算单元，用于将所述相对位置信息和所述原点相对坐标进行偏差计算，得到相对位置的偏差值；a second calculation unit, configured to perform deviation calculation between the relative position information and the relative coordinates of the origin to obtain a deviation value of the relative position;
第三计算单元，用于将所述相对位置的偏差值和所述信标点信息对应的原点绝对坐标进行计算，得到窄带终端的绝对坐标值，并确定所述绝对坐标值为窄带终端的位置信息。The third calculation unit is configured to calculate the deviation value of the relative position and the absolute coordinate of the origin corresponding to the beacon point information, obtain the absolute coordinate value of the narrowband terminal, and determine the absolute coordinate value of the position information of the narrowband terminal .
本发明第三方面公开了一种窄带终端，所述窄带终端包括扫描器、发送器和处理器；A third aspect of the present invention discloses a narrowband terminal, the narrowband terminal includes a scanner, a transmitter and a processor;
所述扫描器，用于基于预设算法规则，获取窄带终端的位置信息；The scanner is used to obtain the location information of the narrowband terminal based on a preset algorithm rule;
所述处理器，用于将所述窄带终端的位置信息转换为GPS坐标；the processor for converting the position information of the narrowband terminal into GPS coordinates;
所述发送器，用于通过窄带GPS回传链路将所述GPS坐标发送至服务端。The transmitter is configured to send the GPS coordinates to the server through a narrowband GPS backhaul link.
本发明第四方面公开了一种定位系统，所述系统包括窄带终端和服务端；A fourth aspect of the present invention discloses a positioning system, the system includes a narrowband terminal and a server;
所述窄带终端，用于基于预设算法规则，获取窄带终端的位置信息；将所述窄带终端的位置信息转换为GPS坐标，并通过窄带GPS回传链路将所述GPS坐标发送至所述服务端；The narrowband terminal is configured to obtain the location information of the narrowband terminal based on a preset algorithm rule; convert the location information of the narrowband terminal into GPS coordinates, and send the GPS coordinates to the Server;
所述服务端，用于接收所述窄带终端发送的所述GPS坐标，并基于所述GPS坐标进行定位操作。The server is configured to receive the GPS coordinates sent by the narrowband terminal, and perform positioning operations based on the GPS coordinates.
本发明第五方面公开了一种存储介质，所述存储介质包括存储指令，其中，在所述指令运行时控制所述存储介质所在的设备执行如第一方面任一项所述的定位方法。A fifth aspect of the present invention discloses a storage medium, the storage medium includes a storage instruction, wherein when the instruction is executed, a device where the storage medium is located is controlled to execute the positioning method according to any one of the first aspect.
经由上述技术方案可知，基于预设算法规则，获取窄带终端的位置信息并转换为GPS坐标，通过窄带GPS回传链路将GPS坐标发送至服务端。通过上述方案，在没有GPS信号的场景下，窄带终端依然可通过窄带GPS回传链路回传GPS定位数据，由于通过窄带终端发送的定位信息是窄带终端处理完成的定位数据，定位数据的数据量相对较小，从而确保回传GPS定位数据不会变大，并且通过窄带GPS信道的方式回传GPS定位数据时占用空口时间短，提高室内窄带终端的定位的时效性。此外，由于回传GPS定位数据时占用空口时间短，因此不会影响正常的语音和短信业务。It can be known from the above technical solutions that, based on the preset algorithm rules, the location information of the narrowband terminal is obtained and converted into GPS coordinates, and the GPS coordinates are sent to the server through the narrowband GPS backhaul link. Through the above solution, in the scenario where there is no GPS signal, the narrowband terminal can still return GPS positioning data through the narrowband GPS backhaul link. Because the positioning information sent by the narrowband terminal is the positioning data processed by the narrowband terminal, the data of the positioning data The amount of GPS positioning data is relatively small, so as to ensure that the returned GPS positioning data will not become larger, and the air interface time is short when the GPS positioning data is returned through the narrowband GPS channel, which improves the positioning timeliness of indoor narrowband terminals. In addition, due to the short time occupied by the air interface when returning GPS positioning data, normal voice and short message services will not be affected.
附图说明Description of drawings
为了更清楚地说明本申请实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are For some embodiments of the present application, for those of ordinary skill in the art, other drawings can also be obtained based on these drawings without any creative effort.
图1为本发明实施例公开的一种定位方法的流程示意图；1 is a schematic flowchart of a positioning method disclosed in an embodiment of the present invention;
图2为本发明实施例公开的基于预设算法规则，获取窄带终端的位置信息的流程示意图；2 is a schematic flowchart of obtaining location information of a narrowband terminal based on a preset algorithm rule disclosed in an embodiment of the present invention;
图3为本发明实施例公开的利用信标点信息，以及信标点信息对应的原点相对坐标和原点绝对坐标，确定窄带终端的位置信息的流程示意图；3 is a schematic flowchart of determining the position information of a narrowband terminal by utilizing beacon point information, and the relative coordinates of the origin and the absolute coordinates of the origin corresponding to the beacon point information disclosed in an embodiment of the present invention;
图4为本发明实施例公开的一种确定窄带终端的相对位置信息的流程示意 图；4 is a schematic flowchart of determining relative position information of a narrowband terminal disclosed in an embodiment of the present invention;
图5为本发明实施例公开的另一种确定窄带终端的相对位置信息的流程示意图；FIG. 5 is another schematic flowchart of determining relative position information of a narrowband terminal disclosed in an embodiment of the present invention;
图6为本发明实施例公开的再一种确定窄带终端的相对位置信息的示意图；6 is a schematic diagram of still another method of determining relative position information of a narrowband terminal disclosed by an embodiment of the present invention;
图7为本发明实施例公开的一种定位装置的结构示意图。FIG. 7 is a schematic structural diagram of a positioning device disclosed in an embodiment of the present invention.
具体实施方式Detailed ways
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.
在本申请中，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。In this application, the terms "comprising", "comprising" or any other variation thereof are intended to encompass a non-exclusive inclusion such that a process, method, article or device comprising a list of elements includes not only those elements, but also no Other elements expressly listed, or which are also inherent to such a process, method, article or apparatus. Without further limitation, an element qualified by the phrase "comprising a..." does not preclude the presence of additional identical elements in a process, method, article or apparatus that includes the element.
由背景技术可知，现有的窄带终端回传室内定位信息的方式基本上以短信和分组数据两种。由于现有的回传的定位信息是未经过处理的原始数据，因此室内定位信息数据量大，并且窄带终端回传室内定位信息是通过短信和分组数据的方式回传，即现有的回传方式，相比窄带GPS信道的方式，现有的回传方式的速度慢，还会在回传室内定位信息时造成空口长时间被占用的问题。It can be known from the background art that the existing narrowband terminal returns indoor positioning information basically in two ways: short message and packet data. Since the existing positioning information returned is unprocessed raw data, the indoor positioning information has a large amount of data, and the indoor positioning information returned by the narrowband terminal is sent back by means of short messages and packet data, that is, the existing return Compared with the narrowband GPS channel method, the speed of the existing backhaul method is slow, and the air interface is occupied for a long time when the indoor positioning information is returned.
并且现有的回传方式发送定位信息还需让调度系统进行处理，因此现有的窄带终端的定位方式会造成回传室内定位信息的时效性低，且会造成空口长时间被占用，影响正常的语音和短信业务。In addition, the existing backhaul method needs to be processed by the dispatching system to send positioning information. Therefore, the existing narrowband terminal positioning method will result in low timeliness of returning indoor positioning information, and will cause the air interface to be occupied for a long time, affecting normal operation. voice and SMS services.
为了解决该问题，本发明实施例公开了一种定位方法、装置、窄带终端、系统及存储介质，通过窄带终端发送的定位信息是窄带终端处理完成的定位数据，定位数据的数据量相对较小，确保回传GPS定位数据不会变大，并且通过窄带GPS信道的方式回传GPS定位数据，占用空口时间短，从而提高室内窄带 终端的定位的时效性。此外，由于回传GPS定位数据时占用空口时间短，因此不会影响正常的语音和短信业务。具体实现方式通过下述实施例具体进行说明。In order to solve this problem, embodiments of the present invention disclose a positioning method, device, narrowband terminal, system and storage medium. The positioning information sent by the narrowband terminal is positioning data processed by the narrowband terminal, and the data volume of the positioning data is relatively small. , to ensure that the GPS positioning data returned will not become larger, and the GPS positioning data will be returned through the narrowband GPS channel, which occupies a short time on the air interface, thereby improving the positioning timeliness of indoor narrowband terminals. In addition, due to the short time occupied by the air interface when returning GPS positioning data, normal voice and short message services will not be affected. The specific implementation is specifically described by the following embodiments.
如图1所示，为本发明实施例公开的一种定位方法的流程示意图，该定位方法应用于窄带终端，该定位方法主要包括如下步骤:As shown in FIG. 1, it is a schematic flowchart of a positioning method disclosed in an embodiment of the present invention. The positioning method is applied to a narrowband terminal, and the positioning method mainly includes the following steps:
步骤S101：窄带终端基于预设算法规则，获取窄带终端的位置信息。Step S101: The narrowband terminal acquires location information of the narrowband terminal based on a preset algorithm rule.
在步骤S101中，预设算法规则可以是TDOA定位是一种利用时间差进行定位的方法、ToF测距方法属于双向测距技术、AOA是到达角度测距、AOD是出发角度测距和三点定位算法等，具体预设算法规则的确定，由技术人员根据实际情况进行选取，本发明不做具体限定。In step S101, the preset algorithm rule may be that TDOA positioning is a method of positioning using time difference, ToF ranging method belongs to two-way ranging technology, AOA is angle of arrival ranging, AOD is angle of departure ranging and three-point positioning Algorithms, etc., the determination of specific preset algorithm rules is to be selected by the technical personnel according to the actual situation, and is not specifically limited in the present invention.
步骤S102：窄带终端将窄带终端的位置信息转换为GPS坐标，并通过窄带GPS回传链路将GPS坐标发送至服务端。Step S102: The narrowband terminal converts the location information of the narrowband terminal into GPS coordinates, and sends the GPS coordinates to the server through the narrowband GPS backhaul link.
在步骤S102中，窄带终端通过窄带GPS回传链路和GPS回传方式(如GPS辅控信道、GPS专有信道、语音携带GPS等方式)将GPS坐标回传至服务端进行呈现。In step S102, the narrowband terminal transmits the GPS coordinates back to the server for presentation through a narrowband GPS backhaul link and a GPS backhaul method (eg, a GPS auxiliary control channel, a GPS dedicated channel, and voice-carried GPS).
具体GPS回传方式的选取由技术人员根据实际情况进行选取，本发明不做具体限定。The selection of the specific GPS return mode is selected by the technical personnel according to the actual situation, which is not specifically limited in the present invention.
窄带终端计算出的位置信息的数据包的大小为80bit，位置信息的数据包与现有GPS定位数据包的大小一致，即接入窄带终端的位置信息的终端数量(即终端接入量)和接入GPS定位数据的终端数量一致，从而确保回传GPS定位数据不会变大，回传GPS定位数据时占用空口时间短，提高室内窄带终端的定位的时效性。通过窄带终端自身的窄带GPS回传链路上报至服务端，不影响语言和短信业务。The size of the location information data packet calculated by the narrowband terminal is 80 bits, and the size of the location information data packet is consistent with the size of the existing GPS positioning data packet, that is, the number of terminals accessing the location information of the narrowband terminal (that is, the terminal access volume) and The number of terminals accessing the GPS positioning data is the same, so as to ensure that the returned GPS positioning data will not become larger, and the air interface time is short when the GPS positioning data is returned, which improves the positioning timeliness of indoor narrowband terminals. It is reported to the server through the narrowband GPS backhaul link of the narrowband terminal itself, without affecting the language and short message services.
为了方便理解终端接入量的理论值估算，下面以表1进行说明。In order to facilitate the understanding of the theoretical value estimation of the terminal access amount, Table 1 is used for description below.
Figure PCTCN2021089204-appb-000001
Figure PCTCN2021089204-appb-000001
Figure PCTCN2021089204-appb-000002
Figure PCTCN2021089204-appb-000002
表1Table 1
其中，位置信息的数据包的传输时间为60ms，终端接入量的上报周期可进行配置，当上报周期为6s时，终端接入量的数量为300个，当上报周期为18s时，终端接入量的数量为900个，当上报周期为30s时，终端接入量的数量为1500个，当上报周期为1min时，终端接入量的数量为3000个，当上报周期为2min时，终端接入量的数量为6000个。Among them, the transmission time of the data packet of the location information is 60ms, and the reporting period of terminal access can be configured. When the reporting period is 6s, the number of terminal accesses is 300. When the reporting period is 18s, the terminal receives The number of incoming volumes is 900. When the reporting period is 30s, the number of terminal accesses is 1500. When the reporting period is 1min, the number of terminal accesses is 3000. When the reporting period is 2min, the terminal access volume is 3000. The number of accesses is 6000.
若不采用GPS专用信道(窄带GPS回传链路)上报方式，则位置信息的数据包与现有GPS定位数据包的大小不一致，则接入窄带终端的位置信息的终端数量(即终端接入量)和接入GPS定位数据的终端数量不一致，可能出现上报位置信息的数据包的数据较大，从而占用空口时间长，导致终端接入量减小，从而影响语言和短信业务。If the GPS dedicated channel (narrowband GPS backhaul link) reporting method is not used, the size of the location information data packet is inconsistent with the existing GPS positioning data packet, and the number of terminals accessing the location information of the narrowband terminal (that is, the terminal access The amount of data) is inconsistent with the number of terminals accessing GPS positioning data, and the data packets for reporting location information may be larger, which will occupy the air interface for a long time and reduce the number of terminal access, thereby affecting language and SMS services.
当在室内空间进行窄带终端定位时，无法搜索到卫星进行定位，应用本方案即可通过窄带终端自身的窄带GPS回传链路进行回传位置信息，在不影响语音/短信的基础上，实现定位时延小、接入量大的窄带终端室内定位效果。When positioning the narrowband terminal in the indoor space, it is impossible to search for satellites for positioning. By applying this solution, the position information can be returned through the narrowband GPS backhaul link of the narrowband terminal itself. Indoor positioning effect of narrowband terminals with small positioning delay and large access volume.
本发明实施例中，通过窄带终端发送的定位信息是窄带终端处理完成的定 位数据，定位数据的数据量相对较小，确保回传GPS定位数据不会变大，并且通过窄带GPS信道的方式回传GPS定位数据，占用空口时间短，从而提高室内窄带终端的定位的时效性。此外，由于回传GPS定位数据时占用空口时间短，因此不会影响正常的语音和短信业务。In the embodiment of the present invention, the positioning information sent by the narrowband terminal is the positioning data processed by the narrowband terminal, and the data volume of the positioning data is relatively small, so as to ensure that the returned GPS positioning data will not become larger, and the narrowband GPS channel is used to return the positioning data. The GPS positioning data is transmitted, and the air interface is occupied for a short time, thereby improving the positioning timeliness of the indoor narrowband terminal. In addition, due to the short time occupied by the air interface when returning GPS positioning data, normal voice and short message services will not be affected.
如图2所示，为上述步骤S101中涉及到的基于预设算法规则，获取窄带终端的位置信息的过程，主要包括如下步骤:As shown in Figure 2, the process of obtaining the position information of the narrowband terminal based on the preset algorithm rule involved in the above-mentioned step S101 mainly includes the following steps:
步骤S201：窄带终端获取信标点信息，以及信标点信息对应的原点相对坐标和原点绝对坐标。Step S201: The narrowband terminal acquires beacon point information, and the origin relative coordinates and origin absolute coordinates corresponding to the beacon point information.
在步骤S201中，若信标点为蓝牙信标点，通过蓝牙设备扫描蓝牙信标点，得到蓝牙信标点对应的信标点信息。In step S201, if the beacon point is a Bluetooth beacon point, the Bluetooth device scans the Bluetooth beacon point to obtain beacon point information corresponding to the Bluetooth beacon point.
信标点信息包括信标点唯一标识、信标点位置信息、建筑标识、楼层标识等。The beacon point information includes the unique identifier of the beacon point, the location information of the beacon point, the building identifier, the floor identifier, and the like.
根据实际应用场景，信标点可以被部署在任何需要定位的区域。Depending on the actual application scenario, beacon points can be deployed in any area that needs to be positioned.
为了方便了解信标点信息内容，下面以表2进行说明。In order to facilitate the understanding of the information content of the beacon point, the following table 2 is used for description.
Figure PCTCN2021089204-appb-000003
Figure PCTCN2021089204-appb-000003
表2Table 2
以信标点唯一标识(1918FC80B1113441A9ACB1001C2FE510，1000，16，1918FC02DFA9)为例，该信标点对应的信标点位置信息为(127360，161012)，建筑标识为10001，楼层标识为1。Taking the unique identifier of the beacon point (1918FC80B1113441A9ACB1001C2FE510, 1000, 16, 1918FC02DFA9) as an example, the location information of the beacon point corresponding to the beacon point is (127360, 161012), the building identifier is 10001, and the floor identifier is 1.
具体信标点信息对应的原点相对坐标、信标点信息对应的原点绝对坐标，如表3所示。The relative coordinates of the origin corresponding to the specific beacon point information and the absolute coordinates of the origin corresponding to the beacon point information are shown in Table 3.
楼层floor 实际宽actual width 实际高actual high 层高Floor height 原点相对坐标origin relative coordinates 原点绝对坐标(经纬Origin absolute coordinates (latitude and longitude
编号Numbering 度(米)Degree (m) 度(米)Degree (m) (米)(Meter)    度)Spend)
11 111111 120120 55 291，323，813291, 323, 813 126.536277，45.805664126.536277, 45.805664
22 111111 120120 55 -5，722，291-5, 722, 291 126.536277，45.805664126.536277, 45.805664
33 111111 120120 55 316，024，251316, 024, 251 126.536277，45.805664126.536277, 45.805664
44 111111 120120 55 369，324，423369, 324, 423 126.536277，45.805664126.536277, 45.805664
55 111111 120120 55 285，524，046285, 524, 046 126.536277，45.805664126.536277, 45.805664
表3table 3
以楼层编号1为例，其对应的原点相对坐标为(291，323，813)，原点绝对坐标(126.536277，45.805664)，其中，126.536277为经度，45.805664为纬度。Taking floor number 1 as an example, the corresponding relative coordinates of the origin are (291, 323, 813), and the absolute coordinates of the origin are (126.536277, 45.805664), where 126.536277 is the longitude and 45.805664 is the latitude.
将蓝牙信标点对应的信标点信息预先存储至窄带终端中，信标点信息对应的原点相对坐标、信标点信息对应的原点绝对坐标、信标点信息对应的点位楼层等信息也存储至窄带终端中。The beacon point information corresponding to the Bluetooth beacon point is stored in the narrowband terminal in advance, and the relative coordinates of the origin corresponding to the beacon point information, the absolute coordinates of the origin corresponding to the beacon point information, and the point floor corresponding to the beacon point information are also stored in the narrowband terminal. .
存储操作可以通过拷贝、写频等方式完成，具体的存储操作由技术人员根据实际情况进行选取，本发明不做具体限定。The storage operation can be completed by means of copying, frequency writing, etc. The specific storage operation is selected by the technical personnel according to the actual situation, which is not specifically limited in the present invention.
步骤S202：窄带终端利用信标点信息，以及信标点信息对应的原点相对坐标和原点绝对坐标进行定位计算，得到窄带终端的位置信息。Step S202: The narrowband terminal uses the beacon point information, and the relative coordinates of the origin and the absolute coordinates of the origin corresponding to the beacon point information to perform positioning calculation to obtain location information of the narrowband terminal.
在步骤S202中，具体得到窄带终端的位置信息如下：In step S202, the location information of the narrowband terminal is specifically obtained as follows:
首先，窄带终端对信标点信息及信标点信息对应的原点相对坐标进行计算，得到窄带终端的相对位置信息。然后，窄带终端将相对位置信息和原点相对坐标进行偏差计算，得到相对位置的偏差值。最后，窄带终端将相对位置的偏差值和信标点信息对应的原点绝对坐标进行计算，得到窄带终端的绝对坐标值，并确定绝对坐标值为窄带终端的位置信息。First, the narrowband terminal calculates the beacon point information and the relative coordinates of the origin corresponding to the beacon point information to obtain relative position information of the narrowband terminal. Then, the narrowband terminal performs deviation calculation on the relative position information and the relative coordinates of the origin to obtain the deviation value of the relative position. Finally, the narrowband terminal calculates the deviation value of the relative position and the absolute coordinates of the origin corresponding to the beacon point information, obtains the absolute coordinate value of the narrowband terminal, and determines the absolute coordinate value as the position information of the narrowband terminal.
为了方便理解定位方法的过程，这里举例进行说明：In order to facilitate the understanding of the process of the positioning method, here is an example to illustrate:
例如，对于窄带对讲用户，在地铁站内是无法通过窄带终端搜索到卫星进行定位的，当进入到地下站厅、站台等区域就属于失去位置的状态，通过在站台或站厅内部署若干蓝牙信标点后，当窄带终端经过蓝牙信标点覆盖的区域，利用信标点信息，以及信标点信息对应的原点相对坐标和原点绝对坐标，确定窄带终端的位置信息，通过所述位置信息转换为GPS坐标，并通过窄带GPS 回传链路将所述GPS坐标发送至服务端进行呈现，解决了地下搜索不到卫星而导致的位置盲区问题。For example, for narrowband intercom users, it is impossible to locate satellites through narrowband terminals in a subway station. When entering the underground station hall, platform and other areas, it is in a state of losing position. After the beacon point, when the narrowband terminal passes through the area covered by the Bluetooth beacon point, the location information of the narrowband terminal is determined by using the beacon point information, and the relative coordinates and absolute coordinates of the origin corresponding to the beacon point information, and the location information is converted into GPS coordinates , and the GPS coordinates are sent to the server for presentation through the narrowband GPS backhaul link, which solves the problem of location blind spots caused by satellites not being searched underground.
本发明实施例中，在没有GPS信号的场景下，窄带终端依然可通过窄带GPS回传链路回传GPS定位数据，通过窄带终端发送的定位信息是窄带终端处理完成的定位数据，定位数据的数据量相对较小，确保回传GPS定位数据不会变大，并且通过窄带GPS信道的方式回传GPS定位数据时占用空口时间短，提高室内窄带终端的定位的时效性。此外，由于回传GPS定位数据时占用空口时间短，因此不会影响正常的语音和短信业务。In this embodiment of the present invention, in a scenario where there is no GPS signal, the narrowband terminal can still return GPS positioning data through the narrowband GPS backhaul link, and the positioning information sent by the narrowband terminal is the positioning data processed by the narrowband terminal. The amount of data is relatively small, ensuring that the GPS positioning data returned will not become larger, and the air interface time is short when returning GPS positioning data through the narrowband GPS channel, which improves the positioning timeliness of indoor narrowband terminals. In addition, due to the short time occupied by the air interface when returning GPS positioning data, normal voice and short message services will not be affected.
如图3所示，为上述步骤S202中涉及到窄带终端利用信标点信息，以及信标点信息对应的原点相对坐标和原点绝对坐标，确定窄带终端的位置信息的过程，具体包括如下步骤：As shown in Figure 3, the process of determining the position information of the narrowband terminal for the narrowband terminal involved in the above step S202 using the beacon point information, and the relative coordinates of the origin and the absolute coordinates of the origin corresponding to the beacon point information, specifically includes the following steps:
步骤S301：窄带终端将信标点信息及信标点信息对应的原点相对坐标进行计算，得到窄带终端的相对位置信息。Step S301: The narrowband terminal calculates the beacon point information and the relative coordinates of the origin corresponding to the beacon point information to obtain relative position information of the narrowband terminal.
在步骤S301中，窄带终端通过蓝牙设备扫描到蓝牙信标点对应的信标点信息，基于信标点信息，确定信标点信息对应的原点相对坐标，并对信标点信息进行扫描得到其对应的场强，通过场强与原点相对坐标的距离的转换规则和预设的定位规则，对场强与原点相对坐标进行计算，得到窄带终端的相对位置信息。In step S301, the narrowband terminal scans the beacon point information corresponding to the Bluetooth beacon point through the Bluetooth device, determines the relative coordinates of the origin corresponding to the beacon point information based on the beacon point information, and scans the beacon point information to obtain its corresponding field strength, The relative position information of the narrowband terminal is obtained by calculating the relative coordinates of the field strength and the origin through the conversion rules of the distance between the field strength and the relative coordinates of the origin and the preset positioning rules.
预设的定位规则可以是三点定位原理、极大似然估计算法等，具体定位规则的设置由技术人员根据实际情况进行设置，本发明不做具体限定。The preset positioning rule may be a three-point positioning principle, a maximum likelihood estimation algorithm, etc. The setting of the specific positioning rule is set by the technical personnel according to the actual situation, which is not specifically limited in the present invention.
步骤S302：窄带终端将相对位置信息和原点相对坐标进行偏差计算，得到相对位置的偏差值。Step S302: The narrowband terminal performs deviation calculation on the relative position information and the relative coordinates of the origin to obtain the deviation value of the relative position.
在步骤S302中，窄带终端通过对相对位置信息和原点相对坐标进行求差计算，得到相对位置的偏差值。In step S302, the narrowband terminal obtains the deviation value of the relative position by calculating the difference between the relative position information and the relative coordinates of the origin.
步骤S303：窄带终端将相对位置的偏差值和信标点信息对应的原点绝对坐标进行计算，得到窄带终端的绝对坐标值，并确定绝对坐标值为窄带终端的位置信息。Step S303: The narrowband terminal calculates the deviation value of the relative position and the absolute coordinates of the origin corresponding to the beacon point information, obtains the absolute coordinate value of the narrowband terminal, and determines the absolute coordinate value as the position information of the narrowband terminal.
在步骤S303中，信标点信息对应的原点绝对坐标为经纬度坐标。In step S303, the absolute coordinates of the origin corresponding to the beacon point information are latitude and longitude coordinates.
得到窄带终端的绝对坐标值的计算过程如下：The calculation process to obtain the absolute coordinate value of the narrowband terminal is as follows:
首先，窄带终端基于信标点信息对应的原点相对坐标和相对位置信息进行计算，得到相对位置的偏差值的方位角度值和相对位置信息与原点相对坐标的距离，然后，基于相对位置的偏差值的方位角度值、相对位置信息与原点相对坐标的距离和原点绝对坐标进行计算，得到窄带终端的绝对坐标值，最后，确定绝对坐标值为窄带终端的位置信息。First, the narrowband terminal calculates based on the relative coordinates of the origin and the relative position information corresponding to the beacon point information, and obtains the azimuth angle value of the deviation value of the relative position and the distance between the relative position information and the relative coordinates of the origin, and then, based on the deviation value of the relative position The distance between the azimuth angle value, the relative position information and the relative coordinates of the origin and the absolute coordinates of the origin are calculated to obtain the absolute coordinate value of the narrowband terminal. Finally, the absolute coordinate value is determined as the position information of the narrowband terminal.
本发明实施例中，窄带终端将计算得到的窄带终端的相对位置信息与原点相对坐标进行偏差计算，得到相对位置的偏差值，将相对位置的偏差值和信标点信息对应的原点绝对坐标进行计算，得到窄带终端的绝对坐标值，并确定为窄带终端的位置信息，实现窄带终端的位置信息的目的。In the embodiment of the present invention, the narrowband terminal performs deviation calculation between the relative position information of the narrowband terminal obtained by calculation and the relative coordinates of the origin, obtains the deviation value of the relative position, and calculates the deviation value of the relative position and the absolute coordinates of the origin corresponding to the beacon point information, The absolute coordinate value of the narrowband terminal is obtained and determined as the position information of the narrowband terminal, so as to realize the purpose of the position information of the narrowband terminal.
如图4所示，为本发明实施例公开的一种确定窄带终端的相对位置信息的流程示意图，具体包括如下步骤：As shown in FIG. 4, it is a schematic flowchart of determining relative position information of a narrowband terminal disclosed in an embodiment of the present invention, which specifically includes the following steps:
步骤S401：窄带终端获取多个信标点信息各自对应的场强。Step S401: The narrowband terminal acquires the field strengths corresponding to each of the multiple beacon point information.
在步骤S401中，不同位置的信标点所对应的场强可能不同。In step S401, the field strengths corresponding to the beacon points at different positions may be different.
步骤S402：窄带终端基于预设的转换规则和预设的定位规则，对多个信标点信息各自对应的场强进行计算，得到窄带终端的相对位置信息，预设的定位规则与信标点的个数相关。Step S402: The narrowband terminal calculates the field strengths corresponding to each of the multiple beacon point information based on the preset conversion rule and the preset positioning rule, and obtains the relative position information of the narrowband terminal, the preset positioning rule and the number of the beacon points. related.
在步骤S402中，预设的转换规则可以是场强与坐标的距离的转换规则，也可以是其他转换规则，转换规则的确定本发明不做具体限定。In step S402, the preset conversion rule may be the conversion rule of the distance between the field intensity and the coordinates, or may be other conversion rules, and the determination of the conversion rule is not specifically limited in the present invention.
预设的定位规则与信标点的个数相关，当信标点的个数为3个时，定位规则可以是三点定位原理，当信标点的个数为6个时，定位规则可以是极大似然估计算法等，具体定位规则的确定，由技术人员根据信标点的个数来确定，本发明不做具体限定。The preset positioning rule is related to the number of beacon points. When the number of beacon points is 3, the positioning rule can be a three-point positioning principle. When the number of beacon points is 6, the positioning rule can be a maximum similarity. However, the estimation algorithm, etc., the specific positioning rule is determined by the technician according to the number of beacon points, which is not specifically limited in the present invention.
本发明实施例中，窄带终端获取多个信标点信息各自对应的场强，基于预设的转换规则和预设的定位规则，对多个信标点信息各自对应的场强进行计算，实现得到窄带终端的相对位置信息的目的。In the embodiment of the present invention, the narrowband terminal obtains the respective field strengths of the multiple beacon point information, and calculates the respective field strengths corresponding to the multiple beacon point information based on the preset conversion rule and the preset positioning rule, so as to obtain the narrowband information. The purpose of the relative position information of the terminal.
如图5所示，为本发明实施例公开的另一种确定窄带终端的相对位置信息的流程示意图，若获取到3个信标点信息，确定窄带终端的相对位置信息的过程具体包括如下步骤：As shown in FIG. 5 , it is another schematic flowchart of determining the relative position information of a narrowband terminal disclosed by an embodiment of the present invention. If three beacon point information is obtained, the process of determining the relative position information of the narrowband terminal specifically includes the following steps:
步骤S501：窄带终端获取3个信标点信息各自对应的场强。Step S501: The narrowband terminal acquires the field strengths corresponding to the three pieces of beacon point information.
步骤S502：窄带终端基于预设的转换规则和预设的三点定位规则，对3个信标点信息各自对应的场强进行计算，得到窄带终端的相对位置信息。Step S502: Based on the preset conversion rule and the preset three-point positioning rule, the narrowband terminal calculates the respective field strengths of the three beacon point information to obtain relative position information of the narrowband terminal.
为了方便理解对3个信标点信息各自对应的场强进行计算，得到窄带终端的相对位置信息，可参考图6示出的再一种确定窄带终端的相对位置信息的示意图。In order to facilitate understanding by calculating the corresponding field strengths of the three beacon point information to obtain the relative position information of the narrowband terminal, reference may be made to another schematic diagram of determining the relative position information of the narrowband terminal shown in FIG. 6 .
图6中，通过公式(1)对3个信标点信息各自对应的场强进行计算，得到窄带终端的相对位置信息。In FIG. 6 , the field intensities corresponding to the three pieces of beacon point information are calculated by formula (1) to obtain the relative position information of the narrowband terminal.
Figure PCTCN2021089204-appb-000004
Figure PCTCN2021089204-appb-000004
其中，(X z，Y z)为窄带终端的相对位置坐标，(X a，Y a)、(X b，Y b)和(X c，Y c)分别为3个信标点各自对应的原点相对坐标，d 1为窄带终端的相对位置与(X a，Y a)信标点之间的距离，d 2为窄带终端的相对位置与(X b，Y b)信标点之间的距离，d 3为窄带终端的相对位置与(X c，Y c)信标点之间的距离。 Among them, (X z , Y z ) are the relative position coordinates of the narrowband terminal, (X a , Y a ), (X b , Y b ) and (X c , Y c ) are the origins corresponding to the three beacon points respectively Relative coordinates, d 1 is the distance between the relative position of the narrowband terminal and the (X a , Y a ) beacon point, d 2 is the distance between the relative position of the narrowband terminal and the (X b , Y b ) beacon point, d 3 is the distance between the relative position of the narrowband terminal and the (X c , Y c ) beacon point.
步骤S503：窄带终端基于3个信标点信息各自对应的原点相对坐标和相对位置信息，得到相对位置的偏差值的方位角度值和相对位置信息与原点相对坐标的距离。Step S503: The narrowband terminal obtains the azimuth angle value of the deviation value of the relative position and the distance between the relative position information and the relative coordinates of the origin based on the relative coordinates and relative position information of the origin corresponding to the three beacon point information.
在步骤S503中，得到相对位置的偏差值的方位角度值和相对位置信息与原点相对坐标的距离的过程如下：In step S503, the process of obtaining the azimuth angle value of the deviation value of the relative position and the distance between the relative position information and the relative coordinates of the origin is as follows:
基于3个信标点信息各自对应的原点相对坐标(X a，Y a)、(X b，Y b)、(X c，Y c)与窄带终端的相对位置坐标(X z，Y z)，计算出相对位置坐标(X z，Y z)与3个信标点信息各自对应的原点相对坐标的距离d 1、d 2、和d 3，以及相对位置的偏差值的方位角度值分别为β 1、β 2和β 3。 Based on the corresponding origin relative coordinates (X a , Y a ), (X b , Y b ), (X c , Y c ) of the three beacon point information and the relative position coordinates (X z , Y z ) of the narrowband terminal, Calculate the distances d 1 , d 2 , and d 3 of the relative position coordinates (X z , Y z ) and the relative coordinates of the origin corresponding to the three beacon point information, and the azimuth angle values of the deviation values of the relative positions are β 1 respectively , β 2 and β 3 .
步骤S504：窄带终端将相对位置的偏差值的方位角度值、相对位置信息、原点相对坐标的距离和3个信标点信息各自对应的原点绝对坐标进行计算，得到窄带终端的绝对坐标值，并确定绝对坐标值为窄带终端的位置信息。Step S504: The narrowband terminal calculates the azimuth angle value of the deviation value of the relative position, the relative position information, the distance of the relative coordinates of the origin, and the absolute coordinates of the origin corresponding to each of the three beacon point information to obtain the absolute coordinate value of the narrowband terminal, and determine The absolute coordinate value is the position information of the narrowband terminal.
在步骤S504中，基于相对位置坐标(X z，Y z)与信标点信息对应的原点相对坐标的距离，计算出走过的度数，基于走过的度数和相对位置的偏差值的方位角度值计算出经度和纬度，该经度和纬度即为窄带终端的绝对坐标值。 In step S504, based on the distance between the relative position coordinates (X z , Y z ) and the relative coordinates of the origin corresponding to the beacon point information, the degree of travel is calculated, and the degree of travel is calculated based on the degree of travel and the azimuth angle value of the deviation value of the relative position. Longitude and latitude, which are the absolute coordinate values of the narrowband terminal.
具体计算得到窄带终端的绝对坐标值的过程如下：The specific process of calculating the absolute coordinate value of the narrowband terminal is as follows:
由于地球的周长几乎都是相等的，所以可看成，走过111km就是走过1度。Since the circumference of the earth is almost the same, it can be seen that walking 111km is 1 degree.
通过公式(2)计算走过的度数。The number of degrees traveled is calculated by formula (2).
n＝d/111km       公式(2)n=d/111km Formula (2)
其中，n为走过的度数，d为相对位置坐标(X z，Y z)与信标点信息对应的原点相对坐标的距离，β为相对位置的偏差值的方位角度值，km为千米单位。 Among them, n is the number of degrees traveled, d is the distance between the relative position coordinates (X z , Y z ) and the relative coordinates of the origin corresponding to the beacon point information, β is the azimuth angle value of the deviation value of the relative position, and km is the unit of kilometer.
通过公式(3)计算走过的经度。The traversed longitude is calculated by formula (3).
lat1＝cos(β)*n      公式(3)lat1=cos(β)*n Formula (3)
其中，lat1为走过的经度，β为相对位置的偏差值的方位角度值，n为走过的度数。Among them, lat1 is the longitude traveled, β is the azimuth angle value of the deviation value of the relative position, and n is the number of degrees traveled.
通过公式(4)计算走过的纬度。The latitude traveled is calculated by formula (4).
lng1＝sin(β)*n       公式(4)lng1=sin(β)*n Formula (4)
其中，lng1为走过的纬度，β为相对位置的偏差值的方位角度值，n为走过的度数。Among them, lng1 is the latitude traveled, β is the azimuth angle value of the deviation value of the relative position, and n is the degree traveled.
窄带终端的相对位置坐标(X z，Y z)对应的经度为lat+lat1，窄带终端的相对位置坐标(X z，Y z)对应的纬度为lng+lng1。 The longitude corresponding to the relative position coordinates (X z , Y z ) of the narrowband terminal is lat+lat1, and the latitude corresponding to the relative position coordinates (X z , Y z ) of the narrowband terminal is lng+lng1.
(lat+lat1，lng+lng1)即为窄带终端的绝对坐标值。(lat+lat1, lng+lng1) is the absolute coordinate value of the narrowband terminal.
本发明实施例中，基于预设的转换规则和预设的三点定位规则对获取3个信标点信息各自对应的场强进行计算，得到窄带终端的相对位置信息，利用信标点信息，以及信标点信息对应的原点相对坐标和原点绝对坐标，确定窄带终端的位置信息，实现得到窄带终端的位置目的。In this embodiment of the present invention, based on the preset conversion rule and the preset three-point positioning rule, the field strengths corresponding to the acquired three beacon point information are calculated to obtain the relative position information of the narrowband terminal, and the beacon point information and the The relative coordinates of the origin and the absolute coordinates of the origin corresponding to the punctuation information are used to determine the location information of the narrowband terminal, so as to achieve the purpose of obtaining the location of the narrowband terminal.
基于上述实施例图1公开的一种定位方法，本发明实施例还对应公开了一种定位装置，如图7所示，该装置主要包括扫描模块701、处理模块702和GPS模块703。Based on the positioning method disclosed in FIG. 1 of the above embodiment, an embodiment of the present invention also discloses a positioning device. As shown in FIG. 7 , the device mainly includes a scanning module 701 , a processing module 702 and a GPS module 703 .
扫描模块701，用于基于预设算法规则，获取窄带终端的位置信息。The scanning module 701 is configured to acquire the location information of the narrowband terminal based on the preset algorithm rule.
处理模块702，用于将窄带终端的位置信息转换为GPS坐标。The processing module 702 is configured to convert the location information of the narrowband terminal into GPS coordinates.
GPS模块703，用于通过窄带GPS回传链路将GPS坐标发送至服务端。The GPS module 703 is configured to send the GPS coordinates to the server through the narrowband GPS backhaul link.
进一步的，扫描模块701，包括获取子模块和计算子模块。Further, the scanning module 701 includes an acquisition sub-module and a calculation sub-module.
获取子模块，用于获取信标点信息，以及信标点信息对应的原点相对坐标 和原点绝对坐标。The acquisition sub-module is used to acquire the beacon point information, as well as the origin relative coordinates and origin absolute coordinates corresponding to the beacon point information.
计算子模块，用于利用信标点信息，以及信标点信息对应的原点相对坐标和原点绝对坐标进行定位计算，得到窄带终端的位置信息。The calculation sub-module is used to perform positioning calculation by using the beacon point information and the relative coordinates of the origin and the absolute coordinates of the origin corresponding to the beacon point information to obtain the position information of the narrowband terminal.
进一步的，若标点为蓝牙信标点，获取子模块，具体用于通过蓝牙设备扫描蓝牙信标点，得到蓝牙信标点对应的信标点信息。Further, if the punctuation point is a Bluetooth beacon point, the acquisition sub-module is specifically configured to scan the Bluetooth beacon point through the Bluetooth device to obtain the beacon point information corresponding to the Bluetooth beacon point.
进一步的，计算子模块包括第一计算单元、第二计算单元和第三计算单元。Further, the calculation sub-module includes a first calculation unit, a second calculation unit and a third calculation unit.
第一计算单元，用于将信标点信息及信标点信息对应的原点相对坐标进行计算，得到窄带终端的相对位置信息。The first calculation unit is configured to calculate the beacon point information and the relative coordinates of the origin corresponding to the beacon point information to obtain the relative position information of the narrowband terminal.
第二计算单元，用于将相对位置信息和原点相对坐标进行偏差计算，得到相对位置的偏差值。The second calculation unit is configured to perform deviation calculation between the relative position information and the relative coordinates of the origin to obtain the deviation value of the relative position.
第三计算单元，用于将相对位置的偏差值和原点绝对坐标进行计算，得到窄带终端的绝对坐标值，并确定绝对坐标值为窄带终端的位置信息。The third calculation unit is configured to calculate the deviation value of the relative position and the absolute coordinate of the origin to obtain the absolute coordinate value of the narrowband terminal, and determine the absolute coordinate value as the position information of the narrowband terminal.
进一步的，第一计算单元包括第一获取子单元和第一计算子单元。Further, the first calculation unit includes a first acquisition subunit and a first calculation subunit.
第一获取子单元，用于获取多个信标点信息各自对应的场强。The first obtaining subunit is used to obtain the respective field strengths corresponding to the multiple beacon point information.
第一计算子单元，用于基于预设的转换规则和预设的定位规则，对多个信标点信息各自对应的场强进行计算，得到窄带终端的相对位置信息，预设的定位规则与信标点的个数相关。The first calculation subunit is used to calculate the field strengths corresponding to each of the multiple beacon point information based on the preset conversion rule and the preset positioning rule, and obtain the relative position information of the narrowband terminal, the preset positioning rule and the beacon point information. number is related.
进一步的，第一计算单元，包括第二获取子单元、第二计算子单元、第三获取子单元和第三计算子单元。Further, the first calculation unit includes a second acquisition subunit, a second calculation subunit, a third acquisition subunit and a third calculation subunit.
第二获取子单元，用于获取3个信标点信息各自对应的场强。The second acquisition subunit is used to acquire the field strengths corresponding to the three beacon point information.
第二计算子单元，用于基于预设的转换规则和预设的三点定位规则，对3个信标点信息各自对应的场强进行计算，得到窄带终端的相对位置信息。The second calculation subunit is configured to calculate the field intensity corresponding to each of the three beacon point information based on the preset conversion rule and the preset three-point positioning rule to obtain the relative position information of the narrowband terminal.
第三获取子单元，用于基于3个信标点信息各自对应的原点相对坐标和相对位置信息，得到相对位置的偏差值的方位角度值和相对位置信息与原点相对坐标的距离。The third obtaining subunit is used to obtain the azimuth angle value of the deviation value of the relative position and the distance between the relative position information and the relative coordinates of the origin based on the relative coordinates and relative position information of the origin corresponding to the three beacon point information.
第三计算子单元，用于将相对位置的偏差值的方位角度值、相对位置信息、原点相对坐标的距离和3个信标点信息各自对应的原点绝对坐标进行计算，得到窄带终端的绝对坐标值，并确定绝对坐标值为窄带终端的位置信息。The third calculation subunit is used to calculate the azimuth angle value of the deviation value of the relative position, the relative position information, the distance of the relative coordinates of the origin and the absolute coordinates of the origin corresponding to each of the three beacon point information to obtain the absolute coordinate value of the narrowband terminal. , and the absolute coordinate value is determined as the position information of the narrowband terminal.
本发明实施例中，在没有GPS信号的场景下，窄带终端依然可通过窄带 GPS回传链路回传GPS定位数据，通过窄带终端发送的定位信息是窄带终端处理完成的定位数据，定位数据的数据量相对较小，确保回传GPS定位数据不会变大，并且通过窄带GPS信道的方式回传GPS定位数据，占用空口时间短，从而提高室内窄带终端的定位的时效性。此外，由于回传GPS定位数据时占用空口时间短，因此不会影响正常的语音和短信业务。In this embodiment of the present invention, in a scenario where there is no GPS signal, the narrowband terminal can still return GPS positioning data through the narrowband GPS backhaul link, and the positioning information sent by the narrowband terminal is the positioning data processed by the narrowband terminal. The amount of data is relatively small, which ensures that the GPS positioning data returned will not become larger, and the GPS positioning data is returned through the narrowband GPS channel, which occupies a short time on the air interface, thereby improving the positioning timeliness of indoor narrowband terminals. In addition, due to the short time occupied by the air interface when returning GPS positioning data, normal voice and short message services will not be affected.
本发明实施例还公开了一种窄带终端，该窄带终端包括扫描器、发送器和处理器。The embodiment of the present invention also discloses a narrowband terminal, where the narrowband terminal includes a scanner, a transmitter and a processor.
扫描器，用于基于预设算法规则，获取窄带终端的位置信息。The scanner is used to obtain the location information of the narrowband terminal based on the preset algorithm rule.
处理器，用于将窄带终端的位置信息转换为GPS坐标。The processor is used to convert the location information of the narrowband terminal into GPS coordinates.
发送器，用于通过窄带GPS回传链路将GPS坐标发送至服务端。The transmitter is used to send the GPS coordinates to the server through the narrowband GPS backhaul link.
本发明实施例还公开了一种定位系统，该系统包括窄带终端和服务端；The embodiment of the present invention also discloses a positioning system, which includes a narrowband terminal and a server;
窄带终端，用于基于预设算法规则，获取窄带终端的位置信息；将窄带终端的位置信息转换为GPS坐标，并通过窄带GPS回传链路将GPS坐标发送至服务端。The narrowband terminal is used to obtain the location information of the narrowband terminal based on the preset algorithm rules; convert the location information of the narrowband terminal into GPS coordinates, and send the GPS coordinates to the server through the narrowband GPS backhaul link.
服务端，用于接收窄带终端发送的GPS坐标，并基于GPS坐标进行定位操作。The server is used to receive the GPS coordinates sent by the narrowband terminal and perform positioning operations based on the GPS coordinates.
本发明实施例还公开了一种存储介质，存储介质包括存储指令，其中，在指令运行时控制存储介质所在的设备执行定位方法。The embodiment of the present invention also discloses a storage medium, where the storage medium includes a storage instruction, wherein when the instruction is executed, a device where the storage medium is located is controlled to execute the positioning method.
对于前述的各方法实施例，为了简单描述，故将其都表述为一系列的动作组合，但是本领域技术人员应该知悉，本发明并不受所描述的动作顺序的限制，因为依据本发明，某些步骤可以采用其他顺序或者同时进行。其次，本领域技术人员也应该知悉，说明书中所描述的实施例均属于优选实施例，所涉及的动作和模块并不一定是本发明所必须的。For the foregoing method embodiments, for the sake of simple description, they are all expressed as a series of action combinations, but those skilled in the art should know that the present invention is not limited by the described action sequence, because according to the present invention, Certain steps may be performed in other orders or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present invention.
需要说明的是，本说明书中的各个实施例均采用递进的方式描述，每个实施例重点说明的都是与其他实施例的不同之处，各个实施例之间相同相似的部分互相参见即可。对于系统类实施例而言，由于其与方法实施例基本相似，所以描述的比较简单，相关之处参见方法实施例的部分说明即可。It should be noted that the various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. For the same and similar parts among the various embodiments, refer to each other Can. As for the system-type embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and for related parts, please refer to the partial description of the method embodiment.
本发明各实施例方法中的步骤可以根据实际需要进行顺序调整、合并和删减。The steps in the methods of the embodiments of the present invention may be adjusted, combined and deleted in sequence according to actual needs.
最后，还需要说明的是，在本文中，诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。Finally, it should also be noted that in this document, relational terms such as first and second are used only to distinguish one entity or operation from another, and do not necessarily require or imply these entities or that there is any such actual relationship or sequence between operations.
对所公开的实施例的上述说明，使本领域技术人员能够实现或使用本发明。对这些实施例的多种修改对本领域技术人员来说将是显而易见的，本文中所定义的一般原理可以在不脱离本发明的精神或范围的情况下，在其它实施例中实现。因此，本发明将不会被限制于本文所示的这些实施例，而是要符合与本文所公开的原理和新颖特点相一致的最宽的范围。The above description of the disclosed embodiments enables any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
以上所述仅是本发明的优选实施方式，应当指出，对于本技术领域的普通技术人员来说，在不脱离本发明原理的前提下，还可以做出若干改进和润饰，这些改进和润饰也应视为本发明的保护范围。The above are only the preferred embodiments of the present invention. It should be pointed out that for those skilled in the art, without departing from the principles of the present invention, several improvements and modifications can be made. It should be regarded as the protection scope of the present invention.

Claims (13)

  1. 一种定位方法，其特征在于，所述方法包括：A positioning method, characterized in that the method comprises:
    基于预设算法规则，获取窄带终端的位置信息；Obtain location information of narrowband terminals based on preset algorithm rules;
    将所述窄带终端的位置信息转换为GPS坐标，并通过窄带GPS回传链路将所述GPS坐标发送至服务端。The location information of the narrowband terminal is converted into GPS coordinates, and the GPS coordinates are sent to the server through the narrowband GPS backhaul link.
  2. 根据权利要求1所述的方法，其特征在于，所述基于预设算法规则，获取窄带终端的位置信息，包括：The method according to claim 1, wherein the obtaining the location information of the narrowband terminal based on a preset algorithm rule comprises:
    获取信标点信息，以及所述信标点信息对应的原点相对坐标和原点绝对坐标；Obtaining beacon point information, as well as the origin relative coordinates and origin absolute coordinates corresponding to the beacon point information;
    利用所述信标点信息，以及所述信标点信息对应的原点相对坐标和原点绝对坐标进行定位计算，得到窄带终端的位置信息。Using the beacon point information and the origin relative coordinates and origin absolute coordinates corresponding to the beacon point information to perform positioning calculation, the location information of the narrowband terminal is obtained.
  3. 根据权利要求2所述的方法，其特征在于，若所述信标点为蓝牙信标点，所述获取信标点信息，包括：The method according to claim 2, wherein if the beacon point is a Bluetooth beacon point, the acquiring the beacon point information comprises:
    通过蓝牙设备扫描蓝牙信标点，得到所述蓝牙信标点对应的信标点信息。The Bluetooth beacon point is scanned by the Bluetooth device to obtain beacon point information corresponding to the Bluetooth beacon point.
  4. 根据权利要求2所述的方法，其特征在于，所述利用所述信标点信息，以及所述信标点信息对应的原点相对坐标和原点绝对坐标进行定位计算，得到窄带终端的位置信息，包括：The method according to claim 2, wherein the performing positioning calculation by using the beacon point information and the origin relative coordinates and origin absolute coordinates corresponding to the beacon point information to obtain the location information of the narrowband terminal, comprising:
    将所述信标点信息及所述信标点信息对应的原点相对坐标进行计算，得到窄带终端的相对位置信息；Calculating the beacon point information and the relative coordinates of the origin corresponding to the beacon point information to obtain the relative position information of the narrowband terminal;
    将所述相对位置信息和所述原点相对坐标进行偏差计算，得到相对位置的偏差值；Perform deviation calculation on the relative position information and the relative coordinates of the origin to obtain the deviation value of the relative position;
    将所述相对位置的偏差值和所述信标点信息对应的原点绝对坐标进行计算，得到窄带终端的绝对坐标值，并确定所述绝对坐标值为窄带终端的位置信息。The deviation value of the relative position and the absolute coordinates of the origin corresponding to the beacon point information are calculated to obtain the absolute coordinate value of the narrowband terminal, and the absolute coordinate value is determined as the position information of the narrowband terminal.
  5. 根据权利要求4所述的方法，其特征在于，若获取到多个信标点信息，所述将所述信标点信息及所述信标点信息对应的原点相对坐标进行计算，得到窄带终端的相对位置信息，包括：The method according to claim 4, wherein if multiple beacon point information is acquired, the beacon point information and the relative coordinates of the origin corresponding to the beacon point information are calculated to obtain the relative position of the narrowband terminal information, including:
    获取多个信标点信息各自对应的场强；Obtain the respective field strengths of multiple beacon point information;
    基于预设的转换规则和预设的定位规则，对所述多个信标点信息各自对应 的场强进行计算，得到窄带终端的相对位置信息，所述预设的定位规则与信标点的个数相关。Based on a preset conversion rule and a preset positioning rule, the respective field strengths corresponding to the multiple beacon point information are calculated to obtain the relative position information of the narrowband terminal, and the preset positioning rule is related to the number of beacon points. .
  6. 根据权利要求2所述的方法，其特征在于，若获取到3个信标点信息，所述利用所述信标点信息，以及所述信标点信息对应的原点相对坐标和原点绝对坐标，确定窄带终端的位置信息，包括：The method according to claim 2, wherein if three pieces of beacon point information are acquired, the narrowband terminal is determined by using the beacon point information, and the origin relative coordinates and origin absolute coordinates corresponding to the beacon point information location information, including:
    获取所述3个信标点信息各自对应的场强；acquiring the respective field strengths of the three beacon point information;
    基于预设的转换规则和预设的三点定位规则，对所述3个信标点信息各自对应的场强进行计算，得到窄带终端的相对位置信息；Based on the preset conversion rule and the preset three-point positioning rule, the field strengths corresponding to the three beacon point information are calculated to obtain the relative position information of the narrowband terminal;
    基于所述3个信标点信息各自对应的原点相对坐标和所述相对位置信息，得到所述相对位置的偏差值的方位角度值和所述相对位置信息与所述原点相对坐标的距离；Based on the relative coordinates of the origin and the relative position information corresponding to the three beacon point information, the azimuth angle value of the deviation value of the relative position and the distance between the relative position information and the relative coordinates of the origin are obtained;
    将所述相对位置的偏差值的方位角度值、所述相对位置信息、所述原点相对坐标的距离和所述3个信标点信息各自对应的原点绝对坐标进行计算，得到窄带终端的绝对坐标值，并确定所述绝对坐标值为窄带终端的位置信息。Calculate the azimuth angle value of the deviation value of the relative position, the relative position information, the distance of the relative coordinates of the origin, and the absolute coordinates of the origin corresponding to the three beacon point information to obtain the absolute coordinate value of the narrowband terminal. , and determine that the absolute coordinate value is the position information of the narrowband terminal.
  7. 一种定位装置，其特征在于，所述装置包括扫描模块、处理模块和GPS模块；A positioning device, characterized in that the device comprises a scanning module, a processing module and a GPS module;
    所述扫描模块，用于基于预设算法规则，获取窄带终端的位置信息；The scanning module is used to obtain the location information of the narrowband terminal based on a preset algorithm rule;
    所述处理模块，用于将所述窄带终端的位置信息转换为GPS坐标；The processing module is used to convert the position information of the narrowband terminal into GPS coordinates;
    所述GPS模块，用于通过窄带GPS回传链路将所述GPS坐标发送至服务端。The GPS module is used for sending the GPS coordinates to the server through a narrowband GPS backhaul link.
  8. 根据权利要求7所述的定位装置，其特征在于，所述扫描模块，包括：The positioning device according to claim 7, wherein the scanning module comprises:
    第一获取子模块，用于获取信标点信息，以及所述信标点信息对应的原点相对坐标和原点绝对坐标；The first acquisition sub-module is used for acquiring beacon point information, and the origin relative coordinates and origin absolute coordinates corresponding to the beacon point information;
    第一计算子模块，用于利用所述信标点信息，以及所述信标点信息对应的原点相对坐标和原点绝对坐标进行定位计算，得到窄带终端的位置信息。The first calculation sub-module is configured to perform positioning calculation by using the beacon point information and the origin relative coordinates and origin absolute coordinates corresponding to the beacon point information to obtain the position information of the narrowband terminal.
  9. 根据权利要求8所述的定位装置，其特征在于，若所述信标点为蓝牙信标点，所述第一获取子模块，具体用于：The positioning device according to claim 8, wherein if the beacon point is a Bluetooth beacon point, the first acquisition sub-module is specifically used for:
    通过蓝牙设备扫描蓝牙信标点，得到所述蓝牙信标点对应的信标点信息。The Bluetooth beacon point is scanned by the Bluetooth device to obtain beacon point information corresponding to the Bluetooth beacon point.
  10. 根据权利要求8所述的定位装置，其特征在于，所述第一计算子模块， 包括：The positioning device according to claim 8, wherein the first calculation sub-module comprises:
    第一计算单元，用于将所述信标点信息及所述信标点信息对应的原点相对坐标进行计算，得到窄带终端的相对位置信息；a first calculation unit, configured to calculate the beacon point information and the relative coordinates of the origin corresponding to the beacon point information to obtain relative position information of the narrowband terminal;
    第二计算单元，用于将所述相对位置信息和所述原点相对坐标进行偏差计算，得到相对位置的偏差值；a second calculation unit, configured to perform deviation calculation between the relative position information and the relative coordinates of the origin to obtain a deviation value of the relative position;
    第三计算单元，用于将所述相对位置的偏差值和所述信标点信息对应的原点绝对坐标进行计算，得到窄带终端的绝对坐标值，并确定所述绝对坐标值为窄带终端的位置信息。The third calculation unit is configured to calculate the deviation value of the relative position and the absolute coordinate of the origin corresponding to the beacon point information, obtain the absolute coordinate value of the narrowband terminal, and determine the absolute coordinate value of the position information of the narrowband terminal .
  11. 一种窄带终端，其特征在于，所述窄带终端包括扫描器、发送器和处理器；A narrowband terminal, characterized in that the narrowband terminal comprises a scanner, a transmitter and a processor;
    所述扫描器，用于基于预设算法规则，获取窄带终端的位置信息；The scanner is used to obtain the location information of the narrowband terminal based on a preset algorithm rule;
    所述处理器，用于将所述窄带终端的位置信息转换为GPS坐标；the processor for converting the position information of the narrowband terminal into GPS coordinates;
    所述发送器，用于通过窄带GPS回传链路将所述GPS坐标发送至服务端。The transmitter is configured to send the GPS coordinates to the server through a narrowband GPS backhaul link.
  12. 一种定位系统，其特征在于，所述系统包括窄带终端和服务端；A positioning system, characterized in that the system includes a narrowband terminal and a server;
    所述窄带终端，用于基于预设算法规则，获取窄带终端的位置信息；将所述窄带终端的位置信息转换为GPS坐标，并通过窄带GPS回传链路将所述GPS坐标发送至所述服务端；The narrowband terminal is configured to obtain the location information of the narrowband terminal based on a preset algorithm rule; convert the location information of the narrowband terminal into GPS coordinates, and send the GPS coordinates to the Server;
    所述服务端，用于接收所述窄带终端发送的所述GPS坐标，并基于所述GPS坐标进行定位操作。The server is configured to receive the GPS coordinates sent by the narrowband terminal, and perform positioning operations based on the GPS coordinates.
  13. 一种存储介质，其特征在于，所述存储介质包括存储指令，其中，在所述指令运行时控制所述存储介质所在的设备执行如权利要求1至6任意一项所述的定位方法。A storage medium, characterized in that the storage medium includes a storage instruction, wherein when the instruction is executed, a device where the storage medium is located is controlled to execute the positioning method according to any one of claims 1 to 6.
PCT/CN2021/089204 2021-04-23 2021-04-23 Positioning method and apparatus, and narrowband terminal, system and storage medium WO2022222128A1 (en)

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