WO2023019840A1 - Wireless positioning method and apparatus, electronic device, and storage medium - Google Patents

Abstract

The present invention relates to the technical field of positioning, and provides a wireless positioning method and apparatus, an electronic device, and a storage medium. The method comprises: acquiring measured coordinate values of a current coordinate point of an object to be positioned; determining a first vector V1 according to the measured coordinate values and historical positioning coordinate values corresponding to a first coordinate point adjacent to the current coordinate point; determining a second vector V2 according to historical positioning coordinate values respectively corresponding to first n coordinate points adjacent to the current coordinate point, wherein n is a positive integer greater than or equal to two; determining a composite vector according to the first vector V1 and the second vector V2; and determining positioning coordinate values of the current coordinate point according to the composite vector and the historical positioning coordinate values corresponding to the first coordinate point. By using the present method, the precision of wireless positioning can be improved.

Description

Wireless positioning method, device, electronic device and storage medium

This disclosure claims the priority of the Chinese patent application with the application number 202110951039.1 and the title of the invention "Wireless Positioning Method, Device, Electronic Equipment, and Storage Medium" filed with the China Patent Office on August 18, 2021, the entire contents of which are incorporated by reference in this disclosure.

technical field

The disclosure relates to a wireless positioning method, device, electronic equipment and storage medium.

Background technique

In the era of the Internet of Things, the accurate positioning of objects is particularly important. For indoor short-distance positioning, wireless positioning technologies such as ultrasound, radio frequency identification (Radio Frequency Identification, RFID), wireless fidelity (Wireless Fidelity, WiFi), Bluetooth, and ultra-wideband (Ultra-Wide Band, UWB) are usually used to realize positioning services. .

However, as a short-distance real-time positioning system, UWB and other wireless positioning systems usually include a large number of positioning tags and base stations, which rely on high-frequency wireless signals for distance measurement and positioning. The internal interference of the system is large, resulting in low positioning accuracy. Moreover, the wireless signal is a time-varying signal, and even in the absence of interference, it is prone to discontinuous positioning coordinates, stuttering, etc., which will also affect the positioning accuracy.

Contents of the invention

(1) Technical problems to be solved

How to improve the accuracy of short-range wireless positioning.

(2) Technical solution

According to various embodiments of the present disclosure, a wireless positioning method, device, electronic device, and storage medium are provided.

A wireless positioning method, the method comprising:

Obtain the measured coordinate value of the current coordinate point of the object to be positioned;

Determine a first vector V1 according to the measured coordinate value and the historical positioning coordinate value corresponding to the first coordinate point adjacent to the current coordinate point;

Determine the second vector V2 according to the historical positioning coordinate values respectively corresponding to the first n coordinate points adjacent to the current coordinate point, where n is a positive integer greater than or equal to 2;

determining a composite vector according to the first vector V1 and the second vector V2;

The positioning coordinate value of the current coordinate point is determined according to the synthetic vector and the historical positioning coordinate value corresponding to the first coordinate point.

In one embodiment, the determining the second vector V2 according to the historical positioning coordinate values respectively corresponding to the first n coordinate points adjacent to the current coordinate point includes:

performing curve fitting according to the historical positioning coordinate values respectively corresponding to the first n coordinate points adjacent to the current coordinate point, to obtain the motion trajectory equation of the object to be positioned;

Determining the tangent direction of the motion trajectory equation as the direction of the second vector V2;

Determine the i-order difference of the first coordinate point according to the historical positioning coordinate values corresponding to the first n coordinate points adjacent to the current coordinate point, where i is a positive integer smaller than n;

The size of the second vector V2 is determined according to the i-order difference of the first coordinate point.

In one embodiment, the value of n is 3, and the i-order difference of the first coordinate point is determined according to the historical positioning coordinate values respectively corresponding to the first n coordinate points adjacent to the current coordinate point, including :

determining the first order difference of the first coordinate point according to the historical positioning coordinate value of the first coordinate point and the historical positioning coordinate value of a second coordinate point adjacent to the first coordinate point;

determining the first-order difference of the second coordinate point according to the historical positioning coordinate value of the second coordinate point and the historical positioning coordinate value of a third coordinate point adjacent to the second coordinate point;

calculating the difference between the first-order difference of the first coordinate point and the first-order difference of the second coordinate point to obtain the second-order difference of the first coordinate point.

In one embodiment, the determining the size of the second vector V2 according to the i-order difference of the first coordinate point includes:

The size of the second vector V2 is determined by the following formula:

||V2||=ΔP+ΔP*ΔΔP;

Wherein, ||V2|| is the modulus length of the second vector V2, ΔP represents the first-order difference of the first coordinate point, and ΔΔP represents the second-order difference of the first coordinate point.

In one embodiment, the determining a composite vector according to the first vector V1 and the second vector V2 includes:

The composite vector is calculated by the following formula:

V0＝a*V1+(1-a)*V2

Wherein, V0 represents a composite vector, a represents the weight of the first vector V1, and 0<a≤1.

In one embodiment, the method also includes:

Obtain the measured coordinate values and real coordinate values corresponding to multiple reference points in the wireless positioning area;

The weight of the first vector V1 is adjusted according to the difference between the measured coordinate value corresponding to each of the reference points and the real coordinate value.

In one embodiment, the method also includes:

Counting the number of objects to be located in the Wireless Location System;

According to the number of objects to be positioned, query the correspondence between the preset number of different positioned objects and the weight of the first vector V1, and determine the weight corresponding to the number of objects to be positioned as the value of a.

In one embodiment, the curve fitting is performed according to the historical positioning coordinate values respectively corresponding to the first n coordinate points adjacent to the current coordinate point to obtain the motion trajectory equation of the object to be positioned, including:

When n is 2, the motion trajectory equation of the object to be positioned is obtained as a straight line;

When n is greater than 2, it is obtained that the motion trajectory equation of the object to be positioned is a straight line or a curve.

In one embodiment, the determining the tangent direction of the motion trajectory equation as the direction of the second vector V2 includes:

If the motion trajectory equation is a straight line equation, then determine the tangent direction of the straight line equation as the direction of the second vector V2;

If the motion trajectory equation is a curve equation, the tangent direction of the motion trajectory equation at the first coordinate point adjacent to the current coordinate point is determined as the direction of the second vector V2.

In one embodiment, the determining the size of the second vector V2 according to the i-order difference of the first coordinate point includes:

When n is 2, the first-order difference of the first coordinate point is the size of the second vector V2;

When n is greater than 2, the size of the second vector V2 can be expressed as the sum of the i-order difference of the first coordinate point, or, the size of the second vector V2 can also be expressed as

Wherein, Δ ^j P represents the j-order difference of the first coordinate point.

A wireless positioning device, said device comprising:

An acquisition module configured to acquire the measured coordinate value of the current coordinate point of the object to be positioned;

The first determination module is configured to determine the first vector V1 according to the measured coordinate value and the historical positioning coordinate value corresponding to the first coordinate point adjacent to the current coordinate point;

The second determination module is configured to determine the second vector V2 according to the historical positioning coordinate values respectively corresponding to the first n coordinate points adjacent to the current coordinate point, where n is a positive integer greater than or equal to 2;

A third determining module, configured to determine a composite vector according to the first vector V1 and the second vector V2;

The fourth determination module is configured to determine the positioning coordinate value of the current coordinate point according to the synthetic vector and the historical positioning coordinate value corresponding to the first coordinate point.

In one embodiment, the second determination module includes:

The curve fitting unit is configured to perform curve fitting according to the historical positioning coordinate values respectively corresponding to the first n coordinate points adjacent to the current coordinate point, so as to obtain the motion trajectory equation of the object to be positioned;

a vector direction determining unit configured to determine the tangent direction of the motion trajectory equation as the direction of the second vector V2;

The difference determining unit is configured to determine the i-order difference of the first coordinate point according to the historical positioning coordinate values respectively corresponding to the first n coordinate points adjacent to the current coordinate point, where i is a positive integer smaller than n;

The vector size determining unit is configured to determine the size of the second vector V2 according to the i-order difference of the first coordinate point.

In one embodiment, the value of n is 3, and the difference determining unit is specifically configured as:

determining the first order difference of the first coordinate point according to the historical positioning coordinate value of the first coordinate point and the historical positioning coordinate value of a second coordinate point adjacent to the first coordinate point;

determining the first-order difference of the second coordinate point according to the historical positioning coordinate value of the second coordinate point and the historical positioning coordinate value of a third coordinate point adjacent to the second coordinate point;

calculating the difference between the first-order difference of the first coordinate point and the first-order difference of the second coordinate point to obtain the second-order difference of the first coordinate point.

In one embodiment, the vector size determination unit is specifically configured to:

The size of the second vector V2 is determined by the following formula:

||V2||=ΔP+ΔP*ΔΔP;

Wherein, ||V2|| is the modulus length of the second vector V2, ΔP represents the first-order difference of the first coordinate point, and ΔΔP represents the second-order difference of the first coordinate point.

In one embodiment, the third determination module is specifically configured to:

The composite vector is calculated by the following formula:

V0＝a*V1+(1-a)*V2

Wherein, V0 represents a composite vector, a represents the weight of the first vector V1, and 0<a≤1.

In one embodiment, the device also includes:

The reference point obtaining module is configured to obtain measured coordinate values and real coordinate values corresponding to a plurality of reference points in the wireless positioning area;

The adjustment module is configured to adjust the weight of the first vector V1 according to the difference between the measured coordinate value corresponding to each of the reference points and the real coordinate value.

In one embodiment, the device also includes:

A statistical module configured to count the number of objects to be located in the wireless positioning system;

The weight determination module is configured to, according to the number of objects to be positioned, query the correspondence between the preset number of different positioning objects and the weight of the first vector V1, and determine the weight corresponding to the number of objects to be positioned as a value of .

In one embodiment, the curve fitting unit is specifically configured to:

When n is 2, the motion trajectory equation of the object to be positioned is obtained as a straight line;

When n is greater than 2, it is obtained that the motion trajectory equation of the object to be positioned is a straight line or a curve.

An electronic device comprising a memory and one or more processors, the memory configured to store modules of computer-readable instructions; when executed by the processor, the computer-readable instructions cause the one or more processing The device executes the steps of the wireless positioning method provided in any one embodiment of the present disclosure.

One or more non-volatile storage media storing computer-readable instructions. When the computer-readable instructions are executed by one or more processors, one or more processors execute the wireless device provided by any embodiment of the present disclosure. The steps of the positioning method.

Additional features and advantages of the disclosure will be set forth in the description which follows, and in part will be apparent from the description, or may be learned by practice of the disclosure. The objectives and other advantages of the disclosure will be realized and attained by the structure particularly pointed out in the written description, claims hereof as well as the accompanying drawings, the details of one or more embodiments of the disclosure being set forth in the accompanying drawings and the description below.

In order to make the above objects, features and advantages of the present disclosure more comprehensible, optional embodiments are given below and described in detail in conjunction with the accompanying drawings.

Description of drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description serve to explain the principles of the disclosure.

In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, for those of ordinary skill in the art, In other words, other drawings can also be obtained from these drawings without paying creative labor.

Fig. 1 is a schematic diagram of the topology of the UWB positioning system in one or more embodiments;

Fig. 2 is a schematic flowchart of a wireless positioning method in one or more embodiments;

Fig. 3 is a schematic flowchart of a wireless positioning method in one or more embodiments;

Fig. 4 is an example diagram of a coordinate trajectory of an object to be positioned in one or more embodiments;

Fig. 5 is a structural block diagram of a wireless positioning device in one or more embodiments;

Figure 6 is a diagram of the internal structure of an electronic device in one or more embodiments.

Detailed ways

In order to make the purpose, technical solutions and advantages of the present disclosure clearer, the present disclosure will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present disclosure, not to limit the present disclosure.

The wireless positioning method provided by the present disclosure can be applied to electronic equipment in a wireless positioning system. The wireless positioning system can be a real-time positioning system such as a UWB positioning system, an RFID positioning system, and an ultrasonic positioning system. The electronic equipment can be a computer, a mobile phone, a server, Wearable devices and other devices with positioning software and processing capabilities. Taking the application of the wireless positioning method provided in the present disclosure in a UWB positioning system as an example, the wireless positioning method can be applied in an application environment as shown in FIG. 1 , which is a schematic topology diagram of a UWB positioning system in an embodiment. As a short-range communication tool, UWB plays an important role in short-distance precise positioning by utilizing its characteristics of ultra-wideband and high-speed pulse carrier. UWB technology is usually used to locate mobile tags in real time. UWB positioning technology can be used for indoor precise positioning and navigation in various fields, including the positioning of people and large objects, such as valuables storage, mine personnel positioning, robot motion tracking, car basement parking, etc.

As shown in Figure 1, there are multiple positioning base stations, multiple positioning tags and an electronic device in the wireless positioning area of the UWB positioning system. Among them, the positioning tag is the object that needs to be positioned, and it is a device that uses UWB technology to obtain its own position coordinates; the positioning base station is a positioning device that uses UWB technology to locate the positioning tag; UWB positioning software is installed on the electronic device. It is used to implement the wireless positioning method provided by the present disclosure. The electronic equipment and the positioning base station communicate through the network to obtain the positioning data. The UWB positioning software obtains the position information of the current coordinate point of the positioning tag by processing the positioning data. The UWB positioning software can also realize the playback of the historical track of the positioning tag and store the historical positioning. The position information of the point, through the position information of the current coordinate point and the historical positioning coordinate value corresponding to the first coordinate point adjacent to the current coordinate point, the first vector can be determined, through the first n coordinate points adjacent to the current coordinate point The corresponding historical positioning coordinate values respectively can determine the second vector, and then obtain the synthetic vector according to the first vector and the second vector, and determine the positioning coordinates of the current coordinate point according to the synthetic vector and the historical positioning coordinate value corresponding to the first coordinate point value to achieve precise positioning.

It should be noted that in practical applications, there may be a large number of positioning base stations and positioning tags in the UWB positioning system. Due to space limitations, Figure 1 only uses 4 positioning base stations and 2 positioning tags as an example, and it cannot be used as a reference for this paper. Public restrictions.

In one embodiment, as shown in FIG. 2 , a wireless positioning method is provided. This embodiment is mainly illustrated by taking the wireless positioning method applied to the electronic device in FIG. 1 as an example. As shown in Figure 2, the wireless positioning method may include the following steps:

Step 102, acquiring the measured coordinate value of the current coordinate point of the object to be positioned.

Wherein, the object to be positioned is an object carrying a positioning tag, and may be a person or an object carrying a positioning tag.

In the embodiments of the present disclosure, the measured coordinate value of the current coordinate point of the object to be positioned can be obtained by positioning through an existing positioning algorithm. For example, time of arrival (TOA) positioning algorithm, time difference of arrival (Time Difference Of Arrival, TDOA) positioning algorithm, angle of arrival (Angle of Arrival, AOA) positioning algorithm or a hybrid technology of the above three positioning algorithms can be used. Obtain the measured coordinate value of the current coordinate point, which is not limited in the present disclosure.

Step 104: Determine the first vector V1 according to the measured coordinate value and the historical positioning coordinate value corresponding to the first coordinate point adjacent to the current coordinate point.

Wherein, the first coordinate point is a historical positioning point adjacent to the current coordinate point in the current movement track of the object to be positioned, that is, the first coordinate point is the positioning point closest to the current coordinate point before the current coordinate point, The historical positioning coordinate value corresponding to the first coordinate point may be a measured coordinate value of the first positioning point, or may be an optimized positioning coordinate value. For example, when the first coordinate point is the second positioning point on the current movement track of the object to be positioned, the historical positioning coordinate value corresponding to the first coordinate point is the measured coordinate value calculated according to the positioning algorithm. When the first coordinate point When it is the third positioning point on the moving track of the object to be positioned and the following positioning points, the historical positioning coordinate value corresponding to the first coordinate point is the positioning coordinate value determined by the wireless positioning method provided by the present disclosure. Optimized coordinate values. The historical positioning coordinate value corresponding to the first coordinate point can be stored in the local storage space of the electronic device, and can be directly queried and obtained when needed.

A vector can be determined according to the coordinates of two points. Therefore, in the embodiment of the present disclosure, a vector can be determined according to the measured coordinate value and the historical positioning coordinate value corresponding to the first coordinate point adjacent to the current coordinate point, and the vector is recorded as The first vector may be represented by V1.

Exemplarily, assuming that the current coordinate point is P4 (x4, y4, z4), and the first coordinate point adjacent to P4 is P3 (x3, y3, z3), then the first vector is V1=P4-P3=(x4 -x3, y4-y3, z4-z3).

Step 106: Determine the second vector V2 according to the historical positioning coordinate values respectively corresponding to the previous n coordinate points adjacent to the current coordinate point, where n is a positive integer greater than or equal to 2.

Usually, at least two points are required to determine a line. The more points there are, the more accurate the fitted curve will be. In the embodiment of the present disclosure, the first n points closest to the current coordinate point on the moving track of the object to be positioned can be obtained. The historical positioning coordinate values corresponding to the coordinate points respectively, the historical positioning coordinate values can be obtained from the local storage space of the electronic device, and the second vector can be determined according to the historical positioning coordinate values corresponding to the first n coordinate points, which is denoted as V2.

Exemplarily, when n is 2, the obtained distance between the two coordinate points can be used as the size of the second vector, and the direction of the vector determined by the two coordinate points can be used as the direction of the second vector, then The second vector V2 is then determined.

Exemplarily, when n is a positive integer greater than or equal to 3, a curve can be fitted according to the determined n coordinate points, and the tangent direction of the curve at a positioning point closest to the current coordinate point is determined as the second vector The direction of the second vector can be determined according to the multi-order difference of a positioning point closest to the current coordinate point. The specific determination process will be described in subsequent embodiments, and will not be described in detail here. After the magnitude and direction of the second vector are determined, the second vector V2 is determined accordingly.

It can be understood that, according to the direction and magnitude of the second vector, the components of the second vector in the x, y, and z directions can be determined, so that the second vector can be expressed as a coordinate form similar to the first vector, and the second vector It can be regarded as a vector composed of the first coordinate point and the estimated point corresponding to the current coordinate point. According to the historical positioning coordinate value corresponding to the first coordinate point and each component of the second vector, the coordinate value of the estimated point can be determined.

Step 108, determine a composite vector according to the first vector V1 and the second vector V2.

In the embodiment of the present disclosure, a composite vector may be determined according to the determined first vector V1 and the determined second vector V2.

Exemplarily, a vector addition operation may be performed on the first vector V1 and the second vector V2 to obtain a composite vector.

Step 110, determine the positioning coordinate value of the current coordinate point according to the resultant vector and the historical positioning coordinate value corresponding to the first coordinate point.

Since the first vector V1 and the second vector V2 can be expressed in the form of coordinates, the resultant vector can be added to the historical positioning coordinate value corresponding to the first coordinate point, and the obtained coordinate value is the positioning coordinate value of the current coordinate point.

It can be understood that the positioning coordinate value of the current coordinate point can be stored in the local storage space of the electronic device, and can be used as the historical positioning coordinate value corresponding to the first coordinate point adjacent to the next coordinate point for the next coordinate point Point positioning process.

In the embodiment of the present disclosure, the first vector is a vector determined according to the actual measured coordinate value of the coordinate point, and the second vector is a vector estimated according to the moving track of the object to be positioned, and the second vector can correct the first vector Therefore, according to the composite vector of the first vector and the second vector and the historical positioning coordinate value of the adjacent previous coordinate point, compared with the measured coordinate value, it can be corrected and optimized, and it is achieved by integrating the measured path and the fitting path. Solve the problem of poor positioning accuracy caused by signal drift and stuttering, and improve the positioning accuracy. Moreover, the solution disclosed in the present disclosure can be implemented without relying on the assistance of hardware sensors, is low in cost and easy to implement, and has strong feasibility and practicability.

In the wireless positioning method provided by the embodiments of the present disclosure, first, the first vector is determined according to the measured coordinate value of the current coordinate point of the object to be positioned and the historical positioning coordinate value corresponding to the first coordinate point adjacent to the current coordinate point, and then according to the The historical positioning coordinate values corresponding to the first n coordinate points adjacent to the current coordinate point respectively, determine the second vector, n is a positive integer greater than or equal to 2, and then determine the composite vector according to the first vector and the second vector, and finally according to the composite vector and the historical positioning coordinate value corresponding to the first coordinate point to determine the positioning coordinate value of the current coordinate point. Since the second vector is determined according to the historical positioning coordinate value of the first n coordinate points, the movement of the object to be positioned along the original direction is considered. trend, so that the final positioning coordinate value of the current coordinate point takes into account both the measurement coordinate and the original motion trend, so that the second vector plays the role of correcting and optimizing the measurement coordinate value, which can improve the accuracy of wireless positioning , making the positioning track of the coordinate point smoother.

In one embodiment, as shown in FIG. 3, on the basis of the embodiment shown in FIG. 2, step 106 may include the following steps:

Step 202, performing curve fitting according to the historical positioning coordinate values respectively corresponding to the previous n coordinate points adjacent to the current coordinate point, to obtain the motion trajectory equation of the object to be positioned.

Wherein, n is a positive integer greater than or equal to 2. The first n coordinate points refer to the first n positioning points closest to the current positioning point on the moving track of the object to be positioned, including the first coordinate point adjacent to the current positioning point. The historical positioning coordinate values respectively corresponding to the first n coordinate points may be obtained from the local storage space of the electronic device.

In the embodiment of the present disclosure, curve fitting is performed according to the historical positioning coordinate values respectively corresponding to the first n coordinate points adjacent to the current coordinate point, so as to obtain the motion trajectory equation of the object to be positioned. Wherein, when n is 2, the fitted motion trajectory equation is a straight line; when n is a positive integer greater than 2, the fitted motion trajectory equation may be a straight line or a curve.

It should be noted that the trajectory equation of the object to be positioned can be obtained by fitting the historical positioning coordinate values of n coordinate points by using an existing curve fitting tool, which is not described in detail in this disclosure.

Step 204, determine the tangent direction of the motion track equation as the direction of the second vector V2.

According to the principle of inertia, objects tend to move in the original direction, and the original direction is in the tangent direction of the curve or along the straight line direction, especially for UWB technology, which has a low duty cycle and has high distance sensitivity. To a very short distance, that is, a coordinate point can be drawn in a very short distance, so it is very suitable for the principle of inertia. Therefore, in the embodiment of the present disclosure, the motion direction of the object to be positioned under inertia may be determined as the direction of the second vector V2 according to the motion trajectory equation obtained through fitting.

Exemplarily, if the fitted motion trajectory equation is a straight line equation, then the tangent direction is consistent with the straight line direction, which can be represented by the slope of the straight line equation; if the fitted motion trajectory equation is a curve equation, then the curve equation can be solved The first derivative determines the direction of the tangent of the motion trajectory equation at the first coordinate point adjacent to the current coordinate point as the direction of the second vector V2. The tangent direction of the curve equation can be obtained by solving the tangent line of the related curve equation, which will not be described in detail in this disclosure.

Step 206: Determine the i-order difference of the first coordinate point according to the historical positioning coordinate values corresponding to the first n coordinate points adjacent to the current coordinate point, where i is a positive integer smaller than n.

In the embodiment of the present disclosure, the i-order difference of the first coordinate point may be determined according to the historical positioning coordinate values corresponding to the first n coordinate points adjacent to the current coordinate point, where i is at least 1.

Exemplarily, when n is 2, obtain the first two coordinate points adjacent to the current coordinate point, including the first coordinate point and the second coordinate point, wherein the first coordinate point is adjacent to the current coordinate point, according to the first The historical positioning coordinate values corresponding to the coordinate point and the second coordinate point respectively can determine the first-order difference of the first coordinate point. Wherein, the first-order difference is the modulus length of the vector formed by the first coordinate point and the second coordinate point.

Exemplarily, when n is greater than 2, obtain the first n coordinate points adjacent to the current coordinate point, including the first coordinate point adjacent to the current coordinate point, and the previous (n-1) closest to the first coordinate point coordinate points, according to the historical positioning coordinate values corresponding to the first n coordinate points, the first-order difference, second-order difference, third-order difference to (n-1)-order difference of the first coordinate point can be determined.

Points in space are usually represented by three-dimensional coordinates, and a curve can be determined by knowing the coordinates of three points. Therefore, in one embodiment, in order to reduce computational complexity and computational overhead, n can be set to 3, and then according to The historical positioning coordinate values corresponding to the first n coordinate points adjacent to the current coordinate point respectively, determine the i-order difference of the first coordinate point, including: according to the historical positioning coordinate value of the first coordinate point and the adjacent to the first coordinate point The historical positioning coordinate value of the second coordinate point determines the first-order difference of the first coordinate point; according to the historical positioning coordinate value of the second coordinate point and the historical positioning coordinate value of the third coordinate point adjacent to the second coordinate point, determine The first-order difference of the second coordinate point; calculate the difference between the first-order difference of the first coordinate point and the first-order difference of the second coordinate point, and obtain the second-order difference of the first coordinate point.

In this embodiment, when the value of n is 3, the first-order difference and the second-order difference of the first coordinate point can be calculated.

Exemplarily, assuming that the first coordinate point is P3 (x3, y3, z3), the second coordinate point is P2 (x2, y2, z2), and the third coordinate point is P1 (x1, y1, z1), then the first The first-order difference of a coordinate point is ΔP3=||(P3-P2)||, that is, the modulus length of the vector (P3-P2) formed by the second coordinate point and the first coordinate point, and the first-order difference of the second coordinate point ΔP2=||(P2-P1)||, that is, the modulus length of the vector (P2-P1) formed by the third coordinate point and the second coordinate point, the second-order difference of the first coordinate point can be based on the first coordinate point The difference between the first-order difference and the first-order difference of the second coordinate point is obtained, that is, the second-order difference of the first coordinate point (denoted as ΔΔP) can be expressed as ΔΔP=||(P3-P2)||-||( P2-P1) ||. Among them, the second-order difference is used to represent the change range of the first-order difference, and is used to correct the first-order difference. The value of the second-order difference can be positive or negative. Positive means that the first-order difference is increasing, that is, the distance of the next point will be higher than that of the previous one. The point becomes longer, and the negative indicates that the first-order difference is shortening, that is, the distance of the next point will be shorter than the previous point.

It should be noted that, in the embodiment of the present disclosure, the number of coordinate points used to fit the motion trajectory equation of the object to be positioned may be the same as the number of coordinate points used to determine the i-order difference of the first coordinate point, It may also be different, and the present disclosure only uses the same as an example to illustrate the present disclosure, but not as a limitation to the present disclosure.

Step 208: Determine the magnitude of the second vector V2 according to the i-order difference of the first coordinate point.

In the embodiment of the present disclosure, the magnitude of the second vector V2 may be determined according to the i-order difference of the first coordinate point.

Exemplarily, when n is 2, the first-order difference of the first coordinate point is the size of the second vector V2. When n is greater than 2, the size of the second vector V2 can be expressed as the sum of the i-order difference of the first coordinate point, or, the size of the second vector V2 can also be expressed as

Wherein, Δ ^j P represents the j-order difference of the first coordinate point. In the embodiment of the present disclosure, there are more than one ways to determine the size of the second vector according to the i-order difference of the first coordinate point. In addition to the calculation method provided in the present disclosure, there are other methods that can determine the size of the second vector not described in the present disclosure. The method should also belong to the content of this disclosure.

In one embodiment, when the value of n is 3, the size of the second vector V2 can be calculated by the following formula (1).

||V2||＝ΔP+ΔP*ΔΔP (1)

Wherein, ||V2|| is the modulus length of the second vector V2, which means the size of V2, ΔP represents the first-order difference of the first coordinate point, and ΔΔP represents the second-order difference of the first coordinate point.

In the embodiment of the present disclosure, the magnitude and direction of the second vector are determined, and the second vector V2 is also determined accordingly.

In the wireless positioning method of this embodiment, by performing curve fitting according to the historical positioning coordinate values corresponding to the first n coordinate points adjacent to the current coordinate point, the motion trajectory equation of the object to be positioned is obtained, and the tangent direction of the motion trajectory equation is Determine the direction of the second vector, and determine the i-order difference of the first coordinate point according to the historical positioning coordinate values corresponding to the first n coordinate points adjacent to the current coordinate point, i is a positive integer smaller than n, and then according to The i-order difference of the first coordinate point determines the size of the second vector, thus, the second vector can be estimated according to the moving track of the object to be positioned and the historical positioning coordinate value, which provides a basis for optimizing the position of the current coordinate point according to the second vector conditions.

In an embodiment, the composite vector may be determined by performing weighted summation on the first vector V1 and the second vector V2, specifically, the composite vector may be determined by the following formula (2).

V0＝a*V1+(1-a)*V2 (2)

Wherein, V0 represents the composite vector, a represents the weight of the first vector V1, and 0<a≤1.

In the embodiment of the present disclosure, the value of weight a can be predetermined. For example, the value of weight a can be determined according to the degree of interference in the UWB positioning system. For a non-interference positioning system, V1 can be trusted a little more, and a larger value can be assigned to V1. Weight, for example, the value of a can be set to 0.6; for a positioning system with severe interference, signal drift is likely to occur due to interference, and the probability of coordinate points deviating from the original movement track is relatively high, so you can trust V2 a little more and assign a larger value to V2 , the weight a of the first vector is relatively small, for example, the value of a can be set to 0.3.

In one embodiment, the number of objects to be positioned in the wireless positioning system can be counted, and according to the number of objects to be positioned, the corresponding relationship between the number of different preset objects to be positioned and the weight of the first vector V1 can be queried to determine the corresponding relationship with the weight of the first vector V1. The weight corresponding to the number of objects is used as the value of a.

Wherein, the corresponding relationship between the number of different positioning objects and the weight of the first vector V1 can be preset and stored.

Exemplarily, the corresponding relationship between the number of different positioning objects and the weight of the first vector V1 is shown in Table 1.

Table 1

Number of positioning objects in the positioning system	The weight of the first vector V1
1～5	1

6～10	0.9
…	…
50～60	0.6
61～80	0.5
…	…
150 or more	0.1

As shown in Table 1, the more the number of positioning objects in the system and the more serious the interference, the smaller the weight of the first vector V1 is.

In the embodiment of the present disclosure, according to the number of objects to be positioned in the wireless positioning system, the weight of the first vector V1 corresponding to the number of objects to be positioned can be determined by looking up Table 1, and the weight can be used as an initial value of a. Wherein, the value of a can be continuously corrected according to the positioning result of the positioning object in the actual positioning system, so as to obtain a relatively accurate value.

In one embodiment, the measured coordinate values and real coordinate values corresponding to multiple reference points in the wireless positioning area can be obtained, and the first vector is adjusted according to the difference between the measured coordinate values and real coordinate values corresponding to each reference point The weight of V1.

Wherein, the reference point may be a plurality of positioning points randomly selected in the wireless positioning area, or may be a historical positioning point of the object to be positioned, or may be a positioning point of other positioning objects. The real coordinate value of the reference point can be determined according to the actual position of the reference point, it can be a calibrated position, or it can be the positioning coordinate value of the positioning point.

In the embodiment of the present disclosure, the difference between the measured coordinate value corresponding to each reference point and the real coordinate value can be compared, and the weight of the first vector V1 can be adjusted according to the determined difference, wherein, when the difference is large, the current weight If the difference is small, adjust it higher than the current weight.

Exemplarily, for each reference point, compare the difference between the measured coordinate value and the real coordinate value, and judge whether the difference is within the preset allowable difference range, and count the number of reference points whose difference is not within the allowable difference range , and compared with the preset threshold, when the number of reference points whose difference is not within the allowable difference range exceeds the first threshold, the weight of the first vector V1 is lowered; when the difference is not within the allowable difference range The number of reference points When it is less than the second threshold, then increase the weight of the first vector V1; when the number of reference points whose difference is not within the allowable difference range is greater than or equal to the second threshold and less than or equal to the first threshold, keep the weight of the first vector V1 Change. Wherein, the first threshold is greater than the second threshold, the adjustment range of the weight of the first vector can be preset, for example, it can be set to 0.1, 0.05, etc., and the weight of the first vector is adjusted according to the preset adjustment range each time.

In the embodiment of the present disclosure, by acquiring the measured coordinate values and real coordinate values corresponding to multiple reference points in the wireless positioning area, the first vector is adjusted according to the difference between the measured coordinate values and the real coordinate values corresponding to each reference point Therefore, the dynamic adjustment of the weight of the first vector is realized, which is beneficial to improve the positioning accuracy.

Fig. 4 is an example diagram of the coordinate track of the object to be positioned in one embodiment. In Fig. 4, P0, P1, P2 and P3 are the historical coordinate points of the object to be positioned, and the historical positioning coordinate values of each point can be stored in the local of the electronic device In the storage space, P3 is the latest coordinate point, which is also the coordinate point adjacent to P4, that is, the first coordinate point described in the present disclosure. Assuming that the current coordinate point of the object to be positioned is P4, the purpose is to accurately determine the positioning coordinate value of P4. As shown in Figure 4, the position of the next point obtained through actual ranging and positioning is at point P4Test, and point P3 and point P4Test form a vector V1. According to the coordinate points P0~P3 before P4, the motion trajectory of the object to be positioned can be obtained by fitting, and the tangent direction of the trajectory at P3 can be determined as the vector direction, and P3 can be calculated according to the positioning coordinate values of points P1, P2 and P3 According to the first-order difference and second-order difference of P3, the size of the vector can be determined according to the first-order difference and second-order difference of P3, and the vector V2 in Figure 4 can be determined according to the direction of the vector and the size of the vector, then the estimated point P4EST of the current coordinate point The location is then determined. According to V1 and V2, the vector V0 can be synthesized, wherein, V0=a*V1+(1-a)*V2, and then according to the positioning coordinate values of V0 and P3, the positioning coordinate value of P4 can be determined, wherein, P4=V0+P3 . Thus, the precise position of P4 is obtained. It can be seen from Figure 4 that, compared with the measurement point P4 Test and the estimated point P4 EST, the trajectory formed by the finalized P4 and the historical positioning points P0-P3 is smoother.

It should be understood that although the various steps in the flow charts in FIGS. 2-3 are displayed sequentially as indicated by the arrows, these steps are not necessarily executed sequentially in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps can be executed in other orders. Moreover, at least some of the steps in Figures 2-3 may include multiple sub-steps or multiple stages, these sub-steps or stages are not necessarily performed at the same time, but may be performed at different times, these sub-steps or stages The order of execution is not necessarily performed sequentially, but may be performed alternately or alternately with at least a part of other steps or sub-steps or stages of other steps.

In one embodiment, as shown in FIG. 5 , a wireless positioning device is provided. The wireless positioning device 30 includes an acquisition module 302, a first determination module 304, a second determination module 306, a third determination module 308 and a fourth Determine module 310 . in:

The obtaining module 302 is configured to obtain the measured coordinate value of the current coordinate point of the object to be positioned.

The first determination module 304 is configured to determine the first vector V1 according to the measured coordinate value and the historical positioning coordinate value corresponding to the first coordinate point adjacent to the current coordinate point.

The second determination module 306 is configured to determine the second vector V2 according to the historical positioning coordinate values respectively corresponding to the previous n coordinate points adjacent to the current coordinate point, where n is a positive integer greater than or equal to 2.

The third determining module 308 is configured to determine a composite vector according to the first vector V1 and the second vector V2.

The fourth determination module 310 is configured to determine the positioning coordinate value of the current coordinate point according to the synthetic vector and the historical positioning coordinate value corresponding to the first coordinate point.

In one embodiment, the second determination module 306 includes:

The curve fitting unit is configured to perform curve fitting according to the historical positioning coordinate values respectively corresponding to the previous n coordinate points adjacent to the current coordinate point, so as to obtain the motion trajectory equation of the object to be positioned.

The vector direction determination unit is configured to determine the tangent direction of the motion trajectory equation as the direction of the second vector V2.

The difference determination unit is configured to determine the i-order difference of the first coordinate point according to the historical positioning coordinate values respectively corresponding to the first n coordinate points adjacent to the current coordinate point, where i is a positive integer smaller than n.

The vector size determining unit is configured to determine the size of the second vector V2 according to the i-order difference of the first coordinate point.

In one embodiment, the value of n is 3, and the difference determining unit is specifically configured as:

A first-order difference of the first coordinate point is determined according to the historical positioning coordinate value of the first coordinate point and the historical positioning coordinate value of a second coordinate point adjacent to the first coordinate point.

A first-order difference of the second coordinate point is determined according to the historical positioning coordinate value of the second coordinate point and the historical positioning coordinate value of a third coordinate point adjacent to the second coordinate point.

calculating the difference between the first-order difference of the first coordinate point and the first-order difference of the second coordinate point to obtain the second-order difference of the first coordinate point.

In one embodiment, the vector size determination unit is specifically configured to:

The size of the second vector V2 is determined by the following formula:

||V2||=ΔP+ΔP*ΔΔP;

Wherein, ||V2|| is the modulus length of the second vector V2, ΔP represents the first-order difference of the first coordinate point, and ΔΔP represents the second-order difference of the first coordinate point.

In one embodiment, the third determining module 308 is specifically configured to:

The composite vector is calculated by the following formula:

V0＝a*V1+(1-a)*V2

Wherein, V0 represents a composite vector, a represents the weight of the first vector V1, and 0<a≤1.

In one embodiment, the device also includes:

The reference point acquiring module is configured to acquire measured coordinate values and real coordinate values corresponding to multiple reference points in the wireless positioning area.

The adjustment module is configured to adjust the weight of the first vector V1 according to the difference between the measured coordinate value corresponding to each of the reference points and the real coordinate value.

In one embodiment, the device also includes:

The statistical module is configured to count the number of objects to be positioned in the wireless positioning system.

The weight determination module is configured to, according to the number of objects to be positioned, query the correspondence between the preset number of different positioning objects and the weight of the first vector V1, and determine the weight corresponding to the number of objects to be positioned as a value of .

The wireless positioning device provided by the embodiments of the present disclosure first determines the first vector according to the measured coordinate value of the current coordinate point of the object to be positioned and the historical positioning coordinate value corresponding to the first coordinate point adjacent to the current coordinate point, and then according to the The historical positioning coordinate values corresponding to the first n coordinate points adjacent to the current coordinate point respectively, determine the second vector, n is a positive integer greater than or equal to 2, and then determine the composite vector according to the first vector and the second vector, and finally according to the composite vector and the historical positioning coordinate value corresponding to the first coordinate point to determine the positioning coordinate value of the current coordinate point. Since the second vector is determined according to the historical positioning coordinate value of the first n coordinate points, the movement of the object to be positioned along the original direction is considered. trend, so that the final positioning coordinate value of the current coordinate point takes into account both the measurement coordinate and the original motion trend, so that the second vector plays the role of correcting and optimizing the measurement coordinate value, which can improve the accuracy of wireless positioning , making the positioning track of the coordinate point smoother.

For specific limitations on the wireless positioning device, refer to the above-mentioned limitations on the wireless positioning method, which will not be repeated here. Each module in the above wireless positioning device can be fully or partially realized by software, hardware and a combination thereof. The above-mentioned modules can be embedded in or independent of the processor in the electronic device in the form of hardware, and can also be stored in the memory of the electronic device in the form of software, so that the processor can invoke and execute the corresponding operations of the above-mentioned modules.

In one embodiment, an electronic device is provided. The electronic device may be a device including wireless positioning software, and its internal structure may be as shown in FIG. 6 . The electronic device includes a processor, memory and network interface connected by a system bus. Wherein, the processor of the electronic device is used to provide calculation and control capabilities. The memory of the electronic device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, computer programs and databases. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The database of the electronic device is used to store the positioning coordinate values of each coordinate point of the positioning object. The network interface of the electronic device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a wireless positioning method is realized.

Those skilled in the art can understand that the structure shown in FIG. 6 is only a block diagram of a partial structure related to the disclosed solution, and does not constitute a limitation on the electronic device to which the disclosed solution is applied. The specific electronic device can be More or fewer components than shown in the figures may be included, or some components may be combined, or have a different arrangement of components.

In one embodiment, the wireless positioning device provided by the present disclosure can be implemented in the form of a computer program, and the computer program can run on the electronic device as shown in FIG. 6 . Various program modules constituting the wireless positioning device can be stored in the memory of the electronic device, for example, the acquisition module, the first determination module, the second determination module, the third determination module and the fourth determination module shown in FIG. 5 . The computer program constituted by each program module enables the processor to execute the steps in the wireless location method of each embodiment of the present disclosure described in this specification.

For example, the electronic device shown in FIG. 6 may execute the step of acquiring the measured coordinate value of the current coordinate point of the object to be positioned through the acquiring module in the wireless positioning device as shown in FIG. 5 . The electronic device may perform the step of determining the first vector V1 according to the measured coordinate value and the historical positioning coordinate value corresponding to the first coordinate point adjacent to the current coordinate point through the first determining module. The electronic device may perform the step of determining the second vector V2 according to the historical positioning coordinate values respectively corresponding to the previous n coordinate points adjacent to the current coordinate point through the second determination module, where n is a positive integer greater than or equal to 2. The electronic device may perform the step of determining the composite vector according to the first vector V1 and the second vector V2 through the third determining module. The electronic device may perform the step of determining the positioning coordinate value of the current coordinate point according to the synthesized vector and the historical positioning coordinate value corresponding to the first coordinate point through the fourth determination module.

In one embodiment, an electronic device is provided, comprising a memory and one or more processors, the memory configured to store computer-readable instructions; the computer-readable instructions, when executed by the processor, cause the one or more processors to perform Steps of the wireless positioning method provided by any embodiment of the present disclosure.

The electronic device provided in this embodiment can implement the wireless positioning method provided in the above method embodiment, and its implementation principle and technical effect are similar, and will not be repeated here.

One or more non-volatile storage media storing computer-readable instructions. When the computer-readable instructions are executed by one or more processors, the one or more processors execute the wireless device provided in any one embodiment of the present disclosure. The steps of the positioning method.

Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be implemented through computer programs to instruct related hardware, and the computer programs can be stored in a non-volatile computer-readable memory In the medium, when the computer program is executed, it may include the processes of the embodiments of the above-mentioned methods. Wherein, any reference to storage, database or other media used in the various embodiments provided by the present disclosure may include at least one of non-volatile and volatile storage. Non-volatile memory may include read-only memory (Read-Only Memory, ROM), magnetic tape, floppy disk, flash memory or optical memory, etc. Volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms such as Static Random Access Memory (SRAM) and Dynamic Random Access Memory (DRAM), among others.

The technical features of the above embodiments can be combined arbitrarily. To make the description concise, all possible combinations of the technical features in the above embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, they should be It is considered to be within the range described in this specification.

The above-mentioned embodiments only express several implementation modes of the present disclosure, and the descriptions thereof are relatively specific and detailed, but should not be construed as limiting the scope of the patent for the invention. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present disclosure, and these all belong to the protection scope of the present disclosure. Therefore, the scope of protection of the disclosed patent should be based on the appended claims.

Industrial Applicability

The wireless positioning method provided by the present disclosure considers the trend of the object to be positioned moving along the original direction, so that the final determined positioning coordinate value of the current coordinate point takes into account both the measurement coordinates and the original motion trend, so that the second vector starts It has the function of correcting and optimizing the measured coordinate values, which can improve the accuracy of wireless positioning, make the positioning track of coordinate points smoother, and has strong industrial practicability.

Claims (20)

1. A wireless positioning method, characterized in that, comprising:

   Obtain the measured coordinate value of the current coordinate point of the object to be positioned;

   Determine a first vector V1 according to the measured coordinate value and the historical positioning coordinate value corresponding to the first coordinate point adjacent to the current coordinate point;

   Determine the second vector V2 according to the historical positioning coordinate values respectively corresponding to the first n coordinate points adjacent to the current coordinate point, where n is a positive integer greater than or equal to 2;

   determining a composite vector according to the first vector V1 and the second vector V2;

   The positioning coordinate value of the current coordinate point is determined according to the synthetic vector and the historical positioning coordinate value corresponding to the first coordinate point.
2. The wireless positioning method according to claim 1, wherein said determining the second vector V2 according to the historical positioning coordinate values respectively corresponding to the first n coordinate points adjacent to the current coordinate point comprises:

   performing curve fitting according to the historical positioning coordinate values respectively corresponding to the first n coordinate points adjacent to the current coordinate point, to obtain the motion trajectory equation of the object to be positioned;

   Determining the tangent direction of the motion trajectory equation as the direction of the second vector V2;

   Determine the i-order difference of the first coordinate point according to the historical positioning coordinate values corresponding to the first n coordinate points adjacent to the current coordinate point, where i is a positive integer smaller than n;

   The size of the second vector V2 is determined according to the i-order difference of the first coordinate point.
3. The wireless positioning method according to claim 2, wherein the value of n is 3, and the first coordinate is determined according to the historical positioning coordinate values respectively corresponding to the previous n coordinate points adjacent to the current coordinate point The i-order difference of the point, including:

   determining the first order difference of the first coordinate point according to the historical positioning coordinate value of the first coordinate point and the historical positioning coordinate value of a second coordinate point adjacent to the first coordinate point;

   determining the first-order difference of the second coordinate point according to the historical positioning coordinate value of the second coordinate point and the historical positioning coordinate value of a third coordinate point adjacent to the second coordinate point;

   calculating the difference between the first-order difference of the first coordinate point and the first-order difference of the second coordinate point to obtain the second-order difference of the first coordinate point.
4. The wireless positioning method according to claim 3, wherein said determining the size of the second vector V2 according to the i-order difference of the first coordinate point includes:

   The size of the second vector V2 is determined by the following formula:

   ||V2||=ΔP+ΔP*ΔΔP;

   Wherein, ||V2|| is the modulus length of the second vector V2, ΔP represents the first-order difference of the first coordinate point, and ΔΔP represents the second-order difference of the first coordinate point.
5. The wireless positioning method according to any one of claims 1-4, wherein said determining a composite vector according to said first vector V1 and said second vector V2 includes:

   The composite vector is calculated by the following formula:

   V0＝a*V1+(1-a)*V2

   Wherein, V0 represents a composite vector, a represents the weight of the first vector V1, and 0<a≤1.
6. The wireless positioning method according to claim 5, wherein the method further comprises:

   Obtain the measured coordinate values and real coordinate values corresponding to multiple reference points in the wireless positioning area;

   The weight of the first vector V1 is adjusted according to the difference between the measured coordinate value corresponding to each of the reference points and the real coordinate value.
7. The wireless positioning method according to claim 5, wherein the method further comprises:

   Counting the number of objects to be located in the Wireless Location System;

   According to the number of objects to be positioned, query the correspondence between the preset number of different positioned objects and the weight of the first vector V1, and determine the weight corresponding to the number of objects to be positioned as the value of a.
8. The wireless positioning method according to claim 2, wherein the curve fitting is performed according to the historical positioning coordinate values respectively corresponding to the first n coordinate points adjacent to the current coordinate point to obtain the motion of the object to be positioned Trajectory equations, including:

   When n is 2, the motion trajectory equation of the object to be positioned is obtained as a straight line;

   When n is greater than 2, it is obtained that the motion trajectory equation of the object to be positioned is a straight line or a curve.
9. The method according to any one of claims 2 or 8, wherein the determining the tangent direction of the motion trajectory equation as the direction of the second vector V2 includes:

   If the trajectory equation is a straight line equation, then determine the tangent direction of the straight line equation as the direction of the second vector V2;

   If the motion trajectory equation is a curve equation, the tangent direction of the motion trajectory equation at the first coordinate point adjacent to the current coordinate point is determined as the direction of the second vector V2.
10. The wireless positioning method according to claim 2, wherein said determining the size of the second vector V2 according to the i-order difference of the first coordinate point includes:

    When n is 2, the first-order difference of the first coordinate point is the size of the second vector V2;

    When n is greater than 2, the size of the second vector V2 can be expressed as the sum of the i-order difference of the first coordinate point, or, the size of the second vector V2 can also be expressed as

    

    Wherein, Δ ^j P represents the j-order difference of the first coordinate point.
11. A wireless positioning device, comprising:

    An acquisition module configured to acquire the measured coordinate value of the current coordinate point of the object to be positioned;

    The first determination module is configured to determine the first vector V1 according to the measured coordinate value and the historical positioning coordinate value corresponding to the first coordinate point adjacent to the current coordinate point;

    The second determination module is configured to determine the second vector V2 according to the historical positioning coordinate values respectively corresponding to the first n coordinate points adjacent to the current coordinate point, where n is a positive integer greater than or equal to 2;

    A third determining module, configured to determine a composite vector according to the first vector V1 and the second vector V2;

    The fourth determination module is configured to determine the positioning coordinate value of the current coordinate point according to the synthetic vector and the historical positioning coordinate value corresponding to the first coordinate point.
12. The device according to claim 11, wherein the second determining module comprises:

    The curve fitting unit is configured to perform curve fitting according to the historical positioning coordinate values respectively corresponding to the first n coordinate points adjacent to the current coordinate point, so as to obtain the motion trajectory equation of the object to be positioned;

    a vector direction determining unit configured to determine the tangent direction of the motion trajectory equation as the direction of the second vector V2;

    The difference determining unit is configured to determine the i-order difference of the first coordinate point according to the historical positioning coordinate values respectively corresponding to the first n coordinate points adjacent to the current coordinate point, where i is a positive integer smaller than n;

    The vector size determining unit is configured to determine the size of the second vector V2 according to the i-order difference of the first coordinate point.
13. The device according to claim 12, wherein the value of n is 3, and the difference determination unit is specifically configured as:

    determining the first order difference of the first coordinate point according to the historical positioning coordinate value of the first coordinate point and the historical positioning coordinate value of a second coordinate point adjacent to the first coordinate point;

    determining the first-order difference of the second coordinate point according to the historical positioning coordinate value of the second coordinate point and the historical positioning coordinate value of a third coordinate point adjacent to the second coordinate point;

    calculating the difference between the first-order difference of the first coordinate point and the first-order difference of the second coordinate point to obtain the second-order difference of the first coordinate point.
14. The device according to claim 12, wherein the vector size determination unit is specifically configured to:

    The size of the second vector V2 is determined by the following formula:

    ||V2||=ΔP+ΔP*ΔΔP;

    Wherein, ||V2|| is the modulus length of the second vector V2, ΔP represents the first-order difference of the first coordinate point, and ΔΔP represents the second-order difference of the first coordinate point.
15. The device according to claim 11, wherein the third determination module is specifically configured to:

    The composite vector is calculated by the following formula:

    V0＝a*V1+(1-a)*V2

    Wherein, V0 represents a composite vector, a represents the weight of the first vector V1, and 0<a≤1.
16. The device according to claim 11, wherein the device further comprises:

    A reference point obtaining module, configured to obtain measured coordinate values and real coordinate values corresponding to multiple reference points in the wireless positioning area;

    An adjustment module, configured to adjust the weight of the first vector V1 according to the difference between the measured coordinate value corresponding to each of the reference points and the real coordinate value.
17. The device according to claim 11, wherein the device further comprises:

    A statistical module, used for counting the number of objects to be positioned in the wireless positioning system;

    The weight determination module is used to query the correspondence between the preset number of different positioning objects and the weight of the first vector V1 according to the number of objects to be positioned, and determine the weight corresponding to the number of objects to be positioned as a value of .
18. The device according to claim 12, wherein the curve fitting unit is specifically configured to:

    When n is 2, the motion trajectory equation of the object to be positioned is obtained as a straight line;

    When n is greater than 2, it is obtained that the motion trajectory equation of the object to be positioned is a straight line or a curve.
19. An electronic device, comprising: a memory and one or more processors, the memory stores computer-readable instructions, wherein when the computer-readable instructions are executed by the one or more processors, the The one or more processors execute the steps of the wireless positioning method according to any one of claims 1 to 10.
20. One or more non-transitory computer-readable storage media storing computer-readable instructions that, when executed by one or more processors, cause the one or more processors to perform claim 1 Steps of the wireless positioning method described in any one of to 10.

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